A relative radiometric calibration method and device for remote sensing images with a 90-degree yaw

Abstract

The present invention provides a relative radiometric calibration method and device for a remote sensing image with a 90-degree yaw, and relates to the technical field of image processing. The method comprises the following steps: acquiring original yaw data and rotating the original yaw data by 45 degrees to obtain target yaw data, wherein the original yaw data is a remote sensing image of a ground object collected by CCD detectors in a CCD linear array when the CCD linear array is yawed by 90 degrees; performing Savitzky-Golay filtering on the target yaw data to obtain a theoretical grayscale value of the CCD detector; calculating detector parameters of the CCD detector based on a least squares algorithm, the theoretical grayscale value of the CCD detector, and the target yaw data, wherein the detector parameters include a gain parameter and a bias parameter; and performing relative radiometric calibration on the original yaw data based on the detector parameters to obtain a relative radiometric calibration result of the original yaw data, thereby solving the technical problem of low accuracy of existing relative radiometric calibration methods for remote sensing yaw images.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a relative radiometric calibration method and device for a remote sensing image with a 90-degree yaw. Background Art

[0002] The existing remote sensing image calibration methods are as follows:

[0003] 1. On-orbit calibration. While highly accurate, on-orbit calibration is subject to operational limitations. Furthermore, it is difficult to correct for differences in sensor radiation response due to launch vibrations and on-orbit response attenuation, making it impossible to maintain high-precision radiation calibration throughout the satellite's entire operational cycle.

[0004] 2. Laboratory integrating sphere calibration. Before the remote sensor is launched, its wavelength position, radiation accuracy, spatial positioning, and other parameters are calibrated to convert the instrument's output into radiation values. Some instruments have built-in calibration systems. However, regular calibration is still required after the instrument is operational to monitor performance changes and adjust calibration parameters accordingly.

[0005] 3. Uniform Site Ground Calibration: Artificial ground calibration sites require significant human and financial resources to maintain and are susceptible to environmental influences such as weather and orbital conditions. Both on-orbit site calibration and on-orbit statistical calibration based on uniform sites such as natural features like deserts and water bodies assume that the data conforms to mathematical statistical properties and require massive amounts of sample or uniform field data. This makes it difficult to meet the high-frequency calibration requirements during the initial stages of a satellite's orbit. Insufficient statistical data can lead to over- or incomplete corrections due to large variations in the features, resulting in unsatisfactory uniformity correction results.

[0006] Improvements in on-orbit control technology for remote sensing satellites have led to the widespread application of relative radiometric calibration techniques based on 90° yaw data, such as those used by Zhuhai-1, Landsat 8, and QuickBird. Conventional relative radiometric calibration methods for yaw data primarily calibrate individual detectors to the average response level of all detectors. However, the bright and dark fringes in an image may not always follow a normal distribution, resulting in inaccurate calibration parameters.

[0007] For the above problems, no effective solutions have been proposed yet. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a method and device for relative radiometric calibration of remote sensing images with a 90-degree yaw, so as to alleviate the technical problem of low accuracy of existing relative radiometric calibration methods for remote sensing images.

[0009] In a first aspect, an embodiment of the present invention provides a relative radiometric calibration method for a remote sensing image yawed by 90 degrees, comprising: acquiring original yaw data, and rotating the original yaw data by 45 degrees to obtain target yaw data, wherein the original yaw data is a remote sensing image of a ground object collected by a CCD detector in the CCD linear array when the CCD linear array is yawed by 90 degrees; performing Savitzky-Golay filtering on the target yaw data to obtain a theoretical grayscale value of the CCD detector; calculating detector parameters of the CCD detector based on a least squares algorithm, the theoretical grayscale value of the CCD detector, and the target yaw data, wherein the detector parameters include a gain parameter and a bias parameter; performing relative radiometric calibration on the original yaw data based on the detector parameters to obtain a relative radiometric calibration result of the original yaw data.

[0010] Furthermore, the original yaw data includes sub-yaw data of different bands.

[0011] Furthermore, Savitzky-Golay filtering is performed on the target yaw data to obtain the theoretical grayscale value of the CCD detector, including: performing Savitzky-Golay filtering on the sub-yaw data to obtain the sub-theoretical grayscale value of the CCD detector; and obtaining the theoretical grayscale value of the CCD detector based on the sub-theoretical grayscale value of the CCD detector corresponding to the sub-yaw data of different bands.

[0012] Furthermore, based on the least squares algorithm, the theoretical grayscale value of the CCD detector and the target yaw data, the detector parameters of the CCD detector are calculated, including: calculating the sub-detector parameters of the CCD detector based on the least squares algorithm, the sub-theoretical grayscale value and the target yaw data; and obtaining the detector parameters of the CCD detector based on the sub-detector parameters corresponding to different bands.

[0013] Furthermore, based on the detector parameters of the CCD detector, the original yaw data is relatively radiometrically calibrated to obtain the relative radiometric calibration result of the original yaw data, including: performing relative radiometric calibration on the sub-detector parameters of the CCD detector and the sub-yaw data corresponding to the sub-detector parameters to obtain the sub-relative radiometric calibration result; and obtaining the relative radiometric calibration result of the original yaw data based on the sub-relative radiometric calibration result.

[0014] In a second aspect, an embodiment of the present invention further provides a relative radiation calibration device for a remote sensing image yawed by 90 degrees, comprising: an acquisition unit, a filtering unit, a calculation unit and a calibration unit, wherein the acquisition unit is used to acquire original yaw data and rotate the original yaw data by 45 degrees to obtain target yaw data, wherein the original yaw data is a remote sensing image of a ground object collected by a CCD detector in the CCD linear array when the CCD linear array is yawed by 90 degrees; the filtering unit is used to perform Savitzky-Golay filtering on the target yaw data to obtain a theoretical grayscale value of the CCD detector; the calculation unit is used to calculate detector parameters of the CCD detector based on a least squares algorithm, the theoretical grayscale value of the CCD detector and the target yaw data, wherein the detector parameters include: a gain parameter and a bias parameter; the calibration unit is used to perform relative radiation calibration on the original yaw data based on the detector parameters to obtain a relative radiation calibration result of the original yaw data.

[0015] Furthermore, the original yaw data includes sub-yaw data of different bands.

[0016] Furthermore, the filtering unit is used to: perform Savitzky-Golay filtering on the sub-yaw data to obtain the sub-theoretical grayscale value of the CCD detector; and obtain the theoretical grayscale value of the CCD detector based on the sub-theoretical grayscale values ​​of the CCD detector corresponding to the sub-yaw data of different bands.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device comprising a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the method described in the first aspect above, and the processor is configured to execute the program stored in the memory.

[0018] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored.

[0019] In an embodiment of the present invention, target yaw data is obtained by acquiring raw yaw data and rotating the raw yaw data by 45 degrees, wherein the raw yaw data is a remote sensing image of a ground object collected by CCD detectors in a CCD linear array when the CCD linear array is yawed by 90 degrees; Savitzky-Golay filtering is performed on the target yaw data to obtain a theoretical grayscale value of the CCD detector; detector parameters of the CCD detector are calculated based on a least squares algorithm, the theoretical grayscale value of the CCD detector, and the target yaw data, wherein the detector parameters include a gain parameter and a bias parameter; and relative radiometric calibration is performed on the raw yaw data based on the detector parameters to obtain a relative radiometric calibration result of the raw yaw data, thereby achieving the purpose of relative calibration of remote sensing yaw images without relying on uniform ground objects or a uniform calibration field, thereby solving the technical problem of low accuracy of existing relative radiometric calibration methods for remote sensing yaw images, and achieving the technical effect of improving the accuracy of relative radiometric calibration methods for remote sensing yaw images.

[0020] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A flowchart of a relative radiometric calibration method for a remote sensing image with a 90-degree yaw provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of a relative radiometric calibration device for a remote sensing image with a 90-degree yaw angle provided by an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] Example 1:

[0028] According to an embodiment of the present invention, an embodiment of a relative radiation calibration method for a remote sensing image with a 90-degree yaw is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] Figure 1 FIG. 1 is a flow chart of a relative radiometric calibration method for a remote sensing image with a 90-degree yaw according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0030] Step S102, obtaining original yaw data and rotating the original yaw data by 45 degrees to obtain target yaw data, wherein the original yaw data is a remote sensing image of the ground object collected by the CCD detectors in the CCD linear array when the CCD linear array is yawed by 90 degrees;

[0031] It should be noted that the original yaw data includes sub-yaw data of different bands.

[0032] Step S104, performing Savitzky-Golay filtering on the target yaw data to obtain a theoretical grayscale value of the CCD detector;

[0033] Step S106, calculating detector parameters of the CCD detector based on a least squares algorithm, the theoretical grayscale value of the CCD detector and the target yaw data, wherein the detector parameters include: a gain parameter and a bias parameter;

[0034] Step S108 : performing relative radiometric calibration on the original yaw data based on the detector parameters to obtain a relative radiometric calibration result of the original yaw data.

[0035] In an embodiment of the present invention, target yaw data is obtained by acquiring raw yaw data and rotating the raw yaw data by 45 degrees, wherein the raw yaw data is a remote sensing image of a ground object collected by CCD detectors in a CCD linear array when the CCD linear array is yawed by 90 degrees; Savitzky-Golay filtering is performed on the target yaw data to obtain a theoretical grayscale value of the CCD detector; detector parameters of the CCD detector are calculated based on a least squares algorithm, the theoretical grayscale value of the CCD detector, and the target yaw data, wherein the detector parameters include a gain parameter and a bias parameter; and relative radiometric calibration is performed on the raw yaw data based on the detector parameters to obtain a relative radiometric calibration result of the raw yaw data, thereby achieving the purpose of relative calibration of remote sensing yaw images without relying on uniform ground objects or a uniform calibration field, thereby solving the technical problem of low accuracy of existing relative radiometric calibration methods for remote sensing yaw images, and achieving the technical effect of improving the accuracy of relative radiometric calibration methods for remote sensing yaw images.

[0036] In this embodiment of the present invention, step S104 includes the following steps:

[0037] Step S11, performing Savitzky-Golay filtering on the sub-yaw data to obtain the sub-theoretical grayscale value of the CCD detector;

[0038] Step S12: obtaining the theoretical grayscale value of the CCD detector based on the sub-theoretical grayscale values ​​of the CCD detector corresponding to the sub-yaw data of different bands.

[0039] In an embodiment of the present invention, the method for obtaining the sub-theoretical grayscale value of the CCD detector is as follows:

[0040] Assume that the row direction pixel value of each band sub-yaw data is x i ={x1, x2, ..., x n} (n is the number of columns), if we consider a set of 2M+1 data centered on n, it can be expressed by a k-order polynomial:

[0041]

[0042] In the formula, k represents the order of the polynomial, a k represents the polynomial coefficient, and p(n) represents the value after fitting.

[0043] The residuals from the least squares fit are:

[0044]

[0045] When n<M, the points involved in the calculation are only x0, x1, ..., x M , when n>M, it is necessary to calculate x0,…,x (-M)Similarly, when n>nM, it is necessary to calculate the values ​​of n+M data points. The calculation formula is as follows:

[0046] x n+m =x n-m .

[0047] Here's how to get a k .

[0048] From basic calculus knowledge, we know that if we want the partial derivatives of ε with respect to each parameter to be 0, that is:

[0049]

[0050] After simplification, we can get:

[0051]

[0052] i = 0, 1, ... N. Therefore, the Savitzky-Golay filter convolution smoothing method is an improvement of the motion smoothing algorithm:

[0053]

[0054] It should be noted that Savitzky-Golay filtering requires the input of the polynomial fitting order and the number of points in the window according to the degree of filtering. Experiments show that the effect is better when the polynomial fitting order is less than 2 and the number of points is greater than 100.

[0055] In this embodiment of the present invention, step S106 includes the following steps:

[0056] Step S21, calculating sub-detector parameters of the CCD detector based on the least squares algorithm, the sub-theoretical grayscale value and the target yaw data;

[0057] Step S22: Obtain the detector parameters of the CCD detector based on the sub-detector parameters corresponding to different bands.

[0058] In the embodiment of the present invention, the process of calculating the sub-detector parameters of the CCD detector is as follows:

[0059] The principle of least squares method is that given a two-dimensional data point P i (x i ,y i ), calculate the fitting deviation of the fitting line y=ax+b and the given data point according to the formula and minimize the square of the deviation. The deviation δ of the fitting line at point Pi j =ax j +by i , where j = 1, 2, 3, …, m. Calculate the slope and intercept parameters of the fitted line y = ax + b using the following formula.

[0060]

[0061]

[0062]

[0063] The gain and bias parameters of each CCD detector are calculated by fitting the theoretical grayscale value with the target yaw data using the least squares method.

[0064] In this embodiment of the present invention, step S108 includes the following steps:

[0065] Step S31, performing relative radiometric calibration on the sub-detector parameters of the CCD detector and the sub-yaw data corresponding to the sub-detector parameters to obtain a sub-relative radiometric calibration result;

[0066] Step S32: obtaining a relative radiometric calibration result of the original yaw data based on the sub-relative radiometric calibration result.

[0067] In the embodiment of the present invention, the relative radiation calibration result is determined as follows:

[0068] Based on the calculated radiometric calibration parameters of each CCD detector, the image is calibrated for yaw relative radiometric calibration according to the following formula:

[0069] y=ax+b.

[0070] Where x represents the pixel value of the original yaw data, and y represents the pixel value after calibration.

[0071] Since the calibration coefficients of different bands are different, the calibration parameters of all bands in the original yaw data are obtained one by one according to the above method, and then the radiation calibration processing of each band is performed to obtain the relative radiation calibration results of all bands in the original yaw data.

[0072] Example 2:

[0073] An embodiment of the present invention also provides a relative radiation calibration device for remote sensing images with a 90-degree yaw. The relative radiation calibration device for remote sensing images with a 90-degree yaw is used to execute the relative radiation calibration method for remote sensing images with a 90-degree yaw provided in the above content of the embodiment of the present invention. The following is a specific introduction to the relative radiation calibration device for remote sensing images with a 90-degree yaw provided in an embodiment of the present invention.

[0074] like Figure 2 As shown, Figure 2 Schematic diagram of the relative radiometric calibration device for remote sensing images with a 90-degree yaw rate. The relative radiometric calibration device for remote sensing images with a 90-degree yaw rate includes: an acquisition unit 10 , a filtering unit 20 , a calculation unit 30 and a calibration unit 40 .

[0075] The acquisition unit 10 is used to acquire original yaw data and rotate the original yaw data by 45 degrees to obtain target yaw data, wherein the original yaw data is a remote sensing image of the ground object collected by the CCD detectors in the CCD linear array when the CCD linear array is yawed by 90 degrees;

[0076] The filtering unit 20 is used to perform Savitzky-Golay filtering on the target yaw data to obtain the theoretical grayscale value of the CCD detector;

[0077] The calculation unit 30 is used to calculate the detector parameters of the CCD detector based on the least squares algorithm, the theoretical grayscale value of the CCD detector and the target yaw data, wherein the detector parameters include: a gain parameter and a bias parameter;

[0078] The calibration unit 40 is configured to perform relative radiometric calibration on the original yaw data based on the detector parameters to obtain a relative radiometric calibration result of the original yaw data.

[0079] In an embodiment of the present invention, target yaw data is obtained by acquiring raw yaw data and rotating the raw yaw data by 45 degrees, wherein the raw yaw data is a remote sensing image of a ground object collected by CCD detectors in a CCD linear array when the CCD linear array is yawed by 90 degrees; Savitzky-Golay filtering is performed on the target yaw data to obtain a theoretical grayscale value of the CCD detector; detector parameters of the CCD detector are calculated based on a least squares algorithm, the theoretical grayscale value of the CCD detector, and the target yaw data, wherein the detector parameters include a gain parameter and a bias parameter; and relative radiometric calibration is performed on the raw yaw data based on the detector parameters to obtain a relative radiometric calibration result of the raw yaw data, thereby achieving the purpose of relative calibration of remote sensing yaw images without relying on uniform ground objects or a uniform calibration field, thereby solving the technical problem of low accuracy of existing relative radiometric calibration methods for remote sensing yaw images, and achieving the technical effect of improving the accuracy of relative radiometric calibration methods for remote sensing yaw images.

[0080] Example 3:

[0081] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the method described in the above embodiment 1, and the processor is configured to execute the program stored in the memory.

[0082] See also Figure 3An embodiment of the present invention further provides an electronic device 100, comprising: a processor 50, a memory 51, a bus 52 and a communication interface 53, wherein the processor 50, the communication interface 53 and the memory 51 are connected via the bus 52; the processor 50 is used to execute an executable module stored in the memory 51, such as a computer program.

[0083] The memory 51 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The system network element communicates with at least one other network element via at least one communication interface 53 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0084] The bus 52 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 3 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0085] Among them, the memory 51 is used to store programs, and the processor 50 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0086] The processor 50 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits or software instructions in the processor 50. The processor 50 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 51 , and the processor 50 reads the information in the memory 51 and completes the steps of the above method in combination with its hardware.

[0087] Example 4:

[0088] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the above embodiment 1 are executed.

[0089] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0090] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0091] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0092] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0093] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0094] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A relative radiometric calibration method for remote sensing images with a 90-degree yaw angle, characterized in that: include: Obtaining original yaw data and rotating the original yaw data by 45 degrees to obtain target yaw data, wherein the original yaw data is a ground object remote sensing image collected by the CCD detectors in the CCD linear array when the CCD linear array is yawed by 90 degrees; Performing Savitzky-Golay filtering on the target yaw data to obtain a theoretical grayscale value of the CCD detector, wherein the Savitzky-Golay filtering uses a polynomial fitting window with an order less than 2 and a number of points greater than 100; Calculating detector parameters of the CCD detector based on a least squares algorithm, a theoretical grayscale value of the CCD detector and the target yaw data, wherein the detector parameters include: a gain parameter and a bias parameter; Based on the detector parameters, relative radiometric calibration is performed on the original yaw data to obtain a relative radiometric calibration result of the original yaw data.

2. The method according to claim 1, characterized in that The original yaw data includes sub-yaw data in different bands.

3. The method according to claim 2, characterized in that Performing Savitzky-Golay filtering on the target yaw data to obtain the theoretical grayscale value of the CCD detector includes: Performing Savitzky-Golay filtering on the sub-yaw data to obtain a sub-theoretical grayscale value of the CCD detector; Based on the sub-theoretical grayscale values ​​of the CCD detector corresponding to the sub-yaw data of different bands, the theoretical grayscale value of the CCD detector is obtained.

4. The method according to claim 3, characterized in that Calculating detector parameters of the CCD detector based on a least squares algorithm, a theoretical grayscale value of the CCD detector, and the target yaw data, including: Calculating sub-detector parameters of the CCD detector based on the least squares algorithm, the sub-theoretical grayscale value and the target yaw data; Based on the sub-detector parameters corresponding to different bands, the detector parameters of the CCD detector are obtained.

5. The method according to claim 4, characterized in that Based on the detector parameters of the CCD detector, relative radiometric calibration is performed on the raw yaw data to obtain a relative radiometric calibration result of the raw yaw data, including: performing relative radiometric calibration on the sub-detector parameters of the CCD detector and the sub-yaw data corresponding to the sub-detector parameters to obtain a sub-relative radiometric calibration result; Based on the sub-relative radiometric calibration result, a relative radiometric calibration result of the original yaw data is obtained.

6. A relative radiometric calibration device for remote sensing images with a 90-degree yaw angle, characterized in that: include: Acquisition unit, filtering unit, calculation unit and calibration unit, wherein, The acquisition unit is used to acquire original yaw data and rotate the original yaw data by 45 degrees to obtain target yaw data, wherein the original yaw data is a remote sensing image of the ground object collected by the CCD detectors in the CCD linear array when the CCD linear array is yawed by 90 degrees; The filtering unit is configured to perform Savitzky-Golay filtering on the target yaw data to obtain a theoretical grayscale value of the CCD detector, wherein the Savitzky-Golay filtering uses a polynomial fitting window with an order less than 2 and a number of points greater than 100; The calculation unit is used to calculate the detector parameters of the CCD detector based on the least squares algorithm, the theoretical grayscale value of the CCD detector and the target yaw data, wherein the detector parameters include: a gain parameter and a bias parameter; The calibration unit is configured to perform relative radiometric calibration on the original yaw data based on the detector parameters to obtain a relative radiometric calibration result of the original yaw data.

7. The device according to claim 6, characterized in that The original yaw data includes sub-yaw data in different bands.

8. The device according to claim 7, characterized in that The filtering unit is used to: Performing Savitzky-Golay filtering on the sub-yaw data to obtain a sub-theoretical grayscale value of the CCD detector; Based on the sub-theoretical grayscale values ​​of the CCD detector corresponding to the sub-yaw data of different bands, the theoretical grayscale value of the CCD detector is obtained.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory is used to store a program for supporting the processor to execute the method according to any one of claims 1 to 5, and the processor is configured to execute the program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are executed.

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