CN103593818A

CN103593818A - Rapid image processing method suitable for soft landing process and space environment

Info

Publication number: CN103593818A
Application number: CN201310485339.0A
Authority: CN
Inventors: 于萍; 杨洁; 李经松; 彭宇; 王华强; 郭兵; 王佳; 张洪华; 何健
Original assignee: Beijing Institute of Control Engineering
Current assignee: Beijing Institute of Control Engineering
Priority date: 2013-10-16
Filing date: 2013-10-16
Publication date: 2014-02-19
Anticipated expiration: 2033-10-16
Also published as: CN103593818B

Abstract

A fast image processing method suitable for soft landing process and space environment, suitable for the fast image processing requirements of space probe extraterrestrial celestial body landing process. The speed of image processing is accelerated by utilizing the cache resources in the DSP; at the same time, measures such as timer interruption and closing of the cache are taken to limit the working time of the cache to reduce the bad influence of the single event effect of the cache. The purpose of improving the processing speed while ensuring the adaptability of the space environment is achieved.

Description

A kind of fast image processing method that is applicable to soft landing process and space environment

Technical field

The present invention relates to a kind of fast image processing method that is applicable to soft landing process and space environment, be applicable to the fast image processing demand of space probe objects outside Earth landing mission.

Background technology

In detector objects outside Earth soft landing process, if obtain landing point of safes information by active process in-orbit, to improving landing safe probability, be highly profitable.Landing task in early days, as Apollo task, is to rely on eye recognition to judge the point of safes landing.Along with the development of technology, relying on instrument and equipment to obtain safe landing dot position information is accurately landing task, particularly the new demand of unmanned landing seeker.In order to complete the point of safes acquisition process that does not rely on people, need to develop a kind of image processing techniques, the image information to the pre-touch-down zone obtaining in landing mission, as optical imagery or laser height image or microwave elevation map picture, carries out fast processing.Processing speed is faster, more saves landing fuel.

Image is processed and generally by pattern process computer, is undertaken.Pattern process computer gathers image acquisition equipment (as elevation map or optical imagery) and processes the image information in touch-down zone, to obtain safe landing point positional information.Pattern process computer offers result in the control computing machine of detector, controls computing machine and according to image, processes the touch-down zone safe landing dot information object of planning landing point obtaining.

Because the landing mission time is shorter, and image information data amount is large, and Processing Algorithm is complicated.The image processing time that often needs the long period.In general, improving image processing speed has two kinds of approach, and the one, optimized algorithm, another kind is to improve hardware handles ability.In the image processing equipment on ground, often use cache(high-speed cache) access speed of raising program and data, to reach the object of accelerating image processing speed.But while applying in space, cache easily overturns under the single-particle effect of space, can cause program circuit or result of calculation mistake.Therefore, be subject to the impact of space single particle effect, some functional modules (as high-speed cache cache) of high-performance processor often can not directly be applied in space environment at present, and this has just limited the raising of landing mission image processing speed.

The low meeting of image processing speed causes the landing mission time to increase, and the fuel that engine ignition consumes increases, and can cause launch cost to increase.

Summary of the invention

The technical matters that the present invention solves is: overcome the deficiencies in the prior art, a kind of fast image processing method that is applicable to soft landing process and space environment is provided, can meet the rapidity demand that image is processed, also can adapt to space environment, in the rapidity of having guaranteed image processing landing point of safes information, also guaranteed reliability simultaneously simultaneously.

Technical scheme of the present invention is: a kind of fast image processing method that is applicable to soft landing process and space environment, and step is as follows:

1) positional information of preset target point in detector is controlled computing machine; Two pattern process computer parallel receives are by the landing chart picture that becomes image sensor to send; The original state setting of two described pattern process computers is use chip external memory;

2) two processing image instructions that pattern process computers send at t0 moment pick-up probe control simultaneously computing machine, and in opening sheet, cache memory looks like to process to the landing chart of step 1) reception; Timer is set simultaneously to interrupt at t0+ Δ t time trigger computing machine; The time that wherein Δ t needs for the image processing of touch-down zone in-orbit of obtaining according to ground test case;

3) two pattern process computers all receive timer interruption constantly at t0+ Δ t, and close cache memory cache in sheet;

4) processing result image of two pattern process computers is compared; If the processing result image of two pattern process computers is consistent, adopts processing result image to land and finish; If the processing result image of two pattern process computers is inconsistent, enter step 5); Described processing result image is landing point of safes position;

5) detector is controlled computing machine and is again initiated image processing instruction to two pattern process computers, and repeating step 2)～step 4), if the processing result image of two pattern process computers is still inconsistent, adopt the positional information of target point preset in step 1) to land.

The present invention's advantage is compared with prior art:

1) effectively raise image processing speed.Representative value through processing time of experimental test (adopt DSP6701 processor) single image before inapplicable this method is 7s, and adopting after this method is 2s.

2) guaranteed the reliability of result.Because having adopted, control the method for computing machine to the result comparison of 2 pattern process computers, guaranteed that abnormal results can detect can reject.

Accompanying drawing explanation

The process flow diagram of Fig. 1 fast image processing method;

The topological diagram of Fig. 2 equipment interface relation.

Embodiment

Below in conjunction with Fig. 1, Fig. 2, the inventive method is described further.

Because according to test findings, because the image processing time after having adopted cache shortens (being reduced to 2s from 7s) greatly, even if carry out secondary treating, required time is not more used the situation of cache short yet.And space single particle effect belongs to accidental probabilistic event, according to list of references 1:Single Event Upset Characterization of the SMJ320C6701Digital Signal Processor Using Proton Irradiation, IEEE Radiation Effects Data Workshop, July, 2005, p42-45, the probability that can obtain generation single-particle inversion in 2s is 10 ^-6.The possibility that twice image all occurred in the processing time is almost 0.

The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.

Claims

1. A fast image processing method applicable to soft landing process and space environment, characterized in that the steps are as follows:

1) The position information of the landing target point is preset in the detector control computer; the two image processing computers receive the landing images sent by the imaging sensor in parallel; the initial state settings of the two image processing computers are to use off-chip memory;

2) Two image processing computers simultaneously receive the image processing instruction sent by the detector control computer at time t0, and open the on-chip cache memory to process the landing image received in step 1); at the same time, set the timer to trigger at time t0+Δt Computer interruption; where Δt is the time required for image processing of the on-orbit landing zone obtained according to the ground test situation;

3) Both image processing computers receive timer interrupts at time t0+Δt, and close the on-chip cache memory;

4) Compare the image processing results of the two image processing computers; if the image processing results of the two image processing computers are consistent, use the image processing results to land and end; if the image processing results of the two image processing computers are inconsistent, Then enter step 5); the image processing result is the landing safety point position;

5) The detector control computer re-initiates image processing instructions to the two image processing computers, and repeats steps 2) to 4). If the image processing results of the two image processing computers are still inconsistent, use the preset value in step 1). The position information of the landing target point is used for landing.