CN113790798A - Seamless spectral imaging device, system and method for dynamic point target tracking measurement - Google Patents
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Abstract
The invention relates to a seamless spectral imaging device, a system and a method, in particular to a seamless spectral imaging device, a system and a method for dynamic point target tracking measurement, aiming at solving the technical problems of the prior art that the target surface of a detector is small, the data processing difficulty is low, and the prior art can be directly applied to the spectral detection related to the remote dynamic point target tracking measurement. The device comprises a main telescope, a spectroscope, a tracking camera, a blazed grating and a panchromatic camera, wherein the main telescope and the spectroscope are sequentially arranged along a light path, the tracking camera is arranged on a transmission light path of the spectroscope, and the blazed grating and the panchromatic camera are sequentially arranged on a reflection light path of the spectroscope. The system comprises a data processing unit, a tracking frame, a calibration lamp, filters of different spectral bands and the device. The method is carried out by utilizing the system, and comprises the steps of carrying out spectrum calibration on the system and carrying out seamless spectrum imaging on a remote dynamic point target by utilizing an actual dispersion equation of the system obtained by calibration.
Description
Technical Field
The invention relates to a seamless spectral imaging system, in particular to a seamless spectral imaging device, a system and a method for tracking and measuring a remote dynamic point target.
Background
Conventional spectroscopic spectrometers are made up of a slit and a grating, prism, or a combination of both. For point target tracking spectral imaging, a point target needs to be strictly aligned to a slit, which puts quite strict requirements on tracking and stability precision of a theodolite matched with a spectroscopic spectrometer, so that the traditional slit spectrometer cannot be used for tracking and measuring a moving target.
The seamless spectrum can further reduce the requirements on system tracking and stability precision due to the fact that a slit in a traditional slit type spectrometer is omitted, and is widely applied to large-scale efficient spectrum inspection in astronomical observation, but the existing seamless spectrum needs to receive zero-level and +/-1-level two-dimensional spectrum images of a target at the same time to complete spectrum data processing, and higher requirements are provided for the size of a target surface of a detector and data processing technology.
The two modes have respective limitations, and at present, no related spectrum detection technology which has a small target surface of a detector and low data processing difficulty and can be directly applied to tracking and measuring of a remote dynamic point target exists.
Disclosure of Invention
The invention aims to solve the technical problems of lack of small target surface of a detector, low data processing difficulty and direct application to spectral detection related to remote dynamic point target tracking measurement in the prior art, and provides a seamless spectral imaging device, a system and a method for dynamic point target tracking measurement.
In order to solve the technical problems, the technical solution provided by the invention is as follows:
a seamless spectrum imaging device for dynamic point target tracking measurement is characterized in that:
the device comprises a main telescope, a spectroscope, a tracking camera, a blazed grating and a panchromatic camera, wherein the main telescope and the spectroscope are sequentially arranged along a light path;
the main telescope is used for receiving parallel light emitted by the remote dynamic point target a and compressing the parallel light;
the spectroscope is used for dividing the compressed parallel light into transmission light and reflection light;
the tracking camera is used for receiving the transmitted light so as to perform video tracking on the dynamic point target a;
the blazed grating is used for receiving the reflected light and performing spectral splitting on the reflected light;
the panchromatic camera is used for collecting + 1-level spectrum video of the dynamic point target a separated by the blazed grating.
Further, the target surface size of the full color camera was 12mm × 10 mm.
The invention also provides a seamless spectral imaging system for dynamic point target tracking measurement, which is characterized in that:
the device comprises a data processing unit, a tracking frame, a calibration lamp, optical filters with different spectral bands and the seamless spectral imaging device for tracking and measuring the dynamic point target;
the input end of the data processing unit is respectively connected with the output ends of the tracking camera and the panchromatic camera;
the tracking frame is used for placing and moving the dynamic point target tracking and measuring seamless spectral imaging device so as to enable the remote dynamic point target a to be always positioned at the view field center of the main telescope;
the calibration lamp is used for calibrating and is used as a light source to simulate a remote point target a;
the optical filters with different spectral bands are arranged in front of the lens of the panchromatic camera and used for acquiring the corresponding relation between different central wavelengths and pixel positions in the spectral video acquired by the panchromatic camera.
Meanwhile, the invention also provides a seamless spectral imaging method for tracking and measuring the remote dynamic point target, which is based on the seamless spectral imaging system for tracking and measuring the dynamic point target and is characterized by comprising the following steps:
1) spectrum calibration of system
1.1) taking a calibration lamp as a remote point target a, placing optical filters with different spectral bands in front of a lens of a full-color camera, and collecting seamless spectral images of the calibration lamp under different central wavelengths;
1.2) carrying out Gaussian fitting on seamless spectrum images of the calibration lamp under different central wavelengths to determine pixel positions corresponding to the central wavelengths so as to obtain an actual dispersion equation of the system for calibration;
2) seamless spectral imaging of remote dynamic point target a
2.1) compressing parallel light emitted by a remote dynamic point target a, dividing the parallel light into transmitted light and reflected light, carrying out video tracking on the dynamic point target a by using the transmitted light, carrying out spectrum splitting on the reflected light, and acquiring a + 1-level spectrum video of the divided dynamic point target a, wherein a + 1-level spectrum image in the + 1-level spectrum video of the dynamic point target a is represented as a long bright line with an inclination angle along a dispersion direction;
2.2) acquiring a dark field image and a flat field image of the seamless spectral imaging system for tracking and measuring the dynamic point target, and performing dark and flat field correction on the +1 level spectral image of the dynamic point target a by using the dark field image and the flat field image;
2.3) carrying out Gaussian fitting on each column of the corrected + 1-level spectral image to obtain the central position and the full width at half maximum of each column;
2.4) carrying out linear fitting on the central position of each row of the corrected + 1-level spectral image to obtain the inclination angle of the corrected + 1-level spectral image, and then reversely rotating to be horizontal;
2.5) selecting the width twice as large as the full width at half maximum of the center position of the rotated + 1-level spectral image, and summing the + 1-level spectra of the spectral image to obtain the one-dimensional spectral distribution of the remote dynamic point target a;
2.6) according to the system actual dispersion equation obtained in the step 1.2), combining the quantum efficiency parameter of the panchromatic camera and the spectrum response curve of the blazed grating, and utilizing the one-dimensional spectrum distribution of the remote dynamic point target a obtained in the step 2.5) to perform real-time seamless spectrum imaging of the remote dynamic point target a.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a seamless spectral imaging device, a system and a method for tracking and measuring a dynamic point target, which obtains a system actual dispersion equation through spectral calibration, then uses a main telescope to receive parallel light emitted by a remote dynamic point target a and compress the parallel light, divides the compressed parallel light into transmitted light and reflected light through a spectroscope, uses a tracking camera to receive the transmitted light to track the dynamic point target, uses a blazed grating to receive the reflected light, performs spectral splitting on the reflected light, uses a panchromatic camera to collect + 1-level spectral video of the dynamic point target divided by the blazed grating, performs dark and flat field correction on + 1-level spectral images in the + 1-level spectral video, obtains the center position, the full width at half maximum and the inclination angle of the + 1-level spectral images in each row, then reversely rotates the + 1-level spectral images to the horizontal direction, sums up the double width of the full width at half maximum of the center position of the + 1-level spectral images, and finally, according to the actual dispersion equation of the system, combining the quantum efficiency parameters of the panchromatic camera and the spectral response curve of the blazed grating, and utilizing the one-dimensional spectral distribution of the long-distance dynamic point target to realize the real-time spectral imaging of the long-distance dynamic point target. The system and the method can realize real-time seamless spectrum tracking imaging of the dynamic point target in a long distance, and solve the problem that no spectrum imaging system is available in the tracking measurement process of the dynamic point target at present. The method only needs to receive the + 1-level spectral image of the target seamless spectrum, combines a seamless spectrum system calibration method, can reduce the requirement on the size of the target surface of the detector, has the advantages of low tracking and stable precision requirements, and can realize multi-target imaging.
Drawings
FIG. 1 is a schematic structural diagram of a seamless spectral imaging device for tracking and measuring a dynamic point target according to the present invention;
FIG. 2 is a one-dimensional spectrum diagram of a calibration lamp in an embodiment of the invention;
FIG. 3 is a diagram of the system's actual dispersion equation in an embodiment of the present invention;
FIG. 4 is a +1 order spectral image of a long, bright line with dip angle along the dispersion direction of a blazed grating in accordance with embodiments of the present invention;
FIG. 5 is a full width half maximum plot of a +1 order spectral image in an example of the present invention;
FIG. 6 is a +1 order spectral image after correction and rotation in an embodiment of the present invention;
FIG. 7 is a seamless spectral image of a remote dynamic point target finally obtained after calibration in an embodiment of the present invention;
description of reference numerals:
1-main telescope, 2-spectroscope, 3-tracking camera, 4-blazed grating, 5-panchromatic camera and a-point target.
Detailed Description
The invention is further described below with reference to the figures and examples.
The seamless spectrum imaging system for tracking and measuring the dynamic point target comprises a seamless spectrum imaging device for tracking and measuring the dynamic point target, a data processing unit, a tracking frame, a calibration lamp and optical filters with different spectral bands.
A seamless spectrum imaging device for tracking and measuring a dynamic point target is shown in figure 1 and comprises a main telescope 1 and a spectroscope 2 which are sequentially arranged along a light path, a tracking camera 3 arranged on a transmission light path of the spectroscope 2, and a blazed grating 4 and a panchromatic camera 5 which are sequentially arranged on a reflection light path of the spectroscope 2; the target surface size of the full-color camera 5 is 12mm × 10 mm. The main telescope 1 is used for receiving and compressing parallel light emitted (reflected and radiated) by a remote dynamic point target a; the spectroscope 2 is used for dividing the compressed parallel light into transmission light and reflection light; the tracking camera 3 is used for receiving the transmitted light so as to perform video tracking on the dynamic point target a; the blazed grating 4 is used for receiving the reflected light and performing spectral splitting on the reflected light; the panchromatic camera 5 is used for collecting + 1-level spectral video of the dynamic point target a separated by the blazed grating 4.
The input end of the data processing unit is respectively connected with the output ends of the tracking camera 3 and the panchromatic camera 5; the tracking frame is used for placing and moving the dynamic point target tracking and measuring seamless spectral imaging device so as to enable a remote dynamic point target a to be always positioned at the center of a view field of the main telescope 1; the calibration lamp is used for calibrating and is used as a light source to simulate a remote point target a; the optical filters with different spectral bands are arranged in front of a lens of the panchromatic camera 5 and are used for acquiring corresponding relations between different central wavelengths and pixel positions in a spectral video acquired by the panchromatic camera 5.
The invention also provides a seamless spectral imaging method for tracking and measuring the remote dynamic point target based on the system, which comprises the following steps:
1) spectrum calibration of system
1.1) taking a calibration lamp as a remote point target a, placing optical filters with different spectral bands in front of a lens of a panchromatic camera 5, and collecting seamless spectral images of the calibration lamp under different central wavelengths;
1.2) carrying out Gaussian fitting on seamless spectrum images of the calibration lamp under different central wavelengths to determine pixel positions corresponding to the central wavelengths so as to obtain an actual dispersion equation of the system for calibration;
2) seamless spectral imaging of remote dynamic point target a
2.1) compressing parallel light emitted by a remote dynamic point target a, dividing the parallel light into transmitted light and reflected light, carrying out video tracking on the dynamic point target a by using the transmitted light, carrying out spectrum splitting on the reflected light, and acquiring a + 1-level spectrum video of the divided dynamic point target a, wherein a + 1-level spectrum image in the + 1-level spectrum video of the dynamic point target a is represented as a long bright line with an inclination angle along a dispersion direction;
2.2) acquiring a dark field image and a flat field image of the seamless spectral imaging system for tracking and measuring the dynamic point target, and performing dark and flat field correction on the +1 level spectral image of the dynamic point target a by using the dark field image and the flat field image;
2.3) carrying out Gaussian fitting on each column of the corrected + 1-level spectral image to obtain the central position and the full width at half maximum of each column;
2.4) carrying out linear fitting on the central position of each row of the corrected + 1-level spectral image to obtain the inclination angle of the corrected + 1-level spectral image, and then reversely rotating to be horizontal;
2.5) selecting the width twice as large as the full width at half maximum of the center position of the rotated + 1-level spectral image, and summing the + 1-level spectra of the spectral image to obtain the one-dimensional spectral distribution of the remote dynamic point target a;
2.6) according to the system actual dispersion equation obtained in the step 1.2), combining the quantum efficiency parameter of the panchromatic camera 5 and the spectral response curve of the blazed grating 4, and utilizing the one-dimensional spectral distribution of the remote dynamic point target a obtained in the step 2.5) to perform real-time seamless spectral imaging of the remote dynamic point target a.
The working principle is as follows:
the key link of seamless spectral imaging is spectral calibration, and a calibration lamp with a spectrum shown in FIG. 2 is adopted as a light source during calibration to simulate a remote point target a; placing optical filters with different central wavelengths in front of a lens of a full-color camera 5 to acquire seamless spectrum images of the point target a simulated by the calibration lamp under different central wavelengths, performing Gaussian fitting on the seamless spectrum images to determine pixel positions corresponding to the central wavelengths, and performing linear fitting on the relationship between the central wavelengths and the pixel positions to obtain the actual dispersion equation of the seamless spectrum system for calibration as shown in FIG. 3.
Parallel light (reflected and radiated) emitted by a remote dynamic point target a is received and compressed by a main telescope 1, the compressed parallel light is divided into two paths by a spectroscope 2, one path of transmitted parallel light directly enters a tracking camera 3 to complete video tracking of the dynamic point target a, fed-back tracking data is used for driving a tracking frame to enable the point target a to be always positioned in the center of the visual fields of the two cameras and the main telescope 1, the other path of reflected parallel light enters a blazed grating 4 to perform spectral splitting, and then + 1-level spectral video acquisition of the dynamic point target a is completed by a panchromatic camera 5, as shown in figure 4, the + 1-level spectral image of the dynamic point target a is obtained. Utilizing a dark field and a flat field image of the system to correct the acquired point target + 1-level spectral image, judging an inclination angle and a full width at half maximum, wherein the calculated full width at half maximum of the + 1-level spectral image is shown in FIG. 5, the + 1-level spectral image is reversely rotated to be horizontal, and a seamless spectral image of the point target a after correction and rotation is shown in FIG. 6; and summing the + 1-level spectra by using the width of two times of the full width at half maximum to obtain the one-dimensional spectral distribution of the point target a.
And according to the actual dispersion equation of the system, combining the quantum efficiency of a panchromatic 5 camera and the spectral response of the blazed grating 4, and acquiring the one-dimensional spectral distribution of the point target a to realize seamless spectral imaging of the point target a. Meanwhile, the tracking camera 3 ensures that the dynamic point target a is positioned at the center of the field of view of the main telescope 1 at each moment, seamless spectral measurement of the point target a at each moment is realized, and as shown in fig. 7, seamless spectral imaging of the dynamic point target a is finally realized.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it is obvious for a person skilled in the art to modify the specific technical solutions described in the foregoing embodiments or to substitute part of the technical features, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions protected by the present invention.
Claims (4)
1. The utility model provides a dynamic point target tracking measurement is with seamless spectral imaging device which characterized in that:
the device comprises a main telescope (1) and a spectroscope (2) which are sequentially arranged along a light path, a tracking camera (3) which is arranged on a transmission light path of the spectroscope (2), and a blazed grating (4) and a panchromatic camera (5) which are sequentially arranged on a reflection light path of the spectroscope (2);
the main telescope (1) is used for receiving parallel light emitted by the remote dynamic point target a and compressing the parallel light;
the spectroscope (2) is used for dividing the compressed parallel light into transmission light and reflection light;
the tracking camera (3) is used for receiving the transmitted light so as to perform video tracking on the dynamic point target a;
the blazed grating (4) is used for receiving reflected light and performing spectral splitting on the reflected light;
and the panchromatic camera (5) is used for acquiring a + 1-level spectral video of the dynamic point target a separated by the blazed grating (4).
2. The seamless spectral imaging apparatus for dynamic point target tracking measurement according to claim 1, characterized in that:
the target surface size of the full-color camera (5) is 12mm x 10 mm.
3. A seamless spectral imaging system for dynamic point target tracking measurement is characterized in that:
the seamless spectral imaging device for tracking and measuring the dynamic point target comprises a data processing unit, a tracking frame, a calibration lamp, optical filters with different spectral bands and the seamless spectral imaging device for tracking and measuring the dynamic point target as claimed in claim 1 or 2;
the input end of the data processing unit is respectively connected with the output ends of the tracking camera (3) and the panchromatic camera (5);
the tracking frame is used for placing and moving the dynamic point target tracking and measuring seamless spectral imaging device so as to enable a remote dynamic point target a to be always positioned at the center of a view field of the main telescope (1);
the calibration lamp is used for calibrating and is used as a light source to simulate a remote point target a;
the optical filters with different spectral bands are arranged in front of a lens of the panchromatic camera (5) and are used for acquiring the corresponding relation between different central wavelengths and pixel positions in a spectral video acquired by the panchromatic camera (5).
4. A seamless spectral imaging method for dynamic point target tracking measurement based on the seamless spectral imaging system for dynamic point target tracking measurement of claim 3, characterized by comprising the following steps:
1) spectrum calibration of system
1.1) taking a calibration lamp as a remote point target a, placing optical filters with different spectral bands in front of a lens of a panchromatic camera (5), and collecting seamless spectral images of the calibration lamp under different central wavelengths;
1.2) carrying out Gaussian fitting on seamless spectrum images of the calibration lamp under different central wavelengths to determine pixel positions corresponding to the central wavelengths so as to obtain an actual dispersion equation of the system for calibration;
2) seamless spectral imaging of remote dynamic point target a
2.1) compressing parallel light emitted by a remote dynamic point target a, dividing the parallel light into transmitted light and reflected light, carrying out video tracking on the dynamic point target a by using the transmitted light, carrying out spectrum splitting on the reflected light, and acquiring a + 1-level spectrum video of the divided dynamic point target a, wherein a + 1-level spectrum image in the + 1-level spectrum video of the dynamic point target a is represented as a long bright line with an inclination angle along a dispersion direction;
2.2) acquiring a dark field image and a flat field image of the seamless spectral imaging system for tracking and measuring the dynamic point target, and performing dark and flat field correction on the +1 level spectral image of the dynamic point target a by using the dark field image and the flat field image;
2.3) carrying out Gaussian fitting on each column of the corrected + 1-level spectral image to obtain the central position and the full width at half maximum of each column;
2.4) carrying out linear fitting on the central position of each row of the corrected + 1-level spectral image to obtain the inclination angle of the corrected + 1-level spectral image, and then reversely rotating to be horizontal;
2.5) selecting the width twice as large as the full width at half maximum of the center position of the rotated + 1-level spectral image, and summing the + 1-level spectra of the spectral image to obtain the one-dimensional spectral distribution of the remote dynamic point target a;
2.6) according to the system actual dispersion equation obtained in the step 1.2), combining the quantum efficiency parameter of the panchromatic camera (5) and the spectral response curve of the blazed grating (4), and utilizing the one-dimensional spectral distribution of the remote dynamic point target a obtained in the step 2.5) to carry out real-time seamless spectral imaging on the remote dynamic point target a.
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