CN102426025A - Simulation analysis method for drift correction angle during remote sensing satellite attitude maneuver - Google Patents
Simulation analysis method for drift correction angle during remote sensing satellite attitude maneuver Download PDFInfo
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Abstract
The invention relates to a simulation analysis method for a drift correction angle during remote sensing satellite attitude maneuver. According to the present invention, a simulation tool is adopted to establish a satellite and a satellite sensor, and the longitude and the latitude of the intersection point of a sensor visual axis and an earth model are acquired in the given time period; according to the longitude and the latitude, feature points are established on the earth model; the coordinates of each feature point at the current time point and the next time point in a J2000 coordinate system are acquired; in the J2000 coordinate system, the following velocity vector of the current feature point at the current time in the J2000 coordinate system, and the movement velocity vector of the current feature point relative to the satellite in the J2000 coordinate system are respectively acquired; the vector composition of the velocity is adopted to acquire the total velocity vector of the movement of the current feature point relative to the satellite in the J2000 coordinate system; a CCD imaging plane is established in the satellite model; the projection of the total velocity vector in the CCD imaging plane of the satellite is acquired by projecting; the included angle formed by the projection vector and the normal line direction of the CCD linear array is the drift correction angle.
Description
Technical field
The present invention relates to a kind of method that adopts simulation analysis to obtain drift correction angle degree on the motor-driven clock star of the attitude of satellite.
Background technology
The definition of drift angle stems from aeronautical terminology, and its definition is when having crosswind, and the actual flight path of aircraft and the course of aircraft are inconsistent, and the angle of course line and track line is called drift angle.At satellite when the earth turns round; Because earth rotation can make the object of earth surface have the convected velocity along earth autobiography angular velocity direction; The moving direction (track line) that the camera of this moment is taken the photograph scenery relatively is inconsistent with the projection line velocity reversal (course line) of camera motion, is also referred to as drift angle.
The definition of drift correction angle comes from the satellite with attitude maneuver ability, when satellite carries out pitching and side-sway automotive, for the target directing that guarantees satellite satellite in the process at adjustment attitude crab the wind angle (along satellite Z
BDirection of principal axis) constant, only through adjusting around satellite Z
BAxle rotates and carries out the drift angle correction, so this is around Z
BJust there is certain deviation in the angle that axle rotates with the drift angle of the resultant photography point of actual computation, defines this around Z
BThe angle that axle rotates is that drift correction angle is to show difference.The Z here
BAxle belongs to satellite body coordinate system (O
BX
BY
BZ
B), the initial point O of satellite body coordinate system
BThe frame satellite-rocket docking face center in the butt joint ring lower end, the axial line of butt joint ring is satellite X
BAxle points to load cabin direction for just by initial point, satellite Z
BAxle is for being parallel to the breviseptum direction, with sensor installation side over the ground for just, Y
BAxle is parallel to long dividing plate direction, perpendicular to X
BAxle and Z
BAxle and follow the right-hand rule and X
BAxle, Z
BAxle form right angle coordinate system.
Be carried out to the sensor of picture for the space; Especially after technology such as TDICCD are applied on the satellite; With the relative motion of satellite strict demand has just been arranged on a surface target in the satellite task, satellite is around obtain the influence that generation can not ignore of axis small rotation angle to information.Particularly for TDICCD; Its imageing sensor is compared with general line array CCD; Profile is a line array CCD device, but its structure is as a face battle array device, the similar multiexposure, multiple exposure of its image-forming principle; Therefore require same each pixel that lists all to same target exposure integration, could guarantee the picture quality of output.If do not carry out drift angle control, will produce horizontal image drift in image planes, make the pixel of same row in the process of integration repeatedly, what see is not same target.This image drift will cause the reduction of image quality, therefore need on star, revise drift angle.
Raising along with TDICCD remote sensing satellite imaging resolution and image quality requirement; On satellite, carry out accurate drift angle correction and become a kind of inevitable task gradually, and drift angle analytical algorithm on the star verified also just become the overall work of TDICCD remote sensing satellite.Ground carry out in the face of the satellite drift correction angle high-precision calculating not only can design of satellites and factory testing stage to the star of satellite on the real-time computational accuracy of drift angle verify; It is estimated in the influence of rail imaging performance; Can also, satellite be used to verify the source of star epigraph influence factor after entering the orbit, for the better image imaging quality that ensures provides the most directly support.
In the analytical approach of traditional drift angle; All use the geometric analysis and the derivation of equation to calculate; The maximum shortcoming of this mode is exactly to depend on too much hypothesis; Therefore directly cause computational accuracy not enough, can only can't use the result of this low precision to verify algorithm validity and precision on the star as analyzing qualitatively.And, adopt the characteristics that derivation is complicated, precision is on the low side of the method for geometric analysis just to display more along with the use of satellite pitch attitude maneuverability.The correction precision of drift angle and image quality have closely gets in touch; Thereby the mode of traditional qualitative analysis formed not controlled leak in the imaging link design proof procedure of satellite, is unfavorable for from the quantitative assurance satellite of the angle of system in the rail image quality.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiency of prior art, provide a kind of based on the high precision model, use numerical computation method, the simulating analysis of drift correction angle during to the strong attitude maneuver of the pitching side-sway attitude maneuver adaptive faculty of TDICCD remote sensing satellite.
Technical solution of the present invention is: the simulating analysis of drift correction angle during the remote sensing satellite attitude maneuver, and step is following:
(1) uses emulation tool to set up satellite and star upper sensor, the attitude of satellite and sensor parameters are set;
(2) obtain the longitude and latitude of the sensor optical axis and earth model intersection point in given time cycle;
(3) longitude and latitude that obtains according to step (2) is set up unique point successively on earth model;
(4) obtain the coordinate of each unique point under the J2000 of current point in time and next time point coordinate system;
(5) under the J2000 coordinate system, calculate current unique point at the coordinate of next time point with respect to the differential of current unique point at the current time point coordinate, obtain the convected velocity vector of current unique point in the J2000 of current time coordinate system;
(6) under the J2000 coordinate system, calculate current unique point at the coordinate of current point in time with respect to the differential of next unique point at next time point coordinate, obtain current unique point movement velocity vector with respect to satellite in the J2000 coordinate system;
(7), utilize the vector of speed to synthesize the general speed vector that the current unique point of acquisition is moved in the J2000 coordinate system with respect to satellite according to the result of step (5) and step (6);
(8) in dummy satellite, set up the CCD imaging plane, obtain the projection vector of general speed vector in the Satellite CCD imaging plane that current unique point is moved in the J2000 coordinate system with respect to satellite through projection;
(9) ask for the angle of said projection vector and CCD linear array normal direction, be the drift correction angle of current unique point;
(10) repeating step (5)～(9) obtain the drift correction angle of all unique points.
The present invention's advantage compared with prior art is: the simulating analysis of drift correction angle has been broken away from the dependence to hypothesis too much in the conventional geometric analytical approach during attitude maneuver that the present invention proposes; High precision emulation, space vector computing and TDICCD remote sensor imaging geometry characteristic have been merged in the method; Overcome the deficiency of existing methods analyst precision; Obtained the motion vector generated data of actual photography point; With vector projection in star upper sensor imaging plane, and the imaging direction vector of the TDICCD device of further combination reality, the drift correction angle on the photography moment star obtained.Because drift correction angle is a parameter very crucial on the star, its parameter will be directly connected to the ground integrated indexs of star such as the image quality, framing precision, camera imaging spatial direction precision of TDICCD remote sensing satellite.Therefore the inventive method efficiently solves the high precision validation problem to drift angle correction algorithm on the star, for the ground test of satellite imagery link is verified the important means of having replenished.
Description of drawings
Fig. 1 is the process flow diagram of the inventive method;
Fig. 2 is the emulation and the optical axis synoptic diagram of satellite motion imaging of the present invention;
Fig. 3 obtains general speed
synoptic diagram for the present invention synthesizes through vector;
Fig. 4 is Satellite CCD imaging plane of the present invention and general speed model synoptic diagram;
Fig. 5 is general speed projection of the present invention and CCD normal direction dummy satellite synoptic diagram;
Fig. 6 is the Calculation results synoptic diagram of the present invention to different side-swaies angle;
Fig. 7 contrasts synoptic diagram for simulation analysis of the present invention and geometric analysis result.
Embodiment
At first provide the definition of J2000 inertial coordinates system, simultaneously the notion of the optical axis with the photography point described.
J2000 inertial coordinates system (O
JX
JY
JZ
J) be an inertial space coordinate system, this coordinate system is initial point O with the earth's core
J, X
JThe direction in average first point of Aries of the earth of measuring when the axle forward points to UTC Universal Time Coordinated 12:00 on January 1st, 2000, Z
JThe axle forward points to the average axis of rotation the North that the earth is measured, Y when UTC Universal Time Coordinated 12:00 on January 1st, 2000
JAxle and X
J, Z
JAxle is vertical, X
J, Y
J, Z
JThree form right-handed coordinate system.
The definition of the optical axis is exactly the axis of sensor field of view; Owing in imaging simulation, be difficult to the whole imageable target in the whole sensor visual field are analyzed, under the less relatively situation in visual field, generally all adopt the analysis of visual axis imaging to characterize the imaging performance of whole sensor.When analyzing, the point that the optical axis points to earth surface just is called as the photography point.
For one is the remote sensing satellite of load with the TDICCD camera typically; The simulating analysis of its drift correction angle is as shown in Figure 1, mainly is divided into setting up realistic model, obtain optical axis intersection point, calculating four processes of drift correction angle that obtain after obtaining photography point motion vector, projection.Below just with N time point as an emulation cycle, Δ t comes embodiment is described with this as the interval between each time point.
1. set up realistic model
Used STK as emulation tool in this step.Open STK software, newly-built satellite, the input orbit parameter comprises time epoch, semi-major axis, excentricity, orbit inclination, the angle of depression, perigee, ascending node precision, mean anomaly.Select the deduction model of the J4 Disturbance Model of the earth, and select the sensing parameter of EOPv1.1 as earth model as satellite orbit.
Newly-built sensor on satellite is set the visual field of sensor according to the field angle of actual TDICCD.Open the attribute of satellite; In attitude, the attitude maneuver parameter of satellite is set, if side-sway automotive only; Then select " ECI velocity alignment with nadir constraint "; Input side pivot angle degree in " Constraint " if having side-sway and pitching motor-driven simultaneously, is then selected " Aligned and Constrained "; Sequencing according to side-sway and pitching is distinguished input side pivot angle degree and luffing angle in " Aligned Vector " and " Constrained Vector " afterwards, accomplishes the setting of attitude.
2. obtain optical axis intersection point
In simulation software, carry out the emulation of satellite motion imaging; As shown in Figure 2; Obtain the intersection point on the star upper sensor optical axis (visual field central authorities vector among Fig. 2) and earth model ground, in the emulation cycle of N time point, obtain the longitude and latitude data of satellite and earth model ground intersection point.
Data at this note expression intersection point are: (Lat
1, lon
1), (Lat
2, lon
2) ...., (Lat
N, lon
N), wherein subscript has indicated the moment that obtains this intersection point longitude and latitude, and the longitude and latitude of the intersection point of i time point generation is (Lat
i, lon
i).
3. obtain the photography point motion vector
Owing to all be based on object, and not an object, so be difficult to the detailed data of its position of intersecting point of acquisition for the optical axis of satellite and the intersection point on ground for most of emulation tools.Therefore in order to obtain the motion vector of photography point; Just must be at first photography point (characterizing) objectification with optical axis intersection point; The longitude and latitude data of the intersection point that obtains in utilizing are 2. set up unique point at correspondence position, and obtain needed coordinate data information, and concrete operations are following:
To i=1～N, be (Lat successively at coordinate
i, lon
i) landscape position set up unique point, utilize emulation tool STK to obtain the coordinate data of this unique point under i the time point and the J2000 coordinate system in two moment of i+1 time point, be expressed as:
Use the position coordinates that obtains, at first adopt the mode of position differential to obtain convected velocity V
eVector Message, concrete computing method are following:
To i the characteristic point coordinates information (X of satellite in i time point and i+1 time point acquisition
I, t=i, Y
I, t=i, Z
I, t=i) and (X
I, t=i+1, Y
I, t=i+1, Z
I, t=i+1) time diffusion is obtained the convected velocity V that unique point is caused by earth rotation
eHere therefore the use location has Δ t differential (unique point self convected motion at the earth's surface is exactly the motion with respect to satellite, so convected velocity is pointed to the position of t=i+1 from the position of t=i):
The mode of secondly same employing position differential is obtained the movement velocity V with respect to satellite
iVector Message:
To i the characteristic point coordinates information (X of satellite i time point acquisition
I, t=i, Y
I, t=i, Z
I, t=i) and i+1 i+1 the characteristic point coordinates information (X that time point obtains
I+1, t=i+1, Y
I+1, t=i+1, Z
I+1, t=i+1) time diffusion is obtained the speed of related movement V that unique point is caused by satellite motion
iHere the use location difference to Δ t differential (different unique points constantly be not both kinetic by satellite; Therefore certain unique point is opposite with respect to the direction of motion of the movement velocity of satellite and satellite itself; So relative velocity points to the position of i the unique point of t=i from i+1 the characteristic point position of t=i+1), therefore have:
Obtain the general speed of unique point through the synthetic mode of vector at last with respect to satellite flight, as shown in Figure 3,
Promptly obtained thus under the J2000 inertial coordinates system; At the photography point of i time point synthetic general speed vector with respect to satellite; Successively to i=1,2 ... N N time point altogether carries out above-mentioned analysis; Obtain the satellite aggregate velocity vector of all N time point, and then can carry out the calculating of drift correction angle thus.
4. calculate after the projection and obtain drift correction angle
In order to carry out projection; At first need confirm the imaging plane of CCD; In " Vector Geometry Tool (how much instruments of vector) " of STK, set up the CCD imaging plane; The concrete steps of setting up are at first to set up 3-D walls and floor, according to the design of satellite with the X of CCD imaging plane based on the satellite body coordinate system
BO
BY
BThe plane defines with the mode of Eulerian angle rotation; Secondly the coordinate axis that defines is defined as a coordinate system; The initial point of system uses the initial point of satellite body coordinate system, uses the mode of " Quadrant " to select the top XOY plane that defines coordinate system at last, sets up the CCD imaging plane.It is as shown in Figure 4 that top
that obtains and CCD imaging plane are with the initial point of satellite body coordinate system that central representation comes out simultaneously; As can be seen from the figure,
be not on the imaging plane of CCD.
Directly in model to
projection on the imaging plane of CCD; Obtain projection vector
and try to achieve this projection vector
and the angle of the normal direction vector
of CCD device; As shown in Figure 5, the value at this angle is drift correction angle.
Embodiment
For the TDICCD remote sensing satellite of the sun synchronous orbit of one 650 km height, orbit parameter is: semi-major axis=7023.14 kms; Excentricity=0; Orbit inclination=97.9708 degree; The angle of depression, perigee=0 degree; Longitude of ascending node=337.752 degree; Mean anomaly=0 degree.According to the design of general satellite, the X of satellite body coordinate system is set
BO
BY
BThe plane is exactly the CCD imaging plane.Under the situation of only considering the satellite side-sway attitude maneuver, get N=5000s, Δ t=1s; Each step through the inventive method (is provided with 0 ° here, 15 ° through different side-sway angles is set; 25 °, 35 °), can obtain high-precision drift correction angle data through simulation analysis; Concrete result is as shown in Figure 6, has provided the relation of drift correction angle and satellite latitude among the figure.In the motor-driven angle of the attitude of satellite hour, the precision of geometric analysis method is just slightly high, and the inventive method is not too obvious just on precision improvement, is not carrying out under the situation of any attitude maneuver, and average behavior only promotes 2%.And the side-sway angle is big more, and the computational accuracy of method of geometry is just low more, in side-sway 35 degree, compares the data of geometric analysis and the data of simulation analysis as shown in Figure 7.As can be seen from the figure; Pure geometric analysis is because hypothesis is more; Also there is bigger deviation; Through the geometric analysis data of 35 degree during side-swaies are compared statistics with the simulation analysis data of using the method to obtain, use this emulation mode can on average improve 0.67 ° of the calculation deviation of drift angle, improve precision about 30%.
The content of not doing to describe in detail in the instructions of the present invention belongs to those skilled in the art's known technology.
Claims (1)
1. the simulating analysis of drift correction angle during the remote sensing satellite attitude maneuver is characterized in that step is following:
(1) uses emulation tool to set up satellite and star upper sensor, the attitude of satellite and sensor parameters are set;
(2) obtain the longitude and latitude of the sensor optical axis and earth model intersection point in given time cycle;
(3) longitude and latitude that obtains according to step (2) is set up unique point successively on earth model;
(4) obtain the coordinate of each unique point under the J2000 of current point in time and next time point coordinate system;
(5) under the J2000 coordinate system, calculate current unique point at the coordinate of next time point with respect to the differential of current unique point at the current time point coordinate, obtain the convected velocity vector of current unique point in the J2000 of current time coordinate system;
(6) under the J2000 coordinate system, calculate current unique point at the coordinate of current point in time with respect to the differential of next unique point at next time point coordinate, obtain current unique point movement velocity vector with respect to satellite in the J2000 coordinate system;
(7), utilize the vector of speed to synthesize the general speed vector that the current unique point of acquisition is moved in the J2000 coordinate system with respect to satellite according to the result of step (5) and step (6);
(8) in dummy satellite, set up the CCD imaging plane, obtain the projection vector of general speed vector in the Satellite CCD imaging plane that current unique point is moved in the J2000 coordinate system with respect to satellite through projection;
(9) ask for the angle of said projection vector and CCD linear array normal direction, be the drift correction angle of current unique point;
(10) repeating step (5)～(9) obtain the drift correction angle of all unique points.
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| CN104567819A (en) * | 2015-01-16 | 2015-04-29 | 航天东方红卫星有限公司 | Method for determining and compensating full-field drift angle of space-based camera |
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| CN105486315A (en) * | 2015-11-26 | 2016-04-13 | 航天东方红卫星有限公司 | Method for adjusting remote sensing satellite absolute calibration attitude relative to moon |
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