RU2696368C1 - Method of estimating motion parameters of mobile objects based on space zonal survey results and apparatus for space-based survey of space remote sensing complex space for implementing method - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: invention relates to a method of determining speed and acceleration of mobile objects (vehicles, etc.) from measurements of mutual position of zonal images on complexed materials of panchromatic and multispectral imaging taking into account location of optical-electronic converters of spectral channels relative to each other in target shooting equipment. Method for estimating motion parameters of mobile objects based on space zonal survey results includes zonal space pan-chromatic and multispectral surveying, integration of data of said surveys, finding speed and acceleration of object relative to underlying surface by means of selection of trajectory points of object I, J, K, M, the number of which is determined by the number of spectral ranges. Then, Earth remote sensing space complex is fixed by target equipment (TE SC ERS) position of the object in points, finding the position of the object in a rectangular coordinate system associated with the earth's surface, at that for each object its coordinates and time of recording are known, with each point of trajectory a radius vector is connected, which passes through the origin of coordinates, transition from the previous to the next point is characterized by vector R_MK. On the photogrammetric model of the target equipment of the space remote sensing system of the Earth, the M point of the object area is projected to the m point of the focal plane, coordinates of the point M are determined in a coordinate system OeXeYeZe, the coordinates of the point m are in the OXiYiZi system associated with the target hardware, the OXiYi plane of which is located in the focal plane, and the OZi axis passes through the projection centre S target hardware for Earth remote sensing SC. Relationship of coordinates of points M and m is determined by system of equations. From measurements of coordinates of points on image and elements of external and internal orientation TE SC ERS coordinates of points of mobile objects are found, then parameters of movement of mobile objects are determined. Equipment for space zonal surveying of space remote sensing system of Earth for implementation of disclosed method includes system for receiving and converting information, which includes a panchromatic optical-electronic converter and multispectral optical-electronic converters, an optical-mechanical unit consisting of a lens and a body part with an instrument frame and an illuminator, an image forming unit consisting of a focusing actuator, a light filter unit, a calibration unit, a control system unit and inter-unit communication cables.

EFFECT: high accuracy of determining speed and acceleration of mobile objects.

2 cl, 9 dwg, 4 tbl

Description

The claimed invention relates to a method for determining the speed and acceleration of moving objects (vehicles, etc.) by measuring the relative position of zonal images on complex materials of panchromatic and multispectral shooting (pan-sharpening) [1], taking into account the location of optoelectronic converters of spectral channels each relative to each other in the focal plane of the target shooting equipment of the space complex.

Various methods are known from the prior art for estimating the motion parameters of moving objects, in particular, a method for determining the motion parameters of a glacier observed from a spacecraft (see RU 2643224C2, publ. 31.01.2018), including shooting from a spacecraft, is known, selected as the closest analogue glacier and fixed characteristic ground points at moments taken over a given period of time. Next, the speed of movement of the frontal part of the glacier is determined from the obtained images. Additionally, two or more surveys of the glacier and characteristic points around the glacier are performed after the time taken from the moment of the previous glacier survey, taken from a pre-calculated range of values. The obtained images determine the distances from characteristic ground points to the front of the glacier, which determine the speed, acceleration and derivative of the acceleration of the movement of the front of the glacier.

Despite the similarity of the tasks of estimating the motion parameters of a moving object, the specifics of determining the movement of a glacier and moving objects (for example, vehicles), due to the different values of the speed of movement, are different. Therefore, it is only possible to formally compare these objects with the identification of their similarity in that the motion parameters are estimated in both cases through satellite imagery.

The technical result of the claimed invention is to increase the accuracy of determining the speed and acceleration of moving objects (vehicles).

, количество которых определяется числом спектральных диапазонов, используемых при формировании комплексированного изображения, нахождение положения подвижного объекта в прямоугольной системе координат, связанной с поверхностью Земли в моменты времени фиксирования его на различных спектральных каналах целевой аппаратуры КК ДЗЗ. При этом для каждого объекта известны его координаты X, Y, h(X,Y) и время съемки t (фиг.1).The technical result is achieved by creating a method for estimating the motion parameters of moving objects according to the results of space zonal surveying, including synchronous panchromatic and multispectral surveys in one route, combining the data of these surveys, finding the speed and acceleration of the object relative to the underlying surface by highlighting the many points of the object’s trajectory

, the number of which is determined by the number of spectral ranges used in the formation of the complex image, finding the position of a moving object in a rectangular coordinate system associated with the Earth’s surface at the time it was fixed on various spectral channels of the target equipment of the spacecraft for remote sensing. Moreover, for each object its coordinates X, Y, h (X, Y) and shooting time t are known (Fig. 1).

The measuring instrument of coordinates of points acts TsA KK DZZ. In the photogrammetric model of the target equipment of the Earth remote sensing space complex, the point M of the object area is projected to the point m of the focal plane, the coordinates of the point M are determined in the coordinate system OzXzYzZz, the coordinates of the point m are determined in the OXiYiZi system associated with the target equipment, the OXiY plane and which is located in the focal plane, and the axis OZ and passes through the design center S of the target equipment KK remote sensing (Fig.2) [2].

The claimed invention is illustrated by the following schemes:

FIG. 1 - the trajectory of the moving object relative to the underlying surface;

FIG. 2 - photogrammetric model of the target shooting equipment;

FIG. 3 - mapping of the NO point at the points of the focal plane m and k during scheduled shooting for two spectral channels;

FIG. 4 - the location of the OEP in the focal plane of CA "Geoton-L1" KK remote sensing "Resource-P";

FIG. 5 - the flight path of the spacecraft in the coordinate system associated with the Earth;

FIG. 6 - determination of the resulting velocity V _res spacecraft relative to the surface of the Earth;

FIG. 7 - obtaining a color image of objects with underlined details, containing fixed and moving objects;

FIG. 8 - plot integrated image of the Wright-Patterson airfield with cars on the highway;

FIG. 9 is a plot of the integrated image of the Wright-Patterson airfield with a take-off airplane on the runway.

The claimed method for evaluating the motion parameters of moving objects according to the results of space zonal shooting is as follows.

When remotely sensing the Earth (ERS) with space complexes (SC), one of the tasks is to determine the motion parameters of moving objects to assess traffic loads, traffic flow intensity, etc. Let us consider the case of shooting objects with target equipment (CA) in one session in different spectral ranges [1 ] for which, inter alia, the integration of materials of panchromatic and multispectral shooting (pan-sharpening) is carried out. The synthesis of a complex image is made by combining the same stationary contours of images of various spectral channels. Therefore, in a complex image, each stationary object is displayed once, and a moving object in several areas of the complex image due to shooting at different points in time. That, on the one hand, is an artifact, on the other, it allows you to find the motion parameters of objects.

The movement of the moving object relative to the underlying surface occurs along a certain trajectory (Fig. 1), with points I, J, K, M (the number of points is determined by the number of spectral ranges). The position of the object at the points is fixed by the target equipment of the space complex of the Earth's remote sensing system (TsA KK ERS). A rectangular coordinate system OзXзYзZз is connected with the Earth's surface. For each position of the object, its coordinates X, Y, h (X, Y) and shooting time t are known. The underlying surface is flat or its digital elevation model (DEM) is known. It is required to find the speeds and accelerations of the moving object relative to the underlying surface using integrated materials of panchromatic and multispectral shooting.

A radius is associated with each point of the trajectory - a vector passing through the origin. The transition from the previous to the next point is characterized by a vector (a section of the trajectory).

For example, for points K and M:

Let I be the starting point of motion. Then

– функция, определяющая вектор (участок траектории)

; Where

- function defining a vector (trajectory section)

;

и

– векторы скорости и ускорения движения подвижного объекта в точке II

and

- vectors of speed and acceleration of the movement of a moving object at point II

  The system of equations (1) can be solved for various conditions of motion of a moving object and space imagery (in a plane, in three-dimensional space).

As a measuring instrument of coordinates of a moving object, there is a CA KK ERS.

A photogrammetric model of the CA KK ERS is presented in FIG. 2 [2]. Point M of the area of objects is projected to point m of the focal plane. The coordinates of the point M are determined in the coordinate system OzXzYzZz, the coordinates of the point m are defined in the OXiYiZi system associated with the CA, the OXiYi plane and which is located in the focal plane, and the OZi axis passes through the design center S of the target equipment of the remote sensing spacecraft. The relationship between the coordinates of the points M and m is determined by the system of equations (2).

where C ₁₁ , ..., C ₃₃ are the elements of the matrix of guide cosines connecting the coordinate systems OzXzYzZz and OXiYiZi through the rotation angles along pitch, roll and heading;

        f is the focal length of the CA KK remote sensing;

– смещение начала системы координат OXиYиZи относительно точки пересечения фокальной плоскости и оптической оси ЦА КК ДЗЗ.

- the offset of the origin of the coordinate system OXiYiZi relative to the point of intersection of the focal plane and the optical axis of the CA KK ERS.

  From the measurements of the coordinates of the points in the image and the elements of the external and internal orientation of the CA CA KK Remote Sensing, equations (2) allow you to find the coordinates of the points of moving objects, then using the system of equations (1) to determine the motion parameters of moving objects.

  To test the feasibility of solving this problem, we consider the case of determining the speed and acceleration from the planned integrated image of the CA “Geoton-L1” KK ERS “Resource-P” with the rectilinear movement of objects.

Determination of parameters during rectilinear movement of objects

During space imaging with the Geoton multispectral optical-electronic equipment of the Resurs-P spacecraft (SC) [5], the same fixed NO object on the earth's surface is fixed in the optical-electron converters (OED) of the spectral channels at different times ( an example of the display of an NO object at the points of the focal plane m and k during planned shooting for two spectral channels is shown in Fig. 3).

The temporal difference is due to the orbital movement and the design of the target equipment (CA), which is an optical system of central projection, in the focal plane of which there are zonal multispectral (MC1-1, MC1-2, MC1-3, MC2-1, MC2-2, MC2 -3) and panchromatic (PX) OEP of optical radiation
(Fig. 4).

When performing satellite imagery, OEP sensitive in the red, green, and blue zones of visible radiation are used to create a color image (MS1-2, MC1-1, MS2-1, respectively).

To obtain a color image with underlined details that enhance the visual perception of a color image, the process of combining the spatial region of the image with high resolution (usually panchromatic) and low resolution (usually multispectral) images is used [3]. One of the implementation options is to combine color and panchromatic images (a PH zone is added). The images in the panchromatic channel are combined with the images in blue, red and green channels.

Consider a special case - a planned survey of the target audience, during which the OEPs are perpendicular to the direction of the resulting speed of the spacecraft, and moving objects move along a horizontal surface. To calculate the resulting spacecraft speed, we consider the spacecraft flight path in the coordinate system associated with the Earth (Fig. 5) and the orientation of the components - the spacecraft speed during orbital motion Vsp and speed due to the rotation of the Earth's surface Vω at the latitude of the object (Fig. 6).

  The flight path is characterized by the following angular values:

(π / 2-β) - the azimuth of the projection of the solar-synchronous orbit of the spacecraft on the Earth's surface;

α - the inclination of the plane of the orbit of the spacecraft to the plane of the equator; φ is the latitude of the location of the subject. The angle β is calculated by the formula (1) [6]:

(3)

(3)

The resulting velocity V _{res of the} spacecraft is calculated by the cosine theorem.

The speed of the image V _s relative to the focal plane is determined from the formula (see Fig. 3):

, (4)

, (four)

where Δt is the time during which the image point passes the distance mk;

      H - shooting height.

By setting the values of mk between the EIA we find the time intervals for which the images of objects immobile relative to the earth's surface move between the OEP.

In addition, moving subjects may be present during shooting. Such objects move relatively motionless.

In FIG. 7 presents image models. For clarity, objects on the earth's surface are scaled to their images. The shooting scale is determined by the ratio of the focal length of the target camera to the shooting height f / H. When creating a color image of objects with underlined details, stationary objects are combined, and moving objects are zonal images superimposed on images of stationary objects.

The mutual arrangement of zonal images allows you to determine the direction of movement of the object and its parameters - speed and acceleration.

A sign of the presence of movement of an object in the general case is the presence of four images of an object in a complex image. The direction of movement coincides with the direction from the panchromatic image to the image in the blue zone (MC2-1).

The initial direction of movement of the object coincides with the direction from the image in the red (MC1-2) and green (MC1-1) zones to the panchromatic image.

Depending on the tone of the object in the PX zone (light or dark), zonal images in the combined image can have different colors in accordance with the laws of color formation (table 1). Examples of images are shown in FIG. 8 and 9.

Other combinations of colors in images of moving objects are possible, which depend on the colors of the stationary background and the moving object.

Knowing the distances between the corresponding elements of the EIA (Fig. 4) and the speed of the image, we determine the time intervals through which the image begins to form in the neighboring zone (see table 2).

Thus, the period of time during which images of the same objects are formed in different spectral zones is less than 3 s.

We assume that for this period of time the flight parameters of the spacecraft remote sensing do not change.

Consider the case of rectilinear uniformly accelerated motion of a moving object (Fig. 7).

Table 1 - Color of a moving object in a color image

The tone of the object in the PH zone Object color in the area MC1-2 (red) The color of the object in the area of combining images in areas MC1-1 and MC2-1 (green and blue) Object color in the area MC1-1 (green) Object color in the area MC2-1 (blue) Light coloured Red Yellow Green Blue Dark Blue (optional to red) Dark Magenta (optional to green) Yellow (optional to blue)

Table 2 - Determining the time intervals through which the image begins to form in the neighboring zone

EIA pairs (designation index) OEP pairs (sensitivity zones) The distance between the corresponding elements of the EIA, mm (see Figure 4) Time intervals, s MS1-2 - HRP (i) red zone - panchromatic zone l _i = 94,248 Δt _i = 1,518 MS1-1– HRP (k) green zone - panchromatic zone l _k = 90,864 Δt _k = 1,464 HRP (j) - MS2-1 panchromatic zone - blue zone l _j = - 89,136 Δt _j = - 1,436

Note: Conditions of shooting - Wright-Patterson Airfield; 39.5 deg., S.Sh .; Vres = 7.4495 km / s; Vsp = 7.6993 km / s; the angular velocity of the Earth’s rotation Ωз = 0.000073 (rad / s); Earth radius Rз = 6371 (km); Vω = 0.3589 km / s .; Vsi = 62.079 mm / s.

We solve the problem through the motion parameters of the images of the object. Find the initial and final speeds of the image of the object and its acceleration.

на участке

:Average image speed of a moving object

Location on

:

(5)

(five)

, (6)on the other hand:

, (6)

where v_{0 -} initial image speed of a moving object in a portion of Li;

a - acceleration of the image of a moving object in the area

, соответствующая участку

, с учетом масштаба и формул (4 – 6):The average speed of a moving object

corresponding to the site

, taking into account the scale and formulas (4 - 6):

(7)

(7)

;

и

– начальная скорость и ускорение подвижного объекта соответствующая участку

. where d is the size of the EIA element; Ni - the number of EIA elements in the area

;

and

 - initial speed and acceleration of the moving object corresponding to the site

.

, соответствующая участку

,Similarly, the average speed of a moving object is determined

corresponding to the site

,

и

:We compose a system of equations for sections

and

:

The initial speed and acceleration of a moving object are determined by the expressions (9):

Let us evaluate the relative mean square deviations (RMS) of determining the initial velocity and acceleration of a moving object. We assume that in determining Ni and Nj the error is distributed according to a uniform law, in this case [4]:

RMSN Ni = RMSN Ni = 1 / (2 ∙ 3 ^0.5 )

The relative partial derivatives of the initial velocity and acceleration of the moving object with respect to Ni and Nj are (10) and (11):

The results of the calculation of the relative standard deviations for determining the initial velocity and acceleration of a moving object are shown in table 3.

Table 3 Estimation of relative standard deviations for determining the initial velocity and acceleration of a moving object

starting speed Acceleration, m / s ² Ni Nj Relative standard deviation of initial velocity,% Relative standard deviation of acceleration,% m / s km / h one 3.6 one four 6 22 13.5 one 3.6 2 five eleven 22 6.7 one 3.6 five ten 24 22 2.7 one 3.6 ten 18 47 22 1.3 2 7.2 one 6 eight eleven 13.5 2 7.2 2 7 13 eleven 6.74 2 7.2 five 12 26 eleven 2.7 2 7.2 ten 20 49 eleven 1.3 ten 36 one 23 24 2.2 13.5 ten 36 2 24 29th 2.2 6.7 ten 36 five 29th 42 2.2 2.7 ten 36 ten 37 65 2.2 1.3 20 72 one 23 44 1,1 13.5 20 72 2 45 49 1,1 6.7 20 72 five 50 62 1,1 2.7 20 72 ten 58 84 1,1 1.35 50 180 one 121 144 0.44 13.5 50 180 2 109 109 0.44 6.7 50 180 five 113 122 0.44 2.7 50 180 ten 121 144 0.44 1.35

Analysis of the calculations shows that the initial speed is determined with a standard deviation of less than 10% at a value of more than 2 m / s (7.2 km / h), and acceleration with a standard deviation of less than 10% at a value of more than 2 m / s ² .

Estimates of the speed and acceleration of vehicles were made using the integrated image of the Wright-Patterson aerodrome formed using the OrthoNormScan-VS 2.0.0.2 software package (Federal State Budget Educational Establishment of Higher Vocational Education "RGRTU" from 09.09.14). To determine the number of image elements between the zonal images of moving objects, the PC KVIR was used (OJSC NII TP from 11/20/15).

To perform the calculations, you can use shared software tools - Excel spreadsheets or the like.

The results are shown in FIG. 8, 9 and in table 4. Estimates of the speed and acceleration of vehicles are as expected.

Table 4 Estimation of vehicle traffic parameters from the integrated image of the Wright-Patterson airfield

starting speed Acceleration, m / s ² Ni Nj Relative standard deviation of initial velocity,% Relative standard deviation of acceleration,% m / s km / h Car 16.97 61.11 1.38 38 40 1.3 9.78 Aircraft 74.27 267.37 9.62 172 191 0.30 1.40

  Thus, the proposed method allows to solve the problem of determining the parameters of the movement of moving objects during remote sensing of the Earth (ERS) by space complexes (SC) to assess the load of roads, the intensity of traffic, etc.

Bibliography

Monographs:

1. Modern technologies for processing Earth remote sensing data, edited by V. Eremeev, M., Fizmatlit, 2015, pp. 244, 245.

2. Photogrammetric processing of materials of specific means of remote sensing of the earth. Kovalenko VP, textbook "Materials of lectures", the publication VVIA them. prof. NOT. Zhukovsky, 2003

3. Remote sensing. Models and methods of image processing, R. Schauvenerdt. Translation from English Kiryushina A.V., Demyaninkova A.I., M., Technosphere. 2010.

4. The probabilistic basis of aviation equipment, Muzalev GA, textbook, publication VVIA them. prof. NOT. Zhukovsky, 1991.

Articles from magazines and collections:

5. Multispectral optical-electronic equipment "Geoton" of the spacecraft "Resource-P", Arkhipov SA, Baklanov AI, Earth exploration from space, 2014, No. 2.

6. The choice of satellite orbits for a round-the-clock global Earth survey, Lukashevich EL, Saulsky VK, Exploration of the Earth from space, 1984. Number 1.

Claims (12)

1. A method for estimating the motion parameters of moving objects based on the results of space zonal surveying, including synchronous panchromatic and multispectral satellite surveys in one route, combining the data of these surveys, finding the speed and acceleration of the object relative to the underlying surface by highlighting the many points of the object’s trajectory

, the number of which is determined by the number of spectral ranges, taking into account the location of the optoelectronic converters of the spectral channels relative to each other in the focal plane of the target shooting equipment of the space complex, the fixation by the target equipment of the space complex of the Earth remote sensing system of the object at points, finding the position of the object in a rectangular coordinate system associated with the Earth’s surface, with each object knowing its coordinates X, Y, h (X, Y) and the shooting time t, s ka each point of the trajectory is associated with a radius – vector passing through the origin, the transition from the previous to the next point is characterized by a vector, for points K and M:

let I be the starting point of motion, then

Where

is a function defining a vector

;

and

- the vectors of speed and acceleration of the motion of a moving object at point I, of the photogrammetric model of the target equipment of the space complex for remote sensing of the Earth, the points of the region of objects of the set N are projected into the focal plane, respectively, as the i, j, r, m coordinates of each of the points, for example, the points M determine in the coordinate system OXXZYZZz, the coordinates of the point m are in the OXiYiZi system associated with the target equipment, the OXiY plane and which is located in the focal plane, and the OZi axis passes through the design center S of the target device KK ERS tours, the relationship between the coordinates of the points M and m is determined by the system of equations (2)

where C ₁₁ , ..., C ₃₃ are the elements of the matrix of guiding cosines connecting the coordinate systems OzXzYzZz and OXiYiZi through the rotation angles along pitch, roll and heading; f is the focal length of the CA KK remote sensing;

- the offset of the origin of the coordinate system OXiYiZi relative to the point of intersection of the focal plane and the optical axis of the CA KK ERS, from the measurements of the coordinates of the points in the image and the elements of the external and internal orientation of the target equipment of the space complex of the Earth's remote sensing system, equations (2) find the coordinates of the points of moving objects, then using the system of equations (1) determine the motion parameters of moving objects. 2. Space zoning equipment for the Earth remote sensing space complex for implementing the method according to claim 1, including a system for receiving and converting information, including a panchromatic optoelectronic converter and multispectral optoelectronic converters, an optomechanical unit consisting of a lens and a body part with an instrument frame and a porthole, an imaging unit consisting of an actuator for focusing, an optical filter unit, a calibration unit , control system block and interconnect communication cables.

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