Remote sensing satellite image generation method, device, electronic equipment and storage medium

Abstract

The present application provides an image generation method, device, electronic device and storage medium for a remote sensing satellite, and relates to the field of satellite remote sensing technology. The image generation method for a remote sensing satellite provided in the present application includes: determining a target area; obtaining the remote sensing shooting position and remote sensing angle of the target remote sensing satellite, and constructing a three-dimensional point cloud model of the target area; determining the overlapping area corresponding to the target area based on the remote sensing shooting position, remote sensing angle and three-dimensional point cloud model, and determining the first target point and the second target point corresponding to the overlapping area; determining the remote sensing data processing time compensation corresponding to the overlapping area based on the acquired remote sensing propagation rate, the first target point and the second target point, and based on the remote sensing data processing time compensation, performing image generation on the remote sensing data of the target area to obtain a target image. The present application can reduce the incidence of overlapping phenomena in high-density building areas.

Description

Technical Field

[0001] The present application relates to the field of satellite remote sensing technology, and in particular to an image generation method, device, electronic equipment and storage medium for a remote sensing satellite. Background Art

[0002] In recent years, satellite remote sensing technology has become increasingly mature and has been widely used in various fields. For example, satellite remote sensing technology is used to capture ground images. Specifically, remote sensing satellites transmit remote sensing electromagnetic waves to the ground, and obtain ground images by processing the received reflected remote sensing electromagnetic waves. However, in the process of capturing ground images using satellite remote sensing technology, the overlapping phenomenon of high-rise buildings in urban areas is more serious, resulting in distortion of the subsequently generated images. Therefore, the existing method generally uses multi-view remote sensing radar images, that is, by dividing a long synthetic aperture into smaller parts, and then forming a remote sensing radar image for each part, it can reduce the influence of the overlapping phenomenon by reducing the intensity changes caused by signal attenuation.

[0003] However, the inventors of the present application have discovered that, for built-up areas with high building density, the above-mentioned existing methods for solving the overlapping phenomenon are limited by the complexity of the buildings in the built-up areas, and the long synthetic aperture is divided into smaller parts, which cannot guarantee the accuracy of the segmentation, and the authenticity of the remote sensing data corresponding to each part cannot be guaranteed, resulting in a reduction in the effect of reducing the overlapping phenomenon. Summary of the invention

[0004] In order to reduce the occurrence rate of overlapping phenomenon in high-density building areas; the present application provides an image generation method, device, electronic equipment and storage medium for a remote sensing satellite.

[0005] The present application provides a remote sensing satellite image generation method, which adopts the following technical solution:

[0006] A method for generating an image of a remote sensing satellite, comprising:

[0007] Determine a target area; wherein the target area is a portion of the total remote sensing area covered by the target remote sensing satellite, and the portion of the area is a building area;

[0008] Obtain the remote sensing shooting position and remote sensing angle of the target remote sensing satellite, and construct a three-dimensional point cloud model of the target area;

[0009] Based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model, determining an overlapping area corresponding to the target area, and determining a first target point and a second target point corresponding to the overlapping area;

[0010] Based on the acquired remote sensing propagation rate, the first target point and the second target point, the remote sensing data processing time compensation corresponding to the overlapping area is determined, and based on the remote sensing data processing time compensation, the remote sensing data of the target area is processed to obtain a target image.

[0011] According to some embodiments, the above-mentioned determination of the target area includes: determining the target feature points of the total remote sensing area; dividing the total remote sensing area into regions based on the target feature points to determine multiple initial remote sensing areas; wherein the multiple initial remote sensing areas are all building areas; determining the building density levels corresponding to the multiple initial remote sensing areas respectively; when the building density level of any initial remote sensing area among the multiple initial remote sensing areas is greater than a preset building density level threshold, any initial remote sensing area is defined as a target area.

[0012] According to some embodiments, after the above-mentioned determination of the building density levels corresponding to the multiple initial remote sensing areas, it also includes: when the building density level of a certain initial remote sensing area among the multiple initial remote sensing areas is not greater than a preset building density level threshold, generating a remote sensing shooting instruction, and sending the remote sensing shooting instruction to at least two target remote sensing satellites, so that at least two target remote sensing satellites simultaneously perform remote sensing shooting of a certain initial remote sensing area to obtain at least two remote sensing data; performing data processing and fusion on the at least two remote sensing data to generate a remote sensing image.

[0013] According to some embodiments, the above-mentioned determination of the overlapping area corresponding to the target area based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model includes: determining the first target area in the three-dimensional point cloud model based on the remote sensing shooting position; determining the second target area in the first target area based on the remote sensing angle, and determining the second target area as the overlapping area.

[0014] According to some embodiments, the above-mentioned determination of the first target area in the three-dimensional point cloud model based on the remote sensing shooting position includes: substituting the remote sensing shooting position and the three-dimensional point cloud model into the same three-dimensional space, and making scattered lines in the direction of the three-dimensional point cloud model with the remote sensing shooting position as the center point; determining the area in the three-dimensional point cloud model covered by the scattered lines as the first target area.

[0015] According to some embodiments, the above-mentioned determination of the remote sensing data processing time compensation corresponding to the overlapping area based on the acquired remote sensing propagation rate, the first target point and the second target point includes: calculating, based on the remote sensing propagation rate, a first time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the first target point to the target remote sensing satellite, and determining a second time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the second target point to the target remote sensing satellite; based on the first time duration and the second time duration, determining the remote sensing data processing time compensation corresponding to the overlapping area.

[0016] According to some embodiments, the above-mentioned remote sensing data processing time compensation is used to process the remote sensing data of the target area to obtain a target image, including: when the remote sensing data corresponding to the target area is acquired, based on the remote sensing data processing time compensation, a data processing time node is set for the remote sensing data of the overlapping area in the remote sensing data of the target area, and other remote sensing data in the remote sensing data of the target area except the remote sensing data of the overlapping area is processed to obtain a first sub-target image; when the data processing time node is reached, the remote sensing data of the overlapping area is processed to obtain a second sub-target image; and the first sub-target image and the second sub-target image are integrated to obtain a target image.

[0017] The present application provides an image generation device for a remote sensing satellite, which adopts the following technical solution;

[0018] An image generation device for a remote sensing satellite includes: a region determination module, a point cloud model construction module, a target point determination module and a target image generation module, wherein:

[0019] The area determination module is used to determine the target area; wherein the target area is a part of the total remote sensing area covered by the target remote sensing satellite, and the part of the area is a building area;

[0020] Point cloud model building module, used to obtain the remote sensing shooting position and remote sensing angle of the target remote sensing satellite, and build a three-dimensional point cloud model of the target area;

[0021] A target point determination module is used to determine an overlapping area corresponding to the target area, and to determine a first target point and a second target point corresponding to the overlapping area based on a remote sensing shooting position, a remote sensing angle, and a three-dimensional point cloud model;

[0022] The target image generation module is used to determine the remote sensing data processing time compensation corresponding to the overlapping area based on the acquired remote sensing propagation rate, the first target point and the second target point, and to process the remote sensing data of the target area based on the remote sensing data processing time compensation to obtain the target image.

[0023] According to some embodiments, the above-mentioned area determination module is specifically used to: determine the target feature points of the total remote sensing area; divide the total remote sensing area into regions based on the target feature points to determine multiple initial remote sensing areas; wherein the multiple initial remote sensing areas are all building areas; determine the building density levels corresponding to the multiple initial remote sensing areas respectively; when the building density level of any initial remote sensing area among the multiple initial remote sensing areas is greater than a preset building density level threshold, define any initial remote sensing area as a target area.

[0024] According to some embodiments, the above-mentioned area determination module is specifically used to: generate a remote sensing shooting instruction when the building density level of an initial remote sensing area among multiple initial remote sensing areas is not greater than a preset building density level threshold, and send the remote sensing shooting instruction to at least two target remote sensing satellites, so that at least two target remote sensing satellites simultaneously perform remote sensing shooting of a certain initial remote sensing area to obtain at least two remote sensing data; perform data processing and fusion on at least two remote sensing data to generate a remote sensing image.

[0025] According to some embodiments, the above-mentioned target point determination module is specifically used to: determine the first target area in the three-dimensional point cloud model based on the remote sensing shooting position; determine the second target area in the first target area based on the remote sensing angle, and determine the second target area as the overlapping area.

[0026] According to some embodiments, the above-mentioned target point determination module is specifically used to: substitute the remote sensing shooting position and the three-dimensional point cloud model into the same three-dimensional space, and make scattered lines in the direction of the three-dimensional point cloud model with the remote sensing shooting position as the center point; and determine the area in the three-dimensional point cloud model covered by the scattered lines as the first target area.

[0027] According to some embodiments, the above-mentioned target image generation module is specifically used to: calculate, based on the remote sensing propagation rate, a first time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the first target point to the target remote sensing satellite, and determine a second time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the second target point to the target remote sensing satellite; based on the first time duration and the second time duration, determine the remote sensing data processing time compensation corresponding to the overlapping area.

[0028] According to some embodiments, the above-mentioned target image generation module is specifically used for: when remote sensing data corresponding to the target area is acquired, based on remote sensing data processing time compensation, setting a data processing time node for the remote sensing data of the overlapping area in the remote sensing data of the target area, and performing data processing on other remote sensing data in the remote sensing data of the target area except the remote sensing data of the overlapping area to obtain a first sub-target image; when the data processing time node is reached, processing the remote sensing data of the overlapping area to obtain a second sub-target image; performing image integration on the first sub-target image and the second sub-target image to obtain a target image.

[0029] The present application provides an electronic device, which adopts the following technical solution:

[0030] An electronic device, comprising:

[0031] processor;

[0032] The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned remote sensing satellite image generation method.

[0033] The present application provides a computer-readable storage medium, which adopts the following technical solution:

[0034] A computer-readable storage medium stores a computer program, and when the computer program is executed in a processor, the processor executes the above-mentioned remote sensing satellite image generation method.

[0035] According to the above-mentioned embodiment provided by the present application, a three-dimensional point cloud model of the target area is constructed, and the remote sensing shooting position and remote sensing angle of the target remote sensing satellite are obtained at the same time; the overlapping area corresponding to the target area and the first target point and the second target point contained in the overlapping area are determined based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model; the remote sensing data processing time compensation corresponding to the overlapping area is determined by the remote sensing propagation rate, the first target point and the second target point; in the process of processing the remote sensing data of the target area, based on the remote sensing data processing time compensation, a data processing time node is set for the remote sensing data of the overlapping area, and when the data processing time node reaches the set data processing time node, the remote sensing data of the overlapping area is processed, thereby avoiding the data processing mode of receiving the remote sensing data first and processing it first, thereby reducing the incidence of overlapping phenomena in high-density building areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a block diagram of a method for generating an image of a remote sensing satellite according to an embodiment of the present application;

[0037] Figure 2 is a block diagram of an image generating device for a remote sensing satellite according to an embodiment of the present application;

[0038] Figure 3 It is a schematic diagram of an electronic device according to an embodiment of the present application.

[0039] Description of reference numerals:

[0040] 20: image generation device of remote sensing satellite; 201: target beam range determination module; 202: relative position determination module; 203: satellite antenna adjustment instruction generation module; 204: target image generation module; 30: electronic device; 301: processor; 302: bus; 303: memory; 304: transceiver. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-Figure 3 This application is described in further detail.

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the drawings in the embodiments of the present application are collected below to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] The embodiment of the present application provides an image generation method for a remote sensing satellite, which can be executed by an electronic device, wherein the electronic device can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed device composed of multiple physical servers, or a cloud server providing cloud computing services; the server can be installed on a low-orbit satellite or a ground communication base station. The terminal device can be a computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, and the embodiment of the present application does not limit this.

[0044] Reference Figure 1 A remote sensing satellite image generation method includes: step S101, step S102, step S103 and step S104, wherein:

[0045] S101, determining a target area.

[0046] In some embodiments, the target area is a partial area of ​​the total remote sensing area covered by the target remote sensing satellite, and the partial area is a building area.

[0047] One of the remote sensing satellites in operation is defined as a target remote sensing satellite; the target remote sensing satellite performs remote sensing monitoring on the area covered by the remote sensing equipment installed thereon, i.e., the total remote sensing coverage area. The antenna angle of the remote sensing equipment can be changed, so the area covered by the target remote sensing satellite can be very large, i.e., the area with buildings is included in the total remote sensing area covered by the target satellite; in addition, the probability of overlap in the non-building area in the total remote sensing area and the negative impact of overlap are lower than those in the building area; therefore, the electronic equipment can first determine the area containing buildings from the total remote sensing area, i.e., the target area; wherein, the electronic equipment can divide the total remote sensing area based on the feature points in the total remote sensing area to obtain the area containing buildings, i.e., the target area.

[0048] S102, obtaining the remote sensing shooting position and remote sensing angle of the target remote sensing satellite, and constructing a three-dimensional point cloud model of the target area.

[0049] In some embodiments, the remote sensing shooting position is the position of the remote sensing device installed on the target remote sensing satellite at the current moment; the remote sensing angle is the antenna angle of the remote sensing device at the current moment.

[0050] The remote sensing shooting position and remote sensing angle of the target remote sensing satellite have a certain influence on the overlap phenomenon. Therefore, it is necessary to obtain the remote sensing shooting position and remote sensing angle for subsequent determination of the area where the overlap phenomenon occurs in the target area.

[0051] In the process of constructing a three-dimensional point cloud model of the target area, the electronic device first sends a control instruction to a laser device installed on a remote sensing satellite and / or a laser device installed on a moving vehicle; the laser device installed on the remote sensing satellite and / or the laser device installed on a moving vehicle responds to the control instruction and performs a laser scan on the buildings in the target area; then, the electronic device obtains the laser data reflected back by the building, and processes the laser data to obtain point data representing the buildings in the target area; then, the electronic device inputs the point data into the three-dimensional space construction software, and uses the three-dimensional space construction software to construct a three-dimensional point cloud model of the target area based on the point data.

[0052] S103, based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model, determining an overlapping area corresponding to the target area, and determining a first target point and a second target point corresponding to the overlapping area.

[0053] In some embodiments, the second target point is the point at which the remote sensing electromagnetic waves emitted by the remote sensing equipment of the target remote sensing satellite arrive the latest; the first target point is the point at which the remote sensing electromagnetic waves emitted by the remote sensing equipment of the target remote sensing satellite arrive except the latest arriving point.

[0054] The remote sensing shooting position is coordinateized and substituted into the same three-dimensional space as the three-dimensional point cloud model, and based on the remote sensing angle, the remote sensing equipment of the target remote sensing satellite is simulated to perform remote sensing shooting of the three-dimensional point cloud model; the remote sensing electromagnetic wave propagation line and the auxiliary lines of the positions of remote sensing electromagnetic waves in different emission directions at the same time are visualized; the point in the three-dimensional point cloud model where the remote sensing electromagnetic wave arrives latest is defined as the second target point, and the other points in the three-dimensional point cloud model where the remote sensing electromagnetic wave arrives except the second target point are defined as the first target point.

[0055] S104, based on the acquired remote sensing propagation rate, the first target point and the second target point, determine the remote sensing data processing time compensation corresponding to the overlapping area, and based on the remote sensing data processing time compensation, process the remote sensing data of the target area to obtain the target image.

[0056] In some embodiments, the remote sensing propagation rate is the rate at which the remote sensing electromagnetic wave propagates in the air; the remote sensing data processing time compensation is the time length of the delay processing of the remote sensing data by the electronic device after receiving the remote sensing data;

[0057] The height of the target remote sensing satellite is fixed, and when the remote sensing shooting position of the target remote sensing satellite is determined, the time required for the remote sensing electromagnetic wave to be reflected from the first target point to the target remote sensing satellite and the time required for the remote sensing electromagnetic wave to be reflected from the second target point to the target remote sensing satellite are calculated based on the remote sensing propagation rate; then, the electronic device determines the remote sensing data processing time compensation corresponding to the overlapping area based on the above time. After receiving all the remote sensing data of the target area, the electronic device determines the processing time node of the remote sensing data corresponding to the overlapping area based on the remote sensing data processing time compensation, and processes the remote sensing data corresponding to the overlapping area when the processing time node is reached.

[0058] In some embodiments, the overlap phenomenon refers to the curvature of the transmitted remote sensing electromagnetic wave causing the echo of the near target to arrive first, while the echo of the far target arrives later, causing the top of the image to be imaged first and displaced toward the near point, forming an effect of top-bottom inversion, that is, when the processing time node of the remote sensing data corresponding to the overlap area is determined, and the remote sensing data corresponding to the overlap area is processed at the processing time node, it indicates that all remote sensing data for the target area have been processed and the target image of the target area is obtained. By determining the remote sensing data processing time compensation of the remote sensing data of the overlap area, the processing time node of the remote sensing data of the overlap area is determined, and the remote sensing data of the overlap area is processed at the processing time node, thereby avoiding the data processing mode of receiving the remote sensing data first and processing it first, thereby reducing the incidence of overlap phenomenon in high-density building areas.

[0059] In some embodiments, in a specific area, the higher the building density, the greater the probability of overlapping when performing remote sensing imaging on the specific area; the lower the building density, the smaller the probability of overlapping when performing remote sensing imaging on the specific area; therefore, when performing remote sensing imaging on the target area, it is possible to consider how to filter out areas representing buildings from the total coverage area, while also considering filtering out areas with high building density from multiple areas representing buildings; eliminating overlapping in areas with high building density; that is, in step S101, determining the target area may include: determining target feature points of the total remote sensing area; dividing the total remote sensing area based on the target feature points to determine multiple initial remote sensing areas; wherein the multiple initial remote sensing areas are all building areas; determining the building density levels corresponding to the multiple initial remote sensing areas; and defining any initial remote sensing area as a target area when the building density level of any initial remote sensing area among the multiple initial remote sensing areas is greater than a preset building density level threshold.

[0060] In some embodiments, the target feature point is a feature point of an edge building of a building complex. The electronic device extracts feature points from the total remote sensing area to obtain multiple feature points; wherein the feature points are edge feature points of different types of areas, for example, feature points of edge buildings in a building complex, feature points of edge vegetation in a vegetation-covered area, feature points of the foot of a mountain in a mountain area, etc. Subsequently, the electronic device screens the multiple feature points, determines feature points representing edge buildings of the building complex and defines them as target feature points; based on the target feature points, the electronic device divides the total remote sensing area, and determines multiple initial remote sensing areas representing building areas from the total remote sensing area.

[0061] Subsequently, the electronic device judges the building density of multiple initial remote sensing areas, wherein the judgment criterion can be to judge the building density of the initial remote sensing area based on the population floor area ratio of the initial remote sensing area; or to judge the building density of the initial remote sensing area based on the number of buildings in the initial remote sensing area; or to judge the building density of the initial remote sensing area based on the height difference and spacing between buildings in the initial remote sensing area.

[0062] Afterwards, the electronic device will perform a level conversion on the determined data that can characterize the building density to a certain extent, so as to determine the building density level corresponding to the initial remote sensing area; then, the electronic device calls the preset building density level threshold, and compares the building density levels of the multiple initial remote sensing areas determined with the preset building density level threshold one by one; when it is determined that the building density level of any initial remote sensing area among the multiple initial remote sensing areas is greater than the preset building density level threshold, it indicates that the building density of any initial remote sensing area is large, and overlapping phenomena are very likely to occur during the remote sensing imaging process of any initial remote sensing area. Therefore, it is necessary to determine the remote sensing data processing time compensation corresponding to the overlapping area in any initial remote sensing area, so as to reduce the occurrence of overlapping phenomena in the subsequent image generation process of the overlapping area; that is, the electronic device defines any initial remote sensing area as a target area, so as to subsequently determine the remote sensing data processing time compensation of the overlapping area of ​​the target area.

[0063] In some embodiments, after determining the building density levels corresponding to multiple initial remote sensing areas, it also includes: when the building density level of an initial remote sensing area among the multiple initial remote sensing areas is not greater than a preset building density level threshold, generating a remote sensing shooting instruction, and sending the remote sensing shooting instruction to at least two target remote sensing satellites, so that at least two target remote sensing satellites simultaneously perform remote sensing shooting of a certain initial remote sensing area to obtain at least two remote sensing data; performing data processing and fusion on at least two remote sensing data to generate a remote sensing image.

[0064] In some embodiments, in the process of comparing the building density levels of the determined multiple initial remote sensing areas with the preset building density level thresholds one by one, when it is determined that the building density level of any remote sensing area in the multiple initial remote sensing areas is not greater than the preset building density level threshold, it indicates that the number of buildings in any remote sensing area is small, and the remote sensing data corresponding to it is unlikely to overlap in the subsequent processing process. Therefore, any remote sensing area can be directly remotely sensed at different angles by at least two low-orbit remote sensing satellites, and an image can be obtained by processing and fusing the remote sensing data received by at least two low-orbit remote sensing satellites, without considering the processing time node of the remote sensing data of the overlapping area; that is, the electronic device generates a remote sensing shooting instruction, and sends the remote sensing shooting instruction to at least two target remote sensing satellites, so that at least two low-orbit remote sensing satellites perform remote sensing shooting on any remote sensing area to obtain at least two remote sensing data; the subsequent electronic device obtains a remote sensing image of any remote sensing area by processing and fusing the at least two remote sensing data; wherein the target remote sensing satellite can be a medium-orbit or high-orbit remote sensing satellite, or a low-orbit remote sensing satellite.

[0065] In step S103, based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model, the overlapping area corresponding to the target area is determined, including: based on the remote sensing shooting position, determining the first target area in the three-dimensional point cloud model; based on the remote sensing angle, determining the second target area in the first target area, and determining the second target area as the overlapping area.

[0066] In some embodiments, based on the remote sensing shooting position, a first target area in a three-dimensional point cloud model is determined, including: substituting the remote sensing shooting position and the three-dimensional point cloud model into the same three-dimensional space, and making scattered lines in the direction of the three-dimensional point cloud model with the remote sensing shooting position as the center point; determining the area in the three-dimensional point cloud model covered by the scattered lines as the first target area; then, the electronic device simulates the emission of remote sensing electromagnetic waves to the three-dimensional point cloud model based on the remote sensing angle, and visualizes the remote sensing electromagnetic wave propagation lines and the auxiliary lines between the positions of remote sensing electromagnetic waves of different lines at the same time; the remote sensing electromagnetic waves arrive first at the high-position points in a certain area of ​​the first target area; and the electromagnetic waves arrive at the low-position points in the certain area with a lag, indicating that overlapping will occur in the remote sensing shooting process of the certain area, and therefore, the certain area is used as the second target area in the first target area, and the second target area is determined as the overlapping area.

[0067] In step S104, based on the acquired remote sensing propagation rate, the first target point and the second target point, the remote sensing data processing time compensation corresponding to the overlapping area is determined, including: based on the remote sensing propagation rate, calculating the first time duration for the electromagnetic wave emitted by the target remote sensing satellite to be fed back from the first target point to the target remote sensing satellite, and determining the second time duration for the electromagnetic wave emitted by the target remote sensing satellite to be fed back from the second target point to the target remote sensing satellite; based on the first time duration and the second time duration, determining the remote sensing data processing time compensation corresponding to the overlapping area.

[0068] In some embodiments, when the remote sensing altitude of the target remote sensing satellite is fixed and its position has been determined, the electronic device calculates the distance between the target remote sensing satellite and the building based on the altitude of the target remote sensing satellite, the remote sensing shooting position and the position of the building in the target area; then, based on the remote sensing propagation rate, the electronic device calculates the time required for the remote sensing electromagnetic wave to be reflected from the first target point in the overlapping area to the target remote sensing satellite, and defines it as the first time; at the same time, the electronic device also calculates the time required for the remote sensing electromagnetic wave to be reflected from the second target point in the overlapping area to the target remote sensing satellite, and defines it as the second time.

[0069] Subsequently, the electronic device calculates the absolute difference between the first time length and the second time length, and obtains the difference between the time length for the target remote sensing satellite to receive the remote sensing electromagnetic wave reflected by the first target point and the time length for receiving the remote sensing electromagnetic wave reflected by the second target point; in addition, in order to ensure that the received remote sensing data corresponding to the first target point is finally processed, it is necessary to consider the time length for processing the remote sensing data corresponding to the second target point. Therefore, when the electronic device determines the absolute difference between the first time length and the second time length, the electronic device obtains the time length for processing the remote sensing data corresponding to the second target point, and adds the time length for processing the remote sensing data corresponding to the second target point to the absolute difference, thereby determining the data processing time compensation corresponding to the overlapping area.

[0070] In some embodiments, data processing time compensation may include multiple data processing time compensations, and each data processing time compensation has a one-to-one correspondence with a specific point in the overlapping area in the three-dimensional point cloud model, that is, when the electronic device receives remote sensing data corresponding to different points in the overlapping area, the time required for the corresponding remote sensing electromagnetic wave to be reflected to the target remote sensing satellite is calculated by the absolute difference between the time required for the corresponding remote sensing electromagnetic wave to be reflected to the target remote sensing satellite and the second time corresponding to the second target point, and the absolute difference is added to the time for processing the remote sensing data corresponding to the second target point to obtain the data processing time compensation corresponding to the point.

[0071] In some embodiments, when any first target point is not adjacent to a second target point, the data processing time compensation corresponding to any first target point includes the processing time of the remote sensing data corresponding to the first target point between the first target point and the second target point.

[0072] In step S104, the remote sensing data of the target area are processed based on the remote sensing data processing time compensation to obtain a target image, including: when the remote sensing data corresponding to the target area is acquired, based on the remote sensing data processing time compensation, a data processing time node is set for the remote sensing data of the overlapping area in the remote sensing data of the target area, and other remote sensing data in the remote sensing data of the target area except the remote sensing data of the overlapping area are processed to obtain a first sub-target image; when the data processing time node is reached, the remote sensing data of the overlapping area are processed to obtain a second sub-target image; and the first sub-target image and the second sub-target image are integrated to obtain a target image.

[0073] In some embodiments, after acquiring the remote sensing data corresponding to the target area, the electronic device sets a data processing time node for the remote sensing data of the overlapping area in the remote sensing data of the target area by calculating the data processing time compensation corresponding to the overlapping area. When the data processing time node is reached, the remote sensing data corresponding to the overlapping area is processed to obtain the second sub-target image, thereby reducing the occurrence of overlapping phenomena caused by the remote sensing data being received and processed first; in addition, while the electronic device sets the data processing time node for the remote sensing data of the overlapping area, the electronic device can process other remote sensing data in the remote sensing data of the target area except the remote sensing data of the overlapping area, and obtain the first sub-target image, thereby improving the efficiency of remote sensing data processing. The electronic device integrates the obtained first sub-target image and the second sub-target image to complete the generation of the image of the target area.

[0074] The present application provides an image generation device for a remote sensing satellite, which adopts the following technical solution:

[0075] Reference Figure 2 , a remote sensing satellite image generation device 20, comprising: a region determination module 201, a point cloud model construction module 202, a target point determination module 203 and a target image generation module 204, wherein,

[0076] The region determination module 201 is used to determine the target region; wherein the target region is a part of the total remote sensing region covered by the target remote sensing satellite, and the part of the region is a building area;

[0077] The point cloud model building module 202 is used to obtain the remote sensing shooting position and remote sensing angle of the target remote sensing satellite and build a three-dimensional point cloud model of the target area;

[0078] The target point determination module 203 is used to determine the overlapping area corresponding to the target area, and determine the first target point and the second target point corresponding to the overlapping area based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model;

[0079] The target image generation module 204 is used to determine the remote sensing data processing time compensation corresponding to the overlapping area based on the acquired remote sensing propagation rate, the first target point and the second target point, and process the remote sensing data of the target area based on the remote sensing data processing time compensation to obtain the target image.

[0080] In some embodiments, the above-mentioned area determination module 201 is specifically used to: determine the target feature points of the total remote sensing area; divide the total remote sensing area into regions based on the target feature points to determine multiple initial remote sensing areas; wherein the multiple initial remote sensing areas are all building areas; determine the building density levels corresponding to the multiple initial remote sensing areas respectively; when the building density level of any initial remote sensing area among the multiple initial remote sensing areas is greater than a preset building density level threshold, define any initial remote sensing area as a target area.

[0081] In some embodiments, the above-mentioned area determination module 201 is also specifically used to: generate a remote sensing shooting instruction when the building density level of an initial remote sensing area among multiple initial remote sensing areas is not greater than a preset building density level threshold, and send the remote sensing shooting instruction to at least two target remote sensing satellites, so that at least two target remote sensing satellites simultaneously perform remote sensing shooting of a certain initial remote sensing area to obtain at least two remote sensing data; perform data processing and fusion on at least two remote sensing data to generate a remote sensing image.

[0082] In some embodiments, the above-mentioned target point determination module 203 is specifically used to: determine the first target area in the three-dimensional point cloud model based on the remote sensing shooting position; determine the second target area in the first target area based on the remote sensing angle, and determine the second target area as the overlapping area.

[0083] In some embodiments, the above-mentioned target point determination module 203 is specifically used to: substitute the remote sensing shooting position and the three-dimensional point cloud model into the same three-dimensional space, and make scattered lines in the direction of the three-dimensional point cloud model with the remote sensing shooting position as the center point; determine the area in the three-dimensional point cloud model covered by the scattered lines as the first target area.

[0084] In some embodiments, the above-mentioned target image generation module 204 is specifically used to: calculate, based on the remote sensing propagation rate, a first time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the first target point to the target remote sensing satellite, and determine a second time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the second target point to the target remote sensing satellite; based on the first time duration and the second time duration, determine the remote sensing data processing time compensation corresponding to the overlapping area.

[0085] In some embodiments, the target image generation module 204 is further specifically used for: when remote sensing data corresponding to the target area is acquired, based on remote sensing data processing time compensation, setting a data processing time node for the remote sensing data of the overlapping area in the remote sensing data of the target area, and performing data processing on other remote sensing data in the remote sensing data of the target area except the remote sensing data of the overlapping area to obtain a first sub-target image; when the data processing time node is reached, processing the remote sensing data of the overlapping area to obtain a second sub-target image; and performing image integration on the first sub-target image and the second sub-target image to obtain a target image.

[0086] In some embodiments, the area determination module 201 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the point cloud model construction module 202 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the target point determination module 203 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device; the target image generation module 204 may include a logic circuit, or may be implemented by a central processing unit, a digital signal processor, or a field programmable gate array, etc. included in the electronic device.

[0087] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0088] An embodiment of the present application discloses an electronic device, including: a processor; a memory storing a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned remote sensing satellite image generation method.

[0089] For example, refer to Figure 3 , Figure 3 The electronic device 30 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 30 does not constitute a limitation on the embodiments of the present invention.

[0090] Processor 301 may be a CPU (Central Processing Unit), a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in the disclosure of the present invention. Processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0091] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0092] The memory 303 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0093] The memory 303 is used to store application code for executing the solution of the present invention, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the content shown in the above method embodiment.

[0094] Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0095] An embodiment of the present application discloses a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the processor executes an image generation method for a remote sensing satellite.

[0096] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0097] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A remote sensing satellite image generation method, characterized in that: include: Determine a target area; wherein the target area is a partial area of ​​the total remote sensing area covered by the target remote sensing satellite, and the partial area is a building area; Acquire the remote sensing shooting position and remote sensing angle of the target remote sensing satellite, and construct a three-dimensional point cloud model of the target area; Based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model, determining an overlapping area corresponding to the target area, and determining a first target point and a second target point corresponding to the overlapping area; Determine a remote sensing data processing time compensation corresponding to the overlapped area based on the acquired remote sensing propagation rate, the first target point, and the second target point, and process the remote sensing data of the target area based on the remote sensing data processing time compensation to obtain a target image; The step of determining the remote sensing data processing time compensation corresponding to the overlap area based on the acquired remote sensing propagation rate, the first target point, and the second target point includes: Based on the remote sensing propagation rate, calculating a first duration for the electromagnetic wave emitted by the target remote sensing satellite to be fed back from the first target point to the target remote sensing satellite, and determining a second duration for the electromagnetic wave emitted by the target remote sensing satellite to be fed back from the second target point to the target remote sensing satellite; Determining a remote sensing data processing time compensation corresponding to the overlapping area based on the first time length and the second time length; The step of processing the remote sensing data of the target area based on the remote sensing data processing time compensation to obtain a target image includes: When the remote sensing data corresponding to the target area is acquired, based on the remote sensing data processing time compensation, a data processing time node is set for the remote sensing data of the overlapping area in the remote sensing data of the target area, and other remote sensing data in the remote sensing data of the target area except the remote sensing data of the overlapping area is processed to obtain a first sub-target image; When the data processing time node is reached, the remote sensing data of the overlapping area is processed to obtain a second sub-target image; The first sub-target image and the second sub-target image are integrated to obtain the target image.

2. The method according to claim 1, characterized in that Determining the target area includes: Determining target feature points of the total remote sensing area; Based on the target feature points, the total remote sensing area is divided into regions to determine a plurality of initial remote sensing regions; wherein the plurality of initial remote sensing regions are all building regions; Determining the building density levels respectively corresponding to the plurality of initial remote sensing areas; When the building density level of any initial remote sensing area among the multiple initial remote sensing areas is greater than a preset building density level threshold, the any initial remote sensing area is defined as the target area.

3. The method according to claim 2, characterized in that After determining the building density levels respectively corresponding to the plurality of initial remote sensing areas, the method further includes: When the building density level of any initial remote sensing area among the multiple initial remote sensing areas is not greater than a preset building density level threshold, a remote sensing shooting instruction is generated, and the remote sensing shooting instruction is sent to at least two target remote sensing satellites, so that the at least two target remote sensing satellites simultaneously perform remote sensing shooting of any initial remote sensing area to obtain at least two remote sensing data; The at least two remote sensing data are processed and fused to generate a remote sensing image.

4. The method according to claim 1, characterized in that The determining, based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model, an overlapping area corresponding to the target area includes: Based on the remote sensing shooting position, determining a first target area in the three-dimensional point cloud model; Based on the remote sensing angle, a second target area in the first target area is determined, and the second target area is determined as the overlapping area.

5. The method according to claim 4, characterized in that The step of determining a first target area in the three-dimensional point cloud model based on the remote sensing shooting position includes: Substituting the remote sensing shooting position and the three-dimensional point cloud model into the same three-dimensional space, and drawing scattering lines in the direction of the three-dimensional point cloud model with the remote sensing shooting position as the center point; An area in the three-dimensional point cloud model covered by the scattered rays is determined as a first target area.

6. An image generation device for a remote sensing satellite, characterized in that: include: An area determination module is used to determine a target area; wherein the target area is a partial area of ​​the total remote sensing area covered by the target remote sensing satellite, and the partial area is a building area; A point cloud model building module, used to obtain the remote sensing shooting position and remote sensing angle of the target remote sensing satellite, and build a three-dimensional point cloud model of the target area; A target point determination module, used to determine an overlapping area corresponding to the target area, and determine a first target point and a second target point corresponding to the overlapping area based on the remote sensing shooting position, the remote sensing angle and the three-dimensional point cloud model; a target image generation module, configured to determine a remote sensing data processing time compensation corresponding to the overlapped area based on the acquired remote sensing propagation rate, the first target point, and the second target point, and to process the remote sensing data of the target area based on the remote sensing data processing time compensation to obtain a target image; The target image generation module is also used to calculate the first time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the first target point to the target remote sensing satellite based on the remote sensing propagation rate, and determine the second time duration for the electromagnetic waves emitted by the target remote sensing satellite to be fed back from the second target point to the target remote sensing satellite; determine the remote sensing data processing time compensation corresponding to the overlapping area based on the first time duration and the second time duration; when the remote sensing data corresponding to the target area is obtained, set a data processing time node for the remote sensing data of the overlapping area in the remote sensing data of the target area based on the remote sensing data processing time compensation, and perform data processing on other remote sensing data in the remote sensing data of the target area except the remote sensing data of the overlapping area to obtain a first sub-target image; when the data processing time node is reached, process the remote sensing data of the overlapping area to obtain a second sub-target image; perform image integration on the first sub-target image and the second sub-target image to obtain the target image.

7. An electronic device, characterized in that: include: processor; A memory storing a computer program, which, when executed by the processor, enables the processor to perform the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 5.

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