Three-dimensional mapping satellite image and non-three-dimensional mapping satellite image combined adjustment method

Abstract

The embodiment of the invention discloses a combined adjustment method for a three-dimensional surveying and mapping satellite image and a non-three-dimensional surveying and mapping satellite image, and relates to the technical field of optical satellite remote sensing image processing, and the method comprises the steps: obtaining a connection point pair between three-dimensional surveying and mapping satellite images and a connection point pair between the three-dimensional surveying and mapping satellite images and the non-three-dimensional surveying and mapping satellite images, and generating a virtual control point pair; obtaining a refined RFM model based on a three-dimensional mapping satellite image block adjustment result, and updating to obtain a new virtual control point pair; and constructing an adjustment model between the three-dimensional mapping satellite image and the non-three-dimensional mapping satellite image, and calculating an image space error compensation parameter of the non-three-dimensional mapping satellite image and a coordinate correction number of the object point to obtain an object point coordinate. According to the method provided by the invention, the virtual control point is generated by using the stereoscopic mapping satellite image geometric model, and DEM data is replaced, so that the defect of relatively high operation cost caused by the DEM data in related technologies is avoided, and the geometric positioning precision of the non-stereoscopic mapping satellite image is improved.

Description

Technical Field

[0001] The present application relates to the technical field of optical satellite remote sensing image processing, and in particular to a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images. Background Art

[0002] High-resolution optical satellite images with near-vertical imaging are the main data source for producing digital orthophoto maps (DOM). In order to ensure the accuracy of DOM products, it is necessary to perform block adjustment on the processed optical satellite images to eliminate the errors in the geometric model of the optical satellite images. However, since the base height of such near-vertical optical satellite images is relatively small, the intersection angle of the same-name rays is usually less than 10°, showing a weak intersection state. In the process of block adjustment, the weak intersection images are prone to the situation where the elevation errors of the connection points are amplified, which will lead to the problem of difficult convergence of the adjustment. In actual production, the block adjustment method of adding DEM is generally adopted. The elevation coordinates of the connection points are obtained by DEM interpolation, and only the plane coordinates of the connection points are solved, so as to solve the problem of non-convergence of the adjustment of weak intersection images. However, the research and development process of large-scale high-precision DEM products requires a lot of manpower and material resources for editing to ensure the accuracy of DEM products, that is, the accuracy of general DEM products does not meet the requirements, and the cost of DEM products that meet the requirements is difficult to afford.

[0003] Therefore, a low-cost non-stereo mapping satellite image block adjustment processing method is needed to improve the geometric positioning accuracy of non-stereo mapping satellite images. Summary of the invention

[0004] The embodiment of the present application provides a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, which uses a geometric model of stereoscopic mapping satellite images to generate virtual control points, and uses them to replace DEM data, thereby avoiding the defect of high operating costs caused by DEM data in the above-mentioned related technologies, while improving the geometric positioning accuracy of non-stereoscopic mapping satellite images. The technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, characterized in that it includes:

[0006] Acquire a first pair of connection points between stereoscopic mapping satellite images, and acquire a second pair of connection points between the stereoscopic mapping satellite image and the non-stereoscopic mapping satellite image;

[0007] Generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0008] Performing a block adjustment of a stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result;

[0009] Recalculate and obtain new virtual control point pairs based on the second RFM model;

[0010] An adjustment model between the stereoscopic mapping satellite image and the non-stereoscopic mapping satellite image is constructed by taking the image point coordinates of the first connection point pair, the second connection point pair and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first connection point pair and the weight of the second connection point pair;

[0011] Calculate the image square error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and the coordinate correction numbers of the corresponding object points based on the adjustment model;

[0012] The coordinates of the object point of the non-stereo mapping satellite image in the second tie point pair are output based on the error compensation parameter and the coordinate correction number.

[0013] In an optional solution of the first aspect, generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on the stereo mapping satellite image and the first RFM model corresponding to the stereo mapping satellite image includes:

[0014] Based on the stereo mapping satellite image, a uniformly distributed grid is generated according to a preset pixel interval, the center point of each grid unit in the grid is selected, the elevation reference plane is determined based on the first RFM model, and the object point corresponding to the center point of each grid unit is obtained through spatial forward intersection, and the center point of each grid unit and the corresponding object point are used as virtual control points to form a virtual control point pair.

[0015] In an optional solution of the first aspect, the performing of a stereo mapping satellite image block adjustment using the image point coordinates of the first connection point pair and the virtual control point pair as observation values ​​includes:

[0016] The image-space error compensation parameters of the first connection point pair and the virtual control point pair are compensated to the first RFM model to obtain a compensated RFM model:

[0017]

[0018] Based on the compensated RFM model, the image point coordinates in the first connection point pair and the image point coordinates in the virtual control point pair are taken as observation values ​​to establish a basic adjustment model, and obtain:

[0019]

[0020] Among them, (l, s) is the image point coordinates, Δl, Δs are the error compensation parameters of the image point coordinates, (U, V, W) is the normalized coordinates of the corresponding object point coordinates (Lon, Lat, Height), F x 、F y To compensate for the mathematical deformation of the RFM model, G x , G y is the mathematical deformation of the basic adjustment model, Num L / S is the molecular polynomial composed of RFM model parameters, Den L / S is the denominator polynomial consisting of the RFM model parameters.

[0021] In an optional solution of the first aspect, obtaining an adjustment result based on the basic adjustment model includes:

[0022] Based on the basic adjustment model, linearization processing is performed to obtain the linearized error equation:

[0023]

[0024] Based on the indirect adjustment principle, the observation error equation constructed by the image points in all connection point pairs and the image points in the virtual control point pairs is written into a matrix form, and the result is:

[0025]

[0026] According to the least squares adjustment principle, the observation error equation in matrix form is normalized to obtain the normal equation:

[0027]

[0028] Solving the normal equation to obtain the adjustment result;

[0029] Among them, v l 、v s is the residual vector of the image point coordinate observation value, O is the residual vector of the image point coordinate observation value, the subscript vc represents the virtual control point, the subscript tp represents the connection point, x is the error compensation parameter, t is the coordinate correction number, A and B are the partial derivative coefficient matrices, L is a constant vector, P is the weight matrix, and T represents matrix inversion.

[0030] In an optional solution of the first aspect, obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result includes:

[0031] The adjustment result includes error compensation parameters corresponding to the stereo mapping satellite image obtained by solving the normal equation, and coordinates of object points corresponding to each connection point in the first connection point pair obtained by spatial forward intersection based on the error compensation parameters and the first RFM model;

[0032] Iterative calculation is performed based on the error compensation parameter and the coordinates of the object point corresponding to each connection point until the difference between two adjacent adjustment results is less than a preset threshold, and the adjustment result of the last iterative calculation is output;

[0033] The second RFM model is obtained based on the adjustment result of the last iterative calculation.

[0034] In an optional solution of the first aspect, the recalculating a new virtual control point pair based on the second RFM model includes:

[0035] Calculate the same-name image points in the forward-view image and the rear-view image of the virtual control point pair of the downward-view image in the stereoscopic mapping satellite image based on the second RFM model, and calculate the object points corresponding to the same-name image points through spatial forward intersection;

[0036] The new virtual control point pair is obtained based on the image points with the same name and the object points corresponding to the image points with the same name.

[0037] In an optional solution of the first aspect, the calculating, based on the adjustment model, the image space error compensation parameters of the non-stereo mapping satellite image and the coordinate correction numbers of the corresponding object points in the second connection point pair includes:

[0038] Determine the same-name connection points in the stereo mapping satellite image based on the second connection point pair, obtain corresponding elevation coordinates through spatial forward intersection based on the second RFM model of the stereo mapping satellite image with the same-name connection points, and assign the elevation coordinates to the elevation coordinates of the object points corresponding to the connection points in the second connection point pair;

[0039] The image space error compensation parameters of the non-stereo mapping satellite image in the second connection point pair and the plane coordinate correction numbers of the corresponding object points are calculated based on the adjustment model.

[0040] In a second aspect, the embodiment of the present application further provides a device for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, including:

[0041] A connection point acquisition module, used to acquire a first connection point pair between stereoscopic mapping satellite images, and to acquire a second connection point pair between a stereoscopic mapping satellite image and a non-stereoscopic mapping satellite image;

[0042] A virtual control point generation module, used to generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0043] A calculation module, used for performing a block adjustment of a stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result;

[0044] The virtual control point generation module is further used to recalculate new virtual control point pairs based on the second RFM model;

[0045] The calculation module is also used to construct an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image using the image point coordinates of the first connection point pair, the second connection point pair and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first connection point pair and the weight of the second connection point pair;

[0046] The calculation module is also used to calculate the image square error compensation parameters of the non-stereo mapping satellite image in the second connection point pair and the coordinate correction number of the corresponding object point according to the adjustment model;

[0047] The calculation module is further configured to output the coordinates of the object point of the non-stereo mapping satellite image in the second connection point pair based on the error compensation parameter and the coordinate correction number.

[0048] In a third aspect, an embodiment of the present application further 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 method provided in the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect is implemented.

[0049] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided by the first aspect of the embodiment of the present application or any one of the implementations of the first aspect.

[0050] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0051] The embodiment of the present application provides a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, which has at least the following technical effects:

[0052] (1) Stereo mapping satellite images are used as elevation references to provide elevation constraints for non-stereo mapping satellite image regional network adjustment. Only the plane coordinate corrections of the non-stereo mapping satellite image connection points need to be solved, that is, only the longitude and latitude need to be calculated to solve the non-convergence problem of non-stereo mapping satellite weak intersection image adjustment;

[0053] (2) Directly using stereo mapping satellite images to provide elevation constraints for the regional network adjustment of non-stereo mapping satellite images can avoid manual editing in the production process of DEM products. Without relying on DEM products, it can greatly reduce operating costs, improve operating efficiency, and ensure positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 It is a flow chart of a method for joint adjustment of a stereoscopic mapping satellite image and a non-stereoscopic mapping satellite image according to an embodiment of the present application;

[0056] Figure 2 It is a structural schematic diagram of a device for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images provided in an embodiment of the present application;

[0057] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0060] It should be noted that the terms "first\second" involved in the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those described or illustrated herein.

[0061] Please refer to the following Figure 1 , which is a flow chart of a method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images provided by an exemplary embodiment of the present application. Figure 1 As shown, the combined adjustment method of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images includes the following steps:

[0062] S101, obtaining a first connection point pair between stereoscopic mapping satellite images, and obtaining a second connection point pair between a stereoscopic mapping satellite image and a non-stereoscopic mapping satellite image;

[0063] S102, generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0064] S103, performing block adjustment of stereo mapping satellite images by taking the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result.

[0065] It should be noted that the above steps S101-S103 are used to calculate an accurate RFM model, i.e., an optical satellite image rational function model (RFM), based on the first connection point pair between the stereo mapping satellite images, so that it can be used as a substitute for DEM products to provide accurate elevation information.

[0066] Specifically, the connection points in each pair of stereo mapping satellite images corresponding to the first connection point pair in S101 should be evenly distributed, that is, the spacing between the connection points in each pair of stereo mapping satellite images is roughly the same, and the number of connection points is roughly the same. For example, the number of connection points in each pair of stereo mapping satellite images is not less than 25.

[0067] Specifically, two adjacent stereo mapping satellite images have common connection points in the overlapping area, ie, common connection points, and the number of the common connection points is not less than a preset threshold value, for example, not less than 5.

[0068] It can be understood that the connection point corresponding to the second connection point pair should be the full-scale point.

[0069] Specifically, the step of generating a virtual control point pair in S102 specifically includes:

[0070] Based on the stereo mapping satellite image, a uniformly distributed grid is generated according to a preset pixel interval, the center point of each grid unit in the grid is selected, the elevation reference plane is determined based on the first RFM model, and the object point corresponding to the center point of each grid unit is obtained through spatial forward intersection, and the center point of each grid unit and the corresponding object point are used as virtual control points to form a virtual control point pair.

[0071] Specifically, for the downward-looking image of the stereo mapping satellite in a given test area, a uniformly distributed grid is generated at preset intervals, and the center point of each grid unit is taken, and then the image point of each center point can be determined to obtain the position coordinates of the image point.

[0072] Specifically, the corresponding elevation reference surface may be determined based on the HEIGHT_OFF parameter of the elevation reference surface determined by the first RFM model corresponding to the downward-looking image.

[0073] It can be understood that the first RFM model is the original RFM model of the corresponding image, that is, the mapping relationship between the coordinates of the satellite image points and the coordinates of the corresponding object points established based on the rational polynomial, which is expressed as:

[0074]

[0075] Num L (U,V,W)=a1+a2V+a3U+a4W+a5VU+a6VW+a7UW+a8V 2 +a9U 2 +a 10 W 2 +a 11 VUW+a 12 V 3 +a 13 VU 2 +a 14 VW 2 +a 15 V 2 U+a 16 U 3 +a 17 UW 2 +a 18 V 2 W+a 19 U 2 W+a 20 W 3 ;

[0076] Den L(U,V,W)=b1+b2V+b3U+b4W+b5VU+b6VW+b7UW+b8V 2 +b9U 2 +b 10 W 2 +b 11 VUW+b 12 V 3 +b 13 VU 2 +b 14 VW 2 +b 15 V 2 U+b 16 U 3 +b 17 UW 2 +b 18 V 2 W+b 19 U 2 W+b 20 W 3 4

[0077] Man S (U,V,W)=c1+c2V+c3U+c4W+c5VU+c6VW+c7UW+c8V 2 +c9U 2 +c 10 W 2 +c 11 VUW+c 12 V 3 +c 13 VU 2 +c 14 VW 2 +c 15 V 2 U+c 16 U 3 +c 17 UW 2 +c 18 V 2 W+c 19 U 2 W+c 20 W 3 4

[0078] They S (U,V,W)=d1+d2V+d3U+d4W+d5VU+d6VW+d7UW+d8V 2 +d9U 2 +d 10 W 2 +d 11 VUW+d 12 V 3+d 13 VV 2 +d 14 VW 2 +d 15 V 2 U+d 16 U 3 +d 17 UW 2 +d 18 V 2 W+d 19 U 2 W+d 20 W 3 ;

[0079] In the formula, (l n ,s n ) is the normalized coordinate corresponding to the image coordinate (l, s), ranging from [-1, 1]; LineOff, SampleOff are the translation values ​​of the image coordinate; LineScale, SampleScale are the scaling values ​​of the image coordinate; (U, V, W) is the normalized coordinate corresponding to the object point coordinate (Lon, Lat, Height), ranging from [-1, 1]; LonOff, LatOff, HeiOff are the translation values ​​of the object point coordinate, LonScale, LatScale, HeiScale are the scaling values ​​of the object point coordinate; a i 、b i 、c i d i (i=1~20) is the RFM model parameter.

[0080] Specifically, S103 includes the following steps:

[0081] The image-space error compensation parameters of the first connection point pair and the virtual control point pair are compensated to the first RFM model to obtain a compensated RFM model:

[0082]

[0083] Based on the compensated RFM model, the image point coordinates in the first connection point pair and the image point coordinates in the virtual control point pair are taken as observation values ​​to establish a basic adjustment model, and obtain:

[0084]

[0085] Among them, (l, s) is the image point coordinates, Δl, Δs are the error compensation parameters of the image point coordinates, (U, V, W) is the normalized coordinates of the corresponding object point coordinates (Lon, Lat, Height), F x 、F yTo compensate for the mathematical deformation of the RFM model, G x , G y is the mathematical deformation of the basic adjustment model, Num L / S is the molecular polynomial composed of RFM model parameters, Den L / S is the denominator polynomial consisting of the RFM model parameters.

[0086] Specifically, the image-side error compensation parameters Δl and Δs can be expressed as:

[0087]

[0088] Among them, u, r, and L are correction parameters.

[0089] Furthermore, for the connection point, since its unknown parameters include not only the RFM image point error compensation parameters of the image where the image point is located, but also the corresponding object point coordinates, a linearization process is performed based on the basic adjustment model to obtain the linearized error equation:

[0090]

[0091] For the virtual control point, the coordinates of the object point corresponding to the image point of the virtual control point can be calculated by the spatial forward intersection. Therefore, the parameters that need to be solved in the above linearized error equation only include the error compensation parameters of the RFM model of the stereo mapping satellite image corresponding to the image point of the virtual control point. The model of the error compensation parameters corresponding to the image point of the RFM model is a linear equation and does not need to be linearized.

[0092] Based on the indirect adjustment principle, the observation error equation constructed by the image points in all connection point pairs and the image points in the virtual control point pairs is written into a matrix form, and the result is:

[0093]

[0094] According to the least squares adjustment principle, the observation error equation in matrix form is normalized to obtain the normal equation:

[0095]

[0096] Solving the normal equation to obtain the adjustment result;

[0097] Among them, v l 、v s is the residual vector of the image point coordinate observation value, O is the residual vector of the image point coordinate observation value, the subscript vc represents the virtual control point, the subscript tp represents the connection point, x is the error compensation parameter, t is the coordinate correction number, A and B are the partial derivative coefficient matrices, L is a constant vector, P is the weight matrix, and T represents matrix inversion.

[0098] Understandably, the above P VC represents the weight of the virtual control point, P tp Represents the weight of the connection point. The weight of the virtual control point should be greater than the weight of the connection point.

[0099] In some embodiments, during the adjustment process, the dimension of the coordinates t of the connecting point object point is usually much higher than the error compensation parameter x corresponding to the image. The coordinates t of the connecting point can be eliminated first, and a modified equation containing only the error compensation parameter x can be constructed, including:

[0100] [A T AA T B(B T B) -1 B T A]x=A T LA T B(B T B) -1 B T L;

[0101] Specifically, the above adjustment results include error compensation parameters corresponding to the stereo mapping satellite image obtained by solving the method equation, and coordinates of object points corresponding to each connection point in the first connection point pair obtained by spatial forward intersection based on the error compensation parameters and the first RFM model;

[0102] Iterative calculation is performed based on the error compensation parameter and the coordinates of the object point corresponding to each connection point until the difference between two adjacent adjustment results is less than a preset threshold, and the adjustment result of the last iterative calculation is output;

[0103] The second RFM model is obtained based on the adjustment result of the last iterative calculation.

[0104] Optionally, the number of iterative calculations can also be set. Each iteration generates a new RFM model based on the result of the previous iteration, and the current iteration steps are performed based on RFM. For details, please refer to the description in steps S102 and S103. The second RFM model, that is, the refined RFM model, is output with the last adjustment result, which is beneficial to improve the accuracy of elevation information.

[0105] In some embodiments, after generating the refined second RFM model, the following steps are performed to implement a hybrid block adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, including:

[0106] S104: Recalculate and obtain new virtual control point pairs based on the second RFM model.

[0107] Specifically, according to the second RFM model, it is easy to calculate the coordinates of the corresponding object point according to the image points of the virtual control points in the virtual control point pair, thereby updating the virtual control points, and then obtaining the above new virtual control point pair.

[0108] Specifically, the virtual control point pair generated in S102 is generated based on the downward-looking image, and the same-name image points of the virtual control point pair of the downward-looking image in the stereoscopic mapping satellite image in the forward-looking image and the rearward-looking image are calculated based on the second RFM model, and the object points corresponding to the same-name image points are calculated by spatial forward intersection;

[0109] The new virtual control point pair is obtained based on the image points with the same name and the object points corresponding to the image points with the same name.

[0110] S105, using the image point coordinates of the first connection point pair, the second connection point pair and the new virtual control point pair as observation values, constructing an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image; wherein the weight of the new virtual control point pair is greater than the weight of the first connection point pair and the weight of the second connection point pair.

[0111] Specifically, the adjustment model described in S105 can refer to the description in S103, which will not be repeated here.

[0112] Specifically, giving greater weights to virtual control points in stereoscopic mapping satellite images can ensure that they can play a control and constraint role on the regional network adjustment results of non-stereo mapping satellite images, thereby improving the geometric positioning accuracy of non-stereo mapping satellite images.

[0113] S106, calculating image space error compensation parameters of the non-stereo mapping satellite image and coordinate correction numbers of corresponding object points in the second connection point pair based on the adjustment model.

[0114] Specifically, based on the second connection point pair, the connection points with the same name in the stereo mapping satellite image are determined, and the corresponding elevation coordinates are obtained through spatial forward intersection based on the second RFM model of the stereo mapping satellite image with the connection points with the same name, and the elevation coordinates are assigned to the elevation coordinates of the object points corresponding to the connection points in the second connection point pair.

[0115] It can be understood that the refined RFM model can provide precise elevation coordinates for the corresponding object points of non-stereo mapping satellite images, thereby replacing DEM products and reducing the parameters to be solved for coordinate correction numbers. It is only necessary to calculate the longitude and latitude of the corresponding object points without additional calculation of elevation. This can avoid the defect of high operating costs caused by the existing technology's reliance on DEM products, and can also solve the problem of non-convergence of weak intersection image adjustment of non-stereo mapping satellites, thereby improving operating efficiency.

[0116] Specifically, the image space error compensation parameters of the non-stereo mapping satellite image in the second connection point pair and the plane coordinate correction numbers of the corresponding object points can be calculated based on the adjustment model.

[0117] It can be understood that the plane coordinate correction number is the correction number for longitude and latitude.

[0118] Specifically, please refer to the description of S103 for the process of solving the error compensation parameters and the plane coordinate correction numbers based on the adjustment model. The limit of the number of iterations can be set, or the results of two adjacent iterations can be compared. When the difference between the two iteration results is less than a preset threshold or the number of iterations reaches the limit, the calculation result is output, that is, the image error compensation parameters of the non-stereo mapping satellite image and the plane coordinate correction numbers of the corresponding object points are output.

[0119] S107: Output the coordinates of the object point of the non-stereo mapping satellite image in the second connection point pair based on the error compensation parameter and the coordinate correction number.

[0120] It can be understood that based on the calculated error compensation parameters and coordinate correction numbers, it is easy to determine the coordinates of the object points of the non-stereo mapping satellite image.

[0121] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0122] See next Figure 2 , is a schematic diagram of the structure of a combined adjustment device for stereoscopic mapping satellite images and non-stereoscopic mapping satellite images provided by an exemplary embodiment of the present application. The combined adjustment device for stereoscopic mapping satellite images and non-stereoscopic mapping satellite images in the embodiment of the present application includes a connection point acquisition module 210, a virtual control point generation module 220 and a calculation module 230, wherein:

[0123] The connection point acquisition module 210 is used to acquire a first connection point pair between stereoscopic mapping satellite images and a second connection point pair between a stereoscopic mapping satellite image and a non-stereoscopic mapping satellite image;

[0124] A virtual control point generation module 220, configured to generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image;

[0125] The calculation module 230 is used to perform a block adjustment of the stereo mapping satellite image by taking the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtain a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result;

[0126] The virtual control point generation module 220 is further used to recalculate new virtual control point pairs based on the second RFM model;

[0127] The calculation module 230 is further used to construct an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image using the image point coordinates of the first connection point pair, the second connection point pair and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first connection point pair and the weight of the second connection point pair;

[0128] The calculation module 230 is also used to calculate the image square error compensation parameters of the non-stereo mapping satellite image in the second connection point pair and the coordinate correction number of the corresponding object point according to the adjustment model;

[0129] The calculation module 230 is further configured to output the coordinates of the object point of the non-stereo mapping satellite image in the second tie point pair based on the error compensation parameter and the coordinate correction number.

[0130] It should be noted that the device 2 provided in the above embodiment only uses the division of the above functional modules as an example when executing the method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the embodiment of the method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images belong to the same concept. The implementation process is detailed in the method embodiment, which will not be repeated here.

[0131] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the program.

[0132] See also Figure 3 , which is a structural block diagram of an electronic device provided in an embodiment of the present application.

[0133] like Figure 3 As shown, the electronic device 300 includes: a processor 301 and a memory 302 .

[0134] In the embodiment of the present application, the processor 301 is the control center of the computer system, which can be a processor of a physical machine or a processor of a virtual machine. The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array).

[0135] The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also called a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0136] The memory 302 may include one or more computer-readable storage media, which may be non-transitory. The memory 302 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 302 is used to store at least one instruction, which is used to be executed by the processor 301 to implement the method in the embodiment of the present application.

[0137] In some embodiments, the electronic device 300 further includes: a peripheral device interface 303 and at least one peripheral device 304. The processor 301, the memory 302 and the peripheral device interface 303 can be connected via a bus or a signal line. Each peripheral device 304 can be connected to the peripheral device interface 303 via a bus, a signal line or a circuit board. Specifically, the peripheral device 304 includes: a display screen, a camera and an audio circuit. The peripheral device interface 303 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 301 and the memory 302.

[0138] In some embodiments of the present application, the processor 301, the memory 302, and the peripheral device interface 303 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 301, the memory 302, and the peripheral device interface 303 can be implemented on a separate chip or circuit board. This embodiment of the present application does not specifically limit this.

[0139] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 300. The electronic device 300 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0140] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0141] 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, by hardware. Based on this understanding, the above technical solution can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which 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 embodiment.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 application.

Claims

1. A method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, characterized in that: include: Acquire a first pair of connection points between stereoscopic mapping satellite images, and acquire a second pair of connection points between the stereoscopic mapping satellite image and the non-stereoscopic mapping satellite image; Generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image; Performing a block adjustment of a stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result; Recalculate a new virtual control point pair based on the second RFM model; An adjustment model between the stereoscopic mapping satellite image and the non-stereoscopic mapping satellite image is constructed by taking the image point coordinates of the first connection point pair, the second connection point pair and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first connection point pair and the weight of the second connection point pair; Calculate the image square error compensation parameters of the non-stereo mapping satellite image in the second tie point pair and the coordinate correction numbers of the corresponding object points based on the adjustment model; The coordinates of the object point of the non-stereo mapping satellite image in the second tie point pair are output based on the error compensation parameter and the coordinate correction number.

2. The method for combining stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, characterized in that: The step of generating virtual control point pairs evenly distributed in the stereo mapping satellite image based on the stereo mapping satellite image and the first RFM model corresponding to the stereo mapping satellite image includes: Based on the stereo mapping satellite image, a uniformly distributed grid is generated according to a preset pixel interval, the center point of each grid unit in the grid is selected, the elevation reference plane is determined based on the first RFM model, and the object point corresponding to the center point of each grid unit is obtained through spatial forward intersection, and the center point of each grid unit and the corresponding object point are used as virtual control points to form a virtual control point pair.

3. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, characterized in that: The method of performing a block adjustment of a stereoscopic mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values ​​includes: The image-space error compensation parameters of the first connection point pair and the virtual control point pair are compensated to the first RFM model to obtain a compensated RFM model: Based on the compensated RFM model, the image point coordinates in the first connection point pair and the image point coordinates in the virtual control point pair are taken as observation values ​​to establish a basic adjustment model, and the following is obtained: Among them, (l, s) is the image point coordinates, △l, △s are the error compensation parameters of the image point coordinates, (U, V, W) is the normalized coordinates of the corresponding object point coordinates (Lon, Lat, Height), F x 、F y To compensate for the mathematical deformation of the RFM model, G x , G y is the mathematical deformation of the basic adjustment model, Num L / S is the molecular polynomial composed of RFM model parameters, Den L / S is the denominator polynomial consisting of the RFM model parameters.

4. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 3, characterized in that: The adjustment results are obtained based on the basic adjustment model, including: Based on the basic adjustment model, linearization processing is performed to obtain the linearized error equation: Based on the indirect adjustment principle, the observation error equation constructed by the image points in all connection point pairs and the image points in the virtual control point pairs is written into a matrix form, and the result is: According to the least squares adjustment principle, the observation error equation in matrix form is normalized to obtain the normal equation: Solving the normal equation to obtain the adjustment result; Among them, v l 、v s is the residual vector of the image point coordinate observation value, O is the residual vector of the image point coordinate observation value, the subscript vc represents the virtual control point, the subscript tp represents the connection point, x is the error compensation parameter, t is the coordinate correction number, A and B are the partial derivative coefficient matrices, L is a constant vector, P is the weight matrix, and T represents matrix inversion.

5. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 4, characterized in that: The second RFM model corresponding to the stereo mapping satellite image is obtained based on the adjustment result, including: The adjustment result includes error compensation parameters corresponding to the stereo mapping satellite image obtained by solving the normal equation, and coordinates of object points corresponding to each connection point in the first connection point pair obtained by spatial forward intersection based on the error compensation parameters and the first RFM model; Iterative calculation is performed based on the error compensation parameter and the coordinates of the object point corresponding to each connection point until the difference between two adjacent adjustment results is less than a preset threshold, and the adjustment result of the last iterative calculation is output; The second RFM model is obtained based on the adjustment result of the last iterative calculation.

6. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, characterized in that: The recalculating a new virtual control point pair based on the second RFM model includes: Calculate the same-name image points in the forward-view image and the rear-view image of the virtual control point pair of the downward-view image in the stereoscopic mapping satellite image based on the second RFM model, and calculate the object points corresponding to the same-name image points through spatial forward intersection; The new virtual control point pair is obtained based on the image points with the same name and the object points corresponding to the image points with the same name.

7. The method for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images according to claim 1, characterized in that: The step of calculating the image square error compensation parameters of the non-stereo mapping satellite image and the coordinate correction numbers of the corresponding object points in the second connection point pair based on the adjustment model includes: Determine the same-name connection points in the stereo mapping satellite image based on the second connection point pair, obtain corresponding elevation coordinates through spatial forward intersection based on the second RFM model of the stereo mapping satellite image with the same-name connection points, and assign the elevation coordinates to the elevation coordinates of the object points corresponding to the connection points in the second connection point pair; The image space error compensation parameters of the non-stereo mapping satellite image in the second connection point pair and the plane coordinate correction numbers of the corresponding object points are calculated based on the adjustment model.

8. A device for joint adjustment of stereoscopic mapping satellite images and non-stereoscopic mapping satellite images, characterized in that: include: A connection point acquisition module, used to acquire a first connection point pair between stereoscopic mapping satellite images, and to acquire a second connection point pair between a stereoscopic mapping satellite image and a non-stereoscopic mapping satellite image; A virtual control point generation module, used to generate virtual control point pairs evenly distributed in the stereo mapping satellite image based on a first RFM model corresponding to the stereo mapping satellite image; A calculation module, used for performing a block adjustment of a stereo mapping satellite image using the image point coordinates of the first connection point pair and the virtual control point pair as observation values, and obtaining a second RFM model corresponding to the stereo mapping satellite image based on the adjustment result; The virtual control point generation module is further used to recalculate new virtual control point pairs based on the second RFM model; The calculation module is also used to construct an adjustment model between the stereo mapping satellite image and the non-stereo mapping satellite image using the image point coordinates of the first connection point pair, the second connection point pair and the new virtual control point pair as observation values; wherein the weight of the new virtual control point pair is greater than the weight of the first connection point pair and the weight of the second connection point pair; The calculation module is also used to calculate the image square error compensation parameters of the non-stereo mapping satellite image in the second connection point pair and the coordinate correction number of the corresponding object point according to the adjustment model; The calculation module is further configured to output the coordinates of the object point of the non-stereo mapping satellite image in the second connection point pair based on the error compensation parameter and the coordinate correction number.

9. 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 steps of the method according to any one of claims 1 to 7 are implemented.

10. 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 steps of the method according to any one of claims 1 to 7 are implemented.

Images