基于能量对称分布相位相关配准的资源三号02星颤振探测
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摘要
颤振是卫星平台在轨运行的固有现象之一,也是高分辨率对地观测卫星研究的难点和热点。针对资源三号02星在轨运行过程中的平台颤振情况,提出了一种基于能量对称分布的相位相关配准算法。结合多光谱相机各谱段相机之间的安装关系,考虑到平台的线性平滑运动特性,采用二次函数消除系统变化量,得到线性拟合的平台颤振曲线,最后利用星敏陀螺数据联合滤波得到卫星姿态复合验证曲线。实验结果表明:在模拟数据情况下,所提配准算法的配准精度能够达到0.05 pixel,可有效辅助探测卫星平台的颤振,并首次探测到资源三号02星平台存在0.63～0.65 Hz的颤振,振幅为0.41″～1.12″。
Jitter is an inherent phenomenon of on-orbit satellite platforms and is a difficult issue concerning high-resolution earth observation satellites. With respect to ZY3-02 platform′s jitter, herein, we propose a phase-correlation registration algorithm based on symmetrical energy distribution. Combining the installation relation among charge-coupled devices at different spectral bands in the multi-spectral camera and considering the linearly smoothing motion characteristics of the satellite platform, we obtain a linear-fitted jitter curve using a quadratic function to eliminate system variation. Finally, satellite attitude data filtered from star tracker and gyro data are used to verify the obtained curve. Experimental results demonstrate that the matching accuracy of the proposed algorithm can reach 0.05 pixel using the simulated data, and thus it can effectively assist in the jitter detection of satellite platforms. Using the proposed method, jitter with the amplitude of 0.41″-1.12″ at the frequency of 0.63-0.65 Hz is detected in the ZY3-02 satellite platform for the first time.
Jitter is an inherent phenomenon of on-orbit satellite platforms and is a difficult issue concerning high-resolution earth observation satellites. With respect to ZY3-02 platform′s jitter, herein, we propose a phase-correlation registration algorithm based on symmetrical energy distribution. Combining the installation relation among charge-coupled devices at different spectral bands in the multi-spectral camera and considering the linearly smoothing motion characteristics of the satellite platform, we obtain a linear-fitted jitter curve using a quadratic function to eliminate system variation. Finally, satellite attitude data filtered from star tracker and gyro data are used to verify the obtained curve. Experimental results demonstrate that the matching accuracy of the proposed algorithm can reach 0.05 pixel using the simulated data, and thus it can effectively assist in the jitter detection of satellite platforms. Using the proposed method, jitter with the amplitude of 0.41″-1.12″ at the frequency of 0.63-0.65 Hz is detected in the ZY3-02 satellite platform for the first time.
引文
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[13] Toyoshima M,Araki K.In-orbit measurements of short term attitude and vibrational environment on the Engineering Test Satellite VI using laser communication equipment[J].Optical Engineering,2001,40(5):827-832.
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[17] Tong X H,Ye Z,Xu Y S,et al.A novel subpixel phase correlation method using singular value decomposition and unified random sample consensus[J].IEEE Transactions on Geoscience and Remote Sensing,2015,53(8):4143-4156.
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[19] Wang C L,Cheng Y,Zhao C X,et al.Robust subpixel image registration technique based on local phase correlation[J].Journal of Image and Graphics,2011,16(3):427-432.王彩玲,程勇,赵春霞,等.局部相位相关用于图像亚像素级配准技术研究[J].中国图象图形学报,2011,16(3):427-432.
[20] Shen E H.Research on small baseline stereo matching with high precision [D].Zhengzhou:The PLA Information Engineering University,2013:41-66.申二华.小基高比条件下高精度影像匹配技术研究[D].郑州:解放军信息工程大学,2013:41-66.
[21] Tong X H,Ye Z,Liu S J.Essential technology and application of jitter detection and compensation for high resolution satellites[J].Acta Geodaetica et Cartographica Sinica,2017,46(10):1500-1508.童小华,叶真,刘世杰.高分辨率卫星颤振探测补偿的关键技术方法与应用[J].测绘学报,2017,46(10):1500-1508.
[22] Savino R,Lappa M.Assessment of thermovibrational theory:application to g-jitter on the Space Station[J].Jounal of Spacecraft and Rockets,1971,40(2):201-210.
[23] Dong Y H.Spacecraft micro vibration:theory and practice[M].Beijing:China Astronautic Publishing House,2015:1-11.董瑶海.航天器微振动:理论与实践[M].北京:中国宇航出版社,2015:1-11.
[24] Iwasaki A.Detection and estimation of satellite attitude jitter using remote sensing imagery[M]//Hall J.Advances in Spacecraft Technologies.Rijeka:InTech,2011:257-272.
[25] Teshima Y,Iwasaki A.Correction of attitude fluctuation of terra spacecraft using ASTER/SWIR imagery with parallax observation[J].IEEE Transactions on Geoscience and Remote Sensing,2008,46(1):222-227.
[26] Mumtaz R,Palmer P.Attitude determination by exploiting geometric distortions in stereo images of DMC camera[J].IEEE Transactions on Aerospace and Electronic Systems,2013,49(3):1601-1625.
[27] Gwinner K,Scholten F,Preusker F,et al.Topography of Mars from global mapping by HRSC high-resolution digital terrain models and orthoimages:characteristics and performance[J].Earth and Planetary Science Letters,2010,294(3/4):506-519.
[28] Gl?ser P,Haase I,Oberst J,et al.Co-registration of laser altimeter tracks with digital terrain models and applications in planetary science[J].Planetary and Space Science,2013,89:111-117.
[29] Mattson S,Bartels A,Boyd A,et al.Continuing analysis of spacecraft jitter in LROC-NAC[C]//Proceedings of 42nd Lunar and Planetary Science Conference,March 7-11,2011,Woodlands,Texas,USA .[S.l.:s.n.],2011,1608:2756.
[30] Ran Q,Chi Y B,Wang Z Y.Property and removal of jitter in Beijing-1 small satellite panchromatic images[J].International Archives of the Photogrammetry,Remote Sensing and Spatial Information Sciences,2008,37:929-933.
[31] Tadono T,Ishida H,Oda F,et al.Precise global DEM generation by ALOS PRISM[J].ISPRS Annals of Photogrammetry,Remote Sensing and Spatial Information Sciences,2014,II-4:71-76.
[32] Takaku J,Tadono T.High resolution DSM generation from ALOS PRISM-processing status and influence of attitude fluctuation[C] //2010 IEEE International Geoscience and Remote Sensing Symposium,July 25-30,2010,Honolulu,HI,USA.New York:IEEE,2010:4228-4231.
[33] Lee D H,Yang J Y,Seo D C,et al.Image restoration of the asymmetric point spread function of a high-resolution remote sensing satellite with time-delayed integration [J].Advances in Space Research,2011,47(4):690-701.
[34] Mattson S,Robinson M,Mcewen A,et al.Early assessment of spacecraft jitter in LROC-NAC[C]//Proceedings of 41st Lunar and Planetary Institute Science Conference,March 1-5,2010,Woodlands,Texas,USA.[S.l.:s.n.],2010,1533:1871.
[35] Sun T,Long H,Liu B C,et al.Application of attitude jitter detection based on short-time asynchronous images and compensation methods for Chinese mapping satellite-1[J].Optics Express,2015,23(2):1395-1410.
[36] Sun T,Long H,Zhao D,et al.Detection and compensation of satellite flutter based on image from multispectral camera with five spectral combinations[J].Acta Optica Sinica,2014,34(7):0728005.孙韬,龙辉,赵冬,等.基于五谱段合一多光谱相机影像的卫星颤振检测和补偿[J].光学学报,2014,34(7):0728005.
[37] Zhu Y,Wang M,Pan J,et al.Detection of ZY-3 satellite platform jitter using multi-spectral imagery[J].Acta Geodaetica et Cartographica Sinica,2015,44(4):399-406,413.朱映,王密,潘俊,等.利用多光谱影像检测资源三号卫星平台震颤[J].测绘学报,2015,44(4):399-406,413.
[38] Heid T,K??b A.Evaluation of existing image matching methods for deriving glacier surface displacements globally from optical satellite imagery[J].Remote Sensing of Environment,2012,118:339-355.
[39] Tong X H,Xu Y S,Ye Z,et al.Attitude oscillation detection of the ZY-3 satellite by using multispectral parallax images[J].IEEE Transactions on Geoscience and Remote Sensing,2015,53(6):3522-3534.
[40] Yang F,Zhou Z X,Liu S G.Satellite attitude determination algorithm based on star-sensor and FOG[J].Control Engineering of China,2006,13(4):374-376,393.杨锋,周宗锡,刘曙光.基于星敏感器/光纤陀螺的卫星定姿算法[J].控制工程,2006,13(4):374-376,393.
[41] Pearson K,Note on regression and inheritance in the case of two parents[J].Proceedings of the Royal Society of London,1895,58:240-242.
[2] Johnston J D,Thornton E A.Thermally induced dynamics of satellite solar panels[J].Journal of Spacecraft and Rockets,2000,37(5):604-613.
[3] Kirk R L,Howington-kraus E,Redding B,et al.High-resolution topomapping of candidate MER landing sites with Mars Orbiter Camera narrow-angle images[J].Journal of Geophysical Research Atmospheres,2003,108(E12):343-358.
[4] Ayoub F,Leprince S,Binet R,et al.Influence of camera distortions on satellite image registration and change detection applications[C]//IGARSS 2008-2008 IEEE International Geoscience and Remote Sensing Symposium,July 7-11,2008,Boston,MA,USA.New York:IEEE,2008:II-1072-II-1075.
[5] Tong X H,Ye Z,Xu Y S,et al.Framework of jitter detection and compensation for high resolution satellites[J].Remote Sensing,2014,6(5):3944-3964.
[6] Wang M,Fan C C,Pan J,et al.Image jitter detection and compensation using a high-frequency angular displacement method for Yaogan-26 remote sensing satellite[J].ISPRS Journal of Photogrammetry and Remote Sensing,2017,130:32-43.
[7] Iwata T,Kawahara T,Muranaka N,et al.High-bandwidth attitude determination using jitter measurements and optimal filtering[C]//AIAA Guidance,Navigation and Control Conference,August 10-13,2009,Chicago,Illinois.Reston,VA:AIAA,2009:7349-7369.
[8] Delevit J M,Greslou D,Amberg V,et al.Attitude assessment using pleiades-HR capabilities[J].International Archives of the Photogrammetry,Remote Sensing and Spatial Information Sciences,2012,XXXIX-B1:525-530.
[9] Grodecki J,Dial G.Block adjustment of high-resolution satellite images described by rational polynomials[J].Photogrammetric Engineering & Remote Sensing,2003,69(1):59-68.
[10] Pan J,Che C B,Zhu Y,et al.Satellite jitter estimation and validation using parallax images[J].Sensors,2017,17(1):83.
[11] Wang M,Zhu Y,Pan J,et al.Satellite jitter detection and compensation using multispectral imagery[J].Remote Sensing Letters,2016,7(6):513-522.
[12] Tong X H,Ye Z,Li L Y,et al.Detection and estimation of along-track attitude jitter from Ziyuan-3 three-line-array images based on back-projection residuals[J].IEEE Transactions on Geoscience and Remote Sensing,2017,55(8):4272-4284.
[13] Toyoshima M,Araki K.In-orbit measurements of short term attitude and vibrational environment on the Engineering Test Satellite VI using laser communication equipment[J].Optical Engineering,2001,40(5):827-832.
[14] Tang X M,Xie J F,Fu X K,et al.ZY3-02 laser altimeter on-orbit geometrical calibration and test[J].Acta Geodaetica et Cartographica Sinica,2017,46(6):714-723.唐新明,谢俊峰,付兴科,等.资源三号02星激光测高仪在轨几何检校与试验验证[J].测绘学报,2017,46(6):714-723.
[15] Takita K,Aoki T,Sasaki Y,et al.High-accuracy subpixel image registration based on phase-only correlayion[J].IEICE Transactions on Fundamentals of Electronics,Communications and Computer Sciences,2003,E86-A(8):1925-1934.
[16] Tang D,Tu D,Gan Y L.The subpixel estimation of image registration parameter based on the method of phase correlation and template matching[J].Microelectronics & Computer,2007,24(12):128-130.唐玎,涂丹,甘亚莉.基于相位相关和模板匹配的亚像素图像配准参数估计[J].微电子学与计算机,2007,24(12):128-130.
[17] Tong X H,Ye Z,Xu Y S,et al.A novel subpixel phase correlation method using singular value decomposition and unified random sample consensus[J].IEEE Transactions on Geoscience and Remote Sensing,2015,53(8):4143-4156.
[18] Fan D Z,Shen E H,Li L,et al.Small baseline stereo matching method based on phase correlation[J].Journal of Geomatics Science and Technology,2013,30(2):154-157.范大昭,申二华,李禄,等.基于相位相关的小基高比影像匹配方法[J].测绘科学技术学报,2013,30(2):154-157.
[19] Wang C L,Cheng Y,Zhao C X,et al.Robust subpixel image registration technique based on local phase correlation[J].Journal of Image and Graphics,2011,16(3):427-432.王彩玲,程勇,赵春霞,等.局部相位相关用于图像亚像素级配准技术研究[J].中国图象图形学报,2011,16(3):427-432.
[20] Shen E H.Research on small baseline stereo matching with high precision [D].Zhengzhou:The PLA Information Engineering University,2013:41-66.申二华.小基高比条件下高精度影像匹配技术研究[D].郑州:解放军信息工程大学,2013:41-66.
[21] Tong X H,Ye Z,Liu S J.Essential technology and application of jitter detection and compensation for high resolution satellites[J].Acta Geodaetica et Cartographica Sinica,2017,46(10):1500-1508.童小华,叶真,刘世杰.高分辨率卫星颤振探测补偿的关键技术方法与应用[J].测绘学报,2017,46(10):1500-1508.
[22] Savino R,Lappa M.Assessment of thermovibrational theory:application to g-jitter on the Space Station[J].Jounal of Spacecraft and Rockets,1971,40(2):201-210.
[23] Dong Y H.Spacecraft micro vibration:theory and practice[M].Beijing:China Astronautic Publishing House,2015:1-11.董瑶海.航天器微振动:理论与实践[M].北京:中国宇航出版社,2015:1-11.
[24] Iwasaki A.Detection and estimation of satellite attitude jitter using remote sensing imagery[M]//Hall J.Advances in Spacecraft Technologies.Rijeka:InTech,2011:257-272.
[25] Teshima Y,Iwasaki A.Correction of attitude fluctuation of terra spacecraft using ASTER/SWIR imagery with parallax observation[J].IEEE Transactions on Geoscience and Remote Sensing,2008,46(1):222-227.
[26] Mumtaz R,Palmer P.Attitude determination by exploiting geometric distortions in stereo images of DMC camera[J].IEEE Transactions on Aerospace and Electronic Systems,2013,49(3):1601-1625.
[27] Gwinner K,Scholten F,Preusker F,et al.Topography of Mars from global mapping by HRSC high-resolution digital terrain models and orthoimages:characteristics and performance[J].Earth and Planetary Science Letters,2010,294(3/4):506-519.
[28] Gl?ser P,Haase I,Oberst J,et al.Co-registration of laser altimeter tracks with digital terrain models and applications in planetary science[J].Planetary and Space Science,2013,89:111-117.
[29] Mattson S,Bartels A,Boyd A,et al.Continuing analysis of spacecraft jitter in LROC-NAC[C]//Proceedings of 42nd Lunar and Planetary Science Conference,March 7-11,2011,Woodlands,Texas,USA .[S.l.:s.n.],2011,1608:2756.
[30] Ran Q,Chi Y B,Wang Z Y.Property and removal of jitter in Beijing-1 small satellite panchromatic images[J].International Archives of the Photogrammetry,Remote Sensing and Spatial Information Sciences,2008,37:929-933.
[31] Tadono T,Ishida H,Oda F,et al.Precise global DEM generation by ALOS PRISM[J].ISPRS Annals of Photogrammetry,Remote Sensing and Spatial Information Sciences,2014,II-4:71-76.
[32] Takaku J,Tadono T.High resolution DSM generation from ALOS PRISM-processing status and influence of attitude fluctuation[C] //2010 IEEE International Geoscience and Remote Sensing Symposium,July 25-30,2010,Honolulu,HI,USA.New York:IEEE,2010:4228-4231.
[33] Lee D H,Yang J Y,Seo D C,et al.Image restoration of the asymmetric point spread function of a high-resolution remote sensing satellite with time-delayed integration [J].Advances in Space Research,2011,47(4):690-701.
[34] Mattson S,Robinson M,Mcewen A,et al.Early assessment of spacecraft jitter in LROC-NAC[C]//Proceedings of 41st Lunar and Planetary Institute Science Conference,March 1-5,2010,Woodlands,Texas,USA.[S.l.:s.n.],2010,1533:1871.
[35] Sun T,Long H,Liu B C,et al.Application of attitude jitter detection based on short-time asynchronous images and compensation methods for Chinese mapping satellite-1[J].Optics Express,2015,23(2):1395-1410.
[36] Sun T,Long H,Zhao D,et al.Detection and compensation of satellite flutter based on image from multispectral camera with five spectral combinations[J].Acta Optica Sinica,2014,34(7):0728005.孙韬,龙辉,赵冬,等.基于五谱段合一多光谱相机影像的卫星颤振检测和补偿[J].光学学报,2014,34(7):0728005.
[37] Zhu Y,Wang M,Pan J,et al.Detection of ZY-3 satellite platform jitter using multi-spectral imagery[J].Acta Geodaetica et Cartographica Sinica,2015,44(4):399-406,413.朱映,王密,潘俊,等.利用多光谱影像检测资源三号卫星平台震颤[J].测绘学报,2015,44(4):399-406,413.
[38] Heid T,K??b A.Evaluation of existing image matching methods for deriving glacier surface displacements globally from optical satellite imagery[J].Remote Sensing of Environment,2012,118:339-355.
[39] Tong X H,Xu Y S,Ye Z,et al.Attitude oscillation detection of the ZY-3 satellite by using multispectral parallax images[J].IEEE Transactions on Geoscience and Remote Sensing,2015,53(6):3522-3534.
[40] Yang F,Zhou Z X,Liu S G.Satellite attitude determination algorithm based on star-sensor and FOG[J].Control Engineering of China,2006,13(4):374-376,393.杨锋,周宗锡,刘曙光.基于星敏感器/光纤陀螺的卫星定姿算法[J].控制工程,2006,13(4):374-376,393.
[41] Pearson K,Note on regression and inheritance in the case of two parents[J].Proceedings of the Royal Society of London,1895,58:240-242.