An aerial target motion characterization method based on satellite pushbroom imaging platform

Abstract

The present application relates to the technical field of target detection, in particular to a method for representing the movement of an aerial target based on a satellite push-broom imaging platform. The method comprises the following steps: S1, establishing a first conversion relationship between the coordinates of an object point in a satellite camera coordinate system and a world coordinate system, so as to represent the position change of the object point in the world coordinate system over time; S2, establishing a second conversion relationship between the position of an aerial target and the position of the world coordinate, so as to represent the position change of the aerial target in the world coordinate system over time; S3, determining the position of the aerial target in the camera imaging field of view according to the first conversion relationship and the second conversion relationship; S4, simulating and generating infrared hyperspectral imaging data of the aerial target in the satellite push-broom imaging mode according to the position of the target in the camera imaging market and the known object-image projection conversion relationship. The present application can quantitatively describe the position and attitude of the satellite push-broom imaging field of view and the moving target in three-dimensional space.

Description

Technical Field

[0001] This invention relates to the field of target detection technology, and in particular to a method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform. Background Technology

[0002] Satellite infrared hyperspectral imaging technology, as an important detection technology, possesses numerous advantages such as all-weather detection, wide coverage, and abundant spectral information. In particular, it has effectively solved a series of application problems in hyperspectral imaging technology, such as multidimensional expression of spectral information and spectral image processing. This has enabled hyperspectral imaging technology to transition from initial qualitative analysis to quantitative analysis, greatly expanding the application scope of hyperspectral remote sensing imaging technology. Among these applications, the detection, identification, and characteristic measurement of aerial targets by satellite hyperspectral payloads is a typical scenario, providing an effective solution for acquiring aerial target characteristic data. Currently, it is difficult to quantitatively describe the position and attitude of moving targets in three-dimensional space within the field of view of satellite pushbroom imaging. Summary of the Invention

[0003] This invention provides a method, device, electronic device, and storage medium for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform, which can quantitatively describe the position and attitude of moving targets in the satellite pushbroom imaging field of view in three-dimensional space.

[0004] In a first aspect, embodiments of the present invention provide a method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform, comprising: S1, establish the first transformation relationship between the object point coordinates in the satellite camera coordinate system and the world coordinate system, so as to characterize the change of the object point's position in the world coordinate system over time; S2 establishes a second transformation relationship between the position of an aerial target and its position in world coordinates, to characterize the change of the aerial target's position in the world coordinate system over time; S3, determine the position of the aerial target in the camera's imaging field of view based on the first conversion relationship and the second conversion relationship; S4, based on the target's position in the camera imaging market and the known object-image projection transformation relationship, simulates and generates infrared hyperspectral imaging data of the aerial target in satellite pushbroom imaging mode.

[0005] Optionally, in S1, the first transformation relationship is as follows: in, These are the coordinates of the object point in the camera coordinate system. For its corresponding world coordinate system coordinates, , Representing the platform along the world coordinate system and The scanning speed along the coordinate axis, where t is time.

[0006] Optionally, S2 includes: Establish the velocity transformation relationship between the aerial target velocity in the aerial target body coordinate system and the target velocity in the world coordinate system; Based on the initial position of the aerial target and the velocity conversion relationship, a second conversion relationship is determined.

[0007] Optionally, the speed conversion relationship is as follows: Wherein, the velocity of the aerial target in the body coordinate system is The velocity in its corresponding world coordinate system , , , These are the roll angle, yaw angle, and pitch angle, respectively.

[0008] Optionally, the second transformation relationship is as follows: in, Let t be the initial position of the aerial target in the world coordinate system, and t be the time. This represents the final position of an aerial target in the world coordinate system after time t.

[0009] Secondly, embodiments of the present invention also provide an aerial target motion characterization device based on a satellite pushbroom imaging platform, used to implement the method described in any one of the above methods, the device comprising: The first calculation unit is used to establish the first transformation relationship between the object point coordinates in the satellite camera coordinate system and the world coordinate system, so as to characterize the change of the object point's position in the world coordinate system over time. The second calculation unit is used to establish a second transformation relationship between the position of the aerial target and the world coordinate position, so as to characterize the change of the position of the aerial target in the world coordinate system over time; The third calculation unit is used to determine the position of the aerial target in the camera's imaging field of view based on the first conversion relationship and the second conversion relationship; The fourth computing unit is used to simulate and generate infrared hyperspectral imaging data of aerial targets in satellite pushbroom imaging mode based on the target's position in the camera imaging market and the known object-image projection transformation relationship.

[0010] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0011] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.

[0012] Compared with the prior art, the present invention has at least the following beneficial effects: To address the relative motion characteristics between the satellite hyperspectral pushbroom imaging platform and the target, this paper analyzes the impact of the relative motion between the aerial target and the satellite imaging platform on hyperspectral detection imaging. A method for characterizing the motion of aerial targets based on the satellite pushbroom imaging platform is proposed, and a hyperspectral imaging characterization model of aerial moving targets under the satellite pushbroom imaging mode is constructed to provide support for subsequent simulation analysis.

[0013] The method of this invention is mainly based on the characteristics of pushbroom infrared hyperspectral imaging. It establishes the relationship between the motion state parameters of the airborne target and the imaging parameters of the hyperspectral payload, constructs an infrared hyperspectral data characterization model based on different imaging parameters and target motion states, and uses the generated model to simulate infrared hyperspectral data of the target under different states. This is used to quantitatively analyze the differences in the extraction results of infrared hyperspectral characteristics of the target under different motion states. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 Schematic diagram of satellite hyperspectral pushbroom imaging; Figure 2 Schematic diagram of the movement of an aerial target. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0017] The specific implementation of the above concept is described below.

[0018] Please refer to Figure 1 and Figure 2This invention provides a method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform, comprising: S1, establish the first transformation relationship between the object point coordinates in the satellite camera coordinate system and the world coordinate system, so as to characterize the change of the object point's position in the world coordinate system over time; S2 establishes a second transformation relationship between the position of an aerial target and its position in world coordinates, to characterize the change of the aerial target's position in the world coordinate system over time; S3, determine the position of the aerial target in the camera's imaging field of view based on the first conversion relationship and the second conversion relationship; S4, based on the target's position in the camera imaging market and the known object-image projection transformation relationship, simulates and generates infrared hyperspectral imaging data of the aerial target in satellite pushbroom imaging mode.

[0019] In this invention, the motion state of the satellite imaging platform is first analyzed. To ensure the imaging quality of aerial targets, the satellite hyperspectral pushbroom imaging platform needs to maintain a relatively stable scanning speed. Furthermore, according to the definition of the world coordinate system, the pushbroom imaging direction of the satellite imaging hyperspectral payload is aligned with the coordinate axes of the world coordinate system. With parallel orientation, the field of view of satellite hyperspectral pushbroom imaging shifts over time in the world coordinate system.

[0020] Object point in camera coordinate system Its corresponding world coordinate system coordinates The following transformation relationship exists: in, These are the coordinates of the object point in the camera coordinate system. For its corresponding world coordinate system coordinates, , Representing the platform along the world coordinate system and The scanning speed along the coordinate axis, where t is time.

[0021] Based on the motion characterization analysis of the satellite pushbroom imaging platform and the aerial target, the spatiotemporal position variation law of the satellite hyperspectral pushbroom imaging field of view and the aerial target in a unified world coordinate system is obtained. Using the corresponding positional relationship between the pixel coordinates in the satellite hyperspectral pushbroom imaging field of view and the object point in the world coordinate system constructed above, the spatial position variation range of the satellite hyperspectral pushbroom imaging line field of view over time can be calculated, as shown in the following formula: Among them, column pixel coordinates Directly related to the imaging period, row pixel coordinates The instantaneous imaging field of view is related to the size of the linear array imaging array and can be determined based on the number of pixels in the linear array.

[0022] In some embodiments of the present invention, S2 includes: Establish the velocity transformation relationship between the aerial target velocity in the aerial target body coordinate system and the target velocity in the world coordinate system; Based on the initial position of the aerial target and the velocity conversion relationship, a second conversion relationship is determined.

[0023] In this embodiment, the motion state of the aerial target is analyzed. Based on the analysis of the aerial target's velocity and attitude direction, and combined with the definitions of the world coordinate system and the body coordinate system, it can be seen that converting the body coordinate system to the world coordinate system requires coordinate axis rotation and translation. The roll angle, pitch angle, and yaw angle of the aerial target are defined as follows: The rotation angles of the coordinate axes, along with these three angles, determine the coordinate axis rotation matrix. The translation matrix is ​​related to the velocity direction, initial position, and time.

[0024] To accurately analyze the relative positional relationship between the satellite's hyperspectral pushbroom imaging field of view and aerial targets, it is necessary to transform the data into a unified world coordinate system for analysis, including the target velocity in the body coordinate system. Transformation and velocity in the corresponding world coordinate system The following transformation relationship exists: Wherein, the velocity of the aerial target in the body coordinate system is The velocity in its corresponding world coordinate system , , , These are the roll angle, yaw angle, and pitch angle, respectively.

[0025] The position of the aerial target in world coordinates changes over time. After time t, the coordinates of the aerial target in the world coordinate system are as follows: in, Let t be the initial position of the aerial target in the world coordinate system, and t be the time. This represents the final position of an aerial target in the world coordinate system after time t.

[0026] The above formula can be used to determine the spatial range of an aerial target by calculating the spatial coordinates of various parts of the target's body over time.

[0027] In summary, the spatial positions of the satellite hyperspectral pushbroom imaging line field of view and the air target in a unified world coordinate system are determined by calculation. The position of the target in the imaging field of view is determined by judging the relative spatial relationship between the imaging field of view and the position of the air target. Finally, the infrared hyperspectral imaging data of the air target in the satellite pushbroom imaging mode is simulated and generated using the established object-image projection transformation relationship.

[0028] This invention provides an aerial target motion characterization device based on a satellite pushbroom imaging platform. The device can be implemented via software, hardware, or a combination of both. From a hardware perspective, the hardware architecture diagram of the electronic device housing the aerial target motion characterization device based on a satellite pushbroom imaging platform provided in this invention includes, in addition to the processor, memory, network interface, and non-volatile memory, other hardware such as a message forwarding chip. Taking software implementation as an example, as a logical device, it is formed by the CPU of the electronic device reading the corresponding computer program from the non-volatile memory into memory and running it. The aerial target motion characterization device based on a satellite pushbroom imaging platform provided in this embodiment includes: The first calculation unit is used to establish the first transformation relationship between the object point coordinates in the satellite camera coordinate system and the world coordinate system, so as to characterize the change of the object point's position in the world coordinate system over time. The second calculation unit is used to establish a second transformation relationship between the position of the aerial target and the world coordinate position, so as to characterize the change of the position of the aerial target in the world coordinate system over time; The third calculation unit is used to determine the position of the aerial target in the camera's imaging field of view based on the first conversion relationship and the second conversion relationship; The fourth computing unit is used to simulate and generate infrared hyperspectral imaging data of aerial targets in satellite pushbroom imaging mode based on the target's position in the camera imaging market and the known object-image projection transformation relationship.

[0029] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on an aerial target motion characterization device based on a satellite pushbroom imaging platform. In other embodiments of the present invention, an aerial target motion characterization device based on a satellite pushbroom imaging platform may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0030] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0031] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements an aerial target motion characterization method based on a satellite pushbroom imaging platform according to any embodiment of this invention.

[0032] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform an aerial target motion characterization method based on a satellite pushbroom imaging platform according to any embodiment of this invention.

[0033] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0034] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0035] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0036] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0037] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform, characterized in that, include: S1, establish the first transformation relationship between the object point coordinates in the satellite camera coordinate system and the world coordinate system, so as to characterize the change of the object point's position in the world coordinate system over time; S2 establishes a second transformation relationship between the position of an aerial target and its position in world coordinates, to characterize the change of the aerial target's position in the world coordinate system over time; S3, determine the position of the aerial target in the camera's imaging field of view based on the first conversion relationship and the second conversion relationship; S4, based on the target's position in the camera imaging market and the known object-image projection transformation relationship, simulates and generates infrared hyperspectral imaging data of the aerial target in satellite pushbroom imaging mode.

2. The method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform according to claim 1, characterized in that, In S1, the first transformation relationship is as follows: in, These are the coordinates of the object point in the camera coordinate system. For its corresponding world coordinate system coordinates, , Representing the platform along the world coordinate system and The scanning speed along the coordinate axis, where t is time.

3. The method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform according to claim 1, characterized in that, S2 include: Establish the velocity transformation relationship between the aerial target velocity in the aerial target body coordinate system and the target velocity in the world coordinate system; Based on the initial position of the aerial target and the velocity conversion relationship, a second conversion relationship is determined.

4. The method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform according to claim 3, characterized in that, The speed conversion relationship is as follows: Wherein, the velocity of the aerial target in the body coordinate system is The velocity in its corresponding world coordinate system , , , These are the roll angle, yaw angle, and pitch angle, respectively.

5. The method for characterizing the motion of aerial targets based on a satellite pushbroom imaging platform according to claim 4, characterized in that, The second conversion relationship is as follows: in, Let t be the initial position of the aerial target in the world coordinate system, and t be the time. This represents the final position of an aerial target in the world coordinate system after time t.

6. An aerial target motion characterization device based on a satellite pushbroom imaging platform, characterized in that, The apparatus for implementing the method as described in any one of claims 1-5 comprises: The first calculation unit is used to establish the first transformation relationship between the object point coordinates in the satellite camera coordinate system and the world coordinate system, so as to characterize the change of the object point's position in the world coordinate system over time. The second calculation unit is used to establish a second transformation relationship between the position of the aerial target and the world coordinate position, so as to characterize the change of the position of the aerial target in the world coordinate system over time; The third calculation unit is used to determine the position of the aerial target in the camera's imaging field of view based on the first conversion relationship and the second conversion relationship; The fourth computing unit is used to simulate and generate infrared hyperspectral imaging data of aerial targets in satellite pushbroom imaging mode based on the target's position in the camera imaging market and the known object-image projection transformation relationship.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-5.

Images