Satellite imaging simulation system and satellite imaging positioning error testing method

Abstract

The present disclosure relates to the technical field of satellite imaging, and particularly relates to a satellite imaging simulation system and a satellite imaging positioning error testing method. The satellite imaging simulation system comprises an optical-mechanical scanning imaging device and a radiation body. The optical-mechanical scanning imaging device comprises a motor, a scanning structure and a camera device. The motor drives the scanning structure to rotate. The radiation body radiates light signals which are reflected by the scanning structure. The camera device is used to receive the reflected light signals and convert them into electrical signals. The system further comprises a motor control system and an electronic device. The motor control system is used to receive the electrical signals and convert them into digital signals. The electronic device is used to receive the digital signals to generate an image of the radiation body, and obtain a satellite imaging positioning error based on the image of the radiation body. The technical scheme of the present disclosure can provide scientific guidance for improving the geometric positioning accuracy of remote sensing satellites, and is of great significance for accurately reporting the position of small-area mountain fires near power transmission lines and improving the monitoring and early warning of mountain fires near power transmission lines.

Description

Technical Field

[0001] This disclosure relates to the field of satellite imaging technology, and in particular to a satellite imaging simulation system and a method for testing satellite imaging positioning errors. Background Technology

[0002] Investigations into power transmission line outages caused by wildfires revealed that small-scale wildfires accounted for 50% of all outages, and that forest fires causing power outages were also primarily triggered by the spread of small-scale wildfires. Wildfires near power grids occur not only in mountainous areas but also in hilly areas, plains, grasslands, and any region rich in flammable materials, covering a very wide range. Therefore, conducting large-scale remote sensing monitoring of wildfires is of great significance for ensuring the stable and safe operation of the power grid.

[0003] Compared to other remote sensing satellites, wide-swath (over 700 km) medium-to-high resolution (better than 100 meters) remote sensing small satellites have advantages such as non-contact operation, wide monitoring range, high timeliness, less susceptibility to terrain and environmental interference, ability to monitor small-area wildfires down to 30 meters in size, and low manufacturing cost. They are gradually becoming the main data source for wide-area monitoring and risk warning of wildfires in power grids. However, due to limitations in infrared optical system design and infrared detector technology, achieving a swath width / resolution better than 7000 meters with limited resources requires optomechanical scanning to realize wide-swath, medium-to-high resolution infrared imaging.

[0004] The optomechanical scanning component is one of the core components of an optomechanical scanning system, consisting of a mechanical scanning structure and optical components. The optical components are mounted on the mechanical scanning structure using a specific mounting method. The motion control system drives the scanning structure to scan the target through movements such as oscillation, rotation, or oscillation. For wide-swath, large-area remote sensing small satellites, the scanning structure motion control system is a precision control system. Its actuators need to possess high reliability, high precision, and good spatial adaptability. Compared to the commonly used brushless DC motors, finite-angle DC torque motors, and permanent magnet synchronous motors on satellites, stepper motors, driven by pulses, have advantages such as no cumulative error, low cost, good stability, high control precision, and simple and effective control circuits and drive methods. They are suitable for small-inertia constant-speed scanning structures such as rotating 45° mirrors and rotating double-sided mirrors. However, the positioning accuracy is difficult to reach the arcsecond level, and stepper motors are prone to oscillation and step loss at low or high frequencies. Therefore, to improve the positioning accuracy of wide-area monitoring of wildfires near power transmission lines, determining the impact of the optomechanical scanning component on the satellite's geometric positioning accuracy is an urgent research issue. Summary of the Invention

[0005] To address the aforementioned technical issues, this disclosure provides a satellite imaging simulation system and a satellite imaging positioning error testing method, which can provide scientific guidance for improving the geometric positioning accuracy of remote sensing satellites. It is of great significance for accurately reporting the location of small-area wildfires near power grid transmission lines, thereby improving the monitoring and early warning of wildfires along power grid transmission lines.

[0006] In a first aspect, this disclosure provides a satellite imaging simulation system, comprising:

[0007] An optomechanical scanning imaging device and a radiator are provided. The optomechanical scanning imaging device includes a motor, a scanning structure, and a camera. The rotating shaft of the motor is mechanically connected to the rotating shaft of the scanning structure, and the motor drives the scanning structure to rotate. The light signal radiated by the radiator is reflected by the scanning structure, and the camera is used to receive the reflected light signal and convert the light signal into an electrical signal.

[0008] The system includes a motor control system and an electronic device. The motor control system is communicatively connected to the camera device and the electronic device, respectively. The motor control system is used to receive the electrical signal and convert the electrical signal into a digital signal. The electronic device is used to receive the digital signal to generate an image of the radiator and to obtain the satellite imaging positioning error based on the image of the radiator.

[0009] In some embodiments, the motor control system includes a drive board and a control board, wherein the control board outputs drive control signals to the motor through the drive board;

[0010] The control board is communicatively connected to the camera device and is used to receive the electrical signals and convert the electrical signals into digital signals.

[0011] In some embodiments, the optomechanical scanning imaging apparatus further includes:

[0012] An encoder is communicatively connected to the control board. The encoder is mounted on the rotating shaft of the scanning structure and is used to output pulse signals to the control board according to the rotation of the motor.

[0013] In some embodiments, the optomechanical scanning imaging apparatus further includes:

[0014] Base, first fixing component, and second fixing component;

[0015] The motor and scanning structure are fixed to the base by the first fastener;

[0016] The camera device is fixed to the base by the second fastener.

[0017] In some embodiments, the camera device includes a lens and a detector, the center of the lens and the center of the detector being on the same straight line, and the lens being positioned toward the scanning structure.

[0018] Secondly, this disclosure also provides a satellite imaging positioning error testing method, implemented using the satellite imaging simulation system described in the first aspect, comprising:

[0019] Control the rotation of the scanning structure;

[0020] Once the scanning structure has rotated to a preset position, the camera device is controlled to capture an image of the radiator.

[0021] Satellite imaging positioning error is obtained based on the image of the radiator.

[0022] In some embodiments, determining that the scanning structure has rotated to a preset position includes:

[0023] Determine the rotation zero point position of the scanning structure and the corresponding first pulse signal;

[0024] Based on the rotation zero point position of the scanning structure and the corresponding first pulse signal, determine the second pulse signal corresponding to the preset position;

[0025] In response to acquiring the second pulse signal, it is determined that the scanning structure has rotated to a preset position.

[0026] In some embodiments, obtaining satellite imaging positioning error based on the image of the radiator includes:

[0027] Based on the image of the radiator, the corner pixel displacement of the image is obtained by a first formula, which is:

[0028]

[0029] Based on the corner pixel displacement of the image, the satellite imaging positioning error is obtained through a second formula, which is:

[0030] D = d × P;

[0031] Where Δx is the horizontal axis increment of the corner point, Δy is the vertical axis increment of the corner point, d is the pixel displacement of the corner point, D is the satellite imaging positioning error, P is the set satellite pixel resolution, and (x1, y1) and (x2, y2) are two pixels formed in the two images corresponding to a point position of the radiator.

[0032] In some embodiments, before controlling the camera device to capture an image of the radiator, the satellite imaging positioning error testing method further includes:

[0033] The radiator is heated.

[0034] In some embodiments, controlling the camera device to capture an image of the radiator includes:

[0035] The camera device is controlled to start shooting at intervals of set rotation angles when the scanning structure rotates to a preset position, and stops shooting when the shooting count reaches the threshold.

[0036] The satellite imaging simulation system provided in this embodiment includes: an optomechanical scanning imaging device and a radiator. The optomechanical scanning imaging device includes a motor, a scanning structure, and a camera. The motor's shaft and the scanning structure's shaft are mechanically connected, and the motor drives the scanning structure to rotate. The light signal radiated by the radiator is reflected through the scanning structure. The camera receives the reflected light signal and converts it into an electrical signal. A motor control system and an electronic device are also included. The motor control system is communicatively connected to both the camera and electronic devices. The motor control system receives the electrical signal and converts it into a digital signal. The electronic device receives the digital signal to generate an image of the radiator and obtains the satellite imaging positioning error based on the image. Therefore, an optomechanical scanning imaging device for simulating satellite scanning imaging on the ground can be realized. By simulating the operation and data recording methods of the satellite optomechanical scanning imaging device, the satellite imaging positioning error can be obtained, and its impact on geometric positioning accuracy in actual scanning imaging can be evaluated. This can provide scientific guidance for improving the geometric positioning accuracy of remote sensing satellites and is of great significance for accurately reporting the location of small-area wildfires near power grid transmission lines, thereby improving the monitoring and early warning of wildfires along power grid transmission lines. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0038] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A structural block diagram of a satellite imaging simulation system provided in this disclosure embodiment;

[0040] Figure 2 This is a schematic diagram of the structure of an optomechanical scanning imaging device provided in an embodiment of the present disclosure;

[0041] Figure 3 This is a schematic diagram of the structure of a radiator provided in an embodiment of the present disclosure;

[0042] Figure 4 This is a schematic diagram illustrating an application scenario of a satellite imaging simulation system provided in an embodiment of this disclosure;

[0043] Figure 5 A schematic flowchart of a satellite imaging positioning error testing method provided in this embodiment of the disclosure;

[0044] Figure 6 A schematic diagram of a motor control principle provided in this embodiment of the present disclosure;

[0045] Figure 7 This is a schematic diagram of the structure of a satellite imaging positioning error testing device provided in an embodiment of the present disclosure;

[0046] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0047] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0048] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0049] The satellite imaging simulation system provided in this embodiment can simulate a satellite scanning imaging device on the ground. By simulating the operation mode and data recording mode of the satellite scanning imaging device, it can obtain the satellite imaging positioning error and evaluate its impact on geometric positioning accuracy in actual scanning imaging. This can provide scientific guidance for improving the geometric positioning accuracy of remote sensing satellites and is of great significance for accurately reporting the location of small-area wildfires near power grid transmission lines, thereby improving the monitoring and early warning of wildfires along power grid transmission lines.

[0050] The satellite imaging simulation system and satellite imaging positioning error testing method provided in this disclosure are described below with reference to the accompanying drawings.

[0051] Figure 1 This is a structural block diagram of a satellite imaging simulation system provided in an embodiment of the present disclosure. Figure 2 This is a schematic diagram of the structure of an optomechanical scanning imaging device provided in an embodiment of this disclosure. Figure 1 and Figure 2As shown, the satellite imaging simulation system 010 includes: an optomechanical scanning imaging device 10 and a radiator 14. The optomechanical scanning imaging device 10 includes a motor 11, a scanning structure 12, and a camera device 15. The rotating shaft 13 of the motor 11 and the rotating shaft 013 of the scanning structure 12 are mechanically connected, and the motor 11 drives the scanning structure 12 to rotate. The light signal radiated by the radiator 14 is reflected by the scanning structure 12. The camera device 15 is used to receive the reflected light signal and convert the light signal into an electrical signal. There is also a motor control system 16 and an electronic device 17. The motor control system 16 is communicatively connected to the camera device 15 and the electronic device 17, respectively. The motor control system 16 is used to receive the electrical signal and convert the electrical signal into a digital signal. The electronic device 17 is used to receive the digital signal to generate an image of the radiator 14 and obtain the satellite imaging positioning error based on the image of the radiator 14.

[0052] The rotating shaft of the motor 11 and the rotating shaft 013 of the scanning structure 12 can be connected by a connector. When the motor 11 rotates, it can drive the scanning structure 12 to rotate. The scanning structure 12 includes a scanning mirror 121, which can be, for example, a metal mirror.

[0053] The radiator 14 can be configured as a radiation target. When the radiator 14 is heated, it radiates thermal energy, i.e., a light signal. The light signal can be reflected by the scanning mirror 121 in the scanning structure 12, and the reflected light signal can be received by the camera device 15. For example, Figure 3 This is a schematic diagram of the structure of a radiator provided in an embodiment of this disclosure. Figure 3 As shown, the radiator 14 is a radiation target, which radiates thermal energy when heated. The imaging device 15 includes a lens 151 and a detector 152. The center of the lens 151 and the center of the detector 152 are on the same straight line, and the lens 151 is positioned facing the scanning structure 12. Therefore, the detector 152 can receive the light signal reflected from the scanning mirror 121 through the lens 151.

[0054] The motor control system 16 includes a drive board 161 and a control board 162. The control board 162 outputs drive control signals to the motor 11 through the drive board 161. The control board 162 is communicatively connected to the camera device 15. The control board 162 can be configured as a field programmable gate array (FPGA) control board, which is used to receive electrical signals and convert them into digital signals.

[0055] Specifically, the detector 152 can be set as an uncooled long-wave infrared detector with a resolution of 1024×1280. The response spectrum, array and pixel size of the uncooled long-wave infrared detector can be consistent with the parameters of the detector used on the satellite. The lens F-number, for example, is 1, which can be consistent with the F-number of the lens used for imaging on the satellite. All other operating parameters of the camera device 15 can be set equivalently.

[0056] The scanning mirror 121 is a single-sided mirror, differing from the double-sided mirror designed on the satellite only in its usable scanning angle of 180°. The single-sided mirror is smaller in weight and size, but its imaging quality is equivalent to that of the satellite. The drive board 161 and control board 162 can be equivalently configured to represent the actual control effect of the satellite. Based on this, a satellite imaging simulation system is constructed.

[0057] Specifically, when testing satellite imaging positioning errors, electronic device 17, such as a computer, outputs control commands to control board 162. Control board 162 then sends these commands to drive board 161, which converts the commands from control board 162 into signals that actually drive motor 11, thus controlling the motor 11 to operate. Therefore, this master-slave design, with electronic device 17 as the master controller and control board 162 as the slave controller, where the master controller performs control planning and coarse interpolation, and the slave controller performs fine interpolation and speed control, improves the reliability and accuracy of the control system.

[0058] During the rotation of the motor 11, the scanning structure 12 is driven to rotate, and the scanning mirror 121 also rotates accordingly. When the scanning mirror 121 rotates to the target position, the scanning mirror 121 can reflect the light signal radiated by the radiator 14 to the lens 151 of the camera device 15. At this time, the shooting function of the camera device 15 is activated, and the light signal reflected by the scanning mirror 121 can be obtained.

[0059] For example, Figure 4 This is a schematic diagram illustrating an application scenario of a satellite imaging simulation system provided in this disclosure. (Combined with...) Figure 1 , Figure 2 and Figure 4When heated, radiator 14 radiates thermal energy, i.e., light signals. These light signals are reflected at scanning mirror 121 to the lens 151 of imaging device 15. Detector 152 in imaging device 15 receives the reflected light signals from scanning mirror 121 and converts them into electrical signals, which are then transmitted to control board 162. Control board 162 can be configured as a Field Programmable Gate Array (FPGA) control board, which can convert electrical signals into digital signals. Control board 162 then transmits the digital signals to electronic device 17, such as a computer. Electronic device 17 can generate an image of radiator 14 based on the received digital signals, thereby obtaining the satellite imaging positioning error based on the image of radiator 14. The smaller the satellite imaging positioning error, the higher the geometric positioning accuracy. The specific method for obtaining the satellite imaging positioning error based on the image of radiator 14 is detailed below.

[0060] The satellite imaging simulation system provided in this embodiment includes: an optomechanical scanning imaging device and a radiator. The optomechanical scanning imaging device includes a motor, a scanning structure, and a camera. The motor's shaft and the scanning structure's shaft are mechanically connected, and the motor drives the scanning structure to rotate. The light signal radiated by the radiator is reflected through the scanning structure. The camera receives the reflected light signal and converts it into an electrical signal. A motor control system and an electronic device are also included. The motor control system is communicatively connected to both the camera and electronic devices. The motor control system receives the electrical signal and converts it into a digital signal. The electronic device receives the digital signal to generate an image of the radiator and obtains the satellite imaging positioning error based on the image. Therefore, an optomechanical scanning imaging device for simulating satellite scanning imaging on the ground can be realized. By simulating the operation and data recording methods of the satellite optomechanical scanning imaging device, the satellite imaging positioning error can be obtained, and its impact on geometric positioning accuracy in actual scanning imaging can be evaluated. This can provide scientific guidance for improving the geometric positioning accuracy of remote sensing satellites and is of great significance for accurately reporting the location of small-area wildfires near power grid transmission lines, thereby improving the monitoring and early warning of wildfires along power grid transmission lines.

[0061] In some embodiments, such as Figure 2 As shown, the optomechanical scanning imaging device 10 also includes an encoder 18, which is communicatively connected to the control board 162. The encoder 18 is mounted on the rotating shaft 013 of the scanning structure 12 and is used to output pulse signals according to the rotation of the motor 11 and output them to the control board 162.

[0062] The encoder 18 can be configured as a grating with a circular ring diameter of 52mm. During the rotation of the scanning mirror driven by the motor 11, the rotating shaft 13 of the motor 11 rotates to drive the rotating shaft 013 of the scanning structure 12. The encoder 18 sends pulse signals based on the number of rotations. The encoder 18 can be an absolute encoder. An absolute encoder has an initial position and sends a certain number of pulses per rotation. By calculating the number of pulses, the rotation angle of the scanning mirror can be obtained. Therefore, by adding the encoder 18 to the motor 11, the rotation angle of the scanning mirror 121 can be obtained in real time.

[0063] In other embodiments, the encoder can be configured as an incremental encoder, which obtains the rotation angle of the scanning mirror 121 through feedback pulse signals. It should be noted that using an absolute encoder can obtain the absolute angle of each image during imaging by the camera device 15, which helps to improve the problem of random errors in the rotation of the motor 11.

[0064] In some embodiments, continue to refer to Figure 1 and 2 The optomechanical scanning imaging device 10 also includes: a base 19, a first fixing member 20, and a second fixing member 21;

[0065] The drive motor 11 and the scanning structure 12 are fixed to the base 19 by the first fastener 20;

[0066] The camera device 15 is fixed to the base 19 by the second fastener 21.

[0067] The following is an exemplary description of the specific process of simulating and building the optomechanical scanning imaging device 10. For example... Figure 2 As shown, a base 19 is provided, on which a first fixing member 20 and a second fixing member 21 are installed. A scanning structure connector 122 is installed on the first fixing member 21 to ensure that the first fixing member 20 is parallel to the base plate 22 of the base 19 and perpendicular to the side plate 23 of the base 19. A camera device 15 is installed on the second fixing member 21. An elliptical aluminum plate is then polished, and a polished metal mirror is placed in the center as a scanning mirror simulating a satellite. The elliptical mirror is then fixed by the scanning structure connector 122, with the center of the elliptical scanning mirror as point O of the optomechanical scanning imaging device. The direction from point O towards the camera device 15 is the Y-axis, and the direction perpendicular to the Y-axis from point O is the X-axis. An encoder 18 is installed at a point, for example, 1 cm in the negative direction of the X-axis. The encoder 18 is connected to the camera device 15 via a data cable. Figure 1 The control board 162 is connected; a motor 11 is installed at a position of, for example, 3 cm in the positive direction of the X-axis, with the axis of the motor 11's shaft 13 centered on the X-axis. Then, the shaft 013 of the scanning mirror 121 and the shaft 13 of the motor 11 are connected via a connector, and the motor 11 is connected via a data cable. Figure 1The driving board 161 is located in the middle. The camera device 15 is installed at a position, for example, 15 cm in the positive direction of the Y-axis, with the Y-axis pointing directly to the center of the lens 151 and the detector 152 of the camera device 15.

[0068] Figure 5 This is a flowchart illustrating a satellite imaging positioning error testing method provided in an embodiment of this disclosure. This method can be executed by the satellite imaging positioning error testing device provided in this embodiment, which can be implemented using software and / or hardware. Figure 3 As shown, the satellite imaging positioning error testing method includes the following steps:

[0069] S501, control the rotation of the scanning structure.

[0070] Specifically, in combination Figure 1 and Figure 2 Electronic device 17, such as a computer, sends control commands to control board 162. Furthermore, control board 162 controls motor 11 to rotate via drive board 161.

[0071] For example, Figure 6 This is a schematic diagram illustrating a motor control principle provided in an embodiment of this disclosure. Figure 5 As shown, the rotation is performed in eight steps (one revolution, four steps, one step angle, eight steps, half a step) according to a two-phase 0.9° step angle, and the angle value A is recorded. At the same time, the encoder records the pulse signal and converts the signal into the rotation angle value B.

[0072] Among them, the measured angle Ai of the motor and the theoretical angle A of the motor 理论 There are errors, and the measured angle Bi of the encoder differs from the theoretical angle B of the encoder. 理论 Errors exist. For example, when the pulse interval is 2, the motor rotation angle increment is a fixed value of 0.9°. However, due to manufacturing deviations, the actual measured motor angle Ai may be 0.855°. The calculated motor angle linearity is 5%, and the standard deviation is <5%, which can be considered very small fluctuations. Simultaneously, the encoder's measured angle is recorded. Due to manufacturing deviations, the encoder's measured angle may be 0.8986°. The calculated motor angle linearity is 0.15%, and the standard deviation is <0.15%, which can be considered no fluctuations. Therefore, it can be verified that the encoder's linearity and the motor's linearity are excellent and meet the usage standards.

[0073] For example, the measured angle of the motor is recorded, and then the linearity and standard deviation are calculated. Specifically, the linearity of the motor angle for the i-th pulse signal can be calculated using the following formula:

[0074] ΔAi=(Ai-A 理论 ) / A 理论×100%;

[0075] In the above formula, ΔAi represents the linearity of the motor angle for the i-th pulse, Ai is the measured angle of the motor, and A 理论 From a theoretical perspective.

[0076] The standard deviation can then be calculated using the following formula:

[0077]

[0078] In the above formula, Let n be the standard deviation of the motor angle and n be the number of pulses.

[0079] For example, the measured angle of the encoder is recorded, and then the linearity and standard deviation are calculated. Specifically, the linearity of the encoder angle for the i-th pulse signal can be calculated using the following formula:

[0080] ΔB i = (B i -B 理论 ) / B 理论 ×100%;

[0081] In the above formula, ΔBi represents the linearity of the encoder angle for the i-th pulse, Bi is the actual angle, and B... 理论 From a theoretical perspective.

[0082] The standard deviation can then be calculated using the following formula:

[0083]

[0084] In the above formula, Let n be the encoder angle standard deviation and n be the number of pulses.

[0085] Therefore, by obtaining the angular linearity and standard deviation of the motor, and the angular linearity and standard deviation of the encoder, it is possible to verify whether the motor and encoder meet the usage standards.

[0086] S502. Determine that the scanning structure has rotated to the preset position and control the camera equipment to capture the image of the radiator.

[0087] Specifically, when the scanning structure rotates to a preset position, the camera device is controlled to start shooting to record image data, such as the light signal radiated by the radiator.

[0088] During the rotation of the scanning structure, it needs to reach the target position before the camera can record image data, such as light signals, emitted by the radiator. Therefore, a preset position is set, which can be a location near the target position. This preset position can be calibrated in advance.

[0089] The process of controlling the camera device to capture images of the radiator may include controlling the camera device to start capturing images at predetermined rotation angles when the scanning structure rotates to a preset position, and stopping capturing images when a threshold number of captures is reached. For example, when the scanning structure just rotates to the preset position, an image of the radiator is captured once; then, after the scanning structure continues to rotate by the predetermined angle, an image of the radiator is captured again until a threshold number of captures, such as 13, is reached, at which point capturing stops. During these 13 captures, one image, such as the 6th capture, may record the image of the radiator.

[0090] Therefore, when the scanning structure rotates to the preset position, the camera device is controlled to take pictures, which can record the image of the radiator on the one hand, and save energy on the other hand.

[0091] In some embodiments, determining that the scanning structure has rotated to a preset position includes:

[0092] Determine the zero-point position of the rotation of the scanning structure and the corresponding first pulse signal;

[0093] Based on the rotation zero point position of the scanning structure and the corresponding first pulse signal, the second pulse signal corresponding to the preset position is determined;

[0094] In response to acquiring the second pulse signal, the scanning structure is determined to rotate to a preset position.

[0095] The rotation zero point position of the scanning structure can be a manually set position, and the first pulse signal corresponding to the encoder at the rotation zero point position is obtained.

[0096] The preset position can be calibrated in advance, and the second pulse signal can be determined based on the angular relationship between the preset position and the rotation zero point position, as well as the first pulse signal corresponding to the rotation zero point position.

[0097] Therefore, when the second pulse signal output by the encoder is obtained, it can be determined that the scanning structure has rotated to the preset position. At this time, the imaging device is controlled to capture an image of the radiator once. After that, the scanning structure continues to rotate at the set angle and captures an image of the radiator once more until the number of captures reaches a threshold, such as 13 times, at which point the capturing stops.

[0098] In some embodiments, before controlling the camera equipment to capture an image of the radiator, the satellite imaging positioning error testing method further includes heating the radiator. Thus, by heating the radiator, it can radiate thermal energy, i.e., light signals, so that the camera equipment can acquire image data of the radiator.

[0099] S503, Satellite imaging positioning error based on radiator image acquisition.

[0100] Specifically, based on the image of the radiator, the corner pixel displacement of the image is obtained through the first equation, which is:

[0101]

[0102] Based on the corner pixel displacement of the image, the satellite imaging positioning error is obtained through the second equation, which is:

[0103] D = d × P;

[0104] Where Δx is the horizontal axis increment of the corner point, Δy is the vertical axis increment of the corner point, D is the satellite imaging positioning error, d is the corner point pixel displacement, P is the set satellite pixel resolution, and (x1, y1) and (x2, y2) are two pixels formed at the position of a point of the radiator in the two images respectively.

[0105] Specifically, when shooting at the same time, multiple images of the radiator can be acquired. Two images are randomly selected from these multiple images, and two pixels are formed corresponding to a single point on the radiator in each of the two images. For example, such as... Figure 3 As shown, any one of the index points 01-04 of the radiator, for example, 01, forms two corresponding pixels in the two images above, with coordinates (x1, y1) and (x2, y2) respectively. The coordinates of these two pixels can be obtained using a corner detection algorithm, which is a common technique used by those skilled in the art and will not be elaborated upon here.

[0106] Then, by combining the first equation, the corner pixel displacement of the image can be obtained; after obtaining the corner pixel displacement, by combining the second equation, the satellite imaging positioning error can be obtained. Among them, the smaller the satellite imaging positioning error, the higher the geometric positioning accuracy.

[0107] Therefore, the satellite imaging simulation system and satellite imaging positioning error testing method provided in this disclosure can obtain satellite imaging positioning errors and evaluate their impact on geometric positioning accuracy in actual scanning imaging, thereby providing scientific guidance for improving the geometric positioning accuracy of remote sensing satellites. This is of great significance for accurately reporting the location of small-area wildfires near power grid transmission lines and improving the monitoring and early warning capabilities of wildfires along power grid transmission lines.

[0108] It should be noted that the embodiments of this disclosure obtain satellite imaging positioning errors by arbitrarily selecting two images from multiple images, thereby obtaining multiple satellite imaging positioning errors. Summing and averaging these multiple satellite imaging positioning errors helps improve the accuracy of satellite imaging positioning errors. The embodiments of this disclosure can use either two images to obtain satellite imaging positioning errors as evaluation data for geometric positioning accuracy, or obtain multiple satellite imaging positioning errors and calculate the average as evaluation data for geometric positioning accuracy; no specific limitation is made here.

[0109] The satellite imaging simulation system provided in this disclosure can be consistent with the on-satellite scanning system, with low cost, high precision, and a large angle measurement range, realizing continuous high-precision measurement simulation of the scanning mirror rotation angle over a large range on the satellite; it adopts an absolute encoder, which can obtain the absolute angle of each image, solving the problem of random error in motor rotation; by changing the camera equipment, it can simulate the scanning imaging of different infrared and visible light cameras on the satellite to the greatest extent, providing scientific guidance for improving the error of the on-satellite scanning system and optimizing the structural steps of the on-board scanning system.

[0110] Based on the same inventive concept, this disclosure also provides a satellite imaging positioning error testing device. Figure 7 This is a schematic diagram of a satellite imaging positioning error testing device provided in an embodiment of this disclosure. Figure 7 As shown, the satellite imaging positioning error testing device includes: a first control module 61 for controlling the rotation of the scanning structure; a second control module 62 for determining that the scanning structure has rotated to a preset position and controlling the camera device to capture an image of the radiator; and an acquisition module 63 for acquiring the satellite imaging positioning error based on the image of the radiator.

[0111] The satellite imaging positioning error testing device provided in the above embodiments can perform any of the satellite imaging positioning error testing methods provided in the above embodiments, and has the same or corresponding beneficial effects, which will not be described in detail here.

[0112] This disclosure also provides a computer storage medium that stores a program or instructions that cause a computer to execute the steps of any of the satellite imaging positioning error testing methods provided in the above embodiments.

[0113] For example, a program or instructions cause a computer to execute a satellite imaging positioning error testing method, which includes:

[0114] Control the rotation of the scanning structure;

[0115] Once the scanning structure has rotated to a preset position, the camera device is controlled to capture an image of the radiator.

[0116] Satellite imaging positioning error is obtained based on images of radiators.

[0117] In some embodiments, when executed by a computer processor, the computer-executable instructions can also be used to execute the technical solution of any of the satellite imaging positioning error testing methods provided in the embodiments of this disclosure, thereby achieving the corresponding beneficial effects.

[0118] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the satellite imaging positioning error testing method in the various embodiments of this invention.

[0119] Based on the above embodiments, this disclosure also provides an electronic device. Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Figure 8 As shown, the electronic device includes a processor 301 and a memory 302. The processor 301 executes the steps of any of the satellite imaging positioning error testing methods provided in the above embodiments by calling the program or instructions stored in the memory. Therefore, it has the beneficial effects of the above embodiments, which will not be repeated here.

[0120] like Figure 8 As shown, an electronic device may include at least one processor 301, at least one memory 302, and at least one communication interface 303. The various components in the electronic device are coupled together via a bus system 304. The communication interface 303 is used for information transmission with external devices. It is understood that the bus system 304 is used to implement communication between these components. In addition to a data bus, the bus system 304 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 8 The general designated all buses as Bus System 304.

[0121] It is understood that the memory 302 in this embodiment can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. In some embodiments, the memory 302 stores the following elements: executable units or data structures, or subsets thereof, or extended sets thereof, operating systems, and applications. In embodiments of this disclosure, the processor 301 executes the steps of any of the satellite imaging positioning error testing methods provided in embodiments of this disclosure by calling programs or instructions stored in the memory 302.

[0122] The satellite imaging positioning error testing method provided in this disclosure can be applied to, or implemented by, processor 301. Processor 301 can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above-described satellite imaging positioning error testing method can be completed by integrated logic circuits in the hardware of processor 301 or by instructions in software form. Processor 301 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor.

[0123] The steps of the satellite imaging positioning error testing method provided in this disclosure can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software units can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 302. The processor 301 reads the information in memory 302 and, in conjunction with its hardware, completes the steps of the satellite imaging positioning error testing method described above.

[0124] The electronic device may also include one or more physical components to execute instructions generated by the processor 301 when performing the satellite imaging positioning error testing method provided in this embodiment. Different physical components may be located within the electronic device or outside the electronic device, such as a cloud server. Each physical component, together with the processor 301 and the memory 302, works to realize the functions of the electronic device in this embodiment.

[0125] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0126] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A satellite imaging simulation system, characterized in that, include: An optomechanical scanning imaging device and a radiator are provided. The optomechanical scanning imaging device includes a motor, a scanning structure, and a camera. The rotating shaft of the motor is mechanically connected to the rotating shaft of the scanning structure, and the motor drives the scanning structure to rotate. The light signal radiated by the radiator is reflected by the scanning structure, and the camera is used to receive the reflected light signal and convert the light signal into an electrical signal. The system includes a motor control system and an electronic device. The motor control system is communicatively connected to the camera device and the electronic device, respectively. The motor control system is used to receive the electrical signal and convert the electrical signal into a digital signal. The electronic device is used to receive the digital signal to generate an image of the radiator and to obtain the satellite imaging positioning error based on the image of the radiator. The satellite imaging positioning error obtained based on the image of the radiator includes: Based on the image of the radiator, the corner pixel displacement of the image is obtained by a first formula, which is: ； Based on the corner pixel displacement of the image, the satellite imaging positioning error is obtained through a second formula, which is: D = d × P; wherein, x is the horizontal axis increment of the corner point, y is the vertical axis increment of the corner point, d is the pixel displacement of the corner point, D is the positioning error of the satellite imaging, P is the set satellite pixel resolution, , ) and ( , ) are two pixel points formed respectively by a point position of the radiation body in the two images.

2. The satellite imaging simulation system of claim 1, wherein, The motor control system includes a drive board and a control board, and the control board outputs drive control signals to the motor through the drive board. The control board is communicatively connected to the camera device and is used to receive the electrical signal and convert the electrical signal into the digital signal.

3. The satellite imaging simulation system of claim 2, wherein, The optomechanical scanning imaging device also includes: An encoder is communicatively connected to the control board. The encoder is mounted on the rotating shaft of the scanning structure and is used to output pulse signals to the control board according to the rotation of the motor.

4. The satellite imaging simulation system of claim 1, wherein, The optomechanical scanning imaging device also includes: Base, first fixing component, and second fixing component; The motor and scanning structure are fixed to the base by the first fastener; The camera device is fixed to the base by the second fastener.

5. The satellite imaging simulation system according to claim 1, characterized in that, The camera device includes a lens and a detector, the center of the lens and the center of the detector are on the same straight line, and the lens is oriented toward the scanning structure.

6. A method for testing satellite imaging positioning errors, characterized in that, Implemented using the satellite imaging simulation system as described in any one of claims 1-5, comprising: Control the rotation of the scanning structure; Once the scanning structure has rotated to a preset position, the camera device is controlled to capture an image of the radiator. Satellite imaging positioning error is obtained based on the image of the radiator.

7. The satellite imaging positioning error testing method according to claim 6, characterized in that, Determining that the scanning structure has rotated to a preset position includes: Determine the rotation zero point position of the scanning structure and the corresponding first pulse signal; Based on the rotation zero point position of the scanning structure and the corresponding first pulse signal, determine the second pulse signal corresponding to the preset position; In response to acquiring the second pulse signal, it is determined that the scanning structure has rotated to a preset position.

8. The satellite imaging positioning error testing method according to claim 6, characterized in that, The control of the camera device to capture images of the radiator includes: The camera device is controlled to start shooting at intervals of set rotation angles when the scanning structure rotates to a preset position, and stops shooting when the shooting count reaches the threshold.

9. The satellite imaging positioning error testing method according to claim 6, characterized in that, Before controlling the camera device to capture an image of the radiator, the method further includes: The radiator is heated.

Images