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卷帘快门式CMOS探测器的星图像移补偿

张博研 孔德柱 刘金国 武星星 董得义

张博研, 孔德柱, 刘金国, 武星星, 董得义. 卷帘快门式CMOS探测器的星图像移补偿[J]. 中国光学, 2020, 13(6): 1276-1284. doi: 10.37188/CO.2020-0089
引用本文: 张博研, 孔德柱, 刘金国, 武星星, 董得义. 卷帘快门式CMOS探测器的星图像移补偿[J]. 中国光学, 2020, 13(6): 1276-1284. doi: 10.37188/CO.2020-0089
ZHANG Bo-yan, KONG De-zhu, LIU Jin-guo, WU Xing-xing, DONG De-yi. Compensation of star image motion for a CMOS image sensor with a rolling shutter[J]. Chinese Optics, 2020, 13(6): 1276-1284. doi: 10.37188/CO.2020-0089
Citation: ZHANG Bo-yan, KONG De-zhu, LIU Jin-guo, WU Xing-xing, DONG De-yi. Compensation of star image motion for a CMOS image sensor with a rolling shutter[J]. Chinese Optics, 2020, 13(6): 1276-1284. doi: 10.37188/CO.2020-0089

卷帘快门式CMOS探测器的星图像移补偿

doi: 10.37188/CO.2020-0089
基金项目: 国家重点研发计划资助项目(No. 2016YFB0500100, No. 2016YFB0501002);国家自然科学基金资助项目(No. 11873007)
详细信息
    作者简介:

    张博研(1987—),女,吉林白城人,硕士,助理研究员,2010年、2013年于西安电子科技大学分别获得学士、硕士学位,主要从事立体测绘和图像处理等方面的研究。E-mail:boyan1021@163.com

  • 中图分类号: D590.35 D510.40

Compensation of star image motion for a CMOS image sensor with a rolling shutter

Funds: Supported by National Key Research and Development Program (No. 2016YFB0500100, No. 2016YFB0501002); National Natural Science Foundation of China (No. 11873007)
More Information
  • 摘要: 本文研究了卷帘快门式CMOS成像器件在拍摄星图时引入的快门效应。根据卷帘快门CMOS图像传感器的成像原理和特点, 分析了星图中由于快门效应导致的星点变化情况,对该成像方式引入的图像变形,提出了一种像移补偿方法。该方法在已知星图拍摄帧频、CMOS图形传感器相邻行曝光时间间隔的基础上,通过对相邻星图中的星点进行目标提取、质心计算以及星点质心匹配等操作,完成景物在像面上像移速度的计算,最后结合该速度值和CMOS图像传感器的行曝光时间间隔,计算星点质心在单帧星图中的像移,逆向补偿。通过实际拍摄的星图对算法的效果进行测试,实验结果表明,利用补偿后的星图解算姿态数据时,其中非机动模式下与两个星敏的夹角误差可达到0.5″以内,机动模式下与两个星敏的夹角误差也可达到0.6″左右,不仅明显优于补偿前,且精度高于很多目前主流的星敏感器。该实验结果不仅证明了算法的有效性,而且在一定程度上推广了卷帘快门式CMOS 相机在航空航天领域的应用。
  • 图  1  典型的CMOS传感器的结构

    Figure  1.  Framework of a typical CMOS sensor

    图  2  卷帘CMOS图像探测器的成像过程

    Figure  2.  Imaging process of a rolling shutter CMOS sensor

    图  3  卷帘CMOS图像探测器效果示意图

    Figure  3.  Schematic diagram of rolling shutter CMOS detector

    图  4  像移补偿算法流程

    Figure  4.  Flow chart of image shift compensation

    图  5  星图局部截图

    Figure  5.  Part of real star image

    图  6  相邻两帧图像的星点提取结果对比

    Figure  6.  Comparison of star extraction results between two adjacent star images

    图  7  星点目标提取及质心计算流程

    Figure  7.  Flow chart of star extraction and centroid calculation

    图  8  相邻两帧星图的星点匹配结果

    Figure  8.  Matched stars of two adjacent image

    表  1  非机动模式下星相机光轴与a星敏之间的夹角误差

    Table  1.   Angle error between the star-camera and star sensor a in non-maneuver mode

    序号俯仰角/°侧摆角/°补偿前误差1σ/″补偿后误差1σ/″
    1 0.549 −6.516 4.353 0.540
    2 0.051 −36.699 5.424 0.439
    3 0.152 −16.769 7.147 0.768
    4 0.334 12.903 6.284 0.702
    5 0 −5.542 4.177 0.377
    6 0 8.672 4.491 0.384
    7 0 12.284 5.261 0.546
    8 −0.231 10.533 5.535 0.231
    9 −0.370 −24.558 4.225 0.300
    10 3.023 −25.764 5.360 0.481
    平均值 5.249 0.476
    下载: 导出CSV

    表  2  非机动模式下星相机光轴与b星敏之间的夹角误差

    Table  2.   Angle error between the star-camera and star sensor b in non-maneuver mode

    序号俯仰角/°侧摆角/°补偿前误差1σ/″补偿后误差1σ/″
    1 0.549 −6.516 5.607 0.420
    2 0.051 −36.699 5.186 0.317
    3 0.152 −16.769 4.375 0.211
    4 0.334 12.903 3.876 0.361
    5 0 −5.542 3.968 0.249
    6 0 8.672 3.233 0.297
    7 0 12.284 5.261 0.567
    8 −0.231 10.533 2.984 0.185
    9 −0.370 −24.558 3.889 0.266
    10 3.023 −25.764 3.960 0.202
    平均值 4.234 0.308
    下载: 导出CSV

    表  3  机动模式下星相机光轴与a星敏之间的夹角误差

    Table  3.   Angle error between the star-camera and the star sensor a in maneuver mode

    序号俯仰角/(°)侧摆角/(°)补偿前误差1σ/″补偿后误差1σ/″
    10−18.1917.7540.818
    20−31.9616.6860.532
    302.5975.9140.318
    405.1547.3870.714
    503.8557.9960.734
    平均值7.1470.623
    下载: 导出CSV

    表  4  机动模式下星相机光轴与b星敏之间夹角误差

    Table  4.   Angle error between the star-camera and star sensor b in maneuver mode

    序号俯仰角/°侧摆角/°补偿前误差1σ/″补偿后误差1σ/″
    10−18.1918.1340.543
    20−31.9616.5630.392
    302.5974.7820.241
    405.1545.9730.616
    503.8556.1890.932
    平均值6.3280.545
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-05-09
  • 修回日期:  2020-06-15
  • 网络出版日期:  2020-10-29
  • 刊出日期:  2020-12-01

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