Optical satellite remote sensing image autonomous accurate positioning method and device

Abstract

The application relates to an optical satellite remote sensing image autonomous accurate positioning method and device, wherein the method comprises the following steps: acquiring two image data of a target area and imaging data corresponding to the two image data by a target satellite target ground load at different observation angles, and constructing an imaging equation corresponding to each image data according to the imaging data; constructing an error equation based on the imaging equation, the installation angle of the target ground load and the longitude and latitude information of homonymic 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 target homonymic points corresponding to the target satellite and the installation angle of the target load, and performing autonomous positioning of the target satellite according to the longitude and latitude of the target homonymic points and the installation angle of the target load. Therefore, the problem that the traditional calibration technology based on ground reference data highly depends on the accuracy and timeliness of external reference images and greatly influences the accuracy of geometric calibration is solved.

Description

Technical Field

[0001] This application relates to the field of aerospace photography silhouette measurement technology, and in particular to a method and device for autonomous and precise positioning of optical satellite remote sensing images. Background Technology

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

[0003] Traditional remote sensing image geometric positioning technology is based on high-precision ground reference data. It matches control points between the image to be calibrated and the reference image, and uses the control point coordinates combined with the pinhole imaging model to complete the calculation 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 techniques based on ground reference data are highly dependent on the accuracy and timeliness of external reference images. When the resolution of the external reference image is insufficient to support calibration or the reference image is old, the geometric calibration accuracy will decrease significantly, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides an autonomous and precise positioning method and apparatus for optical satellite remote sensing images, which solves the problems of traditional calibration techniques based on ground reference data being highly dependent on the accuracy and timeliness of external reference images, greatly affecting the accuracy of geometric calibration.

[0006] The first aspect of this 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 corresponding imaging data of the two image data through a target payload of a target satellite at different observation angles, and constructing an imaging equation corresponding to each image data based on the imaging data; constructing an error equation of the target satellite based on the imaging equation, a preset installation angle parameter of the target payload, and latitude and longitude parameter information of the corresponding 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 latitude and longitude of the corresponding points of the target satellite and the installation angle of the target payload, and performing autonomous positioning of the target satellite based on the latitude and longitude of the corresponding points of the target satellite and the installation angle of the target payload.

[0007] Optionally, in one embodiment of this application, the step of acquiring two image data of the target area and the corresponding imaging data of the two image data through the target satellite's target ground payload at different observation angles, and constructing an imaging equation corresponding to each image data according to the imaging data, includes: determining the side-swing 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 side-swing angle; and constructing the imaging equations corresponding to the left image and the right image respectively based on the side-swing angle and the imaging data.

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

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

[0010] Optionally, in one embodiment of this 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 This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the left image; G left,i This represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the left image imaging equation; F right,i This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the right image; G right,i The error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value 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 Represents the longitude information of the i-th pair of points with the same name; Lon i This represents the latitude information of the i-th pair of points with the same name.

[0016] A second aspect of this application provides an autonomous and precise positioning device for optical satellite remote sensing images, comprising: a first construction module, configured to acquire two image data of a target area and corresponding imaging data of the two image data through a target payload of a target satellite at different observation angles, and to construct an imaging equation corresponding to each image data based on the imaging data; a second construction module, configured to construct an error equation for the target satellite based on the imaging equation, a preset installation angle parameter of the target payload, and latitude and longitude parameter information of corresponding points between the two image data; and an autonomous positioning module, configured to linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain the latitude and longitude of the corresponding point of the target satellite and the installation angle of the target payload, and to perform autonomous positioning of the target satellite based on the latitude and longitude of the corresponding point of the target satellite and the installation angle of the target payload.

[0017] Optionally, in one embodiment of this application, the first construction module includes: a determining unit, configured to determine the lateral tilt angle corresponding to each of the two image data, and determine the left image and the right image in the two image data according to the lateral tilt angle; and an establishing unit, configured to construct the imaging equations corresponding to the left image and the right image respectively based on the lateral tilt angle and the imaging data.

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

[0019] Optionally, in one embodiment of this 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; and a solution unit, used to solve the linearized error equation using a preset least squares strategy to obtain the latitude and longitude of the corresponding point and the load installation angle.

[0020] Optionally, in one embodiment of this 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 This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the left image; G left,i This represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the left image imaging equation; F right,i This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the right image; G right,i The error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value 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 Represents the longitude information of the i-th pair of points with the same name; Lon i This represents the latitude information of the i-th pair of points with the same name.

[0026] A third aspect of this 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 for optical satellite remote sensing images as described in the above embodiments.

[0027] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for autonomous and precise positioning of optical satellite remote sensing images.

[0028] A fifth aspect of this application provides a computer program product, including a computer program that is executed to implement the above-described method for autonomous and precise positioning of optical satellite remote sensing images.

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

[0030] The embodiments of this application can acquire two image data and corresponding imaging data of a target region from different observation angles using the target satellite's ground-to-ground payload. An imaging equation is then constructed for each image data. Based on the imaging equation, the preset installation angle parameters of the target ground-to-ground payload, and the latitude and longitude parameters of corresponding points between the two image data, an error equation for the target satellite is constructed. This error equation is then linearized to generate a linearized error equation, which is solved to obtain the latitude and longitude of the corresponding target points and the installation angle of the target payload. The target satellite is then autonomously positioned based on these parameters, significantly improving the autonomy of satellite calibration and freeing it from the constraints of the ground calibration field. This solves the problems of traditional ground-reference-based calibration techniques, which heavily rely on the accuracy and timeliness of external reference images, greatly affecting the accuracy of geometric calibration.

[0031] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

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

[0033] Figure 1 This is a flowchart illustrating an autonomous and precise positioning method for optical satellite remote sensing images provided in an embodiment of this application.

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

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

[0036] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

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

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

[0039] The following describes an embodiment of the autonomous and precise positioning method and apparatus for optical satellite remote sensing images according to the present application, with reference to the accompanying drawings. Addressing the problems mentioned in the background art, this application provides an autonomous and precise positioning method for optical satellite remote sensing images. In this method, two image data and corresponding imaging data of a target region are acquired by the target satellite's ground-to-ground payload at different observation angles. An imaging equation is constructed for each image data based on the imaging data. An error equation for the target satellite is constructed based on the imaging equation, preset installation angle parameters of the target ground-to-ground payload, and latitude and longitude parameters of corresponding 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 latitude and longitude of the corresponding points of the target satellite and the installation angle of the target payload. The target satellite is then autonomously positioned based on the latitude and longitude of the corresponding points and the installation angle of the target payload, thereby greatly improving the autonomy of satellite calibration and freeing satellite geometric calibration from the constraints of the ground calibration field. This solves the problems of traditional calibration techniques based on ground reference data being highly dependent on the accuracy and timeliness of external reference images, which greatly affects the accuracy of geometric calibration.

[0040] Specifically, Figure 1 This is a flowchart illustrating an autonomous and precise positioning method for optical satellite remote sensing images provided in an embodiment of this application.

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

[0042] In step S101, two image data of the target area and the corresponding imaging data of the two image data are acquired by the target satellite's target ground payload at different observation angles, and the imaging equation corresponding to each image data is constructed based on the imaging data.

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

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

[0045] It should be noted that when calibrating a certain remote sensing payload (i.e., target Earth payload) of a certain remote sensing satellite (i.e., target satellite), the embodiments of this application may select data from two imaging operations 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., imaging equation) based on the pinhole imaging principle.

[0046] In actual implementation, based on the pinhole imaging model, the imaging model (i.e., the Earth observation geometric model) for each imaging session can be designed as follows:

[0047]

[0048] Where x, y, z are the coordinates of the image point in the camera coordinate system, and λ is the scaling variable. This is the rotation matrix from the satellite body coordinate system to the camera coordinate system. This is the rotation matrix from the J2000 coordinate system to the body coordinate system. Let X be the rotation matrix from the WGS84 coordinate system to the J2000 coordinate system. g ,Y g Z g Let X be the rectangular coordinates of the object point in the WGS84 coordinate system. gps ,Y gps Z gps is the rectangular coordinate of the satellite in the WGS84 coordinate system, and pitch, roll, yaw are the installation angles of the camera in the satellite's body coordinate system.

[0049] Specifically, this embodiment uses two imaging data points of the same load on the same area under different side-swing angles as input to construct an Earth observation model. Let the side-swing angle of the first imaging be A1, and the side-swing angle of the second imaging be A2. Both imagings are of the same area, and there is a certain degree of overlap between the two images. Let the image acquired at side-swing angle A1 be the left image, and the image acquired at side-swing angle A2 be the right image. Then, based on 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] Where, x left y left , z left Let λ be the coordinates of the left image point in the camera coordinate system. left For the left image model scaling transformation variable, This is the rotation matrix from the satellite body coordinate system to the camera coordinate system. This is the rotation matrix from the J2000 coordinate system to the body coordinate system during left image imaging. X is the rotation matrix from the WGS84 coordinate system to the J2000 coordinate system when the left image is imaged. gleft ,Y gleft Z gleft Let X be the rectangular coordinates of the object point in the left image in the WGS84 coordinate system. gpsleft ,Y gpsleft Z gpsleft x represents the satellite's rectangular coordinates in the WGS84 coordinate system when the left image was captured, and pitch, roll, and yaw represent the camera's mounting angles in the satellite's body coordinate system. right y right , z right Let λ be the coordinates of the right image point in the camera coordinate system. right For the right image model scaling transformation variable, This is the rotation matrix from the J2000 coordinate system to the body coordinate system during right image imaging. X is the rotation matrix from the WGS84 coordinate system to the J2000 coordinate system when the right image is imaged. gright ,Y gright Z gright Let X be the rectangular coordinates of the object point in the right image in the WGS84 coordinate system. gpsright ,Y gpsright Z gpsright The right image represents the satellite's rectangular coordinates in the WGS84 coordinate system during image formation.

[0055] Therefore, the embodiments of this application construct imaging equations corresponding to the left and right images based on the side sway angle and imaging data, thereby providing reliable data guidance and basis for the subsequent construction of error equations.

[0056] In step S102, 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 latitude and longitude parameter information of the corresponding points between the two image data.

[0057] Furthermore, embodiments of this application also require the latitude and longitude coordinates of corresponding points in the left and right images, as well as the installation angle of the remote sensing payload relative to the satellite body, to construct an error equation.

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

[0059] Based on 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 Its corresponding longitude, latitude, and elevation (Lon g ,Lat g H g The fixed conversion relationships between 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] Where dfA is the Earth's equatorial radius and dfF is the Earth's polar radius.

[0065] Therefore, embodiments of this application can convert X in the left and right image imaging equations.gpsleft ,Y gpsleft Z gpsleft and X gright ,Y gright Z gright Replace with Lon g ,Lat g H g Since only points with the same name are considered, latitude and longitude do not need to distinguish between left and right.

[0066] Matching corresponding points between two images yields n pairs of corresponding points. Let the latitude and longitude of each corresponding point be Lat. g Lon g (g=1,2,3,……,n) and taking the roll angle and pitch angle of the installed load as unknowns, the unknown matrix can be obtained as follows:

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

[0068] Subsequently, embodiments of this application can convert equation (1) into the form of an error equation, letting:

[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 two side swing angles, the corresponding error equation can be obtained for each corresponding point.

[0073] Optionally, in one embodiment of this 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 This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the left image; G left,i F represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the imaging equation of the left image; right,i This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the right image; G right,i The error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the right image imaging equation; roll represents the roll angle in the target payload installation angle; pitch represents the elevation angle in the target payload installation angle; Lat i Represents the longitude information of the i-th pair of points with the same name; Lon i This represents the latitude information of the i-th pair of points with the same name.

[0079] It should be noted that by transforming the imaging equations of the replaced left and right images, a functional relationship between the error value and the unknown to be solved can be obtained, and this functional relationship can be 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 This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the left image; G left，i F represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the imaging equation of the left image; right，i This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the right image; G right，i The error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the right image imaging equation; roll represents the roll angle in the target payload installation angle; pitch represents the elevation angle in the target payload installation angle; Lat i Represents the longitude information of the i-th pair of points with the same name; Lon i This represents the latitude information of the i-th pair of points with the same name.

[0086] Therefore, by determining the corresponding error equations, the embodiments of this application provide important data support for subsequent operations such as calculating the latitude and longitude of corresponding points and the installation angle of remote sensing payloads.

[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 latitude and longitude of the target corresponding point and the target payload installation angle. The target satellite is then autonomously positioned based on the latitude and longitude of the target corresponding point and the target payload installation angle.

[0088] Furthermore, embodiments of this application also require the use of the least squares method, combined with Taylor's formula to linearize the error equation, such as... Figure 2 As shown, this completes the calculation of the latitude and longitude of the corresponding points and the installation angle of the remote sensing payload.

[0089] Therefore, the embodiments of this application can accurately and stably solve the installation matrix of the optical remote sensing payload, eliminate systematic errors in the geometric positioning of remote sensing images, and thus enable the geometric calibration of the remote sensing payload to break free from the constraints of the calibration field.

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

[0091] It should be noted that the embodiments of this application can use Taylor's formula to linearize the error equation, and combined with the least squares principle, the following equation can be obtained:

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

[0093] in:

[0094]

[0095] in, This is the error value calculated based on laboratory parameters or the parameter results from the previous iteration.

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

[0097]

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

[0099] In this case, vector X is the solution result of this iteration, and the calculation continues until the error is less than the limit.

[0100] Thus, the embodiments of this application have completed the simultaneous calculation of calibration parameters.

[0101] Therefore, the embodiments of this 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 error equation of the corresponding point, thereby enabling the remote sensing payload to be geometrically autonomously calibrated without relying on reference data and reducing the cost of geometric calibration.

[0102] The autonomous and precise positioning method for optical satellite remote sensing images proposed in this application acquires two image data and corresponding imaging data of the target area through the target satellite's ground-to-ground payload at different observation angles. An imaging equation is then constructed for each image data based on the imaging data. Based on the imaging equation, the preset installation angle parameters of the target ground-to-ground payload, and the latitude and longitude parameters of the corresponding points between the two image data, an error equation for the target satellite is constructed. This error equation is then linearized to generate a linearized error equation, which is solved to obtain the latitude and longitude of the corresponding points and the installation angle of the target payload. The target satellite is then autonomously positioned based on these parameters, greatly improving the autonomy of satellite calibration and freeing satellite geometric calibration from the constraints of the ground calibration field.

[0103] Secondly, the autonomous and precise positioning device for optical satellite remote sensing images proposed according to the embodiments of this application is described with reference to the accompanying drawings.

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

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

[0106] The first construction module 100 is used to acquire two image data of the target area and the corresponding imaging data of the two image data through the target satellite's target ground payload at different observation angles, and to construct the imaging equation 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 latitude and longitude parameter information of the corresponding 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 latitude and longitude of the target corresponding point and the target payload installation angle, and to perform autonomous positioning of the target satellite based on the latitude and longitude of the target corresponding point and the target payload installation angle.

[0109] Optionally, in one embodiment of this application, the first construction module 100 includes: a determination unit and a construction unit.

[0110] The determining unit is used to determine the lateral tilt angle corresponding to each image data in the two image data, and to determine the left and right images in the two image data based on the lateral tilt angle.

[0111] A unit is established to construct imaging equations for the left and right images based on the side sway angle and imaging data, respectively.

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

[0113] The corresponding point matching unit is used to match corresponding points between two image data to obtain multiple pairs of corresponding points, and to construct an unknown matrix based on the installation angle parameter and multiple pairs of corresponding points.

[0114] The transformation unit is used to adjust the imaging equation using an unknown matrix based on the latitude and longitude parameters of the corresponding points and a preset coordinate transformation relationship, and then transforms the adjusted imaging equation to obtain the error equation.

[0115] Optionally, in one embodiment of this 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 solution unit is used to solve the linearized error equation using a preset least squares strategy to obtain the latitude and longitude of the corresponding points and the load installation angle.

[0118] Optionally, in one embodiment of this 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 nLon 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 This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the left image; G left,i F represents the error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the imaging equation of the left image; right,i This represents the error value obtained by substituting the latitude and longitude information of the corresponding points into the imaging equation of the right image; G right,i The error value obtained by substituting the initial value of the target satellite's installation matrix or the corresponding solution iteration value into the right image imaging equation; roll represents the roll angle in the target payload installation angle; pitch represents the elevation angle in the target payload installation angle; Lat i Represents the longitude information of the i-th pair of points with the same name; Lon i This represents the latitude information of the i-th pair of points with the same name.

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

[0125] The autonomous and precise positioning device for optical satellite remote sensing images proposed in this application includes a first construction module 100, used to acquire two image data of the target area and the corresponding imaging data of the two image data through the target ground payload of the target satellite at different observation angles, and to construct the imaging equation corresponding to each image data according to the imaging data; a second construction module 200, 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 latitude and longitude parameters of the corresponding points between the two image data; and an autonomous positioning module 300, used to linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain the latitude and longitude of the corresponding points of the target satellite and the installation angle of the target payload, and to perform autonomous positioning of the target satellite according to the latitude and longitude of the corresponding points of the target satellite 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 this application. The electronic device may include:

[0127] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0128] When the processor 402 executes the program, it implements the autonomous and precise positioning method for optical satellite remote sensing images provided in the above embodiments.

[0129] Furthermore, electronic devices also include:

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

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

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

[0133] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

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

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

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

[0137] This application also provides a computer program product, including a computer program, which, when executed, is used to implement the above-described method for autonomous and precise positioning of optical satellite remote sensing images.

[0138] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

[0140] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0141] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0142] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0143] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0144] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0145] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An autonomous precise positioning method for optical satellite remote sensing images, characterized in that, The method comprises the following steps: Two image data of a target area are acquired by a target satellite through a target earth observation payload at different observation angles, imaging data corresponding to the two image data are acquired, and an imaging equation corresponding to each image data is constructed according to the imaging data; Wherein, based on the pinhole imaging model, the imaging equation of each imaging is as follows: wherein, x, y, z is the coordinate of the image point in the camera coordinate system; 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 the WGS84 coordinate system to the J2000 coordinate system; , , is the rectangular coordinate of the object point in the WGS84 coordinate system; , , is the rectangular coordinate of the satellite in the WGS84 coordinate system; is the installation angle of the camera in the satellite body coordinate system; An error equation of the target satellite is constructed based on the imaging equation, a preset installation angle parameter of the target earth observation payload, and same point longitude and latitude parameter information 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 target same point longitude and latitude corresponding to the target satellite and a target payload installation angle, and autonomous positioning of the target satellite is performed according to the target same point longitude and latitude and the target payload installation angle; Wherein, the error equation of the target satellite is constructed based on the imaging equation, a preset installation angle parameter of the target earth observation payload, and same point longitude and latitude parameter information between the two image data, comprising: Matching the same points of the two image data, obtaining n Matching the same points, and based on the installation angle parameters and the n Matching the same points, constructing an unknown matrix, and a mathematical expression of the unknown matrix is: wherein the longitude and latitude of each common point is , ( g =1,2,3,……, n ); Based on the same point longitude and latitude parameter information and a preset coordinate conversion relationship, the imaging equation is adjusted by using the unknown matrix, and the adjustment process of the imaging equation is as follows: ； Based on different imaging of the satellite at two side swing angles, the adjusted imaging equation, and right-angle coordinates of object space points in the WGS84 coordinate system, an error equation corresponding to each same point is obtained, and a mathematical expression of the relationship between the right-angle coordinates of the object space points in the WGS84 coordinate system and the longitude and latitude is as follows: wherein denotes each object point of the group , , the corresponding height; dfA denotes the equatorial radius of the earth, dfF denotes the inverse of the flattening of the earth; The error equation is linearized to generate a linearized error equation, and the linearized error equation is solved to obtain target same point longitude and latitude corresponding to the target satellite and a target payload installation angle, comprising: Based on a preset Taylor formula, the error equation is linearized to obtain the linearized error equation; The linearized error equation is solved by using a preset least square strategy to obtain the same point longitude and latitude and the payload installation angle; The mathematical expression of the error equation is as follows: wherein, represents an error value obtained by substituting the homonymic point longitude and latitude information into the left image imaging equation; represents an error value obtained by substituting the initial value of the installation matrix of the target satellite or the iterative value corresponding to the initial value of the installation matrix into the left image imaging equation; represents an error value obtained by substituting the homonymic point longitude and latitude information into the right image imaging equation; represents an error value obtained by substituting the initial value of the installation matrix of the target satellite or the iterative value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents a roll angle in the target load installation angle; pitch represents a pitch angle in the target load installation angle; represents the first i longitude information of the homonymic point; represents the first i latitude information of the homonymic point.

2. The method of claim 1, wherein, The two image data of the target area are acquired by the target satellite through the target earth observation payload at different observation angles, the imaging data corresponding to the two image data are acquired, and the imaging equation corresponding to each image data is constructed according to the imaging data, comprising: The side swing angles corresponding to each image data in the two image data are determined, and the left image and the right image in the two image data are determined according to the side swing angles; Based on the side swing angles and the imaging data, the imaging equation corresponding to the left image and the right image is constructed respectively.

3. An autonomous precise positioning device for optical satellite remote sensing images, characterized in that, Comprise: The first construction module is used for acquiring two image data of a target area by a target satellite through a target earth observation payload at different observation angles, acquiring imaging data corresponding to the two image data, and constructing an imaging equation corresponding to each image data according to the imaging data; Wherein, based on the pinhole imaging model, the imaging equation of each imaging is as follows: wherein, x, y, z is the coordinate of the image point in the camera coordinate system; 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 the WGS84 coordinate system to the J2000 coordinate system; , , is the rectangular coordinate of the object point in the WGS84 coordinate system; , , is the rectangular coordinate of the satellite in the WGS84 coordinate system; is the installation angle of the camera in the satellite body coordinate system; A second constructing module, configured to construct an error equation of the target satellite based on the imaging equation, a preset installation angle parameter of a target satellite-borne payload, and homonymy point latitude and longitude parameter information between the two image data; An autonomous positioning module, configured to linearize the error equation to generate a linearized error equation, and solve the linearized error equation to obtain target homonymy point latitude and longitude and target payload installation angle corresponding to the target satellite, and perform autonomous positioning of the target satellite according to the target homonymy point latitude and longitude and the target payload installation angle; The second constructing module comprises: The corresponding point matching unit is used to perform corresponding point matching on the two image data to obtain... n For points of the same name, and based on the installation angle parameters and the... n For points of the same name, construct an unknown matrix, the mathematical expression of which is: wherein the longitude and latitude of each common point is , ( g =1,2,3,……, n ); A transformation unit, configured to adjust the imaging equation by using the unknown matrix based on the homonymy point latitude and longitude parameter information and a preset coordinate conversion relationship, and the adjustment process of the imaging equation is as follows: ； Based on different imaging of the satellite under two side swing angles, the adjusted imaging equation, and the rectangular coordinates of the object side point under the WGS84 coordinate system, an error equation corresponding to each homonymy point is obtained, and a mathematical expression of the rectangular coordinates of the object side point under the WGS84 coordinate system is as follows: wherein represents each object point of the group , , corresponding height; dfA represents the equatorial radius of the earth, dfF represents the inverse of the flattening of the earth; The autonomous positioning module comprises: A linearization unit, configured to linearize the error equation based on a preset Taylor formula to obtain the linearized error equation; A solving unit, configured to solve the linearized error equation by using a preset least square strategy to obtain the homonymy point latitude and longitude and the payload installation angle; A mathematical expression of the error equation is as follows: wherein, represents an error value obtained by substituting the same point longitude and latitude information into the left image imaging equation; represents an error value obtained by substituting the initial value of the installation matrix of the target satellite or the iterative value corresponding to the initial value of the installation matrix into the left image imaging equation; represents an error value obtained by substituting the same point longitude and latitude information into the right image imaging equation; represents an error value obtained by substituting the initial value of the installation matrix of the target satellite or the iterative value corresponding to the initial value of the installation matrix into the right image imaging equation; roll represents a roll angle in the target load installation angle; pitch represents a pitch angle in the target load installation angle; represents the first i longitude information of the same point; represents the first i latitude information of the same point.

4. The apparatus of claim 3, wherein, The first constructing module 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 in the two image data according to the side swing angle; An establishment unit, configured to construct an imaging equation corresponding to the left image and the right image respectively based on the side swing angle and the imaging data.

5. An electronic device, comprising: It comprises: A memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the autonomous precise positioning method of the optical satellite remote sensing image according to any one of claims 1-2.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the autonomous precise positioning method of the optical satellite remote sensing image according to any one of claims 1-2.

7. A computer program product comprising a computer program, characterized in that, The computer program is executed to implement the autonomous precise positioning method of the optical satellite remote sensing image according to any one of claims 1-2.

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