Method and device for positioning lunar in-situ exploration target image map

Abstract

The present disclosure provides a lunar in-situ exploration target image map positioning method. The lunar in-situ exploration target image map positioning method comprises: in response to receiving a positioning instruction, obtaining target data information according to the positioning instruction, identifying a target point on a lunar in-situ exploration area background image map DOM data and a first digital elevation model DEM data, and determining first coordinate information of the target point and corresponding first data information using moon-earth space coordinate reference parameters and projection parameters; determining first position information based on an inertial measurement coordinate conversion method; obtaining fourth data information based on an image matching and correction method; obtaining fifth data information based on the image matching and correction method; and determining second coordinate information according to the fifth data information based on a lunar surface image map space coordinate calculation method. The present disclosure also provides a lunar in-situ exploration target image map positioning device, equipment and storage medium.

Description

Technical Field

[0001] This disclosure relates to the field of lunar and planetary space information technology, and more specifically to a method, apparatus, electronic device and storage medium for locating lunar in-situ exploration target image maps. Background Technology

[0002] Traditional lunar exploration positioning methods often only involve locating the probe on the lunar surface, but lack convenient, efficient, and easily visualized positioning methods for determining the location of the probe in three-dimensional space such as the lunar subsurface, surface, and inclined slopes. Summary of the Invention

[0003] In view of the above problems, this disclosure provides a method, apparatus, device and medium for locating lunar in-situ exploration target image maps.

[0004] According to a first aspect of this disclosure, a method for locating a lunar in-situ exploration target using an image map is provided, comprising: responding to receiving a positioning command, acquiring target data information according to the positioning command, the target data information including first data information, second data information, and third data information; wherein, the first data information includes background image map (DOM) data of the lunar in-situ exploration area and first digital elevation model (DEM) data matching the background image map (DOM) data of the lunar in-situ exploration area; the second data information includes local observation image map (DOM) data of the probe and second digital elevation model (DEM) data matching the local observation image map (DOM) data of the probe; the third data information includes a lunar image map with the exploration target marked and probe inertial measurement data corresponding to the lunar image map; identifying a target point on the background image map (DOM) data of the lunar in-situ exploration area and the first digital elevation model (DEM) data, and determining first coordinate information of the target point, and adopting lunar spatial coordinate reference parameters and projection parameters corresponding to the first data information; wherein, the first coordinate information includes latitude and longitude coordinates and elevation coordinates, and the target point is the landing point of the probe; based on the inertial measurement coordinate transformation method, according to the target... The first position information, representing the coarse position of the probe, is determined using the lunar in-situ exploration area background image map DOM data, the first digital elevation model (DEM) data, and the probe's inertial measurement data, along with point coordinate information. Based on image matching and correction, the probe's local observation image map DOM data and the second DEM data are matched to their corresponding positions in the lunar in-situ exploration area background image map DOM data and the first DEM data, respectively, and map correction and spatial coordinate transformation are performed to obtain fourth data information, including first mosaic image map DOM data and first mosaic topographic map DEM data. Based on image matching and correction, a fifth data information is obtained using the fourth data information and the lunar image map with the marked probe target, including second mosaic image map DOM data and second mosaic topographic map DEM data with the marked probe target. Finally, based on the lunar surface image map spatial coordinate calculation method, second coordinate information is determined using the fifth data information, where the second coordinate information includes the relative rectangular coordinates, latitude and longitude coordinates, and elevation coordinates of the probe target.

[0005] According to an embodiment of this disclosure, the inertial measurement coordinate transformation method includes: converting a three-dimensional rectangular coordinate system in an inertial measurement coordinate system into a three-dimensional rectangular coordinate system in the projected coordinates of a lunar image map.

[0006] According to embodiments of this disclosure, the image matching and correction method includes: selecting corresponding points on the first image data to be processed, and using the corresponding matching point spline curve transformation method to match the first image data to be processed onto the second image data to be processed, respectively, to obtain a target image; wherein, the first image data to be processed includes the local observation image map DOM data of the detector and the second digital elevation model DEM data, or the lunar image map with the marked probe target; the second image data to be processed includes the background image map DOM data of the lunar in-situ probe area and the first digital elevation model DEM data, or the first mosaic image map DOM data and the first mosaic topographic map DEM data.

[0007] According to embodiments of this disclosure, the method for calculating spatial coordinates based on lunar surface image maps, which determines the second coordinate information based on the fifth data information, includes: obtaining the latitude and longitude coordinates by converting the projected coordinates into lunar geographic coordinates; and obtaining the elevation coordinates by accumulating the DEM data in the second mosaic topographic map.

[0008] A second aspect of this disclosure provides a lunar in-situ exploration target image map positioning device, comprising: an acquisition module, configured to, in response to receiving a positioning command, acquire target data information according to the positioning command, the target data information including first data information, second data information, and third data information; wherein, the first data information includes lunar in-situ exploration area background image map DOM data and first digital elevation model (DEM) data matching the lunar in-situ exploration area background image map DOM data; the second data information includes probe local observation image map DOM data and second digital elevation model (DEM) data matching the probe local observation image map DOM data. The model DEM data; the third data information includes a lunar image map with the target marked and the probe's inertial measurement data corresponding to the lunar image map; a first processing module is used to identify the target point on the background image map DOM data of the lunar in-situ exploration area and the first digital elevation model DEM data, and determine the first coordinate information of the target point, as well as the adopted lunar spatial coordinate reference parameters and projection parameters corresponding to the first data information; wherein, the first coordinate information includes latitude and longitude coordinates and elevation coordinates, and the target point is the landing point of the probe; a second processing module is used to, based on the inertial measurement coordinate transformation method, according to the coordinates of the target point The information uses the background image map DOM data of the lunar in-situ exploration area, the first digital elevation model (DEM) data, and the inertial measurement data of the probe to determine the first position information, which is the coarse position of the probe. A third processing module, based on image matching and correction methods, matches the local observation image map DOM data and the second digital elevation model (DEM) data of the probe to the corresponding positions in the background image map DOM data of the lunar in-situ exploration area and the first digital elevation model (DEM) data, respectively, according to the first position information and the second data information. Map correction and spatial coordinate transformation are then performed to obtain the fourth data information. The fourth data information includes first mosaic image map DOM data and first mosaic topographic map DEM data; the fourth processing module is used to obtain fifth data information based on the fourth data information and the lunar image map of the marked probe target, according to the image matching and correction method; the fifth data information includes second mosaic image map DOM data and second mosaic topographic map DEM data of the marked probe target; and the fifth processing module is used to determine second coordinate information based on the lunar surface image map spatial coordinate calculation method, according to the fifth data information; wherein, the second coordinate information includes the relative rectangular coordinates, latitude and longitude coordinates, and elevation coordinates of the probe target.

[0009] A third aspect of this disclosure provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the methods disclosed above.

[0010] A fourth aspect of this disclosure also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the methods disclosed above.

[0011] The lunar in-situ exploration target image map positioning method of this disclosure can combine lunar surface background image map, local observation image map of the probe, and probe inertial measurement position to perform spatial position matching, thereby facilitating the visualization and positioning of lunar exploration targets. Attached Figure Description

[0012] The foregoing contents, as well as other objects, features, and advantages of this disclosure, will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0013] Figure 1 A flowchart illustrating a lunar in-situ exploration target image map positioning method according to an embodiment of the present disclosure is shown schematically.

[0014] Figure 2A This schematic diagram illustrates background image map (DOM) data of the lunar in-situ exploration area according to an embodiment of the present disclosure;

[0015] Figure 2B This illustration schematically shows a first digital elevation model (DEM) data matched with background image map (DOM) data of the lunar in-situ exploration area according to an embodiment of the present disclosure;

[0016] Figure 3 A schematic diagram of DOM data with detector coarse position according to an embodiment of the present disclosure is shown;

[0017] Figure 4A A schematic diagram of mosaic image DOM data according to an embodiment of the present disclosure is shown.

[0018] Figure 4B A schematic diagram of mosaic topographic map DEM data according to an embodiment of the present disclosure is shown.

[0019] Figure 5A A schematic diagram of a lunar image with labeled exploration targets according to an embodiment of the present disclosure is shown.

[0020] Figure 5B This illustration schematically shows a mosaic image DOM data of an annotated detection target according to an embodiment of the present disclosure;

[0021] Figure 5C This illustration schematically shows a mosaic topographic map DEM data with labeled detection targets according to an embodiment of the present disclosure;

[0022] Figure 6 A schematic diagram illustrating the structure of a lunar in-situ exploration target image map positioning device according to an embodiment of the present disclosure; and

[0023] Figure 7 A block diagram schematically illustrates an electronic device suitable for implementing a lunar in-situ exploration target image map positioning method according to an embodiment of the present disclosure. Detailed Implementation

[0024] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0025] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0026] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0027] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0028] Lunar in-situ exploration refers to a probe landing on the lunar surface to conduct on-site investigations. Target localization technology is a technique for obtaining the relative position of the target to the landing site and its absolute position within the uniform lunar environment. Only by clarifying the accurate location information of the target can the probe be guided in its lunar surface operations and the work planning of scientific payloads be carried out. Efficient, convenient, and intuitive target localization technology can promptly convey the target location information to lunar probe control engineers, thereby improving exploration efficiency and obtaining more high-value data while ensuring the safe operation of the probe. Therefore, conducting in-situ lunar surface exploration and localization has significant scientific and engineering value.

[0029] Traditional lunar in-situ exploration and positioning methods primarily serve the engineering personnel operating the probe. Through methods such as range measurement and local cascaded image matching, they obtain the probe's local relative position on the lunar surface, assisting operators in navigation planning and developing scientific payload work plans. However, in general exploration missions, researchers need not only to know the probe's position but also, more often than not, the relative position of the target and the landing site, as well as the target's background geographic coordinates and elevation information for scientific analysis. Traditional exploration and positioning methods are inconvenient for providing coordinate information conversion. Furthermore, with the continuous advancement of lunar in-situ exploration technology, new technologies have been introduced, expanding the scope of lunar in-situ exploration targets from the general lunar surface to unstructured targets on the surface, inclined slopes, and even subsurface. Traditional exploration and positioning methods struggle to provide convenient and accurate positioning information for these targets. Moreover, traditional relative position-based exploration and positioning methods have a significant drawback: due to the lack of a unified spatiotemporal reference for position correction, the error in subsequent position matching increases with the exploration distance, leading to a decrease in exploration and positioning accuracy. Finally, traditional lunar probe positioning methods use relative coordinate systems and lack a unified lunar spatiotemporal coordinate reference frame. This hinders intuitive communication between researchers and probe operators, making it difficult for researchers to easily transmit target location information to engineers, thus reducing probe efficiency. Therefore, there is an urgent need to research a new, highly intuitive lunar in-situ probe target positioning method based on a unified lunar surface spatial reference frame. This method should not only provide the existing probe positioning information but also the target's position relative to the probe on the lunar surface, inclined slopes, and even subsurface, as well as the target's absolute position within the lunar spatial coordinate system. Furthermore, it should efficiently transmit this location information between researchers and probe operators through intuitive visualization methods such as image maps.

[0030] The purpose of this invention is to provide a method for locating lunar in-situ probe targets on image maps, so as to locate and visualize lunar in-situ probe targets on image maps with a unified lunar spatiotemporal reference frame, obtain the relative position of the probe target and the probe, as well as the absolute position in the lunar background environment, assist in the navigation of lunar in-situ probes and the formulation of scientific payload plans, and better serve the application and research of lunar science.

[0031] The following is through Figure 1 The lunar in-situ exploration target image map positioning method 100 of the disclosed embodiments is described in detail.

[0032] Figure 1 A flowchart illustrating a lunar in-situ exploration target image map positioning method according to an embodiment of the present disclosure is shown schematically. Figure 1 As shown, this embodiment includes operations S101 to S104.

[0033] In operation S101, in response to receiving a positioning command, target data information is acquired according to the positioning command. The target data information includes first data information, second data information, and third data information. The first data information includes background image map (DOM) data of the lunar in-situ exploration area and first digital elevation model (DEM) data matching the background image map (DOM) data of the lunar in-situ exploration area. The second data information includes local observation image map (DOM) data of the probe and second digital elevation model (DEM) data matching the local observation image map (DOM) data of the probe. The third data information includes a lunar image map with the probe target marked and probe inertial measurement data corresponding to the lunar image map.

[0034] In this step, we obtain the data information used for positioning calculations, namely the target data information.

[0035] In operation S102, the target point is marked on the background image map DOM data and the first digital elevation model DEM data of the lunar in-situ exploration area, and the first coordinate information of the target point, as well as the adopted lunar spatial coordinate reference parameters and projection parameters corresponding to the first data information are determined; wherein, the first coordinate information includes latitude and longitude coordinates and elevation coordinates, and the target point is the landing point of the probe.

[0036] See Figure 2A and Figure 2B , Figure 2A It is a 0.5m resolution background image of the Chang'e-4 landing area (DOM). Figure 2BThis is a 0.5m resolution background image map DEM of the Chang'e-4 landing area. Based on publicly available data, the Chang'e-4 landing site is located at 177.5991°E, 45.4446°S. The white crosshairs in the image mark the location of the Chang'e-4 landing site. The lunar background image map DOM and DEM provide the basic lunar spatial coordinate system, elevation datum, projection parameters, etc.

[0037] Therefore, based on existing landing site information, the target point can be identified in both images. The target point can be the landing site of the probe. This allows the latitude and longitude coordinates and elevation of the landing point to be marked on the background image DOM and DEM, determining the Earth-Moon spatial coordinate reference parameters and projection parameters used in the current image data.

[0038] In operation S103, based on the inertial measurement coordinate transformation method, the first position information is determined according to the lunar in-situ exploration area background image map DOM data with target point coordinate information, the first digital elevation model DEM data, and the probe's inertial measurement data. The first position information is the probe's coarse position.

[0039] By operating S102 and S103, the probe's inertial measurement data can be converted onto the coordinates of the lunar background image map DOM, resulting in a rough positioning result of the probe.

[0040] It is understandable that the inertial measurement coordinate transformation method can link the probe's local inertial coordinate system to a unified lunar space coordinate system (projected coordinate system and geographic coordinate system).

[0041] See Figure 3 , Figure 3 This diagram illustrates how an inertial measurement coordinate transformation algorithm converts the coordinates of a series of points relative to the landing point obtained by the probe through inertial measurements into projection coordinates of the background image map (DOM), and then visualizes these coordinates on the DOM. The westernmost white dot represents the estimated approximate location of the probe. This provides a reference benchmark for selecting corresponding points, performing image matching, and correction.

[0042] For example, based on the background image map with target point coordinates obtained from the above processing, and the input inertial measurement data of the probe, the lunar inertial measurement coordinate transformation algorithm is used to convert it into the projection coordinates in the current background image map DOM, and spatial coordinate transformation is performed to obtain its lunar latitude and longitude coordinates, and the coarse position of the probe is determined on the background image map.

[0043] In some embodiments, the inertial measurement coordinate transformation method may include: converting the three-dimensional rectangular coordinate system in the inertial measurement coordinate system into the three-dimensional rectangular coordinate system in the projected coordinates of the lunar image map.

[0044] It is understandable that by converting the three-dimensional rectangular coordinate system in the inertial measurement coordinate system into the three-dimensional rectangular coordinate system in the projected coordinate system of the lunar image map, the probe coordinates obtained by inertial measurement can be converted into the projected coordinates in the lunar image map, thus achieving a rough estimate of the probe's position.

[0045] In operation S104, based on the image matching and correction method, according to the first location information and the second data information, the local observation image map DOM data and the second digital elevation model DEM data of the probe are matched to the corresponding positions of the background image map DOM data and the first digital elevation model DEM data of the lunar in-situ exploration area, respectively. Map correction and spatial coordinate transformation are then performed to obtain the fourth data information, which includes the first mosaic image map DOM data and the first mosaic topographic map DEM data.

[0046] In this step, near the approximate location, we search for corresponding points of the local observation DOM and the background map DOM, and use lunar image matching and correction methods to match and correct the local observation DOM / DEM onto the background image map DOM / DEM to obtain a mosaic image map DOM / DEM, thereby achieving fine positioning of the probe's location.

[0047] See Figure 4A and Figure 4B Two renderings, Figure 4A To use image matching and correction methods to match and correct the DOM image of the detector's current local observation at a resolution of 0.02m to the background DOM image map, Figure 4B To correct the terrain of the locally observed 0.02m resolution DEM to the background DEM using the same corresponding point matching parameters.

[0048] For example, based on the rough location of the probe obtained above, select the local DOM data acquired by the probe at the current point, select corresponding points with the background DOM image data, and use lunar image matching and correction methods to match the local DOM data and DEM data to the corresponding positions of the background image DOM and DEM, respectively. Then, perform map correction and spatial coordinate transformation to obtain the mosaic image DOM and mosaic topographic map DEM, thereby achieving precise positioning of the probe.

[0049] In operation S105, based on the image matching and correction method, the fifth data information is obtained according to the fourth data information and the lunar image map with the target marked. The fifth data information includes the second mosaic image map DOM data with the target marked and the second mosaic topographic map DEM data with the target marked.

[0050] In this step, based on lunar image matching and correction methods, local observation images of the probe targets are matched and corrected onto the mosaic image map DOM.

[0051] In operation S106, based on the lunar surface image map spatial coordinate calculation method, the second coordinate information is determined according to the fifth data information; wherein, the second coordinate information includes the relative rectangular coordinates, latitude and longitude coordinates and elevation coordinates of the probe target.

[0052] In this step, based on the lunar surface image map spatial coordinate calculation method, the image map projection coordinates (i.e., the relative rectangular coordinates of the target), lunar latitude and longitude coordinates, and elevation of the target can be obtained.

[0053] In some embodiments, the second coordinate information is determined based on the lunar surface image map spatial coordinate calculation method according to the fifth data information, including: obtaining latitude and longitude coordinates by converting the projected coordinates into lunar geographic coordinates; and obtaining elevation coordinates by accumulating the DEM data in the second mosaic topographic map.

[0054] It is understandable that after acquiring the second mosaic image map DOM data and the second mosaic topographic map DEM data of the labeled probe targets, the projected coordinates of the probe's position can be directly read from the image mosaic map DOM, while the latitude and longitude coordinates can be obtained by converting the projected coordinates into lunar geographic coordinates, and the elevation can be obtained by accumulating the DEM data in the topographic mosaic map.

[0055] It is understandable that the relative rectangular coordinates, latitude and longitude coordinates, and elevation coordinates of the probe target can be easily obtained through image matching and correction methods and lunar surface image map spatial coordinate calculation methods. Furthermore, by obtaining the projected coordinates, latitude and longitude coordinates, and elevation coordinates of the probe and the probe target in the lunar spatial coordinate system through lunar image maps, accurate positioning and visualization of the probe target can be achieved.

[0056] See Figure 5A , Figure 5B and Figure 5C , Figure 5A Ordinary image images observed by the detector to identify the location of the target. Figure 5B To use image matching and correction methods to match and correct the image onto the mosaic image map DOM, Figure 5C To accurately locate the target by using matching parameters of points with the same name and displaying them on the image map DEM at the same location.

[0057] For example, after obtaining the corrected mosaic image map DOM and mosaic topographic map DEM, corresponding points are selected in the input image of the marked probe target. Using image matching and correction methods, the probe target image is matched and corrected onto the mosaic image map DOM data to obtain the mosaic image map DOM / DEM of the marked probe target. Then, using the lunar surface image map spatial coordinate calculation method, the three-dimensional rectangular coordinates of the current probe target in the lunar image map projection coordinate system, as well as the latitude, longitude and elevation in the lunar geographic coordinate system, are obtained to realize the positioning of the probe target.

[0058] In this embodiment, it should be noted that the image matching and correction method includes: selecting corresponding points on the first image data to be processed, and using the corresponding matching point spline curve transformation method to match the first image data to be processed onto the second image data to be processed, so as to obtain the target image; wherein, the first image data to be processed includes local observation image map DOM data and second digital elevation model DEM data, or, lunar image map with the target marked; the second image data to be processed includes background image map DOM data of the lunar in-situ exploration area and first digital elevation model DEM data, or, first mosaic image map DOM data and first mosaic topographic map DEM data.

[0059] For example, based on the background image map DOM of coarse positioning, corresponding points are selected on the local observation image map DOM of the detector at the current location and the second digital elevation model DEM. The corresponding point spline curve transformation method is used to match and mosaic the local observation DOM and DEM to the background image map DOM and DEM respectively, so as to obtain the mosaic image map DOM and the mosaic topographic map DEM, such as the first mosaic image map DOM data and the first mosaic topographic map DEM data.

[0060] For example, corresponding points can be selected on the lunar image map that marks the exploration target, and the corresponding point spline curve transformation method can be used to match and mosaic the lunar image map that marks the exploration target to the first mosaic image map DOM and the first mosaic topographic map DEM respectively, so as to obtain the target mosaic image map DOM and mosaic topographic map DEM, such as the second mosaic image map DOM data and the second mosaic topographic map DEM data.

[0061] The lunar in-situ probe target image map positioning method provided in this embodiment can be implemented by inputting a large-scale digital orthophoto map (DOM) of the lunar surface in-situ probe area with lunar spatial coordinates and its matching digital elevation model (DEM) data, a local observation image map (DOM) of the probe and its matching DEM data, probe inertial measurement data (generally three-dimensional rectangular coordinate file data relative to the probe) acquired during DOM data acquisition, and an image map containing the probe target. First, based on existing data, a coordinate starting point is established on the lunar background probe area image map (DOM), generally the landing point of the in-situ probe. The lunar spatial coordinate system and projection method parameters of the DOM are determined, and the latitude, longitude, and elevation coordinates of this point are recorded. Subsequently, based on the... The inertial measurement position data acquired by the probe is converted into ground projection coordinates on the image map, and the probe is coarsely located on the background image. Next, using manual or machine recognition methods, corresponding points are searched and extracted around the background image in the coarsely located area. Corresponding points are matched between the local observation image DOM data and the background probe area image DOM, and DOM and DEM data correction and spatial coordinate transformation are performed to obtain the probe's fine location in spatial coordinates. Then, corresponding points are selected on the local observation DOM image and the probe target image, and corresponding point matching and spatial coordinate transformation are performed. Finally, the relative rectangular coordinates, latitude and longitude coordinates, and elevation of the probe target are confirmed, achieving precise three-dimensional positioning of the probe target. Thus, the probe target can be located using the obtained three-dimensional rectangular coordinates of the lunar surface in-situ probe target relative to the landing point and the latitude, longitude, and elevation coordinates in the lunar space environment. This can be visualized and displayed intuitively on lunar image maps, facilitating the production of more detailed lunar surface in-situ probe target planning or display maps. This is of great significance for supporting the selection of lunar surface exploration targets and related scientific analysis.

[0062] To better understand the algorithms involved in the calculation process of this invention, the relevant algorithms are further explained below with reference to the embodiments. However, this invention is not limited to the embodiments below.

[0063] (1) Algorithm for coordinate transformation of inertial measurement points on lunar probes (i.e., inertial measurement coordinate transformation method)

[0064] The specific steps for converting the coordinates of the lunar probe's inertial measurement points into the projection coordinates of the background image map are as follows:

[0065] S1. Based on the labeled landing point location, the projected coordinates (X1, Y1) and elevation Z1 are read from the lunar background image map DOM (BGDOM.tif) and DEM (BGDEM.tif), respectively; the relative position coordinates (X2, Y2, Z2) between the probe and the landing point are read from the probe's inertial measurement data txt text file. The X direction of these coordinates points north to the lunar spatial coordinate system (GSCMoon2000, R = 1737400m), the Y direction points east to the lunar spatial coordinate system, and the Z direction points towards the Earth's center on the Moon.

[0066] S2. Convert the relative position (X2,Y2,Z2) of the probe and the landing point into the relative position vector (X3,Y3,Z3) in the lunar background image DOM. The calculation formula is: X3=Y2, Y3=X2, Z3=-Z2.

[0067] S3. Calculate the current projection coordinates (X) of the probe in the lunar background DOM image map. est ,Y est Z est This allows us to obtain its rough location on the image map, using the formula: X est =X1+X3,Y est =Y1+Y3,Z est =Z1+Z3.

[0068] (2) Lunar image matching and correction method (i.e., image matching and correction method)

[0069] The specific steps for matching the local observation images DOM / DEM (LCDOM.tif / LCDEM.tif) of the probe to the lunar background images DOM / DEM using lunar image matching and correction methods are as follows:

[0070] S1. Near the approximate location of the probe on the lunar background DOM image map, find points with the same name as those in the local observation image DOM by manual visual search or machine recognition, and record the pixel coordinates (X, Y, X) of the corresponding points in the local observation image DOM. p ,Y p ) and the pixel coordinates (X) of the lunar background DOM image map prj ,Y prj Select at least 10 points with the same name, generally 20-30, and then save the coordinates of all points with the same name to a text file named "ZBZH" in the following format:

[0071] X p1 Y p1 X prj1 Y prj1

[0072] X p2 Y p2 X prj2 Y prj2

[0073] …

[0074] S2. Using the spline curve correction method, the local observation image DOM is corrected and mosaicked onto the lunar background DOM image map to obtain the mosaic image map DOM. Save it as "MOSDOM.tif". The specific Python code is as follows:

[0075] import arcpy

[0076] #Execute matching

[0077] arcpy.WarpFromFile_management("LCDOM.tif","warp_out_LCDOM.tif","ZBZH.txt","SPLINE","NEAREST")

[0078] #Perform image mosaicking

[0079] arcpy.MosaicToNewRaster_management("BGDOM.tif;warp_out_LCDOM.tif","Mosaic2New","MOSDOM.tif","","8_BIT_UNSIGNED","0.02","1","LAST","FIRST")

[0080] S3. Continue using the spline curve correction method to correct and mosaic the local observation image DEM onto the projection coordinate system corresponding to the lunar background DOM image, obtaining the mosaic image map DEM. Save it as "MOSDEM.tif". The specific Python code is as follows:

[0081] import arcpy

[0082] from arcpy import env

[0083] from arcpy.sa import*

[0084] env.workspace="C: / data"

[0085] arcpy.CheckOutExtension("Spatial")

[0086] #Execute matching

[0087] arcpy.WarpFromFile_management("LCDEM.tif","warp_out_LCDEM.tif","ZBZH

[0088] .txt","SPLINE","NEAREST")

[0089] inRaster1="warpoutLCDEM.tif"

[0090] inRaster2 = "BGDEM.tif"

[0091] #Execute summation

[0092] outPlus=Plus(inRaster1,inRaster2)

[0093] #Save file

[0094] outPlus.save("C: / data / plus_LCDEM.tif")

[0095] #Perform image mosaicking

[0096] arcpy.MosaicToNewRaster_management("BGDEM.tif;plus_LCDEM.tif","Mosaic2New","MOSDEM.tif","","16_BIT_SIGNED","0.02","1","LAST","FIRST")

[0097] S4. Repeat steps S1-S3 above, and then correct and mosaic the identified target image "TARGET.tif" onto the mosaic image map DOM "MOSDEM.tif" to obtain the final mosaic image map DOM "MOSDOM_RESULT.tif".

[0098] (3) Method for calculating spatial coordinates of lunar surface image maps (i.e., the method for calculating spatial coordinates of lunar surface image maps)

[0099] The steps to obtain the accurate projected coordinates of the probe and the target, as well as the lunar latitude, longitude, and elevation, using the lunar surface image map spatial coordinate calculation method are as follows:

[0100] S1. Based on the mosaic image maps DOM "MOSDOM_RESULT.tif" and DEM "MOSDEM.tif" obtained using the above lunar image matching and correction methods, the positions of the probe and the target on the image map can be identified through visual interpretation. Then, using ArcMap spatial information software, the map projection coordinates of the probe and the target on the image map can be read and denoted as (X... tcq ,Y tcq Z tcq ) and (X tcmb ,Y tcmb Z tcmb ).

[0101] S2. Using the GDAL coordinate transformation method, the final lunar latitude and longitude coordinates X of the probe and the target are obtained. jd1 ,Y wd1 Elevation E gc1 and X jd2 ,Y wd2 Elevation E gc2 The specific method for projecting coordinates is as follows (Python code is also provided):

[0102]

[0103]

[0104]

[0105] Figure 6 A schematic block diagram of a lunar in-situ exploration target image map positioning device according to an embodiment of the present disclosure is shown.

[0106] like Figure 6 As shown, the lunar in-situ exploration target image map positioning device 600 of this embodiment includes an acquisition module 610, a first processing module 620, a second processing module 630, a third processing module 640, a fourth processing module 650, and a fifth processing module 660.

[0107] The acquisition module 610 is configured to, in response to receiving a positioning command, acquire target data information according to the positioning command. The target data information includes first data information, second data information, and third data information. The first data information includes DOM data of the lunar in-situ exploration area background image and first digital elevation model (DEM) data matching the DOM data. The second data information includes DOM data of a local observation image of the probe and second DEM data matching the DOM data. The third data information includes lunar markers indicating the probe target. The system includes a lunar image map and the probe's inertial measurement data corresponding to the lunar image map; a first processing module 620 is used to identify a target point on the background image map (DOM) data of the lunar in-situ exploration area and the first digital elevation model (DEM) data, and determine the first coordinate information of the target point, as well as the adopted lunar spatial coordinate reference parameters and projection parameters corresponding to the first data information; wherein, the first coordinate information includes latitude and longitude coordinates and elevation coordinates, and the target point is the landing point of the probe; a second processing module 630 is used to, based on the inertial measurement coordinate transformation method, determine the target point's coordinate information according to the background image map (DOM) data of the lunar in-situ exploration area with the target point coordinate information. The first position information, which is the coarse position of the probe, is determined by using the DOM data, the first digital elevation model (DEM) data, and the probe's inertial measurement data. The third processing module 640, based on image matching and correction, matches the probe's local observation image DOM data and the second DEM data to the corresponding positions in the lunar in-situ exploration area background image DOM data and the first DEM data, respectively, according to the first position information and the second data information. Map correction and spatial coordinate transformation are then performed to obtain fourth data information. The fourth data information package... The system includes first mosaic image map DOM data and first mosaic topographic map DEM data; a fourth processing module 650, used to obtain fifth data information based on the image matching and correction method, according to the fourth data information and the lunar image map with the marked probe target, the fifth data information including second mosaic image map DOM data and second mosaic topographic map DEM data with the marked probe target; and a fifth processing module 660, used to determine second coordinate information based on the lunar surface image map spatial coordinate calculation method, according to the fifth data information; wherein, the second coordinate information includes the relative rectangular coordinates, latitude and longitude coordinates, and elevation coordinates of the probe target.

[0108] In some embodiments, the fifth processing module includes: a first obtaining unit, configured to obtain the latitude and longitude coordinates by converting the projected coordinates into lunar geographic coordinates; and a second obtaining unit, configured to obtain the elevation coordinates by accumulating the DEM data in the second mosaic topographic map.

[0109] According to embodiments of this disclosure, any plurality of modules among the acquisition module 610, the first processing module 620, the second processing module 630, the third processing module 640, the fourth processing module 650, and the fifth processing module 660 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules can be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of this disclosure, at least one of the acquisition module 610, the first processing module 620, the second processing module 630, the third processing module 640, the fourth processing module 650, and the fifth processing module 660 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging circuitry, or implemented in any one of software, hardware, and firmware methods, or in a suitable combination of any of these methods. Alternatively, at least one of the acquisition module 610, the first processing module 620, the second processing module 630, the third processing module 640, the fourth processing module 650, and the fifth processing module 660 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0110] Figure 7 A block diagram schematically illustrates an electronic device suitable for implementing a lunar in-situ exploration target image map positioning method according to an embodiment of the present disclosure.

[0111] like Figure 7 As shown, an electronic device 700 according to an embodiment of the present disclosure includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage portion 708 into a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0112] RAM 703 stores various programs and data required for the operation of electronic device 700. Processor 701, ROM 702, and RAM 703 are interconnected via bus 704. Processor 701 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 702 and / or RAM 703. It should be noted that the programs may also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0113] According to embodiments of this disclosure, the electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to a bus 704. The electronic device 700 may also include one or more of the following components connected to the I / O interface 705: an input section 706 including a keyboard, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.

[0114] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0115] According to embodiments of this disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this disclosure, the computer-readable storage medium may include ROM 702 and / or RAM 703 and / or one or more memories other than ROM 702 and RAM 703 described above.

[0116] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code enables the computer system to implement the lunar in-situ exploration target image map positioning method provided in embodiments of this disclosure.

[0117] When the computer program is executed by the processor 701, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0118] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 709, and / or installed from a removable medium 711. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0119] In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 709, and / or installed from the removable medium 711. When the computer program is executed by the processor 701, it performs the functions defined in the system of this disclosure embodiment. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0120] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0121] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0122] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0123] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for locating a lunar in-situ exploration target using an image map, comprising: In response to receiving a positioning command, target data information is acquired according to the positioning command. The target data information includes first data information, second data information, and third data information. The first data information includes a DOM (Moon In-situ Map) of the lunar exploration area and a first digital elevation model (DEM) matching the DOM. The second data information includes a DOM of local observation images of the probe and a second DEM matching the DOM. The third data information includes a lunar image map with the target marked and probe inertial measurement data corresponding to the lunar image map. The target point is identified on the background image map (DOM) data of the lunar in-situ exploration area and the first digital elevation model (DEM) data, and the first coordinate information of the target point, as well as the adopted lunar spatial coordinate reference parameters and projection parameters corresponding to the first data information are determined; wherein, the first coordinate information includes latitude and longitude coordinates and elevation coordinates, and the target point is the landing point of the probe; Based on the inertial measurement coordinate transformation method, the first position information is determined according to the background image map DOM data of the lunar in-situ exploration area with target point coordinate information, the first digital elevation model DEM data, and the inertial measurement data of the probe. The first position information is the coarse position of the probe. Based on the image matching and correction method, according to the first location information and the second data information, the local observation image map DOM data and the second digital elevation model DEM data of the detector are matched to the corresponding positions of the background image map DOM data and the first digital elevation model DEM data of the lunar in-situ exploration area, respectively, and map correction and spatial coordinate transformation are performed to obtain the fourth data information, which includes the first mosaic image map DOM data and the first mosaic topographic map DEM data. Based on image matching and correction, and according to the fourth data information and the lunar image map of the labeled probe target, fifth data information is obtained. The fifth data information includes the second mosaic image map (DOM) data of the labeled probe target and the second mosaic topographic map (DEM) data of the labeled probe target; and... Based on the spatial coordinate calculation method of lunar surface image map, the second coordinate information is determined according to the fifth data information; wherein, the second coordinate information includes the relative rectangular coordinates, latitude and longitude coordinates and elevation coordinates of the probe target.

2. The method according to claim 1, wherein, The inertial measurement coordinate transformation method includes: The three-dimensional rectangular coordinate system in the inertial measurement coordinate system is converted into the three-dimensional rectangular coordinate system in the projected coordinate system of the lunar image map.

3. The method according to claim 1, wherein, The image matching and correction method includes: Select corresponding points on the first image data to be processed, and use the corresponding point spline curve transformation method to match the first image data to be processed onto the second image data to be processed, so as to obtain the target image; The first image data to be processed includes the local observation image map DOM data of the detector and the second digital elevation model DEM data, or the lunar image map with the marked probe target; The second image data to be processed includes the background image map DOM data of the lunar in-situ exploration area and the first digital elevation model (DEM) data, or the first mosaic image map DOM data and the first mosaic topographic map (DEM) data.

4. The method according to claim 1, wherein, The method for calculating spatial coordinates based on lunar surface image maps, which determines the second coordinate information according to the fifth data information, includes: The latitude and longitude coordinates are obtained by converting the projected coordinates to lunar geographic coordinates; and The elevation coordinates are obtained by accumulating the DEM data in the second mosaic topographic map.

5. A lunar in-situ exploration target image map positioning device, comprising: The acquisition module is configured to, in response to receiving a positioning command, acquire target data information according to the positioning command. The target data information includes first data information, second data information, and third data information. The first data information includes a DOM (Domain Image Map) of the lunar in-situ exploration area and first digital elevation model (DEM) data matching the DOM. The second data information includes a DOM of local observation images of the probe and second DEM data matching the DOM. The third data information includes a lunar image map with the probe target marked and probe inertial measurement data corresponding to the lunar image map. The first processing module is used to identify a target point on the background image map (DOM) data of the lunar in-situ exploration area and the first digital elevation model (DEM) data, and to determine the first coordinate information of the target point, as well as the adopted lunar spatial coordinate reference parameters and projection parameters corresponding to the first data information; wherein, the first coordinate information includes latitude and longitude coordinates and elevation coordinates, and the target point is the landing point of the probe; The second processing module is used to determine the first position information based on the inertial measurement coordinate transformation method, according to the background image map DOM data of the lunar in-situ exploration area with target point coordinate information, the first digital elevation model DEM data, and the inertial measurement data of the probe. The first position information is the coarse position of the probe. The third processing module is used to match the local observation image map DOM data and the second digital elevation model DEM data of the detector to the corresponding positions of the background image map DOM data and the first digital elevation model DEM data of the lunar in-situ exploration area, respectively, based on the image matching and correction method and according to the first position information and the second data information, and to perform map correction and spatial coordinate transformation to obtain the fourth data information, which includes the first mosaic image map DOM data and the first mosaic topographic map DEM data. The fourth processing module is used to obtain fifth data information based on the image matching and correction method, according to the fourth data information and the lunar image map of the labeled probe target. The fifth data information includes the second mosaic image map (DOM) data and the second mosaic topographic map (DEM) data of the labeled probe target; and... The fifth processing module is used to determine the second coordinate information based on the fifth data information using the lunar surface image map spatial coordinate calculation method; wherein the second coordinate information includes the relative rectangular coordinates, latitude and longitude coordinates, and elevation coordinates of the probe target.

6. The apparatus according to claim 5, wherein, The inertial measurement coordinate transformation method includes: The three-dimensional rectangular coordinate system in the inertial measurement coordinate system is converted into the three-dimensional rectangular coordinate system in the projected coordinate system of the lunar image map.

7. The apparatus according to claim 5, wherein, The image matching and correction method includes: Select corresponding points on the first image data to be processed, and use the corresponding point spline curve transformation method to match the first image data to be processed onto the second image data to be processed, so as to obtain the target image; The first image data to be processed includes the local observation image map DOM data of the detector and the second digital elevation model DEM data, or the lunar image map with the marked probe target; The second image data to be processed includes the background image map DOM data of the lunar in-situ exploration area and the first digital elevation model (DEM) data, or the first mosaic image map DOM data and the first mosaic topographic map (DEM) data.

8. The apparatus according to claim 5, wherein, The fifth processing module includes: The first obtaining unit is used to obtain the latitude and longitude coordinates by converting the projected coordinates into lunar geographic coordinates; and The second obtaining unit is used to obtain the elevation coordinates by accumulating the DEM data in the second mosaic topographic map.

9. An electronic device, comprising: One or more processors; Storage device for storing one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 4.

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