线阵CCD传感器实验场几何定标的理论与方法研究
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摘要
基于实验场的传感器在轨几何定标是评定和优化传感器系统几何性能、保证遥感定位精度和可靠性的必要工作。本文将机载、星载线阵CCD传感器实验场几何定标作为主要研究对象，解决其中的参数设定、模型构建、定标解算及评估验证等关键问题，对成像传感器及定位定姿系统实验场定标的理论、方法和技术体系进行了系统、深入的研究。论文完成的主要工作和创新点如下：
1．在对机载、星载线阵CCD传感器实验场几何定标的研究现状和发展趋势进行分析、总结的基础上，探讨了传感器实验场定标的任务、需求和技术体系。
2.对自检校定标的理论、方法及关键技术进行了分析研究，确定了技术解决方案，结合当前线阵CCD传感器的结构特点，对其在动态成像条件下各种潜在的误差源进行了深入分析，构建了相应的数学模型，为传感器自检校定标奠定了理论基础。
3.从传感器实验场定标的技术要求出发，吸收国内外典型遥感实验场的经验，对实验场建设的方法、原则及关键性要求进行了深入分析，得出了一些有益的结论。
4.构建了机载三线阵传感器严格成像模型、影像直接定位模型和GPS/IMU辅助光束法平差模型。提出了基于等效误差方程的线阵CCD影像自检校光束法平差解算方法，实现了ADS40影像自检校区域网平差的快速、高效解算。
5.提出了一种ADS40相机误差模型，建立了机载集成传感器自检校联合定标模型，设计了一套系统完整的ADS40定标方案。实验表明利用该模型和方案能有效实现ADS40传感器参数的动态检定，显著提高影像定位精度。
6.分析构建了星载线阵CCD传感器严格成像模型及相应的改化形式，进而建立了星载线阵CCD影像的光束法平差系统，可有效实现ZY-3TLC、SPOT-5HRS和ALOS PRISM等典型高分辨率遥感卫星影像的区域网平差。提出了一种卫星影像姿态角系统误差检校的方法，通过实验验证了补偿姿态角系统误差的实际效果，大幅地提高了影像定位精度。
7.提出了一种资源三号卫星三线阵传感器误差模型，建立了多传感器自检校联合定标模型，设计了一套较为完整的星载线阵CCD传感器几何定标方案。实验表明，利用该模型和方案对资源三号卫星三线阵传感器进行在轨定标后，定位精度的提高幅度平面超过20％，高程优于10％。
The sensor on-orbit geometric calibration relying on the field is a necessary work to assessand optimize the geometrical performance of sensor system and ensure the accuracy andreliability of remote sensing positioning. The thesis focused on the airborne and spaceborneCCD sensor field geometric calibration and solved parameters setting, model building,calibration solution, assessing and verification and other key issues. A systematic and in-depthstudy was carried out on field calibration theory, method and technical system of imaging sensorand GPS positioning and IMU attitude determination equipments. The main work andinnovations in the thesis are listed as follows.
1. Based upon the analysis and summary of the current status quo and development trend ofairborne and spaceborne linear array CCD sensor field geometric calibration, it discussed thetask, needs, and technology system of sensor field calibration.
2. Analysis and investigation was made on the theory, method, and key technologies ofself-calibration and the technical solution program was decided. In combination with thestructural characteristics of current linear CCD sensor, a deep analysis was made on its variouspotential error sources under dynamic imaging conditions, and corresponding mathematicalmodel was constructed, which laid the theoretical foundation for sensor self-calibration.
3. From the technical requirements of sensor filed calibration and absorbing the experiencesof domestic and foreign typical remote sensing fields, an in-depth analysis was carried out onfields construction methods, principles and key requirements, and some instructive conclusionswere drawn out.
4. Strict imaging model, direct image positioning model and GPS/IMU auxiliary datasupported bundle adjustment model were constructed for airborne three-line array sensor. It putforward an equivalent error equation-based self-calibration bundle adjustment method for lineararray CCD images, which achieved fast and efficient computation for ADS40imageself-calibration block adjustment.
5. It put forward an ADS40camera error model, built an airborne integrated sensorself-calibration joint adjustment model, and designed a set of relatively complete ADS40self-calibration program. Experimental results showed that using the proposed model andprogram, it can effectively achieve the dynamic calibration for ADS40sensor parameters andsignificantly improve the image positioning accuracy.
6. The strict imaging model and its corresponding revised form of spaceborne linear arrayCCD sensor were analyzed and constructed. Thereby, a bundle adjustment system was built forspaceborne linear array CCD images, which can effectively realize the block adjustment fortypical high resolution satellite images as ZY-3TLC, SPOT-5HRS and ALOS PRISM. Anattitude system error calibration method was proposed for satellite images and experimentalresults proved the actual effect of compensating attitude system error, which can greatly enhancethe image positioning accuracy.
7. It put forward an error model for ZY-3three-line array sensor, proposed a multi-sensorself-calibration joint adjustment model, and designed a set of relatively complete geometriccalibration programs for spaceborne linear CCD sensor. Experimental results demonstrated thatafter on-orbit calibration for ZY-3three-line array sensor using the above model and program,the positioning accuracy improvement in the plane was over20%, and that in the height wassuperior to10%.
1．在对机载、星载线阵CCD传感器实验场几何定标的研究现状和发展趋势进行分析、总结的基础上，探讨了传感器实验场定标的任务、需求和技术体系。
2.对自检校定标的理论、方法及关键技术进行了分析研究，确定了技术解决方案，结合当前线阵CCD传感器的结构特点，对其在动态成像条件下各种潜在的误差源进行了深入分析，构建了相应的数学模型，为传感器自检校定标奠定了理论基础。
3.从传感器实验场定标的技术要求出发，吸收国内外典型遥感实验场的经验，对实验场建设的方法、原则及关键性要求进行了深入分析，得出了一些有益的结论。
4.构建了机载三线阵传感器严格成像模型、影像直接定位模型和GPS/IMU辅助光束法平差模型。提出了基于等效误差方程的线阵CCD影像自检校光束法平差解算方法，实现了ADS40影像自检校区域网平差的快速、高效解算。
5.提出了一种ADS40相机误差模型，建立了机载集成传感器自检校联合定标模型，设计了一套系统完整的ADS40定标方案。实验表明利用该模型和方案能有效实现ADS40传感器参数的动态检定，显著提高影像定位精度。
6.分析构建了星载线阵CCD传感器严格成像模型及相应的改化形式，进而建立了星载线阵CCD影像的光束法平差系统，可有效实现ZY-3TLC、SPOT-5HRS和ALOS PRISM等典型高分辨率遥感卫星影像的区域网平差。提出了一种卫星影像姿态角系统误差检校的方法，通过实验验证了补偿姿态角系统误差的实际效果，大幅地提高了影像定位精度。
7.提出了一种资源三号卫星三线阵传感器误差模型，建立了多传感器自检校联合定标模型，设计了一套较为完整的星载线阵CCD传感器几何定标方案。实验表明，利用该模型和方案对资源三号卫星三线阵传感器进行在轨定标后，定位精度的提高幅度平面超过20％，高程优于10％。
The sensor on-orbit geometric calibration relying on the field is a necessary work to assessand optimize the geometrical performance of sensor system and ensure the accuracy andreliability of remote sensing positioning. The thesis focused on the airborne and spaceborneCCD sensor field geometric calibration and solved parameters setting, model building,calibration solution, assessing and verification and other key issues. A systematic and in-depthstudy was carried out on field calibration theory, method and technical system of imaging sensorand GPS positioning and IMU attitude determination equipments. The main work andinnovations in the thesis are listed as follows.
1. Based upon the analysis and summary of the current status quo and development trend ofairborne and spaceborne linear array CCD sensor field geometric calibration, it discussed thetask, needs, and technology system of sensor field calibration.
2. Analysis and investigation was made on the theory, method, and key technologies ofself-calibration and the technical solution program was decided. In combination with thestructural characteristics of current linear CCD sensor, a deep analysis was made on its variouspotential error sources under dynamic imaging conditions, and corresponding mathematicalmodel was constructed, which laid the theoretical foundation for sensor self-calibration.
3. From the technical requirements of sensor filed calibration and absorbing the experiencesof domestic and foreign typical remote sensing fields, an in-depth analysis was carried out onfields construction methods, principles and key requirements, and some instructive conclusionswere drawn out.
4. Strict imaging model, direct image positioning model and GPS/IMU auxiliary datasupported bundle adjustment model were constructed for airborne three-line array sensor. It putforward an equivalent error equation-based self-calibration bundle adjustment method for lineararray CCD images, which achieved fast and efficient computation for ADS40imageself-calibration block adjustment.
5. It put forward an ADS40camera error model, built an airborne integrated sensorself-calibration joint adjustment model, and designed a set of relatively complete ADS40self-calibration program. Experimental results showed that using the proposed model andprogram, it can effectively achieve the dynamic calibration for ADS40sensor parameters andsignificantly improve the image positioning accuracy.
6. The strict imaging model and its corresponding revised form of spaceborne linear arrayCCD sensor were analyzed and constructed. Thereby, a bundle adjustment system was built forspaceborne linear array CCD images, which can effectively realize the block adjustment fortypical high resolution satellite images as ZY-3TLC, SPOT-5HRS and ALOS PRISM. Anattitude system error calibration method was proposed for satellite images and experimentalresults proved the actual effect of compensating attitude system error, which can greatly enhancethe image positioning accuracy.
7. It put forward an error model for ZY-3three-line array sensor, proposed a multi-sensorself-calibration joint adjustment model, and designed a set of relatively complete geometriccalibration programs for spaceborne linear CCD sensor. Experimental results demonstrated thatafter on-orbit calibration for ZY-3three-line array sensor using the above model and program,the positioning accuracy improvement in the plane was over20%, and that in the height wassuperior to10%.
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