A calibration method and device for the stability accuracy of the pan / tilt of an airborne hyperspectral imaging system

Abstract

The present invention discloses a method and device for calibrating the stability accuracy of a gimbal of an airborne hyperspectral imaging system, and relates to the field of hyperspectral imaging technology. The device includes a test machine frame, a linear motion slide, an airborne hyperspectral imaging system, a six-axis motion module, a lighting module, a linear slide control motor, a target, a power management module, a control analysis module, and a control display module; the linear slide control motor is used to control the movement of the linear motion slide; the control analysis module is used to perform signal interaction; and the control display module is used to obtain the print signal of the control analysis module and print and display the content. Through the six-axis motion module and the control analysis module, the accuracy of the stable gimbal can be accurately calibrated, and the airborne hyperspectral imaging system can maintain higher image stability during flight, significantly reduce image jitter and distortion, and improve the clarity and resolution of the image.

Description

Technical Field

[0001] The present invention relates to the technical field of hyperspectral imaging, and in particular to a method and device for calibrating the stability accuracy of a pan / tilt platform of an airborne hyperspectral imaging system. Background Art

[0002] During the production process, airborne hyperspectral imaging systems require precise calibration of gimbal stability to achieve ideal imaging results. When gimbal control accuracy fails to meet standards, jitter (a jittery image) may occur. Traditional methods rely on actual flight testing, which poses significant risks to the drone, pilot, and device under test, and is also expensive. Furthermore, due to the lack of effective ground targets under actual outdoor flight conditions, calibration accuracy falls short of requirements. Summary of the Invention

[0003] Based on the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a method and device for calibrating the stability accuracy of the gimbal of 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 solution: a calibration device for the stability accuracy of a pan / tilt of an airborne hyperspectral imaging system, comprising: a test machine frame, a linear motion slide, an airborne hyperspectral imaging system, a six-axis motion module, an illumination module, a linear slide control motor, a target, a power management module, a control analysis module, and a control display module;

[0005] The linear motion slide is fixed on the top of the test machine frame, and the linear motion slide is parallel to the long axis of the test machine frame; the linear motion slide is connected to the linear motion slide control motor, and the linear motion slide control motor is used to control the movement of the linear motion slide; the linear motion slide is connected to the six-axis motion module; the lighting module is fixed inside the test machine frame; the target is placed on the inner bottom surface of the test machine frame; the power control module is electrically connected to the six-axis motion module, the linear slide control motor, the lighting module, the control analysis module, the control display module and the airborne hyperspectral imaging system, and supplies power; the control analysis module is electrically connected to the six-axis motion module, the linear slide control motor, the control display module and the airborne hyperspectral imaging system, and the control analysis module is used for signal interaction; the control display module is used to obtain the printing signal of the control analysis module and print and display the content.

[0006] The present invention is further configured such that a feature block is provided on the target.

[0007] The present invention is further configured to fix the airborne hyperspectral imaging system to the six-axis motion module, and lock the airborne hyperspectral imaging system by a safety buckle provided on the six-axis motion module to ensure that it remains stable during the calibration process.

[0008] The present invention is further configured to adjust the lighting module so that the entire target is illuminated.

[0009] The present invention also provides a calibration method for the stability accuracy of a pan-tilt platform of an airborne hyperspectral imaging system, which is applied to a calibration device for the stability accuracy of a pan-tilt platform of an airborne hyperspectral imaging system, and includes the following steps:

[0010] S1: The control and analysis module controls the linear slide control motor to move the six-axis motion module and the airborne hyperspectral imaging system along the linear motion slide;

[0011] S2: The control analysis module starts the image acquisition function of the airborne hyperspectral imaging system and obtains the images collected by the airborne hyperspectral imaging system in real time;

[0012] S3: The control and analysis module controls the linear slide control motor to make the six-axis motion module and the airborne hyperspectral imaging system start to move along the linear motion slide;

[0013] S4: The control and analysis module controls the six-axis motion module to enable the airborne hyperspectral imaging system to perform six-axis motion;

[0014] S5: The control and analysis module analyzes the image acquired by the airborne hyperspectral imaging system, obtains the linear feature blocks in the target pattern, and analyzes the jitter serration amount of the linear feature blocks perpendicular to the moving direction;

[0015] S6: Calculate the stability accuracy based on the jitter sawtooth amount. When the stability accuracy meets the stability accuracy standard, the gimbal accuracy calibration process of the airborne hyperspectral imaging system is completed.

[0016] The present invention is further configured to calculate the stability accuracy based on the jitter sawtooth amount, and the calculation logic is: ρ = dP / (2*PN*FOV)

[0017] Among them, ρ is the stability accuracy, dP is the maximum number of jitter pixels, that is, the jitter aliasing amount, PN is the number of horizontal pixels, and FOV is the field of view of the airborne hyperspectral imaging system.

[0018] The present invention is further configured to adjust the pan / tilt control module of the airborne hyperspectral imaging system and repeat S1 to S6 when the stabilization accuracy exceeds the stabilization accuracy standard.

[0019] The present invention is further configured such that the control analysis module is provided with six-axis motion flight attitude control data, and the six-axis motion flight attitude control data is used to control the six-axis motion module to perform six-axis motion according to a preset flight attitude.

[0020] The present invention provides a method and device for calibrating the stability accuracy of a pan-tilt platform of an airborne hyperspectral imaging system. The device comprises a test machine frame, a linear motion slide, an airborne hyperspectral imaging system, a six-axis motion module, a lighting module, a linear motion slide control motor, a target, a power management module, a control analysis module, and a control display module; the linear motion slide is fixed on the top of the test machine frame, and the linear motion slide is parallel to the long axis of the test machine frame; the linear motion slide is connected to the linear motion slide control motor, and the linear motion slide control motor is used to control the movement of the linear motion slide; the linear motion slide is connected to the six-axis motion module The lighting module is fixed inside the test machine frame; the target is placed on the inner bottom surface of the test machine frame; the power control module is electrically connected to the six-axis motion module, the linear slide control motor, the lighting module, the control analysis module, the control display module and the airborne hyperspectral imaging system, and supplies power; the control analysis module is electrically connected to the six-axis motion module, the linear slide control motor, the control display module and the airborne hyperspectral imaging system, and the control analysis module is used for signal interaction; the control display module is used to obtain the printing signal of the control analysis module and print and display the content, and the beneficial effects produced include:

[0021] 1. Improve imaging quality and accuracy: The six-axis motion module and control analysis module can accurately calibrate the accuracy of the stabilized gimbal. The airborne hyperspectral imaging system can maintain higher image stability during flight, significantly reduce image jitter and distortion, and improve imaging clarity and resolution. The calibration accuracy can reach 0.01 degrees.

[0022] 2. Improve operational efficiency and reduce costs: The calibration device and method provide users with a clear and operational calibration procedure. Through the automated control and analysis module, it can effectively simplify the operating process and reduce the skill requirements for operators. At the same time, the device does not require actual flight every time, does not require a real aircraft (or drone), and the calibration cost is low.

[0023] 3. Improve system adaptability and flexibility: The original calibration and testing methods require the use of real spacecraft (aircraft or drones) to mount imaging system equipment for actual flight testing. However, the flight of real spacecraft (aircraft or drones) will be greatly affected by environmental factors such as weather. Flying is impossible in strong winds, heavy fog, rain and snow. At the same time, drone management regulations have increasingly stringent restrictions on flight areas, flight altitudes, pilot certification and airspace application procedures. Indoor testing completely avoids these restrictions.

[0024] 4. Reduce calibration risks: The flight process of an aircraft (or drone) is accompanied by certain risks. Due to various factors during the flight, equipment and personnel may be damaged by the aircraft crashing, etc. However, the indoor test device designed by the present invention does not have this risk.

[0025] 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

[0026] 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 those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. In the drawings:

[0027] Figure 1 This is an application scenario diagram of a method and device for calibrating the stability accuracy of a gimbal of an airborne hyperspectral imaging system, shown as an exemplary embodiment of the present invention;

[0028] Figure 2 This is a rendering of a calibration method and apparatus for the stability accuracy of a pan / tilt platform of an airborne hyperspectral imaging system, according to an exemplary embodiment of the present invention;

[0029] Figure 3 This is a schematic structural diagram of a device for calibrating the stability accuracy of a pan / tilt platform of an airborne hyperspectral imaging system according to an exemplary embodiment of the present invention;

[0030] Figure 4 A schematic flow chart of a method for calibrating the stability accuracy of a pan / tilt of an airborne hyperspectral imaging system according to an exemplary embodiment of the present invention is provided;

[0031] Among them, 1 is the test machine frame; 2 is the linear motion slide; 3 is the airborne hyperspectral imaging system; 4 is the six-axis motion module; 5 is the lighting module; 6 is the linear slide control motor; 7 is the target; 8 is the power management module; 9 is the control analysis module; and 10 is the control display module. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0033] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not 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 complex.

[0034] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0035] First of all, it should be noted that during the production process of the airborne hyperspectral imaging system, the stability accuracy of the gimbal needs to be accurately calibrated to achieve the ideal imaging effect. When the gimbal control accuracy of the airborne hyperspectral imaging system does not meet the standard, sawtooth jitter will occur, such as Figure 1 As shown, the straight lines or edges in the image show jagged jitter, and the imaging quality is reduced: the jagged jitter shown in the figure indicates that the gimbal is not stable enough, resulting in the camera being unable to maintain a fixed viewing angle during imaging, affecting the clarity and details of the image. In this case, the imaging system cannot correctly record the actual situation on the ground, causing the imaging results to be distorted, reducing the practical value of the image; data analysis becomes more difficult: in hyperspectral imaging, each pixel may carry key spectral information. The jagged jitter will cause errors in pixel information, which in turn affects subsequent data processing and analysis. The decrease in accuracy will directly affect the reliability of the final result; application scenarios are limited: if the gimbal stabilization accuracy of the airborne hyperspectral imaging system cannot meet the requirements, it cannot be used in application scenarios that require high precision and high stability. The reduction in image quality will greatly limit the application scope and effectiveness of the system.

[0036] Example 1

[0037] A device for calibrating the stability accuracy of a pan / tilt of an airborne hyperspectral imaging system 3 includes: a test platform frame 1, a linear motion slide 2, an airborne hyperspectral imaging system 3, a six-axis motion module 4, an illumination module 5, a linear slide control motor 6, a target 7, a power management module 8, a control analysis module 9, and a control display module 10;

[0038] The linear motion slide 2 is fixed on the top of the test machine frame 1, and the linear motion slide 2 is parallel to the long axis of the test machine frame 1; the linear motion slide 2 is connected to the linear slide control motor 6, and the linear slide control motor 6 is used to control the movement of the linear motion slide 2; the linear motion slide 2 is connected to the six-axis motion module 4; the lighting module 5 is fixed inside the test machine frame 1; the target 7 is placed on the inner bottom surface of the test machine frame 1; the power control module is electrically connected to the six-axis motion module 4, the linear slide control motor 6, the lighting module 5, the control analysis module 9, the control display module 10 and the airborne hyperspectral imaging system 3, and supplies power; the control analysis module 9 is electrically connected to the six-axis motion module 4, the linear slide control motor 6, the control display module 10 and the airborne hyperspectral imaging system 3, and the control analysis module 9 is used for signal interaction; the control display module 10 is used to obtain the printing signal of the control analysis module 9 and print and display the content.

[0039] Specifically, the linear motion slide 2 is fixed on the test machine frame 1, and the linear motion slide 2 is parallel to the long axis of the test machine frame 1; the linear motion slide 2 is connected to the linear motion slide control motor 6, and the linear motion slide control motor 6 can control the rotation of the linear motion slide 2; the linear motion slide 2 is connected to the six-axis motion module 4, and when the axis of the linear motion slide 2 rotates, it can drive the six-axis motion module 4 forward or backward, and the forward or backward movement of the six-axis motion module 4 is related to the rotation direction of the axis of the linear motion slide 2; the lighting module 5 is fixed on the test machine frame 1, and the position and angle can be adjusted; the target 7 is placed on the test machine frame 1; the power control module is electrically connected to the following components: the six-axis motion module 4, the linear slide control motor 6, the lighting module 5, the control analysis module 9, the control display module 10 and the airborne hyperspectral imaging system 3 to be calibrated, and the above components are powered by electrical connecting lines; the control analysis module 9 is electrically connected to the following components: the six-axis motion module 4, the linear slide control motor 6, the control display module 10 and the airborne hyperspectral imaging system 3 to be calibrated, and signals are exchanged with the above components through electrical cables; the control display module 10 can display the content of the print signal sent by the control analysis module 9.

[0040] The present invention is further configured such that the target 7 is provided with a feature block; specifically, the feature block provided on the target 7 includes one or more straight line feature blocks, or smooth curve feature blocks.

[0041] The present invention is further configured to fix the airborne hyperspectral imaging system 3 to the six-axis motion module 4, and lock the airborne hyperspectral imaging system 3 by a safety buckle provided on the six-axis motion module 4 to ensure that it remains stable during the calibration process; specifically, the safety buckle can prevent the airborne hyperspectral imaging system 3 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.

[0042] The present invention is further configured to adjust the lighting module 5 so that the target 7 is illuminated as a whole; specifically, by adjusting the position and intensity of the lighting module 5, it is ensured that the target 7 is evenly illuminated as a whole. 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 shadows and reflection errors in the image and improve the consistency and comparability of imaging.

[0043] Example 2

[0044] See also Figure 4 The exemplary method for calibrating the stability accuracy of a pan-tilt platform of an airborne hyperspectral imaging system is applied to a calibration device for the stability accuracy of a pan-tilt platform of an airborne hyperspectral imaging system, and includes the following steps:

[0045] S1: The control and analysis module controls the linear slide control motor to move the six-axis motion module and the airborne hyperspectral imaging system along the linear motion slide;

[0046] S2: The control analysis module starts the image acquisition function of the airborne hyperspectral imaging system and obtains the images collected by the airborne hyperspectral imaging system in real time;

[0047] S3: The control and analysis module controls the linear slide control motor to make the six-axis motion module and the airborne hyperspectral imaging system start to move along the linear motion slide;

[0048] S4: The control and analysis module controls the six-axis motion module to enable the airborne hyperspectral imaging system to perform six-axis motion;

[0049] S5: The control and analysis module analyzes the image acquired by the airborne hyperspectral imaging system, obtains the linear feature blocks in the target pattern, and analyzes the jitter serration amount of the linear feature blocks perpendicular to the moving direction;

[0050] S6: Calculate the stability accuracy based on the jitter sawtooth amount. When the stability accuracy meets the stability accuracy standard, the gimbal accuracy calibration process of the airborne hyperspectral imaging system is completed.

[0051] Specifically, in a calibration method for the stability accuracy of the gimbal of an airborne hyperspectral imaging system, each step is to ensure that the system can be precisely controlled in all directions and angles. Through steps S1 and S3, the system ensures the accuracy of linear motion, which is the basis for ensuring imaging stability; step S4 further enhances the adaptability and flexibility of the system by controlling the six-axis motion module, ensuring that the system can maintain high-quality imaging stability in the actual operating environment; steps S2 and S5 combine image acquisition and real-time analysis, acquiring and analyzing image data in real time for immediate problem identification, and fine-tuning based on the linear feature blocks and jitter aliasing in the target pattern to achieve higher stability accuracy; step S6 provides a stability accuracy evaluation method based on jitter aliasing, allowing the stability accuracy of the system to be accurately measured and evaluated in numerical form, making the calibration process more objective and repeatable, and providing a clear standard for judging whether the system has achieved the required stability level; when the stability accuracy of the system meets the preset standard, it can be ensured that the obtained hyperspectral image has a high degree of reliability and accuracy.

[0052] The present invention is further configured to calculate the stability accuracy based on the jitter sawtooth amount, and the calculation logic is: ρ = dP / (2*PN*FOV)

[0053] Among them, ρ is the stability accuracy, dP is the maximum number of jitter pixels, that is, the jitter aliasing amount, PN is the number of horizontal pixels, and FOV is the field of view of the airborne hyperspectral imaging system.

[0054] Specifically, ρ is the stability accuracy, which indicates the stability of the imaging system when capturing images. The lower the value, the better the stability of the imaging system, which means higher image quality. dP is the maximum number of jitter pixels, that is, the amount of jitter aliasing, which indicates the maximum pixel offset in the image caused by system jitter. PN is the number of horizontal pixels, which indicates the number of pixels of the imaging system in the horizontal direction. It is related to the resolution of the imaging sensor and reflects the level of detail that the imaging system can capture. FOV is the field of view of the airborne hyperspectral imaging system, which indicates the field of view of the airborne hyperspectral imaging system. It refers to the viewing angle range that the imaging system can cover, usually in degrees. The larger the field of view, the wider the area that the imaging system can cover.

[0055] The present invention is further configured such that when the stability accuracy exceeds the stability accuracy standard, the pan-tilt control module of the airborne hyperspectral imaging system is adjusted and steps S1 to S6 are repeated. Specifically, an iterative improvement mechanism is provided to ensure that the stability accuracy of the airborne hyperspectral imaging system meets or exceeds a preset standard. When the stability accuracy calculated after the initial execution of steps S1 to S6 does not meet the preset standard, it indicates that the stability of the imaging system is insufficient, affecting the image quality. At this time, it is necessary to adjust the settings of the pan-tilt control module, including adjusting the vibration compensation parameters of the pan-tilt, adjusting the speed and acceleration settings, improving the stability algorithm, or adjusting other related control parameters, which are not limited here. After adjusting the pan-tilt control module, it is necessary to re-execute steps S1 to S6 to re-evaluate the stability accuracy. The cyclic process ensures continuous quality control and performance evaluation, allows the stability of the system to be optimized through repeated testing and adjustment, and ensures that the final imaging system can meet the required stability standards, thereby providing high-quality image data.

[0056] The present invention is further configured such that the control and analysis module is provided with six-axis motion flight attitude control data, and the six-axis motion flight attitude control data is used to control the six-axis motion module to perform six-axis motion according to a preset flight attitude; specifically, the control and analysis module can simulate different flight conditions and attitudes, including pitch, roll, yaw and movements in three translation directions, by setting the six-axis motion flight attitude control data, to ensure that the airborne hyperspectral imaging system can be tested under various simulated flight conditions, thereby ensuring that the gimbal can maintain a high degree of stability and image quality during actual flight.

[0057] It should be noted that the calibration device for the stability accuracy of the gimbal of an airborne hyperspectral imaging system provided in the above embodiment and the calibration method for the stability accuracy of the gimbal of an airborne hyperspectral imaging system provided in the above embodiment are of the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here. In actual applications, the calibration method for the stability accuracy of the gimbal of an airborne hyperspectral imaging system provided in the above embodiment can, as needed, allocate the above functions to different functional modules, 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.

[0058] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using 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 program 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, computer, server or data center to another website, computer, server or data center via a wired (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer 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 drive.

[0059] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0060] In this application, "at least one" means one or more, and "plurality" 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 mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0061] 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.

[0062] Those skilled 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 beyond the scope of this application.

[0063] Those skilled in the art will 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.

[0064] In the several embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, 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.

[0065] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0066] 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.

[0067] 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, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0068] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A device for calibrating the stability accuracy of a pan / tilt system of an airborne hyperspectral imaging system, characterized in that: include: Test machine frame (1), linear motion slide (2), airborne hyperspectral imaging system (3), six-axis motion module (4), lighting module (5), linear slide control motor (6), target (7), power management module (8), control analysis module (9), control display module (10); The linear motion slide rail (2) is fixed on the top of the test machine frame (1), and the linear motion slide rail (2) is parallel to the long axis of the test machine frame (1); the linear motion slide rail (2) is connected to the linear motion slide rail control motor (6), and the linear motion slide rail control motor (6) is used to control the movement of the linear motion slide rail (2); the linear motion slide rail (2) is connected to the six-axis motion module (4); the lighting module (5) is fixed inside the test machine frame (1); the target (7) is placed on the inner bottom surface of the test machine frame (1); the power control module and the six-axis motion module (4), the linear slide control motor (6), the lighting module (5), the control analysis module (9), the control display module (10) and the airborne hyperspectral imaging system (3) are electrically connected and powered; the control analysis module (9) is electrically connected to the six-axis motion module (4), the linear slide control motor (6), the control display module (10) and the airborne hyperspectral imaging system (3), and the control analysis module (9) is used for signal interaction; the control display module (10) is used for obtaining the printing signal of the control analysis module (9) and printing and displaying the content.

2. The device for calibrating the stability accuracy of a pan / tilt system of an airborne hyperspectral imaging system according to claim 1, characterized in that: The target (7) is provided with a feature block.

3. The device for calibrating the stability accuracy of a pan / tilt platform of an airborne hyperspectral imaging system according to claim 1, characterized in that: The airborne hyperspectral imaging system (3) is fixed to the six-axis motion module (4), and the airborne hyperspectral imaging system (3) is locked by a safety buckle provided on the six-axis motion module (4), ensuring that the system remains stable during the calibration process.

4. The device for calibrating the stability accuracy of a pan / tilt system of an airborne hyperspectral imaging system according to claim 1, characterized in that: The lighting module (5) is adjusted so that the entire target (7) is illuminated.

5. A calibration method for the stability accuracy of a pan-tilt platform of an airborne hyperspectral imaging system, applied to a calibration device for the stability accuracy of a pan-tilt platform of an airborne hyperspectral imaging system according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1: The control and analysis module controls the linear slide control motor to move the six-axis motion module and the airborne hyperspectral imaging system along the linear motion slide; S2: The control analysis module starts the image acquisition function of the airborne hyperspectral imaging system and obtains the images collected by the airborne hyperspectral imaging system in real time; S3: The control and analysis module controls the linear slide control motor to make the six-axis motion module and the airborne hyperspectral imaging system start to move along the linear motion slide; S4: The control and analysis module controls the six-axis motion module to enable the airborne hyperspectral imaging system to perform six-axis motion; S5: The control and analysis module analyzes the image acquired by the airborne hyperspectral imaging system, obtains the linear feature blocks in the target pattern, and analyzes the jitter serration amount of the linear feature blocks perpendicular to the moving direction; S6: Calculate the stability accuracy based on the jitter sawtooth amount. When the stability accuracy meets the stability accuracy standard, the gimbal accuracy calibration process of the airborne hyperspectral imaging system is completed.

6. The method for calibrating the stability accuracy of a pan / tilt system of an airborne hyperspectral imaging system according to claim 5, characterized in that: The stability accuracy is calculated based on the jitter sawtooth amount. The calculation logic is: ρ=dP / (2*PN*FOV) Among them, ρ is the stability accuracy, dP is the maximum number of jitter pixels, that is, the jitter aliasing amount, PN is the number of horizontal pixels, and FOV is the field of view of the airborne hyperspectral imaging system.

7. The method for calibrating the stability accuracy of a pan / tilt system of an airborne hyperspectral imaging system according to claim 5, characterized in that: When the stabilization accuracy exceeds the stabilization accuracy standard, the pan / tilt control module of the airborne hyperspectral imaging system is adjusted, and steps S1 to S6 are repeated.

8. The method for calibrating the stability accuracy of a pan / tilt platform of an airborne hyperspectral imaging system according to claim 5, characterized in that: The control analysis module is provided with six-axis motion flight attitude control data, and the six-axis motion flight attitude control data is used to control the six-axis motion module to perform six-axis motion according to a preset flight attitude.

Images