A TDI camera adaptive image shift matching method, device and equipment

Abstract

The application relates to the technical field of adaptive image shift matching, and particularly provides a TDI camera adaptive image shift matching method, device and equipment, wherein the TDI camera adaptive image shift matching method comprises the following steps: acquiring a ground altitude obtained before takeoff of an aircraft on the ground and an altitude obtained during flight of the aircraft, and outputting the ground altitude and the altitude to a computer; during flight, acquiring an eastward speed, a northward speed and a skyward speed, and performing flight speed fusion to obtain flight speed information; obtaining a real-time speed-height ratio according to the ground altitude, the altitude and the flight speed information; reading a pixel size value of a TDI CCD detector, a focal length value of the camera and the real-time speed-height ratio, and calculating an integration time; outputting the integration time to the TDI CCD detector, performing line-by-line integration according to the integration time, and completing image shift matching of the real-time speed-height ratio of the current aircraft. The matching method provided by the application realizes real-time image shift matching, so that the imaging quality is ensured.

Description

Technical Field

[0001] This invention relates to the field of adaptive image shift matching technology for cameras, and proposes an adaptive image shift matching method, apparatus and device for TDI cameras. Background Technology

[0002] Airborne pushbroom TDI cameras are widely used in both military and civilian fields. These cameras generally use TDI CCDs as image sensors. A TDI CCD is a time-delayed and integrated (TDI) charge-coupled device (CCD) that first converts photonic signals into electronic signals, and then combines digital image processing technology to display the image. It has many advantages such as high resolution, large dynamic range, and high reliability.

[0003] When aerial pushbroom TDI cameras capture images of the ground, the flight speed is generally high, resulting in a moving imaging method. If the integration time is not set properly during moving imaging, a "mog" phenomenon can occur. To avoid this "mog" phenomenon, the integration time setting must be matched to the moving speed, i.e., image shift matching. TDI CCDs are multi-level linear array detectors with multiple rows of linear arrays on their imaging photosensitive surface. During pushbroom imaging, each row integrates the same target, and the integrated charge is transferred row by row to the last row, ultimately outputting the accumulated charge of each row. Image shift matching for TDI CCDs means that the speed at which the charge is transferred row by row must be matched to the pushbroom movement speed.

[0004] When performing flight missions, aerial pushbroom TDI cameras often require pre-calculating integration time parameters on the ground based on the upcoming altitude and speed. During flight, once the preset altitude and speed are reached, the pre-calculated integration time is injected into the camera via ground control for image shift matching imaging. However, due to factors such as airflow, the aircraft's speed can fluctuate, causing deviations in the pre-calculated integration time based on the speed-altitude ratio. This results in image shift mismatch, degraded image quality, and even "ghosting" (fading or blurring). Summary of the Invention

[0005] To address the aforementioned problems, this invention provides an adaptive image shift matching method for TDI cameras, comprising: The positioning and attitude determination system obtains the ground altitude and the high altitude during the flight of the aircraft from the relevant environmental parameters obtained on the ground before the aircraft takes off. The positioning and attitude determination system then outputs the ground altitude and the high altitude to the computer. During flight, the communication circuit of the computer acquires the eastward velocity, northward velocity, and celestial velocity output by the positioning and attitude determination system. The computer uses a speed fusion algorithm to fuse the acquired eastward speed, northward speed, and celestial speed to calculate the flight speed information of the aircraft from the fused eastward speed, northward speed, and celestial speed. The computer obtains the real-time speed-to-altitude ratio of the aircraft based on the ground altitude, the high-altitude altitude, and the flight speed information. The computer reads the pixel size value of the TDI CCD detector and the focal length value of the camera from the memory therein, and calculates the integration time based on the pixel size value, the focal length value and the real-time speed-to-height ratio; The computer outputs the integration time to the TDI CCD detector, which integrates line by line according to the integration time to complete the image shift matching for the real-time velocity-to-altitude ratio of the current aircraft.

[0006] Preferably, in the process where the computer fuses the acquired eastward speed, northward speed, and celestial speed using a speed fusion algorithm, and then calculates the flight speed information of the aircraft from the fused eastward speed, northward speed, and celestial speed, the matching method includes: The computer fuses the obtained eastward velocity v1, northward velocity v2, and celestial velocity v3 by squared flight speed to obtain v1. 2 v2 2 and v3 2 ; v1 by the computer 2 v2 2 and v3 2 Summing is performed to obtain the square of the flight speed information V, denoted as V. 2 = v1 2 +v2 2 +v3 2 ; V by the computer 2 = v1 2 +v2 2 +v3 2 By taking the square roots of the left and right terms of the equation, the flight speed information of the aircraft can be calculated. .

[0007] Preferably, in the process of obtaining the real-time speed-to-altitude ratio of the aircraft by the computer based on the ground altitude, high-altitude altitude, and flight speed information, the matching method includes: The computer calculates the difference between the collected ground elevation H1 and the high-altitude elevation H2 to obtain the flight field elevation H = H2 - H1; The computer uses the flight speed information V and the flight field altitude H to obtain the real-time speed-to-altitude ratio. .

[0008] Preferably, in the process of the computer reading the pixel size value of the TDI CCD detector and the focal length value of the camera from the memory therein, and calculating the integration time based on the pixel size value, the focal length value, and the real-time speed-to-height ratio, the TDI camera adaptive image shift matching method includes: The computer multiplies the focal length value f with the real-time speed-to-height ratio η to obtain the integration factor. ; The computer divides the pixel size value b by the integration factor. The integration time t is obtained and expressed as: ; The final mathematical model obtained by the computer is as follows: .

[0009] Specifically, the present invention also includes: a TDI camera adaptive image shift matching device, the TDI camera adaptive image shift matching device comprising: The altitude acquisition module is used to control the positioning and attitude determination system to acquire the ground altitude and the high altitude of the aircraft during flight from the relevant environmental parameters obtained before the aircraft takes off. The positioning and attitude determination system outputs the ground altitude and the high altitude to the computer. A speed acquisition module is used to control the communication circuit of the computer to acquire the eastward speed, northward speed and celestial speed output by the positioning and attitude determination system during the flight of the aircraft. The speed fusion module is used to control the computer to fuse the acquired eastward speed, northward speed and celestial speed through a speed fusion algorithm, and to calculate the flight speed information of the aircraft from the eastward speed, northward speed and celestial speed after the flight speed fusion. The speed-to-altitude ratio acquisition module is used to control the computer to obtain the real-time speed-to-altitude ratio of the aircraft based on the ground altitude, the high-altitude altitude, and the flight speed information. The integration time acquisition module is used to control the computer to read the pixel size value of the TDI CCD detector and the focal length value of the camera from the memory therein, and calculate the integration time based on the pixel size value, the focal length value and the real-time speed-to-height ratio; The integration time output module is used to control the computer to output the integration time to the TDI CCD detector, which integrates line by line according to the integration time to complete the image shift matching for the real-time velocity-to-altitude ratio of the current aircraft.

[0010] Preferably, the TDI camera adaptive image shift matching device includes: The acquisition module is used to control the computer to fuse the acquired eastward velocity v1, northward velocity v2, and celestial velocity v3 by performing squared flight speed calculations to obtain v1. 2 v2 2 and v3 2 ; The summation module is used to control the computer to perform summation on v1. 2 v2 2 and v3 2 Summing is performed to obtain the square of the flight speed information V, denoted as V. 2 = v1 2 +v2 2 +v3 2 ; The square root module is used to control the computer's operation on V. 2 = v1 2 +v2 2 +v3 2 By taking the square root of the left and right terms of the equation, the flight speed information of the aircraft can be calculated. .

[0011] Preferably, the TDI camera adaptive image shift matching device includes: The difference module is used to control the computer to calculate the difference between the collected ground altitude H1 and the high altitude H2 to obtain the flight field altitude H = H2 - H1; The module is used to control the computer to obtain the real-time speed-to-altitude ratio using the flight speed information V and the flight field altitude H. .

[0012] Preferably, the TDI camera adaptive image shift matching device includes: The multiplication module controls the computer to multiply the focal length value f by the real-time speed-to-height ratio η to obtain the integration factor. ; The division module controls the computer to divide the pixel size value b by the integration factor. The integration time t is obtained and expressed as: ; The acquisition module controls the computer to acquire the final mathematical model as follows: .

[0013] The present invention also provides a TDI camera adaptive image shift matching device, the TDI camera adaptive image shift matching device comprising: A positioning and attitude determination system is used to acquire ground altitude and high altitude altitude from relevant environmental parameters obtained before the aircraft takes off and during the flight process. The positioning and attitude determination system outputs the ground altitude and high altitude altitude to the computer processor. The memory is used to store the pixel size values ​​of the TDI CCD detector, the focal length values ​​of the camera, and the computer program. The processor, connected to the positioning and attitude determination system and the memory, is used to read the pixel size value of the TDI CCD detector and the focal length value of the camera stored in the memory, acquire the ground elevation, high altitude, eastward velocity, northward velocity and celestial velocity output by the positioning and attitude determination system, and execute the computer program stored in the memory to implement the aforementioned TDI camera adaptive image shift matching method.

[0014] The present invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the aforementioned TDI camera adaptive image shift matching method.

[0015] Compared with existing technologies, the present invention achieves the following beneficial effects: The present invention relates to the field of adaptive image shift matching technology, specifically providing a TDI camera adaptive image shift matching method, comprising: acquiring the ground altitude and the high-altitude altitude of the aircraft during flight, and outputting them to a computer; acquiring the eastward velocity, northward velocity, and celestial velocity during flight; fusing the acquired eastward velocity, northward velocity, and celestial velocity with flight speed to calculate flight speed information; obtaining the real-time velocity-to-altitude ratio based on the ground altitude, high-altitude altitude, and flight speed information; reading the pixel size value of the TDI CCD detector and the focal length value of the camera, and combining them with the calculated real-time velocity-to-altitude ratio to calculate the integration time; outputting the integration time to the TDI CCD detector, and performing line-by-line integration according to the integration time to complete the image shift matching of the real-time velocity-to-altitude ratio of the aircraft. The matching method proposed in this application can acquire the aircraft's speed and altitude in real time, calculate the real-time velocity-to-altitude ratio, and then calculate the integration time to achieve adaptive image shift matching. Compared to methods that pre-calculate the integration time parameter table, this matching method can eliminate errors caused by airflow disturbances affecting flight speed. It also requires less computation and is easily implemented in embedded systems, enabling real-time image shift matching and thus ensuring image quality. Furthermore, this invention provides corresponding devices and equipment for the adaptive image shift matching method for TDI cameras, further enhancing the practicality of the method. These devices and equipment offer the same or corresponding advantages as the matching method. Attached Figure Description

[0016] Figure 1 This is a flowchart of the adaptive image shift matching method for TDI cameras provided according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the TDI camera adaptive image shift matching device provided in an embodiment of the present invention; Figure 3 This is a block diagram of a TDI camera adaptive image shift matching device provided according to an embodiment of the present invention.

[0017] Figure label: 11-Altitude acquisition module; 12-Velocity acquisition module; 13-Velocity fusion module; 14-Velocity-to-altitude ratio acquisition module; 15-Integration time acquisition module; 1-Positioning and attitude determination system; 2-Processor; 3-Memory. Detailed Implementation

[0018] In the following description, embodiments of the invention will be described with reference to the accompanying drawings. In the description below, the same modules are denoted by the same reference numerals. Where the same reference numerals are used, their names and functions are also the same. Therefore, their detailed description will not be repeated.

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0020] Please see Figure 1 , Figure 1 This is a flowchart illustrating a matching method according to an embodiment of the present invention. The present invention provides a TDI camera adaptive image shift matching method, the TDI camera adaptive image shift matching method comprising: S101. The positioning and attitude determination system obtains the ground altitude H1 and the high altitude H2 of the aircraft during flight from the relevant environmental parameters obtained on the ground before takeoff. The positioning and attitude determination system outputs the ground altitude H1 and the high altitude H2 to the computer.

[0021] In one embodiment, the positioning and attitude determination system can be an IMU and GPS positioning system or an inertial navigation system. The aircraft can include military aircraft, civil aircraft, drones, reconnaissance aircraft, etc., and this application is not limited to the type of aircraft. The relevant environmental parameters may include at least ambient temperature and humidity, obstacle height and area, wind speed in each direction, etc. In this embodiment, the relevant environmental parameters are, for example, ground elevation H1, upper altitude H2, eastward velocity v1, northward velocity v2, and celestial velocity v3. Next, the positioning and attitude determination system transmits the ground elevation H1, upper altitude H2, eastward velocity v1, northward velocity v2, and celestial velocity v3 to a computer (e.g., a smartphone, tablet, laptop, etc., an electronic device with a central processing unit for CPU computation; this application is not limited to the type of computer).

[0022] S102. During the flight of the aircraft, the eastward velocity v1, northward velocity v2 and skyward velocity v3 output by the positioning and attitude determination system are obtained by the communication circuit of the computer.

[0023] During the ascent or flight to a fixed altitude after takeoff, the computer's communication circuit acquires the ground altitude H1, high altitude H2, eastward velocity v1, northward velocity v2, and celestial velocity v3 output by the positioning and attitude determination system's communication circuit. It should be noted that the computer's communication circuit and the positioning and attitude determination system's communication circuit have established a communication channel in advance to send and receive information, such as ground altitude H1, high altitude H2, eastward velocity v1, northward velocity v2, obstacle distance, obstacle area, and celestial velocity v3, etc.

[0024] S103. The computer uses a speed fusion algorithm to fuse the acquired eastward speed v1, northward speed v2, and celestial speed v3 into flight speed information V. The flight speed information V of the aircraft is then calculated from the fused eastward speed v1, northward speed v2, and celestial speed v3. The following is a further explanation of how the flight speed information V is calculated.

[0025] S1031. The computer squares the acquired eastward velocity v1, northward velocity v2, and celestial velocity v3 to fuse them into a flight speed, resulting in v1. 2 v2 2 and v3 2 .

[0026] S1032. The computer processes v1 2 v2 2 and v3 2 Summing is performed to obtain the square of the flight speed information V, denoted as V. 2 = v1 2+v2 2 +v3 2 .

[0027] S1033. The computer processes V 2 = v1 2 +v2 2 +v3 2 By taking the square roots of the left and right terms of the equation, the flight speed information of the aircraft can be calculated. For example, flight speed information can indicate the type of aircraft. When the flight speed is at its fastest, the aircraft may be a military fighter jet; when the flight speed is at a medium speed, the aircraft may be a passenger airliner; and when the flight speed is at its slowest speed, the aircraft may be a drone used for reconnaissance of the environment, terrain, and water quality.

[0028] S104. The computer obtains the real-time speed-to-altitude ratio η of the aircraft based on the ground altitude H1, the high-altitude altitude H2, and the flight speed information V.

[0029] In one embodiment: S1041. The computer calculates the difference between the collected ground elevation H1 and the high-altitude elevation H2 to obtain the flight field height H = H2 - H1. The flight field height H can also be expressed as the absolute value of the difference between the high-altitude elevation H2 and the ground elevation H1, indicating that the flight field height is a positive number greater than zero.

[0030] S1042. The computer uses the flight speed information V and the flight field altitude H to obtain the real-time speed-altitude ratio. The flight speed information V can be divided by the flight field altitude H by the divider in the computer's arithmetic circuit to output the real-time speed-to-altitude ratio. .

[0031] S105. The computer reads the pixel size value b of the TDI CCD detector, the focal length value f of the camera, and the real-time speed-to-height ratio η from the memory therein to calculate the integration time t.

[0032] In one embodiment: S1051. The multiplier of the focal length value f and the real-time speed-to-height ratio η are multiplied by the multiplier of the computer's arithmetic circuit to obtain the integral factor. .

[0033] S1052. The divider of the computer's arithmetic circuit divides the pixel size value b by the integration factor. The integration time t is obtained and expressed as: .

[0034] S1053. The final mathematical model obtained by the simulation model software built into the computer, using variable factors formed by pixel size value b, focal length value f, ground altitude H1, high altitude H2, eastward velocity v1, northward velocity v2, and celestial velocity v3, is as follows: .

[0035] S106. Output this integration time t to the TDI CCD detector, for example, it performs line-by-line integration according to this integration time t to complete the image shift matching for the real-time velocity-to-altitude ratio of the current aircraft.

[0036] The matching method proposed in this application can eliminate the error in the preset flight path of the aircraft caused by airflow disturbances in all directions. The mathematical model of this application has low computational load and is easy to implement in the embedded system of the computer. It can achieve real-time image movement matching, thereby ensuring the imaging quality of the aircraft during flight and improving the accuracy of the images.

[0037] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a TDI camera adaptive image shift matching device according to an embodiment of the present invention. The present invention proposes a TDI camera adaptive image shift matching device, which includes: The altitude acquisition module 11 is used to control the positioning and attitude determination system to acquire the ground altitude H1 and the high altitude H2 of the aircraft (including military aircraft, civil aircraft, UAVs, reconnaissance aircraft, etc.) obtained on the ground before takeoff. The positioning and attitude determination system outputs the ground altitude H1 and the high altitude H2 to the computer. The speed acquisition module 12 is used to control the communication circuit of the computer to acquire the eastward speed v1, northward speed v2 and skyward speed v3 output by the positioning and attitude determination system during the flight of the aircraft. The speed fusion module 13 is used to control the computer to fuse the acquired eastward speed v1, northward speed v2 and skyward speed v3 through a speed fusion algorithm, and to calculate the flight speed information V of the aircraft from the eastward speed v1, northward speed v2 and skyward speed v3 after the flight speed fusion. The speed-to-altitude ratio acquisition module 14 is used to control the computer to obtain the real-time speed-to-altitude ratio η of the aircraft based on the ground altitude H1, the high-altitude altitude H2 and the flight speed information V; The integration time acquisition module 15 is used to control the computer to read the pixel size value b of the TDI CCD detector and the focal length value f of the camera in the memory therein, calculate the real-time speed-to-height ratio η based on the pixel size value b and the focal length value f, and calculate the integration time t based on the real-time speed-to-height ratio η. An integration time output module (not shown) controls the computer to output the integration time t to the TDI CCD detector, which integrates line by line according to the integration time t to complete the image shift matching for the real-time velocity-to-altitude ratio of the current aircraft. It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the above-described devices and units can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling. Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules can be implemented in hardware or as software functional modules.

[0038] In one embodiment, the TDI camera adaptive image shift matching device includes: The acquisition module (not shown in the figure) is used to control the computer to fuse the acquired eastward velocity v1, northward velocity v2, and celestial velocity v3 by squared flight speed to obtain v1. 2 v2 2 and v3 2 ; The summation module (not shown in the figure) is used to control the computer to perform summation on v1. 2 v2 2 and v3 2 Summing is performed to obtain the square of the flight speed information V, denoted as V. 2 = v1 2 +v2 2 +v3 2 ; The square root module (not shown in the figure) is used to control the computer's operation on V. 2 = v1 2 +v2 2 +v3 2 By taking the square roots of the left and right terms of the equation, the flight speed information of the aircraft can be calculated. .

[0039] In one embodiment, the TDI camera adaptive image shift matching device includes: The difference module (not shown in the figure) is used to control the computer to calculate the difference between the collected ground altitude H1 and the high altitude H2 to obtain the flight field altitude H = H2 - H1; The module (not shown in the figure) is used to control the computer to obtain the real-time speed-to-altitude ratio using the flight speed information V and the flight field altitude H. .

[0040] In one embodiment, the TDI camera adaptive image shift matching device includes: The multiplication module (not shown) controls the computer to multiply the focal length value f by the real-time speed-to-height ratio η to obtain the integration factor. ; The divide-by module (not shown) controls the computer to divide the pixel size value b by the integration factor. The integration time t is obtained and expressed as: ; The acquisition module controls the computer to acquire the final mathematical model as follows: .

[0041] Please see Figure 3 , Figure 3 This is a block diagram of a TDI camera adaptive image shift matching device according to an embodiment of the present invention. The present application proposes a TDI camera adaptive image shift matching device, which includes: The positioning and attitude determination system 1 is used to acquire the ground altitude H1 and the high altitude H2 of the aircraft (including military aircraft, civil aircraft, drones, reconnaissance aircraft, etc.) obtained on the ground before takeoff. The positioning and attitude determination system 1 outputs the ground altitude H1 and the high altitude H2 to the processor 2 of the computer. Memory 3 is used to store the pixel size value b of the TDI CCD detector, the focal length value f of the camera, and the computer program; The processor 2, connected to the positioning and attitude determination system 1 and the memory 3, is used to read the pixel size value b of the TDI CCD detector and the focal length value f of the camera stored in the memory 3, acquire the ground altitude H1, high altitude H2, eastward velocity v1, northward velocity v2 and skyward velocity v3 output by the positioning and attitude determination system 1, and execute the computer program stored in the memory 3 to implement the TDI camera adaptive image shift matching method as described above.

[0042] This application also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the TDI camera adaptive image shift matching method described above. For example, a computer program stored on a computer-readable storage medium, when executed by a processor, implements the various processes of the data security interaction method embodiment of the device commands described above, and achieves the same technical effect; therefore, to avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc. It should be noted that the embodiments of the apparatus and device proposed in this application are described in the following references. Figure 1 The relevant content will not be repeated here.

[0043] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0044] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An adaptive image shift matching method for a TDI camera, characterized in that, The TDI camera adaptive image shift matching method includes: The positioning and attitude determination system obtains the ground altitude and the high altitude during the flight of the aircraft from the relevant environmental parameters obtained on the ground before the aircraft takes off. The positioning and attitude determination system then outputs the ground altitude and the high altitude to the computer. During flight, the communication circuit of the computer acquires the eastward velocity, northward velocity, and celestial velocity output by the positioning and attitude determination system. The computer uses a speed fusion algorithm to fuse the acquired eastward speed, northward speed, and celestial speed to calculate the flight speed information of the aircraft from the fused eastward speed, northward speed, and celestial speed. The computer obtains the real-time speed-to-altitude ratio of the aircraft based on the ground altitude, the high-altitude altitude, and the flight speed information. The computer reads the pixel size value of the TDI CCD detector and the focal length value of the camera from the memory therein, and calculates the integration time based on the pixel size value, the focal length value and the real-time speed-to-height ratio; The computer outputs the integration time to the TDI CCD detector, which integrates line by line according to the integration time to complete the image shift matching for the real-time velocity-to-altitude ratio of the current aircraft.

2. The TDI camera adaptive image shift matching method as described in claim 1, characterized in that, In the process of fusing the acquired eastward velocity, northward velocity, and celestial velocity using a velocity fusion algorithm, and then calculating the flight speed information of the aircraft from the fused eastward velocity, northward velocity, and celestial velocity, the matching method includes: The computer fuses the obtained eastward velocity v1, northward velocity v2, and celestial velocity v3 by squared flight speed to obtain v1. 2 v2 2 and v3 2 ; v1 by the computer 2 v2 2 and v3 2 Summing is performed to obtain the square of the flight speed information V, denoted as V. 2 = v1 2 +v2 2 +v3 2 ; V by the computer 2 = v1 2 +v2 2 +v3 2 By taking the square roots of the left and right terms of the equation, the flight speed information of the aircraft can be calculated. .

3. The TDI camera adaptive image shift matching method as described in claim 2, characterized in that, In the process of obtaining the real-time speed-to-altitude ratio of the aircraft by the computer based on the ground altitude, high-altitude altitude, and flight speed information, the matching method includes: The computer calculates the difference between the collected ground elevation H1 and the high-altitude elevation H2 to obtain the flight field elevation H = H2 - H1; The computer uses the flight speed information V and the flight field altitude H to obtain the real-time speed-altitude ratio. .

4. The TDI camera adaptive image shift matching method as described in claim 3, characterized in that, The matching method includes the following steps: The computer reads the pixel size value of the TDI CCD detector and the focal length value of the camera from its memory; and calculates the integration time based on the pixel size value, the focal length value, and the real-time speed-to-height ratio. The computer multiplies the focal length value f with the real-time speed-to-height ratio η to obtain the integration factor. ; The computer divides the pixel size value b by the integration factor. The integration time t is obtained and expressed as: ; The final mathematical model obtained by the computer is as follows: .

5. An adaptive image shift matching device for a TDI camera, characterized in that, The TDI camera adaptive image shift matching device includes: The altitude acquisition module is used to control the positioning and attitude determination system to acquire the ground altitude and the high altitude of the aircraft during flight from the relevant environmental parameters obtained before the aircraft takes off. The positioning and attitude determination system outputs the ground altitude and the high altitude to the computer. The speed acquisition module is used to acquire the eastward speed, northward speed and celestial speed output by the positioning and attitude determination system from the communication circuit of the computer during the flight of the aircraft. The speed fusion module is used to control the computer to fuse the acquired eastward speed, northward speed and celestial speed through a speed fusion algorithm, and to calculate the flight speed information of the aircraft from the eastward speed, northward speed and celestial speed after the flight speed fusion. The speed-to-altitude ratio acquisition module is used to control the computer to obtain the real-time speed-to-altitude ratio of the aircraft based on the ground altitude, the high-altitude altitude, and the flight speed information. The integration time acquisition module is used to control the computer to read the pixel size value of the TDI CCD detector and the focal length value of the camera from the memory therein, and calculate the integration time based on the pixel size value, the focal length value and the real-time speed-to-height ratio η; The integration time output module is used to control the computer to output the integration time to the TDI CCD detector, which integrates line by line according to the integration time to complete the image shift matching for the real-time velocity-to-altitude ratio of the current aircraft.

6. The TDI camera adaptive image shift matching device as described in claim 5, characterized in that, The TDI camera adaptive image shift matching device includes: The acquisition module is used to control the computer to fuse the acquired eastward velocity v1, northward velocity v2, and celestial velocity v3 by squared flight speed to obtain v1. 2 v2 2 and v3 2 ; The summation module is used to control the computer to perform summation on v1. 2 v2 2 and v3 2 Summing is performed to obtain the square of the flight speed information V, denoted as V. 2 = v1 2 +v2 2 +v3 2 ; The square root module is used to control the computer's operation on V. 2 = v1 2 +v2 2 +v3 2 By taking the square root of the left and right terms of the equation, the flight speed information of the aircraft can be calculated. .

7. The TDI camera adaptive image shift matching device as described in claim 6, characterized in that, The TDI camera adaptive image shift matching device includes: The difference module is used to control the computer to calculate the difference between the collected ground altitude H1 and the high altitude H2 to obtain the flight field altitude H = H2 - H1; The module is used to control the computer to obtain the real-time speed-to-altitude ratio using the flight speed information V and the flight field altitude H. .

8. The TDI camera adaptive image shift matching device as described in claim 7, characterized in that, The TDI camera adaptive image shift matching device includes: The multiplication module controls the computer to multiply the focal length value f by the real-time speed-to-height ratio η to obtain the integration factor. ; The division module controls the computer to divide the pixel size value b by the integration factor. The integration time t is obtained and expressed as: ; The acquisition module controls the computer to acquire the final mathematical model as follows: .

9. A TDI camera adaptive image shift matching device, characterized in that, The TDI camera adaptive image shift matching device includes: A positioning and attitude determination system is used to acquire ground altitude and high altitude altitude from relevant environmental parameters obtained before the aircraft takes off and during the flight process. The positioning and attitude determination system outputs the ground altitude and high altitude altitude to the computer processor. The memory is used to store the pixel size values ​​of the TDI CCD detector, the focal length values ​​of the camera, and the computer program. The processor, connected to the positioning and attitude determination system and the memory, is used to read the pixel size value of the TDICCD detector and the focal length value of the camera stored in the memory, acquire the ground elevation, high altitude, eastward velocity, northward velocity and celestial velocity output by the positioning and attitude determination system, and execute the computer program stored in the memory to implement the TDI camera adaptive image shift matching method as claimed in claims 1 to 4.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the TDI camera adaptive image shift matching method as described in any one of claims 1 to 4.

Images