CN108413903B - Method and system for detecting position of spatial target transit area - Google Patents
Method and system for detecting position of spatial target transit area Download PDFInfo
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Abstract
The invention relates to the technical field of space target position monitoring, in particular to a method and a system for detecting the position of a transit area of a space target, wherein the system comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the processor realizes the acquisition of the latitude and longitude coordinates of the subsatellite point of the space target when executing the program; dividing a set target area vector diagram into n layers, establishing an index relation between layers and in the layers, and with the improvement of the layers, reducing the target range; when the subsatellite point is positioned in the layer 1, the space position relation between the subsatellite point and the vector diagram of the layer (1< m < n-1) is sequentially calculated and judged until the judgment level is accurate to the layer n, the first judgment of the subsatellite point position is realized quickly through layer-by-layer downward analysis, and the problems that the redundant calculation amount is large, the position judgment speed and efficiency are low and the requirements on calculation and performance are high in the traditional space target transit region position detection method are solved.
Description
Technical Field
The invention relates to the technical field of space target position monitoring, in particular to a method and a system for detecting a position of a transit area of a space target.
Background
In recent years, with the development of science and technology and the promotion of social demands, a large number of spacecrafts are launched from all countries in the world to serve the aspects of human life, scientific research, military field and the like. As is well known, the satellite has extremely high operation speed, large quantity and high real-time requirement, so that huge calculation amount is faced when the satellite is subjected to work such as transit window calculation, early warning analysis, coverage analysis and the like, and how to perform real-time transit monitoring on the satellite flying at high speed in space under limited conditions becomes an urgent need of the aerospace department and related application departments.
The real-time transit monitoring of the satellite is a tedious and very large-computation-amount process, which is essentially a process of computing the position of the satellite point, and computing the position of the satellite point on the ground is actually a process of computing the spatial relation of the point, the line and the plane. The subsatellite point is the intersection point of the connecting line of a space target and the center of the earth and the surface of the earth when the space target orbits. The position judgment of the space target is to analyze the position of the space target on the ground, and judge to obtain each level of target area through which the space target passes currently according to different precision requirements. For a space target running at a high speed, if a proper method is not adopted, vector blocks of a target area where a sub-satellite point is located are calculated in a traversal mode by a space relation algorithm, and the special requirements of space target transit analysis, coverage analysis and the like on high speed and real time cannot be met obviously.
At present, there are many mature algorithms capable of judging the spatial position relationship between a point, a line and a plane, and generally, the algorithms are plane approximation algorithms, such as: the method is a point-surface position relation detection algorithm based on spherical coordinates with high precision. However, no matter plane approximation or spherical approximation with high precision is adopted, although the algorithm is mature, the calculation amount is still huge when the calculation task of a mass space target is faced. In the traditional method, in order to judge the position of the subsatellite point, the spatial relationship calculation of the subsatellite point coordinates and the result area vector blocks of all target areas is needed to be carried out, and then the current position of the subsatellite point is judged. Because the algorithm for calculating the spatial relationship is mature, the calculation process can be optimized only, and the redundant spatial relationship calculation is reduced as much as possible so as to improve the speed of judging the position of the satellite point. Among the current commercial software, there are some software for real-time position calculation of a target, and the prediction and analysis of a space target orbit by using the commercial space mission simulation software stk (satellite Tool kit) is representative, and it can calculate the position and attitude of a satellite at any time and also can calculate the coverage area of a satellite or a ground station remote sensor. However, the STK software has complex functions, complicated interface and menu operations, and opaque module codes, which is inconvenient for users to use. In addition, similar functions can be provided by a popular service platform specially carried for the resource three-number satellite in China, but the service platform is still imperfect and needs to be improved in real-time performance.
Disclosure of Invention
The invention aims to provide a method and a system for detecting the position of a spatial target transit area, which are used for solving the problems of high calculation and performance requirements due to large redundant calculation amount, low speed and efficiency of position judgment in the traditional method for detecting the position of the spatial target transit area.
In order to achieve the purpose, the idea of vector hierarchical computation provided by the invention is that firstly, a grid tile pyramid mode is simulated through preprocessing to carry out hierarchical partitioning on a vector diagram of a whole large-range target area, and an interlayer and in-layer topological relation is established, then, the first judgment of the position of the sub-satellite point can be quickly realized through layer-by-layer downward fine analysis, and the process can greatly reduce the spatial relation computation of the sub-satellite point and the vector block through the advantages of layering. On the basis, the idea of orbit constraint is utilized, the judgment process can be accurately and quickly realized by directly starting from a result layer through the neighborhood parallel analysis and backtracking fuzzy judgment process, and the redundant calculation in the continuous judgment process of the position of the sub-satellite point is avoided.
The invention provides a method for detecting the position of a transit area of a space target, which comprises the following technical scheme:
the first method scheme is as follows: a method for detecting the position of a transit area of a spatial target comprises the following steps:
1) acquiring latitude and longitude coordinates of a subsatellite point of a space target;
2) dividing a set target area vector diagram into n layers, establishing an index relation between layers and in the layers, and with the improvement of the layers, reducing the target range;
3) calculating the spatial position relationship between the undersatellite point and the layer 1 vector diagram, judging whether the undersatellite point is positioned in the layer 1 vector diagram or not, and if not, judging that the spatial target is not in a set target area;
4) if so, gradually improving the vector level according to the interlayer index relationship, sequentially judging the spatial position relationship between the sub-satellite point and the m + 1-th (1< m < n-1) layer vector diagram, and acquiring and recording the result;
5) and when the hierarchy is accurate to the nth layer, the feedback result takes the result area of the n layers where the subsatellite point is located as the transit area position of the space target.
By means of the method, the target area is reduced layer by layer through a fuzzy accurate thought, all vector diagrams of the nth layer are prevented from being calculated in a traversing mode, the position of the space target sub-satellite point can be rapidly judged, a large amount of useless calculation is reduced, and the calculation efficiency and speed are greatly improved.
The second method comprises the following steps: on the basis of the first method scheme, in order to achieve the purpose of continuously judging the position of the space point under the satellite, the space position of the space target under the satellite at the next moment is obtained, and the longitude and latitude coordinates of the space target under the satellite at the next moment are obtained; calculating the spatial relationship between the next-time coordinate and the result area in the step 5), and feeding back a result if the sub-satellite point is still located in the result area; and if the subsatellite point is not positioned in the result area, calculating the spatial relationship between the subsatellite point and the adjacent areas of the nth layer and the result area, judging whether the subsatellite point is positioned in the adjacent areas of the result area in the nth layer, and if so, feeding back a result.
The third method scheme is as follows: on the basis of the second method scheme, if the subsatellite point is not in each adjacent area in the nth layer, whether the subsatellite point is located in the nth-1 layer area corresponding to the result area is judged, if yes, the spatial relationship calculation is carried out on the subsatellite point and the nth layer of the nth-1 layer area corresponding to the result area again, and the result is fed back.
The method scheme is as follows: on the basis of the third method scheme, if the subsatellite point is not located in the (n-1) th layer area corresponding to the result area, whether the subsatellite point is located in an adjacent area of the (n-1) th layer area corresponding to the result area is judged, if yes, the spatial relationship between the subsatellite point and the nth layer area contained in the adjacent area is calculated, and the calculation result is used as the position of the transit area of the next carving space target.
The method scheme five: on the basis of the fourth method scheme, if the subsatellite point is not in the adjacent area of the (n-1) th layer, the level of the vector diagram is gradually reduced, and the judgment is continuously carried out, and if the subsatellite point is positioned at the (m-1) th layer, the step 4) is carried out.
The method comprises the following steps: on the basis of the fifth method scheme, if the subsatellite point is not in the set threshold layer, the space target is not in the set target area.
The invention also provides a system for detecting the position of the transit area of the space target, which comprises the following technical scheme:
the first scheme of the system is as follows: a spatial target transit zone location detection system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the program implementing the steps of:
1) acquiring latitude and longitude coordinates of a subsatellite point of a space target;
2) dividing a set target area vector diagram into n layers, establishing an index relation between layers and in the layers, and with the improvement of the layers, reducing the target range;
3) calculating the spatial position relationship between the undersatellite point and the layer 1 vector diagram, judging whether the undersatellite point is positioned in the layer 1 vector diagram or not, and if not, judging that the spatial target is not in a set target area;
4) if so, gradually improving the vector level according to the interlayer index relationship, sequentially judging the spatial position relationship between the sub-satellite point and the m + 1-th (1< m < n-1) layer vector diagram, and acquiring and recording the result;
5) and when the hierarchy is accurate to the nth layer, the feedback result takes the result area of the n layers where the subsatellite point is located as the transit area position of the space target.
And a second system scheme: on the basis of the first system scheme, in order to achieve the purpose of continuously judging the position of the space point under the satellite, the space position of the space target under the satellite at the next moment is obtained, and the longitude and latitude coordinates of the space target under the satellite at the next moment are obtained; calculating the spatial relationship between the next-time coordinate and the result area in the step 5), and feeding back a result if the sub-satellite point is still located in the result area; and if the subsatellite point is not positioned in the result area, calculating the spatial relationship between the subsatellite point and the adjacent areas of the nth layer and the result area, judging whether the subsatellite point is positioned in the adjacent areas of the result area in the nth layer, and if so, feeding back a result.
And a third system scheme: on the basis of the second system scheme, if the subsatellite point is not in each adjacent area in the nth layer, whether the subsatellite point is located in the nth-1 layer area corresponding to the result area is judged, if yes, the spatial relationship calculation is carried out on the subsatellite point and the nth layer of the nth-1 layer area corresponding to the result area again, and the result is fed back.
The scheme of the system is as follows: on the basis of the system scheme III, if the subsatellite point is not located in the (n-1) th layer area corresponding to the result area, whether the subsatellite point is located in an adjacent area of the (n-1) th layer area corresponding to the result area is judged, if yes, the spatial relationship between the subsatellite point and the nth layer area contained in the adjacent area is calculated, and the calculation result is used as the position of the transit area of the next carving space target.
And a fifth system scheme: and on the basis of the system scheme four, if the subsatellite point is not in the adjacent area of the n-1 th layer, the level of the vector diagram is gradually reduced, and the judgment is continuously carried out, and if the subsatellite point is positioned at the m-1 th layer, the step 4) is carried out.
And a sixth system scheme: on the basis of the fifth system scheme, if the subsatellite point is not in the set threshold layer, the space target is not in the set target area.
Drawings
FIG. 1 is a technical roadmap for a method of spatial target transit zone location detection;
FIG. 2 is a schematic diagram of vector layering;
fig. 3 is a flowchart of a spatial target transit area position detection method according to embodiment 1;
fig. 4 is a flowchart of a spatial target transit area position detection method according to embodiment 2;
FIG. 5 is a graph showing the comparison of the time taken in the experiment between the conventional method, the method of example 1 and the method of example 2;
FIG. 6 is a comparison of the number of times of calculation of the spatial relationship in the experiment of the conventional method, the method of example 1 and the method of example 2.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The method for detecting the position of the transit area of the space target is mainly divided into two parts, namely first judgment and continuous judgment of the position of the space target satellite point. As shown in FIG. 1, firstly, by means of the idea of layering, the advantage of layering is well utilized, the existing target area is preprocessed, and the target area is blurred to be accurate and is indented layer by layer, so that a large amount of useless spatial relation calculation existing in the calculation of the position of the space target sub-satellite point is greatly reduced. On the basis, by means of the principle of space target orbit constraint, the previous position judgment result of the space target is fully utilized, the judgment starting point of the continuous judgment process is directly accurate to the result layer through neighborhood parallel analysis, and then the judgment idea from accuracy to fuzziness to accuracy is realized through backtracking fuzzy judgment, so that the judgment result of the position of the point under the satellite is guaranteed, the situation that the judgment result cannot be obtained is avoided, a large amount of space relation calculation in the continuous judgment process is reduced, and the continuous judgment speed is greatly improved. The spatial target transit area represents an area where the earth surface can observe a spatial target, the area is a set target area, and the position of the spatial target transit area is a position point corresponding to the set target area after the spatial target passes through the border.
The pretreatment process comprises the following steps: as shown in fig. 2, the fine vector diagram of the set target region accurate to the result region is divided into n layers according to the actual situation, and as the hierarchy is improved, the target range is smaller, the content is finer, and the nth layer is the result layer; establishing an index relationship between layers, and storing the index relationship as an attribute in each layer of vector diagram so as to index to a more accurate vector diagram in the layer-by-layer judgment process; and establishing topological relation of each vector diagram in the layers according to the spatial adjacency relation in the layers so as to perform neighborhood parallel analysis and backtracking fuzzy judgment in the continuous and rapid judgment process of the positions of the points under the satellite.
Example 1
This embodiment 1 provides a method for detecting a position of a space target at a downward point, as shown in fig. 3, after preprocessing based on vector layering, longitude and latitude coordinates of a space target sub-satellite point are obtained by an existing means.
Step 1: and calculating the spatial position relation between the sub-satellite points and the layer 1 vector diagram, judging whether the sub-satellite points are positioned in the layer 1, if the result is true, performing the next step, and otherwise, outputting the result, wherein the spatial target is not in the set target area.
And gradually improving the vector level and reducing the target area according to the index relation established between the levels.
Step 2: sequentially calculating the space position relation between the sub-satellite points and the (1< m < n-1) th layer vector diagram, recording and acquiring the result, and continuously calculating and judging the higher level.
And step 3: and when the judgment level is accurate to the nth level, taking the result area of the n levels where the subsatellite point is positioned as the transit area position of the space target.
When the target area is large, the technical process can well avoid traversing and calculating all vector diagrams of the nth layer, the target area is reduced layer by layer through a fuzzy accurate thought, the position of the space target sub-satellite point can be rapidly judged, a large amount of useless calculation is reduced, and the calculation efficiency and speed are greatly improved.
Example 2
The satellite is highly dynamic, and the monitoring of the satellite is real-time and high-frequency, however, the above-mentioned layering idea, although it well reduces a large amount of redundant calculation in the process of calculating the position of the satellite point, the whole process needs to be repeated every time the position of the satellite point is calculated once, so the method in embodiment 1 does not solve the problem of redundant calculation in the continuous monitoring process.
The space target is constrained by orbital dynamics, takes the earth as a focus to do elliptic motion, and the absolute position of the space target changes at a high speed along with time, but the operation orbit of the space target keeps relatively stable in an inertia space within a certain time. Therefore, on the basis of layering, a calculation scheme suitable for continuously and quickly judging the position of the space target sub-satellite point is obtained based on orbit constraints, in this embodiment 2, the calculation scheme is performed on the basis of embodiment 1, and the core is to utilize the result of the sub-satellite point positioning obtained in embodiment 1, so as to assist and accelerate the judgment of the position of the space target sub-satellite point at the next time, as shown in fig. 4.
And (3) directly loading a vector file of a corresponding region according to the index by using the last judgment result, namely the result region of the nth layer where the satellite subsatellite point is located, calculating the real-time coordinates of the subsatellite point, and judging whether the subsatellite point is still in the range of the result region, wherein the judgment mode comprises neighborhood parallel calculation and backtracking fuzzy judgment.
And (3) performing neighborhood parallel calculation: and according to the established topological relation, sequentially calculating the spatial relation between the undersatellite point and each adjacent area in the same layer, if the position of the undersatellite point can be output, directly feeding back the result, and if the position of the undersatellite point cannot be output, performing backtracking fuzzy judgment.
And (3) backtracking fuzzy judgment: if the subsatellite point is not on the nth layer, the target area is blurred to the nth-1 layer according to the index relation, then the spatial relation between the vector diagram of the nth-1 layer and the subsatellite point is judged, and if the result is true, the result is output; and if the result is false, performing neighborhood parallel calculation of the (n-1) th layer, if the result is true, outputting the result, if the result is false, continuously performing backtracking fuzzy judgment, and if the result is true when the target area is blurred to the (m-1) th layer (1< m < n-1), jumping to the step 2 of the first judgment process of the position of the substellar point in the embodiment 1.
If the result is false when the target area blurs to the m-1 th layer, step 1 of the first determination process of the position of the point under the satellite in embodiment 1 is skipped. In the backtracking fuzzy judgment, in order to prevent the searching for the times, a corresponding threshold layer can be set, if the backtracking fuzzy judgment reaches the set threshold layer, and the result is false, the result is directly output that the space target is not in the target area.
According to the special background that the space target is constrained by the track, the result of the last judgment is fully utilized, the judgment range is directly accurate to the result layer, the result can be obtained only by performing neighborhood parallel analysis under general conditions, and when the monitoring step length is large, the result can be obtained by backtracking fuzzy judgment and layer-by-layer neighborhood parallel analysis judgment.
Design of experiments
The invention takes the situation that China is accurate to the situation of a county administrative district as an example to carry out experiments so as to verify the idea and the method of the invention. The layering mode in the experimental process adopts the hierarchical division mode of administrative districts in China. The administrative regions in China are divided tightly, the levels are obvious, natural level relations exist, complicated index relations among the levels are not required to be established subsequently, and layered operation is facilitated. On the basis of administrative divisions of China, the vector diagram of China is divided into three layers, namely: country boundary layer, province boundary layer and county level layer. In addition, the spatial position relation judgment in the experimental process is realized by using a GeoTools tool. GeoTools is an open-source GIS toolkit, provides interfaces for processing spatial relationships, and can conveniently calculate spatial relationships such as inclusion, adjacency and the like.
In order to fully verify the computational efficiency of the method provided by the invention, three different methods, namely a layering + orbit constraint method (hereinafter referred to as constraint method), a method only adopting layering (hereinafter referred to as layering method) and a traditional method, are compared under the same environmental condition. In the aspect of data, the real operation data of the resource series satellites are utilized, the satellite parameters are shown in the table I, the three methods are respectively utilized to track and judge the satellite lower point of the target satellite, and in order to enable the result to be more comparative and reliable, each method respectively tracks the satellite lower point for 1000 times, 2000 times, 5000 times and 10000 times, the step length is 0.03s, and the table II shows.
As can be seen from fig. 5, the time consumption of the three methods is substantially equal when the number of tracking is small. When the tracking times are 1000 times, the constraint method is 4s, the layering method is 10s, and the traditional method is 11 s; when the tracking times are 2000 times, the constraint method is 5s, the layering method is 19s, and the traditional method is 21 s; along with the increase of the tracking frequency of the space target sub-satellite point position, the time consumption of the traditional method is exponentially increased, the time consumption of the layering method is obviously increased, but the time consumption is greatly shortened compared with that of the traditional method, the time consumption increase of the constraint method is minimum, and compared with the former two methods, the time consumption is minimum, and the advantages are prominent. The experimental results were consistent with the theoretical analysis described above. The reason why the constraint method is more time-efficient than the layered method and the conventional method is that the number of times of calculation of the spatial relationship is much lower than that of the layered method and the conventional method, and the number of times of calculation of the spatial relationship is different by a larger magnitude as the tracking frequency increases, as shown in fig. 6.
Watch two
The comparison of the calculation results of the traditional method and the calculation results of the method provided by the invention shows that the number of the results obtained by tracking and the number of the administrative districts passing through are consistent with those of the traditional method, in addition, the results of the two methods are also consistent through the comparison of the occurrence times of a certain administrative district in the results, and the calculation results of the traditional method can be generally used as reference values, so the experimental result verifies the correctness of the quick calculation scheme of the position of the point under the satellite.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. In the thought given by the present invention, the technical means in the above embodiments are changed, replaced, modified in a manner that is easily imaginable to those skilled in the art, and the functions are basically the same as the corresponding technical means in the present invention, and the purpose of the invention is basically the same, so that the technical scheme formed by fine tuning the above embodiments still falls into the protection scope of the present invention.
Claims (12)
1. A method for detecting the position of a transit area of a space target is characterized by comprising the following steps:
1) acquiring latitude and longitude coordinates of a subsatellite point of a space target;
2) dividing a set target area vector diagram into n layers, establishing an index relation between layers and in the layers, and with the improvement of the layers, reducing the target range;
3) calculating the spatial position relationship between the undersatellite point and the layer 1 vector diagram, judging whether the undersatellite point is positioned in the layer 1 vector diagram or not, and if not, judging that the spatial target is not in a set target area;
4) if so, gradually improving the vector level according to the interlayer index relationship, sequentially judging the spatial position relationship between the sub-satellite point and the m + 1-th (1< m < n-1) layer vector diagram, and acquiring and recording the result;
5) and when the hierarchy is accurate to the nth layer, the feedback result takes the result area of the n layers where the subsatellite point is located as the transit area position of the space target.
2. The method according to claim 1, wherein the latitude and longitude coordinates of the subsatellite point of the spatial target at the next moment are obtained; calculating the spatial relationship between the next-time coordinate and the result area in the step 5), and feeding back a result if the sub-satellite point is still located in the result area; and if the subsatellite point is not positioned in the result area, calculating the spatial relationship between the subsatellite point and the adjacent areas of the nth layer and the result area, judging whether the subsatellite point is positioned in the adjacent areas of the result area in the nth layer, and if so, feeding back a result.
3. The method for detecting the position of the spatial target transit region according to claim 2, wherein if the subsatellite point is not in each adjacent region in the nth layer, it is determined whether the subsatellite point is in the nth-1 layer region corresponding to the result region, and if so, the spatial relationship between the subsatellite point and the nth layer of the nth-1 layer region corresponding to the result region is calculated again, and the result is fed back.
4. The method for detecting the position of the spatial target transit region according to claim 3, wherein if the subsatellite point is not located in the (n-1) th region corresponding to the result region, whether the subsatellite point is located in an adjacent region of the (n-1) th region corresponding to the result region is judged, if yes, the spatial relationship between the subsatellite point and the nth region included in the adjacent region is calculated, and the calculation result is used as the position of the transit region of the spatial target at the next moment.
5. The method according to claim 4, wherein if the subsatellite point is not located in the adjacent area of the (n-1) th layer, the level of the vector map is successively decreased, and the determination is continued, and if the subsatellite point is located in the (m-1) th layer, the step 4) is performed.
6. The method according to claim 5, wherein if the subsatellite point is not within the set threshold layer, the spatial target is not in the set target area.
7. A spatial target transit zone location detection system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the program implements the steps of:
1) acquiring latitude and longitude coordinates of a subsatellite point of a space target;
2) dividing a set target area vector diagram into n layers, establishing an index relation between layers and in the layers, and with the improvement of the layers, reducing the target range;
3) calculating the spatial position relationship between the undersatellite point and the layer 1 vector diagram, judging whether the undersatellite point is positioned in the layer 1 vector diagram or not, and if not, judging that the spatial target is not in a set target area;
4) if so, gradually improving the vector level according to the interlayer index relationship, sequentially judging the spatial position relationship between the sub-satellite point and the m + 1-th (1< m < n-1) layer vector diagram, and acquiring and recording the result;
5) and when the hierarchy is accurate to the nth layer, the feedback result takes the result area of the n layers where the subsatellite point is located as the transit area position of the space target.
8. The system according to claim 7, wherein the latitude and longitude coordinates of the subsatellite point of the spatial target at the next time are obtained; calculating the spatial relationship between the next-time coordinate and the result area in the step 5), and feeding back a result if the sub-satellite point is still located in the result area; and if the subsatellite point is not positioned in the result area, calculating the spatial relationship between the subsatellite point and the adjacent areas of the nth layer and the result area, judging whether the subsatellite point is positioned in the adjacent areas of the result area in the nth layer, and if so, feeding back a result.
9. The system according to claim 8, wherein if the subsatellite point is not in each adjacent area in the nth layer, it is determined whether the subsatellite point is in the nth-1 layer area corresponding to the result area, and if so, the spatial relationship between the subsatellite point and the nth layer in the nth-1 layer area corresponding to the result area is calculated again, and the result is fed back.
10. The system according to claim 9, wherein if the subsatellite point is not in the n-1 th layer area corresponding to the result area, it is determined whether the subsatellite point is located in an adjacent area of the n-1 th layer area corresponding to the result area, and if so, the spatial relationship between the subsatellite point and the nth layer area included in the adjacent area is calculated, and the calculation result is used as the transit area position of the next-moment spatial target.
11. The system according to claim 10, wherein if the subsatellite point is not located in the adjacent area of the (n-1) th layer, the level of the vector map is successively decreased, and the determination is continued, and if the subsatellite point is located in the (m-1) th layer, the step 4) is performed.
12. The system according to claim 11, wherein the spatial target is not in the set target area if the sub-satellite point is not within the set threshold layer.
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