阅读说明：本技术 火星椭圆轨道像移补偿控制地面验证系统 (Mars elliptical orbit image motion compensation control ground verification system ) 是由 谢攀 何振宁 朱新波 李金岳 李海洋 于 2021-08-19 设计创作，主要内容包括：本发明提供了一种火星椭圆轨道像移补偿控制地面验证系统,包括地物环境创建平台、虚拟光学影像实时生成模块、高分相机存储处理模拟模块以及高分相机主控模拟模块。本发明通过全软件仿真的方式直观地呈现火星环绕器姿轨控系统与光学成像载荷之间的交互控制的成像结果,解决了环绕器平台与光学载荷之间的高度关联性试验难题,实现了平台与载荷间交互控制地面验证能力。本发明对于深空探测器光学载荷动态测试、试验验证的充分性有良好效果。本发明的应用取得降低试验成本、提高验证效率、直观评价交互控制下高分相机的动态成像质量等有益效果。(The invention provides a mars elliptical orbit image motion compensation control ground verification system which comprises a ground object environment creation platform, a virtual optical image real-time generation module, a high-resolution camera storage processing simulation module and a high-resolution camera main control simulation module. The imaging result of interactive control between the Mars surround attitude and orbit control system and the optical imaging load is visually presented in a full software simulation mode, the problem of high relevance test between a surround platform and the optical load is solved, and the ground verification capability of interactive control between the platform and the load is realized. The invention has good effect on the sufficiency of the dynamic test and experimental verification of the optical load of the deep space probe. The application of the invention has the advantages of reducing test cost, improving verification efficiency, intuitively evaluating the dynamic imaging quality of the high-resolution camera under interactive control and the like.)

1. A Mars elliptical orbit image motion compensation control ground verification system is characterized by comprising the following modules:

the ground feature environment creation platform: randomly generating three-dimensional scene information of the surface of the mars according to attitude and orbit control parameters of the mars surround device;

the virtual optical image real-time generation module: carrying out analog optical imaging processing on the Mars surface three-dimensional scenery generated by the ground object environment creation platform, and outputting and displaying the generated virtual image;

the high-resolution camera storage and processing simulation module comprises: receiving and storing image data output by the virtual optical image real-time generation module, performing downlink preprocessing on the stored image data, and outputting and displaying according to an instruction of the high-resolution camera main control simulation module;

high branch camera master control analog module: and receiving attitude and orbit control parameters of the Mars surround device, performing real-time image motion compensation calculation, and transmitting the image motion compensation parameters to the virtual optical image real-time generation module, so that the virtual optical image real-time generation module adjusts the generated image according to the image motion compensation parameters.

2. The Martian elliptical orbit image motion compensation control ground verification system of claim 1, wherein: the ground object environment creation platform receives attitude and orbit control parameters of the mars surrounding device in real time, wherein the attitude and orbit control parameters comprise orbit parameters, attitude parameters and sun altitude, randomly generates three-dimensional scene information of the mars surface, and simulates real ground object irradiation parameters and shadow effects according to the sun altitude.

3. The Martian elliptical orbit image motion compensation control ground verification system of claim 1, wherein: the virtual optical image real-time generation module is used for simulating on-orbit imaging of the high resolution camera, mapping scene information of different longitudes and latitudes on the surface of the mars to different coordinate positions of the two-dimensional image matrix, corresponding the scene information of different heights of the fire table to defocusing states of different degrees of the two-dimensional image, and corresponding the scene information of different illumination conditions of the fire table to the gray value of the two-dimensional image, so that full recording of three-dimensional scene information is realized.

4. The Martian elliptical orbit image motion compensation control ground verification system of claim 3, wherein: the parameters called by the virtual optical image real-time generation module during working comprise orbit parameters of a Mars surround device, attitude parameters, illumination conditions and optical parameters of a high-resolution camera.

5. The Martian elliptical orbit image motion compensation control ground verification system of claim 1, wherein: the high-resolution camera storage processing simulation module carries out downlink preprocessing on image data, including thumbnail generation and region extraction, wherein the thumbnail extraction carries out snapshot or fusion processing on an original image according to TDI CCD full color 1 × 1, 2 × 2, 4 × 4, 8 × 8 and 16 × 16; the region extraction selects a certain region in the original image and outputs the region.

6. The Martian elliptical orbit image motion compensation control ground verification system of claim 5, wherein: the high-resolution camera storage processing simulation module is used for connecting the processing algorithm of the image data to software in a dynamic link library mode and carrying out corresponding processing through the selection algorithm.

7. The Martian elliptical orbit image motion compensation control ground verification system of claim 1, wherein: the high-resolution camera main control module receives a ground task instruction, receives platform parameters broadcasted by attitude and orbit control through an RS422 bus, performs real-time image motion compensation calculation, and feeds back drift angle calculation result information to the attitude and orbit control system to enable the attitude and orbit control system to adjust the attitude of the surround device.

8. The Martian elliptical orbit image motion compensation control ground verification system of claim 1, wherein: the image motion compensation parameters comprise line frequency and stage number.

9. The Martian elliptical orbit image motion compensation control ground verification system of claim 1, wherein: and the high-resolution camera main control module and the high-resolution camera storage processing simulation module perform data interaction through a gigabit network, and receive and output images preprocessed by the high-resolution camera storage processing simulation module.

10. The Martian elliptical orbit image motion compensation control ground verification system of claim 1, wherein: the method for generating the three-dimensional scene information by the ground feature environment creation platform comprises the following steps:

step S1: splicing the acquired images of the surface of the Mars with terrain data respectively, and fusing the overlapped areas;

step S2: loading the spliced Mars image and terrain data into STK software;

step S3: establishing a new scene, selecting a Mars as a central celestial body, establishing a Mars surrounding device target, and setting track parameters of a surrounding device;

step S4: adding an optical camera on the Mars surrounding device;

step S5: secondarily developing the STK, and determining the visual range of the optical camera;

step S6: displaying a three-dimensional scene in a visual range;

step S7: and performing terrain data three-dimensional rendering on the three-dimensional scene in the visual range in the step S6.

Technical Field

The invention relates to the technical field of spacecraft tests, in particular to a Mars elliptic orbit image motion compensation control ground verification system.

Background

Mars detection requires the use of a high resolution camera to complete high resolution imaging detection of Mars key regions. The Mars remote sensing orbit is an elliptical orbit with precession, and because the Mars distance is far away, the orbit determination precision is lower relative to a near-earth satellite, and the difficulty in realizing the 0.5m resolution imaging of a near-fire arc section under the condition is higher. Meanwhile, the Mars high-resolution camera needs to perform precise image motion compensation control during in-orbit imaging. Because the Mars high resolution camera does not have a bias current adjusting function, the image motion compensation function of the high resolution camera can be completed only by sending a bias current adjusting instruction to the attitude and orbit control system.

In order to intuitively evaluate the dynamic imaging quality of the high-resolution camera under interactive control, the high-resolution camera is required to output a series of image information accurately corresponding to the attitude and orbit control parameters. Because the detector is difficult to drive the high resolution camera to perform physical imaging tests under different postures under the ground state, how to accurately establish the mapping relation between the attitude and orbit control parameters and the camera imaging is the main difficulty of the tests.

In chinese patent document No. CN107479565B, an elliptical orbit-based image motion compensation calculation method is disclosed, which establishes an elliptical orbit image motion velocity vector model by using a circular orbit image motion velocity vector calculation model and parameters of an elliptical orbit, and calculates an elliptical motion orbit velocity of a spacecraft, a near-location orbit velocity and a far-location orbit velocity; calculating an included angle between the track speed and the centrifugal speed, obtaining the surrounding speed and the centrifugal speed according to the calculated included angle, and calculating the height of the elliptical track; converting the surrounding speed of the spacecraft into the image moving speed of an image plane through a scenic spot satellite droop line horizontal coordinate system, a planet inertia coordinate system, an orbit coordinate system, a camera coordinate system and an image plane coordinate system respectively; and obtaining the image motion speed of the scenery spot on the image surface of the camera, and compensating the image motion of the elliptical orbit according to the obtained image motion speed of the image surface.

Article number 1006 and 1630(2017)06-0013-07 of attitude planning and control research of satellite maneuvering process imaging is inquired literature data close to the acquired attitude planning and control, mainly speaking, the attitude planning and control of a satellite-borne camera in the satellite maneuvering process are carried out, and imaging and compensation correction of a ground target are realized through attitude control compensation in the bias imaging process.

CN1628270A mainly protects an image forming apparatus of electrophotographic technology, emphasizing the composition of the image forming apparatus on a stand-alone apparatus level, and aims to be able to always precisely adjust the position of an image.

In chinese patent publication No. CN108444446A, an image motion compensation method is disclosed, which includes: acquiring relative geographic information of the satellite points and the target object points based on satellite orbit data and the position relation between the satellite points and the target object points; acquiring an image movement velocity vector of the target object point based on the velocity vector of the subsatellite point, the relative geographic information and the rotation angular velocity of the imaging device; based on the image motion velocity vector of the target object point, obtaining an image motion compensation parameter of the target object point; and performing image motion compensation based on the image motion compensation parameter.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a Mars elliptic orbit image motion compensation control ground verification system.

The invention provides a Mars elliptical orbit image motion compensation control ground verification system which comprises the following modules:

the ground feature environment creation platform: randomly generating three-dimensional scene information of the surface of the mars according to attitude and orbit control parameters of the mars surround device;

the virtual optical image real-time generation module: carrying out analog optical imaging processing on the Mars surface three-dimensional scenery generated by the ground object environment creation platform, and outputting and displaying the generated virtual image;

the high-resolution camera storage and processing simulation module comprises: receiving and storing image data output by the virtual optical image real-time generation module, performing downlink preprocessing on the stored image data, and outputting and displaying according to an instruction of the high-resolution camera main control simulation module;

high branch camera master control analog module: and receiving attitude and orbit control parameters of the Mars surround device, performing real-time image motion compensation calculation, and transmitting the image motion compensation parameters to the virtual optical image real-time generation module, so that the virtual optical image real-time generation module adjusts the generated image according to the image motion compensation parameters.

Preferably, the ground feature environment creation platform receives attitude and orbit control parameters of the mars surround in real time, wherein the attitude and orbit control parameters comprise orbit parameters, attitude parameters and sun altitude, and the ground feature environment creation platform randomly generates three-dimensional scene information of the mars surface and simulates real ground feature irradiation parameters and shadow effects according to the sun altitude.

Preferably, the virtual optical image real-time generation module is used for simulating in-orbit imaging of the high resolution camera, mapping scene information of different longitudes and latitudes on the surface of the mars to different coordinate positions of the two-dimensional image matrix, corresponding the scene information of different heights of the fire table to defocusing states of different degrees of the two-dimensional image, and corresponding the scene information of different illumination conditions of the fire table to the gray value of the two-dimensional image, so that full recording of three-dimensional scene information is realized.

Preferably, the parameters called by the virtual optical image real-time generation module during working comprise orbit parameters of a mars surround device, attitude parameters, illumination conditions and optical parameters of a high-resolution camera.

Preferably, the downlink preprocessing of the image data by the high-resolution camera storage processing simulation module comprises thumbnail generation and region extraction, wherein the thumbnail extraction performs snapshot or fusion processing on an original image according to TDI CCD full color 1 × 1, 2 × 2, 4 × 4, 8 × 8 and 16 × 16; the region extraction selects a certain region in the original image and outputs the region.

Preferably, the high-resolution camera storage processing simulation module is connected to the software through a dynamic link library for processing the image data, and performs corresponding processing through selecting an algorithm.

Preferably, the high-resolution camera main control module receives a ground task instruction, receives platform parameters broadcasted by attitude and orbit control through an RS422 bus, performs real-time image motion compensation calculation, and feeds back drift angle calculation result information to the attitude and orbit control system to adjust the attitude of the surround device.

Preferably, the image motion compensation parameters include line frequency and stage number.

Preferably, the high-resolution camera main control module and the high-resolution camera storage processing simulation module perform data interaction through a gigabit network, and receive and output an image subjected to downlink preprocessing by the high-resolution camera storage processing simulation module.

Preferably, the generating of the three-dimensional scene information by the surface feature environment creation platform comprises the following steps:

step S1: splicing the acquired images of the surface of the Mars with terrain data respectively, and fusing the overlapped areas;

step S2: loading the spliced Mars image and terrain data into STK software;

step S3: establishing a new scene, selecting a Mars as a central celestial body, establishing a Mars surrounding device target, and setting track parameters of a surrounding device;

step S4: adding an optical camera on the Mars surrounding device;

step S5: secondarily developing the STK, and determining the visual range of the optical camera;

step S6: displaying a three-dimensional scene in a visual range;

step S7: and performing terrain data three-dimensional rendering on the three-dimensional scene in the visual range in the step S6.

Compared with the prior art, the invention has the following beneficial effects:

1. the imaging result of interactive control between the Mars surround attitude and orbit control system and the optical imaging load is visually presented in a full software simulation mode, the problem of high relevance test between a surround platform and the optical load is solved, and the ground verification capability of interactive control between the platform and the load is realized;

2. the method has good effects on the sufficiency of the dynamic test and experimental verification of the optical load of the deep space probe;

3. the application of the invention has the advantages of reducing test cost, improving verification efficiency, intuitively evaluating the dynamic imaging quality of the high-resolution camera under interactive control and the like.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a schematic diagram of the structure of the terrestrial environment creation platform according to the present invention;

FIG. 3 is a schematic diagram of the virtual optical image real-time generation module according to the present invention;

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

The invention provides a mars elliptical orbit image motion compensation control ground verification system, which establishes a one-to-one mapping relation between attitude and orbit control parameters and virtual optical influences by means of three-dimensional scene generation, virtual optical imaging and the like, and visually presents an imaging result of interactive control between an attitude and orbit control system and an optical imaging load in a full software simulation mode to realize interactive control ground verification between a platform and the load. As shown in fig. 1, the verification system includes a feature environment creation platform, a virtual optical image real-time generation module, a high-resolution camera storage processing simulation module, and a high-resolution camera main control simulation module.

The ground object environment creation platform randomly generates three-dimensional scene information of the surface of the mars according to attitude and orbit control parameters of the mars surrounds, receives attitude and orbit control parameters of the mars surrounds in real time and comprises orbit parameters, attitude parameters, solar altitude angles and the like, and randomly generates the three-dimensional scene information of the surface of the mars and simulates real ground object irradiation parameters and shadow effects according to the solar altitude angles. The ground object environment creation platform realizes simulation of the Mars surround device on the Mars surface visual scene, accurately determines the position of the surround device at any time when the Mars surround device operates on the rail, displays the imaging coverage area of the Mars surround device, determines the latitude and longitude range of the imaging visual area of the optical camera, and displays the three-dimensional scene in the visual area.

In order to realize the simulation of the Mars surrounding device on the Mars surface view, collect Mars images and terrain data, accurately determine the position of the surrounding device at any time when the Mars surrounding device operates on the rail, display the imaging coverage area of the Mars surrounding device, determine the latitude and longitude range of the imaging visible area of the optical camera, display the three-dimensional scenery in the visible area, perform three-dimensional rendering, and simulate real ground object irradiation parameters and shadow effect according to the illumination conditions such as the solar altitude angle, and the like, the specific flow is as follows with reference to FIG. 2:

step S1: splicing the acquired images of the surface of the Mars with terrain data respectively, and fusing the overlapped areas;

step S2: loading the spliced Mars image and terrain data into STK software;

step S3: establishing a new scene, selecting a Mars as a central celestial body, establishing a Mars surrounding device target, and setting track parameters of a surrounding device;

step S4: adding an optical camera on the Mars surrounding device;

step S5: secondarily developing the STK, and determining the visual range of the optical camera;

step S6: displaying a three-dimensional scene in a visual range;

step S7: and performing terrain data three-dimensional rendering on the three-dimensional scene in the visual range in the step S6.

The attitude and orbit control system adjusts the attitude according to drift angle information provided by the optical camera, and can acquire the longitude and latitude of the visible range of the optical camera on the Mars surround to the Mars surface at any moment according to the change of the parameters of the attitude and orbit control system. The time step of the simulation of the surround can be set at will, and the simulation state of the surround flying around the fire at different speeds can be observed. Three-dimensional scenery on the surface of the mars can be seen in different visual ranges, three-dimensional rendering of the surface of the mars is performed in software according to the visual ranges, three-dimensional scenery information of the surface of the mars under different solar altitude angles is obtained, and a high-resolution push-broom imaging two-dimensional image is obtained through imaging transformation.

The virtual optical image real-time generation module performs analog optical imaging processing on the three-dimensional scene on the fire surface based on the imaging mechanism of the Mars high-resolution camera, namely, the three-dimensional scene on the fire surface is projected to the imaging surface of a camera detector, a virtual image is output to the monitoring system 1 and the high-resolution camera storage processing analog module through a high-speed graphic card, the image processed by the high-resolution camera storage processing analog module is output by the monitoring system 2 and compared with the image before processing, and the performance and the effect of the storage processing system are verified qualitatively.

The virtual optical image real-time generation system mainly plays a role in simulating on-orbit imaging of a high resolution camera and mapping three-dimensional scenery information to a two-dimensional imaging surface. With the change of the GNC parameters, the scene management driving unit continuously updates the three-dimensional land information, and the virtual optical image real-time generation system also generates a two-dimensional virtual optical image in real time, wherein a determined one-to-one mapping relation exists between the two-dimensional image and the GNC parameters.

In the working process of the virtual optical image real-time generation system, information such as track parameters, attitude parameters, illumination conditions, optical parameters of a mars high-resolution camera and a mars low-resolution camera of a surrounding device needs to be called, scene information of different longitudes and latitudes of a fire table is mapped to different coordinate positions of a two-dimensional image matrix according to a geometrical optical imaging principle, the scene information of different heights of the fire table is corresponding to defocusing (fuzzy processing) states of different degrees of the two-dimensional image, the scene information of different illumination conditions of the fire table is corresponding to a gray value of the two-dimensional image, and therefore full recording of three-dimensional scene information is achieved, and the working principle is shown in figure 3.

The high-resolution camera storage processing simulation module receives and stores the image data output by the virtual optical image real-time generation module, performs downlink preprocessing on the stored image data, and outputs and displays the image data according to the instruction of the high-resolution camera main control simulation module. According to the actual on-track imaging performance, under the condition of a track 260km, the line frequency is about 8.1KHz, the number of pixels of the single-chip CCD is 6144, each pixel is stored according to 2B, the storage rate of the single chip is 96MB/s, the three CCDs are simultaneously stored, and the maximum speed is about 300 MB/s.

And after the image data is stored, performing corresponding downlink preprocessing on the image data according to an instruction sent by the master control simulation system, wherein the processing mode comprises thumbnail generation and area extraction. Thumbnail extraction can be carried out on original images by means of sampling/fusion processing according to TDI CCD full color 1 × 1, 2 × 2, 4 × 4, 8 × 8 and 16 × 16; the region extraction may select a certain region in the original image to output. Various algorithms of the storage processing unit of the high-resolution camera are highly simulated through the software model, the processing algorithms can be connected into software in a dynamic link library mode, and processing is carried out through the selected algorithm model. The processed image data is sent to a monitoring system for displaying, and the performance effect of various algorithms in the storage processing is verified.

The high-resolution camera master control simulation module receives the Mars surround attitude and orbit control parameters, carries out real-time image motion compensation calculation, and transmits the image motion compensation parameters to the virtual optical image real-time generation module, so that the virtual optical image real-time generation module adjusts the generated image according to the image motion compensation parameters.

The high-resolution camera master control simulation system is completed by a set of special ground simulation system, receives a ground task instruction forwarded by the load controller through a 1553B bus, receives platform parameters broadcasted by the attitude and orbit control system through an RS422 bus, performs real-time image motion compensation calculation, and feeds back drift angle calculation result information to the attitude and orbit control system to adjust the attitude of the surround device. Meanwhile, the master control simulation system transmits image motion compensation parameters (line frequency, stage number and other dimming parameters) to the virtual optical image real-time generation system through the RS422 interface in real time, so that the virtual optical image real-time generation system adjusts the generated image according to parameter input. In addition, the master control simulation system and the storage processing simulation system perform data interaction through a gigabit network, receive images preprocessed by the storage processing simulation system, and output image data through the serial LVDS sending card.

The main control simulation system calculates the image motion compensation parameter in real time according to the orbit attitude parameter input by the surround attitude and orbit control unit, and outputs the attitude adjustment parameter of the surround to the surround attitude and orbit control system, the system corrects the attitude of the surround in real time according to the attitude adjustment instruction, and the operation process of the system is verified to be a dynamic closed loop process.

Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.