A hyperspectral camera for reducing aerial image motion

Abstract

The main problem solved by the present invention is how to meet the exposure time of aerial hyperspectral imaging while reducing image motion. A hyperspectral camera that reduces aerial image motion is characterized in that it includes a laser ranging module and m imaging modules, wherein m≥2, the imaging bands of each imaging module are the same, the exposure time of each imaging module is set to 1 / m of the standard value, and the standard value is the exposure time required when the hyperspectral imager is used alone, and the imaging modules are arranged horizontally left and right below the aircraft. The beneficial effect is that the m imaging modules shoot the same ground area, ensuring that their imaging matches each point on the ground, that is, ensuring the effective fusion of data between each imaging module, and because the imaging bands of each imaging module are the same, therefore, their exposure time is equivalent to being superimposable. The present invention reduces the exposure time of a single imaging module to the current 1 / m, significantly reducing the exposure time and reducing image motion.

Description

Technical Field

[0001] The invention relates to the technical field of hyperspectral imaging, and in particular to a hyperspectral camera that reduces aerial image motion. Background Art

[0002] The hyperspectral camera combines a camera and a spectrometer in hardware, and can obtain both the image of an object and its internal spectrum information. The image refers to the image information of the surface of the object, which belongs to the visible light frequency range, and the internal spectrum refers to the spectrum emitted from the inside of the object, whose wavelength is usually greater than visible light, such as infrared. The hyperspectral camera can support at least hundreds of bands at the same time, which is significantly higher than the traditional multi-spectral camera, and can obtain spectral information on more bands of the object at the same time.

[0003] At present, hyperspectral cameras are used in aerial photography to obtain spectral information such as ground vegetation, soil, minerals, and water quality. Since the aircraft is relatively high above the ground, the resolution of spectral imaging is relatively high. Hyperspectral cameras need to support a large number of bands and require a certain amount of input light and exposure time. Since the spectral imager is moving during aerial photography, image motion will be very serious if the exposure time is long. How to meet the exposure time while reducing image motion is an important issue. Summary of the invention

[0004] The main problem solved by the present invention is how to meet the exposure time of aerial hyperspectral imaging while reducing image motion.

[0005] A hyperspectral camera for reducing aerial image motion, characterized in that it comprises a laser ranging module and m imaging modules, wherein m≥2, the imaging bands of the imaging modules are the same, the exposure time of each imaging module is set to 1 / m of a standard value, the standard value is the exposure time required when the hyperspectral imager is used alone, the imaging modules are arranged horizontally left and right below an aircraft, and the arrangement direction is perpendicular to the front and rear direction of the aircraft, the horizontal distance between the m imaging modules is constant, each time aerial photography is performed, the distance between the aircraft and the ground measured by the laser ranging module is monitored, and the distance is kept unchanged, the m imaging modules are aimed at the same ground area and photographed simultaneously, the m imaging modules are located on a circle with the center of the ground area as the center and the distance between the aircraft and the ground as the radius, and there is a certain offset angle between the visual axes of the m imaging modules, wherein the offset angle is jointly determined according to the horizontal distance between the imaging modules and the distance between the aircraft and the ground at that time.

[0006] The beneficial effect is that the m imaging modules shoot the same ground area, ensuring that their imaging matches each point on the ground, that is, ensuring the effective fusion of data between each imaging module, and because the imaging bands of each imaging module are the same, therefore, their exposure time is equivalent to being superimposed, and each imaging can be superimposed and fused, and at the same time, the exposure time of the m imaging modules is set to 1 / m of the standard value, and the standard value is the exposure time required when the imaging module is used alone (the exposure time required when the imaging module of the prior art is used alone), that is, the present invention reduces the exposure time of a single imaging module to the current 1 / m, significantly reducing the exposure time and image shift. According to the definition of Baidu Encyclopedia, an aircraft is an instrument flying in the atmosphere or in space (space) outside the atmosphere. The aircraft described in the present invention includes two categories: aircraft and spacecraft, among which those flying in the atmosphere are called aircraft, such as balloons, airships, airplanes (including drones), etc.; those flying in space are called spacecraft, such as artificial earth satellites, manned spacecraft, space probes, space shuttles, etc. The left and right directions of the present invention are based on the front and rear directions of the aircraft heading, that is, when a person faces the forward direction of the aircraft, the left and right hand directions are the left and right directions.

[0007] When there are three imaging modules, let the horizontal distance between adjacent imaging modules be d, and the distance between the aircraft and the ground be h. Then the offset angle β of the ground area photographed by the three imaging modules is the arc angle formed by the horizontal distance between the imaging modules on a circle with a radius of h, and β=arc[sin(d / h)]; at the same time, since the middle imaging module is located at the top of the arc, its position is higher than the imaging modules on the left and right sides. Let the height be s, then s=h-(h 2 -d 2 ) 0.5 .

[0008] The beneficial effect is that three imaging modules are sufficient to achieve the effect of the present invention and are easy to implement. The three imaging modules, for example, are responsible for capturing each band within the wavelength range of 400-2500nm, and the three can be merged after the capturing is completed. Since the position and corresponding algorithm of each imaging module are different when there are different numbers of imaging modules, the present invention is mainly explained by taking three imaging modules as an example. Those skilled in the art can change it to other numbers of imaging modules according to the concept of the present invention, which belongs to the protection scope of the present invention.

[0009] It also includes a height adjustment module and an angle adjustment module. The height adjustment module is installed on the middle imaging module and can adjust the position height of the middle imaging module. The angle adjustment modules are respectively installed on the left and right imaging modules and can adjust the offset angles of the left and right imaging modules.

[0010] The beneficial effect is that by adjusting the position height of the middle imaging module and the offset angles of the left and right imaging modules, the three imaging modules can geometrically form circles of different radii, which can adapt to aerial photography at different heights.

[0011] There are two laser ranging modules, which are symmetrically distributed on both sides of the middle imaging module, that is, the center of the line connecting the laser ranging modules is located at the center of the three imaging modules.

[0012] The beneficial effect is that, since the center of the line connecting the laser ranging modules is located at the center of the three imaging modules, just above the ground area, the distance measurement is very accurate, and the distance between the aircraft and the ground does not necessarily refer to the vertical height. When the navigation has a certain pitch angle, the laser ranging module follows the pitch of the aircraft and remains perpendicular to the visual axis of the imaging module. What is measured is exactly the tilt distance (tilt caused by pitch) between the aircraft and the center of the ground. The tilt distance is required by the calculation method of the present invention, while a general barometric altimeter cannot provide the tilt distance and is far less accurate than the laser ranging.

[0013] The imaging module includes a lens, a photosensitive sensor, and a data processing end, and can use the light entering from the lens to capture images; wherein the data processing end is shared by all imaging modules.

[0014] The beneficial effect is that all imaging modules share one data processing terminal, which can process the shooting data more quickly and effectively, and also save costs, compared with each having its own data processing terminal (for example, replacing the imaging module with an independent camera).

[0015] Each imaging module is fixedly installed under the aircraft and faces downward of the aircraft. When the aircraft is sailing, the orientation of each imaging module remains perpendicular to the navigation direction; the orientation of the laser ranging module is perpendicular to the front and rear direction of the aircraft. When the aircraft is sailing, the orientation of the laser ranging module remains perpendicular to the navigation direction; the horizontal distance between the imaging modules refers to the horizontal distance between the visual axes of the imaging modules.

[0016] The beneficial effect is that only when the orientations of the imaging modules are kept perpendicular to the navigation direction, the offset angle can be calculated in a simple and accurate manner, and even if the distance between the aircraft and the ground changes greatly, it can be accurately calculated. The imaging module visual axis is the central axis of the optical structure of the imaging module, so that the imaging module visual axes are parallel to each other and the distance is fixed, which is convenient for calculation.

[0017] It also includes a horizontal tilt sensor, which is a single-axis sensor whose axis is perpendicular to the aircraft's navigation direction and measures the left and right tilt angles of the aircraft's navigation. During the shooting and imaging period, if the angle measured by the horizontal tilt sensor deviates from the horizontal angle, the data obtained from the shooting will be invalidated.

[0018] The beneficial effect is that when the angle measured by the horizontal tilt sensor deviates from the horizontal angle, the viewing angles of the three imaging modules change, and the deformations of the three imaging modules are different when shooting the intersecting ground area. No matter how the offset angle is adjusted, the two images cannot effectively intersect. Therefore, the shooting must be invalidated, and the aircraft must continue to shoot while sailing in a straight line at a constant speed. Obviously, a certain pitch angle is allowed during navigation (for example, when shooting a mountain), because the pitch angles of the imaging modules are the same, and the deformations of the three imaging modules are the same when shooting the intersecting ground area. It is only necessary to delete the width direction part, and the calculation can be done in the same way.

[0019] The invention is provided with n columns of m imaging modules, wherein n≥2, that is, a total of n*m imaging modules form a matrix and are installed under the aircraft, wherein the imaging bands of the imaging modules are the same, and the exposure time of each imaging module is set to 1 / (n*m) of the standard value, wherein the standard value is the exposure time required when the hyperspectral imager is used alone, and the n columns of imaging modules are parallel to each other, and the distance between the n columns of imaging modules is certain. During each aerial photography, the aircraft controls the shooting time of the n columns of imaging modules, and shoots from front to back in sequence at a certain time interval, so as to ensure that the imaging modules of each column shoot the same ground area, wherein the time interval is determined jointly according to the distance between the n columns of imaging modules and the speed at that time, and the speed is provided by the aircraft;

[0020] Specifically, the imaging modules are called the 1st, 2nd, ... nth column imaging modules from front to back. Assuming that the distance between the nth column imaging modules and the 1st column imaging modules is dn, and the aircraft speed in the time interval is v, the shooting time interval between the nth column imaging modules and the 1st column imaging modules is dn / v. During aerial photography, after the time interval, the nth column imaging modules move to the position of the 1st column imaging modules to ensure that the nth column imaging modules and the 1st column imaging modules shoot the same ground area.

[0021] The beneficial effect is that each time aerial photography is performed, the shooting time of the n columns of imaging modules is controlled, and the shooting is performed from front to back at a certain time interval. The rear imaging module just moves to the position of the front imaging module, ensuring that the rear imaging module and the front imaging module shoot the same ground area, ensuring that their imaging matches each point on the ground, that is, ensuring the effective fusion of data between each imaging module; the exposure time of each imaging module is set to 1 / (n*m) of the standard value, because the number of imaging modules is increased to n*m, so the exposure time of a single imaging module can be further reduced, thereby further reducing image shift. The speed is provided by the aircraft, and the shooting time of the n columns of imaging modules is controlled by the aircraft at the same time, which is simple, reliable and low cost. The n columns of imaging modules, for example, have 2 columns of imaging modules, both of which are responsible for shooting the same band, and the two can be fused after shooting is completed.

[0022] During the shooting of each imaging module, the speed is kept constant; if the speed changes, the shooting is invalidated.

[0023] The beneficial effect is that only when the speed is kept constant, after the time interval, can the rear imaging module just move to the position of the front imaging module, ensuring that the rear imaging module and the front imaging module photograph the same ground area.

[0024] It also includes a horizontal tilt sensor. When the aircraft is placed horizontally, the horizontal tilt sensor is horizontally installed under the aircraft. The horizontal tilt sensor is a dual-axis sensor, one axis of which is parallel to the aircraft heading and measures the pitch angle of the aircraft's navigation, and the other axis is perpendicular to the aircraft heading and measures the left and right tilt angles of the aircraft's navigation. Within the time interval, if any angle measured by the dual-axis sensor changes, the data obtained by the shooting will be invalidated.

[0025] The beneficial effect is that the horizontal tilt sensor can ensure that the aircraft maintains a certain angle of navigation within the time interval, that is, horizontal straight navigation or straight navigation at a fixed tilt angle, that is, the connection line between the imaging modules is parallel to the heading, so that after the time interval, the rear imaging module can just move to the position of the front imaging module, ensuring that the rear imaging module and the front imaging module photograph the same ground area; when any angle of the horizontal tilt sensor changes, after the time interval, the orientation of the rear imaging module will change, and it cannot just move to the position of the front imaging module, and it cannot be guaranteed that the rear imaging module and the front imaging module photograph the same ground area. Therefore, this shooting must be invalidated, and the aircraft must be kept sailing in a straight line at a constant speed before continuing to shoot.

[0026] Each imaging module takes photos, and their field of view angles are the same.

[0027] The beneficial effect is that if the imaging module shoots a video, since it is difficult to keep the flight speed consistent for a long time, under the premise of the speed change, even if the time interval is adjusted, it is difficult to ensure that the imaging matches each point on the ground. This problem can be avoided if the photo is taken. As long as the speed is kept constant during the photo shooting, it is very easy to achieve. At the same time, taking high-definition photos is also sufficient to meet the use requirements. The exposure time and field of view of each imaging module are the same, so it exposes the same ground area, which can further ensure that it shoots the same ground area. It should be noted that even if the field of view of each imaging module is the same, due to a certain offset angle during shooting, the shooting area cannot be completely overlapped, but if the center point of the shooting field of view is guaranteed to be the center point of the ground area, and because the height is usually large during aerial photography, and the offset angle is usually small, the shooting area can basically overlap, and it can be approximately calculated as in the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 . The present invention has a schematic diagram of the overall structure when shooting with three imaging modules;

[0029] Figure 2 . Schematic diagram of the calculation principle of the three imaging modules of the present invention when shooting;

[0030] Figure 3 . Schematic diagram of the deviation angle when the three imaging modules of the present invention are photographed;

[0031] Figure 4 .The present invention has a schematic diagram of the overall structure when 3*3 imaging modules are used for shooting.

[0032] In the figure: 1. Imaging module, 2. Aircraft. DETAILED DESCRIPTION

[0033] Example

[0034] like Figure 1-3As shown, a hyperspectral camera for reducing aerial image motion is characterized in that it includes a laser ranging module and m imaging modules, wherein m≥2, the imaging bands of the imaging modules are the same, the exposure time of each imaging module is set to 1 / m of the standard value, the standard value is the exposure time required when the hyperspectral imager is used alone, the imaging modules are arranged horizontally left and right below the aircraft, and the arrangement direction is perpendicular to the front and rear direction of the aircraft, the horizontal distance between the m imaging modules is certain, each time aerial photography is performed, the distance between the aircraft and the ground measured by the laser ranging module is monitored, and the distance is kept unchanged, the m imaging modules are aimed at the same ground area and photographed simultaneously, the m imaging modules are located on a circle with the center of the ground area as the center and the distance between the aircraft and the ground as the radius, and there is a certain offset angle between the visual axes of the m imaging modules, wherein the offset angle is jointly determined according to the horizontal distance between the imaging modules and the distance between the aircraft and the ground at that time.

[0035] When there are three imaging modules, let the horizontal distance between adjacent imaging modules be d, and the distance between the aircraft and the ground be h. Then the offset angle β of the ground area photographed by the three imaging modules is the arc angle formed by the horizontal distance between the imaging modules on a circle with a radius of h, and β=arc[sin(d / h)]; at the same time, since the middle imaging module is located at the top of the arc, its position is higher than the imaging modules on the left and right sides. Let the height be s, then s=h-(h 2 -d 2 ) 0.5 .

[0036] It also includes a height adjustment module and an angle adjustment module. The height adjustment module is installed on the middle imaging module and can adjust the position height of the middle imaging module. The angle adjustment modules are respectively installed on the left and right imaging modules and can adjust the offset angles of the left and right imaging modules.

[0037] There are two laser ranging modules, which are symmetrically distributed on both sides of the middle imaging module, that is, the center of the line connecting the laser ranging modules is located at the center of the three imaging modules.

[0038] The imaging module includes a lens, a photosensitive sensor, and a data processing end, and can use the light entering from the lens to capture images; wherein the data processing end is shared by all imaging modules.

[0039] Each imaging module is fixedly installed under the aircraft and faces downward of the aircraft. When the aircraft is sailing, the orientation of each imaging module remains perpendicular to the navigation direction; the orientation of the laser ranging module is perpendicular to the front and rear direction of the aircraft. When the aircraft is sailing, the orientation of the laser ranging module remains perpendicular to the navigation direction; the horizontal distance between the imaging modules refers to the horizontal distance between the visual axes of the imaging modules.

[0040] It also includes a horizontal tilt sensor, which is a single-axis sensor whose axis is perpendicular to the aircraft's navigation direction and measures the left and right tilt angles of the aircraft's navigation. During the shooting and imaging period, if the angle measured by the horizontal tilt sensor deviates from the horizontal angle, the data obtained from the shooting will be invalidated.

[0041] Example

[0042] like Figure 1-4 As shown, a hyperspectral camera for reducing aerial image motion is characterized in that it includes a laser ranging module and m imaging modules, wherein m≥2, the imaging bands of the imaging modules are the same, the exposure time of each imaging module is set to 1 / m of the standard value, the standard value is the exposure time required when the hyperspectral imager is used alone, the imaging modules are arranged horizontally left and right below the aircraft, and the arrangement direction is perpendicular to the front and rear direction of the aircraft, the horizontal distance between the m imaging modules is certain, each time aerial photography is performed, the distance between the aircraft and the ground measured by the laser ranging module is monitored, and the distance is kept unchanged, the m imaging modules are aimed at the same ground area and photographed simultaneously, the m imaging modules are located on a circle with the center of the ground area as the center and the distance between the aircraft and the ground as the radius, and there is a certain offset angle between the visual axes of the m imaging modules, wherein the offset angle is jointly determined according to the horizontal distance between the imaging modules and the distance between the aircraft and the ground at that time.

[0043] When there are three imaging modules, let the horizontal distance between adjacent imaging modules be d, and the distance between the aircraft and the ground be h. Then the offset angle β of the ground area photographed by the three imaging modules is the arc angle formed by the horizontal distance between the imaging modules on a circle with a radius of h, and β=arc[sin(d / h)]; at the same time, since the middle imaging module is located at the top of the arc, its position is higher than the imaging modules on the left and right sides. Let the height be s, then s=h-(h 2 -d 2 ) 0.5 .

[0044] It also includes a height adjustment module and an angle adjustment module. The height adjustment module is installed on the middle imaging module and can adjust the position height of the middle imaging module. The angle adjustment modules are respectively installed on the left and right imaging modules and can adjust the offset angles of the left and right imaging modules.

[0045] There are two laser ranging modules, which are symmetrically distributed on both sides of the middle imaging module, that is, the center of the line connecting the laser ranging modules is located at the center of the three imaging modules.

[0046] The imaging module includes a lens, a photosensitive sensor, and a data processing end, and can use the light entering from the lens to capture images; wherein the data processing end is shared by all imaging modules.

[0047] Each imaging module is fixedly installed under the aircraft and faces downward of the aircraft. When the aircraft is sailing, the orientation of each imaging module remains perpendicular to the navigation direction; the orientation of the laser ranging module is perpendicular to the front and rear direction of the aircraft. When the aircraft is sailing, the orientation of the laser ranging module remains perpendicular to the navigation direction; the horizontal distance between the imaging modules refers to the horizontal distance between the visual axes of the imaging modules.

[0048] It also includes a horizontal tilt sensor, which is a single-axis sensor whose axis is perpendicular to the aircraft's navigation direction and measures the left and right tilt angles of the aircraft's navigation. During the shooting and imaging period, if the angle measured by the horizontal tilt sensor deviates from the horizontal angle, the data obtained from the shooting will be invalidated.

[0049] The invention is provided with n columns of m imaging modules, wherein n≥2, that is, a total of n*m imaging modules form a matrix and are installed under the aircraft, wherein the imaging bands of the imaging modules are the same, and the exposure time of each imaging module is set to 1 / (n*m) of the standard value, wherein the standard value is the exposure time required when the hyperspectral imager is used alone, and the n columns of imaging modules are parallel to each other, and the distance between the n columns of imaging modules is certain. During each aerial photography, the aircraft controls the shooting time of the n columns of imaging modules, and shoots from front to back in sequence at a certain time interval, so as to ensure that the imaging modules of each column shoot the same ground area, wherein the time interval is determined jointly according to the distance between the n columns of imaging modules and the speed at that time, and the speed is provided by the aircraft;

[0050] Specifically, the imaging modules are called the 1st, 2nd, ... nth column imaging modules from front to back. Assuming that the distance between the nth column imaging modules and the 1st column imaging modules is dn, and the aircraft speed in the time interval is v, the shooting time interval between the nth column imaging modules and the 1st column imaging modules is dn / v. During aerial photography, after the time interval, the nth column imaging modules move to the position of the 1st column imaging modules to ensure that the nth column imaging modules and the 1st column imaging modules shoot the same ground area.

[0051] During the shooting of each imaging module, the speed is kept constant; if the speed changes, the shooting is invalidated.

[0052] It also includes a horizontal tilt sensor. When the aircraft is placed horizontally, the horizontal tilt sensor is horizontally installed under the aircraft. The horizontal tilt sensor is a dual-axis sensor, one axis of which is parallel to the aircraft heading and measures the pitch angle of the aircraft's navigation, and the other axis is perpendicular to the aircraft heading and measures the left and right tilt angles of the aircraft's navigation. Within the time interval, if any angle measured by the dual-axis sensor changes, the data obtained by the shooting will be invalidated.

[0053] Each imaging module takes photos, and their field of view angles are the same.

Claims

1. A hyperspectral camera for reducing aerial image motion, characterized by: The invention comprises a laser ranging module and m imaging modules, wherein m≥2, the imaging bands of the imaging modules are the same, the exposure time of each imaging module is set to 1 / m of a standard value, and the standard value is the exposure time required when the hyperspectral imager is used alone. The imaging modules are arranged horizontally left and right below the aircraft, and their arrangement direction is perpendicular to the front-back direction of the aircraft. The horizontal distance between the m imaging modules is constant. During each aerial photography, the distance between the aircraft and the ground measured by the laser ranging module is monitored and the distance is kept unchanged. The m imaging modules are aimed at the same ground area and photographed simultaneously. The m imaging modules are located on a circle with the center of the ground area as the center and the distance between the aircraft and the ground as the radius, and there is a certain offset angle between the visual axes of the m imaging modules, wherein the offset angle is determined based on the horizontal distance between the imaging modules and the distance between the aircraft and the ground at that time.

2. The hyperspectral camera for reducing aerial image motion according to claim 1, wherein: When there are three imaging modules, let the horizontal distance between adjacent imaging modules be d, and the distance between the aircraft and the ground be h. Then the offset angle β of the ground area captured by the three imaging modules is the arc angle formed by the horizontal distance between the imaging modules on a circle with a radius of h, and β = arc [sin (d / h)]; at the same time, since the middle imaging module is located at the top of the arc, its position is higher than the imaging modules on the left and right sides. Let the height be s, then s = h - (h 2 -d 2 ) 0.5 .

3. The hyperspectral camera for reducing aerial image motion according to claim 2, characterized in that: It also includes a height adjustment module and an angle adjustment module. The height adjustment module is installed on the middle imaging module and can adjust the position height of the middle imaging module. The angle adjustment modules are respectively installed on the left and right imaging modules and can adjust the offset angles of the left and right imaging modules.

4. The hyperspectral camera for reducing aerial image motion according to claim 2, wherein: There are two laser ranging modules, which are symmetrically distributed on both sides of the middle imaging module. That is, the center of the line connecting the laser ranging modules is located at the center of the three imaging modules.

5. The hyperspectral camera for reducing aerial image motion according to claim 1, wherein: The imaging module includes a lens, a photosensor, and a data processing end, and can use the light entering from the lens to capture images; wherein the data processing end is shared by all imaging modules.

6. The hyperspectral camera for reducing aerial image motion according to claim 1, wherein: Each imaging module is fixedly installed under the aircraft and faces downward. When the aircraft is flying, the orientation of each imaging module remains perpendicular to the navigation direction. The orientation of the laser ranging module is perpendicular to the front-rear direction of the aircraft. When the aircraft is flying, the orientation of the laser ranging module remains perpendicular to the navigation direction. The horizontal distance between the imaging modules refers to the horizontal distance between the visual axes of the imaging modules.

7. The hyperspectral camera for reducing aerial image motion according to claim 1, characterized in that: It also includes a horizontal tilt sensor, which is a single-axis sensor with its axis perpendicular to the aircraft's navigation direction, and measures the left and right tilt angles of the aircraft's navigation; during the shooting and imaging period, if the angle measured by the horizontal tilt sensor deviates from the horizontal angle, the data obtained from the shooting will be invalidated.

8. The hyperspectral camera for reducing aerial image motion according to claim 1, characterized in that: The invention comprises n columns of m imaging modules, wherein n ≥ 2, that is, a total of n*m imaging modules form a matrix and are installed under the aircraft. The imaging bands of the imaging modules are the same, and the exposure time of each imaging module is set to 1 / (n*m) of a standard value, wherein the standard value is the exposure time required when the hyperspectral imager is used alone. The n columns of imaging modules are parallel to each other, and the distance between the n columns of imaging modules is constant. During each aerial photography, the aircraft controls the shooting time of the n columns of imaging modules, and shoots from front to back at a certain time interval to ensure that each column of imaging modules shoots the same ground area. The time interval is determined based on the distance between the n columns of imaging modules and the current speed, and the speed is provided by the aircraft. Specifically, the imaging modules are sequentially referred to as the 1st, 2nd, ... nth column imaging modules from front to back. Assuming that the distance between the nth column imaging modules and the 1st column imaging modules is dn, and the aircraft speed during the time interval is v, then the shooting time interval between the nth column imaging modules and the 1st column imaging modules is dn / v. During aerial photography, after the time interval, the nth column imaging modules move to the position of the 1st column imaging modules to ensure that the nth column imaging modules and the 1st column imaging modules capture the same ground area.

9. The hyperspectral camera for reducing aerial image motion according to claim 8, characterized in that: During the shooting of each imaging module, the speed is kept constant; if the speed changes, the shooting is invalidated.

10. The hyperspectral camera for reducing aerial image motion according to claim 8, characterized in that: It also includes a horizontal tilt sensor. When the aircraft is placed horizontally, the horizontal tilt sensor is horizontally installed under the aircraft. The horizontal tilt sensor is a dual-axis sensor, one axis of which is parallel to the aircraft heading and measures the pitch angle of the aircraft's navigation, and the other axis is perpendicular to the aircraft heading and measures the left and right tilt angles of the aircraft's navigation. Within the time interval, if any angle measured by the dual-axis sensor changes, the data obtained by the shooting will be invalidated.

Images