线阵CCD推扫式影像的投影误差特性分析

分析了几种常见成像方式下线阵CCD推扫式影像底点的具体位置,然后重点研究了线阵CCD推扫式影像投影误差的特性,特别是推导出了几种常见成像方式下线阵CCD推扫式影像的投影误差与人工地物高度的关系,为利用单幅线阵CCD推扫式影像投影误差确定人工地物高度和像底点在摄影测量与遥感中的应用提供了依据。     

城市区域高分辨率遥感卫星成像模拟

由于受卫星平台的运动、传感器成像特性、卫星的星历与姿态和地形起伏等客观因素的影响,任何使用线阵列 CCD 传感器的航天遥感系统在成像过程中都会产生影像变形。 因此在卫星设计过程中,必须综合考虑这些因素对成像结果的影响。 针对这一问题,从线阵高分辨率遥感卫星成像方式及敏捷型卫星的成像特点出发,综合考虑成像时各种几何变形因素的影响,并依据严格成像模型,对所设计的传感器进行成像模拟,最后对模拟影像进行变形分析,以检核遥感卫星的系统设计是否能满足用户要求。     

卫星传感器的地面几何检校模型分析

针对高分辨率卫星 CCD 线阵传感器,分析了像元尺寸变化模型、CCD 在焦平面内旋转变化模型、传感器镜头光学畸变模型;基于 ALOS 卫星的内方位附加参数模型,构建了卫星传感器内方位自检校综合模型;分析了卫星传感器严格成像模型及外方位检校参数内容,给出了自检校光束法区域网平差解算方案;结合外方位元素 PPM 内插模型,利用 SPOT5 模拟数据进行区域网平差实验,实验结果验证了模型方案的可行性。     

我国“海洋1”号卫星(HY-1)CCD图像数据定量化条带消除研究

条带(striping)对于大量的航天和航空传感器来说是一种普遍存在的现象,任何使用多个探测器进行数据获取的遥感器图像数据中均存在条带.目前消除条带的算法主要是针对光机扫描仪,对于CCD相机工作做得比较少.针对HY-1CCD线阵推扫式多光谱相机的特点,以及发射前辐射定标的结果,对遥感器图像数据中的条带问题进行了预研,提出了一种定量化的消条带算法.该方法根据卫星数据特性求出各探测器间的均衡化曲线以反映探测器之间的差异,并据此来消除条带.实验结果表明该方法能够有效解决CCD相机的条带问题,而且可以保持数据原有的物理意义,并可与在轨辐射校正衔接,保证发射前后定标算法的一致性.     

有理函数模型在单幅卫星影像上人工地物高度求解中的应用

高度信息作为人工地物的重要属性信息,在军事和民用上都具有很高的利用价值。从线阵CCD推扫式卫星影像的构像方程入手,推导出该影像上人工地物高度的计算公式,并且得出了无需DEM数据,利用该影像上的像坐标和外方位元素即可较精确地计算出人工地物高度的重要结论。又假设利用有理函数模型该结论同样成立,最后又用大量实验数据进行了证明。研究不但拓宽了有理函数模型的应用范围,而且丰富了摄影测量与遥感领域利用单幅卫星影像进行人工地物高度计算的理论与方法。     

海洋一号C卫星海岸带成像仪在轨几何定标

海洋一号C卫星（HY-1C）搭载的海岸带成像仪（coastal zone imager,CZI）为满足大幅宽成像需求,采用双相机组合成像,每台相间使用2片4色电荷耦合光敏元器件（charge-coupled device,CCD）拼接。从严密几何成像模型出发,对相机成像过程中存在的系统误差进行分析,采用一种基于探元指向角的几何定标模型,并结合CZI相机设计特点与几何特性,设计出一套针对HY-1C/CZI的几何定标方案。首先利用CZI参考基准波段影像与高精度参考影像进行绝对几何定标,采用分步迭代的方法对参考基准波段影像内外定标参数进行解算,其次进行波段间相对几何定标,最后得到所有波段影像的几何定标结果。实验结果表明,经在轨几何定标后,平面无控定位精度优于5个像元,影像几何质量得到明显改善,说明所采用的定标模型和方案合理有效。     

基于垂直线阵的水下三维成像系统设计

针对传统三维声呐硬件系统复杂、计算量庞大的特点,本文设计了一种基于垂直线阵的水下三维成像系统。相比于传统二维面阵成像声呐,垂直线阵成像声呐阵元数较少,硬件电路较简单。但是,垂直线阵扫面时间过长的缺点使得系统成像速率较慢,无法满足实时成像的需求。为解决此问题,本文提出了一种多频率发射波束形成算法,该算法通过优化垂直阵列的发射过程,有效地减少了系统发射阵列的波束发射次数,从而缩短了系统扫描时间,提升了成像速度。系统硬件部分由发射模块、接收模块、电源模块以及显示模块4个部分组成。系统通过FPGA控制120路信号的同步采样,在波束形成计算中使用并行子阵分级波束形成算法再次提高了系统的运算速率。为了验证系统的性能指标,本文先后对系统进行了波束形成仿真测试以及水下环境的实际成像测试。经测试,本文设计的垂直线阵三维声呐成像效果接近同等指标的二维面阵成像声呐,系统成像帧率较高,满足了三维声呐低功耗、小型化、实时成像的需求。     

线阵CCD影像多视匹配模型研究

针对线阵CCD影像，分析了GC^3多视匹配模型，引入了MVLL多视匹配模型。研究了GC^3与MVLL多视匹配模型的工作过程，综合比较了两种模型的异同。利用ADS40影像，针对相似、遮挡特征，做了多视匹配试验。结果表明，多视匹配模型能够综合利用多张重叠影像信息，提高匹配可靠性，具有较高的匹配优势。     

海岸带星载高光谱遥感影像预处理方法

以星载Hyperion L1R高光谱影像数据为研究对象,详细分析了完整的影像预处理流程及相关算法,包括利用像元灰度斜率阈值法、波段全局归一化法和归一化差值植被指数法实现影像的坏线修复、垂直条纹去除以及潮滩研究区的地物分离.然后结合FLAASH大气校正处理以及几何校正处理,得到潮滩地表真实光谱反射率影像.研究结果表明,该流程为潮滩地物进一步的高光谱定量遥感解译提供了必要的技术支撑.     

基于单位四元数的小像幅面阵CCD相机检校

介绍了面阵CCD相机的径向畸变、偏心畸变模型,建立了用于非量测相机标定的扩展共线条件方程.引入了四元数姿态描述方法,利用单位四元数替代外方位角元素(ω,ψ,к)构建旋转矩阵,建立了基于单位四元数的相机标定数学模型.采用室内三维控制场对小像幅面阵CCD相机进行了标定实验,取得了优于0.2个像素的定位精度.     

海洋环境航行安全保障决策支持系统设计

为对海上船舶航行提供安全保障决策支持,本文设计了海洋环境航行安全保障决策支持系统。系统采用面向服务架构思想,将功能单元封装成统一标准的服务,服务之间的调用关系经设计,实现海洋数据交互与功能组合重用。本文阐述了系统开发与部署步骤并展示决策支持部分的示范性系统流程,向决策者提供卫星成像规划、风险评价、溢油预测与应急救援路径规划等决策服务。系统为海洋环境航行安全保障提供了多源海洋数据管理、海洋数据可视化与决策支持服务等技术方案,为海洋环境航行安全保障决策提供参考依据。     

Analysis on the controlled nonlinear motion of a test bed AUV–SNUUV I

This paper describes the estimation of hydrodynamic coefficients and the control algorithm based on a nonlinear mathematical modeling for a test bed autonomous underwater vehicle (AUV) named by SNUUV I (Seoul National University Underwater Vehicle I).A six degree of freedom mathematical model for SNUUV I is derived with linear and nonlinear hydrodynamic coefficients, which are estimated with the help of a potential code and also the system identification using multi-variable regression.A navigation algorithm is developed using three ranging sonars, pressure sensor and two inclinometers keeping towing tank applications in mind. Based on the mathematical model, a simulation program using a model-based control algorithm is designed for heading control and wall following control of SNUUV I.It is demonstrated numerically that the navigation system together with controller guides the vehicle to follow the desired heading and path with a sufficient accuracy. Therefore the model-based control algorithm can be designed efficiently using the system identification method based on vehicle motion experiments with the appropriate navigation system.     

多传感器组合导航系统研究

为了满足水下航行器高精度导航定位的需求,建立了多传感器组合导航的系统模型。针对信息融合过程中出现的非线性环节,在传统联邦滤波器的基础上,提出了基于粒子滤波的混合联邦滤波器。其中,线性子系统采用卡尔曼滤波算法进行滤波估计,非线性子系统采用粒子滤波算法进行滤波估计。计算机仿真分析表明,该混合联邦滤波算法能够将线性和非线性子系统的滤波结果很好地融合起来,提高了组合导航系统的定位精度。     

Vision-based system of AUV for an underwater pipeline tracker

This paper describes a new framework for detection and tracking of underwater pipeline,which includes software system and hardware system.It is designed for vision system of AUV based on monocular CCD camera.First,the real-time data flow from image capture card is pre-processed and pipeline features are extracted for navigation.The region saturation degree is advanced to remove false edge point group after Sobel operation.An appropriate way is proposed to clear the disturbance around the peak point in the process of Hough transform.Second,the continuity of pipeline layout is taken into account to improve the efficiency of line extraction.Once the line information has been obtained,the reference zone is predicted by Kalman filter.It denotes the possible appearance position of the pipeline in the image.Kalman filter is used to estimate this position in next frame so that the information of pipeline of each frame can be known in advance.Results obtained on real optic vision data in tank experiment are displayed and discussed.They show that the proposed system can detect and track the underwater pipeline online,and is effective and feasible.     

赤潮藻的显微图形测量方法研究

介绍了一种在实验室环境下通过显微镜及CCD成像的办法观察采集微小藻类图像，并通过计算机软件进行图像识别统计，最终得到所测藻类统计信息的方法。     

Planar flow model identification for improved navigation of small AUVs

Motivated by the desire to improve the navigation performance of small autonomous underwater vehicles, we seek simple methods for modeling the local flow that affects the vehicle's trajectory. We propose a low-complexity, planar flow field model that consists of a uniform flow component and a singular flow component. Assuming this simplified flow field model, we develop identification algorithms that can be performed quickly using small, sparse data sets collected by a platoon of vehicles. The basic approach involves estimating the uniform flow component, localizing an assumed flow singularity, and identifying the parameters which characterize the singular flow. In order to identify the singular flow component, we propose a least squares and a constrained least squares approach. In the latter case, the minimization is constrained to preserve the average divergence and circulation of the measured flow. Preserving divergence and circulation predictably results in a larger overall error because it eliminates two free model parameters, but it produces a flow model which more realistically captures the flow in the larger region of the measurement points. Numerical simulations and an initial experiment illustrate the parameter identification process as well as the benefits of incorporating a flow field model for vehicle navigation.     

厦门西港航道潮流和悬沙回淤实验研究

通过潮汐水流试验和定床浑水悬沙回淤试验，探求厦门西港嵩（屿）－鼓（鼓浪屿）水道及猴屿以南浅段航道水流动力特点及泥沙回淤机制，研究各种工程方案对航道及港区沙回淤规律的影响，预测港区航道今后泥沙回淤趋势。     

Mine avoidance techniques for underwater vehicles

It is shown that by implementing certain mine avoidance techniques, an underwater vehicle equipped with an obstacle avoidance sonar (OAS) and a navigation system can safely navigate an unknown minefield. The mine avoidance techniques take into account the physical limitations of the sonar and the navigation system, the maneuverability constraints on the underwater vehicle, and the required safe standoff distance from all mines. Extensive computer simulations have verified the mine avoidance capability in more than 50 different minefields. In all 50 simulations the vehicle reached a predetermined end point and maintained at least the specified, minimum safe standoff distance from each mine. The simulation accurately models the major difficulties associated with the sonar, the navigation system, and the vehicle dynamics. The sonar model includes surface, bottom, and volume reverberation; thermal, ambient, and flow noises; actual receiver and projector beam patterns; and false alarms and missed detections. The navigation system model contains the effects of biases, random noises, and scale factor errors. The vehicle dynamic model simulates angular velocities and accelerations associated with underwater vehicles