Angle calibration method and device for airborne hyperspectral imaging system

Abstract

The present invention discloses an angle calibration method and device for an airborne hyperspectral imaging system, and relates to the technical field of hyperspectral imaging. The device includes a test bench, an airborne hyperspectral imaging system, a suspension module, a linear motion bearing and a motor, a lighting module, a target, a power cord, a power control module, a control analysis module, and a control display module; the control analysis module is used to control the movement of the linear motion bearing and the motor, the control analysis module is used to control the operation of the airborne hyperspectral imaging system, and obtain image data of the airborne hyperspectral imaging system; the control display module is used to obtain the content that the control analysis module needs to display, and print and display the content. The present invention accurately calibrates the roll angle deviation and pitch angle deviation of the airborne hyperspectral imaging system after installation, plays a role in monitoring and inspecting the installation angle adjustment of the airborne hyperspectral imaging system, and can realize a fast and accurate calibration and adjustment process.

Description

Technical Field

[0001] The present invention relates to the technical field of hyperspectral imaging, and in particular to an angle calibration method and device for an airborne hyperspectral imaging system. Background Art

[0002] Hyperspectral cameras and multispectral cameras are typical products among airborne hyperspectral imaging cameras. They are gradually shifting from high-precision and advanced equipment for satellite remote sensing to application-level products for industry and scientific research. Previous airborne production plans were not only complicated, but also difficult to adjust the installation angle and lacked angle deviation calibration measurement methods, which affected the mass production and actual shooting effects of airborne hyperspectral imaging cameras. Summary of the invention

[0003] Based on the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an angle calibration method and device for an airborne hyperspectral imaging system to solve the above-mentioned technical problems.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solutions: an angle calibration device for an airborne hyperspectral imaging system, comprising: a test bench, an airborne hyperspectral imaging system, a suspension module, a linear motion bearing and a motor, a lighting module, a target, a power cord, a power control module, a control analysis module and a control display module;

[0005] The test machine is connected to the linear motion bearing and the motor; the linear motion bearing and the motor are connected to the suspension module; the suspension module is connected to the airborne hyperspectral imaging system, and the suspension module is used to suspend the airborne hyperspectral imaging system to achieve spatial displacement and angle adjustment; the test machine is connected to the lighting module; the target is fixed on the inner bottom surface of the test machine; the control and analysis module is used to control the movement of the linear motion bearing and the motor, and the control and analysis module is used to control the operation of the airborne hyperspectral imaging system and obtain image data of the airborne hyperspectral imaging system; the control and display module is used to obtain the content that the control and analysis module needs to display, and print and display the content, and the power control module is used to connect the airborne hyperspectral imaging system, the linear motion bearing and the motor, the lighting module, the control and analysis module and the control and display module through the power cord and supply power.

[0006] The present invention is further configured to place the target on the bottom surface of the test platform, and adjust the target so that the central axis is parallel to and substantially coincides with the central axis of the bottom surface of the test platform.

[0007] The present invention is further configured to adjust the linear motion bearing so that the linear motion bearing is parallel to the central axis of the target in the XY plane, and the linear motion bearing and the central axis of the target are in the same YZ plane, wherein the x-axis is the pitch axis, the y-axis is the roll axis, and the z-axis is the heading axis.

[0008] The present invention is further configured to install the airborne hyperspectral imaging system on the suspension module, and lock the airborne hyperspectral imaging system by a safety buckle provided on the suspension module to ensure that the system remains stable during the calibration process.

[0009] The present invention is further configured to adjust the initial angle of the suspension module so that the suspension module is parallel to the target in the XY plane, and adjust the lighting module so that the target is illuminated as a whole.

[0010] The present invention also provides an angle calibration method for an airborne hyperspectral imaging system, which is applied to the angle calibration device for the above-mentioned airborne hyperspectral imaging system, and comprises the following steps:

[0011] S1: Control the linear motion bearing motor to make the airborne hyperspectral imaging system move forward along the linear motion bearing, scan the target image, and obtain a forward scanning image;

[0012] S2: Adjust the suspension module to rotate the airborne hyperspectral imaging system 180 degrees around the Z axis;

[0013] S3: Control the linear motion bearing motor to make the airborne hyperspectral imaging system move in the opposite direction along the linear motion bearing, scan the target image, and obtain a reverse scanning image;

[0014] S4: controlling the analysis module to horizontally flip the reverse scan image and compare it with the forward scan image;

[0015] S5: Obtain a comparison result, and determine whether the roll angle calibration result of the airborne hyperspectral imaging system is qualified according to the comparison result. If qualified, proceed to step S6;

[0016] S6: Control the linear motion bearing motor to move the airborne hyperspectral imaging system to the middle position of the linear motion bearing to obtain a positive image of the fixed position of the target;

[0017] S8: Adjust the suspension module to rotate the airborne hyperspectral imaging system 180 degrees around the Z axis to capture a reverse image of the fixed position of the target;

[0018] S9: the control analysis module compares the forward image and the reverse image, determines the corresponding positions of the two images on the target, and obtains the position difference between the two images;

[0019] S10: Obtain the position difference, and determine whether the pitch angle calibration result of the airborne hyperspectral imaging system is qualified according to the position difference. When qualified, the angle calibration of the airborne hyperspectral imaging system is completed.

[0020] The present invention is further configured that step S5 comprises:

[0021] S51: When the vertical deviation between the reverse scanned image and the forward scanned image after flipping is less than or equal to the preset pixel deviation qualified judgment standard value, the roll angle calibration result of the airborne hyperspectral imaging system is qualified;

[0022] S52: When the vertical deviation between the reverse scanned image and the forward scanned image after flipping is greater than the preset pixel deviation qualified judgment standard value, the roll angle calibration result of the airborne hyperspectral imaging system is unqualified, and the camera roll angle of the airborne hyperspectral imaging system is adjusted, and S1 to S4 are repeated.

[0023] The present invention is further configured that step S10 comprises:

[0024] S101: When the position difference is less than or equal to a preset qualified judgment standard value of the position difference, the pitch angle calibration result of the airborne hyperspectral imaging system is qualified;

[0025] S102: When the position difference is greater than the preset position difference qualified judgment standard value, the pitch angle calibration result of the airborne hyperspectral imaging system is unqualified, the camera pitch angle of the airborne hyperspectral imaging system is adjusted, and S6 to S9 are repeated.

[0026] The invention provides an angle calibration method and device for an airborne hyperspectral imaging system, the device comprising a test machine, an airborne hyperspectral imaging system, a suspension module, a linear motion bearing and a motor, a lighting module, a target, a power line, a power control module, a control analysis module and a control display module; the test machine is connected to the linear motion bearing and the motor; the linear motion bearing and the motor are connected to the suspension module; the suspension module is connected to the airborne hyperspectral imaging system, the suspension module is used to suspend the airborne hyperspectral imaging system to achieve spatial displacement and angle adjustment; the test machine is connected to the lighting module; the target is fixed on the inner bottom surface of the test machine; the control analysis module is used to control the movement of the linear motion bearing and the motor, the control analysis module is used to control the operation of the airborne hyperspectral imaging system, and obtain image data of the airborne hyperspectral imaging system; the control display module is used to obtain content that the control analysis module needs to display, and print and display the content, the power control module is used to connect the airborne hyperspectral imaging system, the linear motion bearing and the motor, the lighting module, the control analysis module and the control display module through the power line, and supply power, and the beneficial effects produced include:

[0027] 1. By using the angle calibration device of the airborne hyperspectral imaging system, the angle of the airborne hyperspectral imaging system is accurately corrected and calibrated. The present invention can accurately determine the roll angle and pitch angle of the imaging module by scanning the imaging module forward and backward, and comparing and analyzing the scanning results. Accurate angle calibration ensures the accuracy and reliability of the hyperspectral imaging data;

[0028] 2. The present invention provides an integrated solution, which automates and simplifies the entire angle calibration process. Users only need to follow the steps to complete the complex angle calibration process, which reduces human errors and significantly improves the efficiency and speed of the calibration work.

[0029] 3. The present invention accurately calibrates the roll angle deviation and pitch angle deviation of the airborne hyperspectral imaging system after installation, plays a role in monitoring and inspecting the installation angle adjustment of the airborne hyperspectral imaging system, and can realize a fast and accurate calibration and adjustment process.

[0030] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0032] Figure 1 A light imaging principle diagram of an angle calibration device for an airborne hyperspectral imaging system is shown as an exemplary embodiment of the present invention;

[0033] Figure 2 A schematic diagram of a shooting screen of an airborne hyperspectral imaging system in an angle calibration device of an airborne hyperspectral imaging system is shown as an exemplary embodiment of the present invention.

[0034] Figure 3 A schematic structural diagram of an angle calibration device for an airborne hyperspectral imaging system is shown as an exemplary embodiment of the present invention;

[0035] Figure 4 A flowchart of an angle calibration method for an airborne hyperspectral imaging system is shown as an exemplary embodiment of the present invention;

[0036] Among them, 1 is a test machine; 2 is an airborne hyperspectral imaging system; 3 is a suspension module; 4 is a linear motion bearing and motor; 5 is a lighting module; 6 is a target; 7 is a power cord; 8 is a power control module; 9 is a control analysis module; and 10 is a control display module. DETAILED DESCRIPTION

[0037] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0038] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0039] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0040] First of all, it should be noted that Figure 1 As shown, in the imaging scene, it includes the object plane (left side): the surface of the imaged object; the optical unit (middle): contains a series of optical elements for collecting the light reflected from the object plane and focusing it to transmit it to the detector. The optical elements ensure the clarity of the image and can adjust the focal length and field of view as needed; the spectrometer (middle right): is an optical prism or diffraction grating, including a spectrometer module equivalent lens, which is used to decompose the received light into different spectral bands; the image plane (right side): includes a detector and an imaging module, which is used to record the spectral data transmitted from the spectrometer. The detector can detect light of different wavelengths and convert it into electrical signals. The electrical signals are converted into digital form through the imaging module for subsequent image processing and analysis.

[0041] The principle of the present invention is that the airborne hyperspectral imaging system images light rays at different angles to the object surface at different positions in the spatial dimension of the image plane, wherein the 0-angle incident light rays fall on the central axis of the image plane, and the light rays with larger angles sit farther away from the central axis of the image plane.

[0042] Schematic diagram of the shooting screen of the airborne hyperspectral imaging system Figure 2As shown in the figure, the x-axis is the pitch axis, the y-axis is the roll axis, and the z-axis is the heading axis. The pitch angle (pitch) is the rotation around the x-axis, and the roll angle (roll) is the rotation around the y-axis. When there is no roll angle and pitch angle deviation, the imaging module is perpendicular to the ground, the imaging area is aligned, there is no distortion, and it is located directly below the aircraft. When there is a roll angle and pitch angle deviation, the imaging module is no longer perpendicular to the ground and tilts in one direction, causing the imaging area to deviate from the central axis, resulting in a field of view (FOV) offset. The captured image will deviate from the area originally directly below the aircraft, affecting the imaging quality and the accuracy of data analysis. Therefore, it is necessary to minimize this deviation through system calibration or flight control.

[0043] Embodiment 1

[0044] An angle calibration device for an airborne hyperspectral imaging system, such as Figure 3 As shown, it includes: a test machine 1, an airborne hyperspectral imaging system 2, a suspension module 3, a linear motion bearing and a motor 4, a lighting module 5, a target 6, a power cord 7, a power control module 8, a control analysis module 9 and a control display module 10;

[0045] The test machine 1 is connected to the linear motion bearing and the motor 4; the linear motion bearing and the motor 4 are connected to the suspension module 3; the suspension module 3 is connected to the airborne hyperspectral imaging system 2, and the suspension module 3 is used to suspend the airborne hyperspectral imaging system 2 to achieve spatial displacement and angle adjustment; the test machine 1 is connected to the lighting module 5; the target 6 is fixed on the inner bottom surface of the test machine 1; the control and analysis module 9 is used to control the movement of the linear motion bearing and the motor 4, and the control and analysis module 9 is used to control the operation of the airborne hyperspectral imaging system 2 and obtain the image data of the airborne hyperspectral imaging system 2; the control and display module 10 is used to obtain the content that the control and analysis module 9 needs to display, and print and display the content, and the power control module 8 is used to connect the airborne hyperspectral imaging system 2, the linear motion bearing and the motor 4, the lighting module 5, the control and analysis module 9 and the control and display module 10 through the power line 7, and supply power.

[0046] Specifically, the test machine 1 is connected to the linear motion bearing and motor 4, and they are hard-connected and fixed together; the linear motion bearing and motor 4 are connected to the suspension module 3, and they are hard-connected and fixed together; the suspension module 3 supports the displacement and angle adjustment of the XYZ three axes; the function of the suspension module 3 is to suspend the airborne hyperspectral imaging system 2, and the two are hard-connected and fixed together; the test machine 1 is connected to the lighting module 5, and they are hard-connected and fixed together; the lighting module 5 supports the displacement and angle adjustment of the XYZ three axes; the target 6 is fixed on the inner bottom surface of the test machine 1, and the central axes of the two coincide; the power control module 8 is electrically connected to the airborne hyperspectral imaging system 2, the linear motion bearing and motor 4, the lighting module 5, the control analysis module 9, and the control display module 10 Cable 7 is connected, and the power control module 8 supplies power to the above-mentioned components, namely, the airborne hyperspectral imaging system 2, the linear motion bearing and the motor 4, the lighting module 5, the control and analysis module 9, and the control and display module 10; the control and analysis module 9 is connected to the linear motion bearing and the motor 4 and the airborne hyperspectral imaging system 2 through electrical cables, and the control and analysis module 9 controls the movement of the linear motion bearing and the motor 4, controls the operation of the airborne hyperspectral imaging system 2, and obtains the image data of the airborne hyperspectral imaging system 2; the control and analysis module 9 is connected to the control and display module 10 through electrical cables, and the control and analysis module 9 transmits the content to be displayed to the control and display module 10, and the control and display module 10 prints the content for the user to view.

[0047] The present invention is further configured to place the target 6 on the bottom surface of the test machine 1, and adjust the target 6 so that the central axis is parallel to and basically coincides with the central axis of the bottom surface of the test machine 1. Specifically, by adjusting the target 6 so that the central axis is parallel to and basically coincides with the central axis of the bottom surface of the test machine 1, it is ensured that during the test and calibration process, the line of sight of the airborne hyperspectral imaging system 2 and the target 6 are correctly aligned. By ensuring the alignment of the two central axes, the accuracy of the angle calibration of the airborne hyperspectral imaging system 2 is guaranteed, and more precise angle adjustment and imaging results are achieved.

[0048] The present invention is further configured to adjust the linear motion bearing so that the linear motion bearing is parallel to the central axis of the target 6 in the XY plane, and the linear motion bearing and the central axis of the target 6 are in the same YZ plane, wherein the x-axis is the pitch axis, the y-axis is the roll axis, and the z-axis is the heading axis; specifically, by adjusting the linear motion bearing, the linear motion bearing is aligned parallel to the central axis of the target in the XY plane, and it is ensured that the linear motion bearing and the central axis of the target 6 are in the same YZ plane; through the above-mentioned settings, the spatial position and direction of the airborne hyperspectral imaging system 2 can be more accurately controlled, so that shooting can be performed in a correct posture, geometric distortion in the imaging process can be reduced, imaging quality can be improved, and the accuracy and reliability of hyperspectral data can be ensured.

[0049] The present invention is further configured to install the airborne hyperspectral imaging system on the suspension module, and lock the airborne hyperspectral imaging system by a safety buckle provided on the suspension module to ensure that it remains stable during the calibration process; specifically, the safety buckle can prevent the airborne hyperspectral imaging system 2 from accidentally shifting or falling off due to vibration, movement or other external factors during operation or calibration. By ensuring the stability of the imaging system, errors in the data acquisition process can be avoided, thereby ensuring the accuracy and reliability of the acquired hyperspectral images; in addition, the above-mentioned stable installation method also helps to protect the hyperspectral imaging equipment and extend its service life.

[0050] The present invention is further configured to debug the initial angle of the suspension module so that the suspension module is parallel to the target in the XY plane, and adjust the lighting module so that the target is illuminated as a whole; specifically, by adjusting the position and intensity of the lighting module, it is ensured that the target is illuminated as a whole evenly. Good lighting conditions are a key factor in hyperspectral imaging, which directly affects the quality of the image and also affects the analysis and interpretation of the final data. Uniform lighting can reduce the shadow and reflection errors of the image and improve the consistency and comparability of imaging.

[0051] Embodiment 2

[0052] See also Figure 4 The exemplary angle calibration method of an airborne hyperspectral imaging system is applied to the angle calibration device of the airborne hyperspectral imaging system, and comprises the following steps:

[0053] Step S1: Control the linear motion bearing motor to make the airborne hyperspectral imaging system move forward along the linear motion bearing, scan the target image, and obtain a forward scanning image;

[0054] Step S2: adjusting the suspension module so that the airborne hyperspectral imaging system rotates 180 degrees with the Z axis as the central axis;

[0055] Step S3: controlling the linear motion bearing motor to make the airborne hyperspectral imaging system move in the opposite direction along the linear motion bearing to scan the target image and obtain a reverse scanning image;

[0056] Step S4: the control analysis module flips the reverse scanning image horizontally and compares it with the forward scanning image;

[0057] Step S5: Obtain the comparison result, and determine whether the roll angle calibration result of the airborne hyperspectral imaging system is qualified according to the comparison result. If qualified, proceed to step S6;

[0058] Step S6: Control the linear motion bearing motor to move the airborne hyperspectral imaging system to the middle position of the linear motion bearing to obtain a positive image of the fixed position of the target;

[0059] Step S7: adjusting the suspension module so that the airborne hyperspectral imaging system rotates 180 degrees with the Z axis as the central axis to capture a reverse image of the fixed position of the target;

[0060] Step S8: The control analysis module compares the forward image and the reverse image, determines the corresponding positions of the two images on the target, and obtains the position difference between the two images;

[0061] Step S9: obtaining the position difference, and determining whether the pitch angle calibration result of the airborne hyperspectral imaging system is qualified according to the position difference. When qualified, the angle calibration of the airborne hyperspectral imaging system is completed.

[0062] The present invention is further configured that step S5 comprises:

[0063] S51: When the deviation in the vertical direction between the flipped reverse scanning image and the forward scanning image is less than or equal to the preset pixel deviation qualified judgment standard value, the roll angle calibration result of the airborne hyperspectral imaging system is qualified; specifically, when comparing the forward scanning image and the flipped reverse scanning image, first evaluate the deviation between the two in the vertical direction. If this deviation is less than or equal to the preset pixel deviation qualified judgment standard value, the roll angle calibration result of the airborne hyperspectral imaging system is considered to be qualified, indicating that the roll angle adjustment of the imaging system is correct and no further adjustment is required. Furthermore, the preset pixel deviation qualified judgment standard value is set according to different angle calibration requirements, and there is no restriction on this here.

[0064] S52: When the deviation between the reverse scanned image after flipping and the forward scanned image in the vertical direction is greater than the preset qualified judgment standard value of the pixel deviation, the roll angle calibration result of the airborne hyperspectral imaging system is unqualified, and the roll angle of the camera of the airborne hyperspectral imaging system is adjusted, and S1 to S4 are repeated; specifically, if the deviation between the reverse scanned image after flipping and the forward scanned image in the vertical direction is greater than the preset qualified judgment standard value of the pixel deviation, the roll angle calibration result of the airborne hyperspectral imaging system is considered to be unqualified. In this case, it is necessary to adjust the roll angle of the camera of the airborne hyperspectral imaging system to correct this deviation. After the adjustment is completed, it is necessary to re-execute steps S1 to S4, and obtain and compare the forward and reverse scanned images again until the calibration result of the roll angle meets the qualified standard.

[0065] The present invention is further configured that step S9 comprises:

[0066] S91: When the position difference is less than or equal to the preset qualified judgment standard value of the position difference, the pitch angle calibration result of the airborne hyperspectral imaging system is qualified; specifically, after comparing the forward image and the reverse image, the position difference between the corresponding positions of the two images on the target is measured. If this position difference is less than or equal to the preset qualified judgment standard value of the position difference, the pitch angle calibration result of the airborne hyperspectral imaging system is considered to be qualified, indicating that the pitch angle adjustment of the imaging system is correct and no further adjustment is required. Furthermore, the preset qualified judgment standard value of the position difference is set according to different angle calibration requirements, and there is no restriction on this here.

[0067] S92: When the position difference is greater than the preset qualified judgment standard value of the position difference, the pitch angle calibration result of the airborne hyperspectral imaging system is unqualified, the camera pitch angle of the airborne hyperspectral imaging system is adjusted, and S6 to S8 are repeated; specifically, if the measured position difference is greater than the preset qualified judgment standard value of the position difference, it is considered that the pitch angle calibration result of the airborne hyperspectral imaging system is unqualified, and the camera pitch angle of the airborne hyperspectral imaging system needs to be adjusted to reduce the position difference. After the adjustment is completed, re-execute steps S6 to S8, and shoot and compare the forward and reverse images again until the pitch angle calibration result meets the qualified standard.

[0068] It should be noted that the angle calibration method of an airborne hyperspectral imaging system provided in the above embodiment and the angle calibration device of an airborne hyperspectral imaging system provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In practical applications, the angle calibration device of an airborne hyperspectral imaging system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0069] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0070] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0071] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0072] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0073] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0074] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0075] In the several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0076] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0077] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0078] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0079] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An angle calibration device for an airborne hyperspectral imaging system, characterized in that: include: A test machine (1), an airborne hyperspectral imaging system (2), a suspension module (3), a linear motion bearing and a motor (4), a lighting module (5), a target (6), a power cord (7), a power control module (8), a control analysis module (9), and a control display module (10); The test machine (1) is connected to a linear motion bearing and a motor (4); the linear motion bearing and the motor (4) are connected to a suspension module (3); the suspension module (3) is connected to an airborne hyperspectral imaging system (2), and the suspension module (3) is used to suspend the airborne hyperspectral imaging system (2) to achieve spatial displacement and angle adjustment; the test machine (1) is connected to an illumination module (5); a target (6) is fixed on the inner bottom surface of the test machine (1); a control and analysis module (9) is used to control the movement of the linear motion bearing and the motor (4), and the control and analysis module (9) is used to control the operation of the airborne hyperspectral imaging system (2) and obtain image data of the airborne hyperspectral imaging system (2); a control and display module (10) is used to obtain content that the control and analysis module (9) needs to display, and print and display the content; a power control module (8) is used to connect the airborne hyperspectral imaging system (2), the linear motion bearing and the motor (4), the illumination module (5), the control and analysis module (9) and the control and display module (10) through a power line (7), and supply power.

2. The angle calibration device of an airborne hyperspectral imaging system according to claim 1, characterized in that: The target (6) is placed on the bottom surface of the test platform (1), and the target (6) is adjusted so that the central axis is parallel to and substantially coincides with the central axis of the bottom surface of the test platform (1).

3. The angle calibration device of an airborne hyperspectral imaging system according to claim 1, characterized in that: The linear motion bearing is adjusted so that the linear motion bearing is parallel to the central axis of the target (6) in the XY plane, and the central axis of the linear motion bearing and the target (6) are in the same YZ plane, wherein the x-axis is the pitch axis, the y-axis is the roll axis, and the z-axis is the heading axis.

4. The angle calibration device of an airborne hyperspectral imaging system according to claim 1, characterized in that: The airborne hyperspectral imaging system (2) is mounted on the suspension module (3), and the airborne hyperspectral imaging system (2) is locked by a safety buckle provided on the suspension module (3) to ensure that the system remains stable during the calibration process.

5. The angle calibration device of an airborne hyperspectral imaging system according to claim 1, characterized in that: The initial angle of the suspension module (3) is adjusted so that the suspension module (3) is parallel to the target (6) in the XY plane, and the lighting module (5) is adjusted so that the target (6) is illuminated as a whole.

6. An angle calibration method for an airborne hyperspectral imaging system, applied to an angle calibration device for an airborne hyperspectral imaging system as claimed in any one of claims 1 to 5, characterized in that: The following steps are involved: S1: Control the linear motion bearing motor to make the airborne hyperspectral imaging system move forward along the linear motion bearing, scan the target image, and obtain a forward scanning image; S2: Adjust the suspension module to rotate the airborne hyperspectral imaging system 180 degrees around the Z axis; S3: Control the linear motion bearing motor to make the airborne hyperspectral imaging system move in the opposite direction along the linear motion bearing, scan the target image, and obtain a reverse scanning image; S4: controlling the analysis module to horizontally flip the reverse scan image and compare it with the forward scan image; S5: Obtain a comparison result, and determine whether the roll angle calibration result of the airborne hyperspectral imaging system is qualified according to the comparison result. If qualified, proceed to step S6; S6: Control the linear motion bearing motor to move the airborne hyperspectral imaging system to the middle position of the linear motion bearing to obtain a positive image of the fixed position of the target; S7: Adjust the suspension module to rotate the airborne hyperspectral imaging system 180 degrees around the Z axis to capture a reverse image of the fixed position of the target; S8: The control analysis module compares the forward image and the reverse image, determines the corresponding positions of the two images on the target, and obtains the position difference between the two images; S9: Obtain the position difference, and determine whether the pitch angle calibration result of the airborne hyperspectral imaging system is qualified according to the position difference. When qualified, the angle calibration of the airborne hyperspectral imaging system is completed.

7. The angle calibration method of an airborne hyperspectral imaging system according to claim 6, characterized in that: Step S5 includes: S51: When the vertical deviation between the reverse scanned image and the forward scanned image after flipping is less than or equal to the preset pixel deviation qualified judgment standard value, the roll angle calibration result of the airborne hyperspectral imaging system is qualified; S52: When the vertical deviation between the reverse scanned image and the forward scanned image after flipping is greater than the preset pixel deviation qualified judgment standard value, the roll angle calibration result of the airborne hyperspectral imaging system is unqualified, and the camera roll angle of the airborne hyperspectral imaging system is adjusted, and S1 to S4 are repeated.

8. The angle calibration method of an airborne hyperspectral imaging system according to claim 6, characterized in that: Step S9 includes: S91: When the position difference is less than or equal to the preset qualified judgment standard value of the position difference, the pitch angle calibration result of the airborne hyperspectral imaging system is qualified; S92: When the position difference is greater than the preset position difference qualified judgment standard value, the pitch angle calibration result of the airborne hyperspectral imaging system is unqualified, the camera pitch angle of the airborne hyperspectral imaging system is adjusted, and S6 to S8 are repeated.

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