A CCD driving system supporting the multi-degree-of-freedom image shift compensation function

Abstract

This application belongs to the field of aerospace technology and provides a CCD drive system that supports multi-degree-of-freedom image motion compensation functions. It includes an aircraft bus, a camera controller connected to the aircraft bus, and also includes a first gradient image motion timing generator, a first horizontal drive circuit, a first vertical drive circuit, a first area CCD detector, and a first detector front-end signal processing module; a second gradient image motion timing generator, a second horizontal drive circuit, a second vertical drive circuit, a second area CCD detector, and a second detector front-end signal processing module; a multi-degree-of-freedom image motion compensation image interface module, a multi-degree-of-freedom image motion compensation image registration module, a multi-degree-of-freedom image motion compensation image fusion module, a multi-degree-of-freedom image motion compensation image recorder, and a ground intelligence processing module. Without additional increasing the system complexity and components, this application realizes the multi-degree-of-freedom compensation function of an airborne camera and has the advantages of reducing the quality, volume, power consumption, and cost of the imaging system.

Description

Technical Field

[0001] This application relates to the field of aerospace technology, and particularly relates to a CCD driving system supporting multi-degree-of-freedom image motion compensation function. Background Art

[0002] During the reconnaissance process, in order to avoid the surveillance of the enemy's radar, the reconnaissance aircraft needs to fly at high speed and low altitude. Flying at low altitude and high speed greatly improves the aircraft's own battlefield survival ability and in-depth reconnaissance and surveillance ability. However, at this time, serious image motion will appear on the target surface of aerial imaging, resulting in blurred aerial imaging. The existence of image motion greatly affects the imaging quality of the camera, and significantly reduces the resolution of aerial photography images. When there is image motion, the target contour captured is not clear, and there is a transition area of varying sizes between the target and the surrounding background, which expands as the image motion increases. When the transition area reaches a certain extent, the imaging of adjacent two targets will overlap each other or even cannot be distinguished. In addition to forward flight, the flight attitude of the reconnaissance aircraft will also be adjusted according to the requirements of technical and tactical needs, such as: pitch, yaw, roll, and compound multi-degree-of-freedom motion. Corresponding to different flight attitudes, different image motion trajectories will be left on the target surface. Therefore, it is of great significance to compensate for the attitude angles generated by the carrier aircraft's flight attitude. Regarding the impact of the carrier aircraft's flight attitude on the imaging performance of the aerial camera and the compensation of the carrier aircraft's flight attitude, domestic and foreign scholars have carried out relevant research. Due to the special use of the aerial camera, the relevant information on platform attitude image motion compensation in foreign research is highly confidential, and the relevant literature introduction is limited.

[0003] Currently developed image motion compensation methods mainly start from three aspects: one is to adopt electronic means to develop a CCD device with Time Delay and Integration (TDI) function, and use charge transfer driving technology for specific CCD devices to control the charge transfer speed of the CCD during the integration time, so as to perform image motion compensation; the second is to study image processing algorithms to achieve the clarification of blurred images or the correction of image rotation through post-processing of images, but image information will be lost; the third is to adopt motion control technology to compensate for the image motion caused by motion imaging by controlling inertial stabilization platforms, scanning mirrors, fast mirrors, etc. This method has very high requirements for structural accuracy, reliability, and stability.

[0004] For domestic and foreign aerial cameras, the camera compensation methods utilize mechanical, optical, image, and electronic image motion compensation methods. Mechanical and optical compensation systems will significantly increase the weight and volume of the aerial camera; the image-based image motion compensation method is a post-compensation method and lacks real-time performance. The electronic image motion compensation methods reported currently mainly use TDICCD for forward image motion compensation and stepped block compensation for aerial anisotropic image motion, but no good solution is given for the multi-degree-of-freedom motion of the aerial camera such as roll, pitch, yaw, and the above combinations, severely restricting the development of image motion compensation technology and high-end CCDs (CCDs supporting on-chip compensation for roll, pitch, yaw, and combined multi-degree-of-freedom dynamic motion). Summary of the Invention

[0005] In view of this, it is necessary to provide a CCD driving system supporting multi-degree-of-freedom image motion compensation function to overcome the defect of the existing technology, which can electronically compensate for the image motion generated by the multi-degree-of-freedom motion of the aerial camera such as yaw, roll, and pitch, and can overcome the disadvantage that the current aerial camera does not have multi-degree-of-freedom electronic image motion compensation.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] A CCD driving system supporting multi-degree-of-freedom image motion compensation function includes an aircraft bus and a camera controller connected to the aircraft bus,

[0008] and also includes a first gradient image motion timing generator, a first horizontal driving circuit, a first vertical driving circuit, a first area CCD detector, and a first detector front-end signal processing module;

[0009] a second gradient image motion timing generator, a second horizontal driving circuit, a second vertical driving circuit, a second area CCD detector, and a second detector front-end signal processing module;

[0010] a multi-degree-of-freedom image motion compensation image interface module, a multi-degree-of-freedom image motion compensation image registration module, a multi-degree-of-freedom image motion compensation image fusion module, a multi-degree-of-freedom image motion compensation image recorder, and a ground intelligence processing module;

[0011] The first gradient image shift timing generator and the second gradient image shift timing generator are respectively connected to the camera controller. The first gradient image shift timing generator is connected to the first horizontal drive circuit and the first vertical drive circuit. The first horizontal drive circuit and the first vertical drive circuit are connected to the first area CCD detector. The first area CCD detector is connected to the first front-end signal processing module of the detector. The second gradient image shift timing generator is connected to the second horizontal drive circuit and the second vertical drive circuit. The second horizontal drive circuit and the second vertical drive circuit are connected to the second area CCD detector. The second area CCD detector is connected to the second front-end signal processing module of the detector.

[0012] The first front-end signal processing module of the detector and the second front-end signal processing module of the detector are respectively connected to the multi-degree-of-freedom image shift compensation image interface module. The multi-degree-of-freedom image shift compensation image interface module, the multi-degree-of-freedom image shift compensation image registration module, the multi-degree-of-freedom image shift compensation image fusion module, the multi-degree-of-freedom image shift compensation image recorder, and the ground intelligence processing module are connected in sequence.

[0013] Further, it also includes a lens, a beam splitter prism, a first lens, and a second lens. The beam splitter prism is arranged at 45°. After the incident light is incident on the beam splitter prism through the lens, it is respectively transmitted to the first lens and reflected to the second lens.

[0014] Further, the first area CCD detector and the second area CCD detector are placed vertically orthogonally, and the charge transfer directions are perpendicular to each other.

[0015] Further, it also includes a first mechanical shutter and a second mechanical shutter. The first mechanical shutter is connected to the first area CCD detector, and the second mechanical shutter is connected to the second area CCD detector.

[0016] Further, the aircraft bus provides aircraft flight parameters, area CCD camera parameters, and detector parameters. The camera controller is used to calculate the task parameters for multi-degree-of-freedom high-dynamic image shift compensation of the aerial camera based on the received aircraft parameters, area CCD camera parameters, and the information of the first area CCD detector and the second area CCD detector, and send the task parameters to the first gradient image shift compensation timing generator and the second gradient image shift compensation timing generator.

[0017] Further, the first gradient image shift timing generator and the second gradient image shift timing generator generate image shift compensation drive timing for driving the gradient charge movement and transfer, as well as the vertical drive timing and horizontal drive timing required by the first area CCD detector and the second area CCD detector when no image shift compensation is performed.

[0018] Further, the first horizontal driving circuit and the second horizontal driving circuit are configured to amplify and translate the received horizontal timing signal and the horizontal-direction charge transfer driving timing, and generate a driving level signal that amplifies the horizontal timing into a driving level with sufficient voltage and current driving capabilities; the first vertical driving circuit and the second vertical driving circuit are configured to amplify and translate the received vertical timing signal and the vertical-direction driving timing, and generate a driving level signal that amplifies the vertical timing into a driving level with sufficient voltage and current driving capabilities.

[0019] Further, the first area CCD detector and the second area CCD detector respectively image the detection scene, and respectively compensate for the image shift in the charge transfer direction of the first area CCD detector and the second area CCD detector.

[0020] Further, the first detector front-end signal processing module and the second detector front-end signal processing module perform correlated double sampling, controllable gain amplification, dark level clamping compensation, and analog-to-digital conversion on the analog signals output by the first area CCD detector and the second area CCD detector;

[0021] The multi-degree-of-freedom image shift compensation image interface module interface circuit is responsible for outputting the digital image signal generated by the analog-to-digital converter; the multi-degree-of-freedom image shift compensation image registration module is used to register the images compensated by the first area CCD detector and the second area CCD detector; the multi-degree-of-freedom image shift compensation image fusion module fuses the registered image shift compensation images; the multi-degree-of-freedom image shift compensation image recorder stores the compensated images and transmits them to the ground intelligence processing system; the user browses and analyzes the image shift compensated images according to the ground intelligence processing system.

[0022] Further, the aircraft bus is an ASM bus; the camera controller is developed using a single-chip microcomputer; the beam splitter prism is an optical beam splitter prism; the first lens and the second lens are optical lenses; the first area array CCD detector and the second area array CCD detector are customized detectors; the first and second gradient image motion compensation timing generators are developed using FPGAs; the first vertical drive circuit, the first horizontal drive circuit, the second vertical drive circuit, and the second horizontal drive circuit are developed using application-specific integrated circuits (ASICs); the first and second detector front-end signal processing circuits are developed using ASICs; the multi-degree-of-freedom image motion compensation interface module is developed using an ASIC; the multi-degree-of-freedom image motion compensation image registration module and the multi-degree-of-freedom image motion compensation image fusion module are developed using DSP chips; the multi-degree-of-freedom image motion compensation image recorder is developed using a dedicated development board; and the ground intelligence processing module is developed using a high-performance industrial computer.

[0023] The advantages of the present application adopting the above technical solutions are as follows:

[0024] The technical solution of the present application realizes the multi-degree-of-freedom compensation function of the aerial camera without additionally increasing the system complexity and components, and has the advantages of reducing the quality, volume, power consumption, and cost of the imaging system. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of the principle of two-dimensional image motion of an aerial camera and a schematic diagram of two-dimensional image motion on the target surface provided by an embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the composition of a CCD drive system supporting the multi-degree-of-freedom image motion compensation function provided by an embodiment of the present application. Detailed Embodiments

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0029] Reasons for two-dimensional image motion:

[0030] During the reconnaissance process, in order to avoid the surveillance of the enemy's radar, the reconnaissance aircraft needs to fly at high speed and low altitude. Flying at low altitude and high speed greatly improves the aircraft's own battlefield survival ability and in-depth reconnaissance and surveillance ability. However, at this time, serious image motion will appear on the target surface of aerial imaging, resulting in blurred aerial imaging. The existence of image motion greatly affects the imaging quality of the camera, significantly reducing the resolution of aerial photography images. When there is image motion, the target contour captured is not clear, and there is a more or less transitional area between the target and the surrounding background, which expands as the image motion increases. When the transitional area reaches a certain degree, the imaging of adjacent two targets will overlap or even cannot be distinguished. In addition to forward flight, the flight attitude of the reconnaissance aircraft will also be adjusted according to the technical and tactical requirements, such as: pitching, yawing and rolling motions. Corresponding to different flight attitudes, different image motion trajectories will be left on the target surface, as Figure 1 shown.

[0031] Embodiment 1

[0032] As Figure 2 shown, the present application provides a CCD driving system supporting a multi-degree-of-freedom image motion compensation function, including an aircraft bus and a camera controller connected to the aircraft bus;

[0033] It further includes a first gradient image motion timing generator, a first horizontal driving circuit, a first vertical driving circuit, a first area array CCD detector, and a first detector front-end signal processing module;

[0034] A second gradient image motion timing generator, a second horizontal driving circuit, a second vertical driving circuit, a second area array CCD detector, and a second detector front-end signal processing module;

[0035] A multi-degree-of-freedom image motion compensation image interface module, a multi-degree-of-freedom image motion compensation image registration module, a multi-degree-of-freedom image motion compensation image fusion module, a multi-degree-of-freedom image motion compensation image recorder, and a ground intelligence processing module;

[0036] The first gradient image motion timing generator and the second gradient image motion timing generator are respectively connected to the camera controller. The first gradient image motion timing generator is connected to the first horizontal driving circuit and the first vertical driving circuit. The first horizontal driving circuit and the first vertical driving circuit are connected to the first area array CCD detector. The first area array CCD detector is connected to the first detector front-end signal processing module; the second gradient image motion timing generator is connected to the second horizontal driving circuit and the second vertical driving circuit. The second horizontal driving circuit and the second vertical driving circuit are connected to the second area array CCD detector. The second area array CCD detector is connected to the second detector front-end signal processing module;

[0037] The front-end signal processing module of the first detector and the front-end signal processing module of the second detector are respectively connected to the multi-degree-of-freedom image motion compensation image interface module, and the multi-degree-of-freedom image motion compensation image interface module, the multi-degree-of-freedom image motion compensation image registration module, the multi-degree-of-freedom image motion compensation image fusion module, the multi-degree-of-freedom image motion compensation image recorder, and the ground intelligence processing module are connected in sequence.

[0038] It further includes a first mechanical shutter and a second mechanical shutter. The first mechanical shutter is connected to the first area array CCD detector, and the second mechanical shutter is connected to the second area array CCD detector.

[0039] The first area array CCD detector and the second area array CCD detector are placed vertically and orthogonally, and the charge transfer directions are perpendicular to each other. The drive system further includes a lens, a beam splitter prism, a first lens, and a second lens. The beam splitter prism is set at 45°. After the incident light passes through the lens and enters the beam splitter prism, it is respectively transmitted to the first lens and reflected to the second lens, and then enters the first area array CCD detector and the second area array CCD detector.

[0040] Specifically, the aircraft bus is connected to the camera controller through the ASM bus; the multi-degree-of-freedom image motion compensation image interface module is connected to the front-end signal processing module of the first detector and the front-end signal processing module of the second detector through the Cameralink interface; the multi-degree-of-freedom image motion compensation image interface module is connected to the multi-degree-of-freedom image motion compensation image registration module through the 3-Wire interface; the multi-degree-of-freedom image motion compensation image registration module is connected to the multi-degree-of-freedom image motion compensation image fusion module through the network interface; the multi-degree-of-freedom image motion compensation image fusion module is connected to the multi-degree-of-freedom image motion compensation recorder through the USB3.0 interface; the multi-degree-of-freedom image motion compensation image recorder is connected to the ground intelligence processing module through the synchronous 422 interface.

[0041] The aircraft bus provides aircraft flight parameters such as flight altitude, flight speed, area array CCD camera parameters such as CCD camera focal length, CCD frame rate, detector parameters such as CCD target surface size, CCD pixel size; the camera controller is used to calculate the task parameters for multi-degree-of-freedom high-dynamic image motion compensation of the aerial camera based on the received aircraft parameters, area array CCD camera parameters, and the information of the first area array CCD detector and the second area array CCD detector, and send the task parameters to the first gradient image motion compensation timing generator and the second gradient image motion compensation timing generator.

[0042] The first gradient image shift timing generator and the second gradient image shift timing generator generate an image shift compensation drive timing for driving the gradient charge movement transfer, as well as the vertical drive timing and the horizontal drive timing required by the first area CCD detector and the second area CCD detector when image shift compensation is not performed.

[0043] Since the forward image shift at each point within the entire field of view is unequal, in order to solve the problem that the image shift of the position of the photographing target is inconsistent on the detector image plane, it is necessary to change the charge transfer rate of each column (or combined columns). The method to achieve this function is to use a very small part of the imaging sensor exposed under the shutter slit at any given moment to determine the charge transfer rate of the entire array, such that only a part of the array is exposed at any one time, and the charge transfer rate is uniform across the entire focal plane array, but it will vary over time according to the part of the target to be imaged, where the part of the target scene to be imaged is defined by the position and width of the shutter slit. The charge transfer rate varies according to the position of the shutter slit above the imaging device. This rate is time-varying, but is consistent across the entire array. When using focal plane exposure, only a small part is exposed at any moment during the movement of the shutter slit. Thus, if the position of the slit sweeping across the chip matches the charge movement rate, since only a small piece in the array is exposed at the given charge transfer rate. If the charge transfer rate can be made to match the position swept by the slit, by studying the method of precise synchronization between charge transfer and mechanical shutter exposure during the CCD exposure process, the image shift can be precisely synchronized with the shutter slit exposure to achieve image shift compensation in one direction.

[0044] The first horizontal drive circuit and the second horizontal drive circuit are used to amplify and translate the received horizontal timing signal and the horizontal direction charge transfer drive timing, generating a drive level signal that amplifies the horizontal timing to have sufficient voltage and current drive capabilities; the first vertical drive circuit and the second vertical drive circuit are used to amplify and translate the received vertical timing signal and the vertical direction drive timing, generating a drive level signal that amplifies the vertical timing to have sufficient voltage and current drive capabilities.

[0045] The first area array CCD detector and the second area array CCD detector are placed vertically and orthogonally, so the charge transfer directions are perpendicular to each other. The image shift on the CCD target surface may not be consistent with the charge transfer direction, but it can have a component along the charge transfer direction. Since the first area array CCD detector and the second detector are perpendicular to each other, the components of the image shift along the mutually perpendicular directions of the image plane can be compensated respectively, that is, the image shift of the first area array CCD detector along the column direction and the image shift of the second area array CCD detector along the column direction are compensated respectively; the beam splitting prism transmits and reflects 50% of the incident light to the first area array CCD detector and the second area array CCD detector which are vertically installed; the first lens and the second lens converge the incident light respectively.

[0046] The first area array CCD detector and the second area array CCD detector image the detection scene respectively, and compensate the image shift in the charge transfer directions of the first area array CCD detector and the second area array CCD detector respectively.

[0047] The first detector front-end signal processing module and the second detector front-end signal processing module perform correlated double sampling, controllable gain amplification, dark level clamping compensation and analog-to-digital conversion on the analog signals output by the first area array CCD detector and the second area array CCD detector.

[0048] Due to the inevitable problem of image registration in the optical system architecture, the multi-degree-of-freedom image shift compensation image registration module is used to register the images compensated by the first area array CCD detector and the second area array CCD detector by calibrating the known matching errors between the detector pixels.

[0049] The interface circuit of the multi-degree-of-freedom image shift compensation image interface module is responsible for outputting the digital image signals generated by the analog-to-digital converter; the multi-degree-of-freedom image shift compensation image registration module is used to register the images compensated by the first area array CCD detector and the second area array CCD detector; the multi-degree-of-freedom image shift compensation image fusion module fuses the registered image shift compensation images; the multi-degree-of-freedom image shift compensation image recorder stores the compensated images and transmits them to the ground intelligence processing system; the user browses and analyzes the images after image shift compensation according to the ground intelligence processing system.

[0050] The aircraft bus is the ASM bus; the camera controller is developed using the single-chip microcomputer STM32F103ZET6; the beam splitter prism is an optical beam splitter prism; the first lens and the second lens are optical lenses; the first area array CCD detector and the second area array CCD detector are customized detectors FTF4052M; the first progressive image motion compensation timing generator and the second progressive image motion compensation timing generator are developed using the FPGA development board AXKU062; the first vertical drive circuit is developed using TDA9991, the first horizontal drive circuit is developed using 74ACT04, the second vertical drive circuit is developed using TDA9991, and the second horizontal drive circuit is developed using the dedicated chip 74ACT04; the first detector front-end signal processing circuit and the second detector front-end signal processing circuit are developed using the dedicated chip TDA9965; the multi-degree-of-freedom image motion compensation interface module is developed using the dedicated chip DS90CR267; the multi-degree-of-freedom image motion compensation image registration module is developed using TMS320C6678, and the multi-degree-of-freedom image motion compensation image fusion module is developed using the DSP chip TMS320C28335; the multi-degree-of-freedom image motion compensation image recorder is developed using the dedicated development board Jetson AGXXaiver; the ground intelligence processing module is developed using the Advantech high-performance industrial computer AIMC-3403, and the upper computer intelligence processing software is developed using VS2010.

[0051] In this application, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0052] In this application, unless otherwise clearly specified and defined, terms such as "installed", "connected", "connected to", "fixed" and other terms shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0054] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

[0055] The specific implementation manners of the present application described above do not constitute a limitation on the protection scope of the present application. Any other corresponding changes and deformations made according to the technical concept of the present application should be included in the protection scope of the claims of the present application.

Claims

1. A CCD driving system supporting multi-degree-of-freedom image motion compensation function, characterized in that, it includes an aircraft bus and a camera controller connected to the aircraft bus; it further includes a first gradient image motion compensation timing generator, a first horizontal driving circuit, a first vertical driving circuit, a first area CCD detector, and a first detector front-end signal processing module; a second gradient image motion compensation timing generator, a second horizontal driving circuit, a second vertical driving circuit, a second area CCD detector, and a second detector front-end signal processing module; a multi-degree-of-freedom image motion compensation image interface module, a multi-degree-of-freedom image motion compensation image registration module, a multi-degree-of-freedom image motion compensation image fusion module, a multi-degree-of-freedom image motion compensation image recorder, and a ground intelligence processing module; the first gradient image motion compensation timing generator and the second gradient image motion compensation timing generator are respectively connected to the camera controller, the first gradient image motion compensation timing generator is connected to the first horizontal driving circuit and the first vertical driving circuit, the first horizontal driving circuit and the first vertical driving circuit are connected to the first area CCD detector, and the first area CCD detector is connected to the first detector front-end signal processing module; the second gradient image motion compensation timing generator is connected to the second horizontal driving circuit and the second vertical driving circuit, the second horizontal driving circuit and the second vertical driving circuit are connected to the second area CCD detector, and the second area CCD detector is connected to the second detector front-end signal processing module; the first detector front-end signal processing module and the second detector front-end signal processing module are respectively connected to the multi-degree-of-freedom image motion compensation image interface module, and the multi-degree-of-freedom image motion compensation image interface module, the multi-degree-of-freedom image motion compensation image registration module, the multi-degree-of-freedom image motion compensation image fusion module, the multi-degree-of-freedom image motion compensation image recorder, and the ground intelligence processing module are connected in sequence; the first area CCD detector and the second area CCD detector are placed vertically orthogonally, and the charge transfer directions are perpendicular to each other; the first area CCD detector and the second area CCD detector respectively image the detection scene, and respectively compensate the image motion components in the charge transfer directions of the first area CCD detector and the second area CCD detector, that is, respectively compensate the image motion components along the column direction of the first area CCD detector and the image motion components along the column direction of the second area CCD detector.

2. The CCD driving system supporting multi-degree-of-freedom image motion compensation function according to claim 1, characterized in that, it further includes a lens, a beam splitter prism, a first lens, and a second lens, the beam splitter prism is arranged at 45°, and after the incident light is incident on the beam splitter prism through the lens, it is respectively transmitted to the first lens and reflected to the second lens.

3. The CCD driving system supporting multi-degree-of-freedom image motion compensation function according to claim 1, characterized in that, It further includes a first mechanical shutter and a second mechanical shutter. The first mechanical shutter is connected to the first area CCD detector, and the second mechanical shutter is connected to the second area CCD detector.

4. A CCD driving system supporting multi-degree-of-freedom image motion compensation function according to claim 1, characterized in that the aircraft bus provides aircraft flight parameters, area CCD camera parameters, and detector parameters; the camera controller is used to calculate task parameters for multi-degree-of-freedom high-dynamic image motion compensation of the aerial camera according to the received aircraft flight parameters, area CCD camera parameters, and information of the first area CCD detector and the second area CCD detector, and send the task parameters to the first gradient image motion compensation timing generator and the second gradient image motion compensation timing generator.

5. A CCD driving system supporting multi-degree-of-freedom image motion compensation function according to claim 1, characterized in that the first gradient image motion compensation timing generator and the second gradient image motion compensation timing generator generate image motion compensation driving timings for driving gradient charge movement transfer, and generate the required vertical driving timings and horizontal driving timings for the first area CCD detector and the second area CCD detector when image motion compensation is not performed.

6. A CCD driving system supporting multi-degree-of-freedom image motion compensation function according to claim 5, characterized in that the first horizontal driving circuit and the second horizontal driving circuit are used to amplify and translate the received horizontal driving timings to generate driving level signals with sufficient voltage and current driving capabilities to amplify the horizontal driving timings; the first vertical driving circuit and the second vertical driving circuit are used to amplify and translate the received image motion compensation driving timings or vertical driving timings to generate driving level signals with sufficient voltage and current driving capabilities to amplify the image motion compensation driving timings or vertical driving timings.

7. A CCD driving system supporting multi-degree-of-freedom image motion compensation function according to claim 1, characterized in that the first detector front-end signal processing module and the second detector front-end signal processing module perform correlated double sampling, controllable gain amplification, dark level clamping compensation, and analog-to-digital conversion on the analog signals output by the first area CCD detector and the second area CCD detector; the interface circuit of the multi-degree-of-freedom image motion compensation image interface module is responsible for outputting the digital image signals generated by the analog-to-digital converter; the multi-degree-of-freedom image motion compensation image registration module is used to register the images compensated by the first area CCD detector and the second area CCD detector; the multi-degree-of-freedom image motion compensation image fusion module fuses the registered image motion compensation images; the multi-degree-of-freedom image motion compensation image recorder stores the compensated images and transmits them to the ground intelligence processing module; The user browses and analyzes the image motion compensation images according to the ground intelligence processing module.

8. A CCD driving system supporting multi-degree-of-freedom image motion compensation function according to claim 2, characterized in that The aircraft bus is an ASM bus; the camera controller is developed using a single-chip microcomputer; the beam splitter prism is an optical beam splitter prism; the first lens and the second lens are optical lenses; the first area array CCD detector and the second area array CCD detector are customized detectors FTF4052M; the first progressive image motion compensation timing generator and the second progressive image motion compensation timing generator are developed using an FPGA; the first vertical drive circuit, the first horizontal drive circuit, the second vertical drive circuit, and the second horizontal drive circuit are developed using a dedicated chip; The first detector front-end signal processing circuit and the second detector front-end signal processing circuit are developed using a dedicated chip; The multi-degree-of-freedom image motion compensation interface module is developed using a dedicated chip; The multi-degree-of-freedom image motion compensation image registration module and the multi-degree-of-freedom image motion compensation image fusion module are developed using a DSP chip; The multi-degree-of-freedom image motion compensation image recorder is developed using a dedicated development board; the ground intelligence processing module is developed using an industrial computer.

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