Multi-mode pod cooperative imaging control method and system

Abstract

The invention relates to the crossing field of aerial remote sensing imaging and motion control, and particularly provides a multi-mode pod cooperative imaging control method and system, and the method comprises the steps: integrating a multi-mode photoelectric sensor in a pod, so as to obtain the load parameters of the multi-mode photoelectric sensor, and calculating the indexes of remote sensing imaging; generating a swing scanning instruction and a push scanning instruction of the pod based on the indexes; wherein the swing scanning instruction is used for load swing scanning, and the push scanning instruction is used for image motion compensation; cooperatively executing the tasks of sweep imaging and image motion compensation on the basis of the same control period according to the sweep instruction and the push-scan instruction; under the condition of low-altitude high-speed flight, through collaborative planning of the motion of the multi-mode pod and remote sensing imaging, the stable imaging quality of the multi-mode sensor is ensured, the accuracy and reliability of remote sensing data are guaranteed, and meanwhile the remote sensing operation capacity and efficiency are improved.

Description

Technical Field

[0001] The present invention belongs to the intersection field of aerial remote sensing imaging and motion control, and specifically provides a multi-mode pod collaborative imaging control method and system. Background Art

[0002] Aerial remote sensing offers significant advantages in rapidly and efficiently acquiring remote sensing information about specific areas, and is widely used in fields such as agricultural monitoring, ecological assessment, and disaster response. Traditional aerial remote sensing operations typically utilize drones equipped with a single optoelectronic sensor. When acquiring different types of remote sensing information, the sensor must be replaced and multiple flights must be performed, resulting in long operation cycles and low efficiency. To address this issue, a multi-mode optoelectronic payload system integrating multiple sensors can rapidly acquire multimodal information at the same time and space within a single flight, significantly improving the efficiency of remote sensing operations and the richness of information acquired.

[0003] The coverage area of a remote sensing system is a key indicator of its operational capability and efficiency. Using a sweep imaging mode, multi-mode payloads can rapidly acquire remote sensing data over a wide area. This can also significantly expand the coverage area of the multi-mode electro-optical pod, further improving the efficiency of the remote sensing system. However, in actual applications, the parameters and imaging performance of various sensors vary, and high-speed drone flight is prone to image motion, resulting in a decrease in remote sensing image quality.

[0004] Therefore, in order to solve the above problems, the present application proposes a multi-mode pod collaborative imaging control method and system. Summary of the Invention

[0005] In order to address the problem that traditional aerial remote sensing operations use drones equipped with a single photoelectric sensor to perform tasks, frequent sensor replacement and multiple flights are required, resulting in extended operation cycles and low efficiency, the present invention provides a multi-mode pod collaborative imaging control method and system, which realizes efficient swing imaging and precise image motion compensation within a specific range.

[0006] To achieve the above object, the technical solution created by the present invention is implemented as follows: In a first aspect, a multi-mode pod collaborative imaging control method includes: Integrate a multi-mode photoelectric sensor in the pod to obtain the payload parameters of the multi-mode photoelectric sensor and calculate various indicators of remote sensing imaging; Generate a pod swing sweep instruction and a push sweep instruction based on the various indicators; wherein the swing sweep instruction is used for payload swing sweep, and the push sweep instruction is used for image motion compensation; The swing scanning instruction and the push scanning instruction are used to coordinately perform the tasks of swing scanning imaging and image motion compensation based on the same control cycle.

[0007] Optionally, the multi-mode photoelectric sensor includes but is not limited to: a visible light sensor, an infrared sensor, a multispectral sensor, and a laser radar; The indicators include: field of view of the long side of the sensor, sweep angle, ground pixel resolution, instruction cycle, and number of sweep shots in one cycle; The load parameters of the multi-mode photoelectric sensor include: sensor width, sensor focal length, accommodation range, flight altitude, pixel size, heading overlap rate, lateral overlap rate, number of sensor narrow side pixels, and flight speed.

[0008] Optionally, the field of view angle of the long side of the sensor is calculated using the sensor width and the sensor focal length; The sweep angle is obtained by calculating the receiving range, the flight altitude and an inverse trigonometric function; Calculating the ground pixel resolution using the flight altitude, the pixel size, and the sensor focal length; The instruction cycle is calculated according to the ground pixel resolution, the heading overlap rate, the number of narrow side pixels of the sensor, and the flight speed; According to the sweep angle, the lateral overlap rate, and the minimum field of view of the sensor Get the number N of scanning shots in one cycle.

[0009] Optionally, the sweep instruction is a periodic instruction generated based on the sweep angle, the sweep angle acceleration, and the sweep velocity angle; The pod's sweep imaging mode completes the sweep angle within the sweep cycle. arrive The camera swings in the opposite direction and takes N pictures in the next cycle, forming an S-shaped sweeping trajectory.

[0010] Optionally, the push-broom instruction is a periodic instruction generated based on the initial angular velocity, the push-broom motion angle, and the push-broom angular acceleration; The push-broom imaging mode of the pod is set to the initial angular velocity from the downward 0° during the sweep cycle. Start until The photo is taken once, and the time is ; During the sweep acceleration and deceleration time Reset, specifically reset to the initial downward 0° position, and restore to the initial angular velocity .

[0011] Optionally, the step of collaboratively executing the tasks of swing scanning imaging and image motion compensation based on the same control cycle of the swing scanning instruction and the push scanning instruction includes: The swing sweep instruction and the push sweep instruction are performed simultaneously in the same control cycle; Taking the previously captured remote sensing image as a reference, the target visual axis offset in the lateral overlap area is selected according to the heading overlap rate and the lateral overlap rate; By adjusting the error between the visual servo compensation command and the actual line of sight command, the pod motion trajectory is dynamically adjusted to perform real-time image motion compensation.

[0012] The second aspect is a multi-mode pod collaborative imaging control system, specifically including: Parameter calculation module: Integrates a multi-mode photoelectric sensor into the pod to obtain the payload parameters of the multi-mode photoelectric sensor and calculate various indicators of remote sensing imaging; Instruction generation module: generates a pod swing sweep instruction and a push sweep instruction based on the various indicators; wherein the swing sweep instruction is used for payload swing sweep, and the push sweep instruction is used for image motion compensation; Motion planning and compensation module: coordinates the swing scanning instruction and the push scanning instruction to perform the tasks of swing scanning imaging and image motion compensation based on the same control cycle.

[0013] Compared with the prior art, the present invention can achieve the following beneficial effects: By integrating multiple optoelectronic sensors into the same pod, this method can simultaneously acquire multiple types of remote sensing information during the same flight, avoiding the multiple flights required to replace sensors in traditional methods, thereby significantly shortening the operation cycle and improving operation efficiency; utilizing the swing-sweep imaging mode, the multi-mode payload can quickly acquire a wide range of remote sensing data, significantly expanding the accommodation range of the optoelectronic pod and further improving the system's operating efficiency; specifically, by designing precise motion control instructions for the optoelectronic pod motor, including swing-sweep instructions and push-sweep instructions, it can effectively compensate for the image motion generated by the UAV's high-speed flight state, ensuring the clarity and accuracy of the remote sensing image; the successful implementation of this method and system has provided new ideas and solutions for the development of aerial remote sensing imaging technology, significantly improving the efficiency of remote sensing operations and the richness of data acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 Schematic diagram of a flow chart of a multi-mode pod collaborative imaging control method according to an embodiment of the present invention; Figure 2 The embodiment of the present invention is based on the number of photos taken Schematic diagram of imaging with two sweep cycles T as an example; Figure 3 The embodiment of the present invention is based on the number of photos taken Take the sweep acceleration command diagram as an example; Figure 4 The embodiment of the present invention is based on the number of photos taken Take the sweep speed instruction diagram as an example; Figure 5 The embodiment of the present invention is based on the number of photos taken Take the push-broom acceleration command diagram as an example; Figure 6 The embodiment of the present invention is based on the number of photos taken Take the push-broom speed instruction diagram as an example; Figure 7 The embodiment of the present invention is based on the number of photos taken Take the push-scan target area as an example; Figure 8 The figure is a schematic structural diagram of a multi-mode pod collaborative imaging control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention. Similar elements in different embodiments use associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present invention to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present invention are not shown or described in the specification. This is to avoid the core part of the present invention being overwhelmed by too much description. For those skilled in the art, it is not necessary to describe these related operations in detail. They can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0016] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other to form various implementation methods. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various orders in the description and the drawings are only for the purpose of clearly describing a certain embodiment and are not intended to be a required order, unless otherwise specified that a certain order must be followed.

[0017] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0018] See also Figure 1, is a flow chart of a multi-mode pod collaborative imaging control method according to this embodiment; the specific steps include: S1: Integrate a multi-mode photoelectric sensor in the pod to obtain the payload parameters of the multi-mode photoelectric sensor and calculate various indicators of remote sensing imaging.

[0019] Specifically, the parameters of the multi-mode optoelectronic sensors integrated into the pod are first compared to select the sensor combination appropriate for the current mission. Multi-mode optoelectronic sensors include, but are not limited to, visible light sensors, infrared sensors, multispectral sensors, and lidar. Based on the selected sensor parameters, various remote sensing imaging metrics are calculated, such as the sensor's long-side field of view, sweep angle, ground pixel resolution, command cycle, and the number of sweep images taken within a cycle.

[0020] Furthermore, the load parameters of the multi-mode photoelectric sensor include at least: sensor width, sensor focal length, accommodation range, flight altitude, pixel size, heading overlap rate, lateral overlap rate, number of sensor narrow side pixels, and flight speed.

[0021] Utilizing sensor width and sensor focal length Calculate the field of view angle of the long side of the sensor The specific formula is: , The sensor width and sensor focal length The unit of length is unified as meter to facilitate subsequent calculations.

[0022] Through the containment area , Hanggao And calculate the sweep angle through inverse trigonometric functions The specific formula is: , Among them, the containment area Generally, it is altitude The unit of length is meter.

[0023] For example: pod integrated visible light sensor (field of view angle ) and multispectral sensors (field of view ). With minimum field of view As a benchmark, calculate the sweep angle.

[0024] Using altitude , pixel size , sensor focal length Calculate ground pixel resolution The specific formula is: , The length units in the above formulas are all meters; the ground pixel resolution is It is the smallest unit of image clarity and visibility. Calculating ground pixel resolution can help calculate the command cycle of a multi-mode electro-optical pod.

[0025] According to the ground pixel resolution , heading overlap rate , number of pixels on the narrow side of the sensor , flight speed (Unit: m / s), calculate the multi-mode photoelectric load instruction cycle The specific formula is: , Compare the field of view of each photoelectric sensor based on the requirements of the coverage range and overlap rate , according to the minimum field of view Calculation. Specific to the sweep angle , lateral overlap rate , the minimum field of view of the sensor Calculate the number of times N that the pendulum scans and takes pictures in one cycle. The specific formula is: .

[0026] Based on the calculation results, the pod's motion control and imaging parameters are optimized and adjusted to ensure high-quality, highly reliable remote sensing data acquisition during high-speed flight. By integrating multi-mode optoelectronic sensors and calculating various remote sensing imaging metrics, the efficiency of remote sensing operations and the richness of data acquired can be significantly improved. This is of great significance for fields such as agricultural monitoring, ecological assessment, and disaster response, providing more comprehensive and accurate remote sensing information support.

[0027] S2: Generate a swing sweep instruction and a push sweep instruction for the pod based on the various indicators; wherein the swing sweep instruction is used for payload swing sweep, and the push sweep instruction is used for image motion compensation.

[0028] It should be noted that the pod motor is mainly responsible for realizing the camera The main feature of the double-swing scanning is to achieve inertial stability during each camera exposure and to achieve Complete one acceleration and deceleration movement within 1 second. Take photos along the route, the overall cycle is 2 , each cycle Completed arrive The swing and Take photos again. to 2 Completed within time arrive The swing and Take photos again.

[0029] 1.1. The initial position of the multi-mode optoelectronic pod is that the 0° edge of the minimum field of view coincides with the 0° edge of the containment range. Inside, through The formula is: , in, is the sweep cycle (unit: second), Number of photos taken, The interval between photos (unit: seconds).

[0030] Photo interval One swing needs to be completed within 1 second, including the sensor exposure time And sweep acceleration and deceleration time . Expressed as: .

[0031] Therefore, comparing the exposure time of each load (Unit: seconds), find the maximum exposure time , so that the sensor exposure time , thereby achieving stable photography within the maximum exposure time.

[0032] 1.2. The sweep command is a periodic command generated based on the sweep angle, sweep angle acceleration, and sweep velocity angle. The sweep command is primarily responsible for implementing the payload sweep function to expand the range of remote sensing operations.

[0033] According to the sweeping angle , calculate the sweep angular acceleration , in degrees per second 2 The specific formula is: , According to the sweep angle acceleration , photo interval and sensor exposure time Calculate the sweep velocity angle ; The formula is: .

[0034] Furthermore, the sweep imaging mode of the multi-mode remote sensing pod completes the sweep angle within the sweep cycle. arrive The camera swings in the opposite direction and takes N pictures in the next cycle, forming an S-shaped sweeping trajectory.

[0035] The push sweep command is mainly responsible for realizing the image motion compensation function, and the multi-mode payload realizes the swing sweep function under the swing sweep command. The photo shooting satisfies the lateral overlap rate, image motion compensation is particularly important, and the push-scan command cycle is consistent with the swing-scan cycle. Looking from below at 0° with an initial angular velocity Start until The time taken to complete the photo shoot . Use the remaining time, which is the sweep acceleration and deceleration time Complete the reset. Specifically, reset to the initial downward 0° position and restore to the initial angular velocity .

[0036] Specifically, push-broom commands are periodic commands generated based on the initial angular velocity, push-broom motion angle, and push-broom angular acceleration. These commands are primarily responsible for image motion compensation, ensuring heading overlap and achieving seamless image transitions.

[0037] 2.1. According to sensor exposure time , Number of photos taken during the period And the sweep acceleration and deceleration time Calculate the time taken for the above push sweep command The calculation formula is: .

[0038] 2.2 The initial angular velocity of the push-broom can be calculated by the aircraft's speed-to-height ratio , the unit is degree / second. The calculation formula is: , in, is the flight speed, For Hanggao.

[0039] 2.3. Calculate the push-sweep motion angle within the cycle :

[0040] 2.4 Push-sweep angular acceleration Slow down from the push sweep, If time is decelerated to 0 degrees per second, we can get: , , in, Maximum angular velocity in the reverse direction.

[0041] 2.5 Push-sweep cycle At the end, it should be at 0° position and the angular velocity is , so the push-sweep command is changed from decelerate to 0 and accelerate to The angles of are canceled out, and the following formula is obtained: , Combining 2.3 and 2.5, we can solve , angular acceleration ,time .

[0042] S3: The swing scanning instruction and the push scanning instruction are used to coordinately perform the tasks of swing scanning imaging and image motion compensation based on the same control cycle.

[0043] Specifically, the swing sweep command and the push sweep command are executed simultaneously in the same control cycle. The image area of the previous remote sensing image is used as a reference, and the image area is selected as the target for the next shooting based on the heading overlap rate and the lateral overlap rate.

[0044] During panning and scanning imaging, the lateral overlapping area is selected as the target, and the target boresight offset is calculated through target solution. The error between the visual servo compensation command and the actual boresight command is then dynamically adjusted to compensate for real-time image motion.

[0045] See also Figure 2 , Figure 2 The embodiment of the present invention is based on the number of photos taken Schematic diagram of imaging with two sweep cycles T as an example.

[0046] See also Figure 3 , Figure 3 The embodiment of the present invention is based on the number of photos taken Take the sweep acceleration instruction diagram as an example.

[0047] See also Figure 4 , Figure 4 The embodiment of the present invention is based on the number of photos taken Take the sweep speed instruction diagram as an example.

[0048] See also Figure 5 , Figure 5 The embodiment of the present invention is based on the number of photos taken The push-sweep acceleration instruction diagram is taken as an example.

[0049] See also Figure 6 , Figure 6 The embodiment of the present invention is based on the number of photos taken Push-sweep speed instruction diagram as an example.

[0050] See also Figure 7 , Figure 7 The embodiment of the present invention is based on the number of photos taken Take the push-scan target area as an example.

[0051] In summary, the multi-mode pod collaborative imaging control method proposed in this embodiment achieves efficient swing imaging and precise image motion compensation within a specific range by analyzing the performance parameters and index requirements of multi-mode sensors, optimizing and selecting optimal parameters, and designing high-precision motion control instructions for the optoelectronic pod motor. The technical solution of this application effectively overcomes the limitations of traditional remote sensing operation methods, significantly improving the efficiency of multi-mode remote sensing data acquisition while ensuring image quality and the accuracy of subsequent data processing. It has important practical value and broad application prospects.

[0052] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of a multi-mode pod collaborative imaging control system according to an embodiment of the present invention. Specific contents include: Parameter calculation module 100: integrates a multi-mode photoelectric sensor into the pod to obtain the payload parameters of the multi-mode photoelectric sensor and calculate various indicators of remote sensing imaging; Instruction generation module 200: generates a pod swing sweep instruction and a push sweep instruction based on the various indicators; wherein the swing sweep instruction is used for payload swing sweep, and the push sweep instruction is used for image motion compensation; The motion planning and compensation module 300 coordinates the swing scanning instruction and the push scanning instruction to perform the tasks of swing scanning imaging and image motion compensation based on the same control cycle.

[0053] Specifically, this embodiment further proposes a multi-mode pod collaborative imaging control system, which integrates multi-mode photoelectric sensors in the pod and realizes efficient and high-quality remote sensing imaging tasks through a parameter calculation module 100, an instruction generation module 200, and a motion planning and compensation module 300.

[0054] In parameter calculation module 100, multiple photoelectric sensors are integrated into the pod, ensuring no physical interference between the sensors and reliable electrical connections. Detailed parameters for each sensor, including but not limited to the long side field of view, sensor resolution, exposure time, and frame rate, are obtained through the sensor's built-in interface or dedicated software.

[0055] Specifically, the sweep angle is calculated using inverse trigonometric functions based on the flight altitude and the field of view of each sensor to determine the coverage area for remote sensing operations. Ground pixel resolution is calculated based on sensor resolution and flight altitude to assess image clarity. Based on the coverage area and overlap requirements, as well as the field of view of each sensor, the multi-mode electro-optical payload's command cycle and the number of sweep images per cycle are calculated.

[0056] Instruction generation module 200 generates a sweep instruction based on the instruction cycle and number of shots determined by the parameter calculation module. This sweep instruction includes parameters such as the sweep angle, sweep angle acceleration, and sweep velocity angle, ensuring the pod achieves inertial stability during each camera exposure and completes acceleration and deceleration between shots.

[0057] The push-broom command is generated based on the aircraft's speed-to-height ratio and the swing-broom command cycle. This command includes parameters such as the initial push-broom speed, push-broom motion angle, and push-broom angular acceleration. These parameters are used to compensate for image motion, ensure heading overlap, and achieve seamless image transitions.

[0058] In the motion planning and compensation module 300, a fixed control cycle is set, which should be long enough to complete the swing sweep and push sweep actions, but short enough to meet the real-time requirements. In each control cycle, the swing sweep command and the push sweep command are started simultaneously.

[0059] The swing sweep command controls the pod's motor to swing, achieving the payload's swing sweep function; the push sweep command performs a push sweep motion based on the carrier aircraft's speed, compensating for image motion. The visual servo system monitors the pod's actual position and attitude in real time and compares them with the planned commands. Based on the comparison results, the parameters of the swing sweep and push sweep commands are dynamically adjusted to achieve precise motion compensation for the planned pod commands. The system records imaging data, pod position and attitude data, and the effectiveness of motion compensation during each control cycle. Based on this data, the system is continuously optimized to improve the quality and efficiency of remote sensing imaging.

[0060] The multi-mode pod collaborative imaging control system described in this embodiment achieves efficient integration and collaborative operation of multi-mode photoelectric sensors, significantly improving the capability and efficiency of remote sensing operations. Furthermore, a real-time motion compensation mechanism effectively compensates for image motion, ensuring the quality and accuracy of remote sensing images. This system has broad application prospects in agricultural monitoring, ecological assessment, disaster response, and other fields.

[0061] The functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or in the form of software functional units. The above is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A multi-mode pod collaborative imaging control method, characterized in that: include: Integrate a multi-mode photoelectric sensor in the pod to obtain the payload parameters of the multi-mode photoelectric sensor and calculate various indicators of remote sensing imaging; Generate a pod swing sweep instruction and a push sweep instruction based on the various indicators; wherein the swing sweep instruction is used for payload swing sweep, and the push sweep instruction is used for image motion compensation; The swing scanning instruction and the push scanning instruction are used to coordinately perform the tasks of swing scanning imaging and image motion compensation based on the same control cycle.

2. A multi-mode pod collaborative imaging control method according to claim 1, characterized in that: The multi-mode photoelectric sensor includes but is not limited to: visible light sensor, infrared sensor, multispectral sensor, laser radar; The indicators include: field of view of the long side of the sensor, sweep angle, ground pixel resolution, instruction cycle, and number of sweep shots in one cycle; The load parameters of the multi-mode photoelectric sensor include: sensor width, sensor focal length, accommodation range, flight altitude, pixel size, heading overlap rate, lateral overlap rate, number of sensor narrow side pixels, and flight speed.

3. A multi-mode pod collaborative imaging control method according to claim 2, characterized in that: Calculating the field of view of the long side of the sensor using the sensor width and the sensor focal length; The sweep angle is obtained by calculating the receiving range, the flight altitude and an inverse trigonometric function; Calculating the ground pixel resolution using the flight altitude, the pixel size, and the sensor focal length; The instruction cycle is calculated according to the ground pixel resolution, the heading overlap rate, the number of narrow side pixels of the sensor, and the flight speed; According to the sweep angle, the lateral overlap rate, and the minimum field of view of the sensor Get the number N of scanning shots in one cycle.

4. A multi-mode pod collaborative imaging control method according to claim 3, characterized in that: The sweep instruction is a periodic instruction generated based on the sweep angle, the sweep angle acceleration, and the sweep velocity angle; The pod's sweep imaging mode completes the sweep angle within the sweep cycle. arrive The camera swings in the opposite direction and takes N pictures in the next cycle, forming an S-shaped sweeping trajectory.

5. A multi-mode pod collaborative imaging control method according to claim 4, characterized in that: The push-sweep instruction is a periodic instruction generated based on the initial angular velocity, the push-sweep motion angle, and the push-sweep angular acceleration; The push-broom imaging mode of the pod is set to the initial angular velocity from the downward 0° during the sweep cycle. Start until The photo is taken once, and the time is ; During the sweep acceleration and deceleration time Reset, specifically reset to the initial downward 0° position, and restore to the initial angular velocity .

6. A multi-mode pod collaborative imaging control method according to claim 5, characterized in that: The step of collaboratively executing the tasks of swing scanning imaging and image motion compensation based on the same control cycle of the swing scanning instruction and the push scanning instruction includes: The swing sweep instruction and the push sweep instruction are performed simultaneously in the same control cycle; Taking the previously captured remote sensing image as a reference, the target visual axis offset in the lateral overlap area is selected according to the heading overlap rate and the lateral overlap rate; By adjusting the error between the visual servo compensation command and the actual line of sight command, the pod motion trajectory is dynamically adjusted to perform real-time image motion compensation.

7. A multi-mode pod collaborative imaging control system, characterized in that: Parameter calculation module: Integrates multi-mode photoelectric sensors into the pod to obtain the payload parameters of the multi-mode photoelectric sensors and calculate various indicators of remote sensing imaging; Command generation module: Generates the pod's swing and push commands based on various indicators. The swing command is used for payload sweeping, while the push command is used for image motion compensation. Motion planning and compensation module: The swing scanning instructions and push scanning instructions are coordinated to perform the tasks of swing scanning imaging and image motion compensation based on the same control cycle.

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