阅读说明：本技术 卫星成像方法和系统 (Satellite imaging method and system ) 是由 李哲 李巍 张达 王小朋 刘栋斌 孙振亚 高志良 赵越 刘衍峰 于 2019-10-17 设计创作，主要内容包括：本发明实施例提供了一种卫星成像方法和系统。所述卫星成像方法包括：同步信号发生装置向目标遥感仪器发送第一周期脉冲；所述目标遥感仪器将所述第一周期脉冲分频为第二周期脉冲,并且向其多个探测器发送第二周期脉冲；所述目标遥感仪器控制所述多个探测器分别根据所述第二周期脉冲同步自身帧周期和行周期；所述多个探测器分别基于自身帧周期和行周期进行成像。本发明实施例通过同步信号发生装置和目标遥感仪器的分频,目标遥感仪器的多个探测器能够分别根据周期脉冲同步自身帧周期和行周期,然后进行成像,从而有效地提供了卫星图像融合或图像拼接的精度。(The embodiment of the invention provides a satellite imaging method and a satellite imaging system. The satellite imaging method comprises the following steps: the synchronous signal generating device sends a first periodic pulse to the target remote sensing instrument; the target remote sensing instrument divides the frequency of the first periodic pulse into a second periodic pulse and sends the second periodic pulse to a plurality of detectors of the target remote sensing instrument; the target remote sensing instrument controls the detectors to synchronize self frame periods and line periods according to the second period pulses respectively; the plurality of detectors perform imaging based on their own frame periods and line periods, respectively. According to the embodiment of the invention, through the frequency division of the synchronous signal generating device and the target remote sensing instrument, a plurality of detectors of the target remote sensing instrument can synchronize self frame periods and line periods respectively according to the periodic pulses and then carry out imaging, so that the precision of satellite image fusion or image splicing is effectively improved.)

1. A method of satellite imaging, comprising:

the synchronous signal generating device sends a first periodic pulse to the target remote sensing instrument;

the target remote sensing instrument divides the frequency of the first periodic pulse into a second periodic pulse and sends the second periodic pulse to a plurality of detectors of the target remote sensing instrument;

the target remote sensing instrument controls the detectors to synchronize self frame periods and line periods according to the second period pulses respectively;

the plurality of detectors perform imaging based on their own frame periods and line periods, respectively.

2. The satellite imaging method according to claim 1, further comprising, after the synchronizing signal generating device sends the first periodic pulse to the target remote sensing instrument:

and the target remote sensing instrument updates the self time according to the first periodic pulse.

3. The satellite imaging method of claim 1, further comprising:

the synchronous signal generating device receives a third periodic pulse sent by the satellite controller;

the synchronous signal generating device updates the self time according to the third periodic pulse;

the synchronization signal generation means divides the third periodic pulse into the first periodic pulse.

4. The satellite imaging method according to claim 3, wherein the synchronizing signal generating means divides the third periodic pulse into the first periodic pulse, including:

the synchronization signal generation device determines an error between its clock oscillator count and the third periodic pulse and equally divides the error into the first periodic pulse.

5. The satellite imaging method of claim 3, further comprising: the synchronization signal generation means determines a frame period and a line period of a central field of view detector of the plurality of detectors of the target remote sensing instrument,

wherein, under the condition of same-speed image motion compensation, the target remote sensing instrument controls the detectors to synchronize by taking the frame period and the line period of the central view field detector as the frame period and the line period of the target remote sensing instrument, or

Under the condition of different-speed image motion compensation, the target remote sensing instrument determines respective frame periods and line periods of other detectors in the plurality of detectors and respective image motion compensation synchronous signals, and controls the other detectors to synchronize the respective frame periods and line periods according to the respective image motion compensation synchronous signals.

6. A satellite imaging system, comprising:

a target remote sensing instrument comprising a plurality of detectors;

the synchronous signal generating device is used for sending a first periodic pulse to the target remote sensing instrument;

the target remote sensing instrument divides the frequency of the first periodic pulse into second periodic pulses and sends the second periodic pulses to a plurality of detectors of the target remote sensing instrument;

the target remote sensing instrument controls the detectors to synchronize self frame periods and line periods according to the second period pulses respectively;

the plurality of detectors perform imaging based on their own frame periods and line periods, respectively.

7. The satellite imaging system of claim 6, wherein the target remote sensing instrument is further configured to update its time based on the first periodic pulse.

8. The satellite imaging system of claim 6, further comprising:

a satellite controller, wherein, among other things,

the synchronous signal generating device receives a third periodic pulse sent by the satellite controller;

the synchronous signal generating device updates the self time according to the third periodic pulse;

the synchronization signal generation means divides the third periodic pulse into the first periodic pulse.

9. The satellite imaging system of claim 8, wherein the synchronization signal generating means is specifically configured to determine an error between its clock oscillator count and the third periodic pulse and to average the error to the first periodic pulse.

10. The satellite imaging system of claim 8, wherein the synchronization signal generation device is further configured to determine a frame period and a line period of a central field of view detector of the plurality of detectors of the target remote sensing instrument,

wherein, under the condition of same-speed image motion compensation, the target remote sensing instrument is specifically used for controlling the plurality of detectors to synchronize by taking the frame period and the line period of the central view field detector as the frame period and the line period of the plurality of detectors, or

Under the condition of different-speed image motion compensation, the target remote sensing instrument is specifically used for determining respective frame periods and line periods of other detectors in the plurality of detectors and respective image motion compensation synchronization signals, and controlling the other detectors to synchronize the respective frame periods and line periods according to the respective image motion compensation synchronization signals.

Technical Field

The present invention relates to remote sensing technology, and in particular, to a satellite imaging method and system.

Background

With the development of remote sensing technology, the requirements on indexes such as resolution and coverage width of an optical remote sensing satellite are higher and higher, and the cooperative detection requirements of visible, infrared, hyperspectral and other multi-spectral-band remote sensing instruments are also higher and higher. At present, a method for splicing a large number of detectors is adopted for a large-view-field multi-spectral-band high-resolution optical remote sensing instrument on a satellite, the breadth is ensured on the premise of ensuring the resolution index, and the requirements on the spectral band are met by a method for carrying a plurality of different spectral-band remote sensing instruments or carrying a single remote sensing instrument containing a large number of detectors with various spectral band types.

In the prior art, a satellite platform corrects time by using GPS second pulses with a period of 1s, and the satellite time system precision is mainly concerned, but the precision of remote sensing image stitching and various spectral band image fusion obtained by the satellite time system precision still has room for improvement.

Disclosure of Invention

In view of this, embodiments of the present invention provide a satellite imaging method and system, which can effectively improve the precision of satellite image fusion or image stitching.

In one aspect, the present invention provides a satellite imaging method, including: the synchronous signal generating device sends a first periodic pulse to the target remote sensing instrument; the target remote sensing instrument divides the frequency of the first periodic pulse into a second periodic pulse and sends the second periodic pulse to a plurality of detectors of the target remote sensing instrument; the target remote sensing instrument controls the detectors to synchronize self frame periods and line periods according to the second period pulses respectively; the plurality of detectors perform imaging based on their own frame periods and line periods, respectively.

In another aspect, the present invention provides a satellite imaging system comprising: a target remote sensing instrument comprising a plurality of detectors; the synchronous signal generating device is used for sending a first periodic pulse to the target remote sensing instrument; the target remote sensing instrument divides the frequency of the first periodic pulse into second periodic pulses and sends the second periodic pulses to a plurality of detectors of the target remote sensing instrument; the target remote sensing instrument controls the detectors to synchronize self frame periods and line periods according to the second period pulses respectively; the plurality of detectors perform imaging based on their own frame periods and line periods, respectively.

Compared with the prior art, the embodiment of the invention has the following beneficial effects: through the frequency division of the synchronous signal generating device and the target remote sensing instrument, a plurality of detectors of the target remote sensing instrument can synchronize self frame periods and line periods respectively according to periodic pulses and then carry out imaging, so that the precision of satellite image fusion or image splicing is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a satellite imaging method of an embodiment of the invention.

FIG. 2 is a timing diagram of pulse-per-second counting according to another embodiment of the present invention.

FIG. 3 is a timing diagram of generating time pulses according to another embodiment of the present invention.

FIG. 4 shows a timing relationship of synchronization signals generated by the load master controller according to another embodiment of the present invention.

FIG. 5 shows the timing relationship between the master control synchronization and the synchronization of each detector under the same speed operation according to another embodiment of the present invention.

Fig. 6 shows the timing relationship between the master control synchronization and the synchronization of each detector under the different-speed operation according to another embodiment of the present invention.

FIG. 7 is a schematic block diagram of a satellite imaging system of another embodiment of the present invention.

FIG. 8 is a schematic block diagram of a satellite imaging system of another embodiment of the present invention.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to explain the technical means of the present invention, the following description will be given by way of specific examples.

Fig. 1 is a schematic flow chart of a satellite imaging method of an embodiment of the invention. The satellite imaging method 100 of fig. 1 includes:

110: the synchronous signal generating device sends a first periodic pulse to the target remote sensing instrument;

120: the target remote sensing instrument divides the frequency of the first periodic pulse into second periodic pulses and sends the second periodic pulses to a plurality of detectors of the target remote sensing instrument;

130: the target remote sensing instrument controls the plurality of detectors to synchronize self frame periods and line periods respectively according to the second period pulses;

140: the plurality of detectors perform imaging based on their own frame period and line period, respectively.

It should be understood that the synchronization signal generating device may be a load master controller, or the synchronization signal generating device may be located in a target remote sensing instrument or other remote sensing instruments. When a plurality of remote sensing instruments exist, one remote sensing instrument can be used as a main remote sensing instrument, and a synchronous signal generating device can be arranged in the main remote sensing instrument; the target remote sensing instrument in the text can be a single remote sensing instrument, and can also be any one of a plurality of remote sensing instruments, and the invention is not limited to the target remote sensing instrument, and can be realized in any way. Specifically, the synchronous signal generating device sends the time code and the time pulse to a remote sensing instrument main control. And the master control synchronously updates time according to the time pulse and sends the time code and the time pulse to the detector control module. The target remote sensing instrument can be processed correspondingly by adopting a remote sensing instrument master control. The detector may include a detector control module for performing the corresponding processing. Specifically, for example, after a plurality of detectors perform imaging, the detector control module updates time according to a time pulse sent by the master controller, and packages and sends out a time code of a working moment and image data, and if the time pulse is abnormal, the detector control module times by itself. The detector control module works according to the synchronous signals sent by the master control, and if the synchronous signals are abnormal, the detector control module automatically starts working according to the cycle according to the synchronous counting value.

It is also understood that the first periodic pulse, the second periodic pulse, and the third periodic pulse are also not limited and that their respective periods may be any value and have any relationship within the scope of the claims. In a preferred embodiment, the first periodic pulse is a millisecond pulse, the second periodic pulse is a microsecond pulse, and the third periodic pulse is a second pulse.

Specifically, the satellite control system sends related parameters such as high-precision time, satellite attitude and orbit, GPS positioning and the like through the time service module. The load master controller adopts a high-precision clock crystal oscillator, updates the second value of the time code when receiving the GPS second pulse, and divides the received GPS second pulse into millisecond pulses (which can also be divided into time pulses of various periods according to the precision requirement). The high-precision clock crystal oscillator synchronously updates the millisecond value of the time code according to the received millisecond pulse by the master control of each remote sensing instrument of the second pulse, divides the millisecond pulse into microsecond pulses,

compared with the prior art, the embodiment of the invention has the following beneficial effects: through the frequency division of the synchronous signal generating device and the target remote sensing instrument, a plurality of detectors of the target remote sensing instrument can synchronize self frame periods and line periods respectively according to periodic pulses and then carry out imaging, so that the precision of satellite image fusion or image splicing is effectively improved.

In particular, this requires that the system employing the method of embodiments of the present invention have a high accuracy in time and accurate synchronization signals in order to ensure that each detector simultaneously images the same target. The remote sensing resolution of different spectral band detectors is different or image motion compensation is needed, and the frame frequency or line frequency of the detectors is different, so that higher requirements are put forward on the synchronization technology. The prior art scheme is not specifically designed for synchronous operation of multiple remote sensing instruments. The exposure time of each remote sensing instrument is sequential, the images are asynchronous, and the registration difficulty of image fusion is high. A single remote sensing instrument containing a plurality of detectors adopts a clock source, but the number of the detectors which can be controlled by the single remote sensing instrument is limited; or an enabling signal is sent at the beginning to enable the detector to start working at the same time, the processing of time correction and frame synchronization is not carried out, and errors are accumulated and increased along with the increase of time, so that the splicing and fusion of images are not facilitated; or in order to ensure the splicing and fusion precision of the images, image motion compensation is cancelled, the detector is forced to work at the same frame frequency or line frequency, and the imaging quality is reduced. In other words, the method of the embodiment of the invention enables the detectors of various remote sensing loads carried by the same satellite to simultaneously image for the same target, and ensures the image quality and the splicing and fusion precision of the images, so as to solve the defects of small quantity of controllable detectors, low reliability and high difficulty in splicing and fusion of the images in the prior art.

According to the satellite imaging method 100 of the embodiment of fig. 1, after the synchronization signal generation device sends the first periodic pulse to the target remote sensing instrument, the method further includes: and the target remote sensing instrument updates self time according to the first periodic pulse.

The satellite imaging method 100 of the embodiment of fig. 1 further comprises: the synchronous signal generating device receives a third periodic pulse sent by the satellite controller; the synchronous signal generating device updates the self time according to the third periodic pulse; the synchronizing signal generating means divides the third periodic pulse into the first periodic pulses.

According to the satellite imaging method 100 of the embodiment of fig. 1, the synchronization signal generation means divides the third periodic pulse into the fourth periodic pulseA periodic pulse comprising: the synchronizing signal generating device determines an error between its clock oscillator count and the third periodic pulse and divides the error equally into the first periodic pulses. Specifically, in the first few periods, an error correction module in the load master controller learns firstly, counts the error between the minimum period count of the crystal oscillator used by the load master controller and the second pulse of the GPS, and evenly divides the counting error into each millisecond pulse generated by the next second pulse after learning. And calculating the frame period or line period of the central view field detector according to the satellite attitude and orbit, GPS positioning and other related parameters in combination with the resolution, detector pixel size and other information of each remote sensing instrument, generating corresponding synchronous signals, and synchronizing the counting of the external synchronous signals with GPS second pulses. For example, when the load master controller uses a high-precision clock oscillator (1ppm or 2ppm), the counting error of the pulses per second is

σ represents the stability of the crystal oscillator, T_cxoAn error correction module is designed to count the GPS second pulse, as shown in FIG. 2, to obtain the error σ between the crystal oscillator count and the GPS second pulse_eLearning several GPS second pulses and taking integral average value

Millisecond pulse count error of

T_msRepresenting the period of a millisecond pulse. Microsecond pulse count error of

T_μsRepresenting the period of the microsecond pulse. The line period or frame period synchronizing signal has a count error of

T_dIndicating a line period or a frame period, then

In addition, the clock oscillator generally does not exceed 1GHz, the minimum clock period T_cxoNot less than 1 ns. Count error of millisecond pulse Δ N_msIs not negligible and is analyzed by counting the number of millisecond pulses

Should count as

If Δ N_msNon-integer, the last before the next second pulse

A T_msCycle count of

Count of remaining

Is composed of

Taking the absolute value, [ Delta N ]_ms]Is DeltaN_msAnd (6) taking the whole.

In addition, the load master controller updates the second value when receiving the second pulse, and divides the frequency of the received GPS second pulse into the microsecond pulse with the period of T_μsThe minimum clock period of the crystal oscillator is the reciprocal T of the frequency_cxoObtaining the count according to a formula

Microsecond pulse count error Δ N_μsNegligible, last before the next second pulseA T_msMiddle and last | Δ N_ms]1| a littlePulse-per-second count ofLast before next second pulse

A T_msThe remaining microsecond pulses in (1) count as

Last before non-next second pulse

A T_msMiddle and last | Δ N_ms]The | microsecond pulses count as

Last before non-next second pulse

A T_msThe remaining microsecond pulses in (1) count as

In addition, due to T_ms＝1000T_μsThen, count 1000N_μsIs 1 millisecond. Due to T_s＝1000T_msThe 1000 th millisecond ends with the arrival of the next second pulse. The pulse per second, pulse per millisecond and pulse per second transmitted to the master control of each remote sensing instrument by the load master controller are transmitted in a differential mode in a collinear mode, and the pulse widths are X, Y, Z respectively for distinguishing, as shown in fig. 3.

In addition, according to the satellite attitude and orbit, GPS positioning and other relevant parameters, the load master controller calculates the frame period or line period T of the central view field detector in combination with the resolution, detector pixel size and other information of each remote sensing instrument_d1～T_dnCounting of

Error in cycle count

Should count as

If Δ M_nIs a non-integer, then the last | Δ M before the next second pulse_n]L T_dnCycle count of

The rest are counted as

During design, the resolution of the remote sensing instrument of each spectral band is generally designed to be in a multiple relation, so the period also has a multiple relation, a common multiple can be taken, and the synchronization module is used for synchronizing T_cxoAs shown in fig. 4.

In addition, the load master controller counts the period M of the corresponding remote sensing instrument_nAnd the counting error Δ M_nAnd sending the data to a remote sensing instrument for main control. The main control counts the synchronous signals, the remote sensing instrument can adopt a crystal oscillator (50ppm) which has the same frequency as the load master controller and low stability, and the count is I_nThe counting error is Delta I_n＝I_n-M_nTaking the mean of integers

The satellite imaging method 100 of the embodiment shown in fig. 1 further includes: the synchronization signal generation device determines a frame period and a line period of a central field of view detector of a plurality of detectors of the target remote sensing instrument. Under the condition of same-speed image motion compensation, the target remote sensing instrument controls a plurality of detectors to synchronize self frame periods and line periods according to second period pulses respectively, and the method comprises the following steps: and the target remote sensing instrument controls the plurality of detectors to synchronize by taking the frame period and the line period of the central field-of-view detector as the frame period and the line period of the target remote sensing instrument. It should be understood that if the image motion compensation is performed at the same speed, all detectors of a certain remote sensing instrument work according to the synchronous signal given by the load master controller, and the exposure work of the detectors is started according to the falling edge of the synchronous signal, as shown in fig. 5.

Under the condition of different-speed image motion compensation, the target remote sensing instrument controls a plurality of detectors to synchronize self frame periods and line periods according to second period pulses respectively, and the method comprises the following steps: and the target remote sensing instrument determines respective frame period and line period of other detectors in the plurality of detectors and respective image motion compensation synchronous signals, and controls the other detectors to synchronize the respective frame period and line period according to the respective image motion compensation synchronous signals. It should be understood that if the image motion compensation is performed at different speeds, the remote sensing instrument master control needs to calculate the line period or the frame period of each detector, which is the same as that described above, but the periods have no multiple relation and have small difference. The operation is started with a given synchronization signal and the synchronization signals of the other detectors are started in synchronization with the given central detector. The other detector synchronous signal counting needs to refer to the synchronous signal counting error of the central detector, and because the synchronous signal counting is the error of the last synchronous period, the central detector synchronous signal counting of the period adopts the counting of the last period, which is equivalent to integrally delaying one synchronous period, as shown in fig. 6.

FIG. 7 is a schematic block diagram of a satellite imaging system of another embodiment of the present invention. The satellite imaging system 700 of fig. 7 includes:

a target remote sensing instrument 710 comprising a plurality of detectors 720;

the synchronous signal generating device 730 sends a first periodic pulse to the target remote sensing instrument 710;

wherein the target remote sensing instrument 710 divides the first periodic pulse into a second periodic pulse and transmits the second periodic pulse to its plurality of detectors 720;

the target remote sensing instrument 710 controls the plurality of detectors 720 to synchronize self frame periods and line periods according to the second period pulses respectively;

the plurality of detectors 720 performs imaging based on the self frame period and the line period, respectively.

Compared with the prior art, the embodiment of the invention has the following beneficial effects: through the frequency division of the synchronous signal generating device and the target remote sensing instrument, a plurality of detectors of the target remote sensing instrument can synchronize self frame periods and line periods respectively according to periodic pulses and then carry out imaging, so that the precision of satellite image fusion or image splicing is effectively improved.

In other words, the invention relates to a method for combining high-precision time correction with synchronous work of detectors, so that each detector of various remote sensing loads carried by the same satellite can simultaneously image for the same target, the image registration precision is improved on the premise of not reducing the image quality, and the image splicing and the image fusion are facilitated.

Specifically, as another preferred embodiment, fig. 8 shows a schematic block diagram of a satellite imaging system of another embodiment of the present invention. The satellite imaging system adopts a high-precision clock and a statistical method to reasonably distribute clock errors, makes second pulse, millisecond pulse and microsecond pulse transmitted in a collinear way, makes an optical remote sensing instrument with multiple spectrum segments and multiple detectors synchronously exposed according to the frame period or line period of the optical remote sensing instrument, and makes images and exposure working time packed and transmitted, so that each detector of various remote sensing loads carried by the same satellite can simultaneously image aiming at the same target, and the image quality and the splicing and fusion precision of the images are ensured. A large number of detectors can be controlled by a small number of high-precision clock crystal oscillators, and economical practicability is improved.

According to the satellite imaging system 700 of fig. 7, the target remote sensing instrument is further configured to update its time according to the first periodic pulse.

The satellite imaging system 700 of fig. 7 further comprises: the satellite controller, wherein, the synchronizing signal generating device receives the third periodic pulse sent by the satellite controller; the synchronous signal generating device updates the self time according to the third periodic pulse; the synchronizing signal generating means divides the third periodic pulse into the first periodic pulses.

According to the satellite imaging system 700 of fig. 7, the synchronization signal generation means is specifically adapted to determine the error between its clock oscillator count and the third periodic pulse and to average the error to the first periodic pulse.

According to the satellite imaging system 700 of fig. 7, the synchronization signal generation means is further configured to determine a frame period and a line period of a central field of view detector of the plurality of detectors of the target remote sensing instrument. Under the condition of same-speed image motion compensation, the target remote sensing instrument is specifically used for controlling a plurality of detectors to synchronize by taking the frame period and the line period of the central field-of-view detector as the frame period and the line period of the target remote sensing instrument. Under the condition of different-speed image motion compensation, the target remote sensing instrument is specifically used for determining respective frame periods and line periods of other detectors in the plurality of detectors and respective image motion compensation synchronous signals, and controlling the other detectors to synchronize the respective frame periods and line periods according to the respective image motion compensation synchronous signals. In other words, if the image motion compensation is at the same speed, it operates synchronously with the external synchronization signal according to the frame period or line period given by the load controller. If the image motion compensation is different speed, the respective frame period or line period of each detector is calculated by self, a synchronous signal is generated, the counting of the synchronous signal is synchronous with the millisecond pulse, and the frame number, the line number and the high-precision time code are packaged in the synchronous image data.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.