Calibration device and method of imaging equipment, imaging equipment and electronic equipment

Abstract

The invention provides an imaging equipment calibration device and method, imaging equipment and electronic equipment, and relates to the field of imaging equipment calibration. The calibration device of the imaging equipment comprises a deviation analysis module and a calibration module, and the deviation analysis module is used for obtaining a deviation value between a current position and an ideal position of a rotating shaft of the imaging equipment according to at least three celestial body images at different spatial positions; and the calibration module is used for calibrating the imaging equipment based on the deviation value. According to the calibration device of the imaging equipment provided by the embodiment of the invention, the autonomy of equipment calibration can be effectively improved, and for the user side, the calibration process is greatly simplified, and the calibration efficiency, accuracy and reliability are improved.

Description

Technical Field

[0001] The present application relates to the field of imaging device calibration, and in particular, to an imaging device calibration device, a method, an imaging device and an electronic device. Background Art

[0002] Shooting equipment, such as astronomical telescopes, plays a vital role in astronomical observation and photography. Since astronomical observation objects, such as stars, planets, galaxies, etc., are in motion, and the earth itself is rotating; therefore, it is necessary to accurately track the objects to ensure the accuracy and clarity of observation and photography.

[0003] During the shooting process, the existing technology usually uses an equatorial mount or a theodolite to track the object. The equatorial mount can provide high-precision tracking, but the operation is complicated, the calibration is cumbersome and time-consuming, and the adaptability to extreme weather conditions is also weak. The tracking method of the theodolite needs to be calibrated in combination with a level or other mechanical equipment, but the calibration operation is also not simple enough and the calibration accuracy is limited. Therefore, the calibration efficiency and reliability of the shooting equipment need to be improved. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a calibration device, method, imaging device and electronic device for an imaging device, which realizes compensation for the deviation from a software algorithm, and a calibration method that adjusts the rotation axis of the imaging device to an ideal position (for example, an absolute vertical position, when the device is absolutely horizontal) simply by physical means, thereby overcoming the deviation occurring during the imaging process and improving the calibration efficiency and reliability.

[0005] In a first aspect, an embodiment of the present application provides a calibration device for an imaging device, the calibration device comprising a deviation analysis module and a calibration module; the deviation analysis module is used to obtain the deviation between the current position and the ideal position of the rotation axis of the imaging device based on at least three celestial body images at different spatial positions; the calibration module is used to calibrate the imaging device based on the deviation.

[0006] In the above implementation process, the deviation analysis module of the calibration device of the imaging device provided in the embodiment of the present application calculates the deviation between the current position and the ideal position of the rotation axis of the imaging device based on at least three celestial body images at different spatial positions; and based on the deviation value, the calibration of the imaging device is realized. The calibration device of the imaging device provided in the embodiment of the present application realizes compensation for the deviation from the software algorithm, which overcomes the deviation in the imaging process caused by the calibration method of simply adjusting the rotation axis of the imaging device to the ideal position (for example, the absolute vertical position, when the device is absolutely horizontal) by physical means; the imaging device is calibrated using the imaging device calibration method provided in the embodiment of the present application, which can enhance the stability of the imaging device in tracking the target object.

[0007] Optionally, in an embodiment of the present application, different spatial positions include: a first spatial position and at least two second spatial positions; the calibration device also includes an image acquisition module; the image acquisition module is used to control the imaging device with the rotating axis at the first spatial position to acquire the first celestial image, and to acquire at least two second celestial images at at least two second spatial positions.

[0008] Optionally, in an embodiment of the present application, the first spatial position and the second spatial position include spatial positions at different azimuths at a preset altitude; or, spatial positions at different altitudes at a preset azimuth.

[0009] In the above implementation process, the image acquisition module of the imaging device provided by the embodiment of the present application can acquire at least three different celestial body images in two different ways. Corresponding to these two different celestial body image acquisition methods, the deviation analysis module and the calibration module of the present application have different processing procedures. Therefore, the calibration device of the imaging device provided by the implementation of the present application can provide at least two calibration methods. Through the setting of the image acquisition module, accurate support is provided for the subsequent calculation of the deviation amount, providing a reliable basis for the calibration of the imaging device.

[0010] Optionally, in an embodiment of the present application, the calibration module includes a deviation compensation unit and a device control unit; in the process of calibrating the imaging device based on the deviation amount: the deviation compensation unit is used to use the deviation amount to compensate for the current position of the rotation axis to obtain a virtual position; the device control unit is used to control the imaging device to operate based on the virtual position.

[0011] In the above implementation process, the deviation compensation unit of the calibration device of the imaging device provided in the embodiment of the present application can compensate the position of the rotation axis based on the deviation amount, ensuring that the rotation axis of the imaging device is always close to or reaches the ideal position. Thereby avoiding the complexity and error of physical adjustment, directly obtaining the virtual position through deviation compensation, so that the accuracy of the calibration process is improved. The deviation compensation unit uses the calculated deviation amount to accurately compensate the position of the rotation axis of the imaging device through mathematical methods, ensuring that the rotation axis of the imaging device can work in the ideal position, and greatly avoiding the image distortion or deviation caused by the undesirable position of the rotation axis. In addition, the calibration device of the imaging device provided in the embodiment of the present application is based on an algorithm, which can enable the rotation axis of the imaging device to be quickly adjusted to the ideal position without relying on repeated physical debugging. While reducing the errors caused by manual adjustment, it also improves the working efficiency of the entire system, especially in the application scenarios of multiple calibrations or high-frequency observations, and can achieve fast and efficient calibration.

[0012] Optionally, in an embodiment of the present application, the deviation includes a first deviation between the current position of the rotation axis and the absolute vertical position. When the deviation is the first deviation, the deviation compensation unit is used to compensate the current position of the rotation axis using the first deviation to obtain a virtual horizontal position of the imaging device. The device control unit is specifically used to control the theodolite of the imaging device to operate in the virtual horizontal position.

[0013] In the above implementation process, the calibration module of the calibration device of the imaging device provided by the embodiment of the present application replaces the physical adjustment with the virtual horizontal position, and the calibration process becomes more efficient. The device does not need to be frequently physically adjusted, but only needs to work according to the virtual horizontal GPS position, thereby reducing the debugging time and work intensity and improving the calibration efficiency.

[0014] Optionally, in an embodiment of the present application, the calibration module also includes: a virtual level monitoring unit; the virtual level monitoring unit is used to monitor whether the horizontal change of the virtual level of the imaging device working in the virtual position exceeds the horizontal change threshold; and when the horizontal change of the virtual level exceeds the horizontal change threshold, a recalibration signal is generated.

[0015] Optionally, in an embodiment of the present application, the value range of the horizontal change threshold includes [3°, 6°].

[0016] In the above implementation process, the calibration device of the imaging device provided by the embodiment of the present application sets a virtual level monitoring unit, so that once the virtual level change of the device exceeds the set threshold, the virtual level monitoring unit will generate a recalibration signal, triggering an automatic calibration process, ensuring that the virtual horizontal position of the device always remains stable, thereby ensuring that the device can maintain high-precision horizontal calibration in long-term operation or changing environments. The virtual level monitoring unit provides a dynamic correction function for the imaging device, allowing the device to cope with horizontal deviations caused by external disturbances or internal wear. By setting a reasonable level change threshold, timely correction can be made when the device is abnormal, enhancing the fault tolerance of the system and avoiding major errors caused by the accumulation of slight deviations.

[0017] Optionally, in an embodiment of the present application, the deviation includes a second deviation between the current position of the rotation axis and the north celestial pole position in the same coordinate system, and when the deviation is the second deviation; the deviation compensation unit is used to use the second deviation to compensate for the current position of the rotation axis to obtain the virtual North Pole position of the imaging device; and the device control unit is used to generate a device control signal including the second deviation and / or the virtual North Pole position.

[0018] In the above implementation process, the calibration module obtains the virtual North Pole position of the imaging device by compensating for the deviation of the rotation axis. When the imaging device is at the virtual North Pole position, the theodolite can simulate the working mode of the equatorial mount, which greatly improves the applicability and accuracy of the device. Especially in astronomical imaging, it can avoid field rotation to a great extent and achieve better imaging effect. It not only reduces the cost of hardware adjustment and imaging effect, but also improves the overall performance and application scope of the imaging device.

[0019] Optionally, in an embodiment of the present application, in the process of obtaining the deviation between the current position and the ideal position of the rotation axis of the imaging device based on at least three celestial images at different spatial positions, the deviation analysis module is used to: obtain the coordinate positions of the three celestial images in the equatorial coordinate system according to the three celestial images at different spatial positions; convert the coordinate positions in the equatorial coordinate system into coordinate positions in the rectangular coordinate system, and calculate the normal vector of the plane formed by the three coordinate positions in the rectangular coordinate system; convert the normal vector in the rectangular coordinate system into a coordinate position in the horizontal coordinate system to obtain the horizontal coordinates of the rotation axis; obtain the deviation of the rotation axis based on the horizontal coordinates of the rotation axis and the standard horizontal coordinates when the rotation axis is in an absolute vertical position.

[0020] In the above implementation process, the calibration device of the imaging device provided in the embodiment of the present application sets a deviation analysis module to analyze the position of celestial bodies in the celestial image, and combines coordinate transformation and geometric calculation to accurately obtain the first deviation between the current position of the rotation axis of the imaging device and the absolute vertical position. The first deviation is used to compensate for the position of the rotation axis of the device, so that the rotation axis of the imaging device can be in an ideal horizontal position.

[0021] Optionally, in an embodiment of the present application, the deviation includes a third deviation between the actual position coordinates of the celestial image acquired by the imaging device when the rotation axis is in the current position and the command position coordinates of the celestial image acquired by the imaging device when the rotation axis is in the absolute vertical position; in the process of obtaining the deviation between the current position and the ideal position of the rotation axis of the imaging device based on at least three celestial images in different spatial positions, the deviation analysis module is specifically used to: take the first celestial image as a reference image and obtain a reference origin; obtain the command position coordinates and actual position coordinates of at least two sets of second celestial images relative to the reference origin; wherein the command position coordinates represent the position coordinates of the second celestial image acquired by the imaging device when the rotation axis of the imaging device is in the absolute vertical position, and the actual position coordinates represent the coordinate position of the second celestial image acquired by the imaging device when the rotation axis of the imaging device is in the current position; and calculate the third deviation based on the command position coordinates and actual position coordinates of at least two sets of second celestial images.

[0022] Optionally, in an embodiment of the present application, in the process of calculating the third deviation amount based on the command position coordinates and actual position coordinates of at least two sets of second object images, the deviation analysis module is specifically used to: calculate the transformation matrix from the command position coordinates to the actual position coordinates based on the command position coordinates and actual position coordinates of at least two sets of second object images; calculate the inverse matrix of the transformation matrix to obtain the third deviation amount.

[0023] Optionally, in an embodiment of the present application, when the deviation is the third deviation: the deviation compensation unit is used to use the third deviation to compensate for the current position of the rotation axis to obtain virtual instruction coordinates; the device control unit is specifically used to control the imaging device to operate under the virtual instruction coordinates during the imaging process of the imaging device.

[0024] In the above implementation process, the calibration device of the imaging device provided by the embodiment of the present application can perform real-time calibration before each imaging of the imaging device. By applying the inverse matrix of the transformation matrix, the current position of the actual rotation axis of the imaging device (i.e., the current coordinate of the rotation axis of the imaging device) can be converted to the ideal position of the rotation axis of the imaging device, thereby generating virtual command coordinates. The difference between the actual position and the ideal position of the rotation axis caused by the deviation of the rotation axis of the device can be effectively compensated, thereby realizing the real-time calibration of the imaging device and ensuring the accuracy and stability of the imaging of the device after calibration.

[0025] In a second aspect, an embodiment of the present application provides a calibration method for an imaging device, the calibration method comprising: obtaining a deviation between a current position and an ideal position of a rotation axis of the imaging device based on at least three celestial body images at different spatial positions; and calibrating the imaging device based on the deviation.

[0026] Optionally, in an embodiment of the present application, the deviation includes a first deviation between the current position of the rotation axis and the absolute vertical position; based on the deviation, calibrating the imaging device includes: using the first deviation to compensate for the current position of the rotation axis to obtain a virtual horizontal position of the rotation axis; controlling the theodolite to operate in the virtual position.

[0027] Optionally, in an embodiment of the present application, the deviation includes a second deviation between the current position of the rotation axis and the north celestial pole position in the same coordinate system; based on the deviation, calibrating the imaging device includes: using the second deviation to compensate for the current position of the rotation axis to obtain a virtual North Pole position of the imaging device; generating a device control signal including the second deviation and / or the virtual North Pole position.

[0028] Optionally, in an embodiment of the present application, the deviation includes a third deviation between the actual position coordinates of the celestial image acquired by the imaging device when the rotation axis is in the current position and the command position coordinates of the celestial image acquired by the imaging device when the rotation axis is in the absolute vertical position; based on the deviation, calibrating the imaging device includes: using the third deviation to compensate for the current position of the rotation axis to obtain virtual command coordinates; and during the imaging process of the imaging device, controlling the imaging device to image under the virtual command coordinates.

[0029] In a third aspect, an embodiment of the present application provides an imaging device, which includes: an imaging module, a theodolite and a controller; the imaging module and the theodolite are connected to the controller; the imaging module is configured to obtain at least three celestial body images at different spatial positions, and send the celestial body images to the controller; the controller is configured to compensate for the current position of the rotation axis based on the celestial body images, obtain an imaging virtual position, and send the virtual position to the theodolite; the theodolite is configured to receive the virtual position.

[0030] In the above implementation process, the imaging device provided by the present application realizes the calibration of the rotation axis based on the celestial body image through the collaborative work of the imaging module, the theodolite and the controller. The imaging module obtains celestial body images at different spatial positions and sends them to the controller. The controller compensates the current position of the rotation axis based on these images, calculates the virtual position, and sends the virtual position to the theodolite. After receiving the virtual position, the theodolite calibrates the imaging device. The imaging device can effectively compensate for the physical position deviation of the rotation axis of the device, ensure that the imaging device can accurately align with the target, and improve the positioning accuracy and imaging effect of the device.

[0031] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores program instructions, and when the processor runs the program instructions, it executes the steps in any implementation of the calibration method of the above-mentioned imaging device.

[0032] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program / instructions, and the computer program / instructions are executed by a processor to perform the steps in any implementation of the above-mentioned imaging device calibration method.

[0033] In a sixth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer program instructions are stored in the computer-readable storage medium. When the computer program instructions are read and executed by a processor, the steps in any implementation of the calibration method of the above-mentioned imaging device are executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A first schematic diagram of a module of a calibration device for an imaging device provided in an embodiment of the present application;

[0036] Figure 2 A second schematic diagram of a module of the calibration device for an imaging device provided in an embodiment of the present application;

[0037] Figure 3 A calibration flow chart of an imaging device provided for implementation of this application;

[0038] Figure 4 A flowchart of a first calibration example provided in an embodiment of the present application;

[0039] Figure 5 A flowchart of a second calibration example provided in an embodiment of the present application;

[0040] Figure 6 A flowchart of a third calibration example provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0042] Icon: calibration device of imaging device - 100; image acquisition module - 110; deviation analysis module - 120; calibration module - 130; deviation compensation unit - 131; device control unit - 132; virtual level monitoring unit - 133; electronic device - 200; processor - 201; memory - 202. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart, can be implemented by a dedicated hardware-based system that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0044] Shooting equipment, such as astronomical telescopes, plays a vital role in astronomical observation and photography. Astronomical observation objects, such as stars, planets, galaxies, etc., are in motion, and the earth itself is rotating. On the one hand, celestial bodies in the solar system, such as planets, are in motion in the universe, and their positions will change over time. In order to ensure the accuracy of observation and photography, these celestial bodies need to be tracked in real time. On the other hand, the rotation of the earth will cause the position of the observed target to change relative to the ground observation point. In order to maintain continuous observation and photography of the target, the shooting process must also consider the influence of the earth's rotation. In addition, in astronomy, in order to capture weak celestial signals or conduct deep observations, long exposures are often required. This requires the shooting equipment to be able to maintain stable tracking of the target during exposure. Therefore, it is necessary to accurately track the object to ensure the accuracy and clarity of observation and photography.

[0045] In the prior art, tracking of a photographed object is usually achieved based on an equatorial mount, or based on a theodolite.

[0046] Among them, the equatorial mount is designed to improve the shortcomings of the horizontal device, and its main purpose is to overcome the impact of the earth's rotation on stargazing. The equatorial mount has two mutually perpendicular rotation axes, called the right ascension axis and the declination axis. When using the equatorial mount, the right ascension axis must first be adjusted to be parallel to the earth's rotation axis. By adjusting its rotation axis to be parallel to the earth's rotation axis, the telescope can rotate synchronously with the earth's rotation, thereby achieving stable tracking of celestial bodies.

[0047] However, the tracking method of the photographed object based on the equatorial mount is relatively complicated and requires certain professional knowledge and experience; since the calibration of the equatorial mount involves multiple steps and details, the whole process may be time-consuming. In addition, the equatorial mount is usually large in size and heavy in weight, which is not convenient to carry and move, which limits its use outdoors or away from fixed observation points. In addition, the calibration accuracy of the equatorial mount may be affected by environmental factors such as temperature, humidity, air pressure, etc. These changes may cause the calibration state of the equatorial mount to change, thereby affecting the accuracy of the observation.

[0048] Among them, the theodolite is an optoelectronic measuring instrument widely used in aerospace, geographical survey, land resources mapping, oil exploration and other fields. The tracking of the theodolite mainly depends on its internal precise mechanical structure and optical system, as well as the level or other calibration components that come with the equipment. Before the theodolite is used, it needs to be calibrated. The theodolite first needs to be correctly installed on a tripod or other stable support to ensure that it is stable and not easily disturbed by the outside world. Then, use the level or other calibration components on the theodolite to make preliminary horizontal adjustments and vertical calibrations to ensure the accuracy of its measurement and tracking.

[0049] The tracking of the theodolite is based on its angle measurement principle. It determines the position and direction of the target point by accurately measuring the relative position relationship between the target point and the reference point (i.e. the horizontal angle and the altitude angle). During the tracking process, the telescope of the theodolite will continuously point to the target, and the internal angle measurement system will record and update the target's position information in real time.

[0050] However, when the tripod and theodolite are in use, if the ground is not completely level, the theodolite will not rotate horizontally around its own horizontal axis, and the axis will not point to the center of the earth as located by GPS. This "horizontal rotation" in a non-horizontal state is actually accompanied by changes in altitude, which in turn affects the stability of tracking. In order to meet the needs of the theodolite to track celestial bodies, the rotation speeds of the altitude angle and the horizontal direction angle must be calculated independently. This calculation is mainly based on GPS coordinates, time, and the specific objects to be observed, and is the key to ensuring that the equipment can accurately and stably track the target. Therefore, when the tripod and theodolite combination is not level on the ground, the altitude change caused by its horizontal rotation will become an important problem, affecting the accuracy and stability of tracking.

[0051] Based on this, the present application proposes a calibration device, method, imaging device and electronic device for an imaging device. The calibration device for the imaging device includes a deviation analysis module and a calibration module. The deviation analysis module can obtain the deviation between the current position and the ideal position of the rotation axis of the imaging device based on different celestial body images; after the calibration module obtains the deviation, it gives a virtual position to the imaging device based on the deviation, so that the imaging device works based on the virtual position. The calibration device for the imaging device provided in the embodiment of the present application can effectively improve the autonomy of the equipment calibration. For the user end, it greatly simplifies the calibration process and improves the efficiency, accuracy and reliability of the calibration.

[0052] Please see Figure 1 , Figure 1 This is a first schematic diagram of a module of a calibration device for an imaging device provided in an embodiment of the present application. The present application provides a calibration device 100 for an imaging device, and the calibration device 100 for an imaging device includes: a deviation analysis module 120 and a calibration module 130 .

[0053] The deviation analysis module 120 is used to obtain the deviation between the current position of the rotation axis of the imaging device and the ideal position based on at least three celestial body images at different spatial positions.

[0054] The calibration module 130 is used to calibrate the imaging device based on the deviation amount.

[0055] In the above implementation process, the deviation analysis module 120 obtains at least three celestial body images at different spatial positions at the current position, and processes and analyzes the three celestial body images at different spatial positions to obtain the deviation between the current position of the imaging device rotation axis and the ideal position.

[0056] In the embodiment of the present application, the ideal position is the position of the rotation axis of the imaging device, for example, an absolute vertical position (in this case, the imaging device is absolutely horizontal), or other positions. It should be noted that the ideal position is the position of the rotation axis of the imaging device, not the position of the imaging device itself; when the rotation axis of the imaging device is absolutely vertical, the imaging device is in an absolutely horizontal position.

[0057] The current position of the rotation axis is the position of the rotation axis when the imaging device is in the current position. It should be noted that the current position of the device is not the current position of the rotation axis.

[0058] The celestial body images obtained by the deviation analysis module 120 are at different positions, for example, three celestial body images at different altitudes and azimuths, or three celestial body images at the same altitude but different azimuths, or three celestial body images at the same azimuth but different altitudes.

[0059] At least three celestial body images at different spatial positions are analyzed by the deviation analysis module 120 to obtain the deviation between the current position of the rotation axis of the imaging device and the ideal position (the position where the rotation axis of the imaging device is expected to be located). Based on the deviation, the calibration module 130 can obtain a virtual position, and give this virtual position to the imaging device, so that the imaging device believes that its rotation axis is currently in the above-mentioned ideal position. It should be emphasized that the calibration module 130 of the calibration device 100 for the imaging device provided in the embodiment of the present application gives a virtual position to the imaging device. Under this virtual position, the rotation axis of the device is in an ideal position, and the imaging device is also in a virtual ideal position, but the imaging device itself will never reach the virtual ideal position from beginning to end.

[0060] It can be seen that the deviation analysis module 120 of the calibration device of the imaging device provided in the embodiment of the present application calculates the deviation between the current position and the ideal position of the rotation axis of the imaging device based on at least three celestial body images at different spatial positions; and based on the deviation value, the calibration of the imaging device is realized. The calibration device 100 of the imaging device provided in the embodiment of the present application realizes the compensation of the deviation from the software algorithm, which overcomes the deviation in the imaging process caused by the calibration method of simply adjusting the rotation axis of the imaging device to the ideal position (for example, the absolute vertical position) by physical means; the imaging device is calibrated using the imaging device calibration method provided in the embodiment of the present application, which can enhance the stability of the imaging device in tracking the target object.

[0061] Please see Figure 2 , Figure 2 A second schematic diagram of a module of the calibration device for an imaging device provided in an embodiment of the present application; Figure 2 As shown, the calibration device for an imaging device provided in the embodiment of the present application further includes an image acquisition module 110. The above-mentioned different spatial positions include a first spatial position and at least two different second spatial positions.

[0062] In the embodiment of the present application, the image acquisition module 110 is used to control the imaging device with the rotation axis at the first spatial position to acquire a first celestial image, and to acquire at least two second celestial images at at least two second spatial positions.

[0063] That is to say, the at least three celestial body images at different spatial positions acquired by the image acquisition module 110 may be acquired by acquiring a first celestial body image at a first spatial position, and the first celestial body image may be used as a basic image; the image acquisition module 110 or the operator controls the imaging device to rotate, and obtains at least two different second celestial body images at at least two different spatial positions, respectively.

[0064] In a first possible implementation manner, the first spatial position and the second spatial position include spatial positions at different azimuth angles at a preset altitude; or spatial positions at different altitude angles at a preset azimuth angle.

[0065] The first celestial image is captured at a specific elevation angle, and then the rotation axis is controlled to rotate in the horizontal direction to two different horizontal angles at the specific elevation angle (i.e., the second spatial position) to obtain two second celestial images. Alternatively, the first celestial image is captured at a specific horizontal angle, and then the rotation axis is controlled to rotate in the height direction to two different horizontal angles at the specific horizontal angle (i.e., the second spatial position) to obtain two second celestial images.

[0066] For example, assuming that the operator is outdoors and wants to calibrate the imaging device, the operator first needs to lift the lens barrel of the imaging device to a certain height angle as the initial position (for example, 30 degrees), and take the first celestial image at this initial position. After taking the first celestial image, the azimuth angle of the imaging device is controlled to rotate twice (for example, the azimuth angle is rotated 15 degrees each time), and two different second celestial images are obtained respectively.

[0067] For example, suppose the operator moves indoors, for example, the operator is on a balcony, and obtains celestial body images through a window. In this case, the operator has limited optional angles through the window. At this time, it is recommended that the operator first aim at the middle of the window to take a first celestial body image, and then perform multiple changes in altitude or azimuth to obtain at least two second celestial body images.

[0068] In the above implementation process, the value range of the altitude angle includes (0°, 90°), and the value range of the azimuth angle includes (0°, 120°). In the process of capturing the second celestial body image, the transformation of the altitude angle or the azimuth angle can be a regular transformation, such as an arithmetic change; or it can be an irregular transformation, for example, from an azimuth angle (or altitude angle) of 30 degrees to an azimuth angle (or altitude angle) of 50 degrees, and then from an azimuth angle (or altitude angle) of 50 degrees to an azimuth angle (or altitude angle) of 60 degrees.

[0069] In a second possible implementation, a first celestial body image is captured at a first spatial position, and the horizontal angle and the elevation angle of the rotation axis of the imaging device are controlled to change to obtain a second celestial body image; the horizontal angle and the elevation angle of the rotation axis of the imaging device are continued to be controlled to change to obtain another second celestial body image.

[0070] For example, the operator takes a first celestial image at a first spatial position, rotates the rotation axis, changes both the elevation angle and the horizontal angle, and obtains a second celestial image. In the current embodiment, the requirement for rotation is lower, and it is often a random rotation, and rotation in a certain direction is not required.

[0071] It can be seen that the image acquisition module 110 of the imaging device provided in the embodiment of the present application can acquire at least three different celestial body images in two different ways. Corresponding to the two different celestial body image acquisition methods, the deviation analysis module 120 and the calibration module 130 of the present application have different processing procedures. Therefore, the calibration device of the imaging device provided in the implementation of the present application can provide at least two calibration methods. Through the setting of the image acquisition module 110, accurate support is provided for the subsequent calculation of the deviation amount, providing a reliable basis for the calibration of the imaging device.

[0072] Please continue to see Figure 2 In an optional implementation of the embodiment of the present application, the calibration module 130 in the calibration device of the imaging device provided in the embodiment of the present application includes a deviation compensation unit 131 and a device control unit 132. With respect to the first implementation method of celestial body image acquisition described above, in the process of calibrating the imaging device based on the deviation amount:

[0073] The deviation compensation unit 131 is used to compensate the current position of the rotation axis using the deviation to obtain a virtual position.

[0074] The device control unit 132 is used to control the imaging device to work in a virtual position.

[0075] In the above implementation process, the deviation compensation unit 131 compensates the current position of the rotation axis of the imaging device based on the calculated deviation between the current position and the ideal position, obtains a virtual position, and sends the virtual position to the device control unit 132. After receiving the virtual position, the device control unit 132 controls the imaging device to work based on the virtual position, thereby completing the calibration of the device.

[0076] In the embodiment of the present application, since the deviation is calculated in real time through image data, the device can be dynamically calibrated under different observation conditions. When the imaging device encounters different errors or deviations, the deviation compensation unit 131 can automatically calculate the deviation of the ideal position to be in based on the current position and the ideal position of the rotation axis of the imaging device, and use this deviation to compensate the current position, thereby ensuring that the imaging device always maintains the best working state.

[0077] In the embodiment of the present application, the virtual position is based on the deviation between the current position of the rotation axis of the imaging device and the ideal position, and is based on the amount generated by compensating the current position of the rotation axis. In some cases, the virtual position refers to a virtual coordinate position assigned to the imaging device (i.e., the virtual location of the device). In some cases, the virtual position refers to the position (the position in the celestial sphere) that controls the imaging of the imaging device, and can also be understood as the position coordinates to which the equatorial mount or theodolite of the imaging device needs to be moved.

[0078] It can be seen that the deviation compensation unit 131 of the calibration device 100 of the imaging device provided in the embodiment of the present application can compensate the position of the rotation axis based on the deviation amount, ensuring that the rotation axis of the imaging device is always close to or reaches the ideal position. Thereby avoiding the complexity and error of physical adjustment, directly obtaining a virtual position through deviation compensation, and making the imaging device work based on this virtual position, so that the accuracy of the calibration process is improved. The deviation compensation unit 131 uses the calculated deviation amount to accurately compensate the position of the rotation axis through mathematical methods to ensure that the rotation axis of the imaging device can work in the ideal position, and greatly avoids the image distortion or deviation caused by the undesirable position of the rotation axis. In addition, the calibration device 100 of the imaging device provided in the embodiment of the present application is based on an algorithm, which can enable the rotation axis of the imaging device to be quickly adjusted to the ideal position without relying on repeated physical debugging. While reducing the errors caused by manual adjustment, it also improves the working efficiency of the entire system, especially in the application scenarios of multiple calibrations or high-frequency observations, and can achieve fast and efficient calibration.

[0079] In an optional implementation of the embodiment of the present application, the deviation includes a first deviation between the current position of the rotation axis and the absolute vertical position. The calibration device of the imaging device provided in the embodiment of the present application is most commonly used for horizontal calibration of the imaging device. That is, the deviation is the deviation between the current level of the rotation axis and the absolute vertical to be achieved, which is named as the first deviation here.

[0080] When the deviation is the first deviation:

[0081] The deviation compensation unit 131 is used to use the first deviation to compensate the current position of the rotation axis to obtain a virtual horizontal position of the imaging device. The device control unit 132 is specifically used to control the theodolite of the imaging device to work in the virtual horizontal position.

[0082] After obtaining the first deviation between the current position of the rotation axis and the absolute vertical position through the deviation analysis module 120, the compensation unit uses the first deviation to compensate the current position, and obtains a virtual absolute horizontal GPS of the imaging device (under this virtual absolute horizontal GPS, the rotation axis of the imaging device is absolutely vertical); further, this virtual horizontal position is given to the theodolite of the imaging device, and the theodolite is allowed to work under this virtual horizontal position, thereby completing the calibration of the imaging device. Before the theodolite starts the tracking process, the virtual GPS is given to the theodolite control device, so that the control device controls the horizontal and vertical rotation according to the tracking mode of the target under the virtual GPS.

[0083] Here, a process of compensating the current position of the rotation axis based on the first deviation to obtain the virtual horizontal position of the imaging device is briefly described. Assuming that the first deviation is obtained, the first deviation is brought into the geographical location of the imaging device, and the first deviation is converted into a virtual horizontal position of the imaging device. Under the virtual horizontal position of the device, the rotation axis can be considered to be absolutely vertical.

[0084] Exemplarily, it is assumed that the rotation axis of the imaging device is currently located at position A, but the rotation axis of the imaging device at position A is not absolutely vertical; the image acquisition module 110 obtains three different celestial images at position A through the above-mentioned first image acquisition method, and the deviation analysis module 120 obtains a first deviation between position A and the absolute vertical position of the rotation axis of the imaging device based on the analysis of the three different celestial images, and the deviation compensation unit 131 uses the first deviation to compensate position A to obtain a virtual horizontal position in which the device is absolutely horizontal, assumed to be position B; position B is given to the theodolite, making it believe that the device is currently at position B, and through the algorithm, the device is deceptively made to believe that the rotation axis of the device is absolutely vertical at the current position.

[0085] It can be seen that the calibration module 130 of the imaging device calibration apparatus 100 provided in the embodiment of the present application replaces physical adjustment with a virtual horizontal position, and the calibration process becomes more efficient. The device does not need to be frequently physically adjusted, but only needs to work according to the virtual horizontal GPS position, thereby reducing the debugging time and work intensity and improving the calibration efficiency.

[0086] In an optional embodiment, please continue to see Figure 2 The calibration module 130 of the calibration device for an imaging device provided in the embodiment of the present application further includes: a virtual level monitoring unit 133 .

[0087] The virtual level monitoring unit 133 is used to monitor whether the level change of the virtual level of the imaging device working in the virtual position exceeds the level change threshold; and generate a recalibration signal when the level change of the virtual level exceeds the level change threshold.

[0088] In the above implementation process, after the imaging device is calibrated, the horizontal position may change again during the operation of the imaging device due to factors such as changes in the external environment, device vibration, or mechanical deformation. The virtual level monitoring unit 133 monitors in real time whether the virtual level of the device has a level change amount exceeding the level change threshold. If the level change threshold is exceeded, the virtual level monitoring unit 133 generates a recalibration signal and sends it to the control center of the calibration device 100 of the imaging device, so as to perform the level calibration of the device again.

[0089] It should be noted that, since the calibration device 100 of the imaging device provided in the embodiment of the present application does not actually change the position of the imaging device, but compensates for the deviation in the algorithm; since the position of the imaging device itself has not changed, the physical position of the imaging device itself is not horizontal. Therefore, in the embodiment of the present application, the position of the imaging device after calibration by the calibration device is regarded as the virtual horizontal position of the device.

[0090] Optionally, the value range of the level change threshold includes [3°, 6°]. For example, assuming that the level change threshold is 5°, after the imaging device is calibrated, assuming that the virtual level of the imaging device after calibration is 10°, during the operation of the imaging device, the virtual level monitoring unit 133 monitors the change of the virtual level in real time. If it exceeds 15° or is lower than 5°, the virtual level monitoring unit 133 will generate a recalibration signal to inform the device that recalibration is required.

[0091] It can be seen that the calibration device of the imaging device provided in the embodiment of the present application is provided with a virtual level monitoring unit 133, so that once the virtual level change of the device exceeds the set threshold, the virtual level monitoring unit 133 will generate a recalibration signal, triggering the automatic calibration process, and ensuring that the virtual horizontal position of the device always remains stable, thereby ensuring that the device can maintain high-precision horizontal calibration in long-term operation or changing environments. The virtual level monitoring unit 133 provides a dynamic correction function for the imaging device, allowing the device to cope with horizontal deviations caused by external disturbances or internal wear. By setting a reasonable level change threshold, timely correction can be made when the device is abnormal, enhancing the fault tolerance of the system and avoiding major errors caused by the accumulation of slight deviations.

[0092] In an optional embodiment, still for the above-mentioned first implementation method of acquiring celestial body images, the deviation includes a second deviation between the current position of the rotation axis and the position of the north celestial pole in the same coordinate system.

[0093] When the deviation is the second deviation:

[0094] The deviation compensation unit 131 is used to use the second deviation to compensate the current position of the rotation axis to obtain the virtual north pole position of the imaging device. The device control unit 132 is used to generate a device control signal including the second deviation and / or the virtual north pole position.

[0095] In the above implementation process, the second deviation reflects the difference between the current position of the rotation axis and the position of the North Celestial Pole, which can be an angle or a coordinate offset, reflecting the deviation of the rotation axis of the device from the ideal direction (North Celestial Pole).

[0096] The deviation compensation unit 131 uses the second deviation to compensate for the current position of the rotation axis to obtain the virtual North Pole position of the imaging device. That is, the deviation compensation unit 131 obtains a virtual position that can virtualize the current position of the device at the geographic North Pole (where the horizontal rotation axis points to the North Celestial Pole) through the acquired celestial body image. When the theodolite is informed that it is located at the geographic North Pole, based on the device control signal, the horizontal rotation axis is pointed to the North Celestial Pole (with the help of a clamping device or manual rotation), and the theodolite rotates in the manner of the device at the geographic North Pole, so that the theodolite can be reused as an equatorial mount.

[0097] After the compensation process is completed, the device control unit 132 generates a control signal, which includes the second deviation and / or the virtual north pole position. The control signal instructs the imaging device to work under the virtual north pole position.

[0098] For the theodolite, it means that it can perform operations similar to those of an equatorial mount through compensation without changing the hardware structure. Before using the equatorial mount, there will be an operation of the polar axis (right ascension axis), that is, the right ascension axis is pointed to the north celestial pole, and then the position of the right ascension axis is locked (the direction of the right ascension axis remains unchanged, but the device can rotate around the right ascension axis); then adjust the right ascension and declination to find the target to be tracked, and then just rotate the device around the right ascension axis to achieve tracking of the target.

[0099] The equatorial mount mode is used with the support of external equipment. The horizontal rotation axis of the theodolite points to the North Celestial Pole (if the device is placed at the North Pole and is absolutely level, its horizontal rotation axis will also point to the North Celestial Pole). After that, the horizontal rotation axis is equivalent to the right ascension axis of the equatorial mount. When the target is aligned, you only need to rotate the horizontal rotation axis to achieve the effect of rotating the right ascension axis on the equatorial mount, thereby realizing the reuse of the theodolite as an equatorial mount.

[0100] It is worth noting that since the theodolite itself can only rotate on the horizontal coordinates, even if the theodolite can always keep the tracking target in the center of the picture, the picture will rotate, that is, field rotation will occur. The calibration device of the imaging device provided by the embodiment of the present application can reuse the theodolite as an equatorial mount. After the conversion, the entire device rotates around the celestial north and south poles (the polar axis points to the celestial north pole at this time) (consistent with the center of the earth's rotation), so the picture will not rotate.

[0101] It can be seen that the calibration module 130 can make the theodolite simulate the working mode of the equatorial mount by compensating the deviation of the rotation axis, which greatly improves the applicability and accuracy of the device, especially in astronomical imaging, it can avoid field rotation to a great extent and achieve better imaging effect. It not only reduces the cost of hardware adjustment and imaging effect, but also improves the overall performance and application range of imaging equipment.

[0102] In an optional embodiment, in the process of obtaining the deviation between the current position of the rotation axis of the imaging device and the ideal position according to at least three celestial body images at different spatial positions, the deviation analysis module 120 is used to:

[0103] According to the three celestial body images at different spatial positions, the coordinate positions of the three celestial body images in the equatorial coordinate system are obtained respectively.

[0104] The coordinate positions in the equatorial coordinate system are converted into coordinate positions in the rectangular coordinate system, and the normal vector of the plane formed by the three coordinate positions is calculated in the rectangular coordinate system.

[0105] The normal vector in the rectangular coordinate system is converted into the coordinate position in the horizontal coordinate system to obtain the horizontal coordinate of the rotation axis.

[0106] The deviation of the rotation axis is obtained according to the horizontal coordinates of the rotation axis and the standard horizontal coordinates when the rotation axis is in an absolute vertical position.

[0107] In the above implementation process, the positions of the three images in the equatorial coordinate system are obtained according to the three celestial images at different spatial positions. Each celestial image corresponds to a celestial coordinate in the equatorial coordinate system, usually expressed as right ascension (RA) and declination (Dec). Assume that the celestial coordinates corresponding to the three images are the equatorial coordinates of the first celestial image: (RA1, Dec1), the equatorial coordinates of the second celestial image: (RA2, Dec2); the equatorial coordinates of the second celestial image: (RA3, Dec3). In the equatorial coordinate system, these coordinates are spherical coordinates and can be converted into Cartesian coordinates of the rectangular coordinate system. Right ascension (RA) and declination (Dec) correspond to longitude and latitude in the spherical coordinate system, respectively.

[0108] The coordinate position of a celestial body image in the equatorial coordinate system is obtained, for example, by randomly selecting two stars and constructing a circular area based on the diameter of the line connecting them, and then selecting two stars in the area to form a first four-star combination, and calculating the corresponding first geometric hash code. The reference star list is then divided into grids, and multiple stars with the highest brightness are selected from each grid, and four of the stars are used to form a second four-star combination, and the corresponding second geometric hash code is calculated. Finally, by comparing the difference between the first geometric hash code and the second geometric hash code, if the difference is within the preset second threshold, it is considered that the first four-star combination and the second four-star combination match successfully. When the number of combinations that match successfully in a certain grid exceeds the preset third threshold, it can be determined that the image is located in the corresponding sky area, and based on the corresponding relationship of the combinations that match successfully, the right ascension coordinates and declination coordinates corresponding to the center point of the celestial image are obtained. This implementation method is only exemplary, and of course other positions of the celestial image can also be selected as the image coordinates of the celestial image.

[0109] Through the formula x=cos(Dec)·cos(RA), y=cos(Dec)·sin(RA), z=sin(Dec), the coordinate position (RAi, Deci) of each celestial image in the equatorial coordinate system is converted to the coordinate position (xi, yi, zi) in the rectangular coordinate system.

[0110] For example, assuming the first celestial image (RA1=10°, Dec1=20°), the second celestial image (RA2=50°, Dec2=20°), and another second celestial image (RA3=90°, Dec3=20°), the right ascension and declination are given in degrees, and it is usually necessary to convert the angles into radians when calculating.

[0111] The calculation process is as follows:

[0112]

[0113] x1=cos(0.3491)cos(0.1745)≈0.9255,

[0114] y1=cos(0.3491)·sin(0.1745)≈0.1636,

[0115] z1=sin(0.3491)≈0.3420,

[0116] (x1, y1, z1)=(0.9255,0.1636,0.3420),

[0117] Similarly, the other two coordinates are calculated as:

[0118] (x2, y2, z2)=(0.6047,0.7204,0.3420),

[0119] (x3, y3, z3)=(0,0.9397,0.3420).

[0120] The coordinate positions in the rectangular coordinate system are obtained as follows: (x1, y1, z1), (x2, y2, z2), (x3, y3, z3). Further, the normal vector of the plane formed by the three coordinate positions is calculated in the rectangular coordinate system.

[0121] First calculate the vector from (x1, y1, z1) to (x2, y2, z2) and the vector from (x2, y2, z2) to (x3, y3, z3) Calculating vectors and The cross product of Right now, For example, using the above (x1, y1, z1) = (0.9255, 0.1636, 0.3420), (x2, y2, z2) = (0.6047, 0.7204, 0.3420), (x3, y3, z3) = (0, 0.9397, 0.3420), the calculated normal vector

[0122] Then convert the normal vector in the rectangular coordinate system into the coordinate position in the horizontal coordinate system to obtain the horizontal coordinate of the rotation axis.

[0123] The Altitude-Azimuth (Alt-Az) coordinate system has two components, the az azimuth component and the alt altitude component. The azimuth component is the angle measured clockwise from the north direction, usually calculated from north to east (0° is north, 90° is east, 180° is south, and 270° is west). The azimuth component is the height of the celestial body relative to the horizon, ranging from -90° (zenith) to +90° (horizontal).

[0124] To calculate the horizontal coordinates of the rotation axis (normal vector), we first need to calculate the angle between the normal vector and the zenith, that is, the zenith angle; the calculation formula is: The azimuth angle az and the altitude angle alt are calculated based on the projection of the normal vector on the celestial sphere. The calculation formula is: alt=90°-θ.

[0125] Assume that the calculated normal vector The horizontal coordinates of the rotation center are (az, alt). If the imaging device is absolutely horizontal, the horizontal coordinates of the rotation center should be (0, 90°). The first deviation in the horizontal coordinate system is Diff az =az, Diff alt =90-alt; In the embodiment of the present application, the final first deviation is the value converted from the horizontal coordinates to GPS; that is, Diff Lat = cos(Diff az )*Diff alt , Diff Lon = sin(Diff az )*Diff alt .

[0126] It can be seen that the calibration device of the imaging device provided in the embodiment of the present application sets a deviation analysis module 120, which can accurately obtain the first deviation between the rotation axis of the imaging device and the absolute vertical position by analyzing the position of celestial bodies in the celestial image and combining coordinate transformation and geometric calculation. The first deviation is used to compensate for the rotation axis position of the device, so that the rotation axis of the imaging device can operate in an ideal horizontal position.

[0127] In an optional embodiment, with respect to the second method of acquiring celestial images described above, the deviation includes a third deviation between the actual position coordinates of the celestial image acquired by the imaging device when the rotation axis is in the current position and the command position coordinates of the celestial image acquired by the imaging device when the rotation axis is in the absolute vertical position.

[0128] To calculate the third deviation, in the process of obtaining the deviation between the current position of the rotation axis of the imaging device and the ideal position according to at least three celestial body images at different spatial positions, the deviation analysis module 120 is specifically used to:

[0129] The first celestial body image is used as a reference image and a reference origin is obtained. The command position coordinates and actual position coordinates of at least two sets of second celestial body images relative to the reference origin are obtained. Based on the command position coordinates and actual position coordinates of at least two sets of second celestial body images, a third deviation is calculated.

[0130] Exemplarily, the first set of coordinates is: command position coordinates (X1, Y1), actual position coordinates (X2, Y2); the second set of coordinates is: command position coordinates (W1, Z1), actual position coordinates (W2, Z2). Assuming that (X1, Y1) and (W1, Z1) are both under the same transformation law, or under the same deviation of the device rotation axis, (X2, Y2) and (W2, Z2) are obtained, and such transformation law is quantified, then the third deviation amount mentioned above can be calculated.

[0131] Optionally, based on the command position coordinates and actual position coordinates of at least two sets of second object images, a transformation matrix from the command position coordinates to the actual position coordinates is calculated; and an inverse matrix of the transformation matrix is ​​calculated to obtain a third deviation.

[0132] Assume that (X1, Y1) and (W1, Z1) are both (X2, Y2) and (W2, Z2) obtained under the same transformation matrix. Assume that this matrix is Substitute (X1, Y1) and (W1, Z1), (X2, Y2) and (W2, Z2), that is:

[0133]

[0134] Based on the above solution, the transformation matrix

[0135] After obtaining the transformation matrix that can transform the command coordinate position into the actual coordinate position After that, this transformation matrix reflects the deviation between the actual and the ideal; the embodiment of the present application needs to calibrate the imaging device based on this transformation matrix, and then further obtain the inverse matrix of the transformation matrix This is the third deviation in the embodiment of the present application, so that virtual instruction coordinates that eliminate the third deviation can be generated before actual imaging.

[0136] In an optional embodiment, when the deviation is the third deviation:

[0137] The deviation compensation unit 131 is used to use the third deviation to compensate the current position of the rotation axis to obtain the virtual instruction coordinates. The device control unit 132 is specifically used to control the imaging device to work under the virtual instruction coordinates during the imaging process of the imaging device.

[0138] In the calibration process of the imaging device, the role of the inverse matrix is ​​to convert the command coordinates of the ideal position that the imaging device wants to shoot when the rotation axis of the imaging device is in the current position into a virtual command coordinate of the imaging device shooting the ideal position assuming that the rotation axis of the imaging device is in an absolute vertical position. So that the imaging position of the imaging device is the position corresponding to the virtual command coordinate. For example, when the coordinates need to be transformed into (I2, J2) (the position you want to shoot), by (I2, J2) is processed to obtain the virtual instruction coordinates (I1, J1), and the (I1, J1) instruction is sent to the device control unit 132 to control the imaging device to work under the virtual instruction coordinates (I1, J1), thereby achieving the goal of turning to the designated area.

[0139] It can be seen from this that the calibration device 100 for the imaging device provided in the embodiment of the present application can calibrate the command position coordinates to be captured based on the third deviation amount (i.e., the inverse matrix of the transformation matrix) before each imaging of the imaging device, so that the imaging device can be imaged at the virtual command coordinate position, and can effectively compensate for the imaging error caused by the deviation between the current position of the device's rotation axis and the absolute vertical position, thereby realizing real-time calibration of the imaging device and ensuring the accuracy and stability of the imaging of the device after calibration.

[0140] Please see Figure 3 , Figure 3 A calibration flow chart of an imaging device provided for the implementation of the present application; the present application also provides an imaging device calibration method, which can be Figure 7 The electronic device provided is implemented, and the calibration method of the imaging device includes the following steps:

[0141] Step S100: obtaining the deviation between the current position of the rotation axis of the imaging device and the ideal position according to at least three celestial body images at different spatial positions.

[0142] Step S200: Calibrate the imaging device based on the deviation amount.

[0143] In an optional embodiment, please refer to Figure 4 , Figure 4 A flowchart of a first calibration example provided in an embodiment of the present application; wherein the deviation comprises a first deviation between the current position of the rotation axis and the absolute vertical position; the above-mentioned step S200 is based on the deviation, and the calibration of the imaging device can be implemented in the following manner:

[0144] Step S211: using the first deviation to compensate for the current position of the rotation axis to obtain a virtual horizontal position of the rotation axis.

[0145] Step S212: Control the theodolite to work in a virtual horizontal position.

[0146] In an optional embodiment, please refer to Figure 5 , Figure 5 A flowchart of a second calibration example provided in an embodiment of the present application; wherein the deviation comprises a second deviation between the current position of the rotation axis and the position of the north celestial pole in the same coordinate system; the above-mentioned step S200 is based on the deviation, and the calibration of the imaging device can be implemented in the following manner:

[0147] Step S221: using the second deviation to compensate for the current position of the rotation axis and obtain the virtual North Pole position of the imaging device.

[0148] Step S222: Generate a device control signal including a second deviation and / or a virtual celestial pole position.

[0149] In an optional embodiment, please refer to Figure 6 , Figure 6 A flowchart of a third calibration example provided in an embodiment of the present application; wherein the deviation comprises a third deviation between the actual position coordinates of the celestial body image acquired by the imaging device when the rotation axis is at the current position and the command position coordinates of the celestial body image acquired by the imaging device when the rotation axis is at the absolute vertical position. Based on the deviation, the above step S200 can be implemented by:

[0150] Step S231: Use the third deviation to compensate the current position of the rotation axis to obtain the virtual command coordinates.

[0151] Step S232: During the imaging process of the imaging device, the imaging device is controlled to work under the virtual instruction coordinates.

[0152] In an optional embodiment, the different spatial positions include: a first spatial position and at least two second spatial positions. The above step S100: obtaining the deviation between the current position of the rotation axis of the imaging device and the ideal position based on at least three celestial body images at different spatial positions can be achieved by:

[0153] The imaging device is controlled to acquire a first celestial image with the rotation axis at a first spatial position, and to acquire at least two second celestial images at at least two second spatial positions.

[0154] The first spatial position and the second spatial position include spatial positions at different azimuth angles at a preset altitude; or spatial positions at different altitude angles at a preset azimuth angle.

[0155] In an optional embodiment, the calibration method of the imaging device further includes:

[0156] The method monitors whether the level change of the virtual level of the imaging device operating in the virtual position exceeds the level change threshold. If the level change of the virtual level exceeds the level change threshold, a recalibration signal is generated.

[0157] In an optional embodiment, the calculation of the first deviation and the second deviation can be implemented in the following manner:

[0158] According to three celestial body images at different spatial positions, the coordinate positions of the three celestial body images in the equatorial coordinate system are obtained respectively; the coordinate positions in the equatorial coordinate system are converted into coordinate positions in the rectangular coordinate system, and the normal vector of the plane formed by the three coordinate positions is calculated in the rectangular coordinate system; the normal vector in the rectangular coordinate system is converted into the coordinate position in the horizontal coordinate system to obtain the horizontal coordinate of the rotation axis; according to the horizontal coordinate of the rotation axis and the standard horizontal coordinate when the rotation axis is in an absolute vertical position, the deviation of the rotation axis is obtained.

[0159] In an optional embodiment, the calculation of the third deviation amount can be implemented in the following manner:

[0160] The first celestial body image is used as a reference image, and a reference origin is obtained; at least two sets of command position coordinates and actual position coordinates of the second celestial body image relative to the reference origin are obtained; wherein the command position coordinates represent the position coordinates of the second celestial body image obtained when the rotation axis of the imaging device is in an absolute vertical position, and the actual position coordinates represent the coordinate position of the second celestial body image obtained when the rotation axis of the imaging device is in a current position; based on the command position coordinates and actual position coordinates of the at least two sets of second celestial body images, a third deviation is calculated.

[0161] The present application provides an imaging device, which includes an imaging module, a theodolite and a controller.

[0162] The imaging module and theodolite are connected to a controller.

[0163] The imaging module is configured to acquire at least three celestial body images at different spatial positions and send the celestial body images to the controller.

[0164] The controller is configured to compensate the current position of the rotation axis based on the celestial body image, obtain a virtual position, and send the virtual position to the theodolite.

[0165] The theodolite is configured to receive a virtual position.

[0166] The imaging device provided by the present application realizes the calibration of the rotation axis based on the celestial body image through the collaborative work of the imaging module, the theodolite and the controller. The imaging module obtains the celestial body images at different spatial positions and sends them to the controller. The controller compensates the current position of the rotation axis based on these images, calculates the virtual position, and sends the virtual position to the theodolite. After receiving the virtual position, the theodolite calibrates the imaging device. The imaging device can effectively compensate for the physical position deviation of the rotation axis of the device, ensure that the imaging device can accurately align with the target, and improve the positioning accuracy and imaging effect of the device.

[0167] See also Figure 7 , Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. An electronic device 200 provided in an embodiment of the present application includes: a processor 201 and a memory 202, wherein the memory 202 stores machine-readable instructions executable by the processor 201, and when the machine-readable instructions are executed by the processor 201, the steps in any implementation of the calibration method of the imaging device described above are executed.

[0168] Based on the same inventive concept, an embodiment of the present application further provides a computer program product, wherein the computer program product includes a computer program / instruction, and the computer program / instruction is executed by a processor to perform the steps in any implementation of the above-mentioned imaging device calibration method.

[0169] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the steps in any implementation method of the calibration method of the above-mentioned imaging device are executed.

[0170] The computer-readable storage medium may be a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or any other medium that can store program code.

[0171] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0172] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A calibration device for an imaging device, characterized in that: The calibration device comprises a deviation analysis module and a calibration module; The deviation analysis module is used to obtain the deviation between the current position of the rotation axis of the imaging device and the ideal position based on at least three celestial body images at different spatial positions; The calibration module is used to calibrate the imaging device based on the deviation.

2. The calibration device according to claim 1, characterized in that: The different spatial positions include: a first spatial position and at least two second spatial positions; the calibration device also includes an image acquisition module; The image acquisition module is used to control the imaging device with the rotation axis at the first spatial position to acquire a first celestial image, and to acquire at least two second celestial images at at least two of the second spatial positions.

3. The calibration device according to claim 2, characterized in that: The first spatial position and the second spatial position include spatial positions at different azimuth angles at a preset altitude; or spatial positions at different altitude angles at a preset azimuth angle.

4. The calibration device according to claim 1, characterized in that: The calibration module includes a deviation compensation unit and a device control unit; in the process of calibrating the imaging device based on the deviation: The deviation compensation unit is used to compensate the current position of the rotating shaft using the deviation to obtain a virtual position; The device control unit is used to control the imaging device to operate based on the virtual position.

5. The calibration device according to claim 4, characterized in that: in, The deviation includes a first deviation between the current position of the rotation axis and the absolute vertical position. When the deviation is the first deviation: The deviation compensation unit is used to compensate the current position of the rotation axis using the first deviation to obtain a virtual horizontal position of the imaging device; The device control unit is specifically used to control the theodolite of the imaging device to work in the virtual horizontal position.

6. The calibration device according to claim 5, characterized in that: The calibration module further comprises: a quasi-horizontal monitoring unit; The virtual level monitoring unit is used to monitor whether the level change amount of the virtual level of the imaging device working at the virtual position exceeds the level change threshold; and In case the amount of level change of the virtual level exceeds the level change threshold, a recalibration signal is generated.

7. The calibration device according to claim 6, characterized in that: in, The value range of the horizontal change threshold includes [3°, 6°].

8. The calibration device according to claim 4, characterized in that: in, The deviation includes a second deviation between the current position of the rotation axis and the position of the north celestial pole in the same coordinate system, and in the case where the deviation is the second deviation; The deviation compensation unit is used to compensate the current position of the rotation axis using the second deviation to obtain the virtual North Pole position of the imaging device; The device control unit is used to generate a device control signal including the second deviation amount and / or the virtual North Pole position.

9. The calibration device according to claim 1, characterized in that: In the process of obtaining the deviation between the current position of the rotation axis of the imaging device and the ideal position according to at least three celestial body images at different spatial positions, the deviation analysis module is used to: According to the three celestial body images at different spatial positions, respectively obtaining the coordinate positions of the three celestial body images in the equatorial coordinate system; Convert the coordinate position in the equatorial coordinate system to the coordinate position in the rectangular coordinate system, and calculate the normal vector of the plane formed by the three coordinate positions in the rectangular coordinate system; Converting the normal vector in the rectangular coordinate system into a coordinate position in the horizontal coordinate system to obtain the horizontal coordinate of the rotation axis; The deviation of the rotation axis is obtained according to the horizontal coordinates of the rotation axis and the standard horizontal coordinates of the rotation axis when the rotation axis is in an absolute vertical position.

10. The calibration device according to claim 4, characterized in that: The deviation comprises a third deviation between the actual position coordinates of the celestial body image acquired by the imaging device when the rotation axis is at the current position and the command position coordinates of the celestial body image acquired by the imaging device when the rotation axis is at the absolute vertical position; In the process of obtaining the deviation between the current position of the rotation axis of the imaging device and the ideal position according to at least three images of the celestial body at different spatial positions, the deviation analysis module is specifically used for: Taking the first celestial body image as a reference image and obtaining a reference origin; Acquire at least two sets of command position coordinates and actual position coordinates of the second object image relative to the reference origin; wherein the command position coordinates represent the position coordinates of the second object image acquired by the imaging device when the rotation axis is in an absolute vertical position, and the actual position coordinates represent the coordinate position of the second object image acquired by the imaging device when the rotation axis is in a current position; The third deviation amount is calculated based on at least two sets of command position coordinates and actual position coordinates of the second object image.

11. The calibration device according to claim 10, characterized in that: In the process of calculating the third deviation amount based on the command position coordinates and the actual position coordinates of at least two sets of the second object images, the deviation analysis module is specifically used to: Based on at least two sets of command position coordinates and actual position coordinates of the second object image, calculating a transformation matrix from the command position coordinates to the actual position coordinates; The inverse matrix of the transformation matrix is ​​calculated to obtain the third deviation.

12. The calibration device according to claim 10, characterized in that: When the deviation is the third deviation: The deviation compensation unit is used to compensate the current position of the rotating axis using the third deviation to obtain a virtual command coordinate; The device control unit is specifically used to control the imaging device to work under the virtual instruction coordinates during the imaging process of the imaging device.

13. A calibration method for an imaging device, characterized in that: The calibration method comprises: Obtaining a deviation between a current position of a rotation axis of an imaging device and an ideal position based on at least three images of the celestial body at different spatial positions; Based on the amount of deviation, the imaging device is calibrated.

14. The calibration method according to claim 13, characterized in that: in, The deviation comprises a first deviation between a current position of the rotation axis and an absolute vertical position; The step of calibrating the imaging device based on the deviation comprises: Using the first deviation, compensating for the current position of the rotation axis to obtain a virtual horizontal position of the imaging device; The theodolite is controlled to work in the virtual horizontal position.

15. The calibration method according to claim 13, characterized in that: in, The deviation comprises a second deviation between the current position of the rotation axis and the position of the north celestial pole in the same coordinate system; and calibrating the imaging device based on the deviation comprises: Using the second deviation, compensating the current position of the rotation axis to obtain a virtual North Pole position of the rotation axis; A device control signal including the second deviation amount and / or the virtual north celestial pole position is generated.

16. The calibration method according to claim 13, characterized in that: in, The deviation comprises a third deviation between the actual position coordinates of the celestial body image acquired by the imaging device when the rotation axis is at the current position and the command position coordinates of the celestial body image acquired by the imaging device when the rotation axis is at the absolute vertical position; The step of calibrating the imaging device based on the deviation comprises: Using the third deviation, compensating the current position of the rotation axis to obtain the virtual command coordinates; During the imaging process of the imaging device, the imaging device is controlled to work under the virtual instruction coordinates.

17. An imaging device, characterized in that: The imaging device comprises: an imaging module, a theodolite and a controller; The imaging module and the theodolite are connected to the controller; The imaging module is configured to acquire at least three celestial body images at different spatial positions and send the celestial body images to the controller; The controller is configured to compensate the current position of the rotation axis based on the celestial body image to obtain a virtual position, and send the virtual position to the theodolite; The theodolite is configured to receive the virtual position.

18. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory stores program instructions, and when the processor runs the program instructions, the steps in the method according to any one of claims 13 to 16 are executed.

19. A computer program product, characterized in that The computer program product comprises a computer program / instruction, which implements the steps of the method according to any one of claims 13 to 16 when executed by a processor.

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