Telescope electronic image stabilization method based on encoder

Abstract

The invention relates to the technical field of image processing, and particularly provides a telescope electronic image stabilization method based on an encoder, which comprises the following steps of: acquiring target images, storing the target images and corresponding image information into a memory according to an acquisition sequence to obtain a set, and acquiring the first target image forwards from the current moment to carry out image stabilization processing, the method comprises the following steps: acquiring an encoder value corresponding to a frame target image, fitting a final estimated guide track of a target by utilizing the acquired encoder value, calculating a guide error of the target image according to the final estimated guide track, calculating a jitter offset corresponding to the target image according to the guide error, and cutting the target image according to the jitter offset. And outputting the cut target image to a display area. The method is obvious in image stabilization effect, does not depend on known guide tracks, optical and mechanical design, does not depend on whether obvious feature targets exist in the target image or not, allows the frame frequency and exposure time to be adjusted according to needs in the observation process, and has general applicability.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and specifically provides an encoder-based method for electronic image stabilization of telescopes. Background Technology

[0002] Ground-based photoelectric telescopes possess various guidance methods, including theoretical trajectory guidance, external guidance, and miss-target closed-loop guidance. Theoretical trajectory guidance is a commonly used method, employed in stellar observations, satellite observations, and space station observations, all based on theoretical orbital models to calculate the observation trajectory. Point-to-point guidance and constant-velocity guidance are frequently used for ground and sea surface searches, as well as island observations. In theoretical trajectory guidance, the guidance trajectory is smooth and accurate, typically preventing image jitter. However, during observations, strong winds can interfere with the telescope, making image jitter unavoidable. In external guidance, inaccurate guidance trajectories and low guidance frequencies from the guidance source equipment can cause image jitter in the local telescope. In miss-target closed-loop guidance, if a large field-of-view optical system is used for closed-loop guidance and a small field-of-view optical system for imaging, the poor closed-loop tracking accuracy of the large field-of-view system can lead to significant jitter in the small field-of-view system's imaging. Image jitter not only affects the user experience for experimenters but also negatively impacts target search, acquisition, and extraction. Therefore, research into electronic image stabilization methods is of great significance. Electronic image stabilization (EIS) is a technology that uses image processing algorithms to eliminate video shake. It is mainly used in dynamic shooting scenarios. Traditional image stabilization methods based on image processing include block matching, grayscale projection, and feature point matching.

[0003] Chinese patent application CN117687346A, published on March 12, 2024, entitled "Spatial Image Stabilization Control System and Control Method for Shipborne Optoelectronic Theodolite," proposes a spatial image stabilization control system for a shipborne optoelectronic theodolite. This system includes a main control module, an inertial navigation module, a servo control module, an encoder module, an image enhancement module, and a control console, representing a multi-system joint control image stabilization scheme. However, in ground-based optoelectronic telescopes, some equipment lacks one or more of these modules, making retrofitting already installed and deployed optoelectronic telescopes costly and impractical.

[0004] Chinese patent publication number CN118334063A, published on July 12, 2024, entitled "An Image Stabilization Method for Ground-Based Telescopes Based on Kernel Correlation Filtering," describes an invention patent application. This method uses kernel correlation filtering to extract target feature regions and calculates jitter compensation by measuring the centroid offset of the target feature regions between adjacent frames, thus achieving electronic image stabilization. However, this method has a problem: not all targets can be effectively extracted using kernel correlation filtering, especially for faint targets or images with strong background noise interference. Kernel correlation filtering is prone to incorrect target extraction, leading to image stabilization failure. Furthermore, when a telescope observes the ground, sea, or islands at a certain rotation speed, the background itself is in motion, making image stabilization methods based on target feature extraction even less suitable.

[0005] Chinese patent publication number CN120495324A, published on August 15, 2025, entitled "Electronic Image Stabilization Method and System for Telescopes Based on Theoretical Guiding Trajectory," proposes an electronic image stabilization method and system based on a theoretical guiding trajectory. This patent achieves good electronic image stabilization when the guiding trajectory is known. However, not all guidance trajectories are known, and even if the target guiding trajectory is known, low trajectory accuracy can still cause significant jitter. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides an encoder-based electronic image stabilization method for telescopes. By utilizing the telescope's historical encoder pointing to fit a smoother final estimated guide trajectory, and then calculating image jitter compensation and cropping through optical system parameters, the electronic image stabilization function is achieved, improving the image stabilization effect. Moreover, this method does not rely on target extraction or known guide trajectories or other information, and has universal applicability.

[0007] The present invention provides an encoder-based telescope electronic image stabilization method, comprising:

[0008] S1: Acquire target image , target image The corresponding image information is stored in the order of acquisition to obtain a set. ; Each time a new frame of the target image is acquired, it and its corresponding image information are stored as an element in a set. The first digit, with a sequence number of 1, is the set. The sequence number of each existing element in the sequence is incremented by 1. S2: Get the set The Middle Frame target image Start image stabilization. The sequence number of the target image to be stabilized: Get from the current moment forward The exposure center time and encoder value corresponding to the target image in the frame. The initial estimated guide trajectory of the target is fitted using the obtained exposure center time and encoder value; Based on the preliminary estimated guide trajectory, calculate The weights of the encoder values ​​corresponding to the frame target image; Based on the weights, the final estimated guiding trajectory is obtained; Based on the final estimated guidance trajectory, the guidance error of the target image is calculated; Based on the guidance error, calculate the jitter offset corresponding to the target image; Crop the target image based on the jitter offset; S3: Output the cropped target image to the display area.

[0009] Preferably, the image information includes the exposure center time and encoder value.

[0010] Preferably, the expression for the preliminary estimation of the guiding trajectory is: ; in, , and These represent the initial estimated guidance trajectory coefficients for the orientation. , and These represent the initial pitch estimation guide trajectory coefficients, respectively. Indicates direction. It indicates looking up or down.

[0011] Preferred, Encoder value weights corresponding to the target image of the frame and The formula for calculation is: , , , in, Indicates participants in the final estimated trajectory calculation and The weight, Indicates the parameters for weight calculation. and All of these represent errors.

[0012] Preferably, the expression for the final estimated guiding trajectory is: , , in, This represents the arctangent function.

[0013] The preferred method for calculating the guiding error is as follows: ; ; in, This indicates the azimuth value of the guidance error. The pitch value represents the guidance error. This represents the encoder value of the target image. This indicates the final estimated target orientation at the exposure center moment of the target image on the final estimated guide trajectory.

[0014] Preferably, jitter offset The calculation method is as follows: : ; ; in, This indicates the horizontal jitter offset. This indicates the vertical jitter offset. Indicates the encoder pitch value. This represents the angular resolution of the target image in the horizontal direction. This represents the angular resolution of the target image in the vertical direction.

[0015] Preferably, the cropping method for the target image is as follows: calculate the cropping region based on the jitter offset, and crop the target image based on the cropping region; the calculation method for the cropping region is as follows: ; in, This represents the coordinates of the top-left pixel of the target image. , , Indicates the horizontal cutting ratio. Indicates the vertical cropping ratio. Indicates the width of the target image. This indicates the height of the target image.

[0016] Preferably, the coordinates of the top-left pixel of the target image The calculation method is as follows: ; ; in, , .

[0017] Preferably, the coordinates of the top-left pixel of the target image The range of values ​​satisfies , .

[0018] Compared with the prior art, the present invention can achieve the following beneficial effects: This invention addresses the characteristics of the horizon coordinate sequence during telescope observations. It utilizes the telescope's historical encoder to fit a smoother final estimated guide trajectory, and then calculates image jitter compensation and cropping using optical system parameters to achieve electronic image stabilization. This method significantly improves image stabilization compared to the original image sequence. Furthermore, it does not rely on target extraction or known guide trajectories, nor does it depend on complex optical and mechanical designs. Moreover, it allows for adjustment of frame rate and exposure time during observation, making it universally applicable. Attached Figure Description

[0019] Figure 1 This is a flowchart of an encoder-based telescope electronic image stabilization method according to an embodiment of the present invention; Figure 2 This is a layout diagram of an encoder-based telescope electronic image stabilization system according to an embodiment of the present invention; Figure 3 This is a cutting diagram provided according to an embodiment of the present invention; Figure 4 This is a diagram illustrating the image stabilization effect of a theoretically orbit-guided telescope according to an embodiment of the present invention. Figure 5 This is an image of the electronically stabilized telescope image based on an encoder, provided according to an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] like Figure 1 As shown, this invention provides an encoder-based method for electronic image stabilization of a telescope, as detailed below: S1: Acquire target image , target image The corresponding image information is stored in the order of acquisition to obtain a set. Each time a new frame of the target image is acquired, it and its corresponding image information are stored as an element in a set. The first digit, with a sequence number of 1, is the set. The sequence number of each existing element in the array is incremented by 1. During target observation, the telescope can acquire target images via a camera. During image acquisition, the camera can perform tasks such as receiving the exposure time set by the image system, starting exposure after receiving the trigger signal from the digital communication system, ending exposure after the designated exposure time, and sending the image to the image system. This invention embodiment uses... This represents the target image captured by the camera. Because the telescope rotates, encoder values ​​(azimuth encoder value and elevation encoder value) exist in real time. Therefore, each target image... Each of these corresponds to an encoder value and an exposure center time. In this embodiment of the invention, the encoder values ​​(azimuth encoder value and pitch encoder value) and the corresponding exposure center times are collectively referred to as image information, and the image information is correlated with the corresponding target image. The combination is stored as a single element to obtain a set. , ,in, Indicates the serial number. Indicates the moment of center exposure. This represents the azimuth encoder values ​​and the pitch encoder values. (Set) All elements in the image are based on the target image. The images are stored in the order they were acquired so that they can be retrieved and processed during the image stabilization process.

[0026] It should be noted that each newly acquired target image will store the corresponding elements in a set. The first digit, with a sequence number of 1, is the set. The sequence number of each existing element in the sequence is incremented by 1.

[0027] S2: Get the set The Middle Frame target image Start image stabilization. The sequence number of the target image to be stabilized: obtained from the current time step backwards. The exposure center time and encoder value corresponding to the target image in the frame. The initial estimated guide trajectory of the target is fitted using the acquired exposure center time and encoder values; based on the initial estimated guide trajectory, the target is calculated... The weights of the encoder values ​​corresponding to the target image frame are calculated; based on the weights, the final estimated guidance trajectory is obtained; based on the final estimated guidance trajectory, the guidance error of the target image is calculated; based on the guidance error, the jitter offset corresponding to the target image is calculated; and the target image is cropped based on the jitter offset.

[0028] The image stabilization process can start from a specific target image according to the user's actual needs. In this embodiment of the invention, this target image is referred to as the first... Frame, represented as , Indicates the sequence number, assuming it comes from the target image. Image stabilization begins. During the stabilization process, for each new frame of the target image acquired, the image stabilization process is performed on the first frame. The target image in the frame undergoes image stabilization. The stabilization process is as follows: Since the target's trajectory is unknown, it is necessary to first fit the target's trajectory. The time period taken backwards from the current moment is... Get the encoder value inside. The encoder values ​​corresponding to the frame target image, including azimuth and pitch encoder values, are used to fit the estimated trajectory of the target. It is important to note that the acquired encoder values... The target image of the frame must meet the following requirements That is, the multiple encoder values ​​obtained from the current moment forward need to cross the target image that has been stabilized. At what time? The initial estimated guiding trajectory of the target is obtained after fitting: ; in, , and These represent the initial estimated guidance trajectory coefficients for the orientation. , and These represent the initial pitch estimation guide trajectory coefficients, respectively. Indicates direction. It indicates looking up or down.

[0029] The preliminary azimuth and pitch guidance trajectory coefficients are solved to obtain the final estimated trajectory. This embodiment of the invention uses the least squares method to solve for these coefficients.

[0030] Because the telescope is jittery and lacks a true orbital value and a target to help stabilize the image, a higher accuracy of orbital prediction is required, necessitating high-precision trajectory fitting. Using a preliminary estimated guide trajectory, the accuracy of the trajectory within a time period is determined. The weights of the encoder values ​​within each value. Calculate each value separately. In and Weights in the preliminary estimation of the guiding trajectory and The specific solution method is as follows: The absolute value of the error for each encoder value is calculated using the preliminary estimated guide trajectory. and : , , in, and These represent the preliminary estimated guiding trajectory at... The preliminary azimuth and elevation estimates obtained at each moment.

[0031] Recalculate the error and : , in, This indicates that the weight calculation uses an error value. This represents the minimum allowable error value. This indicates the maximum limit of error. Indicates error or , and These are empirical values ​​used to prevent abnormal errors from affecting the accuracy of the next trajectory fitting step.

[0032] Calculate weights and : , , , in, Indicates participants in the final estimated trajectory calculation and The weight, This represents the weight calculation parameter, which is an empirical value. In this embodiment of the invention, , , .

[0033] Based on the above weights, a more accurate final estimated guiding trajectory is recalculated: For each group and Calculate its three-dimensional Cartesian coordinate vector : , make , , ,in, , and Both represent matrices representing the calculation process. express Normalized time. Through weighted least squares solution. , obtained It can be represented as: , in, and Both represent the matrix of the calculation process.

[0034] The included angle of the large arc of the sphere is expressed as: Then we have: , in, This represents the three components in a three-dimensional Cartesian coordinate system. This represents data from the calculation process.

[0035] Finally, a more accurate final estimated guide trajectory is obtained: , , in, This represents the arctangent function.

[0036] There is often an error between the actual movement of the target and the final estimated guided trajectory. In this embodiment of the invention, this is referred to as the guidance error, which is calculated as follows: ; ; in, This indicates the azimuth value of the guidance error. The pitch value represents the guidance error. This represents the encoder value of the target image. This represents the final estimated target orientation corresponding to the exposure center time of the target image on the final estimated guide trajectory, i.e., the exposure center time of the target image. Substitute the final estimated guide trajectory into the corresponding coordinate values. This is for the final estimation of the target direction. The unit of guidance error is "degree".

[0037] After obtaining the guidance error, the jitter offset of the target image is then calculated based on the telescope optical system parameters. Jitter offset The calculation method is as follows: : ; ; Wherein, the image angular resolution is a parameter of the telescope optical system, which is a known quantity, expressed as: , This represents the angular resolution of the target image in the horizontal direction (corresponding to the orientation in the horizon coordinate system). This represents the angular resolution of the target image in the vertical direction (corresponding to the pitch in the horizon coordinate system). and All units are Arcseconds per pixel (AJ / pixel) means that each AJ / pixel is a fraction of an arcsecond. This indicates the horizontal jitter offset. This indicates the vertical jitter offset. This represents the encoder pitch value.

[0038] After the above calculations, the target image is cropped to compensate for jitter, such as... Figure 3 As shown, the cropping method is as follows: calculate the cropping area based on the jitter offset. Based on the cropping area Cropping of the target image. Cropping area. The specific calculation method is as follows: Set the width of the target image captured by the camera to be... The height is Define the cropping region as ,in, This represents the coordinates of the top-left pixel of the target image. , , Indicates the horizontal cutting ratio. Indicates the vertical cropping ratio. The range of values ​​satisfies , .

[0039] The coordinates of the top left pixel of the target image The calculation method is as follows: , , in, , .

[0040] The above coordinates The calculation method has been applied to coordinates. The value of is limited to ensure that clipping does not exceed the limit. The clipping area is obtained based on the calculation. The target image is cropped to obtain the cropped target image.

[0041] S3: Output the cropped target image to the display area.

[0042] The cropped target image is output to the display area. After the acquired target images undergo the above image stabilization process frame by frame in the acquisition sequence, they are output to the display area frame by frame, thus obtaining continuous, stabilized target observation results.

[0043] like Figure 2 As shown, to implement the above-mentioned encoder-based telescope electronic image stabilization method, this embodiment of the invention also provides an image stabilization system, including: an image system, a digital communication system, a timing terminal, and a telescope. The telescope is equipped with an azimuth encoder, a pitch encoder, and a camera. The azimuth encoder and pitch encoder provide the azimuth and pitch directions of the telescope. The image system performs the following tasks: setting the exposure time to the camera as needed, receiving camera images, sending frame rates and exposure times to the digital communication system as needed, receiving the time latched by the digital communication system, the azimuth encoder direction, and the pitch encoder direction, and performing electronic image stabilization processing. The camera can perform tasks such as receiving the exposure time set by the image system, starting exposure after receiving the trigger signal sent by the digital communication system, ending exposure after the exposure time, and sending the image to the image system. The digital communication system performs the following tasks: receiving the frame rate and exposure time sent by the image system; sending an external trigger signal to the camera according to the frame rate, such as a rising edge or falling edge; and triggering the camera's exposure after exposure. At each exposure time, the system reads time information from the time synchronization terminal, azimuth encoder direction from the azimuth encoder, and pitch encoder direction from the pitch encoder; then sends the time information, azimuth encoder direction, and pitch encoder direction to the image system. All time information during the image stabilization system's operation is provided by the time synchronization terminal.

[0044] In addition, the start time of the new trigger cycle for each frame. At that time, the digital communication system provides an external trigger signal to the camera, and the camera begins exposure. At that time, the digital communication system obtains the time, azimuth encoder direction, and pitch encoder direction from the timing system, azimuth encoder, and pitch encoder, and sends them to the image system. As the exposure time is shifted forward, the camera stops exposing and sends the image to the imaging system, which then initiates the electronic image stabilization process.

[0045] To verify the effectiveness of the method of the present invention, the following experiments were conducted: Peak signal-to-noise ratio (PSNR) is a commonly used metric for evaluating image stabilization effectiveness. Its basic principle is to compare the squared mean of pixel differences between two adjacent images. However, because infrared camera images have significant background noise, it can affect the evaluation of PSNR. Therefore, this invention uses the jitter amplitude of a target centroid with distinct characteristics to evaluate the image stabilization effect. The target centroid is used only for evaluating the stabilization effect; it is not necessary to extract the target centroid in actual use.

[0046] An observation experiment was conducted using a telescope during a windy weather event. The experiment used... Aperture telescope, equipped with a shortwave infrared camera, this telescope has an observation field of view of The image resolution is The horizontal and vertical angular resolutions are both .

[0047] like Figure 4 As shown, a theoretically guided telescope was used to track and observe the International Space Station (ISS). A weighted centroid algorithm was used to calculate the centroid of the target pixel. The difference between centroids in different frames was used as the criterion for judging image jitter amplitude. The maximum absolute value of the target's horizontal and vertical jitter amplitude in the image both exceeded [a certain value]. The horizontal jitter amplitude RMS is The vertical jitter amplitude RMS is .

[0048] like Figure 5 As shown, a comparative experiment was conducted using the method of this invention, with the parameter values ​​set to... , The horizontal jitter amplitude RMS is The vertical jitter amplitude RMS is The optimization effect is significant.

[0049] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0050] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An encoder-based telescope electronic image stabilization method, characterized in that, The method comprises the following steps: S1: collect target images store the target images and corresponding image information according to the collection sequence to obtain a collection ; Each time a target image is newly captured, it is stored in the set as an element together with corresponding image information The sequence number of the first element in the set is 1 The sequence numbers of the original elements in the set are all incremented by 1 S2: Acquire set In the middle Frame target image Start the image stabilization process, Sequence number indicating the target image on which the image stabilization process is performed: acquire from the current time forward an exposure center time and an encoder value corresponding to the frame target image, fit a preliminary estimate of the target's intended trajectory using the acquired exposure center time and encoder value Based on the preliminary estimate, a trajectory is guided a weight of an encoder value corresponding to the frame target image; According to the weight, a final estimated guide track is obtained; According to the final estimated guide track, a guide error of the target image is calculated; According to the guide error, a dithering offset corresponding to the target image is calculated; According to the dithering offset, the target image is cropped; S3: The cropped target image is output to a display area.

2. The encoder-based telescope electronic image stabilization method of claim 1, wherein, The image information comprises an exposure center time and an encoder value.

3. The encoder-based telescope electronic image stabilization method of claim 1, wherein, An expression of the preliminary estimated guide track is: ； wherein, , and respectively represent azimuth preliminary estimation guide trajectory coefficients, , and respectively represent pitch preliminary estimation guide trajectory coefficients, represents azimuth, represents pitch.

4. The encoder-based telescope electronic image stabilization method of claim 1, wherein, Encoder value weights corresponding to frame target images And The calculation formula is; ， ， ， wherein, denotes the weight of the and in the final estimated trajectory calculation, denotes a weight computation parameter, and both denote an error.

5. The encoder-based telescope electronic image stabilization method of claim 1, wherein, An expression of the final estimated guide track is: ， ， wherein denotes the arctangent function.

6. The encoder-based telescope electronic image stabilization method of claim 1, wherein, A calculation method of the guide error is: ； ； wherein, represents an azimuth value of a guidance error, represents a pitch value of a guidance error, represents an encoder value of a target image, represents a final estimated target pointing corresponding to an exposure center time of a target image on a final estimated guidance trajectory.

7. The encoder-based telescope electronic image stabilization method of claim 1, wherein, The dither offset The calculation method is: ： ； ； wherein, represents a horizontal dither offset, represents a vertical dither offset, represents an encoder pitch value, represents an angular resolution of the target image in horizontal direction, represents an angular resolution of the target image in vertical direction.

8. The encoder-based telescope electronic image stabilization method of claim 1, wherein, A cropping method of the target image is: a cropping area is calculated according to the dithering offset, and the target image is cropped according to the cropping area; and a calculation method of the cropping area is: ； wherein, represents a coordinate corresponding to a top-left pixel of the target image, , , represents a horizontal cropping ratio, represents a vertical cropping ratio, represents a width of the target image, represents a height of the target image.

9. The encoder-based telescope electronic image stabilization method of claim 7, wherein, The target image upper left corner pixel corresponding coordinate The calculation method is: ； ； wherein , .

10. The encoder-based telescope electronic image stabilization method of claim 9, wherein, The target image upper left corner pixel corresponding coordinate The value range of the target image upper left corner pixel corresponding coordinate satisfies , .

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