Intelligent recognition detection system and method for remote sensing camera

Abstract

This application relates to the field of remote sensing technology, and in particular to an intelligent identification and detection system and method for a remote sensing camera. The system includes: an integrated remote sensing camera for detection imaging and laser emission, used to observe target objects while emitting a measurement laser; a refracting optics device for reflecting and refracting the measurement laser used to provide feedback on the deviation of the remote sensing camera's extrinsic parameters; and a stellar laser common-path detection imaging device for detecting stellar light and the measurement laser emitted by the integrated remote sensing camera, and combining the detection results with its own inertial attitude information to obtain the identification and detection result of the remote sensing camera's extrinsic parameter deviation. This solves the problem in related technologies where only the calibration time of the remote sensing camera's extrinsic parameters can be determined, making it difficult to guarantee the timeliness of the extrinsic parameters, thus affecting the image positioning accuracy of the remote sensing camera and reducing both the accuracy and intelligence level of the remote sensing camera.

Description

Technical Field

[0001] This application relates to the field of remote sensing technology, and in particular to an intelligent identification and detection system and method for remote sensing cameras. Background Technology

[0002] In related technologies, a remote sensing camera is used to image a ground scene with known calibration information to obtain the spatial orientation of the camera. The external parameters of the camera are calibrated by combining the inertial attitude output by the star sensor. Alternatively, satellite attitude maneuvers are used to enable the star sensor and the remote sensing camera to simultaneously image the starry sky, obtain the inertial attitude of both, and complete the calibration of the external parameters.

[0003] However, the existing technologies can only determine the extrinsic parameters of the remote sensing camera at the calibration time, which makes it difficult to guarantee the timeliness of the extrinsic parameters. This affects the positioning accuracy of the remote sensing camera image, reduces the precision of the remote sensing camera image positioning, and lowers the intelligence level of the remote sensing camera, which urgently needs to be solved. Summary of the Invention

[0004] This application provides an intelligent identification and detection system and method for remote sensing cameras to solve the problem in related technologies that can only determine the extrinsic parameters of remote sensing cameras at the calibration time, making it difficult to guarantee the timeliness of the extrinsic parameters, thereby affecting the image positioning accuracy of remote sensing cameras, reducing the accuracy of remote sensing camera image positioning, and reducing the intelligence level of remote sensing cameras.

[0005] The first aspect of this application provides an intelligent identification and detection system for a remote sensing camera, comprising: an integrated remote sensing camera for detection imaging and laser emission, used to observe target objects while emitting measurement lasers; a refracting optics device for reflecting and refracting the measurement lasers used to provide feedback on the external parameter deviation of the remote sensing camera; and a stellar laser common-path detection and imaging device for detecting stellar light and the measurement lasers emitted by the integrated remote sensing camera, and combining the detection results with its own inertial attitude information to obtain the identification and detection result of the external parameter deviation of the remote sensing camera.

[0006] Optionally, in one embodiment of this application, the folding optical device is a right-angled inner conical reflector or a corner prism.

[0007] Optionally, in one embodiment of this application, the integrated remote sensing camera for detection imaging and laser emission includes: a laser source for emitting the measurement laser to the stellar laser common-path detection imaging device; an imaging detector for detecting the light signal of the target scene; and a remote sensing camera optical system for converging all the light signals of the target scene while collimating the measurement laser into parallel light emission.

[0008] Optionally, in one embodiment of this application, the laser light source and the imaging detector are integrated and both disposed at the focal plane of the remote sensing camera optical system.

[0009] Optionally, in one embodiment of this application, the stellar laser common-path detection and imaging device includes: a light shield, the light shield having a light-guiding hole to control the measurement laser to pass through the light-guiding hole; a dichroic mirror for reflecting the measurement laser entering from the light-guiding hole while transmitting the stellar light to generate a combined light of the measurement laser and the stellar light; and a star sensor for receiving the combined light while acquiring the inertial attitude information of the stellar laser common-path detection and imaging device itself, and imaging the measurement laser to obtain the exotropic parameter deviation information of the remote sensing camera.

[0010] Optionally, in one embodiment of this application, it further includes: a zero-point state identification and detection module, used to detect the zero-point state of the real-time monitoring system before the identification and detection of the remote sensing camera's external parameter deviation; a measurement laser imaging position detection module, used to detect and extract the imaging position of the measurement laser at the time of the identification and detection of the remote sensing camera's external parameter deviation after the zero-point state identification and detection; and a remote sensing camera external parameter deviation identification and detection module, used to detect the attitude change of the remote sensing camera relative to the zero-point state at the current time.

[0011] A second aspect of this application provides an intelligent identification and detection method for a remote sensing camera, comprising the following steps: detecting the starlight and the measurement laser to obtain a detection result; acquiring the camera's own inertial attitude information; and combining the detection result and the camera's own inertial attitude information to obtain an identification and detection result of the remote sensing camera's external parameter deviation.

[0012] Optionally, in one embodiment of this application, before the identification and detection of the deviation of the extrinsic parameters of the remote sensing camera, the method further includes: detecting the zero-point state of the real-time monitoring system and determining the zero-point state.

[0013] Optionally, in one embodiment of this application, after the zero-point state is detected, the method further includes: detecting and extracting the imaging position of the measuring laser at the detection time of the deviation of the extrinsic parameters of the remote sensing camera.

[0014] Optionally, in one embodiment of this application, the method further includes: detecting the attitude change of the remote sensing camera at the current moment relative to the zero-point state.

[0015] This application embodiment utilizes an integrated remote sensing camera combining detection imaging and laser emission to observe target objects and emit measurement lasers. The measurement lasers are reflected and refracted by a refracting optics device. A stellar laser common-path detection imaging device detects both stellar light and the measurement lasers. Combining the detection results with the camera's own inertial attitude information, the identification and detection results of the remote sensing camera's extrinsic parameter deviation are obtained. This allows for real-time detection of the remote sensing camera's extrinsic parameter deviation, effectively improving the accuracy of remote sensing camera image positioning. Therefore, it solves the problem in related technologies where only the calibration time of the remote sensing camera's extrinsic parameters can be determined, making it difficult to guarantee the timeliness of the extrinsic parameters, thus affecting the image positioning accuracy of the remote sensing camera and reducing both the accuracy and intelligence level of the remote sensing camera.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 This is a schematic diagram of the structure of an intelligent recognition and detection system for a remote sensing camera according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the structure of a stellar laser common-path detection and imaging device according to a specific embodiment of this application;

[0020] Figure 3 This is a schematic diagram illustrating the change in the laser imaging position in the star sensor when the remote sensing camera deflects around its own X-axis according to a specific embodiment of this application.

[0021] Figure 4 This is a schematic diagram illustrating the change in the laser imaging position in the star sensor when the remote sensing camera deflects around its own Y-axis according to a specific embodiment of this application.

[0022] Figure 5 This is a schematic diagram illustrating the change in the laser imaging position in the star sensor when the remote sensing camera deflects around its own Z-axis according to a specific embodiment of this application.

[0023] Figure 6 This is a schematic diagram illustrating the principle of an engineering implementation algorithm for intelligent recognition of laser imaging against a starry sky background, according to a specific embodiment of this application.

[0024] Figure 7 This is a flowchart of an intelligent identification and detection method for a remote sensing camera provided according to an embodiment of this application. Detailed Implementation

[0025] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0026] The intelligent identification and detection system for a remote sensing camera according to an embodiment of this application is described below with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the structure of the intelligent recognition and detection system of the remote sensing camera according to an embodiment of this application.

[0028] like Figure 1 As shown, the intelligent identification and detection system 10 of the remote sensing camera includes: a remote sensing camera 100 integrating detection imaging and laser emission, a folding optical device 200, and a stellar laser common-path detection imaging device 300.

[0029] Specifically, the remote sensing camera 100, which integrates detection imaging and laser emission, is used to observe target objects while emitting measurement lasers.

[0030] In actual implementation, the embodiments of this application can be equipped with a remote sensing camera 100 that integrates detection imaging and laser emission. It can be used to observe the target scene normally while emitting measurement lasers. The measurement lasers can provide feedback on the deviation of the remote sensing camera's external parameters, thereby effectively improving the feasibility of intelligent identification and detection of the deviation of the remote sensing camera's external parameters.

[0031] Optionally, in one embodiment of this application, the integrated remote sensing camera 100 for detection imaging and laser emission includes: a laser source 101, an imaging detector 102, and a remote sensing camera optical system.

[0032] Among them, the laser source 101 is used to emit measurement laser to the stellar laser common optical path detection and imaging device 300.

[0033] In some embodiments, the remote sensing camera 100 integrating detection imaging and laser emission in this application embodiment can be equipped with a laser source 101. The laser source 101 can transmit information about the deviation of the remote sensing camera's external parameters to the stellar laser common-path detection imaging device 300 in the following steps by measuring the laser, thereby improving the feasibility of intelligent identification and detection of the deviation of the remote sensing camera's external parameters.

[0034] Imaging detector 102 is used to detect the light signal of the target scene.

[0035] In some embodiments, the remote sensing camera 100 integrating detection imaging and laser emission in this application embodiment may be equipped with an imaging detector 102, which can detect the light signal of the target scene to ensure that the normal observation function of the remote sensing camera is not affected and to improve the stability of the remote sensing camera observation.

[0036] The optical system of a remote sensing camera is used to gather all the light signals of the target scene while collimating the measurement laser into parallel light for emission.

[0037] As one possible approach, the remote sensing camera 100 integrating detection imaging and laser emission in this embodiment can be equipped with a remote sensing camera optical system. The remote sensing camera optical system can gather all the light signals of the target scene and collimate the measurement laser into parallel light emission, effectively improving the accuracy of the measurement laser.

[0038] In one embodiment of this application, the laser light source 101 and the imaging detector 102 are integrated and both disposed at the focal plane of the remote sensing camera optical system.

[0039] For example, the laser source 101 and the imaging detector 102 are set together on the focal plane of the remote sensing camera optical system. The laser source 101 and the remote sensing camera optical system are mainly used to measure the emission of laser. Since the laser source 101 is set on the focal plane of the remote sensing camera optical system, and the remote sensing camera optical system can collimate the measured laser into parallel light, the feasibility of the star sensor 303 detecting and measuring the laser in the following steps is improved. In addition, the imaging detector 102 and the remote sensing camera optical system can observe the target scene. The imaging detector 102 can detect the light signal of the target scene, and the remote sensing camera optical system can converge all the light signals of the target scene, effectively improving the real-time performance and accuracy of detecting the deviation of the remote sensing camera's external parameters.

[0040] The refracting optics 200 is used to reflect and refract the measuring laser used to provide feedback on the deviation of the exoscopic parameters of the remote sensing camera.

[0041] In actual implementation, the embodiments of this application may include a refractive optical device 200 in the following steps, which can reflect and refractively deflect the measurement laser used to provide feedback on the deviation of the remote sensing camera's external parameters, thereby ensuring the effectiveness of the detection and identification results of the remote sensing camera's external parameters.

[0042] In one embodiment of this application, the folding optical device 200 is a right-angled inner conical reflector or a corner prism.

[0043] In some embodiments, the folding optical device 200 in this application can be a right-angled inner conical reflector or a corner prism. The right-angled inner conical reflector has three-dimensional retroreflective properties, that is, when the optical device rotates slightly in three mutually perpendicular directions, it can still reflect all the incident light rays back to the original incident direction.

[0044] For example, when the right-angle inner conical reflector inevitably rotates in three axes due to changes in the on-orbit environment, it will not affect the transmission optical path of the measurement laser inversion, thus ensuring the validity of the external parameter detection and identification results.

[0045] It should be noted that, for ease of description, the folding optical device 200 in the embodiments of this application is described using a right-angled inner conical reflector as an example.

[0046] The stellar laser common-path detection and imaging device 300 is used to detect stellar light and measurement laser emitted by an integrated remote sensing camera that combines detection imaging and laser emission. By combining the detection results with its own inertial attitude information, it obtains the identification and detection results of the deviation of the remote sensing camera's external parameters.

[0047] As one possible implementation method, this application embodiment can set up a stellar laser common-path detection and imaging device 300, which can detect stellar light and the measurement laser emitted by the integrated detection imaging and laser emission remote sensing camera, and combine the detection results with its own inertial attitude information to obtain the identification and detection results of the deviation of the remote sensing camera's external parameters, so as to complete the determination of the remote sensing camera's external parameters and thus ensure the positioning accuracy of the remote sensing camera image.

[0048] Optionally, in one embodiment of this application, the stellar laser common-path detection imaging device 300 includes: a light shield 301, a dichroic mirror 302, and a star sensor 303.

[0049] The light shield 301 is provided with a light guide hole to control the measurement laser to pass through the light guide hole.

[0050] In some embodiments, such as Figure 2 As shown, the stellar laser common-path detection imaging device 300 in this embodiment can be equipped with a light shield 301. Since the remote sensing camera and the star sensor 303 in the following steps are arranged back-to-back, the measurement laser is obliquely incident into the stellar laser common-path detection imaging device 300. Therefore, a light-guiding hole needs to be opened in the side wall of the light shield 301 to control the measurement laser to pass through the light-guiding hole. The light shield 301 can also be used to suppress stray light entering the star sensor 303 in the following steps, effectively improving the robustness of the measurement laser.

[0051] Dichroic mirror 302 is used to reflect the measurement laser entering from the light-guiding aperture while transmitting starlight to generate a combined light of the measurement laser and starlight.

[0052] In actual implementation, such as Figure 2 As shown, the stellar laser common-path detection imaging device 300 in this embodiment can be equipped with a dichroic mirror 302. The dichroic mirror 302 is placed in front of the lens of the star sensor 303 in the following steps. It can reflect the measurement laser entering from the light-guiding hole and transmit the star light, thereby generating the combined light of the two and guiding the combined light into the star sensor 303 in the following steps, thereby effectively improving the accuracy of remote sensing camera image positioning.

[0053] The star sensor 303 is used to receive the combined light, acquire the inertial attitude information of the stellar laser common path detection imaging device 300, and image the measured laser to obtain the deviation information of the remote sensing camera's external parameters.

[0054] In some embodiments, such as Figure 2 As shown, the stellar laser common-path detection imaging device 300 in this embodiment can be equipped with a star sensor 303. The star sensor 303 can detect starlight and obtain the inertial attitude information of the stellar laser common-path detection imaging device 300 itself, and image the measurement laser to obtain the external parameter deviation information of the remote sensing camera. The starlight in the combined light can be used to calculate the inertial attitude information, and the measurement laser can be used to calculate the external parameter deviation information. In addition, the star sensor 303 is an optical device for imaging parallel light, so the measurement laser needs to be collimated into parallel light incident into the star sensor 303.

[0055] Furthermore, the dichroic mirror 302 in the stellar laser common-path detection imaging device 300 can selectively reflect the measurement laser and transmit stellar light in the visible spectrum, for example, such as Figure 2 As shown, the dichroic mirror 302 can be placed in front of the lens of the star sensor 303, that is, inside the light shield 301 with a light guide hole. The dichroic mirror 302 can selectively transmit and reflect light according to the wavelength of the light. The energy spectrum of the star light detected by the star sensor 303 is the visible spectrum 500-750nm. The dichroic mirror 302 can transmit light in this spectrum, and the wavelength of the measured laser needs to avoid this spectrum. The wavelength of the measured laser is 850nm. The dichroic mirror 302 reflects the measured laser. Therefore, the transmission band of the dichroic mirror 302 is 400-800nm, and the reflection band is 840-1050nm, thereby realizing the reflection of the measured laser and the transmission of star light, thus effectively improving the applicability of the dichroic mirror 302.

[0056] In some embodiments, the size of the light-emitting surface of the laser source 101 in the integrated detection imaging and laser emission remote sensing camera 100 is smaller than the focal length of the remote sensing camera optical system, so as to project a light spot with an energy shape close to a star point onto the focal plane of the star sensor 303.

[0057] For example, assuming there are two laser light sources 101, mounted on the Y-axis of the remote sensing camera coordinate system and symmetrical about the origin of the coordinate system, the ideal mounting matrix of the remote sensing camera and the star sensor 303 is as follows: At this time, the measuring laser, after being reflected by the right-angled inner conical reflector and the dichroic mirror 302 in the stellar laser common-path detection and imaging device 300, forms an image on the image plane of the star sensor 303. Its ideal imaging position is as follows: Figure 2 As shown, in the X coordinate system of the star sensor 303 image plane... S OY S Along X S The diagonals in the positive direction are distributed symmetrically about the origin.

[0058] Next, when there is a deviation in the extrinsic parameters of the remote sensing camera, i.e., when the remote sensing camera rotates slightly around its own coordinate system (XYZ axes), the direction of the measurement laser emitted by the integrated detection imaging and laser emission remote sensing camera 100 will deflect, providing feedback on the deviation information of the remote sensing camera's extrinsic parameters. Furthermore, the imaging position of the near-infrared measurement laser detected by the star sensor 303 will also change. Figure 3 , Figure 4 and Figure 5 As shown, the offset generated by the remote sensing camera around the three axes corresponds one-to-one with the change in the imaging position of the measuring laser. By detecting the change in the imaging position of the measuring laser through the star sensor 303, intelligent recognition and detection of the three-axis deflection of the remote sensing camera's external parameters can be achieved, effectively improving the real-time performance of detecting deviations in the remote sensing camera's external parameters and enhancing the accuracy of remote sensing camera image positioning.

[0059] Optionally, in one embodiment of this application, it further includes: a zero-point state identification and detection module, a measurement laser imaging position detection module, and a remote sensing camera external parameter deviation identification and detection module.

[0060] The zero-point state identification and detection module is used to detect the zero-point state of the real-time monitoring system before the identification and detection of deviations in the external parameters of the remote sensing camera.

[0061] In actual implementation, this application embodiment can be equipped with a zero-point state identification and detection module, which can be used to detect the zero-point state of the real-time monitoring system before the identification and detection of the deviation of the remote sensing camera's external parameters. The zero-point state includes the initial value of the remote sensing camera's external parameters, the initial value of the measured laser imaging position, and the optical system transformation matrix. Therefore, the zero-point state identification and detection mainly includes the detection of the initial value of the remote sensing camera's external parameters, the initial value of the measured laser imaging position, and the initial value of the optical system transformation matrix, which effectively improves the accuracy of the identification and detection of the deviation of the remote sensing camera's external parameters.

[0062] For example, the initial values ​​of the extrinsic parameters of the remote sensing camera can be detected using the traditional method of extrinsic parameter calibration of the remote sensing camera. The installation matrix from the remote sensing camera to the star sensor 303 is calibrated, and the calibration value is used as the initial value of the extrinsic parameters of the remote sensing camera.

[0063] For example, the detection of the initial value of the laser imaging position can be performed simultaneously with the calibration of the initial values ​​of the external parameters. The star sensor 303 extracts the imaging position of the laser at the calibration time using the centroid method, and uses this position as the initial value (x) for measuring the laser imaging position. ik0 ,y ik0 ), where k = 1, 2, ..., N, N represents the number of frames of the monitoring image captured by the star sensor 303, and i = 1, 2, ..., M, M represents the number of laser light sources 101.

[0064] For example, the optical system transformation matrix is ​​the transformation matrix R that determines the measurement laser of the dichroic mirror 302 in the co-path detection and imaging device 300 for the right-angled inner conical mirror and the stellar laser from the camera coordinate system to the imaging coordinate system of the star sensor 303. mir Optical system transformation matrix R mir The calculation formula is:

[0065]

[0066] Among them, J(R) mir ) is R mir The objective function, R mir Let α be the transformation matrix of the optical system. ik These are weighting coefficients. To measure the initial value (x) of the laser imaging position in star sensor 303 ik0 ,y ik0 The determined initial laser measurement vector, The laser reference vector is determined based on the installation position of the laser source 101 on the focal plane of the remote sensing camera's optical system.

[0067] Among them, the initial laser measurement vector The calculation formula is:

[0068]

[0069] Where (x0, y0) are the principal point values ​​of star sensor 303, f s The focal length of star sensor 303.

[0070] Among them, the laser reference vector The calculation formula is:

[0071]

[0072] Among them, (X) i ,Y i (x0, y0) represents the position of laser source 101 in the XYZ coordinate system of the remote sensing camera, (x0, y0) represents the position of the principal point of the remote sensing camera's optical system, and f c This refers to the focal length of the optical system of a remote sensing camera.

[0073] Additionally, J(R) mir ) is R mir The objective function can be obtained by using the quaternion optimal estimation method to find the optimal R. mir To ensure that the objective function reaches its minimum value, α ik For the weighting coefficients, satisfying

[0074] The laser imaging position detection module is used to measure the laser imaging position at the time of detection after zero-point state identification and detection, by star sensor 303 detecting and extracting the deviation of the remote sensing camera's external parameters.

[0075] As one possible implementation, embodiments of this application can include a laser imaging position detection module, which can be used to measure the laser imaging position (x) at the time of detection after zero-point state identification and detection, whereby the star sensor 303 detects and extracts the exophoric parameter deviation of the remote sensing camera. ik ,y ik The star sensor 303 simultaneously images starlight and measurement laser light, thus enabling intelligent identification of starlight and measurement laser light.

[0076] In addition, since the star sensor 303 images both starlight and the measurement laser simultaneously, and the two images have the same shape, they cannot be identified from the morphological perspective of the image. Therefore, in the detection of the initial value of the measurement laser imaging position and the detection of the measurement laser imaging position in the above steps, the two can be intelligently identified based on the motion characteristics of star imaging and laser imaging.

[0077] For example, such as Figure 2As shown, during the operation of the remote sensing satellite in orbit, when the star sensor 303 images stars in inertial space, the attitude maneuver of the remote sensing satellite causes the line of sight of the star sensor 303 to change attitude relative to inertial space. Therefore, the star imaging spot will produce a continuous motion trajectory on the image plane over time. Although the energy morphology of the measurement laser imaging spot is the same as that of the star light, the remote sensing camera, star sensor 303, and refracting optics will not undergo large-angle displacement in orbit. Therefore, the measurement laser imaging spot will remain in a relatively fixed position over time and only occupy a small part of the entire image plane. Therefore, this application embodiment can propose an engineering implementation method for intelligent recognition of measurement laser imaging against a star background by intelligently identifying the two based on the motion characteristics of star imaging and laser imaging.

[0078] Furthermore, such as Figure 6 The diagram shown is a schematic representation of the engineering implementation algorithm for intelligent recognition of laser imaging against a starry sky background, according to a specific embodiment of this application.

[0079] Before the remote sensing satellite is launched, this embodiment of the application can conduct a ground-based determination experiment on the imaging position of the measured laser and use the imaging area as the laser imaging window. Then, the star sensor 303 captures a star map. The star sensor 303 can determine its own attitude change data based on the quaternions acquired in the previous 10 frames, and predict the approximate position of the star points in the current frame based on the star point position data and attitude change data in the previous frame. This process is part of the algorithm of the star sensor 303 itself. At this time, this embodiment of the application can determine whether the star point position has entered the laser imaging window. If so, the position of the star point is updated. The star point that has entered the laser imaging window is updated in position through the above prediction method. It is considered that the measured laser spot and the star point spot are superimposed at this time, and there is a risk of mis-extraction. This star point is not used for subsequent quaternion calculation. Other star points are windowed according to the predicted approximate position and the accurate position is extracted by the centroid method to determine the quaternion of the current frame, and then the process is repeated. If not, the laser imaging position within the laser window is output by the centroid method, thus completing the intelligent recognition of the measured laser imaging against the background of the starry sky.

[0080] The remote sensing camera extrinsic parameter deviation identification and detection module is used to detect the attitude change of the remote sensing camera at the current moment relative to the zero point state.

[0081] In some embodiments, this application may include a remote sensing camera extrinsic parameter deviation identification and detection module, which can be used to detect the attitude change of the remote sensing camera relative to its zero-point state at the current moment. The imaging position (x) of the measuring laser can be obtained through the steps described above. ik ,y ik This allows for the calculation of the laser detection vector. Laser detection vector The calculation formula is:

[0082]

[0083] Where (x0, y0) are the principal point values ​​of star sensor 303, f s The focal length of star sensor 303.

[0084] Next, embodiments of this application can be based on the detection vector of the laser. and the transformation matrix R of the optical system obtained in the above steps mir It can calculate the change R of the exterior parameters of the remote sensing camera. delta The calculation formula is as follows:

[0085]

[0086] Among them, J(R) delta ) is R delta The objective function, The laser detection vector is determined based on the laser imaging position measured in the star sensor 303.

[0087] Additionally, J(R) delta ) is R delta The objective function can be obtained by using the quaternion optimal estimation method to find the optimal R. delta This is to ensure that the objective function reaches its minimum value.

[0088] Among them, the external parameters of the remote sensing camera The calculation formula is:

[0089]

[0090] in, For the extrinsic parameters of the remote sensing camera, R delta This refers to the deviation of the external parameters of the remote sensing camera.

[0091] In some embodiments, the present application may incorporate the initial values ​​of the remote sensing camera's exterior parameters obtained in the above steps. and the change R of the remote sensing camera's exterior parameters obtained in the above steps. delta Finally, the extrinsic parameters of the remote sensing camera at the current moment are determined. The calculation formula is as follows:

[0092]

[0093] As one possible approach, the star sensor 303 in the stellar laser common-path detection imaging device 300 captures 100 frames of monitoring images. For example, when determining the change in extrinsic parameters using two laser detection vectors from a single frame image acquired by the star sensor 303, the monitoring accuracy decreases due to random errors such as star point centering accuracy. Considering that the change in extrinsic parameters of the remote sensing camera is very small in a short time, the change in extrinsic parameters can be calculated by integrating data from multiple frames, thereby suppressing random errors and ensuring the accuracy of the detection and identification results.

[0094] In summary, the embodiments of this application can monitor and measure the changes in the laser using the stellar laser common-path detection imaging device 300, and combine it with its own inertial attitude information to achieve intelligent identification and detection of deviations in the external parameters of the remote sensing camera, thereby ensuring the positioning accuracy of the remote sensing camera image.

[0095] The intelligent identification and detection system for remote sensing cameras proposed in this application can observe target objects using an integrated remote sensing camera that combines detection imaging and laser emission, and emit a measurement laser. The measurement laser is reflected and refracted by a refracting optics device. A stellar laser common-path detection imaging device detects both stellar light and the measurement laser. Combining the detection results with the camera's own inertial attitude information, the system obtains the identification and detection results of the camera's extrinsic parameter deviation. This allows for real-time detection of the camera's extrinsic parameter deviation, effectively improving the accuracy of remote sensing camera image positioning. Therefore, it solves the problem in related technologies where only the calibration time of the remote sensing camera's extrinsic parameters can be determined, making it difficult to guarantee the timeliness of the extrinsic parameters, thus affecting the accuracy of remote sensing camera image positioning and reducing both the accuracy and intelligence level of the remote sensing camera.

[0096] Among them, such as Figure 7 As shown, the intelligent recognition and detection method for a remote sensing camera according to an embodiment of this application includes the following steps:

[0097] In step S701, starlight is detected and laser light is measured to obtain the detection results.

[0098] In step S702, the inertial attitude information of the device is obtained.

[0099] In step S703, the detection results and the camera's own inertial attitude information are combined to obtain the identification and detection results of the deviation of the remote sensing camera's external parameters.

[0100] Optionally, in one embodiment of this application, before identifying and detecting the deviation of the extrinsic parameters of the remote sensing camera, the method further includes: detecting the zero-point state of the real-time monitoring system and determining the zero-point state.

[0101] Optionally, in one embodiment of this application, after detection at the zero point state, the method further includes: detecting and extracting the external parameter deviation of the remote sensing camera to identify the imaging position of the laser at the detection time.

[0102] Optionally, in one embodiment of this application, the method further includes: detecting the attitude change of the remote sensing camera at the current moment relative to the zero point state.

[0103] It should be noted that the foregoing explanation of the intelligent identification and detection system embodiment for remote sensing cameras also applies to the intelligent identification and detection method for remote sensing cameras in this embodiment, and will not be repeated here.

[0104] The intelligent identification and detection method for remote sensing cameras proposed in this application can utilize an integrated remote sensing camera combining detection imaging and laser emission to observe target objects and emit measurement lasers. The measurement lasers are reflected and refracted by a refracting optics device. A stellar laser common-path detection imaging device detects both stellar light and the measurement lasers. Combining the detection results with the camera's own inertial attitude information, the identification and detection results of the remote sensing camera's extrinsic parameter deviation are obtained. This allows for real-time detection of the remote sensing camera's extrinsic parameter deviation, effectively improving the accuracy of remote sensing camera image positioning. Therefore, this solves the problem in related technologies where only the calibration time of the remote sensing camera's extrinsic parameters can be determined, making it difficult to guarantee the timeliness of the extrinsic parameters, thus affecting the image positioning accuracy of the remote sensing camera and reducing both the accuracy and intelligence level of the remote sensing camera.

Claims

1. An intelligent recognition and detection system for a remote sensing camera, characterized in that, include: A remote sensing camera integrating detection imaging and laser emission is used to observe target objects while emitting a measurement laser; wherein, the integrated remote sensing camera includes: A laser source is used to emit the measurement laser to the stellar laser common-path detection and imaging device. An imaging detector is used to detect the light signals of the target scene; The remote sensing camera optical system is used to converge all the light signals of the target scene and collimate the measuring laser into parallel light for emission; the laser source and the imaging detector are integrated and both located at the focal plane of the remote sensing camera optical system; A refracting optical device for reflecting and deflecting the measuring laser used to provide feedback on the deviation of the exophoric parameters of the remote sensing camera; and A stellar laser common-path detection and imaging device is used to detect stellar light and the measurement laser emitted by the integrated detection, imaging, and laser emission remote sensing camera, and to obtain the identification and detection results of the external parameter deviation of the remote sensing camera by combining the detection results with its own inertial attitude information; wherein, the stellar laser common-path detection and imaging device includes: A light shield, wherein the light shield is provided with a light guide hole to control the measurement laser to pass through the light guide hole; A dichroic mirror is used to reflect the measurement laser light entering from the light-guiding aperture while transmitting the starlight, so as to generate a combined light of the measurement laser light and the starlight. A star sensor is used to receive the combined light while acquiring the inertial attitude information of the stellar laser common-path detection imaging device itself, and to image the measured laser to obtain the external parameter deviation information of the remote sensing camera.

2. The system according to claim 1, characterized in that, The folding optical device is a right-angled inner conical reflector or a corner prism.

3. The system according to claim 1, characterized in that, Also includes: The zero-point state identification and detection module is used to detect the zero-point state of the real-time monitoring system before the identification and detection of the deviation of the external parameters of the remote sensing camera. A laser imaging position detection module is used to detect and extract the imaging position of the measuring laser at the time of the remote sensing camera's external parameter deviation identification detection after the zero-point state identification detection; The remote sensing camera extrinsic parameter deviation identification and detection module is used to detect the attitude change of the remote sensing camera at the current moment relative to the zero point state.

4. An intelligent recognition and detection method for remote sensing cameras, characterized in that, Includes the following steps: The method involves detecting stellar light and measuring laser light to obtain detection results. This includes controlling the measuring laser light to pass through a light-guiding aperture, reflecting the measuring laser light entering through the aperture, and simultaneously transmitting the stellar light to generate a combined beam of the measuring laser light and the stellar light, thereby obtaining the detection results. To obtain its own inertial attitude information; and By combining the detection results and its own inertial attitude information, the identification and detection results of the remote sensing camera's external parameter deviation are obtained. The process of combining the detection results and its own inertial attitude information to obtain the identification and detection results of the remote sensing camera's external parameter deviation includes: receiving the combined light, acquiring the inertial attitude information of the stellar laser common-path detection imaging device, and imaging the measured laser to obtain the remote sensing camera's external parameter deviation information.

5. The method according to claim 4, characterized in that, Before the identification and detection of the extrinsic parameter deviation of the remote sensing camera, the following is also included: The zero-point state of the real-time monitoring system is detected and determined.

6. The method according to claim 5, characterized in that, After the zero-point state is detected, the following is also included: The imaging position of the measuring laser at the detection moment is determined by detecting and extracting the deviation of the external parameters of the remote sensing camera.

7. The method according to claim 5, characterized in that, Also includes: Detect the attitude change of the remote sensing camera at the current moment relative to the zero point state.

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