A multi-mode pod cooperative imaging control method and system

Abstract

The present application relates to the cross field of aerial remote sensing imaging and motion control, and specifically provides a multi-mode pod cooperative imaging control method and system, the method steps comprising: integrating a multi-mode photoelectric sensor in a pod to obtain load parameters of the multi-mode photoelectric sensor to calculate various indicators of remote sensing imaging; generating a swing-scan instruction and a push-scan instruction for the pod based on the various indicators; wherein the swing-scan instruction is used for load swing-scan, and the push-scan instruction is used for image motion compensation; the swing-scan instruction and the push-scan instruction are used to cooperatively execute the tasks of swing-scan imaging and image motion compensation based on the same control cycle; under the condition of low-altitude high-speed flight, the present application cooperatively plans the motion of a multi-mode pod and remote sensing imaging, ensures the stable imaging quality of the multi-mode sensor, guarantees the accuracy and reliability of remote sensing data, and improves the remote sensing operation ability and efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the cross field of aerial remote sensing imaging and motion control, and specifically provides a multi-mode pod cooperative imaging control method and system. BACKGROUND

[0002] Aerial remote sensing has the significant advantage of quickly and efficiently obtaining remote sensing information of a specific area, and is widely used in fields such as agricultural monitoring, ecological assessment, and disaster emergency. The traditional aerial remote sensing operation mode usually uses a UAV to carry a single photoelectric sensor to perform a task. When different types of remote sensing information need to be obtained, the sensor must be replaced and multiple flights must be performed, resulting in a long operation cycle and low efficiency. To solve this problem, a multi-mode photoelectric payload system integrating multiple sensors can quickly obtain multi-modal information at the same time and in space in the same flight, greatly improving the efficiency of remote sensing operations and the richness of information acquisition.

[0003] The accommodation range of a remote sensing system is one of the important indicators for evaluating its operation capacity and operation efficiency. Through the swing-scan imaging mode, the multi-mode payload can quickly obtain large-scale remote sensing data, and can also significantly expand the accommodation range of the multi-mode photoelectric pod, thereby further improving the working efficiency of the remote sensing system. However, in actual application, there are differences between the parameters and imaging indicators of multiple sensors, and image motion is easily generated under high-speed flight of the UAV, resulting in a decrease in the quality of remote sensing images.

[0004] Therefore, to solve the above problems, the present application provides a multi-mode pod cooperative imaging control method and system. SUMMARY

[0005] The present application is directed to the problem that when the traditional aerial remote sensing operation uses a UAV to carry a single photoelectric sensor to perform a task, the sensor needs to be frequently replaced and multiple flights need to be performed, resulting in a prolonged operation cycle and low efficiency. Therefore, the present application provides a multi-mode pod cooperative imaging control method and system, which realizes efficient swing-scan imaging and accurate image motion compensation within a specific range.

[0006] To achieve the above purpose, the technical solution of the present application is as follows:

[0007] In a first aspect, a multi-mode pod cooperative imaging control method includes:

[0008] Integrating a multi-mode photoelectric sensor in a pod to obtain load parameters of the multi-mode photoelectric sensor to calculate various indicators of remote sensing imaging;

[0009] Generating swing-scan instructions and push-scan instructions for the pod based on the various indicators; wherein the swing-scan instructions are used for load swing-scan, and the push-scan instructions are used for image motion compensation;

[0010] The wobbling instruction and the pushing instruction are cooperatively executed to perform the wobbling imaging and the image shift compensation based on the same control period.

[0011] Optionally, the multi-mode photoelectric sensor includes but is not limited to a visible light sensor, an infrared sensor, a multi-spectrum sensor, and a laser radar.

[0012] The indexes include a sensor long-side field of view angle, a wobbling angle, a ground pixel resolution, an instruction period, and a wobbling photographing frequency in one period.

[0013] The load parameters of the multi-mode photoelectric sensor include a sensor width, a sensor focal length, a receiving range, a flight height, a pixel size, a heading overlap rate, a side overlap rate, a sensor narrow-side pixel number, and a flight speed.

[0014] Optionally, the sensor long-side field of view angle is calculated by using the sensor width and the sensor focal length.

[0015] The wobbling angle is calculated by using the receiving range, the flight height, and an inverse trigonometric function.

[0016] The ground pixel resolution is calculated by using the flight height, the pixel size, and the sensor focal length.

[0017] The instruction period is calculated according to the ground pixel resolution, the heading overlap rate, the sensor narrow-side pixel number, and the flight speed.

[0018] The wobbling angle, the side overlap rate, and a minimum field of view angle of the sensor are used to calculate the wobbling photographing frequency N in one period.

[0019] Optionally, the wobbling instruction is a periodic instruction generated based on the wobbling angle, a wobbling angle acceleration, and a wobbling speed angle.

[0020] The wobbling imaging mode of the pod completes a wobbling angle to wobbling and N times of photographing in a wobbling period, and completes reverse wobbling and N times of photographing in a next period, to form an S-shaped wobbling track.

[0021] Optionally, the pushing instruction is a periodic instruction generated based on an initial angular velocity, a pushing motion angle, and a pushing angle acceleration.

[0022] The pushing imaging mode of the pod starts from a downward view of 0° at the initial angular velocity in the wobbling period, until the end of the Nth photographing, and the time used is ; and the wobbling acceleration and deceleration time is ​The reset is performed at a time, specifically to an initial downward view 0° position, and the initial angular velocity is restored .

[0023] Optionally, the step of executing the wobbling scanning instruction and the pushing scanning instruction based on the same control cycle to perform the tasks of wobbling scanning imaging and image motion compensation comprises:

[0024] The wobbling scanning instruction and the pushing scanning instruction are executed simultaneously in the same control cycle.

[0025] With the remote sensing image taken last time as a reference, the target visual axis offset of the lateral overlap area is selected according to the heading overlap rate and the lateral overlap rate.

[0026] The error between the visual servo compensation instruction and the actual visual axis instruction is used to dynamically adjust the motion trajectory of the pod to perform real-time image motion compensation.

[0027] In the second aspect, a multi-mode pod cooperative imaging control system comprises the following specific contents:

[0028] A parameter calculation module: a multi-mode photoelectric sensor is integrated into the pod to obtain load parameters of the multi-mode photoelectric sensor to calculate various indexes of remote sensing imaging.

[0029] An instruction generation module: based on the various indexes, wobbling scanning instructions and pushing scanning instructions of the pod are generated; the wobbling scanning instructions are used for load wobbling, and the pushing scanning instructions are used for image motion compensation.

[0030] A motion planning and compensation module: the wobbling scanning instructions and the pushing scanning instructions are used to perform the tasks of wobbling scanning imaging and image motion compensation based on the same control cycle.

[0031] Compared with the prior art, the present application can achieve the following beneficial effects:

[0032] By integrating multiple photoelectric sensors into the same pod, the method can simultaneously obtain multiple types of remote sensing information in the same flight, avoiding multiple flights due to sensor replacement in the traditional way, thereby significantly shortening the operation cycle and improving the operation efficiency; using the wobbling scanning imaging mode, the multi-mode load can quickly obtain large-range remote sensing data, significantly expanding the accommodation range of the photoelectric pod and further improving the working efficiency of the system; by designing precise motion control instructions of the photoelectric pod motor, including wobbling scanning instructions and pushing scanning instructions, the image motion caused by high-speed flight of the unmanned aerial vehicle can be effectively compensated, ensuring the clarity and accuracy of the remote sensing image; the successful implementation of the method and system provides a new idea and solution for the development of aerial remote sensing imaging technology, significantly improving the efficiency of remote sensing operation and the richness of data acquisition. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the application and, together with the description, serve to explain the application. In the drawings:

[0034] Figure 1 A flowchart of a multi-mode pod cooperative imaging control method according to an embodiment of the present application;

[0035] Figure 2 A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application;

[0036] A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application; Figure 3 A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application;

[0037] Figure 4 A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application;

[0038] Figure 5 A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application;

[0039] A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application; Figure 6 A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application;

[0040] Figure 7 A schematic diagram of imaging with two scan periods T as an example according to an embodiment of the present application;

[0041] Figure 8 A schematic diagram of a multi-mode pod cooperative imaging control system according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] ​​​​In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not constitute a limitation on the present application. In different embodiments, similar elements are associated with similar element labels. In the following embodiments, many details are described in order to make the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different cases, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification in order to avoid the core part of the present application being overwhelmed by too much description, and it is not necessary for those skilled in the art to describe these related operations in detail according to the description in the specification and general technical knowledge in the art.

[0043] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other to form various embodiments without conflict. At the same time, each step or action in the method description can also be sequentially adjusted or adjusted in a manner obvious to those skilled in the art. Therefore, the various sequences in the specification and drawings are only for the purpose of clearly describing a certain embodiment, and do not mean that the sequence is necessary, unless otherwise stated that a certain sequence must be followed.

[0044] The present application will be described in detail below with reference to the drawings and embodiments.

[0045] Please refer to Figure 1 , a flowchart of a multi-mode pod cooperative imaging control method described in the present embodiment; the specific steps include:

[0046] S1: integrate a multi-mode photoelectric sensor in the pod to obtain the load parameters of the multi-mode photoelectric sensor to calculate various indicators of remote sensing imaging.

[0047] Specifically, first, compare the parameters of the multi-mode photoelectric sensor integrated in the pod, and select the sensor combination suitable for the current task. The multi-mode photoelectric sensor includes but is not limited to: visible light sensor, infrared sensor, multi-spectral sensor, laser radar. According to the selected sensor parameters, calculate various indicators of remote sensing imaging, such as sensor long-side field of view angle, swing scan angle, ground pixel resolution, instruction period, and swing scan shooting times in one period.

[0048] Further, the load parameters of the multi-mode photoelectric sensor at least include: sensor width, sensor focal length, accommodation range, flight height, pixel size, heading overlap rate, lateral overlap rate, sensor narrow-side pixel number, and flight speed.

[0049] Sensor width and sensor focal length Calculate the long side field of view angle of the sensor ; the specific formula is:

[0050] ,

[0051] Where the length units of the sensor width and the sensor focal length are unified to meters for subsequent calculations.

[0052] Through the accommodation range , the flight height , and the swing scan angle calculated by the inverse trigonometric function; the specific formula is:

[0053] ,

[0054] Where the accommodation range is generally a multiple of the flight height , and the length units are unified to meters.

[0055] For example: the pod integrates visible light sensors (field of view angle ) and multispectral sensors (field of view angle ). Take the minimum field of view angle as the benchmark to calculate the swing scan angle.

[0056] Use the flight height , the pixel size , the sensor focal length to calculate the ground pixel resolution ; the specific formula is:

[0057] ,

[0058] Where the length units in the above formula are unified to meters; the ground pixel resolution is the image definition and the smallest unit that can be seen clearly. Calculating the ground pixel resolution can help calculate the command period of the multi-mode optoelectronic pod.

[0059] According to the ground pixel resolution , the heading overlap rate , the number of sensor narrow side pixels , the flight speed (unit: meters / second), calculate the multi-mode optoelectronic payload command period ; the specific formula is:

[0060] ,

[0061] 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 the pendulum scans and takes pictures in one cycle. The specific formula is:

[0062] .

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 1.1. The initial position of the multi-mode optoelectronic pod is that the minimum field of view 0° side coincides with the 0° side of the containment range. Inside, through The formula is:

[0067] ,

[0068] in, is the sweep cycle (unit: second), Number of photos taken, The interval between photos (unit: seconds).

[0069] Photo interval One swing needs to be completed within 1 second, including the sensor exposure time And sweep acceleration and deceleration time . Expressed as: .

[0070] 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.

[0071] 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.

[0072] According to the sweeping angle , calculate the sweep angular acceleration , in degrees per second 2 The specific formula is:

[0073] ,

[0074] According to the sweep angle acceleration , photo shooting interval and sensor exposure time Calculate the sweep velocity angle ; The formula is:

[0075] .

[0076] 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.

[0077] 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 The reset is completed. Specifically, reset to the initial downward view 0° position, and restore to the initial angular velocity .

[0078] Specifically, the push scan instruction is a periodic instruction generated based on the initial angular velocity, the push scan motion angle, and the push scan angular acceleration. The push scan instruction is mainly responsible for implementing image motion compensation, ensuring the heading overlap rate, and realizing seamless connection between images.

[0079] 2.1, according to the sensor exposure time , the number of times of photographing in a period , and the push scan acceleration and deceleration time , the time for calculating the above push scan instruction . The calculation formula is:

[0080] .

[0081] 2.2, the push scan initial angular velocity can be calculated by the speed-height ratio of the carrier, and the unit is degree / second. The calculation formula is:

[0082] ,

[0083] Among them, is the flight speed, is the flight height.

[0084] 2.3, calculate the push scan motion angle in a period :

[0085]

[0086] 2.4, push scan angular acceleration decelerate from the start of push scan, and decelerate to 0 degree / second after time, which can be obtained:

[0087] ,

[0088] ,

[0089] Among them, is the reverse maximum angular velocity.

[0090] 2.5, the push scan should be at 0° position and the angular velocity is at the end of the period , so the angle of the push scan instruction from deceleration to 0 and 0 acceleration to is offset, and the following formula is obtained:

[0091] ,

[0092] Combining 2.3 and 2.5, the following can be solved , angular acceleration , time .

[0093] S3: the wobble scan instruction, the push scan instruction, based on the same control period, the task of wobble scan imaging and image motion compensation is cooperatively executed.

[0094] Specifically, the wobble scan instruction and the push scan instruction are simultaneously performed in the same control period. With the previously photographed remote sensing image as a reference, an image area is selected according to the heading overlap rate and the lateral overlap rate, as a next photographing target.

[0095] During wobble scan imaging, a lateral overlap area is selected as a photographing target, and a target visual axis offset is obtained through target solving. Through the error between the visual servo compensation instruction and the actual visual axis instruction, the motion trajectory of the nacelle is dynamically adjusted, and real-time image motion compensation is performed.

[0096] Please refer to Figure 2 , Figure 2 is an imaging schematic diagram of two wobble scan periods T of the embodiment of the application, taking the number of photographing times as an example.

[0097] Please refer to Figure 3 , Figure 3 is a wobble scan acceleration instruction diagram of the embodiment of the application, taking the number of photographing times as an example.

[0098] Please refer to Figure 4 , Figure 4 is a wobble scan speed instruction diagram of the embodiment of the application, taking the number of photographing times as an example.

[0099] Please refer to Figure 5 , Figure 5 is a push scan acceleration instruction diagram of the embodiment of the application, taking the number of photographing times as an example.

[0100] Please refer to Figure 6 , Figure 6 is a push scan speed instruction diagram of the embodiment of the application, taking the number of photographing times as an example.

[0101] Please refer to Figure 7 , Figure 7 is a push scan photographing target area diagram of the embodiment of the application, taking the number of photographing times as an example.

[0102] In summary, the multi-mode pod cooperative imaging control method proposed in the embodiment optimizes the selection of optimal parameters by analyzing the performance parameters and index requirements of the multi-mode sensor, and designs high-precision motion control instructions for the motor of the photoelectric pod, thereby achieving efficient swing scanning imaging and accurate image motion compensation within a specific range. The technical solution of the application effectively overcomes the limitations of the traditional remote sensing operation method, not only significantly improves the multi-mode remote sensing data collection efficiency, but also ensures the image quality and the accuracy of subsequent data processing, and has important practical value and broad application prospect.

[0103] Please refer to Figure 8 , Figure 8 The structure of a multi-mode pod cooperative imaging control system according to an embodiment of the application is shown in FIG. 1. The specific content includes:

[0104] The parameter calculation module 100 integrates the multi-mode photoelectric sensor in the pod to obtain the load parameters of the multi-mode photoelectric sensor to calculate various indexes of remote sensing imaging.

[0105] The instruction generation module 200 generates swing scanning instructions and push scanning instructions for the pod based on the various indexes; wherein the swing scanning instructions are used for load swing scanning, and the push scanning instructions are used for image motion compensation.

[0106] The motion planning and compensation module 300 cooperatively executes the tasks of swing scanning imaging and image motion compensation based on the same control cycle of the swing scanning instructions and the push scanning instructions.

[0107] Specifically, the embodiment additionally proposes a multi-mode pod cooperative imaging control system, which integrates the multi-mode photoelectric sensor in the pod, and realizes efficient and high-quality remote sensing imaging tasks through the parameter calculation module 100, the instruction generation module 200, and the motion planning and compensation module 300.

[0108] In the parameter calculation module 100, the multi-mode photoelectric sensor is integrated in the pod to ensure that there is no physical interference between the sensors, and the electrical connection is stable and reliable. Through the interface or special software provided by the sensor, the detailed parameters of each sensor are obtained, including but not limited to the long-side field of view angle, the sensor resolution, the exposure time, the frame rate, etc.

[0109] Specifically, according to the flight altitude and the field of view angle of each sensor, the swing scanning angle is calculated through the inverse trigonometric function to determine the accommodation range of the remote sensing operation. Based on the sensor resolution and the flight altitude, the ground pixel resolution is calculated to evaluate the image clarity. According to the requirements of the accommodation range and the overlap rate, and the field of view angle of each sensor, the instruction period of the multi-mode photoelectric load and the number of swing scanning and photographing within one period are calculated.

[0110] In the instruction generation module 200, the swing-scan instruction is generated according to the instruction period and the photographing times obtained by the parameter calculation module. The swing-scan instruction includes parameters such as swing-scan angle, swing-scan angular acceleration, and swing-scan speed angle, to ensure that the pod is inertially stabilized at each camera exposure and completes the acceleration and deceleration motion within the photographing interval.

[0111] The push-scan instruction is generated according to the speed-height ratio of the carrier and the period of the swing-scan instruction. The push-scan instruction includes parameters such as push-scan initial rotation speed, push-scan motion angle, and push-scan angular acceleration, to realize image motion compensation, ensure the heading overlap ratio, and realize seamless connection between images.

[0112] In the motion planning and compensation module 300, a fixed control period is set, which should be long enough to complete the swing-scan and push-scan actions, and short enough to meet the real-time requirement. In each control period, the swing-scan instruction and the push-scan instruction are started simultaneously.

[0113] The swing-scan instruction controls the pod motor to swing, realizing the load swing-scan function; the push-scan instruction performs push-scan motion according to the carrier speed, to compensate for the image motion. The actual position and attitude of the pod are monitored in real time by using the visual servo system, and compared with the planned instruction. According to the comparison result, the parameters of the swing-scan and push-scan instructions are dynamically adjusted, to realize accurate motion compensation of the pod planning instruction. The imaging data, pod position and attitude data, and motion compensation effect in each control period are recorded. According to the recorded data, the system is continuously optimized, to improve the quality and efficiency of remote sensing imaging.

[0114] The multi-mode pod cooperative imaging control system described in the embodiment realizes efficient integration and cooperative work of multi-mode photoelectric sensors, significantly improves the capacity and efficiency of remote sensing operation. At the same time, through the real-time motion compensation mechanism, the image motion is effectively compensated, and the quality and accuracy of the remote sensing image are ensured. The system has wide application prospects in fields such as agricultural monitoring, ecological evaluation, and disaster emergency.

[0115] The functional units in each of the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. The above is only an implementation manner of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent flow transformation made by using the content of the specification and drawings, or direct or indirect application in other related technical fields, is 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; The various indicators include: the field of view angle of the long side of the sensor, the swing scanning angle, the ground pixel resolution, the instruction cycle, and the number of swing scanning photos in one cycle; the payload parameters of the multi-mode photoelectric sensor include: sensor width, sensor focal length, containment range, flight altitude, pixel size, heading overlap rate, lateral overlap rate, number of pixels on the narrow side of the sensor, and flight speed; 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 sweep instruction and the push sweep instruction are used to coordinately perform the tasks of swing sweep imaging and image motion compensation based on the same control cycle; 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 sweep trajectory. 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 .

2. A multi-mode pod collaborative imaging control method according to claim 1, characterized in that: The multi-mode photoelectric sensor includes: a visible light sensor, an infrared sensor, a multispectral sensor, and a laser radar.

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 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.

5. A multi-mode pod collaborative imaging control system, characterized in that: Parameter calculation module: Integrates 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; the indicators include: sensor long side field of view angle, swing scanning angle, ground pixel resolution, instruction cycle, and the number of swing scanning photos in one cycle; the payload parameters of the multi-mode photoelectric sensor include: sensor width, sensor focal length, containment range, flight altitude, pixel size, heading overlap rate, lateral overlap rate, number of sensor narrow side pixels, and flight speed; 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. 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 sweep trajectory. 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 ; 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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