A micro light camera image shift compensation system

Abstract

This invention proposes a low-light camera image shift compensation system, which includes an accelerometer, an angular accelerometer, a data acquisition circuit, a data processing circuit, and a camera integrated electronic device. The accelerometer and angular accelerometer are installed on the camera's optical elements and focal plane, respectively, to collect displacement acceleration and angular acceleration signals, which are then transmitted to the data acquisition circuit for analog-to-digital conversion. Based on the camera's timing signals, the data is uploaded to the data processing circuit, which generates optical axis change data for the camera and transmits this data to the camera integrated electronic device according to the camera's timing signals. Finally, a camera compensation image is generated. This invention solves the problem of real-time continuous measurement of micro-vibrations of the camera's optical axis in orbit, providing an optical axis testing system that does not rely on imaging equipment, and corrects the geometric quality effects of micro-vibrations on the image in real time.

Description

Technical Field

[0001] This invention relates to an image shift compensation system for a low-light camera, belonging to the field of space optical remote sensing technology. Background Technology

[0002] When a spacecraft is in orbit, it will experience slight vibrations due to various sources of dynamic interference. These vibrations can cause micro-displacements in the internal structural components and optical system elements of the space camera, resulting in low-frequency or high-frequency movements of the camera's optical axis, which in turn affects image quality.

[0003] Currently, existing on-orbit testing methods for micro-vibrations in China fall into two categories. One type measures the acceleration of micro-vibrations on the payload or satellite platform, such as the micro-vibration on-orbit measurement method proposed in the patented satellite on-orbit micro-vibration measurement system (CN201210285482.0). This method uses an accelerometer to test the platform's vibration, but it cannot detect the camera's internal components and therefore cannot reflect the impact of micro-vibrations on the camera's optical axis. The other type uses images, such as the on-orbit optical axis measurement method proposed in the patented remote sensing satellite camera optical axis micro-vibration measurement method (CN201910662419.6). This method calculates changes in the optical axis by comparing two high-frequency images. However, this method requires very high imaging illumination and the calculation requires corresponding points such as roads and buildings. Furthermore, it cannot perform continuous measurements. Low-light imaging has low energy, requires a long time to form an image, and has a low sampling frequency, making it unsuitable for this measurement method. In addition, the micro-vibration testing method proposed in the patented satellite on-orbit micro-vibration measurement system (CN201210285482.0) requires additional imaging equipment, which is often very heavy and not conducive to the lightweighting of space cameras. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art by arranging linear and angular displacement sensors on the optical element to measure the displacement of the optical element and thereby calculate the real-time change data of the optical axis, thus solving the problem of real-time continuous measurement of micro-vibration of the camera optical axis on track, and providing a low-light camera image shift compensation system that can realize real-time measurement of micro-vibration of the camera optical axis on track and correct the influence of micro-vibration on the image.

[0005] The technical solution of this invention:

[0006] A low-light camera image shift compensation system includes: an accelerometer, an angular accelerometer, a data acquisition circuit, a data processing circuit, and integrated camera electronics, wherein:

[0007] Accelerometer: Collects linear displacement acceleration signals of the primary mirror, secondary mirror, tertiary mirror, quaternary mirror, and focal plane of the low-light camera in the X, Y, and Z directions of the camera's body coordinate system, and sends them to the data acquisition circuit.

[0008] Angular acceleration sensor: Collects angular acceleration signals of the primary, secondary, tertiary, and quaternary lenses of the low-light camera in the X, Y, and Z directions of the camera's body coordinate system and sends them to the data acquisition circuit;

[0009] Data acquisition circuit: Receives linear displacement acceleration signal and angular acceleration signal, performs analog-to-digital conversion on them to obtain linear displacement acceleration data and angular acceleration data, and transmits the above linear displacement acceleration data and angular acceleration data to the data processing circuit according to the camera timing signal;

[0010] Data processing circuit: Receives linear displacement acceleration data and angular acceleration data, calculates and generates real-time optical axis change data of the low-light camera, and transmits the real-time optical axis change data to the integrated electronic equipment according to the camera timing signal;

[0011] Integrated electronic equipment: Corrects image geometry and quality based on real-time optical axis change data, generates camera-compensated images; provides power to the low-light camera image shift compensation system; and provides camera timing signals to the data acquisition and data processing circuits.

[0012] Furthermore, the data acquisition circuit includes a digital-to-analog converter and an acquisition and editing control module; the digital-to-analog converter receives linear displacement acceleration signals and angular acceleration signals, and performs analog-to-digital conversion; the acquisition and editing control module is used to transmit the converted linear displacement acceleration data and angular acceleration data to the data processing circuit according to the camera timing signal.

[0013] Furthermore, the data acquisition circuit has a sampling frequency of 10000Hz.

[0014] Furthermore, three accelerometers are evenly distributed on the back of the primary lens, secondary lens, third lens, fourth lens, and focal plane of the low-light camera; and one angular accelerometer is distributed on the back of each of the primary lens, secondary lens, third lens, and fourth lens of the low-light camera.

[0015] Furthermore, the components of the low-light camera image shift compensation system are connected using shielded cables, which enable signal transmission with a voltage of no more than 0.01 millivolts.

[0016] Furthermore, the data processing circuit receives linear displacement acceleration data and angular acceleration data, and calculates and generates real-time optical axis change data for the low-light camera as follows:

[0017] Step 1: The low-light camera uses pushbroom mode for imaging, acquiring images line by line. The time interval between each line is Δt, where Δt = 1 / sampling frequency. Based on the Δt time interval, the linear displacement acceleration data (a) of the first accelerometer sensor on the primary mirror in the X, Y, and Z directions of the camera's body coordinate system are measured. 1x a 1y a 1z , means as follows:

[0018] a 1x =A1*f 1x (t)

[0019] a 1y =A1*f 1y (t)

[0020] a 1z =A1*f 1z (t)

[0021] Where A1 represents the maximum value of the current measurement range of the accelerometer, f 1x (t), f 1y (t), f 1z (t) is the sequence of linear displacement acceleration and time-dependent acceleration in the X, Y, and Z directions of the camera body coordinate system, where t = N × Δt, N = 1, 2, 3...;

[0022] Integrating the above formula twice, we obtain the displacement matrix S1 of the first accelerometer sensor on the primary mirror at time t:

[0023]

[0024] Using the same method, the displacement matrices S2 and S3 of the other two accelerometers on the primary mirror at time t are obtained, and their average value is used to obtain the linear displacement of the primary mirror at time t. Using the same method, the linear displacements at time t for the secondary mirror, third mirror, fourth mirror, and focal plane are obtained, respectively, S. 次镜 S 三镜 S 四镜 S 焦面 .

[0025] Step 2: Measure the data from the angular acceleration sensor on the primary mirror in the X, Y, and Z directions of the camera's body coordinate system according to the time interval Δt, and obtain the data as follows: b x b y b z , means as follows:

[0026] b x =B*f x (t);

[0027] b y =B*f x (t);

[0028] b z =B*f z (t);

[0029] Where B represents the maximum value of the angular acceleration sensor's range, f 1x (t), f 1y(t), f 1z (t) is a time-dependent sequence of angular accelerations in the X, Y, and Z directions of the camera body coordinate system, where t = N × Δt, N = 1, 2, 3...;

[0030] Integrating the above formula, the angular displacement of the primary mirror at time t is calculated as follows:

[0031]

[0032] The same method is used to obtain the angular displacement θ of the secondary, third, and fourth mirrors at time t. 次镜 θ 三镜 θ 四镜 ;

[0033] Step 3: Based on the linear and angular displacement data generated in Steps 1 and 2, obtain the six-degree-of-freedom displacement matrix M of the camera optical elements at time t:

[0034] M = [S 主镜 θ 主镜 S 次镜 θ 次镜 S 三镜 θ 三镜 S 四镜 θ 四镜 S 焦面 0];

[0035] Step 4: Calculate the optical axis sensitivity matrix N′; Multiply the six-degree-of-freedom displacement matrix M of the optical element with the optical axis sensitivity matrix N′ to obtain the real-time optical axis change data L of the camera at time t:

[0036] L = M × N′.

[0037] Furthermore, the process of generating the camera-compensated image is as follows:

[0038] S1. The focal length of the camera is F, and the pixel size of the camera detector is D. The real-time image shift data Q = F * L / D is obtained by multiplying the real-time optical axis change data with the focal length, and the unit is pixels.

[0039] S2. Based on the real-time image shift data Q of the image at time t, the corresponding real-time image shift data Q of the Nth row of the image is obtained as Q. N*Δt N = 1, 2, 3...;

[0040] S3. Shift the original position of the Nth row of pixels in the camera image to the left using real-time image shift data Q. N*Δt This allows us to obtain a camera-compensated image.

[0041] Furthermore, when generating camera-compensated images, the integrated electronic device saves real-time image shift data in the corresponding rows of the camera-compensated images.

[0042] Furthermore, the accelerometer has a measurement accuracy of 0.01 mg; the angular accelerometer has a measurement accuracy of 0.001″.

[0043] Compared with the prior art, the present invention has the following advantages:

[0044] (1) This invention indirectly obtains the change in optical axis by testing the six degrees of freedom displacement of each optical element, without the need for additional imaging equipment to measure images at high frequency. It provides an optical axis testing system that does not rely on imaging equipment and corrects the influence of micro-vibration geometric quality of the image in real time.

[0045] (2) The sampling frequency provided by this invention is up to 10000Hz, which completely covers the frequency of the on-board oscillator; the optical axis angle measurement angle reaches 0.001″; it can test the optical axis change in real time and continuously, and has the characteristics of high sampling frequency and high testing accuracy.

[0046] (3) The total weight of the system implemented by this invention is 2.5kg, the accelerometer weighs 37g, and it can be deployed on large, medium and small optical components without affecting other camera models, and has strong expansion adaptability. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of an image shift compensation system for a low-light camera.

[0048] Figure 2 For each row of the original image measured by the system, the image shift is calculated.

[0049] Figure 3 This is the image after system image shift compensation;

[0050] Figure 4 The original image from the camera;

[0051] Figure 5 The image after compensation. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0053] The technical solution of this invention:

[0054] Appendix Figure 1 This is a schematic diagram of an image shift compensation system for a low-light camera. The system includes: an accelerometer, an angular accelerometer, a data acquisition circuit, a data processing circuit, and integrated camera electronics. All components are connected using shielded cables, which transmit signals at a voltage not exceeding 0.01 millivolts.

[0055] Accelerometer: Collects linear displacement acceleration signals of the primary mirror, secondary mirror, third mirror, fourth mirror, and focal plane of the low-light camera in the X, Y, and Z directions of the camera body coordinate system and sends them to the data acquisition circuit; Three accelerometers are evenly distributed on the back of the primary mirror, secondary mirror, third mirror, fourth mirror, and focal plane of the low-light camera; The measurement accuracy of the accelerometer is 0.01mg.

[0056] Angular acceleration sensor: Collects angular acceleration signals of the primary, secondary, tertiary, and quaternary lenses of the low-light camera in the X, Y, and Z directions of the camera body coordinate system and sends them to the data acquisition circuit; one angular acceleration sensor is installed on the back of each of the primary, secondary, tertiary, and quaternary lenses of the low-light camera; the measurement accuracy of the angular acceleration sensor is 0.001″.

[0057] Data acquisition circuit: Receives linear displacement acceleration signals and angular acceleration signals, performs analog-to-digital conversion to obtain linear displacement acceleration data and angular acceleration data, and transmits the above linear displacement acceleration data and angular acceleration data to the data processing circuit according to the camera timing signal; the data acquisition circuit includes a digital-to-analog converter and an acquisition and editing control module; the digital-to-analog converter receives linear displacement acceleration signals and angular acceleration signals and performs analog-to-digital conversion; the acquisition and editing control module is used to transmit the converted linear displacement acceleration data and angular acceleration data to the data processing circuit according to the camera timing signal; the sampling frequency of the data acquisition circuit is 10000Hz.

[0058] Data processing circuit: Receives linear displacement acceleration data and angular acceleration data, calculates and generates real-time optical axis change data of the low-light camera, and transmits the real-time optical axis change data to the integrated electronic equipment according to the camera timing signal.

[0059] Integrated electronic equipment: Corrects image geometry and quality based on real-time optical axis change data, generates camera-compensated images; provides power to the low-light camera image shift compensation system; and provides camera timing signals to the data acquisition and data processing circuits.

[0060] The data processing circuit receives linear displacement acceleration data and angular acceleration data, and calculates and generates real-time optical axis change data for the low-light camera as follows:

[0061] Step 1: The low-light camera uses pushbroom mode for imaging, acquiring images line by line. The time interval between each line is Δt, where Δt = 1 / sampling frequency. Based on the Δt time interval, the linear displacement acceleration data (a) of the first accelerometer sensor on the primary mirror in the X, Y, and Z directions of the camera's body coordinate system are measured. 1x a 1y a 1z , means as follows:

[0062] a 1x =A1*f 1x (t)

[0063] a 1y =A1*f 1y (t)

[0064] a 1z =A1*f 1z (t)

[0065] Where A1 represents the maximum value of the current measurement range of the accelerometer, f 1x (t), f 1y (t), f 1z (t) is the sequence of linear displacement acceleration and time-dependent acceleration in the X, Y, and Z directions of the camera body coordinate system, where t = N × Δt, N = 1, 2, 3...;

[0066] Integrating the above formula twice, we obtain the displacement matrix S1 of the first accelerometer sensor on the primary mirror at time t:

[0067]

[0068] Using the same method, the displacement matrices S2 and S3 of the other two accelerometers on the primary mirror at time t are obtained, and their average value is used to obtain the linear displacement of the primary mirror at time t. Using the same method, the linear displacements at time t for the secondary mirror, third mirror, fourth mirror, and focal plane are obtained, respectively, S. 次镜 S 三镜 S 四镜 S 焦面 .

[0069] Step 2: Measure the data from the angular acceleration sensor on the primary mirror in the X, Y, and Z directions of the camera's body coordinate system according to the time interval Δt, and obtain the data as follows: b x b y b z , means as follows:

[0070] b x =B*f x (t);

[0071] b y =B*f x (t);

[0072] b z =B*f z (t);

[0073] Where B represents the maximum value of the angular acceleration sensor's range, f 1x (t), f 1y (t), f 1z(t) is a time-dependent sequence of angular accelerations in the X, Y, and Z directions of the camera body coordinate system, where t = N × Δt, N = 1, 2, 3...;

[0074] Integrating the above formula, the angular displacement of the primary mirror at time t is calculated as follows:

[0075]

[0076] The same method is used to obtain the angular displacement θ of the secondary, third, and fourth mirrors at time t. 次镜 θ 三镜 θ 四镜 ;

[0077] Step 3: Based on the linear and angular displacement data generated in Steps 1 and 2, obtain the six-degree-of-freedom displacement matrix M of the camera optical elements at time t:

[0078] M = [S 主镜 θ 主镜 S 次镜 θ 次镜 S 三镜 θ 三镜 S 四镜 θ 四镜 S 焦面 0];

[0079] Step 4: Calculate the optical axis sensitivity matrix N′; Multiply the six-degree-of-freedom displacement matrix M of the optical element with the optical axis sensitivity matrix N′ to obtain the real-time optical axis change data L of the camera at time t:

[0080] L = M × N′;

[0081] The process of generating camera-compensated images is as follows:

[0082] S1. The focal length of the camera is F, and the pixel size of the camera detector is D. The real-time image shift data Q = F * L / D is obtained by multiplying the real-time optical axis change data with the focal length, and the unit is pixels.

[0083] S2. Based on the real-time image shift data Q of the image at time t, the corresponding real-time image shift data Q of the Nth row of the image is obtained as Q. N*Δt N = 1, 2, 3...;

[0084] S3. Shift the original position of the Nth row of pixels in the camera image to the left using real-time image shift data Q. N*Δt This process yields the camera-compensated image. Simultaneously, real-time image shift data is stored in the corresponding row of the camera-compensated image.

[0085] like Figure 2 For each row of the original image measured by the system, Figure 3 This is the image after system image shift compensation.

[0086] Example:

[0087] As attached Figure 1 As shown, three accelerometers 6 and one angular accelerometer 7 are installed on each of the camera's optical elements, including the primary lens 1, secondary lens 2, tertiary lens 3, quaternary lens 4, and focal plane 5. The data measured by these sensors is transmitted to a data acquisition circuit 9 via a shielded cable 8. The data acquisition circuit 9 digitizes the data and transmits it to a data processing circuit 10. The data processing circuit integrates the translational displacement of the three points using the accelerometers and integrates the angular displacement of the optical elements using the angular accelerometer. The displacement of the optical elements and the displacement of the optical axis have a constant mathematical relationship matrix, called the optical axis sensitivity matrix. This matrix is ​​written into the data processing circuit, which multiplies the collected optical element displacements by the optical axis sensitivity matrix to obtain real-time optical axis change data. The data processing circuit transmits the calculated real-time optical axis change data to the camera integrated electronic device 11, where the camera integrated electronic device obtains the camera-compensated image. This optical axis acquisition method does not rely on image imaging and can perform real-time, uninterrupted acquisition of optical axis micro-vibrations.

[0088] Accelerometers and angular acceleration sensors use high-performance shielded cables to output voltage amplitude. The data acquisition circuit converts the voltage into corresponding engineering units such as acceleration and angular acceleration.

[0089] The accelerometer measurement accuracy should reach 0.01mg. The data acquisition circuit is set with an accelerometer measurement range that can be switched between 30mg, 100mg, and 200mg.

[0090] The data acquisition circuit sets the sampling frequency to cover the image acquisition frequency. Considering that the interval between each row of images in this example is 200 microseconds, which is equivalent to a frequency of 5000Hz, the data acquisition circuit sets the sampling frequency to 10000Hz to cover the image sampling frequency. Since the micro-vibration frequency on the satellite rarely exceeds 500Hz, according to Shannon's sampling theorem, the sampling circuit can also cover the actual vibration frequency.

[0091] The power bus voltage of the data acquisition circuit is 42V. The data acquisition circuit has a remote control and telemetry interface to receive flutter power-on and flutter power-off commands provided by the camera's integrated electronics. The electrical connector between the data acquisition circuit and the data processing circuit uses the Guizhou Aviation Industry Group J30JHT15TJCAN07 connector.

[0092] The data processing circuit receives a synchronization signal from the camera's integrated electronics. This synchronization signal varies with the integration time, with a minimum of 30.4 μs. The data acquisition and processing circuits are required to output data synchronously once per line to match the image timing, facilitating subsequent image correction.

[0093] The camera's integrated electronics provide a 16-byte auxiliary data channel in the image auxiliary data for storing micro-vibration acquisition information.

[0094] The system metrics are as follows:

[0095] Table 1 System Indicators

[0096]

[0097]

[0098] In this example, the acquisition system has a range of 30mg, and the image line interval Δt = 200 microseconds. The linear displacement acceleration data of the first accelerometer on the primary mirror in the X, Y, and Z directions within the time interval N*Δt are measured according to the Δt interval. 1x =30*[0 0.05 0.2 0.8…..1…], a 1y =30*[0 0.03 0.6 0.7…..0.8…], a 1z =30*[0 0.04 0.5 0.4…..0.9…], the second accelerometer measures the linear displacement acceleration data in the X, Y, Z directions as 30*[0 0.05 0.1 0.8…..1…], [0 0.02 0.55 0.4…..0.75…], 30*30*[0 0.03 0.6 0.4…..0.85…], the third accelerometer measures the linear displacement in the X, Y, Z directions as 30*[0 0.04 0.22 0.75…..0.9…], 30*[0 0.04 0.1 0.7…..0.9…], 30*[0 0.05 0.2 0.4…..0.8…], the unit is mg.

[0099] The data from the three linear accelerometers are integrated twice and averaged to obtain the three-directional linear displacement data of the primary mirror over a time interval of N*Δt. This matrix is ​​a 3xN matrix, and the unit is micrometers.

[0100] The angular acceleration sensor measures the X, Y, and Z angular displacements within a time interval of Δt over a period of N*Δt as [0 43.6 2.1…..1…], [0 2 1.8 2.1…..1…], and [0 2 3.6 1.1…..3…], respectively. The units are μrad / s. 2

[0101] Integrating the data from the angular accelerometer twice, we obtain the three-directional angular displacement data of the primary mirror within the time interval N*Δt. This matrix is ​​a 3xN matrix, and its unit is μrad.

[0102] The same method was used to obtain the six-degree-of-freedom displacements of the secondary mirror, tertiary mirror, quaternary mirror, and focal plane.

[0103] Thus, the six-degree-of-freedom displacement matrix M of the camera optical elements at time t (t = N*Δt) is obtained:

[0104] M = [S 主镜 θ 主镜 S 次镜 θ 次镜 S 三镜 θ 三镜 S 四镜 θ 四镜 S 焦面 0];

[0105] The optical axis (LOS) sensitivity matrix of the camera was calculated using CODV, and the result is shown in the table below.

[0106] Table 2 Optical Axis Sensitivity Matrix

[0107]

[0108] Transform the table into a matrix to obtain Multiplying M by the sensitivity matrix yields the optical axis at time t: L = [0 0.1 0.3….0.5…..] μrad;

[0109] The camera's focal length F is 14000mm. According to the formula Q = F * L / D, the image displacement during the time interval t = N * Δt is Q = [0 0.2 0.6…..1….], in pixels; see attached. Figure 4 , is the camera's original image.

[0110] Reverse the original position of each row of pixels in the camera image by shifting the real-time image shift data Q. N*Δt As attached Figure 5 Generate camera geometric compensation images.

[0111] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A low-light camera image shift compensation system, characterized in that, The system includes: an accelerometer, an angular accelerometer, a data acquisition circuit, a data processing circuit, and a camera integrated electronic device, wherein: Accelerometer: Collects linear displacement acceleration signals of the primary mirror, secondary mirror, third mirror, fourth mirror, and focal plane of the low-light camera in the X, Y, and Z directions of the camera body coordinate system, and sends them to the data acquisition circuit. Angular acceleration sensor: Collects angular acceleration signals of the primary, secondary, tertiary, and quaternary lenses of the low-light camera in the X, Y, and Z directions of the camera's body coordinate system and sends them to the data acquisition circuit; Data acquisition circuit: Receives linear displacement acceleration signal and angular acceleration signal, performs analog-to-digital conversion on them to obtain linear displacement acceleration data and angular acceleration data, and transmits the above linear displacement acceleration data and angular acceleration data to the data processing circuit according to the camera timing signal; Data processing circuit: Receives linear displacement acceleration data and angular acceleration data, calculates and generates real-time optical axis change data of the low-light camera, and transmits the real-time optical axis change data to the integrated electronic equipment according to the camera timing signal; Integrated electronic equipment: Corrects image geometry and quality based on real-time optical axis change data, generates camera-compensated images; provides power to the low-light camera image shift compensation system; and provides camera timing signals to the data acquisition and data processing circuits.

2. A low-light camera image shift compensation system according to claim 1, characterized in that: The data acquisition circuit includes a digital-to-analog converter and an acquisition and editing control module; The analog-to-digital converter receives linear displacement acceleration signals and angular acceleration signals, and performs analog-to-digital conversion; the acquisition and editing control module is used to transmit the converted linear displacement acceleration data and angular acceleration data to the data processing circuit according to the camera timing signal.

3. A low-light camera image shift compensation system according to claim 2, characterized in that: The data acquisition circuit has a sampling frequency of 10000Hz.

4. A low-light camera image shift compensation system according to claim 1, characterized in that: Three accelerometers are evenly distributed on the back of the primary lens, secondary lens, third lens, fourth lens, and focal plane of the low-light camera; one angular accelerometer is distributed on the back of each of the primary lens, secondary lens, third lens, and fourth lens of the low-light camera.

5. A low-light camera image shift compensation system according to claim 1, characterized in that: The components of the low-light camera image shift compensation system are connected by shielded cables, which enable signal transmission with a voltage of no more than 0.01 millivolts.

6. A low-light camera image shift compensation system according to claim 1, characterized in that: The data processing circuit receives linear displacement acceleration data and angular acceleration data, and calculates and generates real-time optical axis change data for the low-light camera as follows: Step 1: The low-light camera uses pushbroom mode for imaging, acquiring images line by line. The time interval between each line is Δt, where Δt = 1 / sampling frequency. Based on the Δt time interval, the linear displacement acceleration data (a) of the first accelerometer sensor on the primary mirror in the X, Y, and Z directions of the camera's body coordinate system are measured. 1x a 1y a 1z , means as follows: a 1x =A1*f 1x (t) a 1y =A1*f 1y (t) a 1z =A1*f 1z (t) Where A1 represents the maximum value of the current measurement range of the accelerometer, f 1x (t), f 1y (t), f 1z (t) is the sequence of linear displacement acceleration and time-dependent acceleration in the X, Y, and Z directions of the camera body coordinate system, where t = N × Δt, N = 1, 2, 3...; Integrating the above formula twice, we obtain the displacement matrix S1 of the first accelerometer sensor on the primary mirror at time t: Using the same method, the displacement matrices S2 and S3 of the other two accelerometers on the primary mirror at time t are obtained, and their average value is used to obtain the linear displacement of the primary mirror at time t. Using the same method, the linear displacements at time t for the secondary mirror, third mirror, fourth mirror, and focal plane are obtained, respectively, S. 次镜 S 三镜 S 四镜 S 焦面； Step 2: Measure the data from the angular acceleration sensor on the primary mirror in the X, Y, and Z directions of the camera's body coordinate system according to the time interval Δt, and obtain the data as follows: b x b y b z , means as follows: b x =B*f x (t); b y =B*f x (t); b z =B*f z (t); Where B represents the maximum value of the current measurement range of the angular acceleration sensor, f 1x (t), f 1y (t), f 1z (t) is a time-dependent sequence of angular accelerations in the X, Y, and Z directions of the camera body coordinate system, where t = N × Δt, N = 1, 2, 3...; Integrating the above formula, the angular displacement of the primary mirror at time t is calculated as follows: The same method is used to obtain the angular displacement θ of the secondary, third, and fourth mirrors at time t. 次镜 θ 三镜 θ 四镜 ; Step 3: Based on the linear and angular displacement data generated in Steps 1 and 2, obtain the six-degree-of-freedom displacement matrix M of the camera optical elements at time t: M=[S 主镜 i 主镜 S 次镜 i 次镜 S 三镜 i 三镜 S 四镜 i 四镜 S 焦面 0]; Step 4: Calculate the optical axis sensitivity matrix N′; Multiply the six-degree-of-freedom displacement matrix M of the optical element with the optical axis sensitivity matrix N′ to obtain the real-time optical axis change data L of the camera at time t: L = M × N′.

7. A low-light camera image shift compensation system according to claim 6, characterized in that, The process of generating camera-compensated images is as follows: S1. The focal length of the camera is F, and the pixel size of the camera detector is D. The real-time image shift data Q = F * L / D is obtained by multiplying the real-time optical axis change data with the focal length, and the unit is pixels. S2. Based on the real-time image shift data Q of the image at time t, the corresponding real-time image shift data Q of the Nth row of the image is obtained as Q. N*Δt N = 1, 2, 3...; S3. Shift the original position of the Nth row of pixels in the camera image to the left using real-time image shift data Q. N*Δt This allows us to obtain a camera-compensated image.

8. A low-light camera image shift compensation system according to claim 1, characterized in that: When generating camera-compensated images, the integrated electronic equipment stores real-time image shift data in the corresponding row of the camera-compensated image.

9. A low-light camera image shift compensation system according to claim 1, characterized in that: The accelerometer has a measurement accuracy of 0.01 mg; the angular accelerometer has a measurement accuracy of 0.001″.

10. A low-light camera image shift compensation system according to claim 1, characterized in that: The accelerometer has three measurement ranges: 30mg, 100mg, and 200mg. The integrated electronic equipment sends a range selection command to the accelerometer through the data acquisition circuit to set the measurement range.

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