CN110657784B - Spatial single-lens stereo mapping camera capable of measuring optical axis orientation in real time - Google Patents
Spatial single-lens stereo mapping camera capable of measuring optical axis orientation in real time Download PDFInfo
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- CN110657784B CN110657784B CN201910892372.2A CN201910892372A CN110657784B CN 110657784 B CN110657784 B CN 110657784B CN 201910892372 A CN201910892372 A CN 201910892372A CN 110657784 B CN110657784 B CN 110657784B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The invention relates to a three-dimensional mapping camera for measuring the pointing angle of an optical axis in real time, which comprises a lens barrel and a plane reflector arranged at one end of the inner wall of the lens barrel, wherein the plane reflector can change the working angle of the plane reflector through a reflector rotating mechanism, and a laser range finder group is arranged on the inner wall of the end part of the lens barrel for mounting the plane reflector; the optical lens is arranged in the lens cone, the imaging detector is arranged on the inner wall of the end part of the lens cone, where the optical lens is arranged, the optical lens is arranged between the plane reflector and the imaging detector, and the star sensor is arranged on the outer wall of the end part of the lens cone, where the optical lens is arranged. The invention is characterized in that the light single-lens mapping camera can be used for realizing flexible mapping with high positioning precision and variable base height ratio, and is particularly suitable for light and small three-dimensional mapping satellites with high positioning precision.
Description
Technical Field
The invention belongs to the technical field of space optical remote sensors, relates to a variable base height ratio stereo mapping camera suitable for earth observation, and particularly relates to a space single-lens stereo mapping camera technology for measuring optical axis direction in real time.
Background
The space stereo mapping technology is produced along with the development of space photogrammetry technology in the field of space remote sensing, and has the main functions of carrying out stereo photography on the earth surface, acquiring multi-dimensional image data of ground objects, processing the image data by utilizing the mapping processing technology, accurately measuring information such as terrain, landform, shape, size, space position and the like of the ground objects, and generating various protective products supporting battle field operation and economic construction.
With the rapid development of the aerospace remote sensor technology, especially the maturation of the micro-nano satellite technology, the requirements of the surveying and mapping field on the light weight and flexibility of the surveying and mapping camera are continuously improved.
The commercial mapping satellites IKONOS-2 in the united states and the SPOT satellite in france have the capability of single shot stereo mapping. The method changes the surveying and mapping angle of the ground in a satellite attitude swinging mode, realizes three-dimensional surveying and mapping, and verifies the possibility of single-lens three-dimensional surveying and mapping. Among them, the SPOT satellite in france also has the capability of surveying and mapping in different orbits, and shows extremely high surveying and mapping flexibility.
However, the surveying method of changing the surveying angle by the whole satellite swing requires the satellite to change the attitude frequently to complete the scanning of different angles on the ground. Therefore, the fuel consumption of the satellite is serious by adopting the whole satellite swinging method, and the on-orbit service life of the satellite is greatly shortened.
The surveying and mapping angle of the camera to the ground can be changed in a swinging mode of the plane reflector, and the service life of the satellite is not influenced, so that the method becomes one of the development trends of the light-weight flexible surveying and mapping camera. However, the rotatable plane mirror may introduce errors in the pointing accuracy of the optical axis, and the working angle of the mirror needs to be accurately measured in real time, so as to measure the pointing direction of the optical axis of the camera in real time.
Disclosure of Invention
In view of the above-mentioned circumstances, an object of the present invention is to provide a single-lens stereo mapping camera technique for measuring an optical axis pointing angle in real time, which can achieve high positioning accuracy, variable base-to-height ratio, and light weight, and is suitable for a compact, high-accuracy, and high-resolution stereo mapping camera.
The technical scheme of the invention is as follows:
a three-dimensional mapping camera for measuring the pointing angle of an optical axis in real time is characterized by comprising a lens barrel and a plane reflector arranged at one end of the inner wall of the lens barrel, wherein the plane reflector can change the working angle of the plane reflector through a reflector rotating mechanism, and a laser range finder group is arranged on the inner wall of the end part of the lens barrel for mounting the plane reflector; the optical lens is arranged in the lens cone, the imaging detector is arranged on the inner wall of the end part of the lens cone, on which the optical lens is arranged, the optical lens is arranged between the plane reflector and the imaging detector, and the star sensor is arranged on the outer wall of the end part of the lens cone, on which the optical lens is arranged; the light is refracted by the plane reflector, converged by the optical lens and finally focused on the imaging detector.
In the above-mentioned three-dimensional mapping camera for real-time measurement of the optical axis pointing angle, the plane mirror is connected with the mirror rotating mechanism, and the working angle of the plane mirror is changed by controlling the mirror rotating mechanism, so that the mapping angle of the camera to the ground is changed, and three-dimensional mapping with variable base height ratio is realized.
In the stereo mapping camera for measuring the optical axis pointing angle in real time, the optical lens and the imaging detector are fixedly connected with the lens barrel, and the internal orientation elements of the camera are not changed in the ground mapping process.
In the three-dimensional mapping camera for measuring the optical axis pointing angle in real time, the plane reflector has high precision, and only the mapping angle of the camera to the ground can be changed without changing the internal orientation elements of the camera when the plane reflector is positioned at different working angles.
In the stereo mapping camera for measuring the optical axis pointing angle in real time, the star sensor is fixedly connected with the lens barrel, and the optical lens star sensor measures the accurate pointing of the star sensor by taking the fixed star as a reference source, so that the accurate direction of the optical axis in the camera is determined.
In the above-mentioned stereo mapping camera for real-time determination of the optical axis pointing angle, the star sensor is mounted on the main supporting structure of the lens barrel, allowing the star sensor to have a larger mass and a longer focal length, so as to increase the measurement accuracy of the star sensor, thereby improving the determination accuracy of the internal optical axis direction.
At foretell three-dimensional mapping camera of survey optical axis direction angle in real time, laser range finder group place at the lens cone inner wall, each laser range finder all links firmly with the lens cone, laser range finder group installs behind the lens cone inner wall, can carry out accurate demarcation with every angle of speculum and each laser range finder's reading.
In the above three-dimensional mapping camera for measuring the optical axis pointing angle in real time, the laser range finder set at least comprises three laser range finders, and at least forms a triangle on the inner wall of the lens barrel, and the working angle of the plane reflector can be calculated by reading the distance between each laser range finder and the plane reflector, so as to correct the mechanical rotation error.
The invention can accurately measure the internal optical axis direction of the camera and the rotation angle of the plane reflector by matching the star sensor and the laser range finder set, thereby determining the optical axis direction of the camera to the ground and greatly improving the ground positioning precision of the surveying and mapping camera.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention leads the surveying and mapping angle of the surveying and mapping camera to the ground to be flexible and variable by introducing the plane reflector, and can realize the double linear array three-dimensional surveying and mapping with variable base height ratio according to the ground features with different characteristics.
2. The invention can realize the three-dimensional surveying and mapping function by only using one lens, is beneficial to the lightweight design of the surveying and mapping camera and provides an idea for the miniaturization of the surveying and mapping satellite.
3. According to the method, the pointing accuracy of the optical axis inside the camera is measured by the high-precision star sensor, the rotation angle of the plane reflector is measured by the laser range finder group, the pointing direction of the camera to the earth optical axis can be accurately measured in real time, and the ground positioning accuracy of the surveying and mapping camera is improved.
Drawings
Fig. 1 is a schematic diagram of satellite whole satellite swing mapping in the background art.
FIG. 2 is a schematic diagram of a single-lens stereo mapping camera system for real-time measurement of the pointing angle of an optical axis according to the present invention.
Fig. 3 is a schematic view of the arrangement of the laser range finder group on the inner wall of the lens barrel behind the plane mirror.
Fig. 4 is a schematic diagram of a surveying process using two surveying angles according to the present invention.
Detailed Description
In order that the objects, features and advantages of the present invention will become more apparent, a detailed description of one embodiment of the invention is provided below along with accompanying drawings and examples, wherein many specific details are set forth in order to provide a thorough understanding of the invention, but the invention can be practiced in many ways other than as described, and therefore the invention is not limited to the specific embodiments disclosed below.
In the figure: 1. the system comprises a plane reflector 2, a reflector rotating mechanism 3, a laser range finder group 4, a lens barrel 5, a lens barrel inner wall 6, an optical lens 7, an imaging detector 8, a star sensor 9, an optical axis in the camera 10 and an optical axis of the camera pointing to the ground.
As shown in fig. 2, which is a schematic structural diagram of the present invention, it can be seen that the single-lens stereo mapping camera for real-time measurement of the pointing angle of the optical axis of the present invention comprises: the device comprises a plane reflector 1, a reflector rotating mechanism 2, a laser range finder group 3, a lens cone 4, an optical lens 6, an imaging detector 7 and a star sensor 8. The light is refracted by the plane mirror 1 and then converged by the optical lens 6, and finally focused on the imaging detector 7.
The plane reflector 1 is connected with the reflector rotating mechanism 2, and the plane reflector 1 can rotate within the range of alpha being more than or equal to 22.5 degrees and less than or equal to 45 degrees by controlling the reflector rotating mechanism 2.
When alpha is 45 degrees, theta is 0; when α is 22.5 °, θ is 45 °. The working angle of the reflector is changed, so that the surveying and mapping angle theta of the camera to the ground is changed between 0 and 45 degrees, and the three-dimensional surveying and mapping with the variable base height ratio is realized.
The optical lens 6 and the imaging detector 7 are fixedly connected with the lens barrel 4, and the internal orientation elements of the camera are not changed in the ground mapping process.
The surface shape precision of the plane reflector 1 is very high, and when the plane reflector is positioned at different working angles, only the surveying and mapping angle theta of the camera to the ground is changed, and the internal orientation element of the camera is not changed.
The star sensor 8 is fixedly connected with the lens barrel 4, and the star sensor 8 measures the accurate direction of the star sensor by taking the fixed star as a reference source, so that the accurate direction of the internal optical axis 9 of the fixed camera is determined. Optical lens
The star sensor 8 is mounted on the main supporting structure of the lens barrel 4, allowing the star sensor 8 to have a larger mass and a longer focal length to increase the measurement accuracy of the star sensor 8, thereby improving the direction determination accuracy of the internal optical axis 9.
Laser range finder group 3 place at lens cone inner wall 5, each laser range finder all links firmly with lens cone 4, laser range finder group 3 installs behind lens cone inner wall 5, can carry out accurate demarcation to the position of each laser range finder.
The laser range finder group 3 is arranged on the inner wall 5 of the lens cone in a triangular mode, the rotating angle of the plane reflecting mirror 1 can be calculated by reading the distance between each laser range finder and the plane reflecting mirror 1, the calculating precision can reach the order of an arc second, and therefore the mechanical rotating error of the plane reflecting mirror is corrected.
Through the cooperation of the star sensor 8 and the laser range finder group 3, the internal optical axis direction 9 of the camera and the rotation angle of the plane reflector 1 can be measured very accurately, so that the optical axis direction 10 of the camera to the ground is determined, and the ground positioning precision of the surveying and mapping camera is greatly improved.
The working process is shown in figure 4: at the initial moment, the camera is in a forward-looking 45-degree working state, the satellite is located at the position I, and the camera images the ground area A at the moment; the camera keeps a forward-looking 45-degree working state to scan and image the ground along with the forward flight of the satellite, and continues to the position II where the satellite flies, and the camera finishes the first scanning of the AB section; when the satellite is located at the second position, the reflector is rotated, the camera is switched to a front-view working state, and the camera images the area A of the satellite points again; the satellite continues to fly forward, and the camera keeps the front-view working state to complete the second scanning of the AB section.
And respectively obtaining images of the AB section at different angles by two times of scanning of the camera, and performing post-processing on the images at the two angles to obtain a three-dimensional image of the AB section.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (8)
1. A three-dimensional mapping camera for measuring the pointing angle of an optical axis in real time is characterized by comprising a lens barrel and a plane reflector arranged at one end of the inner wall of the lens barrel, wherein the plane reflector can change the working angle of the plane reflector through a reflector rotating mechanism, and a laser range finder group is arranged on the inner wall of the end part of the lens barrel for mounting the plane reflector; the optical lens is arranged in the lens cone, the imaging detector is arranged on the inner wall of the end part of the lens cone, on which the optical lens is arranged, the optical lens is arranged between the plane reflector and the imaging detector, and the star sensor is arranged on the outer wall of the end part of the lens cone, on which the optical lens is arranged; the light is converged by an optical lens after being converted by a plane reflector, and is finally focused on an imaging detector;
the working process comprises the following steps: at the initial moment, the camera is in a forward-looking 45-degree working state, the satellite is located at the position I, namely, the position forming an angle of 45 degrees with the endpoint of the area A, and at the moment, the camera images the area A on the ground; the camera keeps a forward-looking 45-degree working state to scan and image the ground along with the forward flight of the satellite, and continues to fly to a position II of the satellite, namely a position which forms an included angle of 0 degree with an endpoint of the area A, and at the moment, the camera finishes the first scanning of the section AB; when the satellite is located at the second position, the reflector is rotated, the camera is switched to a front-view working state, and the camera images the area A of the satellite points again; the satellite continues to fly forwards, and the camera keeps the front-view working state to complete the second scanning of the AB section;
and respectively obtaining images of the AB section at different angles by two times of scanning of the camera, and performing post-processing on the images at the two angles to obtain a three-dimensional image of the AB section.
2. The stereo mapping camera for real-time determination of the pointing angle of the optical axis according to claim 1, wherein the plane mirror is connected to the mirror rotating mechanism, and the mirror rotating mechanism is controlled to change the working angle of the plane mirror, thereby changing the mapping angle of the camera to the ground and realizing stereo mapping with variable base-to-height ratio.
3. The stereo mapping camera for real-time determination of the pointing angle of the optical axis according to claim 1, wherein the optical lens and the imaging detector are both fixed to the lens barrel, and the internal orientation elements of the camera are not changed during the mapping process to the ground.
4. The stereo mapping camera for real-time measurement of the pointing angle of the optical axis as claimed in claim 1, wherein the plane mirror has a high precision, and only changes the mapping angle of the camera to the ground and does not change the internal orientation element of the camera when the plane mirror is located at different working angles.
5. The stereo mapping camera for real-time determination of the pointing angle of the optical axis according to claim 1, wherein the star sensor is attached to the lens barrel, and the optical lens star sensor uses the star as a reference source to measure its precise pointing direction, thereby determining the precise direction of the optical axis inside the camera.
6. The stereo mapping camera for real-time determination of the pointing angle of the optical axis according to claim 1, wherein the star sensor is mounted on the main supporting structure of the lens barrel, allowing the star sensor to have a larger mass and a longer focal length, so as to increase the measurement accuracy of the star sensor and thus improve the determination accuracy of the internal optical axis direction.
7. The stereo mapping camera for real-time determination of the pointing angle of the optical axis according to claim 1, wherein the laser range finder set is disposed on the inner wall of the lens barrel, each laser range finder is fixedly connected to the lens barrel, and the laser range finder set is mounted on the inner wall of the lens barrel to accurately calibrate each angle of the reflector and the reading of each laser range finder.
8. The stereo mapping camera for real-time measurement of the pointing angle of the optical axis according to claim 1, wherein the laser range finder set comprises at least three laser range finders, and at least one triangle is formed on the inner wall of the lens barrel, and the working angle of the plane mirror can be calculated by reading the distance between each laser range finder and the plane mirror, so as to correct the mechanical rotation error.
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| CN108801225A (en) * | 2018-06-26 | 2018-11-13 | 广东电网有限责任公司 | A kind of unmanned plane tilts image positioning method, system, medium and equipment |
| CN109724566A (en) * | 2018-12-31 | 2019-05-07 | 中国科学院长春光学精密机械与物理研究所 | A method for satellite dynamic time-varying swept multiplication integration time |
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| CN105043353B (en) * | 2015-07-31 | 2017-08-29 | 上海卫星工程研究所 | Mirror tilt wide cut imaging system and imaging method |
| CN105651261B (en) * | 2016-02-26 | 2018-03-13 | 中国科学院长春光学精密机械与物理研究所 | Two-sided battle array stereo mapping system based on small satellite platform |
| CN108332039B (en) * | 2017-01-17 | 2021-01-12 | 宝山钢铁股份有限公司 | Three-point laser type gas chamber piston inclination detection method |
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| CN108801225A (en) * | 2018-06-26 | 2018-11-13 | 广东电网有限责任公司 | A kind of unmanned plane tilts image positioning method, system, medium and equipment |
| CN109724566A (en) * | 2018-12-31 | 2019-05-07 | 中国科学院长春光学精密机械与物理研究所 | A method for satellite dynamic time-varying swept multiplication integration time |
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