Optical satellite remote sensing image autonomous accurate positioning method and device

Abstract

The invention relates to an optical satellite remote sensing image autonomous accurate positioning method and device, and the method comprises the steps: obtaining two pieces of image data of a target region and imaging data corresponding to the two pieces of image data at different observation angles through a target ground load of a target satellite, respectively constructing an imaging equation corresponding to each piece of image data according to the imaging data; constructing an error equation based on the imaging equation, the mounting angle of the target ground load and the latitude and longitude information of the homonymy point between the two image data; and linearizing the error equation to generate a linearized error equation, solving the linearized error equation to obtain a target homonymy point latitude and longitude and a target load mounting angle corresponding to the target satellite, and performing autonomous positioning of the target satellite according to the target homonymy point latitude and longitude and the target load mounting angle. Therefore, the problems that a traditional calibration technology based on ground reference data highly depends on the precision and timeliness of an external reference image, the geometric calibration precision is greatly influenced and the like are solved.

Description

Technical Field

[0001] The present application relates to the technical field of aerospace photography silhouette measurement, and in particular to an autonomous and precise positioning method and device for optical satellite remote sensing images. Background Art

[0002] At present, high-precision ground geometric positioning technology of remote sensing images has become an important technology in the field of aerospace photogrammetry, and optical payload geometric calibration technology is an indispensable key step in achieving high-precision geometric positioning. High-precision solution of the installation matrix of remote sensing payloads is of great significance for eliminating image geometric positioning system errors and improving remote sensing image positioning accuracy.

[0003] Traditional remote sensing image geometric positioning technology is based on high-precision ground reference data to match the control points between the image to be calibrated and the reference image. The control point coordinates are combined with the pinhole imaging model to complete the solution of the remote sensing payload installation matrix. It has high accuracy and has now developed into a relatively mature and widely used general technology.

[0004] However, traditional calibration technology based on ground reference data is highly dependent on the accuracy and timeliness of external reference images. When the resolution of external reference images is not sufficient to support calibration or the reference images are old, the accuracy of geometric calibration will drop significantly, which needs to be solved urgently. Summary of the invention

[0005] The present application provides an autonomous and precise positioning method and device for optical satellite remote sensing images to solve the problems that traditional calibration technology based on ground reference data is highly dependent on the accuracy and timeliness of external reference images, which greatly affects the accuracy of geometric calibration.

[0006] The first aspect of the present application provides a method for autonomous and precise positioning of optical satellite remote sensing images, comprising the following steps: acquiring two image data of a target area and imaging data corresponding to the two image data at different observation angles through a target ground payload of a target satellite, and constructing imaging equations corresponding to each image data according to the imaging data; constructing an error equation of the target satellite based on the imaging equation, a preset installation angle parameter of the target ground payload and the longitude and latitude parameter information of the same-name points between the two image data; linearizing the error equation to generate a linearized error equation, and solving the linearized error equation to obtain the longitude and latitude of the target same-name points and the installation angle of the target payload corresponding to the target satellite, and autonomously positioning the target satellite according to the longitude and latitude of the target same-name points and the installation angle of the target payload.

[0007] Optionally, in one embodiment of the present application, the target ground payload of the target satellite obtains two image data of the target area and imaging data corresponding to the two image data at different observation angles, and constructs imaging equations corresponding to each image data according to the imaging data, including: determining the roll angle corresponding to each image data of the two image data, and determining the left image and the right image of the two image data according to the roll angle; based on the roll angle and the imaging data, constructing imaging equations corresponding to the left image and the right image respectively.

[0008] Optionally, in one embodiment of the present application, the error equation of the target satellite is constructed based on the imaging equation, the preset installation angle parameters of the target ground payload and the longitude and latitude parameter information of the same-name points between the two image data, including: matching the same-name points of the two image data to obtain multiple pairs of same-name points, and constructing an unknown number matrix based on the installation angle parameters and the multiple pairs of same-name points; adjusting the imaging equation based on the longitude and latitude parameter information of the same-name points and a preset coordinate transformation relationship using the unknown number matrix, and transforming the adjusted imaging equation to obtain the error equation.

[0009] Optionally, in one embodiment of the present application, the error equation is linearized to generate a linearized error equation, and the linearized error equation is solved to obtain the longitude and latitude of the target homonymous point and the target payload installation angle corresponding to the target satellite, including: based on a preset Taylor formula, the error equation is linearized to obtain the linearized error equation; and the linearized error equation is solved using a preset least squares strategy to obtain the longitude and latitude of the homonymous point and the payload installation angle.

[0010] Optionally, in one embodiment of the present application, the mathematical expression of the error equation is:

[0011] F left,i =f left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0012] G left,i =g left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0013] F right,i =f right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0014] G right,i =g right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0015] Among them, F left,i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the left image imaging equation; left,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the left image imaging equation; F right,i G represents the error value obtained by substituting the latitude and longitude information of the same-name point into the right image imaging equation; right,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents the roll angle in the installation angle of the target payload; pitch represents the pitch angle in the installation angle of the target payload; Lat i Indicates the longitude information of the i-th pair of points with the same name; Lon i Represents the latitude information of the i-th pair of points with the same name.

[0016] The second aspect of the present application provides an optical satellite remote sensing image autonomous and precise positioning device, including: a first construction module, used to obtain two image data of a target area and imaging data corresponding to the two image data at different observation angles through a target ground payload of a target satellite, and construct imaging equations corresponding to each image data according to the imaging data; a second construction module, used to construct an error equation of the target satellite based on the imaging equation, a preset installation angle parameter of the target ground payload and the longitude and latitude parameter information of the same-name point between the two image data; an autonomous positioning module, used to linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain the longitude and latitude of the target same-name point corresponding to the target satellite and the installation angle of the target payload, and perform autonomous positioning of the target satellite according to the longitude and latitude of the target same-name point and the installation angle of the target payload.

[0017] Optionally, in one embodiment of the present application, the first construction module includes: a determination unit, used to determine the roll angle corresponding to each of the two image data, and determine the left image and the right image of the two image data according to the roll angle; and an establishment unit, used to construct imaging equations corresponding to the left image and the right image respectively based on the roll angle and the imaging data.

[0018] Optionally, in one embodiment of the present application, the second construction module includes: a homonymous point matching unit, used to perform homonymous point matching on the two image data to obtain multiple pairs of homonymous points, and construct an unknown number matrix based on the installation angle parameters and the multiple pairs of homonymous points; a transformation unit, used to adjust the imaging equation using the unknown number matrix based on the latitude and longitude parameter information of the homonymous points and a preset coordinate transformation relationship, and transform the adjusted imaging equation to obtain the error equation.

[0019] Optionally, in one embodiment of the present application, the autonomous positioning module includes: a linearization unit, used to linearize the error equation based on a preset Taylor formula to obtain the linearized error equation; a solving unit, used to solve the linearized error equation using a preset least squares strategy to obtain the longitude and latitude of the same-name point and the load installation angle.

[0020] Optionally, in one embodiment of the present application, the mathematical expression of the error equation is:

[0021] F left,i =f left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0022] G left,i =g left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0023] F right,i =f right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n)

[0024] G right,i =g right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0025] Among them, F left,i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the left image imaging equation; left,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the left image imaging equation; F right,i G represents the error value obtained by substituting the latitude and longitude information of the same-name point into the right image imaging equation; right,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents the roll angle in the installation angle of the target payload; pitch represents the pitch angle in the installation angle of the target payload; Lat i Indicates the longitude information of the i-th pair of points with the same name; Lon i Represents the latitude information of the i-th pair of points with the same name.

[0026] The third aspect of the present application 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 executes the program to implement the autonomous and precise positioning method of optical satellite remote sensing images as described in the above embodiment.

[0027] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned optical satellite remote sensing image autonomous precise positioning method.

[0028] The fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the above-mentioned autonomous and precise positioning method of optical satellite remote sensing images.

[0029] Therefore, the embodiments of the present application have the following beneficial effects:

[0030] The embodiments of the present application can obtain two image data of the target area and the imaging data corresponding to the two image data at different observation angles through the target ground payload of the target satellite, and construct the imaging equation corresponding to each image data according to the imaging data; construct the error equation of the target satellite based on the imaging equation, the preset installation angle parameters of the target ground payload and the longitude and latitude parameter information of the same-name point between the two image data; linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain the longitude and latitude of the target same-name point and the installation angle of the target payload corresponding to the target satellite, and autonomously locate the target satellite according to the longitude and latitude of the target same-name point and the installation angle of the target payload, thereby greatly improving the autonomy of satellite calibration and freeing the satellite geometric calibration from the constraints of the ground calibration field. Thus, the problem that the traditional calibration technology based on ground reference data is highly dependent on the accuracy and timeliness of external reference images, which greatly affects the accuracy of geometric calibration, is solved.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0033] Figure 1 A flowchart of an autonomous and precise positioning method for optical satellite remote sensing images provided according to an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the execution logic of an optical satellite remote sensing image autonomous precise positioning method provided for one embodiment of the present application;

[0035] Figure 3 This is an example diagram of an autonomous precise positioning device for optical satellite remote sensing images according to an embodiment of the present application;

[0036] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0037] Among them, 10-optical satellite remote sensing image autonomous precise positioning device; 100-first building module, 200-second building module, 300-autonomous positioning module; 401-memory, 402-processor, 403-communication interface. DETAILED DESCRIPTION

[0038] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0039] The following describes the optical satellite remote sensing image autonomous precise positioning method and device of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides an optical satellite remote sensing image autonomous precise positioning method, in which two image data of the target area and the imaging data corresponding to the two image data are obtained by the target ground payload of the target satellite at different observation angles, and the imaging equation corresponding to each image data is constructed according to the imaging data; based on the imaging equation, the preset installation angle parameters of the target ground payload and the longitude and latitude parameter information of the same name point between the two image data, the error equation of the target satellite is constructed; the error equation is linearized to generate a linearized error equation, and the linearized error equation is solved to obtain the longitude and latitude of the target same name point and the installation angle of the target payload corresponding to the target satellite, and the target satellite is autonomously positioned according to the longitude and latitude of the target same name point and the installation angle of the target payload, thereby greatly improving the autonomy of satellite calibration, so that the satellite geometric calibration is freed from the constraints of the ground calibration field. Thus, the problem that the traditional calibration technology based on ground reference data is highly dependent on the accuracy and timeliness of external reference images, which greatly affects the accuracy of geometric calibration, is solved.

[0040] Specifically, Figure 1 A flowchart of a method for autonomous and precise positioning of optical satellite remote sensing images provided in an embodiment of the present application.

[0041] like Figure 1 As shown, the optical satellite remote sensing image autonomous precise positioning method includes the following steps:

[0042] In step S101, two image data and imaging data corresponding to the two image data of the target area are acquired at different observation angles by the target ground payload of the target satellite, and imaging equations corresponding to each image data are constructed according to the imaging data.

[0043] The embodiments of the present application can first use computer software technology to select the same satellite (i.e., target satellite) and the same ground payload (i.e., target ground payload), and two image data of the same area (i.e., target area) with different observation angles, and the corresponding two imaging data (including image data, attitude data, orbit data, imaging time data, etc.), and based on the two imaging data and the pinhole imaging principle, respectively construct the ground observation geometric models of the two imaging.

[0044] Optionally, in one embodiment of the present application, two image data of the target area and imaging data corresponding to the two image data are acquired at different observation angles by the target ground payload of the target satellite, and imaging equations corresponding to each image data are respectively constructed according to the imaging data, including: determining the roll angle corresponding to each image data in the two image data, and determining the left image and the right image in the two image data according to the roll angle; and constructing imaging equations corresponding to the left image and the right image respectively based on the roll angle and the imaging data.

[0045] It should be noted that when calibrating a remote sensing payload (i.e., a target earth-facing payload) of a remote sensing satellite (i.e., a target satellite), the embodiment of the present application may select data from two imaging of the same area by the payload at different earth observation angles, including image data, imaging attitude data, imaging orbit data, and imaging time data, and construct a corresponding earth observation geometric model (i.e., the imaging equation) based on the pinhole imaging principle.

[0046] In the actual implementation process, based on the pinhole imaging model, the embodiment of the present application can design an imaging model (i.e., an earth observation geometric model) for each imaging as follows:

[0047]

[0048] Among them, x, y, z are the coordinates of the image point in the camera coordinate system, and λ is the scale conversion variable. is the rotation matrix from the satellite body coordinate system to the camera coordinate system, is the rotation matrix from the J2000 coordinate system to the body coordinate system, is the rotation matrix from WGS84 coordinate system to J2000 coordinate system, X g ,Y g ,Z g is the rectangular coordinate of the object point in the WGS84 coordinate system, X gps ,Y gps ,Z gps is the rectangular coordinate of the satellite in the WGS84 coordinate system, and pitch, roll, and yaw are the installation angles of the camera in the satellite body coordinate system.

[0049] Specifically, the embodiment of the present application uses two imaging data of the same area with the same load at different roll angles as input to construct an earth observation model. Among them, the first roll angle of the two imagings is set to A1, and the second roll angle of the imaging is set to A2. Both imagings are of the same area, and there is a certain degree of overlap between the two images. Suppose the image obtained when the roll angle is A1 is the left image, and the image obtained when the roll angle is A2 is the right image. Then, according to the pinhole imaging principle, the imaging equations for the left and right images are constructed as follows:

[0050] Left image imaging equation:

[0051]

[0052] Right image imaging equation:

[0053]

[0054] Among them, x left ,y left , z left is the coordinate of the left image point in the camera coordinate system, λ left is the left image model scale conversion variable, is the rotation matrix from the satellite body coordinate system to the camera coordinate system, is the rotation matrix from the J2000 coordinate system to the body coordinate system when the left image is formed, is the rotation matrix from WGS84 coordinate system to J2000 coordinate system when the left image is formed, X gleft ,Y gleft ,Z gleft is the rectangular coordinate of the object point in the left image in the WGS84 coordinate system, X gpsleft ,Y gpsleft ,Z gpsleft is the rectangular coordinate of the satellite in the WGS84 coordinate system when the left image is formed, and pitch, roll, and yaw are the installation angles of the camera in the satellite body coordinate system. right ,y right , z right is the coordinate of the right image point in the camera coordinate system, λ right is the right image model scale conversion variable, is the rotation matrix from the J2000 coordinate system to the body coordinate system when imaging the right image, is the rotation matrix from WGS84 coordinate system to J2000 coordinate system when the right image is formed, X gright ,Y gright ,Z gright is the rectangular coordinate of the object point in the right image in the WGS84 coordinate system, X gpsright ,Y gpsright ,Z gpsright The rectangular coordinates of the satellite in the WGS84 coordinate system when the right image was formed.

[0055] Therefore, the embodiments of the present application construct imaging equations corresponding to the left image and the right image respectively based on the roll angle and imaging data, thereby providing reliable data guidance and basis for the construction of subsequent error equations.

[0056] In step S102, an error equation of the target satellite is constructed based on the imaging equation, the preset installation angle parameters of the target ground payload, and the longitude and latitude parameter information of the same-name points between the two image data.

[0057] Furthermore, the embodiments of the present application also need to use the longitude and latitude coordinates of the same-name points of the left and right images, and the installation angle of the remote sensing payload relative to the satellite body as unknowns to construct an error equation.

[0058] Optionally, in one embodiment of the present application, an error equation of the target satellite is constructed based on the imaging equation, the preset installation angle parameters of the target ground payload, and the longitude and latitude parameter information of the same-name points between the two image data, including: matching the same-name points of the two image data to obtain multiple pairs of same-name points, and constructing an unknown number matrix based on the installation angle parameters and the multiple pairs of same-name points; adjusting the imaging equation using the unknown number matrix based on the longitude and latitude parameter information of the same-name points and the preset coordinate transformation relationship, and transforming the adjusted imaging equation to obtain the error equation.

[0059] According to the conversion relationship between the latitude and longitude coordinate system and the WGS84 coordinate system, for each set of X g ,Y g ,Z g , and its corresponding longitude, latitude, and altitude (Lon g ,Lat g ,H g ) values ​​are as follows:

[0060]

[0061] X g =N·cos(Lat g )·cos(Lon g )+H g ·cos(Lat g )·cos(Lon g )

[0062] Y g =N·cos(Lat g )·sin(Lon g )+H g ·cos(Lat g )·sin(Lon g )

[0063] Z g =N·(1-e2)·sin(Lat g )+H g ·sin(Lat g ) (5)

[0064] Among them, dfA is the equatorial radius of the earth, and dfF is the polar radius of the earth.

[0065] Therefore, the embodiment of the present application can replace the X in the left and right image imaging equations withgpsleft ,Y gpsleft ,Z gpsleft and X gright ,Y gright ,Z gright Replaced by Lon g ,Lat g ,H g , since only points with the same name are considered, the longitude and latitude can be used without distinguishing between left and right.

[0066] Match the same-name points in the two images to obtain n pairs of same-name points. Let the longitude and latitude of each same-name point be Lat g ,Lon g (g=1,2,3,……,n) and the roll angle and pitch angle of the load installation are unknowns, then the unknown matrix can be obtained as follows:

[0067] X=(roll, pitch, lat1, Lon1, Lat2, Lon2, K, Lat n ,Lon n )(6)

[0068] Afterwards, the embodiment of the present application can convert equation (1) into the form of an error equation, where:

[0069]

[0070] Then we have the following formula:

[0071]

[0072] The above is a single point positioning model. By combining equation (5) and considering the different imaging of the satellite under the two side swing angles, the corresponding error equation can be obtained for each point with the same name.

[0073] Optionally, in one embodiment of the present application, the mathematical expression of the error equation is:

[0074] F left,i =f left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0075] G left,i =g left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Latn ,Lon n )

[0076] F right,i =f right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0077] G right,i =g right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0078] Among them, F left,i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the left image imaging equation; left,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the left image imaging equation; F right,i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the imaging equation of the right image; right,i represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the solution iteration value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents the roll angle in the target payload installation angle; pitch represents the pitch angle in the target payload installation angle; Lat i Indicates the longitude information of the i-th pair of points with the same name; Lon i Represents the latitude information of the i-th pair of points with the same name.

[0079] It should be noted that by transforming the replaced left and right image imaging equations to a certain extent, the functional relationship between the error value and the unknown number to be solved can be obtained, and the functional relationship is used as the error equation, as shown in the following formula:

[0080] F left，i =f left，i (roll, pitch.Lat1, Lon1, Lat2, Lon2,...,Lat i , Lon i , ...Lat n , Lon n )

[0081] G left，i =g left，i(roll, pitch, Lat1, Lon1, Lat2, Lon2, ..., Lat i , Lon i , ...Lat n , Lon n )

[0082] F right，i =f right，i (roll, pitch, Lat1, Lon1, Lat2, Lon2, ..., Lat i , Lon i , ...Lat n , Lon n )

[0083] G right，i =g right，i (roll, pitch, Lat1, Lon1, Lat2, Lon2, ..., Lat i , Lon i , ...Lat n , Lon n ) (9)

[0085] Among them, F left，i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the left image imaging equation; left，i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the left image imaging equation; F right，i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the imaging equation of the right image; right，i represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the solution iteration value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents the roll angle in the target payload installation angle; pitch represents the pitch angle in the target payload installation angle; Lat i Indicates the longitude information of the i-th pair of points with the same name; Lon i Represents the latitude information of the i-th pair of points with the same name.

[0086] Therefore, the embodiment of the present application provides important data support for the execution of subsequent operations such as longitude and latitude calculation of the same-name points and installation angle calculation of the remote sensing payload by determining the corresponding error equation.

[0087] In step S103, the error equation is linearized to generate a linearized error equation, and the linearized error equation is solved to obtain the longitude and latitude of the target same-name point and the target payload installation angle corresponding to the target satellite, and the target satellite is autonomously positioned according to the longitude and latitude of the target same-name point and the target payload installation angle.

[0088] Furthermore, the embodiment of the present application also needs to use the least squares method and combine the Taylor formula to linearize the error equation, such as Figure 2 As shown, the longitude and latitude of the same-name points and the installation angle of the remote sensing load are solved.

[0089] Therefore, the embodiments of the present application can accurately and stably solve the installation matrix of the optical remote sensing payload, eliminate the systematic error of the geometric positioning of the remote sensing image, and thus free the geometric calibration of the remote sensing payload from the constraints of the calibration field.

[0090] Optionally, in one embodiment of the present application, the error equation is linearized to generate a linearized error equation, and the linearized error equation is solved to obtain the longitude and latitude of the target homonymous point and the target payload installation angle corresponding to the target satellite, including: linearizing the error equation based on a preset Taylor formula to obtain a linearized error equation; solving the linearized error equation using a preset least squares strategy to obtain the longitude and latitude of the homonymous point and the payload installation angle.

[0091] It should be noted that the embodiment of the present application can use Taylor's formula to linearize the error equation, and combine it with the least squares principle to obtain the following formula:

[0092] V i =A i XL i (10)

[0093] in:

[0094]

[0095] in, The error value calculated based on the laboratory parameters or the parameter results of the last iteration.

[0096] Based on the least squares principle, the results of this iteration are as follows:

[0097]

[0098] X=(A T A) -1 (A T L)(14)

[0099] The vector X is the solution result of this iteration, and the solution is calculated continuously until the error is less than the limit.

[0100] At this point, the embodiment of the present application completes the simultaneous calculation of the calibration parameters.

[0101] Therefore, the embodiment of the present application can construct an autonomous calibration model (i.e., imaging equation) by imaging the same area twice by a remote sensing satellite at different observation angles, and solve the remote sensing payload installation matrix based on the same-name point error equation, thereby making the remote sensing payload geometric autonomous calibration free from dependence on reference data and reducing the cost of geometric calibration.

[0102] According to the autonomous precise positioning method of optical satellite remote sensing images proposed in the embodiment of the present application, two image data of the target area and imaging data corresponding to the two image data are obtained at different observation angles through the target ground payload of the target satellite, and imaging equations corresponding to each image data are respectively constructed according to the imaging data; based on the imaging equation, the preset installation angle parameters of the target ground payload and the longitude and latitude parameter information of the same-name point between the two image data, the error equation of the target satellite is constructed; the error equation is linearized to generate a linearized error equation, and the linearized error equation is solved to obtain the longitude and latitude of the target same-name point and the installation angle of the target payload corresponding to the target satellite, and the target satellite is autonomously positioned according to the longitude and latitude of the target same-name point and the installation angle of the target payload, thereby greatly improving the autonomy of satellite calibration and freeing the satellite geometric calibration from the constraints of the ground calibration field.

[0103] Secondly, the optical satellite remote sensing image autonomous precise positioning device proposed in accordance with the embodiment of the present application is described with reference to the accompanying drawings.

[0104] Figure 3 It is a block diagram of the optical satellite remote sensing image autonomous precise positioning device according to an embodiment of the present application.

[0105] like Figure 3 As shown, the optical satellite remote sensing image autonomous precise positioning device 10 includes: a first construction module 100 , a second construction module 200 and an autonomous positioning module 300 .

[0106] Among them, the first construction module 100 is used to obtain two image data and imaging data corresponding to the two image data of the target area at different observation angles through the target ground payload of the target satellite, and construct imaging equations corresponding to each image data according to the imaging data.

[0107] The second construction module 200 is used to construct the error equation of the target satellite based on the imaging equation, the preset installation angle parameters of the target ground payload and the longitude and latitude parameter information of the same-name points between the two image data.

[0108] The autonomous positioning module 300 is used to linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain the longitude and latitude of the target same-name point and the target payload installation angle corresponding to the target satellite, and perform autonomous positioning of the target satellite based on the longitude and latitude of the target same-name point and the target payload installation angle.

[0109] Optionally, in one embodiment of the present application, the first building module 100 includes: a determining unit and an establishing unit.

[0110] The determination unit is used to determine the side swing angle corresponding to each image data in the two image data, and determine the left image and the right image in the two image data according to the side swing angle.

[0111] A unit is established for constructing imaging equations corresponding to the left image and the right image respectively based on the side swing angle and the imaging data.

[0112] Optionally, in one embodiment of the present application, the second construction module 200 includes: a homonymous point matching unit and a transformation unit.

[0113] The same-name point matching unit is used to match the same-name points of two image data to obtain multiple pairs of same-name points, and to construct an unknown number matrix based on the installation angle parameters and the multiple pairs of same-name points.

[0114] The transformation unit is used to adjust the imaging equation using the unknown number matrix based on the longitude and latitude parameter information of the same-name points and the preset coordinate conversion relationship, and transform the adjusted imaging equation to obtain the error equation.

[0115] Optionally, in one embodiment of the present application, the autonomous positioning module 300 includes: a linearization unit and a solution unit.

[0116] The linearization unit is used to linearize the error equation based on a preset Taylor formula to obtain a linearized error equation.

[0117] The solving unit is used to solve the linearization error equation using a preset least squares strategy to obtain the longitude and latitude of the same-name point and the load installation angle.

[0118] Optionally, in one embodiment of the present application, the mathematical expression of the error equation is:

[0119] F left,i =f left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0120] G left,i =g left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n,Lon n )

[0121] F right,i =f right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0122] G right,i =g right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n )

[0123] Among them, F left,i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the left image imaging equation; left,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the left image imaging equation; F right,i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the imaging equation of the right image; right,i represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the solution iteration value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents the roll angle in the target payload installation angle; pitch represents the pitch angle in the target payload installation angle; Lat i Indicates the longitude information of the i-th pair of points with the same name; Lon i Represents the latitude information of the i-th pair of points with the same name.

[0124] It should be noted that the aforementioned explanation of the embodiment of the method for autonomous and precise positioning of optical satellite remote sensing images is also applicable to the autonomous and precise positioning device for optical satellite remote sensing images of this embodiment, and will not be repeated here.

[0125] The optical satellite remote sensing image autonomous precise positioning device proposed in the embodiment of the present application includes a first construction module 100, which is used to obtain two image data of the target area and imaging data corresponding to the two image data at different observation angles through the target ground payload of the target satellite, and construct imaging equations corresponding to each image data according to the imaging data; a second construction module 200, which is used to construct an error equation of the target satellite based on the imaging equation, the preset installation angle parameters of the target ground payload and the longitude and latitude parameter information of the same name point between the two image data; an autonomous positioning module 300, which is used to linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain the longitude and latitude of the target same name point and the installation angle of the target payload corresponding to the target satellite, and autonomously position the target satellite according to the longitude and latitude of the target same name point and the installation angle of the target payload, thereby greatly improving the autonomy of satellite calibration and freeing the satellite geometric calibration from the constraints of the ground calibration field.

[0126] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0127] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0128] When the processor 402 executes the program, the optical satellite remote sensing image autonomous precise positioning method provided in the above embodiment is implemented.

[0129] Furthermore, the electronic device further comprises:

[0130] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0131] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0132] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0133] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0134] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0135] The processor 402 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0136] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for autonomous and precise positioning of optical satellite remote sensing images.

[0137] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned optical satellite remote sensing image autonomous precise positioning method.

[0138] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0139] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0140] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0141] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0142] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0143] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0144] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0145] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An autonomous and precise positioning method for optical satellite remote sensing images, characterized in that: The following steps are involved: Acquire two image data of a target area and imaging data corresponding to the two image data at different observation angles through a target ground payload of a target satellite, and construct imaging equations corresponding to each image data according to the imaging data; Constructing an error equation of the target satellite based on the imaging equation, the preset installation angle parameters of the target ground payload, and the longitude and latitude parameter information of the same-name points between the two image data; The error equation is linearized to generate a linearized error equation, and the linearized error equation is solved to obtain the longitude and latitude of the target same-name point and the target payload installation angle corresponding to the target satellite, and the target satellite is autonomously positioned according to the longitude and latitude of the target same-name point and the target payload installation angle.

2. The method according to claim 1, characterized in that The target satellite's target-to-ground payload acquires two image data of the target area and imaging data corresponding to the two image data at different observation angles, and constructs imaging equations corresponding to each image data according to the imaging data, including: Determine a side swing angle corresponding to each of the two image data, and determine a left image and a right image of the two image data according to the side swing angle; Based on the side swing angle and the imaging data, imaging equations corresponding to the left image and the right image are constructed respectively.

3. The method according to claim 2, characterized in that The error equation of the target satellite is constructed based on the imaging equation, the preset installation angle parameter of the target ground payload and the longitude and latitude parameter information of the same-name points between the two image data, including: Performing point matching on the two image data to obtain multiple pairs of points with the same name, and constructing an unknown number matrix based on the installation angle parameters and the multiple pairs of points with the same name; Based on the longitude and latitude parameter information of the same-name points and a preset coordinate conversion relationship, the imaging equation is adjusted using the unknown number matrix, and the adjusted imaging equation is transformed to obtain the error equation.

4. The method according to claim 3, characterized in that The linearizing the error equation to generate a linearized error equation, and solving the linearized error equation to obtain the longitude and latitude of the target homonymous point corresponding to the target satellite and the target payload installation angle, includes: Based on a preset Taylor formula, the error equation is linearized to obtain the linearized error equation; The linearization error equation is solved using a preset least squares strategy to obtain the longitude and latitude of the same-name point and the load installation angle.

5. The method according to claim 1, characterized in that The mathematical expression of the error equation is: F left,i =f left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n ) G left,i =g left,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n ) F right,i =f right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n ) G right,i =g right,i (roll,pitch,Lat1,Lon1,Lat2,Lon2,K,Lat i ,Lon i ,K Lat n ,Lon n ) Among them, F left,i G represents the error value obtained by substituting the longitude and latitude information of the same-name point into the left image imaging equation; left,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the left image imaging equation; F right,i G represents the error value obtained by substituting the latitude and longitude information of the same-name point into the right image imaging equation; right,i represents the error value obtained by substituting the initial value of the installation matrix of the target satellite or the solution iteration value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents the roll angle in the installation angle of the target payload; pitch represents the pitch angle in the installation angle of the target payload; Lat i Indicates the longitude information of the i-th pair of points with the same name; Lon i Represents the latitude information of the i-th pair of points with the same name.

6. An autonomous precise positioning device for optical satellite remote sensing images, characterized in that: include: A first construction module is used to obtain two image data of a target area and imaging data corresponding to the two image data at different observation angles through a target ground payload of a target satellite, and to construct imaging equations corresponding to each image data according to the imaging data; A second construction module is used to construct an error equation of the target satellite based on the imaging equation, the preset installation angle parameters of the target ground payload and the longitude and latitude parameter information of the same-name points between the two image data; The autonomous positioning module is used to linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain the longitude and latitude of the target same-name point and the target payload installation angle corresponding to the target satellite, and perform autonomous positioning of the target satellite according to the longitude and latitude of the target same-name point and the target payload installation angle.

7. The device according to claim 6, characterized in that The first building block comprises: a determination unit, configured to determine a side swing angle corresponding to each of the two image data, and determine a left image and a right image of the two image data according to the side swing angle; An establishing unit is used to construct imaging equations corresponding to the left image and the right image respectively based on the side swing angle and the imaging data.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the autonomous precise positioning method for optical satellite remote sensing images as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the autonomous precise positioning method of optical satellite remote sensing images as described in any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the autonomous precise positioning method of optical satellite remote sensing images as described in any one of claims 1-5.

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