CN105628053B - A kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error - Google Patents
A kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error Download PDFInfo
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Abstract
The present invention relates to a kind of determination methods of spaceborne laser altimeter system instrument pin point geometry location error, belong to laser remote sensing field, it solves existing pin point geometry location error analysis method and ignores position between laser measurement system and carrying platform sensor and angle installation error, under the premise of not accounting for measured target height relief, the instantaneous geometry location error model in part that laser footpoint is only provided, the problem of analysis the extreme value of laser footpoint geometry location error.The present invention is based on the communication theory of spaceborne laser altimeter system instrument laser footpoint geometry location process and error, the influence to be risen and fallen by considering a variety of error sources and planar target, it is proposed that the method for the geometry location error of judgement spaceborne laser altimeter system instrument laser footpoint comprehensively：The analysis method that instantaneous geometry location error is combined with extreme value geometry location error can realize the comprehensive analysis in the front and back performance indicator of spaceborne laser altimeter system instrument transmitting and assessment.
Description
Technical field
The invention belongs to laser remote sensing fields, and in particular to a kind of spaceborne laser altimeter system instrument pin point geometry location error is sentenced
Determine method, is suitable for the precision analysis and assessment of spaceborne laser altimeter system instrument observing buoy.
Background technology
Spaceborne laser altimeter system instrument is a kind of laser remote sensing equipment being placed in satellite surface, it emits laser arteries and veins by measurement
The transition time of punching can accurately obtain the distance between laser ceilometer and laser footpoint.It is provided in conjunction with satellite platform
Position and attitude data, to realize the accurate resolving of laser footpoint geometry location coordinate.It flies making full use of satellite Autonomous
In the case of, spaceborne laser altimeter system instrument can be observed obtaining target number elevation model covering the whole world, and therefore, satellite borne laser is surveyed
Gao Yi has a very wide range of applications in fields such as mapping science, glaciology, geology and oceanography.
As shown in Figure 1, position fixing process is related to laser-measured height to the basic principle of spaceborne laser altimeter system instrument pin point geometry location
The fusion of instrument, satellite platform position and attitude transducer three's data.According to triangular vector method, laser footpoint is in tested celestial body table
The geometric vector in face can be expressed as
Wherein,Indicate the measurement vector of laser ceilometer,It indicates between laser ceilometer and attitude transducer
Position offset vector,Indicate the measurement vector of position sensor,It indicates between attitude transducer and position sensor
Position offset vector.
During spaceborne laser altimeter system instrument laser footpoint geometry location, the placement of each sensor and its observation number
According to there are certain error, then the geometry location coordinate of laser footpoint can be influenced by multiple-error source, include mainly：It is spaceborne
The laser ranging error of laser ceilometer, the angle of setting of the attitude error of satellite platform, laser alignment angle error, each sensor
The Orbit Error of error and its site error, satellite platform.Meanwhile spaceborne laser altimeter system instrument in actual work, laser refers to
It can change to measuring states such as postures with satellite platform, then laser footpoint geometry location error will appear certain wave
It is dynamic, therefore, the geometry location error of reasonable analysis laser footpoint, for assess spaceborne laser altimeter system instrument technical indicator and its at
The application of fruit has a very important role.
Currently, the document about laser footpoint geometry location error analysis for having had some classical, is such as based on difference mould
Type analytic approach (M,et al.A simplified analytical model for a-priori
lidar point-positioning error estimation and a review of lidar error
sources.Photogrammetric Engineering&Remote Sensing,75(12):1425-1439,2009；Dan
J,et al.Random Error Modeling and Analysis of Airborne Lidar Systems.IEEE
Transactions on Geoscience and Remote Sensing,52(7):3885-3894,2014), it is based on middle mistake
(Liu Shaochuan waits positioning principle and error analysis mapping journals, 28 (2) of the airborne three-dimensional imaging instruments of to the analytic approach of poor form:
121-127,1999；Ma Yue waits earth observation spaceborne laser altimeter system system vertical errors analysis infrared and laser engineering, and 44
(3):1042-1047,2015) etc..These methods have ignored position between laser measurement system and carrying platform sensor with
Angle installation error, under the premise of not accounting for measured target height relief, the part for providing only laser footpoint is instantaneously several
What Model of locating error, while the extreme value of laser footpoint geometry location error is not analyzed.Thus, only using these methods
It can be directed to horizontal plane observed object, influence of the analysis part error component to laser footpoint instantaneous positioning error cannot achieve star
Carry the comprehensive assessment of laser ceilometer laser footpoint geometry location error.
Invention content
The technical issues of present invention is mainly in the presence of solving existing analysis method；One kind is provided to consider respectively
In the case that kind error source, measuring state and planar target rise and fall, using the communication theory of middle error as foundation, satellite borne laser is realized
The transient analysis of altitude meter laser footpoint error and extreme value analysis, thus comprehensively qualitative assessment spaceborne laser altimeter system instrument laser foot
Point geometry position error.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals：
A kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error, which is characterized in that specific method is：
Step 1, it according to the initial parameter of spaceborne laser altimeter system instrument pin point geometry location error, calculates in attitude measurement coordinate
Under system, by the pin point geometry location error component caused by angular error, range error and site error, wherein described spaceborne
The initial parameter of laser ceilometer pin point geometry location error includes：
Parameter one, the hardware error parameter of laser ceilometer：Including laser alignment angle error and hardware range error, placement
Angle error and installation position error；
Parameter two, satellite platform error parameter：Attitude error including satellite platform (including sidewinders angle error, pitching
Angle error and course angle error), the placement angle error and peace of the Orbit Error of satellite platform, attitude transducer and position sensor
Seated position error；
Parameter three, the atmospheric delay correction error parameter on Laser emission direction；
Parameter four, measuring state parameter：Including spaceborne laser altimeter system instrument laser alignment angle, the attitude angle of satellite platform, appearance
Rotation relationship between state measuring coordinate system and celestial body coordinate system；
Parameter five, planar target parameter：Including target in the gradient on rail and vertical rail direction；
Parameter six, the orbit altitude of satellite；
It calculates by the pin point geometry location error component caused by angular error, range error and site error, including with
Lower sub-step：
Step 1.1, the root-mean-square error d ρ of spaceborne laser altimeter system instrument laser ranging are calculatedi：
In formula, d ρsWith d ρaRespectively laser ceilometer hardware range error and atmospheric delay correction error, (d Фx,d
Фy) and (sx,sy) it is respectively laser alignment angle error and target tilt angle on rail and vertical rail direction, ФiFor laser alignment
Angle, it is the angle for emitting laser direction and nadir direction, Фi=Δ Ф × (i-1), i=1,2,3....., int (Фmax/
Δ Ф)+1, wherein function int indicates numerical value rounding operation, and Δ Ф is the angle interval at laser alignment angle, 0.01 °≤Δ Ф≤
1 °, ФmaxFor maximum laser alignment angle, 0 °≤Фmax≤ 30 °, ρiFor laser ranging value, ρi≈H/cosФi, H is satellite
Orbit altitude；
Step 1.2, it calculates under attitude measurement coordinate system, the component dx of laser footpoint geometry location errorij、dyijWith
dzij：
In formula, d γx、dγyWith d γzFor synthetic degree of angle error, they can be expressed as：Wherein, d ФzIt is sharp
Light is directed toward component of the angle error on nadir direction, (d βx,dβy,dβz) it is peace of the attitude transducer under satellite platform coordinate system
Angle setting error, (d αx,dαy,dαz) and (drx,dry,drz) it is respectively peace of the spaceborne laser altimeter system instrument under satellite body coordinate system
Angle setting error and installation position error；It is satellite platform attitude error, ak(k=1,2,3.....9) is
The element of attitude matrix, they meet following relationship：
In formula,It is satellite platform attitude angle, their value is identical, and is satisfied by：σj=Δ σ × (j-
1), j=1,2,3....., int (σmax/ Δ σ)+1, wherein Δ σ is the angle interval of attitude angle, 0.01 °≤Δ σ≤1 °, σmax
For maximum attitude angle, 0 °≤σmax≤90°；
Step 2, it according to the rotation relationship between attitude measurement coordinate system and celestial body coordinate system, calculates under celestial body coordinate system
The instantaneous geometry location error of laser footpoint；
Step 3, by counting the error amount of laser footpoint geometry location or being based on error extreme value model, pin point geometry is calculated
The maximum value and minimum value of position error.
In a kind of determination method of above-mentioned spaceborne laser altimeter system instrument pin point geometry location error, the step 1, according to
It is fixed that the instantaneous geometry of pin point under celestial body coordinate system is calculated in rotation relationship between attitude measurement coordinate system and celestial body coordinate system
Position error component dXij、dYijAnd dZij：
In formula, mlThe member of the spin matrix of (l=1,2,3...9) between attitude measurement coordinate system and celestial body coordinate system
Element；(dXg,dYg,dZg) it is Orbit Error of the satellite under celestial body coordinate system.
In a kind of determination method of above-mentioned spaceborne laser altimeter system instrument pin point geometry location error, the step 3, calculate
The maximum value and minimum value of pin point geometry location error, including following sub-step：
Step 3.1, if whole measuring state parameters of spaceborne laser altimeter system instrument it is known that if search the instantaneous geometry of laser footpoint
Each component (dX of position errorij,dYij,dZij) extreme value, count pin point geometry location error maximum value and minimum value：
dXmax=max (dXij), dYmax=max (dYij), dZmax=max (dZij)
dXmin=min (dXij), dYmin=min (dYij), dZmin=min (dZij)
In formula, function max and min indicate maximizing and minimum operation；(dXmax,dYmax,dZmax) and (dXmin,
dYmin,dZmin) be pin point geometry location error maximum value and minimum value；
Step 3.2, it if spaceborne laser altimeter system instrument part measuring state unknown parameters, is missed according to the extreme value of pin point geometry location
Differential mode type calculates the maximum value and minimum value of pin point geometry location error：
In formula, ρmaxIt is the maximum value of laser ranging, (d γmin,dγmax)、(dσmin,dσmax)、(drmin,drmax)、(d
ρmin,dρmax)、(dVmin,dVmax) installation position of synthetic degree of angle error, attitude error, spaceborne laser altimeter system instrument is indicated respectively
The minimum value and maximum value of error, range error and Orbit Error.
Therefore, the invention has the advantages that：With spaceborne laser altimeter system instrument laser footpoint geometry location process and error
Based on communication theory, by the influence for considering a variety of error sources and planar target fluctuating comprehensively, it is proposed that judge spaceborne
The method of the geometry location error of laser ceilometer laser footpoint：Instantaneous geometry location error is mutually tied with extreme value geometry location error
The analysis method of conjunction.The determination method of laser footpoint geometry location error, the hardware especially suitable for spaceborne laser altimeter system instrument miss
The evaluation analysis of the optimization design and its performance indicator of poor parameter.
Description of the drawings
Fig. 1 is the basic principle of laser ceilometer laser footpoint geometry location.
Fig. 2 is the calculation process of spaceborne laser altimeter system instrument laser footpoint geometry location error.
Fig. 3 a are the relation curves of embodiment laser ranging error and laser alignment angle.
Fig. 3 b are the geometry location error of pin point in the x direction under embodiment International Celestial Reference System coordinate system.
Fig. 3 c are the geometry location error of pin point in y-direction under embodiment International Celestial Reference System coordinate system.
Fig. 3 d are the geometry location error of pin point in a z-direction under embodiment International Celestial Reference System coordinate system.
Fig. 4 a are the geometry location error of pin point in the X direction under embodiment International Geophysical coordinate system.
Fig. 4 b are the geometry location error of pin point in the Y direction under embodiment International Geophysical coordinate system.
Fig. 4 c are the geometry location error of pin point in z-direction under embodiment International Geophysical coordinate system.
Specific implementation mode
Below by the analysis embodiment of earth observation spaceborne laser altimeter system instrument pin point geometry location error, and combine attached
Figure, the technical solutions of the present invention will be further described.
Embodiment：
One, the specific method flow for introducing the present invention first, mainly includes the following steps that：
1. inputting the initial parameter of spaceborne laser altimeter system instrument pin point geometry location error, including following processes：
(1.1) the hardware error parameter of laser ceilometer, including laser alignment angle error and hardware range error, peace are inputted
Angle setting error and installation position error；
(1.2) satellite platform error parameter is inputted, including the attitude error of satellite platform (including sidewinders angle error, bows
Elevation angle error and course angle error), the Orbit Error of satellite platform, attitude transducer and position sensor placement angle error and
Installation position error；
(1.3) atmospheric delay correction error parameter of the input on Laser emission direction；
(1.4) input measurement state parameter, including the attitude angle of spaceborne laser altimeter system instrument laser alignment angle and satellite platform,
Spin matrix between International Celestial Reference System coordinate system (attitude measurement coordinate system) and International Geophysical coordinate system (celestial body coordinate system)；
(1.5) input plane target component, including target is in the gradient on rail and vertical rail direction；
(1.6) orbit altitude of satellite is inputted.
2. it calculates under International Celestial Reference System coordinate system, it is several by the pin point caused by angular error, range error and site error
What position error component, including following processes：
(2.1) the root-mean-square error d ρ of spaceborne laser altimeter system instrument laser ranging are calculatedi：
In formula, d ρsWith d ρaRespectively laser ceilometer hardware range error and atmospheric delay correction error, (d Фx,d
Фy) and (sx,sy) it is respectively laser alignment angle error and target tilt angle on rail and vertical rail direction, ФiFor laser alignment
Angle, it is the angle for emitting laser direction and nadir direction, Фi=0.1 ° × i, i=1,2,3....., 301, ρiFor Laser Measuring
Away from value, ρi≈H/cosФi, H is the orbit altitude of satellite.
(2.2) it calculates under International Celestial Reference System coordinate system, the component dx of laser footpoint geometry location errorij、dyijAnd dzij：
In formula, d γx、dγyWith d γzFor synthetic degree of angle error, they can be expressed as：Wherein, d ФzIt is sharp
Light is directed toward component of the angle error on nadir direction, (d βx,dβy,dβz) it is peace of the attitude transducer under satellite platform coordinate system
Angle setting error, (d αx,dαy,dαz) and (drx,dry,drz) it is respectively peace of the spaceborne laser altimeter system instrument under satellite body coordinate system
Angle setting error and installation position error.It is that satellite platform attitude angle (angle of roll, pitch angle and course angle) is missed
Difference.ak(k=1,2,3...9) is the element of attitude matrix, they meet following relationship：
In formula,It is satellite platform attitude angle, their value is identical, and is satisfied by：σj=0.1 ° ×
(j-1), j=1,2,3....., 901.
In this step, target is the plane diffuse reflector that there is certain altitude to rise and fall, and the range of gradient covers 0 °
~60 °；In addition, to have considered laser ceilometer hardware system, target tilt effect and atmosphere delay etc. multiple for range error
The influence of factor.
3. calculating the instantaneous geometry location error component dX of the laser footpoint under International Geophysical coordinate systemij、dYijAnd dZij：
In formula, mlThe spin matrix of (l=1,2,3...9) between International Celestial Reference System coordinate system and International Geophysical coordinate system
Element.(dXg,dYg,dZg) it is Orbit Error of the satellite under International Geophysical coordinate system.
4. calculating the maximum value and minimum value of pin point geometry location error, including following processes：
(4.1) if spaceborne laser altimeter system instrument whole measuring state parameter it is known that if search the instantaneous geometry location of laser footpoint
Each component (dX of errorij,dYij,dZij) extreme value, statistics obtain the maximum value and minimum value of pin point geometry location error：
dXmax=max (dXij), dYmax=max (dYij), dZmax=max (dZij)
dXmin=min (dXij), dYmin=min (dYij), dZmin=min (dZij)
In formula, function max and min indicate maximizing and minimum operation.(dXmax,dYmax,dZmax) and (dXmin,
dYmin,dZmin) be pin point geometry location error maximum value and minimum value.
(4.2) if spaceborne laser altimeter system instrument part measuring state unknown parameters, according to the extreme value error of pin point geometry location
Model calculates the maximum value and minimum value of pin point geometry location error：
In formula, ρmaxIt is the maximum value of laser ranging, (d γmin,dγmax)、(dσmin,dσmax)、(drmin,drmax)、(d
ρmin,dρmax)、(dVmin,dVmax) installation position of synthetic degree of angle error, attitude error, spaceborne laser altimeter system instrument is indicated respectively
The minimum value and maximum value of error, range error and Orbit Error.
In this step, two kinds that known to spaceborne laser altimeter system instrument measuring state and part measuring state is unknown have been fully considered
Situation realizes the resolving analysis of the maximum value and minimum value of laser footpoint geometry location error.
Two, it is below a specific embodiment for using the method for the present invention：
1. inputting the initial parameter of spaceborne laser altimeter system instrument pin point geometry location error evaluation, including input laser ceilometer
Hardware error parameter, satellite platform error parameter, atmospheric delay correction error parameter, measuring state parameter, planar target ginseng
Number, satellite orbital altitude etc., parameter name, symbol and numerical value are shown in Table 1；
The initial parameter of 1 pin point geometry location error evaluation of table
2. calculating laser ranging error d ρiWith the error component dx of laser footpoint geometry location under International Celestial Reference System coordinate systemij、
dyijAnd dzij, they and the relationship at laser alignment angle and attitude of satellite angle are shown in respectively shown in Fig. 3 (a) and Fig. 3 (b)~Fig. 3 (d)；
3. calculating the instantaneous geometry location error dX of the laser footpoint under International Geophysical coordinate systemij、dYijAnd dZij, they
See shown in Fig. 4 (a)~Fig. 4 (c) with the regularity of distribution at laser alignment angle and attitude of satellite angle；
4. calculating the maximum value and minimum value of laser footpoint geometry location error：Search dXij、dYijAnd dZijMaximum value
And minimum value, statistics obtain the extreme value of the geometry location error of laser footpoint in the x, y, and z directions：(dXmax,dYmax,dZmax)
=(5.14m, 5.36m, 5.54m), (dXmin,dYmin,dZmin)=(2.71m, 3.99m, 0.42m).
Three, verification analysis
Since International Geophysical frame is related with the movement of the earth, nutating and Ghandler motion, it is all changing every year, so international day
Spin matrix between spherical coordinate system and International Geophysical coordinate system is the function of time, at the time of it reaches ground with laser pulse
It is related.Spaceborne laser altimeter system instrument transmitting before, it is contemplated that the spin matrix be it is unknown, then can not be to laser footpoint geometry location
The extreme value of coordinate is analyzed.Using the extreme value error model of pin point geometry location in the present invention, can be calculated
To the extreme value of the geometry location error of laser footpoint in the x, y, and z directions：dXmax=dYmax=dZmax=5.54m, dXmin=
dYmin=dZmin=0.42m.
It will be apparent that the error extreme value being calculated by the extreme value error model of pin point geometry location covers all surveys
Error extreme value under amount state, this is conducive to carry out comprehensive judgement and analysis to the spaceborne laser altimeter system instrument performance before transmitting,
To verify the matching degree of its technical indicator.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (2)
1. a kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error, which is characterized in that specific method is：
Step 1, it according to the initial parameter of spaceborne laser altimeter system instrument pin point geometry location error, calculates in attitude measurement coordinate system
Under, by the pin point geometry location error component caused by angular error, range error and site error, wherein described spaceborne sharp
The initial parameter of light altitude meter pin point geometry location error includes：
Parameter one, the hardware error parameter of laser ceilometer：It is missed including laser alignment angle error and hardware range error, angle of setting
Difference and installation position error；
Parameter two, satellite platform error parameter：The Orbit Error of attitude error, satellite platform including satellite platform, posture
The placement angle error and installation position error of sensor and position sensor, attitude error include sidewindering angle error, pitch angle
Error and course angle error；
Parameter three, the atmospheric delay correction error parameter on Laser emission direction；
Parameter four, measuring state parameter：It is surveyed including spaceborne laser altimeter system instrument laser alignment angle, the attitude angle of satellite platform, posture
Measure the rotation relationship between coordinate system and celestial body coordinate system；
Parameter five, planar target parameter：Including target in the gradient on rail and vertical rail direction；
Parameter six, the orbit altitude of satellite；
It calculates by the pin point geometry location error component caused by angular error, range error and site error, including following son
Step：
Step 1.1, the root-mean-square error d ρ of spaceborne laser altimeter system instrument laser ranging are calculatedi：
In formula, d ρsWith d ρaRespectively laser ceilometer hardware range error and atmospheric delay correction error, (d Фx,dФy) and
(sx,sy) it is respectively laser alignment angle error and target tilt angle on rail and vertical rail direction, ФiFor laser alignment angle, it is
Emit the angle of laser direction and nadir direction, Фi=Δ Ф × (i-1), i=1,2,3....., int (Фmax/ Δ Ф)+1,
Wherein, function int indicates that numerical value rounding operation, Δ Ф are the angle interval at laser alignment angle, 0.01 °≤Δ Ф≤1 °, Фmax
For maximum laser alignment angle, 0 °≤Фmax≤ 30 °, ρiFor laser ranging value, ρi≈H/cosФi, H is that the track of satellite is high
Degree；
Step 1.2, it calculates under attitude measurement coordinate system, the component dx of laser footpoint geometry location errorij、dyijAnd dzij：
In formula, d γx、dγyWith d γzFor synthetic degree of angle error, they can be expressed as：Wherein, d ФzIt is sharp
Light is directed toward component of the angle error on nadir direction, (d βx,dβy,dβz) it is peace of the attitude transducer under satellite platform coordinate system
Angle setting error, (d αx,dαy,dαz) and (drx,dry,drz) it is respectively peace of the spaceborne laser altimeter system instrument under satellite body coordinate system
Angle setting error and installation position error；It is satellite platform attitude error, ak(k=1,2,3.....9) is
The element of attitude matrix, they meet following relationship：
In formula,It is satellite platform attitude angle, their value is identical, and is satisfied by：σj=Δ σ × (j-1), j
=1,2,3....., int (σmax/ Δ σ)+1, wherein Δ σ is the angle interval of attitude angle, 0.01 °≤Δ σ≤1 °, σmaxFor most
Big attitude angle, 0 °≤σmax≤90°；
Step 2, according to the rotation relationship between attitude measurement coordinate system and celestial body coordinate system, the laser under celestial body coordinate system is calculated
The instantaneous geometry location error of pin point；
Step 3, by counting the error amount of laser footpoint geometry location or being based on error extreme value model, pin point geometry location is calculated
The maximum value and minimum value of error, including following sub-step：
Step 3.1, if whole measuring state parameters of spaceborne laser altimeter system instrument it is known that if search the instantaneous geometry location of laser footpoint
Each component (dX of errorij,dYij,dZij) extreme value, count pin point geometry location error maximum value and minimum value：
dXmax=max (dXij), dYmax=max (dYij), dZmax=max (dZij)
dXmin=min (dXij), dYmin=min (dYij), dZmin=min (dZij)
In formula, function max and min indicate maximizing and minimum operation；(dXmax,dYmax,dZmax) and (dXmin,dYmin,
dZmin) be pin point geometry location error maximum value and minimum value；
Step 3.2, if spaceborne laser altimeter system instrument part measuring state unknown parameters, according to the extreme value error mould of pin point geometry location
Type calculates the maximum value and minimum value of pin point geometry location error：
In formula, ρmaxIt is the maximum value of laser ranging, (d γmin,dγmax)、(dσmin,dσmax)、(drmin,drmax)、(dρmin,d
ρmax)、(dVmin,dVmax) indicate respectively synthetic degree of angle error, attitude error, the installation position error of spaceborne laser altimeter system instrument,
The minimum value and maximum value of range error and Orbit Error.
2. a kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error according to claim 1, feature
It is, in the step 1, according to the rotation relationship between attitude measurement coordinate system and celestial body coordinate system, is calculated in celestial body
The instantaneous geometry location error component dX of pin point under coordinate systemij、dYijAnd dZij：
In formula, mlThe element of the spin matrix of (l=1,2,3...9) between attitude measurement coordinate system and celestial body coordinate system；
(dXg,dYg,dZg) it is Orbit Error of the satellite under celestial body coordinate system.
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