CN109631877B - Directional-residing spiral sectional pulsar searching method - Google Patents
Directional-residing spiral sectional pulsar searching method Download PDFInfo
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Abstract
The invention relates to a pulsar searching method, in particular to a pulsar searching method based on satellite attitude control, and belongs to the technical field of spacecraft attitude determination and control. Under the condition that the installation error is unknown, the method and the device reside the antenna sections according to the spiral sequence, gradually expand the search range, and finally enable the pulsar to enter the field of view of the sensor, thereby determining the direction of the pulsar.
Description
Technical Field
The invention relates to a pulsar searching method, in particular to a pulsar searching method based on satellite attitude control, and belongs to the technical field of spacecraft attitude determination and control.
Background
The sensor pointing direction has errors due to installation errors of the pulsar sensor, but the view field of the pulsar sensor is very small, so that the pulsar deviates from the view field due to the very small pointing error, and pulsar ground observation cannot be carried out, and therefore the pulsar sensor needs to be calibrated according to the installation errors. However, the sensor error calibration needs to utilize the orientation information of the pulsar, and if the sensor cannot observe the pulsar, the mounting error calibration cannot be carried out. The problem is therefore how to perform a directional search so that the pulsar comes into the field of view of the sensor without knowing the installation error.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method comprises the steps of under the condition that installation errors are unknown, sectionally residing the antenna section according to a spiral sequence, gradually enlarging a search range, and finally enabling the pulsar to enter a sensor view field so as to determine the pulsar direction.
The technical solution of the invention is as follows:
a directional resident spiral sectional pulsar searching method is characterized in that when the direction of a satellite in an inertial space is unchanged, the relative position of a pulsar and a sensor visual axis is fixed, so that the installation error of the sensor is equivalent to the direction error of the pulsar; the observation characteristics of the pulsar sensor require that the pulsar sensor is sensitive to the pointing gaze of a certain day area after a period of time (at least 300 seconds). Thus, the search for pulsar both completely covers the search sky region and resides for a period of time in all directions, the method comprising the steps of:
(1) dividing the sky into nine-square grids by taking the nominal position of the pulsar as the center;
the center of the nine-grid is a No. 1 area, the center of the No. 1 area is the nominal position of the pulsar, the No. 2 area is on the right of the No. 1 area, the No. 3 area is above the No. 2 area, the No. 4 area is on the left of the No. 3 area, the No. 5 area is on the left of the No. 4 area, the No. 6 area is below the No. 5 area, the No. 7 area is below the No. 6 area, the No. 8 area is on the right of the No. 7 area, the No. 9 area is on the right of the No. 8 area, the No. 9 area is below the No. 2 area, nine areas of the nine-grid are squares, the side lengths of all the areas are equal, and the side length of each area is not more than 1/3; the setting time is not less than 300 s;
(2) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 1 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(3) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 2 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(4) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 3 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(5) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 4 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(6) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 5 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(7) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 6 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(8) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 7 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(9) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 8 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(10) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 9 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(11) expanding the grid to twenty-five grids on the basis of the nine-grid in the step (1), wherein twenty-five areas in the twenty-five grids are also squares, and the side length of each area is equal to that of each area in the nine-grid;
(12) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 10 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
…
(13) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 25 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(14) and (2) continuing outward expansion on the basis of the twenty-five lattices in the step (11) (the continuous outward expansion means that the expanded N lattices are an M-M matrix taking the region No. 1 as the center, N is M, M is 3, 5, 7 and …, for example, when M is 3, nine lattices are obtained, when M is 5, twenty-five lattices are obtained, when M is 7, forty-nine lattices are obtained, …, when the orientation is started, the 1 region is used as the start, and the sensor points to other regions in sequence outwards in a spiral mode, for example, in the nine lattices, the orientation sequence of the sensor is the region No. 1, the region No. 2, the region No. 3, the region No. 4, the region No. 5, the region No. 6, the region No. 7, the region No. 8, the region No. 9 and …, until a pulsar is searched.
In the above steps, the sensor is set to be installed on the-Z axis of the satellite, and then the sensor points to the center of the No. 1 area and stays at the staring, until the sensor points to the center of the No. 9 area and stays at the staring process, namely in the searching process of the above steps (1) to (14), the X-axis direction and the Y-axis direction of the satellite need to be controlled to be unchanged;
the Y-axis direction of the satellite when the sensor points to the center of the No. 1 area and stays at gaze is used as an initial valueI1Represents;
the X-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
XI2＝YI1×ZI2wherein Z isI2Is the inertial negative direction of the center of region No. 2, and is aligned with XI2Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
YI2＝ZI2×XI2and to YI2And carrying out normalization processing to obtain the Y-axis direction of the satellite.
The X-axis direction calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
XI3＝YI2×ZI3wherein Z isI3Is the inertial negative direction of the center of region No. 3, and is aligned with XI3Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
YI3＝ZI3×XI3and to YI3And carrying out normalization processing to obtain the Y-axis direction of the satellite.
The X-axis direction calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
XI4＝YI3×ZI4wherein, in the step (A),ZI4is the inertial negative direction of the center of region No. 4, and is aligned with XI4Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
YI4＝ZI4×XI4and to YI4And carrying out normalization processing to obtain the Y-axis direction of the satellite.
…
And similarly, obtaining the X-axis direction and the Y-axis direction of the satellite when the sensor points to the centers of other regions and stays at the staring.
Compared with the prior art, the invention has the advantages that:
(1) the method can control the satellite attitude to search for the pulsar under the condition that the installation error of the sensor is unknown.
(2) The searching day area range is expandable, the searching starting day area can be selected, and the searching can realize the full coverage of the target day area.
(3) The invention relates to a pulsar searching method, in particular to a pulsar searching method based on satellite attitude control, and belongs to the technical field of spacecraft attitude determination and control. Under the condition that the installation error is unknown, the method and the device reside the antenna sections according to the spiral sequence, gradually expand the search range, and finally enable the pulsar to enter the field of view of the sensor, thereby determining the direction of the pulsar.
Drawings
FIG. 1 is a block flow diagram of the method of the present invention;
FIG. 2 is a schematic view of a Sudoku of the present invention;
fig. 3 is a schematic diagram of a twenty-five grid of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
Example 1
As shown in fig. 1 and fig. 2, for the directional-parking spiral segmented pulsar searching method provided by the present invention, when the direction of the satellite in the inertial space is unchanged, the relative orientation between the pulsar and the visual axis of the sensor is fixed, so the installation error of the sensor is equivalent to the direction error of the pulsar; the observation characteristics of the pulsar sensor require that the pulsar sensor is sensitive to the pointing gaze of a certain day area after a period of time (at least 300 seconds). Thus, the search for pulsar both completely covers the search sky region and resides for a period of time in all directions, the method comprising the steps of:
(1) dividing the sky into nine-square grids by taking the nominal position of the pulsar as the center;
the center of the nine-grid is a No. 1 area, the center of the No. 1 area is the nominal position of the pulsar, the No. 2 area is on the right of the No. 1 area, the No. 3 area is above the No. 2 area, the No. 4 area is on the left of the No. 3 area, the No. 5 area is on the left of the No. 4 area, the No. 6 area is below the No. 5 area, the No. 7 area is below the No. 6 area, the No. 8 area is on the right of the No. 7 area, the No. 9 area is on the right of the No. 8 area, the No. 9 area is below the No. 2 area, nine areas of the nine-grid are squares, the side lengths of all the areas are equal, and the side length of each area is 1/4 of the sensor; setting the time to be 400 s;
(2) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 1 area, staying at staring for 400s, and carrying out the next step if no pulsar is searched after staring time is over;
(3) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 2 area, staying at staring for 400s, and carrying out the next step if no pulsar is searched after staring time is over;
(4) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 3 area, staying at staring for 400s, and carrying out the next step if no pulsar is searched after staring time is over;
(5) and controlling the attitude of the satellite to enable the sensor to point to the center of the No. 4 area, staying at staring for 400s, and after staring time is finished, searching for the pulsar, and finishing the searching process.
In the above steps, setting the sensor to be installed on the-Z axis of the satellite, pointing to the center of the No. 1 region from the sensor and staying at the staring, until the sensor points to the center of the No. 4 region and stays at the staring, namely, in the searching process of the above steps (1) to (5), controlling the X-axis direction and the Y-axis direction of the satellite to be unchanged,
the Y-axis direction of the satellite when the sensor points to the center of the No. 1 area and stays at gaze is used as an initial valueI1Represents;
the X-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
XI2＝YI1×ZI2wherein Z isI2Is the inertial negative direction of the center of region No. 2, and is aligned with XI2Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
YI2＝ZI2×XI2and to YI2And carrying out normalization processing to obtain the Y-axis direction of the satellite.
The X-axis direction calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
XI3＝YI2×ZI3wherein Z isI3Is the inertial negative direction of the center of region No. 3, and is aligned with XI3Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
YI3＝ZI3×XI3and to YI3And carrying out normalization processing to obtain the Y-axis direction of the satellite.
The X-axis direction calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
XI4＝YI3×ZI4wherein Z isI4Is the inertial negative direction of the center of region No. 4, and is aligned with XI4Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
YI4＝ZI4×XI4and is combined withFor YI4And carrying out normalization processing to obtain the Y-axis direction of the satellite.
Example 2
As shown in figures 1 and 3 of the drawings,
a method for searching pointed-parking spiral segmented pulsar, comprising the steps of:
(1) dividing the sky into nine-square grids by taking the nominal position of the pulsar as the center;
the center of the nine-grid is a No. 1 area, the center of the No. 1 area is the nominal position of the pulsar, the No. 2 area is on the right of the No. 1 area, the No. 3 area is above the No. 2 area, the No. 4 area is on the left of the No. 3 area, the No. 5 area is on the left of the No. 4 area, the No. 6 area is below the No. 5 area, the No. 7 area is below the No. 6 area, the No. 8 area is on the right of the No. 7 area, the No. 9 area is on the right of the No. 8 area, the No. 9 area is below the No. 2 area, nine areas of the nine-grid are squares, the side lengths of all the areas are equal, and the side length of each area is 1/3 of the sensor; setting the time to be 300 s;
(2) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 1 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(3) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 2 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(4) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 3 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(5) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 4 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(6) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 5 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(7) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 6 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(8) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 7 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(9) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 8 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(10) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 9 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(11) expanding the grid to twenty-five grids on the basis of the nine-grid in the step (1), wherein twenty-five areas in the twenty-five grids are also squares, and the side length of each area is equal to that of each area in the nine-grid;
(12) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 10 area, staying at the staring set time, and carrying out the next step if no pulsar is searched after the staring time is over;
(13) and controlling the attitude of the satellite to enable the sensor to point to the center of the No. 11 area, staying at the staring set time, and after the staring time is finished, searching for the pulsar, and finishing the searching process.
In the above steps, the sensor is set to be installed on the-Z axis of the satellite, and then the sensor points to the center of the No. 1 area and stays at the staring, until the sensor points to the center of the No. 9 area and stays at the staring process, namely in the searching process of the above steps (1) - (13), the X-axis direction and the Y-axis direction of the satellite need to be controlled to be unchanged;
the Y-axis direction of the satellite when the sensor points to the center of the No. 1 area and stays at gaze is used as an initial valueI1Represents;
the X-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
XI2＝YI1×ZI2wherein Z isI2Is the inertial negative direction of the center of region No. 2, and is aligned with XI2Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
YI2＝ZI2×XI2and to YI2And carrying out normalization processing to obtain the Y-axis direction of the satellite.
The X-axis direction calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
XI3＝YI2×ZI3wherein Z isI3Is the inertial negative direction of the center of region No. 3, and is aligned with XI3Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
YI3＝ZI3×XI3and to YI3And carrying out normalization processing to obtain the Y-axis direction of the satellite.
The X-axis direction calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
XI4＝YI3×ZI4wherein Z isI4Is the inertial negative direction of the center of region No. 4, and is aligned with XI4Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
YI4＝ZI4×XI4and to YI4And carrying out normalization processing to obtain the Y-axis direction of the satellite.
…
And similarly, obtaining the X-axis direction and the Y-axis direction of the satellite when the sensor points to the center of the No. 5-11 area and stays at the staring.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (7)
1. A method for searching pointed-resident spiral segmented pulsar is characterized by comprising the following steps:
(1) dividing the sky into nine-square grids by taking the nominal position of the pulsar as the center;
(2) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 1 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(3) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 2 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(4) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 3 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(5) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 4 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(6) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 5 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(7) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 6 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(8) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 7 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(9) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 8 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(10) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 9 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(11) expanding the grid to twenty-five grids on the basis of the nine grids in the step (1);
(12) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 10 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
…
(13) controlling the attitude of the satellite to enable the sensor to point to the center of the No. 25 area, and staying at the staring time for setting time, after the staring time is finished, if pulsar is searched, finishing the searching process, and if pulsar is not searched, carrying out the next step;
(14) continuing to expand outwards on the basis of the twenty-five grids in the step (11) until pulsar is searched;
setting the sensor to be arranged on a-Z axis of the satellite, wherein the X-axis direction and the Y-axis direction of the satellite are unchanged in the searching process of the sensor;
the center of the nine-grid is a No. 1 area, the center of the No. 1 area is the nominal position of the pulsar, the No. 2 area is at the right of the No. 1 area, the No. 3 area is above the No. 2 area, the No. 4 area is at the left of the No. 3 area, the No. 5 area is at the left of the No. 4 area, the No. 6 area is below the No. 5 area, the No. 7 area is below the No. 6 area, the No. 8 area is at the right of the No. 7 area, the No. 9 area is at the right of the No. 8 area, and the No. 9 area is below the No. 2 area;
the method for determining the X-axis direction and the Y-axis direction of the satellite comprises the following steps:
pointing to No. 1 area with sensorY-axis orientation of the satellite at the center of the domain and at the time of gaze is used as an initial value of YI1Represents;
the X-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
XI2＝YI1×ZI2wherein Z isI2Is the inertial negative direction of the center of region No. 2, and is aligned with XI2Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 2 area and stays at staring comprises the following steps:
YI2＝ZI2×XI2and to YI2And carrying out normalization processing to obtain the Y-axis direction of the satellite.
2. The method of claim 1, wherein the method comprises: the method for determining the X-axis direction and the Y-axis direction of the satellite comprises the following steps:
the Y-axis direction of the satellite when the sensor points to the center of the No. 1 area and stays at gaze is used as an initial valueI1Represents;
the X-axis direction calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
XI3＝YI2×ZI3wherein Z isI3Is the inertial negative direction of the center of region No. 3, and is aligned with XI3Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 3 area and stays at staring comprises the following steps:
YI3＝ZI3×XI3and to YI3And carrying out normalization processing to obtain the Y-axis direction of the satellite.
3. The method of claim 2, wherein the method comprises: the method for determining the X-axis direction and the Y-axis direction of the satellite comprises the following steps:
the Y-axis direction of the satellite when the sensor points to the center of the No. 1 area and stays at gaze is used as an initial valueBy YI1Represents;
the X-axis direction calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
XI4＝YI3×ZI4wherein Z isI4Is the inertial negative direction of the center of region No. 4, and is aligned with XI4Carrying out normalization processing to obtain the X-axis direction of the satellite;
the Y-axis pointing calculation method of the satellite when the sensor points to the center of the No. 4 area and stays at staring comprises the following steps:
YI4＝ZI4×XI4and to YI4And carrying out normalization processing to obtain the Y-axis direction of the satellite.
4. The method of claim 1, wherein the method comprises: nine areas of the nine-square grid are squares, and the side lengths of all the areas are equal.
5. The method of claim 4, wherein the method comprises: the side length of each area is not more than 1/3 of the sensor field of view.
6. The method of claim 1, wherein the method comprises: the set time is not less than 300 s.
7. The method of claim 1, wherein the method comprises: in the step (11), twenty-five areas in the twenty-five grids are also squares, and the side length of each area is equal to that of each area in the nine grids.
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