Real-time measurement for boresight vibration of dual line array surveying and mapping cameras
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摘要:
本文建立了一个航天线阵测绘相机视轴测量模型，以实现对双线阵测绘相机视轴抖动的实时测量。首先，通过在相机焦平面两端设置激光收发装置，经由中央棱镜关联，构建了两台相机之间的夹角参数变化测量模型。接着，基于双矢量定姿原理推导了计算表达式，可以实现相机焦距及绕XYZ三轴变化量的高精度测量。对计算方法的误差进行了分析，并通过仿真进行了验证。此外，还对本文提出方法与工程上常用的简化方法之间的残差进行了仿真，结果表明,简化方法仅在很小的测量范围内与本文提出方法一致性良好，当测量角度范围扩大到2′时，采用本文提出的计算方法才能得到精度为0.1″的测量结果。最后，在热真空环境下进行了试验验证，结果显示采用该计算方法得到的相机内外参标定精度达0.1″，结果表明两台相机夹角参数表现出轨道周期性规律，为后续开展立体测绘任务提供了良好的参考。
Abstract:In order to realize the real-time measurement of the boresight vibration of the dual line array surveying and mapping camera, a measurement model of the optical axis of the aerospace line array surveying and mapping camera is established. First, by setting up laser transceivers at both ends of the focal plane of the camera, through the central prism correlation, an angle parameter change measurement model for the two cameras is constructed. An optical axis measurement method for multi-line array cameras based on the dual-vector attitude determination principle is proposed. The calculation expression is given and the algorithm error is analyzed, which is verified by simulation. In addition, the residuals of the two algorithms are simulated and the results show that the simplified algorithm is only in good agreement with the dual vector algorithm in a small measurement range but when the detection range is expanded to 2 seconds, the algorithm in this article can be used to obtain 0.1 arc-second. Finally, the algorithm was tested and verified in a thermal vacuum environment, which verified that the calibration accuracy of the internal and external parameters of the camera using this algorithm reached 0.1 arc-second. The results showed that the angle parameters of the two cameras exhibited the periodicity of the orbit, which provided good conditions for the subsequent development of stereo surveying and mapping tasks.
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图 1 相机内外参数星上测量简图
Figure 1. Schematic diagram of the on-satellite measurement of the camera’s internal and external parameters
图 2 单台相机内外参数星上测量示意图
Figure 2. Schematic diagram of the on-satellite measurement of internal and external parameters of a single camera
图 3 基于双矢量定姿原理的处理流程
Figure 3. Processing flow based on the principle of Dual Vector Attitude Determination（DVAD）
图 4 不同质心提取精度时各内外参数误差
Figure 4. Errors of internal and external parameters with different centroid extraction accuracy
图 5 质心提取精度为0.1pixel时各测量参数误差
Figure 5. Error of each measurement parameter with the centroid extraction accuracy of 0.1 pixel
图 6 不同焦距时各测量参数误差
Figure 6. The errors of each measurement parameter at different focal lengths
图 7 不同CMOS探测器件间距L时各测量参数误差
Figure 7. The errors of each measurement parameter at different device spacing L
图 8 双矢量方法和简化方法计算得到的内外参残差
Figure 8. Internal and external parameter residuals calculated by DVAD and simplified algorithm
图 9 相机内外参数标定真空试验系统示意图及相机实物图
Figure 9. Schematic diagram of vacuum test system for internal and external parameter calibration and the picture of cameras
图 10 热真空环境下相机内外参在连续2个循环内的标定结果
Figure 10. Internal and external parameter calibration results in a thermal vacuum in 2 circles
表 1 基本输入参数
Table 1. Basic input parameters
符号 定义 $ {OX_{{\text{OTA}}}}{Y_{{\text{OTA}}}}{Z_{{\text{OTA}}}} $ 镜头物方坐标系, $ O $为坐标原点, ${O' X' _{ {\text{OTA} } } }{ Y' _{ {\text{OTA} } } }{ Z_{ {\text{OTA} } } }$ 镜头像方坐标系，$ O' $为坐标原点，$ O'{X'_{{\text{OTA}}}} $从原点指向CCD线阵中心，$ {O'Z_{{\text{OTA}}}} $为视轴方向，第三轴符合右手定则 $ {OX_{{\text{HRC}}}}{Y_{{\text{HRC}}}}{Z_{{\text{HRC}}}} $ 相机坐标系, $ {Z_{{\text{HRC}}}} $从CCD中心指向$O $点, $ {Y_{{\text{HRC}}}} $与 $ {Y_{{\text{OTA}}}} $方向一致 $M_1 M_2 $ 焦平面上分置于CCD两端的面阵探测器 $ {\theta _{m1}},{\theta _{m2}} $ M1,M2探测器转角 $ \begin{array}{l}{A}_{0}({x}_{c1},{y}_{c1})，\\ {B}_{0}({x}_{c2},{y}_{c2})\end{array} $ M1,M2探测器中心点 $ \begin{array}{l}{A}_{1}({x}_{01},{y}_{01})，\\ {B}_{1}({x}_{02},{y}_{02})\end{array} $ M1,M2探测器坐标系下的初始坐标 $ \begin{array}{l}{A}_{2}({x}_{11},{y}_{11})，\\ {B}_{2}({x}_{22},{y}_{22})\end{array} $ M1,M2探测器坐标系下的实测坐标 $ {F_{{\text{OTA}}}} $ 相机焦距 $ \omega $ 离轴角 
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表 2 基本输入参数
Table 2. Basic input parameters
参数 数值 像素大小$ d $/μm 10 离轴角$ \omega $/(°) 6 尺度因子/$ Kf $ 0.5 M1探测器转角$ {\theta _{m1}} $/(°) 0 M2探测器转角$ {\theta _{m2}} $/(°) 0 M1初始点坐标 A1/pixel (0,0) M2初始点坐标B1/pixel (0,0) 焦距, $ F_0 $/mm 6000 $ {L_{c1}} $/mm 500 $ {L_{c2}} $/mm −500 M1、M2 探测器像素规模 5120×3840
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