A Hyperspectral Image Acquisition System and Method Based on Inertial Navigation Data

Abstract

The present invention relates to a hyperspectral image acquisition system based on inertial navigation data, and the system includes: an autonomous mobile platform, on which a global satellite navigation system receiver, an inertial navigation system, a hyperspectral camera and a controller are provided; the global satellite navigation system receiver is used for receiving GNSS signals; the controller is used for uniformly timing the inertial navigation system and the hyperspectral camera according to the GNSS signals; the hyperspectral camera is used for collecting hyperspectral array images and collection time values, and the inertial navigation system is used for collecting relative position information of the center points of the hyperspectral array images and collection time values; the controller is further used for using the collection time values obtained by the hyperspectral camera and the collection time values obtained by the inertial navigation system, and splicing each frame of hyperspectral array images according to the relative position information of the center points of each frame of hyperspectral array images to obtain a spliced hyperspectral image. The present invention improves the splicing efficiency of hyperspectral images.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and particularly to a hyperspectral image acquisition system and method based on inertial navigation data. Background Art

[0002] Autonomous mobile platforms such as ground robots and unmanned aerial vehicles are often equipped with inertial navigation (hereinafter referred to as inertial navigation). Inertial navigation can obtain velocity, yaw angle, and relative position information in the navigation coordinate system by measuring the acceleration of the carrier in the inertial reference frame and integrating it over time. Because inertial navigation can be independent of external information, does not radiate energy outward, and has strong anti-interference ability, it can complete navigation tasks autonomously relying entirely on on-board equipment, and the working environment can be in the air, on the ground, or even underwater. Due to the role of the spectrometer, a single hyperspectral imaging consists of multiple lines arranged in space, and each line has spectral information of a certain specific band, that is, one line corresponds to one spectral plane, and is composed of multiple bands arranged together. To obtain two-dimensional information, it is necessary to take pictures multiple times through external or internal push-broom methods and splice these linear arrays together to form a complete planar image and spectral data acquisition.

[0003] Hyperspectral technology is currently widely used and has great prospects, but the data information contained in a single hyperspectral scan is too small and needs to be spliced. The current splicing method uses image processing algorithms such as feature point matching and obtaining overlapping regions, with long post-processing time, high difficulty, and poor adaptability. Summary of the Invention

[0004] The purpose of the present invention is to provide a hyperspectral image acquisition system and method based on inertial navigation data, which improves the splicing efficiency of hyperspectral images.

[0005] To achieve the above object, the present invention provides the following solution:

[0006] A hyperspectral image acquisition system based on inertial navigation data includes: an autonomous mobile platform, on which a global satellite navigation system receiver, an inertial navigation system, a hyperspectral camera, and a controller are provided; the global satellite navigation system receiver is used to receive GNSS signals; the controller is used to perform unified timing on the inertial navigation system and the hyperspectral camera according to the GNSS signals; the hyperspectral camera is used to collect hyperspectral array images and acquisition time values, and the inertial navigation system is used to collect relative position information and acquisition time values of the center points of the hyperspectral array images; the controller is further used to use the acquisition time values obtained by the hyperspectral camera and the acquisition time values obtained by the inertial navigation system, and splice each frame of hyperspectral array images according to the relative position information of the center points of each frame of hyperspectral array images to obtain a spliced hyperspectral image.

[0007] Optionally, the controller is further configured to use the starting point of the inertial navigation system to start collecting information as the origin, obtain the relative position information of the center point of the corresponding hyperspectral array image from the inertial navigation system according to each collection time value, and place each frame of hyperspectral array image in the plane rectangular coordinate system according to the relative position information of the center point, so as to obtain the spliced hyperspectral image.

[0008] Optionally, the autonomous mobile platform includes a ground mobile robot and a drone.

[0009] The present invention discloses a method for obtaining a hyperspectral image based on inertial navigation data, including:

[0010] Receiving GNSS signals through a global satellite navigation system receiver;

[0011] Synchronizing the time for the inertial navigation system and the hyperspectral camera on the autonomous mobile platform according to the GNSS signals;

[0012] Collecting hyperspectral array images and collection time values through the hyperspectral camera, and collecting the relative position information of the center point of the hyperspectral array image and the collection time value through the inertial navigation system;

[0013] Using the collection time values obtained by the hyperspectral camera and the collection time values obtained by the inertial navigation system, and splicing each frame of hyperspectral array image according to the relative position information of the center point of each frame of hyperspectral array image to obtain the spliced hyperspectral image.

[0014] Optionally, the step of using the collection time values obtained by the hyperspectral camera and the collection time values obtained by the inertial navigation system, and splicing each frame of hyperspectral array image according to the relative position information of the center point of each frame of hyperspectral array image to obtain the spliced hyperspectral image specifically includes:

[0015] Using the starting point of the inertial navigation system to start collecting information as the origin, obtaining the relative position information of the center point of the corresponding hyperspectral array image from the inertial navigation system according to each collection time value, and placing each frame of hyperspectral array image in the plane rectangular coordinate system according to the relative position information of the center point, so as to obtain the spliced hyperspectral image.

[0016] Optionally, the autonomous mobile platform includes a ground mobile robot and a drone.

[0017] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0018] The present invention discloses a hyperspectral image acquisition system and method based on inertial navigation data. The hyperspectral images are stitched based on inertial navigation, without the need to use complex image processing algorithms such as feature point matching. It is fast, simple and practical. Stitching can be achieved only by using the position information, which improves the stitching efficiency of hyperspectral images. Moreover, the present invention is not limited to the image stitching direction, that is, with the position information, stitching can be performed horizontally, vertically or diagonally. Therefore, it does not limit the moving direction of the autonomous mobile platform and is more suitable for outdoor scientific research environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 Schematic structural diagram of a hyperspectral image acquisition system based on inertial navigation data according to the present invention;

[0021] Figure 2 Schematic flow diagram of a hyperspectral image acquisition method based on inertial navigation data according to the present invention;

[0022] Symbol description:

[0023] 1 - Global Navigation Satellite System, 2 - Global Navigation Satellite System receiver, 3 - Autonomous mobile platform, 4 - Inertial navigation system, 5 - Hyperspectral camera. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.

[0025] The object of the present invention is to provide a hyperspectral image acquisition system and method based on inertial navigation data, which improves the stitching efficiency of hyperspectral images.

[0026] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0027] Figure 1 Schematic structural diagram of a hyperspectral image acquisition system based on inertial navigation data according to the present invention, as Figure 1As shown in the figure, a hyperspectral image acquisition system based on inertial navigation data includes: an autonomous mobile platform 3, on which a global satellite navigation system receiver 2, an inertial navigation system 4, a hyperspectral camera 5 and a controller are provided; the global satellite navigation system receiver 2 is used to receive GNSS (Global Navigation Satellite System 1) signals; the controller is used to uniformly time the inertial navigation system 4 and the hyperspectral camera 5 according to the GNSS signals; the hyperspectral camera 5 is used to collect hyperspectral array images and the acquisition time values, and the inertial navigation system 4 is used to collect the relative position information of the center point of the hyperspectral array image and the acquisition time values; the controller is also used to utilize the acquisition time values obtained by the hyperspectral camera 5 and the acquisition time values obtained by the inertial navigation system 4, and splice each frame of hyperspectral array image according to the relative position information of the center point of each frame of hyperspectral array image to obtain the spliced hyperspectral image.

[0028] The controller is also used to take the starting point where the inertial navigation system 4 starts to collect information as the origin, obtain the relative position information of the center point of the corresponding hyperspectral array image from the inertial navigation system 4 according to each acquisition time value, and place each frame of hyperspectral array image in the plane rectangular coordinate system according to the relative position information of the center point to obtain the spliced hyperspectral image.

[0029] The hyperspectral camera 5 and the inertial navigation are fixed on the autonomous mobile platform 3.

[0030] Global Navigation Satellite System (GNSS) positioning uses observables such as the pseudorange, ephemeris, and satellite transmission time of a group of satellites, and the user clock offset must also be known. The Global Navigation Satellite System is a space-based radio navigation positioning system that can provide users with all-weather 3D coordinates, speed, and time information at any location on the Earth's surface or near-Earth space.

[0031] The principle of timing using the GNSS satellite signal is to use the 1PPS second pulse output by GNSS as the reference second pulse for the subsequent timing link.

[0032] The global satellite navigation system receiver 2 is specifically a timing receiver based on GNSS, and directly times the inertial navigation system 4 and the hyperspectral camera 5 through the timing receiver based on GNSS, that is, time synchronization.

[0033] The working process of a hyperspectral image acquisition system based on inertial navigation data includes:

[0034] After the autonomous mobile platform 3 starts working, the hyperspectral camera 5 and the inertial navigation (inertial navigation system 4) start collecting data simultaneously. During the collection process, the hyperspectral camera 5 and the inertial navigation do not interfere with each other and collect information independently. Using the unified timing implemented by the control, the information collected by the hyperspectral camera 5 is the linear array image (hyperspectral array image) at the current moment, and the data collected by the inertial navigation is the relative position information of the center point of the hyperspectral array image and the current moment value.

[0035] After the hyperspectral camera 5 finishes new collection, using the one-to-one correspondence of the collection moment values in the hyperspectral camera 5 and the inertial navigation, the center point of each frame of the linear array image of the hyperspectral is matched with the relative position information of this center point, that is, the relative position information of the center point is obtained.

[0036] Taking the starting point when the hyperspectral camera 5 and the inertial navigation start collecting information as the origin, each frame of the hyperspectral array image collected by the hyperspectral camera 5 is placed one by one in the plane rectangular coordinate system according to the relative coordinate position information of the center point, and finally the stitching is realized.

[0037] The autonomous mobile platform 3 includes a ground mobile robot, an autonomous vehicle, and an unmanned aerial vehicle.

[0038] The present invention stitches hyperspectral images based on inertial navigation, does not need to use complex image processing algorithms such as feature point matching, is fast, simple and practical, and can realize stitching only by using position information.

[0039] The present invention is not limited to the image stitching direction, that is, with position information, it can be stitched horizontally, vertically, or obliquely. Therefore, it does not limit the moving direction of the autonomous mobile platform and is more suitable for outdoor scientific research environments.

[0040] Figure 2 It is a schematic flow diagram of a method for obtaining a hyperspectral image based on inertial navigation data according to the present invention. As Figure 2 shown, a method for obtaining a hyperspectral image based on inertial navigation data includes:

[0041] Step 101: Receive GNSS signals through a global satellite navigation system receiver.

[0042] Step 102: Perform unified timing for the inertial navigation system and the hyperspectral camera on the autonomous mobile platform according to the GNSS signals.

[0043] Step 103: Collect a hyperspectral array image and a collection moment value through the hyperspectral camera, and collect the relative position information of the center point of the hyperspectral array image and the collection moment value through the inertial navigation system.

[0044] Step 104: Use the acquisition time value obtained by the hyperspectral camera and the acquisition time value obtained by the inertial navigation system to splice each frame of hyperspectral array image according to the relative position information of the center points of each frame of hyperspectral array image, and obtain the spliced hyperspectral image.

[0045] Among them, step 104 specifically includes:

[0046] Taking the starting point of the inertial navigation system to start collecting information as the origin, obtain the relative position information of the center points of the corresponding hyperspectral array images from the inertial navigation system according to each acquisition time value, and place each frame of hyperspectral array image in the plane rectangular coordinate system according to the relative position information of the center points, and obtain the spliced hyperspectral image.

[0047] The autonomous mobile platform includes a ground mobile robot and a drone.

[0048] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0049] Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A hyperspectral image acquisition system based on inertial navigation data, characterized in that, Comprising: An autonomous mobile platform, on which a global satellite navigation system receiver, an inertial navigation system, a hyperspectral camera and a controller are provided; the global satellite navigation system receiver is used for receiving GNSS signals; The controller is used for uniformly timing the inertial navigation system and the hyperspectral camera according to the GNSS signals; the hyperspectral camera is used for collecting hyperspectral array images and collection time values, and the inertial navigation system is used for collecting relative position information of the center points of the hyperspectral array images and collection time values; the controller is further used for using the collection time values obtained by the hyperspectral camera and the collection time values obtained by the inertial navigation system, and splicing each frame of hyperspectral array image according to the relative position information of the center points of each frame of hyperspectral array image to obtain a spliced hyperspectral image; The controller is further used for taking the starting point where the inertial navigation system starts to collect information as the origin, obtaining the relative position information of the center points of the corresponding hyperspectral array images from the inertial navigation system according to each collection time value, and placing each frame of hyperspectral array image in a plane rectangular coordinate system according to the relative position information of the center points to obtain a spliced hyperspectral image.

2. The hyperspectral image acquisition system based on inertial navigation data according to claim 1, characterized in that The autonomous mobile platform includes a ground mobile robot and an unmanned aerial vehicle.

3. A method for acquiring hyperspectral images based on inertial navigation data, characterized in that, Comprising: Receiving GNSS signals through a global satellite navigation system receiver; Uniformly timing the inertial navigation system and the hyperspectral camera on the autonomous mobile platform according to the GNSS signals; Collecting hyperspectral array images and collection time values through the hyperspectral camera, and collecting relative position information of the center points of the hyperspectral array images and collection time values through the inertial navigation system; Using the collection time values obtained by the hyperspectral camera and the collection time values obtained by the inertial navigation system, and splicing each frame of hyperspectral array image according to the relative position information of the center points of each frame of hyperspectral array image to obtain a spliced hyperspectral image; The step of using the collection time values obtained by the hyperspectral camera and the collection time values obtained by the inertial navigation system, and splicing each frame of hyperspectral array image according to the relative position information of the center points of each frame of hyperspectral array image to obtain a spliced hyperspectral image specifically includes: Taking the starting point where the inertial navigation system starts to collect information as the origin, obtaining the relative position information of the center points of the corresponding hyperspectral array images from the inertial navigation system according to each collection time value, and placing each frame of hyperspectral array image in a plane rectangular coordinate system according to the relative position information of the center points to obtain a spliced hyperspectral image.

4. The method for acquiring hyperspectral images based on inertial navigation data according to claim 3, wherein, The autonomous mobile platform includes a ground mobile robot and an unmanned aerial vehicle.

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