Satellite image shooting method and system based on wide camera guidance, electronic equipment and storage medium

Abstract

The invention discloses a satellite image shooting method based on wide-width camera guidance, and the method comprises the following steps: a preliminary shooting step: transmitting a shooting instruction to a wide-width camera, and obtaining a current wide-width ground image shot by the wide-width camera; determining pixel coordinates of four vertexes in the current wide ground image to determine a current rectangular cloud judgment area; performing regional processing on the current rectangular cloud judgment region to obtain a plurality of sub-regions; and in the plurality of sub-regions, if the cloud content of the sub-region with the lowest cloud content is smaller than a preset cloud content threshold value, taking the sub-region with the lowest cloud content as a target shooting region. According to the method, the candidate shooting area range of the high-resolution camera is obtained through the wide-width camera, so that the area with the large cloud content is avoided, the most suitable shooting range is screened out, shooting of the high-resolution camera is guided, and the shooting power consumption of a satellite and the data transmission power consumption are reduced. The invention further discloses a system for implementing the method, electronic equipment and a computer readable storage medium.

Description

Technical Field

[0001] This invention relates to the field of satellite data processing technology, and in particular to a satellite image acquisition method, system, electronic device, and storage medium based on a wide-field camera-guided system. Background Technology

[0002] With the rapid development of remote sensing technology, Earth observation, and space exploration needs, the diversity and functional integration of satellite payloads have become important trends. To meet the requirements of high-resolution, multi-spectral, and multi-view observation, modern satellites (especially Earth observation satellites, remote sensing satellites, and scientific exploration satellites) often carry multiple camera payloads (such as visible light cameras, infrared cameras, multispectral cameras, and hyperspectral cameras) to achieve all-round and multi-dimensional imaging of the target area through the collaborative work of multiple cameras.

[0003] However, the high-performance operation of multi-camera payloads poses a severe challenge to the energy supply and data transmission capabilities of satellite platforms. Satellites carrying multiple cameras need to be turned on frequently (such as high-frequency Earth observation missions), which greatly increases the cumulative power consumption and directly leads to the rapid consumption of satellite energy. The amount of raw image data generated by the cameras is huge and needs to be transmitted to the ground station in real time or with delay through the satellite-to-ground link, resulting in high power consumption for data transmission. Summary of the Invention

[0004] To address the aforementioned problems in the prior art, this invention provides a satellite image acquisition method, system, electronic device, and storage medium based on a wide-field camera-guided imaging system. The technical problem to be solved by this invention is achieved through the following technical solution: The first aspect of this invention provides a satellite image acquisition method guided by a wide-field camera, comprising the following steps: Preliminary shooting steps: Send a shooting command to the wide-field camera to acquire the current wide-field ground image captured by the wide-field camera; Based on the high-resolution camera's side-swing angle along the Y-axis in the spatial coordinate system, cloud detection reaction time, the maximum adjustment angle per second of the high-resolution camera's side-swing angle, the total number of pixels in the current wide-field ground image, the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system, and the cloud detection reaction distance, the pixel coordinates of four vertices in the current wide-field ground image are determined to define the current rectangular cloud detection area; wherein, the spatial coordinate system is a Cartesian coordinate system established according to the right-hand rule, with the satellite's mass point as the origin, the X-axis along the satellite's flight direction as the X-axis, and the Z-axis along the direction away from the Earth's center along the gravity line; The current rectangular cloud region is divided into multiple sub-regions. In the multiple sub-regions, if the cloud content of the sub-region with the lowest cloud content is less than a preset cloud content threshold, then the sub-region with the lowest cloud content is taken as the target shooting area. If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, then the shooting ends and returns to the initial shooting step.

[0005] In one embodiment of the present invention, the method further includes: Based on the satellite's altitude and the forward tilt angle of the wide-field camera, determine the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image; Based on the satellite's altitude and the forward tilt angle of the high-resolution camera along the X-axis in the spatial coordinate system, the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system is determined.

[0006] In one embodiment of the present invention, the formula for calculating the distance between the projection of the wide-angle camera onto the ground in the spatial coordinate system and the center point of the current wide-angle ground image is as follows: S x = H g *tan(α s ); Among them, H g α represents the altitude of the satellite. s S represents the forward tilt angle of the wide-angle camera in the spatial coordinate system. x This represents the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image.

[0007] In one embodiment of the present invention, the formula for calculating the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system is as follows: L x = H g * tan(β L ); Among them, H g β represents the altitude of the satellite. L L represents the forward tilt angle of the high-resolution camera along the X-axis in the spatial coordinate system. x This represents the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system.

[0008] In one embodiment of the present invention, the method further includes: The cloud detection reaction distance is determined based on the cloud detection reaction time and the satellite's flight speed.

[0009] In one embodiment of the present invention, the four vertices are P1, P2, P3, and P4, and the formula for calculating the pixel coordinates of the four vertices is as follows: P1 = (tan(α) L -t*θ)*H, 0); P2= (tan(α) L +t*θ)*H, 0); P3 = (tan(α) L +t*θ)*H, S x +H / 2-L x -F); P4 = (tan(α) L -t*θ)*H, S x +H / 2-L x -F); Where, α L The high-resolution camera's sway angle along the Y-axis in the spatial coordinate system represents the cloud detection reaction time. θ represents the maximum adjustment angle of the high-resolution camera's sway angle per second. H represents the total number of rows of pixels in the current wide-field ground image. S x L represents the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image. x The distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system is represented by F, where F represents the cloud detection response distance.

[0010] In one embodiment of the present invention, the width B of the sub-region w And height is represented by B h The calculation formula is: B w = L p1p2 / floor(L p1p2 / r) B h = (S x +H / 2-L x -F) Among them, L p1p2 = fabs(tan(α L +t*θ)*H - tan(α L -t*θ)*H), fabs indicates taking the absolute value, floor indicates rounding down, α L The high-resolution camera's sway angle along the Y-axis in the spatial coordinate system represents the cloud detection reaction time. θ represents the maximum adjustment angle of the high-resolution camera's sway angle per second. H represents the total number of rows of pixels in the current wide-field ground image. S x L represents the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image. x The distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system is represented by F, where F represents the cloud detection response distance.

[0011] A second aspect of this invention provides a satellite image acquisition system guided by a wide-field camera, comprising: The acquisition module is used for the initial shooting steps: sending a shooting command to the wide-field camera to acquire the current wide-field ground image captured by the wide-field camera; The determination module is used to determine the pixel coordinates of four vertices in the current wide-field ground image based on the side-swing angle of the high-resolution camera in the Y-axis direction of the spatial coordinate system, the cloud detection reaction time, the maximum adjustment angle per second of the side-swing angle of the high-resolution camera, the total number of rows of pixels in the current wide-field ground image, the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, the distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system, and the cloud detection reaction distance, so as to determine the current rectangular cloud detection area; wherein, the spatial coordinate system is a Cartesian coordinate system established according to the right-hand rule, with the satellite body mass point as the origin, the X-axis along the direction of satellite flight as the X-axis, and the direction away from the Earth's center along the gravity line as the Z-axis; The partitioning module is used to divide the current rectangular cloud judgment area into multiple sub-regions. The cloud detection module is used to determine the target shooting area if the cloud content of the sub-region with the lowest cloud content is less than a preset cloud content threshold among the multiple sub-regions. If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, the shooting ends and returns to the initial shooting step.

[0012] A third aspect of the present invention 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 a satellite image acquisition method based on a wide-field camera guided by a first aspect of the present invention.

[0013] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a satellite image acquisition method based on a wide-field camera guided by a first aspect of the present invention.

[0014] The beneficial effects of this invention are: This invention utilizes a wide-field camera to perform a large-area, low-power scan (large swath width, low resolution, and lower power consumption per shot) to pre-determine the candidate shooting area range for the high-resolution camera. These ranges are then divided into blocks for cloud detection to avoid areas with high cloud content, selecting the most suitable shooting area to guide the high-resolution camera's shooting. This significantly reduces unnecessary camera startups and durations, directly lowering the overall energy consumption of the satellite platform. After filtering the target area through cloud content detection, high-resolution imaging is only initiated in areas with low cloud content, reducing the generation of invalid data and thus lowering the data volume and storage load of the satellite-to-ground link, thereby reducing the satellite's shooting and data transmission power consumption.

[0015] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 A flowchart illustrating a satellite image acquisition method guided by a wide-field camera, provided for an embodiment of the present invention; Figure 2 A schematic diagram illustrating the shooting process of a satellite image acquisition method based on a wide-field camera, provided in an embodiment of the present invention; Figure 3 for Figure 2 A top-down view; Figure 4 This is a block diagram of a satellite image acquisition system guided by a wide-field camera, provided as an embodiment of the present invention. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0019] like Figure 1 As shown, the first aspect of this invention provides a satellite image acquisition method guided by a wide-field camera, comprising the following steps: Step 11, Preliminary shooting steps: Send a shooting command to the wide-field camera to obtain the current wide-field ground image captured by the wide-field camera.

[0020] Step 12: Based on the side tilt angle of the high-resolution camera in the Y-axis direction of the spatial coordinate system, the cloud detection reaction time, the maximum adjustment angle of the side tilt angle of the high-resolution camera per second, the total number of rows of pixels in the current wide-field ground image, the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, the distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system, and the cloud detection reaction distance, determine the pixel coordinates of four vertices in the current wide-field ground image to determine the current rectangular cloud detection area.

[0021] The spatial coordinate system is a Cartesian coordinate system established according to the right-hand rule, with the satellite's own mass as the origin, the X-axis along the direction of the satellite's flight as the X-axis, and the Z-axis along the direction of gravity away from the Earth's center as the Z-axis.

[0022] Step 13: Divide the current rectangular cloud region into multiple sub-regions.

[0023] Step 14: If the cloud content of the sub-region with the lowest cloud content is less than the preset cloud content threshold, then the sub-region with the lowest cloud content is taken as the target shooting area. If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, then the shooting ends and returns to the initial shooting step.

[0024] In this implementation, a wide-field, low-power scan (large swath width, low resolution, and lower power consumption per shot) is performed first to obtain the candidate shooting area range for the high-resolution camera in advance. These ranges are then divided into blocks for cloud detection to avoid areas with high cloud content, selecting the most suitable shooting range to guide the high-resolution camera's shooting. This significantly reduces the unnecessary number of times and duration the high-resolution camera is turned on, directly reducing the overall energy consumption of the satellite platform. After selecting the target area through cloud content detection, high-resolution imaging is only initiated in areas with low cloud content, reducing the generation of invalid data, thereby reducing the amount of data transmitted and the storage load of the satellite-to-ground link, and lowering the satellite's shooting power consumption and data transmission power consumption.

[0025] Based on the first aspect of the present invention, the second aspect of the present invention provides a more detailed description of a satellite image acquisition method guided by a wide-field camera. The second aspect of the present invention provides a satellite image acquisition method guided by a wide-field camera, comprising the following steps: Step 21, Preliminary shooting steps: Send a shooting command to the wide-field camera to obtain the current wide-field ground image captured by the wide-field camera.

[0026] In this step, the resolution of the wide-field camera is lower than that of the high-resolution camera. For example... Figure 2 As shown, the wide-field camera captures a ground image at the current moment according to the shooting command.

[0027] Step 22: Based on the side tilt angle of the high-resolution camera in the Y-axis direction of the spatial coordinate system, the cloud detection reaction time, the maximum adjustment angle of the side tilt angle of the high-resolution camera per second, the total number of rows of pixels in the current wide-field ground image, the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, the distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system, and the cloud detection reaction distance, determine the pixel coordinates of four vertices in the current wide-field ground image to determine the current rectangular cloud detection area.

[0028] The spatial coordinate system is a Cartesian coordinate system established according to the right-hand rule, with the satellite's own mass as the origin, the X-axis along the direction of the satellite's flight as the X-axis, and the Z-axis along the direction of gravity away from the Earth's center as the Z-axis.

[0029] In this step, such as Figure 3 As shown, the origin of the pixel coordinates is at the top left corner of the current wide-field ground image. The positive direction of the Xp axis is to the right, and the positive direction of the Yp axis is downward. That is, the Y-axis parallel to the spatial coordinate system is the Xp axis, and the X-axis parallel to the spatial coordinate system is the Yp axis. The nadir point is the projection of the satellite's center of gravity or the wide-field camera's center of gravity onto the ground.

[0030] In this step, such as Figure 3 As shown, since the position of the wide-field camera relative to the satellite body is fixed, and the surface undulations are negligible with respect to the satellite's altitude, the distance S of the wide-field camera along the X-axis is... x It is a constant value. Specifically, based on the satellite's altitude and the forward tilt angle of the wide-field camera, the distance S between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point Q of the current wide-field ground image is determined. x .

[0031] Specifically, S x The calculation formula is: S x = H g *tan(α s ).

[0032] Among them, H g α represents the altitude of the satellite. s This represents the tilt angle of a wide-format camera in the spatial coordinate system (that is, the angle along the X-axis). Figure 2 The angle between the dashed line and the Z-axis.

[0033] Furthermore, the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system is L. x The distance in the Y direction is L. y The high-resolution camera's tilt angle along the X-axis is β. L The lateral swing angle in the Y-axis direction is α. L Specifically, based on the satellite's altitude H gThe forward tilt angle β of the high-resolution camera along the X-axis in the spatial coordinate system L Determine the distance L between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system. x According to the satellite's altitude H g The side tilt angle α of the high-resolution camera in the Y-axis direction of the spatial coordinate system L Determine the distance L between the high-resolution camera and the wide-field camera along the Y-axis in the spatial coordinate system. y The specific calculation formula is as follows: L x = H g * tan(β L ), L y = H g * tan(α L ).

[0034] Furthermore, the onboard computing unit requires a certain amount of computation time to calculate and determine cloud content, and the high-resolution camera also requires maneuvering time for side-swing. Taking the longer of these two as the reaction time, assuming the reaction time is t seconds and the satellite's flight speed is a constant v, the onboard cloud detection reaction distance F can be expressed as F = t * v. Here, t represents the cloud detection reaction time, and F represents the cloud detection reaction distance. Only image areas within the wide-field camera's image range whose minimum distance to the high-resolution camera exceeds F can be used to guide the high-resolution camera's capture. Therefore, it is necessary to find an image area suitable for guidance in the current wide-field ground image, which is the current rectangular cloud detection area.

[0035] High-resolution cameras also require a certain amount of time to adjust their tilt angle. The maximum tilt angle adjustment is θ per second. Therefore, assuming sufficient reaction time, the area that a wide-field camera can be used to determine clouds can be represented by a rectangle composed of four points P1, P2, P3, and P4. The pixel coordinates of these four vertices are calculated as follows: P1 = (tan(α) L -t*θ)*H, 0); P2= (tan(α) L +t*θ)*H, 0); P3 = (tan(α) L +t*θ)*H, S x +H / 2-L x -F); P4 = (tan(α) L -t*θ)*H, S x +H / 2-L x -F); Where, α LThe high-resolution camera's yaw angle in the Y-axis direction is represented by θ, t represents the cloud detection reaction time, θ represents the maximum adjustment angle of the high-resolution camera's yaw angle per second, H represents the total number of rows in the current wide-field ground image, and W represents the total number of columns. x L represents the distance between the projection of the wide-format camera onto the ground in the spatial coordinate system and the center point of the current wide-format ground image. x This represents the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system, where F represents the cloud detection response distance. The minimum distance between the current rectangular cloud detection area and the high-resolution camera is F.

[0036] like Figure 3 As shown, the blue area represents the area captured by the wide-field camera (the current wide-field ground image), the yellow area represents the image area that can be used for cloud identification (the current rectangular cloud identification area), and the yellow area is the area that the wide-field camera can guide the high-resolution camera to take pictures.

[0037] The above formula holds true under three premises: first, the cloud height is negligible relative to the satellite height; second, the forward tilt angle of the high-resolution camera is not considered, only the side tilt angle is considered; and third, the imaging range of the wide-field camera completely includes the maximum side tilt angle of the high-resolution camera.

[0038] Step 23: Divide the current rectangular cloud region into multiple sub-regions.

[0039] To facilitate parallel processing and shorten cloud computing time, the yellow area was divided into blocks, with each block having a width of B. w The block height is represented by B. h The specific calculation formula is as follows: B w = L p1p2 / floor(L p1p2 / r); B h = (S x +H / 2-L x -F); Among them, L p1p2 = fabs(tan(α L +t*θ)*H - tan(α L -t*θ)*H), fabs indicates taking the absolute value, floor indicates rounding down, α L Let represent the tilt angle of the high-resolution camera along the Y-axis in the spatial coordinate system, t represent the cloud detection reaction time, θ represent the maximum adjustment angle of the high-resolution camera's tilt angle per second, H represent the total number of rows in the current wide-field ground image, r represent the shooting radius of the high-resolution camera, and S represent the total number of rows in the wide-field ground image. x L represents the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image.x The distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system is represented by F, where F represents the cloud detection response distance.

[0040] Step 24: If the cloud content of the sub-region with the lowest cloud content is less than the preset cloud content threshold, then the sub-region with the lowest cloud content is taken as the target shooting area. If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, then the shooting ends, and the remaining sub-regions are traversed until all sub-regions have been traversed, and the process returns to the initial shooting step.

[0041] Here, the wide-format image is divided into blocks using the steps described above, and the cloud content percentage of each block is calculated by the on-board computing unit. The specific cloud determination process is as follows: First, calculate the cloud content for each sub-region. Then, determine whether the cloud content for each sub-region exceeds a preset cloud content threshold. If the cloud content of the sub-region with the lowest cloud content is less than the preset cloud content threshold, then the sub-region with the lowest cloud content is designated as the target shooting area. The system adjusts the side tilt angle of the high-resolution camera to that sub-region and sends a shooting command to the high-resolution camera to capture the image of that sub-region.

[0042] If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, the shooting ends and returns to the initial shooting steps. Here, after canceling the shooting, the system continues to send shooting instructions to the wide-field camera, which takes the next image and continues to execute steps 21-24 above to guide the high-resolution camera to shoot.

[0043] In this implementation, images of a large candidate shooting area are acquired in advance using a wide-field camera, and areas with low cloud content are selected as the actual shooting targets for the high-resolution camera based on cloud detection results, thus accurately avoiding cloud obstruction interference. Compared with the traditional method of directly controlling the high-resolution camera to shoot randomly or in a fixed area, this invention ensures that the high-resolution camera always focuses on a high-quality imaging area with no or few clouds, thereby significantly improving the clarity, contrast, and information effectiveness of the final image and meeting the needs of high-precision Earth observation (such as surface feature recognition, target monitoring, etc.).

[0044] Moreover, due to their high resolution, high-resolution cameras consume significantly more power when powered on for shooting than wide-field cameras (e.g., instantaneous power consumption can reach tens to hundreds of watts). In this embodiment, the wide-field camera first performs a large-area low-power scan (large swath width, low resolution, and lower power consumption per shot), and only after selecting the optimal target area is the high-resolution camera powered on for shooting. This can significantly reduce the number of unnecessary power-on times and duration of the high-resolution camera, directly reducing the overall energy consumption of the satellite platform.

[0045] Meanwhile, high-resolution cameras generate massive amounts of data per image (e.g., a single sub-meter resolution image can reach several gigabytes). Directly performing high-resolution imaging on the entire area covered by a wide-field camera would generate a huge amount of redundant data (including many useless areas covered by clouds). In this embodiment, after filtering the target area through cloud detection, high-resolution imaging is only initiated on areas with few clouds. This reduces the amount of invalid data generated, thereby reducing the amount of data transmitted and the storage load on the satellite-to-ground link, reducing the working time and power consumption of data transmission equipment (such as solid-state power amplifiers and modems), reducing the scale of data received and processed by the ground station, saving storage space and computing resources, avoiding the risk of transmission delays or packet loss due to data overload, and improving mission reliability.

[0046] like Figure 4 As shown, a third aspect of the present invention provides a satellite image acquisition system guided by a wide-field camera, comprising: The acquisition module 31 is used for the initial shooting steps: sending a shooting command to the wide-field camera to acquire the current wide-field ground image captured by the wide-field camera; The determination module 32 is used to determine the pixel coordinates of four vertices in the current wide-field ground image based on the side-swing angle of the high-resolution camera in the Y-axis direction of the spatial coordinate system, the cloud detection reaction time, the maximum adjustment angle of the side-swing angle of the high-resolution camera per second, the total number of rows of pixels in the current wide-field ground image, the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, the distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system, and the cloud detection reaction distance, so as to determine the current rectangular cloud detection area; wherein, the spatial coordinate system is a Cartesian coordinate system established according to the right-hand rule, with the satellite body mass point as the origin, the X-axis along the direction of satellite flight as the X-axis, and the direction away from the Earth's center along the gravity line as the Z-axis; Partitioning module 33 is used to divide the current rectangular cloud judgment area into multiple sub-regions; The cloud detection module 34 is used to determine the target shooting area if the cloud content of the sub-region with the lowest cloud content is less than a preset cloud content threshold among multiple sub-regions. If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, the shooting ends and returns to the initial shooting step.

[0047] In one embodiment of the present invention, the determining module is further configured to determine the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, based on the altitude of the satellite and the forward tilt angle of the wide-field camera. Based on the satellite's altitude and the forward tilt angle of the high-resolution camera along the X-axis in the spatial coordinate system, determine the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system.

[0048] In one embodiment of the present invention, the formula for calculating the distance between the projection of the wide-angle camera onto the ground in the spatial coordinate system and the center point of the current wide-angle ground image is as follows: S x = H g *tan(α s ); Among them, H g α represents the altitude of the satellite (wide-field camera) (the distance from the satellite to the ground along the Z-axis). s S represents the forward tilt angle of a wide-format camera in a spatial coordinate system. x This represents the distance between the projection of the wide-format camera onto the ground in the spatial coordinate system and the center point of the current wide-format ground image.

[0049] In one embodiment of the present invention, the formula for calculating the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system is as follows: L x = H g * tan(β L ); Among them, H g β represents the altitude of the satellite. L L represents the forward tilt angle of the high-resolution camera along the X-axis in the spatial coordinate system. x This represents the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system.

[0050] In one embodiment of the present invention, the determining module is further configured to determine the cloud reaction distance based on the cloud reaction time and the flight speed of the satellite.

[0051] In one embodiment of the present invention, the four vertices are P1, P2, P3, and P4, and the formula for calculating the pixel coordinates of the four vertices is as follows: P1 = (tan(α) L -t*θ)*H, 0); P2= (tan(α) L +t*θ)*H, 0); P3 = (tan(α) L +t*θ)*H, S x +H / 2-L x -F); P4 = (tan(α) L -t*θ)*H, S x +H / 2-L x -F); Where, α L The high-resolution camera's tilt angle along the Y-axis in the spatial coordinate system represents the cloud detection reaction time. θ represents the maximum tilt angle adjustment per second of the high-resolution camera, H represents the total number of rows in the current wide-field ground image, and S represents the total number of pixels.x L represents the distance between the projection of the wide-format camera onto the ground in the spatial coordinate system and the center point of the current wide-format ground image. x This represents the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system, and F represents the cloud detection response distance.

[0052] In one embodiment of the present invention, the width B of the sub-region w And height is represented by B h The calculation formula is: B w = L p1p2 / floor(L p1p2 / r) B h = (S x +H / 2-L x -F) Among them, L p1p2 = fabs(tan(α L +t*θ)*H - tan(α L -t*θ)*H), fabs indicates taking the absolute value, floor indicates rounding down, α L S represents the tilt angle of the high-resolution camera along the Y-axis in the spatial coordinate system; t represents the cloud detection reaction time; θ represents the maximum adjustment angle of the high-resolution camera's tilt angle per second; H represents the total number of rows of pixels in the current wide-field ground image; S x L represents the distance between the projection of the wide-format camera onto the ground in the spatial coordinate system and the center point of the current wide-format ground image. x This represents the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system, and F represents the cloud detection response distance.

[0053] A fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the satellite image acquisition method based on a wide-field camera guided by the present invention described above.

[0054] A fifth aspect of the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the satellite image acquisition method based on a wide-field camera provided in the above-described embodiments of the present invention.

[0055] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0056] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware systems.

[0057] The method provided in this invention can be applied to electronic devices. Specifically, the electronic device can be a desktop computer, a portable computer, a smart mobile terminal, a server, etc. No limitation is made herein; any electronic device that can implement this invention falls within the protection scope of this invention.

[0058] For system / electronic device embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be found in the description of the method embodiments.

[0059] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A system that specifies functions in one or more boxes.

[0060] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, the instruction system being implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0061] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for satellite image acquisition based on wide-field camera guidance, characterized in that, Includes the following steps: Preliminary shooting steps: Send a shooting command to the wide-field camera to acquire the current wide-field ground image captured by the wide-field camera; Based on the high-resolution camera's side-swing angle along the Y-axis in the spatial coordinate system, cloud detection reaction time, the maximum adjustment angle per second of the high-resolution camera's side-swing angle, the total number of pixels in the current wide-field ground image, the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system, and the cloud detection reaction distance, the pixel coordinates of four vertices in the current wide-field ground image are determined to define the current rectangular cloud detection area; wherein, the spatial coordinate system is a Cartesian coordinate system established according to the right-hand rule, with the satellite's mass point as the origin, the X-axis along the satellite's flight direction as the X-axis, and the Z-axis along the direction away from the Earth's center along the gravity line; The current rectangular cloud region is divided into multiple sub-regions. In the multiple sub-regions, if the cloud content of the sub-region with the lowest cloud content is less than a preset cloud content threshold, then the sub-region with the lowest cloud content is taken as the target shooting area. If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, then the shooting ends and returns to the initial shooting step.

2. The method as described in claim 1, characterized in that, The method further includes: Based on the satellite's altitude and the forward tilt angle of the wide-field camera, determine the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image; Based on the satellite's altitude and the forward tilt angle of the high-resolution camera along the X-axis in the spatial coordinate system, the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system is determined.

3. The method as described in claim 2, characterized in that, The formula for calculating the distance between the projection of the wide-angle camera onto the ground in the spatial coordinate system and the center point of the current wide-angle ground image is as follows: S x = H g *tan(α s ); Among them, H g α represents the altitude of the satellite. s S represents the forward tilt angle of the wide-angle camera in the spatial coordinate system. x This represents the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image.

4. The method as described in claim 3, characterized in that, The formula for calculating the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system is as follows: L x = H g * tan(β L ); Among them, H g β represents the altitude of the satellite. L L represents the forward tilt angle of the high-resolution camera along the X-axis in the spatial coordinate system. x This represents the distance between the high-resolution camera and the wide-field camera along the X-axis in the spatial coordinate system.

5. The method as described in claim 1, characterized in that, The method further includes: The cloud detection reaction distance is determined based on the cloud detection reaction time and the satellite's flight speed.

6. The method as described in claim 1, characterized in that, The four vertices are P1, P2, P3, and P4, and the formula for calculating the pixel coordinates of the four vertices is as follows: P1 = (tan(α L -t*θ*H, 0);P2= (tan(α L +t*θ)*H, 0); P3 = (tan(α L +t*θ)*H, S x +H / 2-L x -F);P4 = (tan(α L -t*θ)*H, S x +H / 2-L x -F); Where, α L The high-resolution camera's sway angle along the Y-axis in the spatial coordinate system represents the cloud detection reaction time. θ represents the maximum adjustment angle of the high-resolution camera's sway angle per second. H represents the total number of rows of pixels in the current wide-field ground image. S x L represents the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image. x The distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system is represented by F, where F represents the cloud detection response distance.

7. The method as described in claim 1, characterized in that, The width B of the sub-region w And height is represented by B h The calculation formula is: B w = L p1p2 / floor(L p1p2 / r) B h = (S x +H / 2-L x -F) Among them, L p1p2 = fabs(tan(α L +t*θ)*H - tan(α L -t*θ)*H), fabs indicates taking the absolute value, floor indicates rounding down, α L The high-resolution camera's sway angle along the Y-axis in the spatial coordinate system represents the cloud detection reaction time. θ represents the maximum adjustment angle of the high-resolution camera's sway angle per second. H represents the total number of rows of pixels in the current wide-field ground image. S x L represents the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image. x The distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system is represented by F, where F represents the cloud detection response distance.

8. A satellite image acquisition system guided by a wide-field camera, characterized in that, include: The acquisition module is used for the initial shooting steps: sending a shooting command to the wide-field camera to acquire the current wide-field ground image captured by the wide-field camera; The determination module is used to determine the pixel coordinates of four vertices in the current wide-field ground image based on the side-swing angle of the high-resolution camera in the Y-axis direction of the spatial coordinate system, the cloud detection reaction time, the maximum adjustment angle per second of the side-swing angle of the high-resolution camera, the total number of rows of pixels in the current wide-field ground image, the distance between the projection of the wide-field camera onto the ground in the spatial coordinate system and the center point of the current wide-field ground image, the distance between the high-resolution camera and the wide-field camera in the X-axis direction of the spatial coordinate system, and the cloud detection reaction distance, so as to determine the current rectangular cloud detection area; wherein, the spatial coordinate system is a Cartesian coordinate system established according to the right-hand rule, with the satellite body mass point as the origin, the X-axis along the direction of satellite flight as the X-axis, and the direction away from the Earth's center along the gravity line as the Z-axis; The partitioning module is used to divide the current rectangular cloud judgment area into multiple sub-regions. The cloud detection module is used to determine the target shooting area if the cloud content of the sub-region with the lowest cloud content is less than a preset cloud content threshold among the multiple sub-regions. If the cloud content of the sub-region with the lowest cloud content is greater than or equal to the preset cloud content threshold, the shooting ends and returns to the initial shooting step.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the satellite image acquisition method based on wide-field camera guidance as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the satellite image acquisition method based on a wide-field camera as described in any one of claims 1 to 7.

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