Optical satellite flutter processing method and device

Abstract

The invention relates to the technical field of optical remote sensing satellites, and provides an optical satellite flutter processing method and device, and the method comprises the steps: determining a master slice and at least two slave slices of an optical satellite; based on the at least two slave slices, a successful matching area in the master slice is determined, and any successful matching pixel point in the successful matching area in the master slice can be successfully matched with a corresponding pixel point in all the slave slices; determining three-dimensional coordinate values of successfully matched pixel points in the successfully matched area; the target flutter compensation model based on the angle, the successfully-matched pixel points in the successfully-matched area and the three-dimensional coordinate values of the successfully-matched pixel points are applied to an adjustment system, a flutter compensation result is obtained, the angle comprises a pitch angle and a rolling angle, and the flutter compensation result comprises a pitch angle compensation value and a rolling angle compensation value. Accurate compensation of optical satellite image flutter is realized, and image quality and data processing accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of optical remote sensing satellites, and in particular to a method and device for processing optical satellite vibration. Background Art

[0002] Since the accuracy and output frequency of traditional onboard attitude measurement units such as satellite star sensors and gyroscopes are relatively limited relative to the amplitude and frequency of satellite flutter, traditional linear array push-broom optical satellite data preprocessing based on direct attitude measurement or fusion results cannot avoid the influence of satellite flutter. Currently, there are two main methods for processing satellite platform flutter.

[0003] The first method directly obtains the satellite's vibration information by installing high-precision attitude measurement sensors (such as high-precision gyroscopes, star sensors, etc.) on the satellite. However, this method requires increasing the cost of related hardware, occupies precious space resources on the satellite, and cannot be applied to launched satellites.

[0004] The second method uses the overlapping areas of images taken by different CCDs (charge-coupled devices) or different bands to detect flutter. When the satellite vibrates, the images taken by different CCDs or bands will have relative displacement or deformation. By analyzing these differences, the vibration state of the satellite can be indirectly inferred. However, this method does not take into account the on-orbit calibration results and is difficult to handle problems such as different speed matching. Summary of the invention

[0005] The present invention provides an optical satellite vibration processing method and device, which are used to solve the problems that the method of indirectly calculating the vibration state of the satellite in the prior art does not consider the on-orbit calibration result and is difficult to handle the problem of different speed matching.

[0006] The present invention provides an optical satellite flutter processing method, comprising: Determine a master imager and at least two slave images of an optical satellite, wherein the master imager is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main waveband of the optical satellite, and the slave images are CCDs having substantially close imaging ranges to the master imager in adjacent wavebands of the main waveband at different times; Based on the at least two slave images, determining a successfully matched area in the master image, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; Determine the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; By applying an angle-based target flutter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, a flutter compensation result is obtained, wherein the angle includes a pitch angle and a roll angle, and the flutter compensation result includes a pitch angle compensation value and a roll angle compensation value.

[0007] According to an optical satellite flutter processing method provided by the present invention, the determining of a successfully matched area in the master image based on the at least two slave images comprises: Using the master slice as a reference, pixel-by-pixel matching is performed on each slave slice to obtain pixel matching results corresponding to each slave slice and the master slice; Taking each row of pixels in the image as a unit, respectively determining the mean error in the vertical direction and along the track in the pixel matching result, and performing gross error elimination based on the mean error; Determine the minimum row coordinate value and the maximum row coordinate value of the successfully matched pixel points in the master image after the gross error elimination, wherein the successfully matched pixel points are the pixel points that can be successfully matched with all the slave images; Based on the minimum row coordinate value and the maximum row coordinate value, a successfully matched area in the main image is determined.

[0008] According to an optical satellite flutter processing method provided by the present invention, the angle-based target flutter compensation model is obtained in the following manner: Discretizing an angle-based flutter compensation model according to the main band and the travel time of a target CCD of the main band; The angle-based flutter compensation model is solved according to the first calibration result to obtain a discrete angle-based target flutter compensation model, wherein the first calibration result is obtained by calibrating the main band and the CCD corresponding to the main band based on the ground control points of the optical satellite in different bands to obtain an external calibration coefficient and a first internal calibration coefficient, and calculating the pointing angle error of the ground control point according to the external calibration coefficient and the first internal calibration coefficient, and eliminating the gross error of the ground control point; The discrete angle-based target flutter compensation model is fitted by using a piecewise polynomial function to obtain an angle-based target flutter compensation model.

[0009] According to an optical satellite jitter processing method provided by the present invention, the angle-based target jitter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points are applied to an adjustment system to obtain a jitter compensation result, including: Establishing an error equation for plane intersection based on the successfully matched pixel points and the angle-based target chatter compensation model; Based on the three-dimensional coordinate values ​​of the successfully matched pixel points, a virtual observation equation is established; The error equation based on the plane intersection and the virtual observation equation are applied to the adjustment system to obtain the vibration compensation result.

[0010] According to an optical satellite flutter processing method provided by the present invention, the method further includes: Fitting the flutter compensation result to obtain a fitted flutter compensation result; Based on the control point start row coordinates of the successfully matched area, the control point end row coordinates of the successfully matched area, the flutter compensation start control value, the flutter compensation end control value and the fitted flutter compensation result, a one-dimensional linear transformation is performed on the angle corresponding to the angle-based target flutter compensation model to obtain a transformed flutter compensation result; Based on the transformed vibration compensation result, re-performing the step of determining the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; Continue to execute the step of applying the angle-based target vibration compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to the adjustment system to obtain the vibration compensation result, and the compensation angle change calculated by two consecutive iterations is less than a preset threshold.

[0011] According to an optical satellite jitter processing method provided by the present invention, the jitter compensation start control value and the jitter compensation end control value are obtained by the following method: Determining a vibration compensation start control value based on the first control point and the second control point; Determining a flutter compensation end control value based on the third control point and the fourth control point; Among them, the first control point is a control point located in the target upper left position of the successful matching area, the second control point is a control point located in the target upper right position of the successful matching area, the third control point is a control point located in the target lower left position of the successful matching area, and the fourth control point is a control point located in the target lower right position of the successful matching area.

[0012] The present invention also provides an optical satellite flutter processing device, comprising: A first optical satellite flutter processing module is used to determine a master chip and at least two slave chips of an optical satellite, wherein the master chip is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main band of the optical satellite, and the slave chips are CCDs having substantially close imaging ranges to the master chip in adjacent bands of the main band at different times; A second optical satellite flutter processing module is used to determine a successfully matched area in the master image based on the at least two slave images, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; A third optical satellite flutter processing module, used for determining the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; The fourth optical satellite jitter processing module is used to obtain a jitter compensation result by applying an angle-based target jitter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, wherein the angle includes a pitch angle and a roll angle, and the jitter compensation result includes a pitch angle compensation value and a roll angle compensation value.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the optical satellite jitter processing method described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the optical satellite jitter processing method described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the optical satellite flutter processing method as described above is implemented.

[0016] The optical satellite jitter processing method and device provided by the present invention determine a master film and at least two slave films of an optical satellite, wherein the master film is a CCD with the shortest distance to a focal plane principal point in a main band of the optical satellite, and the slave films are CCDs in adjacent bands of the main band that are substantially close to the main film in imaging ranges at different times; based on at least two slave films, determine a successful matching area in the master film, wherein any successful matching pixel point in the successful matching area in the master film can successfully match a corresponding pixel point in all slave films; determine the three-dimensional coordinate values ​​of the successful matching pixel points in the successful matching area; and apply an angle-based target jitter compensation model, the successful matching pixel points in the successful matching area, and the three-dimensional coordinate values ​​of the successful matching pixel points to an adjustment system to obtain a jitter compensation result, wherein the angle includes a pitch angle and a roll angle, and the jitter compensation result includes a pitch angle compensation value and a roll angle compensation value. The present invention determines the master and slave images of an optical satellite, determines the successfully matched area in the master image based on the slave image, calculates the three-dimensional coordinate values ​​of the successfully matched pixel points, and then obtains the jitter compensation result through an angle-based jitter compensation model and an adjustment system, thereby achieving accurate compensation for the jitter of the optical satellite image and improving the image quality and the accuracy of data processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a schematic flow chart of an optical satellite flutter processing method provided by the present invention; Figure 2 is a schematic structural diagram of an optical satellite flutter processing device provided by the present invention; Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Combine the following Figure 1 The optical satellite flutter processing method and device of the present invention are described.

[0021] Figure 1 FIG. 1 is a flow chart of the optical satellite flutter processing method provided by the present invention, such as Figure 1 As shown, the optical satellite flutter processing method comprises the following steps: Step 110, determining a master film and at least two slave films of the optical satellite, wherein the master film is a charge coupled device (CCD) having the shortest distance to a principal point of a focal plane in a main band of the optical satellite, and the slave films are CCDs in other bands of the optical satellite having imaging ranges substantially close to the master film at different times.

[0022] In this step, the main band is the band closest to the main point of the focal plane among the multiple bands of the optical satellite, and the main band is one band. The adjacent band of the main band refers to the band that has a large overlap with the main band in the imaging range.

[0023] In an optical system, the focal plane is the plane that passes through the focal point and is perpendicular to the principal optical axis of the system. The location where the photosensitive film is installed in the camera is located on the focal plane. The principal point of the focal plane usually refers to the point on the focal plane that intersects with the principal optical axis of the optical system.

[0024] In this embodiment, a band is generally composed of multiple CCDs (Charge-Coupled Devices), among which the CCD with the shortest distance to the main point of the focal plane in the main band is the main CCD; in this embodiment, the CCD with the shortest distance to the main point of the focal plane in the main band is selected as the main piece. Here, if there are multiple pieces in the main band that are close to the main point of the focal plane, the matching of the reference DOM (Digital Orthophoto Map) is referenced, that is, the one that best matches the reference DOM is selected as the main piece. For example, a CCD that is closer to the reference DOM in terms of spectral range, resolution, etc. is selected as the main CCD.

[0025] Step 120: Based on the at least two slave images, determine a successfully matched area in the master image, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixels in all slave images; In the image matching process, the pixels corresponding to the feature pixels or regions on the master image are searched in the slave image to determine a successful matching region. Each successfully matched pixel in the successful matching region can successfully find a corresponding matching point in all slave images. In other words, for each successfully matched pixel in the successful matching region in the master image, one or more corresponding pixels can be found in the slave image, and these corresponding points have similar features or attributes.

[0026] Step 130, determining the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; For each successfully matched pixel in the successfully matched area, the original parameters of the successfully matched pixel on each slice (such as attitude, position, precession, nutation, polar motion, calibration, etc.) and a known DEM (digital elevation model) are used to calculate the three-dimensional coordinate value of the successfully matched pixel through the intersection method. It should be noted here that due to the presence of image data from multiple perspectives, multiple three-dimensional coordinate values ​​of the successfully matched pixel can be obtained.

[0027] For the same successful matching point, these three-dimensional coordinate values ​​of the successfully matched pixel point are counted, and the mean value and mean error of the three-dimensional coordinates are calculated. A threshold is set here (such as 3 times the mean error). If the error exceeds 3 times the mean error, the calculation result is considered unreliable and is discarded. Otherwise, the mean value of the three-dimensional coordinates is taken as the three-dimensional coordinate value of the successful matching point.

[0028] Step 140, applying the angle-based target flutter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system to obtain a flutter compensation result, wherein the angle includes a pitch angle and a roll angle, and the flutter compensation result includes a pitch angle compensation value and a roll angle compensation value.

[0029] In remote sensing, photogrammetry or related fields, in order to correct the image quality degradation caused by equipment vibration (such as cameras on satellites, aircraft or drones, etc.), an angle-based vibration compensation model is proposed. This model mainly uses two angle parameters, roll angle and pitch angle, to estimate and compensate the impact of vibration on the image. This model aims to eliminate the impact of vibration on image quality by real-time monitoring or predicting the changes of these two angle parameters and making corresponding corrections to the image.

[0030] Based on this, the present embodiment further optimizes the angle-based flutter compensation model to obtain the desired angle-based target flutter compensation model. Specifically, the angle-based target flutter compensation model is obtained in the following manner: Discretizing an angle-based flutter compensation model according to the main band and the travel time of a target CCD of the main band; The angle-based flutter compensation model is solved according to the first calibration result to obtain a discrete angle-based target flutter compensation model, wherein the first calibration result is obtained by calibrating the main band and the CCD corresponding to the main band based on the ground control points of the optical satellite in different bands to obtain an external calibration coefficient and a first internal calibration coefficient, and calculating the pointing angle error of the ground control point according to the external calibration coefficient and the first internal calibration coefficient, and eliminating the gross error of the ground control point; The discrete angle-based target flutter compensation model is fitted by using a piecewise polynomial function to obtain an angle-based target flutter compensation model.

[0031] Since the jitter varies with time, the angle-based jitter compensation model is discretized according to the line time of the main band and the target CCD of the main band (i.e., the line scanning time of the image). In this way, there can be a corresponding jitter compensation value for each line or each part of the image.

[0032] Here, in the data preparation stage, the band closest to the principal point of the focal plane can be selected as the main band, and the CCD closest to the principal point of the focal plane can be selected as the main CCD. If there are multiple CCDs close to the principal point of the focal plane, the CCD that is easier to match with the reference DOM can be selected as the target CCD.

[0033] It should also be noted that the external calibration coefficient is the installation matrix of the main band, and the first internal calibration coefficient is the polynomial model coefficient of the pointing angle of the main band.

[0034] Specifically, the two can be obtained by constructing an imaging model, for example, keeping the pointing angle polynomial model coefficients unchanged, using all valid control points to calculate the external calibration coefficients, that is, the installation matrix; keeping the installation matrix unchanged, using all valid control points to calculate the internal calibration coefficients, that is, the pointing angle polynomial model coefficients.

[0035] Parameter refinement of the external calibration coefficients can be performed by calculating the pointing angle error of each ground control point based on the above-mentioned installation matrix and the pointing angle polynomial model coefficients, and eliminating the gross errors in the ground control points until the angle change of the external calibration installation matrix is ​​less than a preset angle change threshold, and the refined first calibration result can be obtained.

[0036] It should also be noted that the adjustment system is a method for processing errors in measurement data and optimizing measurement results. In this embodiment, the adjustment system is used to combine the angle-based vibration compensation model, the successfully matched pixel points and their three-dimensional coordinate values ​​to calculate the optimal vibration compensation result. The adjustment system can minimize the residual sum of squares between the observed value (i.e., the position of the pixel point at multiple viewing angles) and the predicted value (i.e., the position calculated according to the model and parameters) by methods such as the least squares method, thereby obtaining the optimal pitch angle compensation value and roll angle compensation value.

[0037] The optical satellite jitter processing method provided by the embodiment of the present invention determines the master image and the slave image of the optical satellite, determines the successfully matched area in the master image based on the slave image, and calculates the three-dimensional coordinate values ​​of the successfully matched pixel points, and then obtains the jitter compensation result through the angle-based jitter compensation model and adjustment system, thereby realizing accurate compensation for the jitter of the optical satellite image and improving the image quality and the accuracy of data processing.

[0038] In some embodiments, determining a successfully matched area in the master slice based on the at least two slave slices includes: Using the master slice as a reference, pixel-by-pixel matching is performed on each slave slice to obtain pixel matching results corresponding to each slave slice and the master slice; Taking each row of pixels in the image as a unit, respectively determining the mean error in the vertical direction and along the track in the pixel matching result, and performing gross error elimination based on the mean error; Determine the minimum row coordinate value and the maximum row coordinate value of the successfully matched pixel points in the master image after the gross error elimination, wherein the successfully matched pixel points are the pixel points that can be successfully matched with all the slave images; Based on the minimum row coordinate value and the maximum row coordinate value, a successfully matched area in the main image is determined.

[0039] In this step, a high-precision dense matching method can be used to traverse each pixel on the slave slice based on the master slice to obtain a pixel matching result from the slave slice to the master slice. After the matching is completed, there may be some inaccurate results, i.e., gross errors, in the obtained pixel matching results. In order to identify and eliminate these gross errors, in this embodiment, the pixel matching results are then statistically analyzed.

[0040] Specifically, each row of the image is taken as a unit, and the mean error (RMS) of the pixel matching results of this row in the vertical direction (perpendicular to the satellite orbit direction) and along the orbit direction (along the satellite orbit direction) is calculated. Specifically, the mean error reflects the degree of discreteness or uncertainty of the pixel matching results. When the mean error is small, it means that the pixel matching results are more concentrated, the deviation from the true value is small, and the pixel matching accuracy is high; conversely, when the mean error is large, it means that the pixel matching results are more dispersed, the deviation from the true value is large, and the pixel matching accuracy is low.

[0041] In this embodiment, a threshold value (such as 3 times the mean error) is set, and any pixel matching result whose mean error exceeds this threshold value is regarded as a gross error and is removed from the result.

[0042] After the above steps, a filtered pixel matching result is obtained. Then the pixels in the master image that can be successfully matched with all the slave images are called successfully matched pixels. In addition, in order to speed up the subsequent calculation process, the successfully matched pixels can be selected at a certain interval.

[0043] Finally, the row coordinates of all successfully matched pixels are counted to find the minimum and maximum row coordinates. The range between these two values ​​is called the successful matching area.

[0044] In this embodiment, the master slice is matched pixel by pixel with each slave slice by a high-precision dense matching method, which can ensure that the pixel matching between the slave slice and the master slice reaches a high precision. By counting the mean error of each row of pixel matching results and eliminating gross errors, the unmatched or wrongly matched pixels can be effectively removed. Finally, the matching successful area of ​​the successfully matched pixels is screened out from the pixel matching results after gross errors are eliminated for subsequent processing, ensuring the accuracy and reliability of the chatter detection results.

[0045] In some embodiments, the angle-based target chatter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points are applied to an adjustment system to obtain a chatter compensation result, including: Establishing an error equation for plane intersection based on the successfully matched pixel points and the angle-based target chatter compensation model; Based on the three-dimensional coordinate values ​​of the successfully matched pixel points, a virtual observation equation is established; The error equation based on the plane intersection and the virtual observation equation are applied to the adjustment system to obtain the vibration compensation result.

[0046] In this step, when the error equation of plane intersection is established using the matched pixels and the flutter compensation model, the parameters of the angle-based target flutter compensation model, such as the compensation values ​​of the pitch angle and the roll angle, are solved as unknowns. Here, the error equation of plane intersection can be expressed as follows: ; in, , as well as In is the unknown number of adjustment, is the elevation value corresponding to the point, is the camera station coordinates provided by GPS, , To query or calculate the row and column direction angle based on the successfully matched pixel point, , is the corresponding residual, Convert the latitude, longitude and altitude coordinates into spatial rectangular coordinates. is the rotation matrix that converts the spatial rectangular coordinates under WGS84 to the coordinates under the camera coordinate system. is the rotation matrix formed by the angle compensation value obtained at the corresponding time point of the coordinate, Output a 2-row, 1-column vector, where the first row is the result of dividing the first row of the original input vector by the third row, and the second row is the result of dividing the second row of the original input vector by the third row.

[0047] In this step, the three-dimensional coordinate values ​​of the successfully matched pixel points are used to establish a virtual observation equation. Here, the virtual observation equation can be expressed as follows: ; in, , is the unknown number of adjustment, , is the corresponding residual, , This is the result obtained by initializing or iterating the parameters.

[0048] In this embodiment, the error equation weight p1 and the virtual observation equation weight p2 are given and added to the adjustment system. By solving the adjustment system composed of the error equation and the virtual observation equation, the parameters of the flutter compensation model, i.e., the compensation values ​​of the pitch angle and the roll angle, can be obtained. These compensation values ​​describe how to adjust the attitude parameters of the satellite according to the flutter condition to eliminate or reduce the influence of the flutter on the geometric accuracy of the image.

[0049] In some embodiments, the method further comprises: Fitting the flutter compensation result to obtain a fitted flutter compensation result; Based on the control point start row coordinates of the successfully matched area, the control point end row coordinates of the successfully matched area, the flutter compensation start control value, the flutter compensation end control value and the fitted flutter compensation result, a one-dimensional linear transformation is performed on the angle corresponding to the angle-based target flutter compensation model to obtain a transformed flutter compensation result; Based on the transformed vibration compensation result, re-performing the step of determining the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; Continue to execute the step of applying the angle-based target vibration compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to the adjustment system to obtain the vibration compensation result, and the compensation angle change calculated by two consecutive iterations is less than a preset threshold.

[0050] Here, after obtaining the flutter compensation result, a piecewise polynomial function can be used to fit the flutter compensation result to make it smoother. Then, using the control point start row coordinates, the control point end row coordinates, the flutter compensation start control value, and the flutter compensation end control value, a one-dimensional linear transformation is performed on the fitted flutter compensation result on the two variables of pitch angle and roll angle. In this way, the pitch angle and roll angle of the transformed flutter compensation result on the control point start row and the control point end row are basically consistent with their corresponding control values.

[0051] Then, the transformed vibration compensation result is used to recalculate the three-dimensional coordinate values ​​of the successfully matched pixel points, and possible gross errors are eliminated. The vibration compensation result solving process is continued until the sum of the absolute values ​​of the compensation angle in the current vibration compensation result and the compensation angle in the previous vibration compensation result is less than a given threshold. This indicates that the vibration compensation model has converged and a relatively accurate result has been obtained.

[0052] After obtaining the final bundle adjustment and orientation results, the residuals calculated from these results, the inverse matrix of the normal equation coefficient matrix, etc., or the control points measured in the field that are not involved in the adjustment can be used to evaluate the internal and external accuracy of the flutter compensation results. In this way, it is possible to know whether the flutter compensation results are reliable and the possible error range. Finally, the obtained results are used to update the satellite's attitude file for use in future image processing and analysis.

[0053] It should be noted here that the starting row coordinates of the control points in the successfully matched area refer to the row coordinates of the top control point in the successfully matched area, and the ending row coordinates of the control points in the successfully matched area refer to the row coordinates of the bottom control point in the successfully matched area. The start control value of the vibration compensation refers to the starting control value number required when performing vibration compensation. The end control value of the vibration compensation refers to the ending control value number required when performing vibration compensation.

[0054] In this embodiment, the position of the control point can be directly selected and marked on the image of the successfully matched area of ​​the main film by manual measurement, or the position of the control point can be selected and marked in the successfully matched area of ​​the main film by matching DOM (Digital Orthophoto Map) and DEM (Digital Elevation Model).

[0055] In this embodiment, the row coordinates of the control point with the smallest row coordinate value among all the control points located above the successful matching area (e.g., the upper left corner and the upper right corner) are used as the starting row coordinates of the control points, and the row coordinates of the control point with the largest row coordinate value among all the control points located below the successful matching area (e.g., the lower left corner and the lower right corner) are used as the ending row coordinates of the control points. Preferably, the upper control points can be selected on the same row, and the lower control points can also be selected on the same row, which can ensure that these control points form a "straight line" in the vertical track direction, thereby reducing errors caused by image deformation or tilt.

[0056] In some embodiments, the vibration compensation start control value and the vibration compensation end control value are obtained by: Determining a vibration compensation start control value based on the first control point and the second control point; Determining a flutter compensation end control value based on the third control point and the fourth control point; Among them, the first control point is a control point located in the target upper left position of the successful matching area, the second control point is a control point located in the target upper right position of the successful matching area, the third control point is a control point located in the target lower left position of the successful matching area, and the fourth control point is a control point located in the target lower right position of the successful matching area.

[0057] In this embodiment, at least four control points at the upper left, lower left, upper right and lower right positions are selected, and the start control value of the vibration compensation is calculated using at least two control points at the upper left and upper right positions, and the end control value of the vibration compensation is calculated using at least two control points at the lower left and lower right positions.

[0058] The present invention achieves accurate compensation for optical satellite image jitter by determining the above process, thereby improving image quality and data processing accuracy.

[0059] The optical satellite flutter processing device provided by the present invention is described below. The optical satellite flutter processing device described below and the optical satellite flutter processing method described above can be referred to each other.

[0060] Figure 2 is a schematic diagram of the structure of the optical satellite flutter processing device provided by the present invention, such as Figure 2 As shown, the optical satellite flutter processing device comprises: A first optical satellite flutter processing module 210 is used to determine a master imager and at least two slave imagesr of an optical satellite, wherein the master imager is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main band of the optical satellite, and the slave imagesr are CCDs having substantially close imaging ranges to the master imager in adjacent bands of the main band; A second optical satellite flutter processing module 220 is used to determine a successfully matched area in the master image based on the at least two slave images, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; A third optical satellite flutter processing module 230 is used to determine the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; The fourth optical satellite jitter processing module 240 is used to obtain a jitter compensation result by applying an angle-based target jitter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, wherein the angle includes a pitch angle and a roll angle, and the jitter compensation result includes a pitch angle compensation value and a roll angle compensation value.

[0061] An optical satellite jitter processing device provided by an embodiment of the present invention determines a master film and at least two slave films of an optical satellite, wherein the master film is a CCD with the shortest distance to a principal point of a focal plane in a main band of the optical satellite, and the slave films are CCDs in adjacent bands of the main band that are substantially close to the main film in imaging ranges at different times; based on at least two slave films, determines a successful matching area in the master film, wherein any successful matching pixel point in the successful matching area in the master film can successfully match a corresponding pixel point in all slave films; determines the three-dimensional coordinate values ​​of the successful matching pixel points in the successful matching area; and applies an angle-based target jitter compensation model, the successful matching pixel points in the successful matching area, and the three-dimensional coordinate values ​​of the successful matching pixel points to an adjustment system to obtain a jitter compensation result, wherein the angle includes a pitch angle and a roll angle, and the jitter compensation result includes a pitch angle compensation value and a roll angle compensation value. The present invention determines the master and slave images of an optical satellite, determines the successfully matched area in the master image based on the slave image, calculates the three-dimensional coordinate values ​​of the successfully matched pixel points, and then obtains the jitter compensation result through an angle-based jitter compensation model and an adjustment system, thereby achieving accurate compensation for the jitter of the optical satellite image and improving the image quality and the accuracy of data processing.

[0062] Figure 3 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 3 As shown, the electronic device may include: a processor 310, a communications interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communications interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the optical satellite flutter processing method, which includes: Determine a master imager and at least two slave images of an optical satellite, wherein the master imager is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main waveband of the optical satellite, and the slave images are CCDs having substantially close imaging ranges to the master imager in adjacent wavebands of the main waveband at different times; Based on the at least two slave images, determining a successfully matched area in the master image, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; Determine the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; By applying an angle-based target flutter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, a flutter compensation result is obtained, wherein the angle includes a pitch angle and a roll angle, and the flutter compensation result includes a pitch angle compensation value and a roll angle compensation value.

[0063] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, 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, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0064] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program may be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute the optical satellite flutter processing method provided by the above methods, the method comprising: Determine a master imager and at least two slave images of an optical satellite, wherein the master imager is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main waveband of the optical satellite, and the slave images are CCDs having substantially close imaging ranges to the master imager in adjacent wavebands of the main waveband at different times; Based on the at least two slave images, determining a successfully matched area in the master image, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; Determine the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; By applying an angle-based target flutter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, a flutter compensation result is obtained, wherein the angle includes a pitch angle and a roll angle, and the flutter compensation result includes a pitch angle compensation value and a roll angle compensation value.

[0065] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for processing optical satellite flutter provided by the above methods is implemented, and the method includes: Determine a master imager and at least two slave images of an optical satellite, wherein the master imager is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main waveband of the optical satellite, and the slave images are CCDs having substantially close imaging ranges to the master imager in adjacent wavebands of the main waveband at different times; Based on the at least two slave images, determining a successfully matched area in the master image, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; Determine the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; By applying an angle-based target flutter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, a flutter compensation result is obtained, wherein the angle includes a pitch angle and a roll angle, and the flutter compensation result includes a pitch angle compensation value and a roll angle compensation value.

[0066] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0067] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An optical satellite flutter processing method, characterized in that: include: Determine a master imager and at least two slave images of an optical satellite, wherein the master imager is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main waveband of the optical satellite, and the slave images are CCDs having substantially close imaging ranges to the master imager in adjacent wavebands of the main waveband at different times; Based on the at least two slave images, determining a successfully matched area in the master image, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; Determine the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; By applying an angle-based target flutter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, a flutter compensation result is obtained, wherein the angle includes a pitch angle and a roll angle, and the flutter compensation result includes a pitch angle compensation value and a roll angle compensation value.

2. The optical satellite flutter processing method according to claim 1, characterized in that: The determining, based on the at least two slave slices, a successfully matched area in the master slice comprises: Using the master slice as a reference, pixel-by-pixel matching is performed on each slave slice to obtain pixel matching results corresponding to each slave slice and the master slice; Taking each row of pixels in the image as a unit, respectively determining the mean error in the vertical direction and along the track in the pixel matching result, and performing gross error elimination based on the mean error; Determine the minimum row coordinate value and the maximum row coordinate value of the successfully matched pixel points in the master image after the gross error elimination, wherein the successfully matched pixel points are the pixel points that can be successfully matched with all the slave images; Based on the minimum row coordinate value and the maximum row coordinate value, a successfully matched area in the main image is determined.

3. The optical satellite flutter processing method according to claim 1, characterized in that: The angle-based target flutter compensation model is obtained by: Discretizing an angle-based flutter compensation model according to the main band and the travel time of a target CCD of the main band; The angle-based flutter compensation model is solved according to the first calibration result to obtain a discrete angle-based target flutter compensation model, wherein the first calibration result is obtained by calibrating the main band and the CCD corresponding to the main band based on the ground control points of the optical satellite in different bands to obtain an external calibration coefficient and a first internal calibration coefficient, and calculating the pointing angle error of the ground control point according to the external calibration coefficient and the first internal calibration coefficient, and eliminating the gross error of the ground control point; The discrete angle-based target flutter compensation model is fitted by using a piecewise polynomial function to obtain an angle-based target flutter compensation model.

4. The optical satellite flutter processing method according to claim 1, characterized in that: The target vibration compensation model based on angle, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points are applied to the adjustment system to obtain the vibration compensation result, including: Establishing an error equation for plane intersection based on the successfully matched pixel points and the angle-based target chatter compensation model; Based on the three-dimensional coordinate values ​​of the successfully matched pixel points, a virtual observation equation is established; The error equation based on the plane intersection and the virtual observation equation are applied to the adjustment system to obtain the vibration compensation result.

5. The optical satellite flutter processing method according to claim 1, characterized in that: The method further comprises: Fitting the flutter compensation result to obtain a fitted flutter compensation result; Based on the control point start row coordinates of the successfully matched area, the control point end row coordinates of the successfully matched area, the flutter compensation start control value, the flutter compensation end control value and the fitted flutter compensation result, a one-dimensional linear transformation is performed on the angle corresponding to the angle-based target flutter compensation model to obtain a transformed flutter compensation result; Based on the transformed vibration compensation result, re-performing the step of determining the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; Continue to execute the step of applying the angle-based target vibration compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to the adjustment system to obtain the vibration compensation result, and the compensation angle change calculated by two consecutive iterations is less than a preset threshold.

6. The optical satellite flutter processing method according to claim 5, characterized in that: The flutter compensation start control value and the flutter compensation end control value are obtained in the following manner: Determining a vibration compensation start control value based on the first control point and the second control point; Determining a flutter compensation end control value based on the third control point and the fourth control point; Among them, the first control point is a control point located in the target upper left position of the successful matching area, the second control point is a control point located in the target upper right position of the successful matching area, the third control point is a control point located in the target lower left position of the successful matching area, and the fourth control point is a control point located in the target lower right position of the successful matching area.

7. An optical satellite flutter processing device, characterized in that: include: A first optical satellite flutter processing module is used to determine a master chip and at least two slave chips of an optical satellite, wherein the master chip is a charge coupled device (CCD) having the shortest distance from a principal point of a focal plane in a main band of the optical satellite, and the slave chips are CCDs having substantially close imaging ranges to the master chip in adjacent bands of the main band at different times; A second optical satellite flutter processing module is used to determine a successfully matched area in the master image based on the at least two slave images, wherein any successfully matched pixel point in the successfully matched area in the master image can successfully match corresponding pixel points in all slave images; A third optical satellite flutter processing module, used for determining the three-dimensional coordinate values ​​of the successfully matched pixel points in the successfully matched area; The fourth optical satellite jitter processing module is used to obtain a jitter compensation result by applying an angle-based target jitter compensation model, the successfully matched pixel points in the successfully matched area, and the three-dimensional coordinate values ​​of the successfully matched pixel points to an adjustment system, wherein the angle includes a pitch angle and a roll angle, and the jitter compensation result includes a pitch angle compensation value and a roll angle compensation value.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the optical satellite flutter processing method according to any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the optical satellite flutter processing method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the optical satellite flutter processing method according to any one of claims 1 to 6 is implemented.

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