Satellite imaging jitter measurement system based on area array detection

Abstract

The invention discloses a satellite imaging jitter measurement system based on area array detection. The satellite imaging jitter measurement system comprises a camera management controller, a camera main body, an imaging / jitter measurement detector and a signal processor, wherein the camera management controller receives a primary power supply, a bus and a second pulse signal from a satellite, and manages and controls the camera main body, the imaging / jitter measurement detector and the signal processor; the camera main body is used for imaging a ground object to a rear focal plane of the camera main body; the imaging / jitter measurement detector is mounted on the rear focal plane of the camera main body, acquires an object optical image at the rear focal plane of the camera main body, converts the object optical image into an image electric signal through photoelectric conversion, and transmits the image electric signal to the signal processor; and the signal processor is used for receiving the image electric signal, processing the image electric signal and outputting the image electric signal to the data transmission compression encoder. The satellite imaging quality is effectively improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spaceborne optical imaging systems, and particularly relates to a satellite imaging jitter measurement system based on area array detection. BACKGROUND

[0002] In-orbit satellites are in a microgravity space environment, and are easily disturbed by active components on the satellite, which makes the satellite inevitably have attitude changes and jitter phenomena. Due to the high orbit of the satellite, a slight change in the satellite pitch direction will also cause a significant deviation of the ground imaging position, and thus a slight jitter of the satellite will cause image quality degradation and other problems. At present, satellite attitude measurement mainly relies on star sensors, gyroscopes and other high-precision angle sensors. However, this method can only measure the local attitude information of the sensor installation position. In order to accurately reflect the jitter characteristics of the camera relative to the whole satellite and the jitter inside the camera, the pointing change relationship between the angle sensor used for additional measurement and the imaging detection system needs to be measured, which not only increases the system complexity, but also introduces an additional error source. SUMMARY

[0003] The technical problem solved by the application is to overcome the shortcomings of the prior art and provide a satellite imaging jitter measurement system based on area array detection, which realizes in-orbit measurement of comprehensive jitter, compensates for the distortion effect of jitter on satellite imaging, and thus effectively improves the satellite imaging quality.

[0004] The application is achieved by the following technical scheme: a satellite imaging jitter measurement system based on area array detection, comprising: a camera management controller, a camera main body, an imaging / jitter measurement detector and a signal processor; wherein the camera management controller receives a primary power supply, a bus and a second pulse signal from a satellite, and manages and controls the camera main body, the imaging / jitter measurement detector and the signal processor; the camera main body images a ground object to the back focal plane of the camera main body; the imaging / jitter measurement detector is installed at the back focal plane of the camera main body, collects an optical image of the object at the back focal plane position of the camera main body, converts the optical image of the object into an image electrical signal through photoelectric conversion, and transmits the image electrical signal to the signal processor; and the signal processor receives the image electrical signal, and outputs the image electrical signal to a data transmission compression encoder after signal processing.

[0005] The satellite imaging jitter measurement system based on area array detection further comprises a secondary power supply, wherein the secondary power supply provides secondary power for the camera main body and the imaging / jitter measurement detector.

[0006] In the satellite imaging jitter measurement system based on area array detection, the camera main body is a telescope optical system.

[0007] The imaging / shake measurement detector comprises an imaging stage and a shake measurement stage.

[0008] The imaging stage is a time delay integration imaging module, each row of the same column of pixels detects a same ground object point at different time points, and the integration detection output is achieved through inter-row charge transfer integration, so as to realize push-broom spaceborne optical imaging.

[0009] The shake measurement stage is a face array detection module, each row and each column of pixels independently images to obtain the moving track of the image point corresponding to the ground feature point at the back focal plane of the imaging telescope.

[0010] A satellite imaging shake measurement method based on face array detection comprises: using a feature point extraction algorithm to identify a plurality of feature points according to three-dimensional matrix data obtained through the shake measurement stage; extracting the central position of each feature point to obtain the central position of each feature point at each t time point; wherein t is the imaging time; performing time domain difference on the central position of each feature point to obtain the satellite shake state estimation value represented by each feature point at each t time point; averaging the satellite shake state estimation value represented by the plurality of feature points at each t time point to obtain the average satellite shake state estimation value; and performing filtering and noise reduction processing on the average satellite shake state estimation value, and then performing time domain resampling to obtain the satellite / camera shake state estimation value.

[0011] The feature point extraction algorithm comprises a Moeavec corner detection algorithm, a Harris corner detection algorithm, a scale invariant feature transform algorithm and a speeded up robust features algorithm.

[0012] The satellite shake state estimation value represented by each feature point at each t time point (X i (t-Mδt / 2), Y i (t-Mδt / 2)) is obtained through the following formula:

[0013] X i (t-Mδt / 2)=x i (t)-x i (t-Mδt);

[0014] Y i (t-Mδt / 2)=y i (t)-y i (t-Mδt);

[0015] Wherein, X i(t-Mδt / 2) is the horizontal coordinate of the satellite jitter state estimation value at each t moment represented by the i-th feature point, Y i (t-Mδt / 2) is the vertical coordinate of the satellite jitter state estimation value at each t moment represented by the i-th feature point, x i (t) is the horizontal coordinate of the central position of the i-th feature point at each t moment, y i (t) is the vertical coordinate of the central position of the i-th feature point at each t moment, x i (t-Mδt) is the horizontal coordinate of the central position of the i-th feature point at each t-Mδt moment, y i (t-Mδt) is the vertical coordinate of the central position of the i-th feature point at each t-Mδt moment, t is the imaging moment, Mδt is the integration time, and i is the feature point serial number.

[0016] An electronic device includes a memory for storing computer readable instructions and a processor for running the computer readable instructions to perform a satellite imaging jitter measurement method based on area array detection.

[0017] Compared with the prior art, the present application has the following beneficial effects:

[0018] The present application realizes on-orbit measurement of comprehensive jitter of satellite attitude, camera pointing, focal plane pointing, etc., compensates for the distortion effect of jitter on satellite imaging, and thus effectively improves the satellite imaging quality. BRIEF DESCRIPTION OF DRAWINGS

[0019] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several views of the drawings to designate the same parts. In the drawings:

[0020] Fig. 1(a) is a structural composition diagram of a satellite imaging jitter measurement system based on area array detection provided by an embodiment of the present application;

[0021] Fig. 1(b) is a detection stage composition diagram of an imaging / jitter measurement detector in the system provided by an embodiment of the present application;

[0022] Figure 2 is a flowchart of a satellite imaging jitter measurement method based on area array detection provided by an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of the imaging position of a certain feature point on the ground at each exposure moment in the detector jitter measurement stage in the case of no satellite / camera jitter provided by an embodiment of the present application;

[0024] Figure 4is a schematic diagram of imaging positions of a certain feature point on the ground at each exposure moment at a detector jitter measurement level provided by the embodiment of the present application in the case that there is a rolling direction jitter of a satellite / camera;

[0025] Figure 5 is a schematic diagram of imaging positions of a certain feature point on the ground at each exposure moment at a detector jitter measurement level provided by the embodiment of the present application in the case that there is a pitching direction jitter of a satellite / camera. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and the scope of the present disclosure can be accurately conveyed to those skilled in the art. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0027] A satellite imaging jitter measurement system is needed to directly detect jitter information of satellite imaging in a satellite-borne imaging module, obtain comprehensive jitter conditions such as satellite attitude, camera pointing, and focal plane pointing, and obtain data that can be directly applied to imaging jitter compensation, thereby effectively improving satellite imaging quality.

[0028] FIG. 1(a) is a structural composition diagram of a satellite imaging jitter measurement system based on area array detection provided by the embodiment of the present application. As shown in FIG. 1(a), the satellite imaging jitter measurement system based on area array detection includes a camera management controller, a camera main body, an imaging / jitter measurement detector, and a signal processor; wherein the camera management controller receives a primary power supply, a bus, and a second pulse signal from a satellite, and manages and controls the camera main body, the imaging / jitter measurement detector, and the signal processor; the camera main body images a ground object to a back focal plane of the camera main body; the imaging / jitter measurement detector is installed at the back focal plane of the camera main body, collects an optical image of the object at the back focal plane position of the camera main body, converts the optical image of the object into an image electrical signal through photoelectric conversion, and transmits the image electrical signal to the signal processor; and the signal processor receives the image electrical signal, and outputs the image electrical signal after signal processing to a data transmission compression encoder.

[0029] The satellite imaging jitter measurement system based on area array detection further includes a secondary power supply; wherein the secondary power supply provides secondary power for the camera main body and the imaging / jitter measurement detector.

[0030] The camera body is a telescope optical system. The camera body is a general spaceborne optical imaging telescope system, which in this embodiment adopts an off-axis three-mirror design, includes necessary mirrors such as a primary mirror, a secondary mirror, and a tertiary mirror, and a focusing mechanism.

[0031] As shown in FIG. 1(b), the black dots in the figure are schematic points of imaging of a certain feature point on the ground on the detector. The imaging / shake measurement detector includes an imaging stage and a shake measurement stage. The imaging stage is a time delay integration imaging module, the same column of pixels of each row detects the same ground object point at different times, and the integration detection output is achieved through inter-row charge transfer integration, which is used to realize push-broom spaceborne optical imaging. The shake measurement stage is a surface array detection module, each row and each column of pixels independently images, and the moving track of the image point corresponding to the ground feature point at the back focal plane of the imaging telescope is obtained. The shake measurement stage can be selected to perform M-pixel merging processing and output in the along-track direction, so as to reduce the output data amount; or can be selected not to perform pixel merging, and output complete measurement information, at this time, M is equivalent to 1.

[0032] The imaging / shake measurement detector is installed at the back focal plane of the camera body to realize imaging of the ground object point. The imaging / shake measurement detector includes an imaging stage and a shake measurement stage. In this embodiment, the imaging stage is a TDI (time delay integration) imaging module, the same column of pixels of each row detects the same ground object point at different times, and the integration detection output is achieved through inter-row charge transfer integration, which is used to realize push-broom spaceborne optical imaging; the shake measurement stage is a surface array detection module, each row and each column of pixels independently images. The shake measurement stage can perform M-pixel merging processing and output in the along-track direction according to the integration order M selected by the TDI imaging stage, so as to reduce the output data amount.

[0033] Due to the flight motion of the satellite, the ground object point passes through different pixel positions of the detector mapped by the camera body at different times. The mapping relationship is different due to different shake characteristics of the satellite, and therefore, the independent imaging output of each pixel of the detector shake measurement stage provides the information of the satellite shake. Based on this information, the satellite shake measurement can be realized, so as to compensate the influence of the shake on the imaging.

[0034] Taking the case that the shake measurement stage does not perform pixel merging as an example, the measurement process of the shake measurement stage is analyzed.

[0035] As Figure 3As shown in FIG. 1, for the ideal state of satellite without jitter, imaging a certain feature point on the ground, assuming that the feature point is imaged on the i-th row and j-th column pixel of the detector jitter measurement stage at t0, then at t0+δt, the feature point will be imaged on the i+1-th row and j-th column pixel of the detector jitter measurement stage, where δt corresponds to the time for the subsatellite point to pass through the ground pixel size. Similarly, at the subsequent t0+nδt, the feature point is imaged on the i+n-th row and j-th column pixel of the detector jitter measurement stage, until the feature point corresponding pixel exceeds the detector range.

[0036] As shown in FIG. 2, for the state of satellite with jitter in the roll direction, imaging a certain feature point on the ground, assuming that the feature point is imaged on the i-th row and j-th column pixel of the detector jitter measurement stage at t0, then at t0+δt, the feature point will be imaged on the i+1-th row and deviated from the j-th column pixel position of the detector jitter measurement stage, and the deviation amount depends on the jitter degree. And at the subsequent t0+nδt, the feature point will be imaged on a certain column position of the i+n-th row, which deviates from the column position at t0+(n-1)δt. Figure 4 As shown in FIG. 3, for the state of satellite with jitter in the pitch direction, imaging a certain feature point on the ground, assuming that the feature point is imaged on the i-th row and j-th column pixel of the detector jitter measurement stage at t0, then at t0+δt, the feature point will be imaged on the j-th column and deviated from the i+1-th row pixel position of the detector jitter measurement stage, and the deviation amount depends on the jitter degree. And at the subsequent t0+nδt, the feature point will be imaged on a certain row position of the j-th column, which deviates from the row position at t0+(n-1)δt by 1 row.

[0037] Figure 5

[0038] The satellite jitter often contains both the roll direction and the pitch direction, so the feature point jitter detected by the actual detector jitter measurement stage is the superposition of the above two cases.

[0039] The data detected by the detector jitter measurement stage is a three-dimensional matrix I(i,j,t), where i and j correspond to the i-th row and j-th column pixel, and t is the imaging time. The value of t is a discrete value with an integration time δt as an interval. The data I(i,j,t0+nδt) at a certain time t0+nδt corresponds to the ground image taken at that time.

[0040] ​​Generally, the integral order of TDI is greater than 1, and the integral order is denoted as M. In this case, the actual integral time of the integral order is Mδt. At this time, the jitter with a frequency higher than 1 / 2Mδt only affects the modulation transfer function (MTF) of imaging, and has no significant effect on the geometric characteristics of imaging. The detected jitter data can only compensate for the geometric distortion of the image caused by jitter, and cannot compensate for the degradation of MTF caused by jitter. Therefore, in order to reduce the output data amount of the jitter measurement stage, the pixel combination processing can be performed on every M pixels in the along-track direction of the jitter measurement stage, and the high-frequency components higher than 1 / 2Mδt are discarded, so that the data amount is reduced to 1 / M of the original data amount.

[0041] In this case, the data detected by the detector jitter measurement stage is still a three-dimensional matrix I(i,j,t). At this time, i corresponds to the data after the combination of the (i-1)M+1th row to the iMth row of pixels of the jitter measurement stage, j still corresponds to the jth column of pixels, and t still corresponds to the imaging time. The value of t is a discrete value with an integral time Mδt as an interval. The data I(i,j,t0+nMδt) at a time t0+nMδt corresponds to the ground image taken at the time.

[0042] After obtaining the jitter measurement stage data I(i,j,t), the following processing can be performed to obtain the satellite jitter state estimation value.

[0043] 1) For the image data I(i,j,t) at each time t, a feature point extraction algorithm is used to identify the feature points.

[0044] In this embodiment, the Harris corner point extraction algorithm is used to perform Taylor series expansion on the autocorrelation function of the image, to obtain a two-dimensional matrix. The eigenvalues of the matrix are the first-order curvatures of the autocorrelation function. The point position at which both eigenvalues are relatively large and approximately equal is the extracted corner point.

[0045] 2) For the plurality of identified feature points, the central position of each feature point is extracted to obtain the central position (x i (t),y i (t)) of each feature point at each time t, where x i is the horizontal coordinate of the feature point in the image, corresponding to the off-track direction of the satellite; y i is the vertical coordinate of the feature point in the image, corresponding to the along-track direction of the satellite; i=1, 2, 3,..., representing different feature points.

[0046] 3) Time domain difference is performed on the central position (x i (t),y i (t)) of each feature point, to obtain the satellite jitter state estimation value (X i (t-Mδt / 2),Y i(t-Mδt / 2)):

[0047] X i (t-Mδt / 2)=x i (t)-x i (t-Mδt)

[0048] Y i (t-Mδt / 2)=y i (t)-y i (t-Mδt)

[0049] 4) Jitter state estimate (X) represented by multiple feature points i (t-Mδt / 2),Y i The averaged values ​​of (t-Mδt / 2) are used to obtain the averaged satellite jitter state estimates (X(t-Mδt / 2), Y(t-Mδt / 2)).

[0050] 5) The averaged estimates (X(t-Mδt / 2), Y(t-Mδt / 2)) are filtered and denoised, and the data is resampled in the time domain to ensure that the estimated values ​​are consistent with the TDI image measurement data in the time domain. The averaged, denoised, and resampled satellite / camera jitter estimates (X'(t), Y'(t)) are obtained, where X'(t) corresponds to jitter in the vertical direction and Y'(t) corresponds to jitter along the track direction. Since time-domain resampling has been performed, the value of t is now a discrete value with an integration time interval of δt.

[0051] Based on X'(t) and Y'(t), the imaging level can be processed to compensate for satellite jitter. Specifically, the TDI imaging result at time t is offset by a distance of -X'(t) along the x-direction and by a distance of -Y'(t) along the y-direction. Image resampling of the offset results yields the jitter-compensated image.

[0052] Furthermore, by performing a fast Fourier transform on X'(t) and Y'(t), the jitter frequency and amplitude of the satellite / camera in the roll and pitch directions can be obtained.

[0053] Figure 2 This is a flowchart of a satellite imaging jitter measurement method based on area array detection provided in an embodiment of the present invention. Figure 2 As shown, the satellite imaging jitter measurement method based on area array detection includes: using the three-dimensional matrix data I(i,j,t) obtained from jitter measurement level detection, a feature point extraction algorithm is used to identify multiple feature points; the center position of each feature point is extracted to obtain the center position (x,j,t) of each feature point at each time t. i (t),y i (t)); where t is the imaging time; for each feature point, the center position (x)i (t),y i (t)) are time domain differentiated to obtain satellite jitter state estimation values (X i (t-Mδt / 2),Y i (t-Mδt / 2)) represented by each feature point at each time t; the satellite jitter state estimation values (X i (t-Mδt / 2),Y i (t-Mδt / 2)) represented by the plurality of feature points are averaged to obtain averaged satellite jitter state estimation values (X(t-Mδt / 2),Y(t-Mδt / 2)); and the averaged satellite jitter state estimation values are filtered and denoised and then resampled in time domain to obtain satellite / camera jitter state estimation values (X'(t),Y'(t)).

[0054] The feature point extraction algorithm includes a Moeavec corner detection algorithm, a Harris corner detection algorithm, a scale-invariant feature transform (SIFT) algorithm, and a speeded up robust features (SURF) algorithm.

[0055] The satellite jitter state estimation values (X i (t-Mδt / 2),Y i (t-Mδt / 2)) represented by each feature point at each time t are obtained by the following formula:

[0056] X i (t-Mδt / 2) = x i (t) - x i (t-Mδt);

[0057] Y i (t-Mδt / 2) = y i (t) - y i (t-Mδt);

[0058] wherein X i (t-Mδt / 2) is the horizontal coordinate of the satellite jitter state estimation value represented by the i-th feature point at each time t, Y i (t-Mδt / 2) is the vertical coordinate of the satellite jitter state estimation value represented by the i-th feature point at each time t, x i (t) is the horizontal coordinate of the central position of the i-th feature point at each time t, y i (t) is the vertical coordinate of the central position of the i-th feature point at each time t, x i (t-Mδt) is the horizontal coordinate of the central position of the i-th feature point at each time t-Mδt, and y i(t-Mδt) is the longitudinal coordinate of the central position of the i-th feature point at each t-Mδt moment, t is the imaging moment, Mδt is the integration time, i is the feature point serial number.

[0059] The satellite / camera jitter measurement method using the satellite imaging jitter measurement system comprises the following steps:

[0060] Step 1, for the three-dimensional matrix data I(i,j,t) obtained by the detector jitter measurement stage detection (where i corresponds to the data combined by the (i-1)M+1 row to the iM row of the image element of the jitter measurement stage, j corresponds to the j column of the image element, t corresponds to the imaging moment, and t takes the discrete value at the interval of the integration time Mδt), the feature point extraction algorithm is used to identify the feature points of the data at each t moment.

[0061] Step 2, for the multiple feature points identified, the central position of each feature point is extracted to obtain the central position (x i (t),y i (t)) of each feature point at each t moment, where x i is the horizontal coordinate of the feature point in the image, corresponding to the satellite vertical orbit direction; y i is the vertical coordinate of the feature point in the image, corresponding to the satellite along the orbit direction; i=1, 2, 3..., indicating different feature points.

[0062] Step 3, time domain difference is performed on the central position (x i (t),y i (t)) of each feature point, and the estimation value of the satellite jitter state represented by each feature point at each t moment (X i (t-Mδt / 2),Y i (t-Mδt / 2)) can be obtained:

[0063] X i (t-Mδt / 2)=x i (t)-x i (t-Mδt)

[0064] Y i (t-Mδt / 2)=y i (t)-y i (t-Mδt)

[0065] Step 4, the jitter state estimation values represented by multiple feature points (X i (t-Mδt / 2),Y i (t-Mδt / 2)) are averaged to obtain the average satellite jitter state estimation value (X(t-Mδt / 2), Y(t-Mδt / 2)).

[0066] Step 5, filtering and denoising the averaged estimated values (X(t-Mδt / 2), Y(t-Mδt / 2)), and time domain resampling the data so that the estimated values are consistent with the image measurement data in time domain. The averaged, denoised, resampled satellite / camera jitter state estimated values (X'(t), Y'(t)) are obtained, where X'(t) corresponds to the jitter in the cross-track direction, and Y'(t) corresponds to the jitter in the along-track direction. Since time domain resampling has been performed, t is now a discrete value at intervals of the integration time δt.

[0067] The embodiment also provides an electronic device, comprising: a memory for storing computer readable instructions; and a processor for running the computer readable instructions to perform the satellite imaging jitter measurement system and the satellite / camera jitter measurement method.

[0068] The embodiment realizes on-orbit measurement of comprehensive jitter of satellite attitude, camera pointing, focal plane pointing, etc., compensates for the distortion effect of jitter on satellite imaging, and thus effectively improves the satellite imaging quality.

[0069] Although the present application has been disclosed with reference to the preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application by using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, which does not depart from the technical solutions of the present application, shall fall within the protection scope of the present application.

Claims

1. A satellite imaging jitter measurement system based on area array detection, characterized in that The camera management controller, the camera body, the imaging / shake measurement detector and the signal processor are included. The camera management controller receives a primary power supply, a bus and a second pulse signal from a satellite, and manages and controls the camera body, the imaging / shake measurement detector and the signal processor. The camera body images a ground object to a back focal plane of the camera body. The imaging / shake measurement detector is installed on the back focal plane of the camera body, collects an optical image of the object at the back focal plane of the camera body, converts the optical image into an image electrical signal through photoelectric conversion, and transmits the image electrical signal to the signal processor. The signal processor receives the image electrical signal, and outputs the image electrical signal after signal processing to a data transmission compression encoder. The camera body is a telescope optical system.

2. The area array based probing satellite imaging jitter measurement system of claim 1, wherein The imaging / shake measurement detector includes an imaging stage and a shake measurement stage.

3. The area array detector based satellite imaging jitter measurement system according to claim 1, wherein: The imaging stage is a time delay integration imaging module, and the same column of pixels in each row detects a same ground object point at different times, and realizes integral detection output through inter-row charge transfer integration, so as to realize push-broom spaceborne optical imaging.

4. The area array based probing satellite imaging jitter measurement system of claim 1, wherein: The shake measurement stage is a surface array detection module, and each row and each column of pixels independently images to obtain a moving track of an image point corresponding to a ground feature point at the back focal plane of the imaging telescope.

5. The area array based probing satellite imaging jitter measurement system of claim 4, wherein: The three-dimensional matrix data detected by the shake measurement stage is used to identify a plurality of feature points by using a feature point extraction algorithm.

6. The area array based probing satellite imaging blur measurement system of claim 4, wherein: The central position of each feature point is extracted to obtain a central position of each feature point at each t time; wherein t is an imaging time.

7. A satellite imaging jitter measurement method based on area array detection, characterized in that The central position of each feature point is subjected to time domain difference to obtain a satellite shake state estimation value represented by each feature point at each t time. The satellite shake state estimation values represented by the plurality of feature points at each t time are averaged to obtain an average satellite shake state estimation value. The average satellite shake state estimation value is subjected to filtering and denoising processing, and then subjected to time domain resampling to obtain a satellite / camera shake state estimation value. The feature point extraction algorithm includes Moeavec corner detection algorithm, Harris corner detection algorithm, scale invariant feature transformation algorithm and accelerated robust features algorithm. The memory is used to store computer readable instructions; and The processor is used to run the computer readable instructions to execute the method in any one of claims 7-9.

8. The satellite imaging jitter measurement method based on area array detection according to claim 7, characterized in that: ​ 9. The satellite imaging jitter measurement method based on area array detection according to claim 7, characterized in that: each feature point represents the satellite jitter state estimation value (X i (t-Mδt / 2),Y i (t-Mδt / 2)) is obtained by the following formula: X i (t - Mδt / 2) = x i (t) - x i (t - Mδt); Y i (t - Mδt / 2) = y i (t) - y i (t - Mδt); wherein X i (t - Mδt / 2) is the horizontal coordinate of the satellite jitter state estimation value at each t moment represented by the i-th feature point, Y i (t - Mδt / 2) is the vertical coordinate of the satellite jitter state estimation value at each t moment represented by the i-th feature point, x i (t) is the horizontal coordinate of the central position of the i-th feature point at each t moment, y i (t) is the vertical coordinate of the central position of the i-th feature point at each t moment, x i (t - Mδt) is the horizontal coordinate of the central position of the i-th feature point at each t - Mδt moment, y i (t - Mδt) is the vertical coordinate of the central position of the i-th feature point at each t - Mδt moment, t is the imaging moment, Mδt is the integration time, and i is the feature point serial number.

10. An electronic device, comprising: ​ ​ ​

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