摘要
月球探测是我国进行深空探测的开端,本文以我国自主研制的第一颗探月卫星——嫦娥一号获取的科学探测数据为基础,围绕月面形貌测绘问题,系统研究了基于月球CCD影像和激光测高数据相结合的摄影测量处理相关理论和技术问题,重点探讨了嫦娥一号CCD影像与激光测高数据相结合的定位模型,激光测高数据辅助下的月面区域网平差方法,信息贫乏月面立体影像的匹配技术和月表DEM的自动生成等关键技术,并进行了实验验证。本文的主要工作和创新性成果包括:
1、研究了激光测高数据辅助下嫦娥一号线阵CCD影像严格的成像模型,针对该模型在计算定向参数中存在的复共线性问题,分析和比较了克服复共线性的参数解算的几种方法:岭估计法、谱修正迭代法、四元数法;通过实验得出结论,三种方法精度基本相当,特点各异,四元数法减少了大量的三角函数运算,而岭估计和谱修正迭代法的几何意义明显。
2、将激光测高数据作为虚拟观测值,提出了一种激光测高数据与影像的配准算法。实现了影像定向参数的稳定解算和对月面影像目标点的前方交会定位,利用嫦娥一号获取的CCD影像结合激光测高数据进行了相关实验。
3、引入定向片内插基于CCD影像严格成像模型实现了月面较大区域的嫦娥一号CCD影像区域网平差解算,取得了较好的实验结果。
4、将铅垂线轨迹法(VLL)的匹配方法用于月球区域网平差中,实现了激光测高点作为相邻影像连接点的自动匹配,为平差提供了较多数量的连接点,保证了区域网解算的稳定性和可靠性。初步实验表明,与单模型定位算法相比,提高精度50%以上。
5、利用投影轨迹法分析了线阵CCD影像的核线的基本特性,提出了一种基于组合特征与多重约束的匹配方法,首先以最小欧氏距离和准核线约束进行嫦娥一号CCD图像的特征点匹配,并将最小二乘匹配理论与匹配模型相结合形成了最小二乘匹配联合平差模型,提高了影像匹配精度,然后,利用Harris提取特征点进行影像精细匹配。
6、实现了以高精度匹配算法为基础的月面数字形貌模型(DEM)的自动生成,提出了考虑陨石坑形貌特点的月面的DEM组合插值方法。
The moon exploration is the beginning of China's deep space exploration. In the thesis,based upon the scientific exploration data obtained by the first China independently developedlunar exploration satellite-Chang'e-1, the study work was carried out around the lunar surfacetopography mapping problems. Research work was put on the lunar CCD images and laseraltimetry data combined photogrammetry theoretical and technical issues, Chang’e-1CCDimages and laser altimetry data combined positioning model, the lunar surface block adjustmentassisted by laser altimetry data, stereo image matching technology for information-poor lunarsurface and lunar DEM automatically generation, and other key technologies and methods. Themethods proposed in the thesis were supported by the preliminary experimental validation. Themain work and innovative achievements were listed as follows.
1. The imaging model of Chang'e-1linear array CCD image assisted by laser altimetrydata was studied. Aiming at the multicollinearity problem existed in the strict imaging model,several ways were discussed to overcome the multicollinearity, Ridge estimation method, thespectrum correction iteration method, the quaternion representation for diagonal elements.Through experiments, conclusion were obtained that three methods have equivalent precision,Quaternion method greatly reduces the trigonometric functions computation, and the Ridgeestimation and spectrum correction iteration method have significant geometric meaning.
2. Laser altimetry data was using as observed value in orientation parameter calculating,laser altimetry data and image registration algorithm was presented. Forward intersectionpositioning was realized for the lunar surface target point, and related test was carried out usingthe CCD images and laser altimetry data obtained by the Chang’e-1.
3. The orientation piece image interpolation was introduced. Large area block bundleadjustment was realized for lunar surface based on the strict imaging model and theexperimental results were satisfactory.
4. Vertical Line Locus (VLL) was used in lunar block adjustment, laser altimetry pointsas image connection points automatic extraction was realized, large number of connectionpoints was provided for adjustment, stability and reliability of calculation was guaranteed.Experimental results proved that compared with single model orientation the precision wasimproved more than50%.
5. Projection trajectory method was used to analyze the basic characteristics of the epipolarline in the linear array CCD image. A matching method based combined character and multi-restriction was proposed for Chang’e-1CCD image. First, feature matching wasconstrained by minimum Euclidean distance and the quasi-epipolar, the least squares matchingand combined adjustment model was formed by combining the least squares matching theoryand the matching model to improve the image matching accuracy. Then, fine image matchingwas realized by using the Harris point
6. It realized full lunar digital topography model (DEM) generation method based highprecision matching algorithm. Interpolation, accuracy statistics and other key points in DEMgeneration were studied, and the adaptive multi-knot spline interpolation method was proposed.
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