CN106767705B - Imaging attitude modeling method in optical remote sensing satellite point target observation task - Google Patents
Imaging attitude modeling method in optical remote sensing satellite point target observation task Download PDFInfo
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Abstract
the invention discloses an imaging attitude modeling method in an optical remote sensing satellite point target observation task, which comprises the steps of obtaining the imaging moment of a satellite to a point target observation task central point, the shooting point position, an attitude pointing parameter and a satellite orbit coordinate parameter sequence; calculating the camera entrance pupil radiance and the camera integration time of the satellite at the imaging moment of the observation task central point; based on the camera integral time, processing the associated parameters to obtain the scanning ground speed of the shooting point of the satellite at the imaging moment of the observation task center point, and taking the scanning ground speed as the constant scanning ground speed; based on the constant scanning ground speed, solving a geographical position parameter sequence of the observation task path photographing point and a corresponding imaging moment; and calculating an attitude rolling angle parameter, an attitude pitch angle parameter, an attitude yaw angle parameter and a corresponding angular velocity parameter at each imaging moment of the observation task, and finishing the establishment of the imaging attitude model in motion on the basis. The invention can realize effective combination between task planning and satellite attitude control to a certain extent.
Description
Technical Field
The invention belongs to the field of satellite imaging task analysis and attitude control, and particularly relates to an imaging attitude modeling method in an optical remote sensing satellite point target observation task.
Background
The high-agile attitude maneuver capability is one of the important development directions of the optical remote sensing satellite, the traditional agile optical remote sensing satellite (hereinafter referred to as agile satellite) quickly adjusts the attitude direction through the agile attitude maneuver before imaging to enable the optical axis of a satellite camera to point to an observation target, and after imaging, the traditional agile attitude maneuver also realizes the quick attitude reset or points to the next observation target, but the traditional agile satellite does not perform the attitude maneuver but still adopts the traditional passive push-broom imaging in the imaging process.
The optical remote sensing satellite with the in-motion imaging capability is a new-generation agile satellite, not only has the capability of quickly maneuvering the attitude before and after the imaging of the traditional agile satellite, but also can realize the capability of maneuvering and imaging while in the imaging process. In-motion imaging can realize brand-new imaging modes such as attitude active retrace point target imaging, non-tracking strip active scanning imaging, same-track multi-strip fast splicing imaging, single-point target high-frequency multi-angle imaging and the like, and can remarkably improve the execution capacity, diversification and sensitization application capacity of an optical remote sensing satellite observation task.
Compared with the traditional optical remote sensing satellite and the passive push-broom imaging mode of the traditional agile satellite, the mission planning and attitude control of the satellite in the imaging mode in the optical remote sensing satellite are remarkably changed and mainly embodied in the following aspects:
(1) The attitude control in the satellite imaging process is changed from a fixed attitude to a moving attitude, and clear requirements are provided for the cooperativity of the attitude control and the task planning;
(2) The access time window of the satellite to the same target is changed from a fixed time window to an active time window, so that the uncertainty of imaging task planning and attitude control optimization target in the satellite is increased;
(3) The task requirement of imaging in motion is expanded from a simple coverage range index to a wider and tightly-coupled imaging performance and application capability index, and the decoupling processing of the task requirement obviously improves the difficulty of task planning and attitude control of imaging in motion.
Due to the difference between the imaging mode in the optical remote sensing satellite and the passive push-broom imaging mode, a task planning method mainly taking target access coverage as an optimization target and taking orbit parameters as constraint conditions and an attitude control method of fixed attitude pointing are difficult to apply under the traditional passive push-broom imaging mode. Therefore, it is necessary to research and design a new mission planning and attitude control method suitable for the imaging mode in motion.
At present, some technical research results in the aspect of maneuvering imaging attitude control of an optical remote sensing satellite are published, and the technical research results mainly comprise:
(1) the patent "an agile satellite in orbit maneuvering imaging task implementation method", ZL201210253812.8, red satellite Limited of spaceflight east, has proposed a satellite maneuvering imaging order and on-the-satellite computer control method, can be used for imaging satellite attitude control in moving, but the result does not have the basis to how to change the observation task requirement into satellite control order and on-the-satellite computer control;
(2) The patent 'an attitude adjustment method for agile satellite dynamic imaging', ZL201310028956.8, red satellite Limited aerospace, proposes a method for realizing large-amplitude wide imaging in the process of attitude adjustment by imaging in agile satellites, but the achievement is not suitable for point target observation task planning and attitude control;
(3) the patent application 'a novel agile satellite maneuvering imaging method', 201410163903.1, red spaceoriental satellite limited, proposes a method for calculating the attitude angle of agile satellite maneuvering imaging process based on the geographic position of known ground object imaging feature points, but does not describe how to obtain the geographic position of the ground object imaging feature points, nor does it describe the relation between the observation task requirement and the determination of the position of the ground object imaging feature points;
(4) the patent application, "a trajectory planning method of attitude maneuver", 201410515853.9, Beijing control engineering institute, has proposed a method for planning the trajectory path of the multi-axis shortest attitude maneuver of a satellite according to the quaternion of initial attitude of attitude maneuver of the satellite and quaternion of target attitude, can be used for imaging the attitude control of the satellite in motion, but the focus of the result lies in the description of the attitude control method of the satellite control mechanism, do not relate to how to calculate the method of the required parameter of attitude control from the observation task requirement;
(5) The patent application, "an agile satellite imaging process attitude maneuver planning method", 201510257857.6, Beijing spacecraft general design department, proposes an imaging process attitude calculation method based on agile satellite maneuvering imaging starting point, ending point, corresponding time and orbit parameters, which can be used for in-motion imaging satellite attitude control, but does not describe how to obtain the in-motion imaging starting point, ending point, corresponding time and other parameters of the agile satellite, nor how to convert the user's requirements for the observation task into satellite attitude control parameters;
in summary, the above technical achievements mainly concern how the attitude of the satellite itself is determined and controlled during maneuvering imaging, and the observation task requirements required for planning the satellite imaging task are generally regarded as the starting point, the ending point or the characteristic point of the observation target are known. There are mainly the following problems: the effective combination of the mission planning and the satellite attitude control is difficult to realize due to the lack of the construction of a quantitative coupling relation model between the observation mission planning and the satellite attitude control.
disclosure of Invention
The technical problem is as follows: to a certain extent, effective combination between task planning and satellite attitude control is realized.
In view of this, the embodiment of the present invention provides a method for modeling an imaging attitude in an optical remote sensing satellite point target observation task, which solves the above technical problems.
The solution of the problem is as follows:
the invention provides an imaging attitude modeling method in an optical remote sensing satellite point target observation task, which comprises the following steps:
acquiring the imaging time of a central point of a target observation task by a satellite, the position of a camera station, an attitude pointing parameter and a satellite orbit coordinate parameter sequence;
Calculating the camera entrance pupil radiance and the camera integration time of the satellite at the imaging moment of the observation task central point;
based on the camera integral time, processing the associated parameters to obtain the scanning ground speed of the shooting point of the satellite at the imaging moment of the observation task center point, and taking the scanning ground speed as the constant scanning ground speed;
based on the constant scanning ground speed, solving a geographical position parameter sequence of the observation task path photographing point and a corresponding imaging moment;
and calculating an attitude rolling angle parameter, an attitude pitch angle parameter, an attitude yaw angle parameter and a corresponding angular velocity parameter at each imaging moment of the observation task, and finishing the establishment of the imaging attitude model in motion on the basis.
The invention also provides a moving imaging attitude model using the method for modeling the moving imaging attitude of the optical remote sensing satellite point target observation task, which comprises the following steps:
The basic parameter acquisition module is used for acquiring the imaging time of a central point of a target observation task by a satellite, the camera station position, the attitude pointing parameter and a satellite orbit coordinate parameter sequence;
The camera related parameter calculating module is used for calculating the camera entrance pupil radiance and the camera integration time of the satellite at the moment of imaging the observation task central point;
The scanning ground speed module is used for processing the correlation parameters based on the camera integral time to obtain the scanning ground speed of a shooting point of the satellite at the imaging moment of the observation task central point, and the scanning ground speed is used as the constant scanning ground speed;
The observation task calculation module is used for solving a geographical position parameter sequence of a path shooting point of the observation task and a corresponding imaging moment based on the constant scanning ground speed;
And the in-motion imaging attitude model building module is used for calculating an attitude rolling angle parameter, an attitude pitch angle parameter, an attitude yaw angle parameter and a corresponding angular velocity parameter at each imaging moment of the observation task and finishing building the in-motion imaging attitude model on the basis.
By adopting the technical scheme, the invention can obtain the following technical effects to a certain extent:
The invention provides a technical implementation approach for imaging task planning and attitude control in a point target observation task optical remote sensing satellite. The method can convert the requirement of the point target observation task into an observation task parameter and further convert the requirement into a satellite attitude control parameter, and provides a technical realization way for task planning and attitude control of optical remote sensing satellite motion imaging facing the point target observation task;
Meanwhile, the invention solves the problems of disjointed requirements and poor realizability of the task of imaging attitude control and point target observation in the optical remote sensing satellite. Although the prior published technical achievements provide attitude control methods for the imaging process in the optical remote sensing satellite, the constraint conditions required by the attitude control described by the methods are set by default or directly and are disconnected with the actual requirement of a point target observation task, so that the method has no realizability in the imaging task planning and attitude control process in the actual optical remote sensing satellite. The invention establishes a quantitative relation model of the point target observation task and the imaging process attitude control in the optical remote sensing satellite motion, and provides a technical means for the imaging execution point target observation task in the optical remote sensing satellite motion;
In addition, the invention can fully exert the use efficiency of imaging in the optical remote sensing satellite. The design method of the invention gets through the technical chain required by satellite-end attitude control and application-end observation task in imaging in the optical remote sensing satellite, provides a technical approach for converting the imaging working capacity in the optical remote sensing satellite into actual observation task utility, and can fully exert the imaging use efficiency in the optical remote sensing satellite.
Drawings
in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is an overall flow chart of the present invention;
FIG. 2 is a schematic diagram of an imaging mode of an attitude active retrace point target in motion imaging;
FIG. 3 is a schematic diagram of an imaging mode of a gesture active normal-scan target for in-motion imaging;
FIG. 4 is a schematic diagram of the imaging pose model in motion of the present invention. Throughout the drawings, it should be noted that like reference numerals are used to depict the same or similar elements, features and structures.
Detailed Description
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of various embodiments of the disclosure as defined by the claims and their equivalents. The following description includes various specific details to aid understanding, but these details are to be regarded as illustrative only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the various embodiments described herein can be made without departing from the scope and spirit of the present disclosure. In addition, descriptions of well-known functions and constructions may be omitted for clarity and conciseness.
The terms and words used in the following description and claims are not limited to literature meanings, but are used only by the inventor to enable the disclosure to be clearly and consistently understood. Accordingly, it should be apparent to those skilled in the art that the following descriptions of the various embodiments of the present disclosure are provided for illustration only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents.
It is to be understood that the singular forms also include the plural reference unless the context clearly dictates otherwise. Thus, for example, reference to a "component surface" includes reference to one or more such surfaces.
The first embodiment is as follows:
FIG. 1 is an overall flow chart of the present invention; FIG. 2 is a schematic diagram of an imaging mode of an attitude active retrace point target in motion imaging; FIG. 3 is a schematic diagram of an imaging mode of a gesture active normal-scanning target in imaging. Referring to fig. 1, 2 and 3, the invention discloses a method for modeling an imaging posture in an optical remote sensing satellite spot target observation task, which comprises the following steps:
S1, acquiring the imaging time, the shooting site position, the attitude pointing parameter and the satellite orbit coordinate parameter sequence of the point target observation task center point by the satellite;
S2, calculating the camera entrance pupil radiance and the camera integration time of the satellite at the imaging moment of the observation task center point;
S3, processing the associated parameters based on the camera integral time to obtain the scanning ground speed of the shooting point of the satellite at the imaging moment of the observation task center point, and taking the scanning ground speed as the constant scanning ground speed;
s4, based on the constant scanning ground speed, solving the geographical position parameter sequence of the observation task path shooting point and the corresponding imaging time;
And S5, calculating the attitude roll angle parameter, the attitude pitch angle parameter, the attitude yaw angle parameter and the corresponding angular velocity parameter at each imaging moment of the observation task, and finishing the establishment of the imaging attitude model on the basis.
By adopting the technical scheme, the invention can obtain the following technical effects to a certain extent:
The invention provides a technical implementation approach for imaging task planning and attitude control in a point target observation task optical remote sensing satellite. The method can convert the requirement of the point target observation task into an observation task parameter and further convert the requirement into a satellite attitude control parameter, and provides a technical realization way for task planning and attitude control of optical remote sensing satellite motion imaging facing the point target observation task;
meanwhile, the invention solves the problems of disjointed requirements and poor realizability of the task of imaging attitude control and point target observation in the optical remote sensing satellite. Although the prior published technical achievements provide attitude control methods for the imaging process in the optical remote sensing satellite, the constraint conditions required by the attitude control described by the methods are set by default or directly and are disconnected with the actual requirement of a point target observation task, so that the method has no realizability in the imaging task planning and attitude control process in the actual optical remote sensing satellite. The invention establishes a quantitative relation model of the point target observation task and the imaging process attitude control in the optical remote sensing satellite motion, and provides a technical means for the imaging execution point target observation task in the optical remote sensing satellite motion;
In addition, the invention can fully exert the use efficiency of imaging in the optical remote sensing satellite. The design method of the invention gets through the technical chain required by satellite-end attitude control and application-end observation task in imaging in the optical remote sensing satellite, provides a technical approach for converting the imaging working capacity in the optical remote sensing satellite into actual observation task utility, and can fully exert the imaging use efficiency in the optical remote sensing satellite.
the following preferred embodiments achieve the above technical effects in a more specific and practical level.
In addition, in the prior art, besides the technical problems mentioned in the background art, there is a lack of a model and a method for converting the observation task requirements in the aspects of observation direction, imaging quality, data processing and the like into the key observation task parameters such as the imaging start point and the imaging end point, the imaging start time and the imaging end time and further into the attitude maneuver pointing parameter in the satellite imaging process, the satellite attitude control and the observation task requirements and the application requirements reflected by the satellite attitude control and the observation task requirements are not effectively combined, the model and the method cannot be used for planning, scheduling and realizing the actual in-orbit satellite observation task, and the use efficiency of the optical remote sensing satellite maneuver imaging is difficult to be fully exerted, so the requirements of the point-target observation task in the aspects of observation direction, imaging quality, data processing and the like are required to be used as optimization targets, and the satellite attitude maneuvering capability is improved, The camera imaging performance and the like are used as constraint conditions, an optical remote sensing satellite maneuvering imaging attitude pointing calculation method facing the point target observation task requirement is provided and formed, a technical means is provided for task planning and attitude control of novel optical remote sensing satellite maneuvering imaging, and the full exertion of satellite working capacity and the effective improvement of application capacity are supported. These problems are solved step by step in the preferred embodiment that follows.
parts of the invention not described in detail are well known in the art.
Preferably, in step S1, that is, in the step of obtaining the time, the shooting point position, the attitude pointing parameter, and the satellite orbit coordinate parameter sequence of imaging the point target observation task center point by the satellite:
the observation task center point is determined according to the point target determined by the geographic space position;
The imaging time of the satellite for imaging the central point of the observation task and the position of the camera station are obtained by calculation according to the geographical position of the point target, the orbit of the satellite, the imaging time range required by the observation task and the calculation step length, and meanwhile, the attitude pitch angle parameter and the attitude roll angle parameter of the satellite for the central point of the observation task are also obtained;
And obtaining the satellite orbit coordinate parameter sequence which is arranged in sequence at intervals of a given calculation step length in a given imaging time range.
preferably, in step S2, the camera entrance pupil radiance at the time when the satellite images the observation task center point is calculated according to the constraints of the satellite on the ground feature, the atmosphere, and the satellite orbit attitude at the time when the satellite images the observation task center point;
The camera integration time is obtained by calculation according to the signal-to-noise ratio requirement of the observation task, the camera imaging parameters, and the constraint condition that the integration time is matched with the imaging speed height ratio.
In step S3, the scanning ground speed of the imaging point required for the imaging time of the satellite on the central point of the observation task is preferably calculated from the relationship between the camera integration time and the imaging speed height ratio.
preferably, in step S4, that is, the sequence of the geographic location parameters of the imaging point of the observation task path and the corresponding imaging time are obtained by determining the positions of the start point and the end point of the observation task based on the constraint conditions that the start point and the center point of the observation task are located in the small ground surface circle parallel to the orbit plane according to the imaging time parameters of the central point of the observation task and the constant scanning ground speed of the imaging point of the satellite, and calculating the ground surface large circle minor arc from the start point to the end point of the observation task as the scanning path of the imaging point;
the distance between the imaging start point and the imaging end point of the observation task and the earth surface of the central point is equal, and the distance is determined by the constant scanning ground speed and the imaging duration of the photographing point;
The scanning path of the shooting point is a major circle minor arc path on the earth surface, the imaging starting point and the central point are positioned on a same small circle on the earth surface parallel to the orbit surface, and the maneuvering pointing change process of the imaging attitude in the satellite is matched with the moving process of the shooting point along the scanning path.
Preferably, in step S5, the attitude roll angle parameter, the attitude pitch angle parameter, and the corresponding angular velocity parameter at each imaging time of the observation task are calculated according to the imaging time of the start point and the end point of the observation task and the corresponding geographic location parameter;
And the attitude drift angle and the corresponding angular speed parameter of each imaging moment of the observation task are obtained by calculation according to the constraint condition of the attitude drift angle correction of the optical remote sensing satellite on the basis.
Preferably, in step S2, a more detailed specific calculation process of the camera entrance pupil radiance and the camera integration time at the time when the satellite images the observation task center point is as follows:
Firstly, an observation task center point P is obtained0Geographic location latitude and longitude parameter (L)0,B0) Imaging time parameter t of satellite imaging observation task central point0And a photographing slope distance parameter h0the method for calculating the solar altitude and azimuth angle based on any point on the earth surface calculates the solar altitude and azimuth angle parameters (theta) of the observation task center point when the satellite images the observation task center points,θv) The specific calculation method is as follows:
solar altitude thetasThe sine value of (a) is calculated by the formula:
sinθs＝sin(sin B0sinδ+cos B0cosδcosφ)
Azimuth angle theta of the sunvThe cosine value calculation formula is as follows:
cosθv＝(sinθssin B0-sinδ)/(cosθscos B0)
in the formula, δ is the solar declination, Φ is the solar hour angle, and the calculation formula of the solar declination δ is as follows:
δ＝0.3723+23.2567sinθ+0.1149sin2θ-0.1712sin3θ
-0.758cosθ+0.2656cos2θ+0.0201cos3θ
In the formula, θ is a daily angle, and the calculation formula is:
wherein:
tsun＝N+ΔN-N0
in the formula, N is the integration date, namely the sequence number of the corresponding date of the imaging time in the year, and delta N is the integration date correction value;
Secondly, acquiring solar altitude angle and azimuth angle parameters (theta) of the observation task central point when the satellite images the observation task central points,θv) Satellite attitude pitch angle parameter and attitude roll angle parameter when satellite images observation task central pointAnd obtaining the average earth surface reflectivity parameter rho (lambda) of the position of the point target and the atmospheric optical parameters, and calculating the camera entrance pupil radiance L of the satellite at the imaging moment of the satellite on the observation task central pointcam(λ); the atmospheric optical parameters comprise the solar spectrum irradiance E outside the atmospheres(lambda), optical thickness of atmospheric aerosol taus(λ), atmospheric diffuse irradiance Ed(λ), the specific calculation method is as follows:
Wherein λ is the spectral response range [ λ ] of the camera1,λ2]internal wavelength, τg(λ) is the atmospheric absorption transmittance at wavelength λ, ρ (λ) is the average earth surface reflectance at wavelength λ, Es(λ) is the atmospheric external solar spectral irradiance, τ, at wavelength λs(λ) is the optical thickness of the atmospheric aerosol at wavelength λ, Ed(λ) is the diffuse irradiance of the atmosphere, Lp(λ) is the degree of atmospheric path scattered radiation at wavelength λ;
And finally, acquiring the entrance pupil radiance L of the camera at the moment when the satellite images the central point of the observation taskcam(lambda) and obtaining the number of integration stages M set up by the satellite camerasettotal number of integration stages MsumOptical transmittance R of cameraoptFilter factor delta lambda, detector device responsivity Rccd(lambda), bore D of cameraoptcamera focal length f and camera signal to noise ratio SNR required for observation taskscamacquiring camera noise parameters including shot noise parameter NshotA pattern noise parameter NpatternSum-bottom noise parameter NfloorCalculating the integral time t of camera required by the imaging moment of the satellite to the central point of the observation taskcam(ii) a The specific calculation method is as follows:
in the formula (I), the compound is shown in the specification,
In step S3, the specific calculation procedure of the scanning ground speed and the constant scanning ground speed of the imaging point at the time when the satellite images the center point of the observation task is as follows:
Firstly, acquiring a camera station position parameter (X) of a satellite at the time of imaging an observation task central point0,Y0,Z0) Acquiring the geographic position parameter of the central point of the point target observation taskCalculating the imaging time t of the satellite to the observation task center point0is measured by the camera slant distance parameter h0(ii) a The specific calculation method is as follows:
secondly, acquiring a photographic slant distance parameter h of the satellite imaging the central point of the observation task0and the integral time t of the camera required by the imaging moment of the satellite to the central point of the observation taskcamobtaining a dimension parameter d of a detector element of the satellite optical cameraccdAccording to the requirement of matching the integration time with the imaging speed height ratio, calculating the scanning ground speed v of the shooting point required by the satellite to the imaging time of the central point of the observation task0(ii) a The specific calculation method is as follows:
Finally, acquiring the scanning ground speed v of the shooting point required by the satellite to the imaging moment of the central point of the observation task0The constant scanning ground speed of the whole process shooting point of the whole point target observation task is taken as the constant scanning ground speed of the whole process shooting point of the whole point target observation task, namely the scanning speed of the whole process shooting point of the observation task on the earth surface is a constant value.
preferably, in step S4, the specific calculation procedure for observing the geographical position parameter sequence and the corresponding imaging time of each imaging point on the task imaging point scanning path is as follows:
Firstly, acquiring a parameter t of imaging time of a satellite to a central point of an observation task0attitude roll angle parameter and attitude pitch angle parameterImaging time length delta T and satellite orbit coordinate parameter sequenceConstant scanning ground speed v of photographic point0Respectively calculating the imaging time t of the initial point and the end point of the observation task according to the constraint condition that the imaging time from the initial point to the central point of the observation task and the imaging time from the central point to the end point of the observation task are equalstartand tendAnd a corresponding scan distance dis of the image pick-up point to the central pointstartAnd disendcalculating the given imaging time range [ T ] under the imaging posture of the central pointfirst,Tlast]Inner, in given calculationthe time step delta t is a geographical position parameter sequence (X) of intersection points of the optical axis of the cameras and the earth surface which are arranged at intervals in sequencei,Yi,Zi,Ti)；
The specific calculation method is as follows:
Observation task starting point imaging time tstart：
observing task end point imaging time tend：
Scanning distance of a photographing point from an observation task starting point to a central point:
disstart＝v0(t0-tstart)
Observing the scanning distance of the photographing point from the task center point to the termination point:
disend＝v0(tend-t0)
Setting an attitude rolling angle parameter and an attitude pitch angle parameter of a satellite attitude keeping imaging moment of an observation task central pointsequence of geographic location parameters (X) of the intersection of the camera's optical axis with the earth's surface in this attitudei,Yi,Zi,Ti) Can be calculated as follows:
constructing simultaneous equation composed of optical axis linear equation and earth ellipsoid spherical equation of satellite camera
In the formula Re6378140m is the equatorial radius of the earth, Rp6356755m is the polar radius of the earth
the (x, y, z) obtained by the solution is Titime-corresponding candidate camera spot geographic position parameter (X)i,Yi,Zi,Ti)；
The geographic position parameters (X) of the adjacent alternative photographic pointsi,Yi,Zi,Ti) Connected in sequence as alternative imaging point scan paths, where Ti(i＝1,2…N)；
secondly, acquiring a geographic position parameter sequence (X) of the intersection point of the optical axis of the camera and the earth surfacei,Yi,Zi,Ti) And the scanning distance dis from the starting point of the observation task to the central point of the shooting pointstartObtaining a geographical location parameter (X) of a center point of the observation task0,Y0,Z0) Selecting an interval [ t ] from the initial moment of a given imaging time range to the imaging moment of a central pointstart,t0]the inner intersection points respectively calculate the major circle minor arc distance dis from the earth surface to the observation task central point of each intersection pointi(ii) a The specific calculation method is as follows:
Constructing a geographical location parameter (X) from alternative camera pointsi,Yi,Zi,Ti) Observation task center point geographic location parameter (X)0,Y0,Z0) The center of the earth (X)orin,Yorin,Zorin) A simultaneous equation composed of a plane equation composed of three points and an earth ellipsoid and sphere equation as the over-candidate photography point (X)i,Yi,Zi,Ti) And observation task center point (X)0,Y0,Z0) The equation of the big circle of the earth ellipsoid and the sphere is as follows:
Wherein R ise6378140m is the equatorial radius of the earth, Rp6356755m is the polar radius of the earth;
based on the great circle equation, alternative imaging points (X) are calculatedi,Yi,Zi,Ti) From the minor arc along the great circle to the observation task center point (X)0,Y0,Z0) Large circular minor arc scan path distance disitaking the intersection point corresponding to the distance and the condition that the scanning distance from the observation task starting point to the central point photographing point is closest as the observation task starting point, and recording the geographic position parameter as (X)start,Ystart,Zstart) And recording the minor arc distance of the major circle from the starting point to the central point of the observation task as Dstart；
Then, a geographic location parameter (X) of the observation task starting point is obtainedstart,Ystart,Zstart) Obtaining a geographical location parameter (X) of a center point of the observation task0,Y0,Z0) Starting from the central point of the observation task, extending to the symmetrical direction along the path direction of the great circle from the initial point to the central point of the observation task, and selecting D with the distance from the minor arc of the great circle to the central point equal to the distance from the initial point to the minor arc of the great circle to the central pointstartthe point (2) as the observation task termination point records the geographic location parameter as (X)end,Yend,Zend) (ii) a The specific calculation method is as follows:
based on the great circle equation of the initial point and the central point of the observation task:
On the great circle equation with the task starting point (X)start,Ystart,Zstart) Relative to the center point (X)0,Y0,Z0) Is selected in the opposite direction of (A) so that the point is located at the center point (X)0,Y0,Z0) The major circle minor arc distance is equal to DstartTaking the point as the observation task termination point, and recording the geographical position parameter (X)end,Yend,Zend) And recording the distance of the major circle minor arc from the central point as Dend；
will observe the task starting point (X)start,Ystart,Zstart) To the end point (X)end,Yend,Zend) The major circle minor arc path on the major circle equation is used as a shooting point scanning path of the observation task;
finally, acquiring the starting point and the ending point of the observation taskpoint imaging time (t)startAnd tend) Observation task starting point geographic location parameter (X)start,Ystart,Zstart) Observing task termination point geographic location parameter (X)end,Yend,Zend) Constant scanning ground speed v of photographic point0Sequentially calculating the imaging time t of each shooting point along the major circle minor arc path from the starting point to the end pointjand corresponding geographical location parameter (X)j,Yj,Zj,tj) The specific calculation method is as follows:
Wherein
And sequentially calculating the time difference (delta t) between the imaging moments and the imaging moment of the central pointstart,Δt1,Δt2…Δtm,tend) Namely:
Δtj＝tstart+jΔt-t0，(j＝1,2…m)
And sequentially calculating the major arc and minor arc distances (D) from the shooting points to the center point of the observation taskstart,D1,D2…Dm,Dend) Namely:
Dj＝v0Δtj，(j＝1,2…m)
And then a great circle equation corresponding to a great circle minor arc scanning path of the observation task shooting point:
respectively solving the geographic position parameters (X) of each photographic point according to the equidistant division principlej,Yj,Zj,tj)。
Example two:
FIG. 4 is a schematic diagram of an imaging attitude model in motion according to the present invention, and as can be seen from FIG. 4, the present invention further provides an imaging attitude model in motion using any one of the disclosed methods for modeling an imaging attitude in an optical remote sensing satellite spot target observation task, including:
The basic parameter acquisition module 1 is used for acquiring the imaging time of a satellite to a point target observation task central point, the shooting point position, the attitude pointing parameter and a satellite orbit coordinate parameter sequence;
the camera related parameter calculating module 2 is used for calculating the camera entrance pupil radiance and the camera integration time of the satellite at the imaging moment of the observation task central point;
the scanning ground speed module 3 is used for processing the correlation parameters based on the camera integral time to obtain the scanning ground speed of a shooting point of the satellite at the imaging moment of the observation task center point, and taking the scanning ground speed as the constant scanning ground speed;
the observation task calculation module 4 is used for solving a geographical position parameter sequence of a path shooting point of the observation task and a corresponding imaging moment based on the constant scanning ground speed;
and the in-motion imaging attitude model building module 5 is used for calculating an attitude rolling angle parameter, an attitude pitch angle parameter, an attitude yaw angle parameter and a corresponding angular velocity parameter at each imaging moment of the observation task, and completing building of the in-motion imaging attitude model on the basis.
while the disclosure has been shown and described with reference to various embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.
Claims (8)
1. an imaging attitude modeling method in an optical remote sensing satellite point target observation task is characterized by comprising the following steps:
acquiring the imaging time of a central point of a target observation task by a satellite, the position of a camera station, an attitude pointing parameter and a satellite orbit coordinate parameter sequence;
Calculating the camera entrance pupil radiance and the camera integration time of the satellite at the imaging moment of the observation task central point;
based on the camera integral time, processing the associated parameters to obtain the scanning ground speed of the shooting point of the satellite at the imaging moment of the observation task center point, and taking the scanning ground speed as the constant scanning ground speed;
Based on the constant scanning ground speed, solving a geographical position parameter sequence of the observation task path photographing point and a corresponding imaging moment;
and calculating an attitude rolling angle parameter, an attitude pitch angle parameter, an attitude yaw angle parameter and a corresponding angular velocity parameter at each imaging moment of the observation task, and finishing the establishment of the imaging attitude model in motion on the basis.
2. the method as claimed in claim 1, wherein the step of obtaining the time, the camera position, the attitude pointing parameter and the satellite orbit coordinate parameter sequence of imaging the central point of the observation task of the point target by the satellite comprises:
the observation task center point is determined according to a point target determined by the geographic space position;
the imaging time of the satellite for imaging the central point of the observation task and the position of the camera station are obtained by calculation according to the geographical position of the point target, the orbit of the satellite, the imaging time range required by the observation task and the calculation step length, and meanwhile, the attitude pitch angle parameter and the attitude roll angle parameter of the satellite for the central point of the observation task are also obtained;
and obtaining the satellite orbit coordinate parameter sequence which is arranged in sequence at intervals of a given calculation step length in a given imaging time range.
3. The method as claimed in claim 2, wherein the camera entrance pupil radiance of the satellite at the time of imaging the central point of the observation task is calculated according to the constraints of the satellite on the ground feature, the atmosphere and the orbital attitude of the satellite at the time of imaging the central point of the observation task;
The camera integration time is obtained by calculation according to the signal-to-noise ratio requirement of the observation task, the camera imaging parameters and the constraint condition that the integration time is matched with the imaging speed height ratio.
4. the method as set forth in claim 3, wherein the scanning ground speed of the satellite for the image capturing point required for observing the imaging time of the task center point is calculated from the relationship between the camera integration time and the imaging speed height ratio.
5. The method according to claim 4, wherein the sequence of the geographic location parameters of the imaging points of the observation task path and the corresponding imaging times are calculated after using the minor arc of the earth surface large circle from the start point to the end point of the observation task as the scanning path of the imaging points according to the parameters of the imaging time of the central point of the observation task and the constant scanning ground speed of the imaging points of the satellite, based on the constraint conditions that the start point of the observation task and the central point are located on the small earth surface circle parallel to the orbit surface;
the distance between the imaging start point and the imaging end point of the observation task and the earth surface of the central point is equal, and the distance is determined by the constant scanning ground speed and the imaging duration of the photographing point;
the scanning path of the shooting point is a major circle minor arc path on the earth surface, the imaging starting point and the central point are positioned on a same small circle on the earth surface parallel to the orbit surface, and the maneuvering pointing change process of the imaging attitude in the satellite is matched with the moving process of the shooting point along the scanning path.
6. The method according to claim 5, wherein the attitude roll angle parameter, the attitude pitch angle parameter and the corresponding angular velocity parameter at each imaging time of the observation task are calculated according to the imaging time of the start point and the end point of the observation task and the corresponding geographic position parameter;
And the attitude yaw angle and the corresponding angular velocity parameter of each imaging moment of the observation task are obtained by calculation according to the constraint condition of the attitude drift angle correction of the optical remote sensing satellite on the basis of the attitude roll angle parameter, the attitude pitch angle parameter and the corresponding angular velocity parameter of each imaging moment of the observation task.
7. the method as claimed in claim 4, wherein the scanning ground speed and the constant scanning ground speed of the camera point at the imaging time of the center point of the observation task are calculated as follows:
Firstly, acquiring a camera station position parameter (X) of a satellite at the time of imaging an observation task central point0,Y0,Z0) Acquiring the geographic position parameter of the central point of the point target observation taskcalculating the imaging time t of the satellite to the observation task center point0Is the slant distance of the cameraParameter h0(ii) a The specific calculation method is as follows:
Secondly, acquiring a shooting slant distance parameter h0 of the satellite for imaging the central point of the observation task and a camera integration time t required by the satellite for imaging the central point of the observation taskcamobtaining a dimension parameter d of a detector element of the satellite optical cameraccdAccording to the requirement of matching the integration time with the imaging speed height ratio, calculating the scanning ground speed v of the shooting point required by the satellite to the imaging time of the central point of the observation task0(ii) a The specific calculation method is as follows:
And finally, acquiring a scanning ground speed v0 of the photographing point required by the imaging moment of the central point of the observation task by the satellite, and taking the scanning ground speed as the constant scanning ground speed of the photographing point in the whole process of the whole point target observation task, namely the scanning speed of the photographing point in the whole process of the observation task on the earth surface is a constant value.
8. An imaging attitude in motion device using the method for modeling the imaging attitude in motion of an optical remote sensing satellite spot target observation task according to any one of claims 1 to 7, comprising:
The basic parameter acquisition module is used for acquiring the imaging time of a central point of a target observation task by a satellite, the camera station position, the attitude pointing parameter and a satellite orbit coordinate parameter sequence;
The camera related parameter calculating module is used for calculating the camera entrance pupil radiance and the camera integration time of the satellite at the moment of imaging the observation task central point;
The scanning ground speed module is used for processing the correlation parameters based on the camera integral time to obtain the scanning ground speed of a shooting point of the satellite at the imaging moment of the observation task central point, and the scanning ground speed is used as the constant scanning ground speed;
The observation task calculation module is used for solving a geographical position parameter sequence of a path shooting point of the observation task and a corresponding imaging moment based on the constant scanning ground speed;
And the imaging-in-motion attitude model building module is used for calculating an attitude rolling angle parameter, an attitude pitch angle parameter, an attitude yaw angle parameter and a corresponding angular velocity parameter at each imaging moment of the observation task, and completing building of the imaging-in-motion attitude model on the basis of the attitude rolling angle parameter, the attitude pitch angle parameter, the attitude yaw angle parameter and the corresponding angular velocity parameter.
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