CN103870697B - Satellite based on transcendental inequality covers forecasting procedure - Google Patents
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Abstract
Satellite based on transcendental inequality covers forecasting procedure, (1) constructed fuction f1 (x1, x2), f2 (x1, x2)；(2) one empty sequence vlist of structure, for record 0/1；Constructing an empty ordered sequence tlist, for record variable value, when forecasting time range, this variate-value represents the time, and when forecasting side-sway scope, this variate-value represents side-sway angle, and ordered sequence tlist sorts from small to large according to variate-value；Tlist with vlist length all the time is consistent and is worth one_to_one corresponding；Setting enumerator counter, initial value is 1；(3) region of search [A, B] being divided into n decile, the demultiplexing such as each interval [a, b] represents, counter value is plus n 1；Carrying out each decile [a, b] covering forecast calculation, cover forecast calculation and be broadly divided into two parts, Part I is recursion, builds 0/1 sequence, namely F (a, b) sequence of symbol.Part II is the solution looking for inequality according to 0/1 sequence.
Description
Technical field
The present invention relates to a kind of satellite and cover forecasting procedure, belong to satellite remote sensing technology field.
Background technology
The forecast that covers of satellite refers to that ground system mathematically solves the camera of remote sensing satellite opportunity to earth superficial objects imaging.This is for planning camera switch time and the side-sway angle of remote sensing satellite.
Owing to the track of satellite is affected by multiple perturbative force, it is impossible to be fitted by simple relationship.The camera carried on satellite, it is also not possible to provide definite mathematical relationship and an in the future time period in the ground areas imaging of camera is depicted.So, the covering forecasting problem of satellite is typically sought by the method for numerical radius.For typically pushing away and sweeping type camera, it is simply that the floor projection band solving camera initiateed and the moment of end, if satellite or camera can be along track left and right side-swaies, in addition it is also necessary to solve side-sway angle further with intersecting of ground target.
Obviously, one is compared Approximation Method intuitively is that time range to be solved or side-sway angular range are cut into sufficiently small fragment.Order calculates the Polaroid scope of camera from fractional time or angular range every time, if this time areas imaging intersects with ground target, then explanation phase function covers this ground target, thus solves covering forecasting problem.
Such method, it is impossible to simultaneously reach gratifying effect between solving speed and solving precision.If the comparison of scope cutting is thick, the ratio of precision the most finally drawn is relatively low, it is difficult to meets and is actually needed.And thinner scope cutting, it is to can be derived that satisfied precision, but needs to expend the very long calculating time.As: in calculating 3 days, certain star loaded camera cover time to ground target, if being cut into the time period (because the substar speed of satellite is generally thousand of metre per second (m/s), the precision that the time period taking millisecond just can make covering forecast reaches the magnitude of several meters) of 0.001 second, need cutting altogether
3 days * 86400 seconds/days * 100,0=2 hundred million sections
This 200,000,000 multi-section time section is calculated respectively the floor projection band of star loaded camera, then judges whether to intersect with target, on a common computer, the several minutes time will be expended.If there being tens of satellites, hundreds of ground targets need to calculate and cover predicting condition, and the time of consuming is the most unacceptable.
Summary of the invention
The technology of the present invention solves problem: overcome the deficiencies in the prior art, unified in an inequality solving model to time period forecast and the forecast of side-sway angular segments, and gives method of value solving faster to this inequality Solve problems.This invention can improve satellite the most simultaneously and cover speed and the precision of forecast.
The technical solution of the present invention is: satellite based on transcendental inequality covers forecasting procedure, and step is as follows:
(1) constructed fuction f1 (x1, x2), f2 (x1, x2)；
(2) one empty sequence vlist of structure, for record 0/1；Constructing an empty ordered sequence tlist, for record variable value, when forecasting time range, this variate-value represents the time, and when forecasting side-sway scope, this variate-value represents side-sway angle, and ordered sequence tlist sorts from small to large according to variate-value；Tlist with vlist length all the time is consistent and is worth one_to_one corresponding；Setting enumerator counter, initial value is 1；
(3) region of search [A, B] being divided into n decile, the demultiplexing such as each interval [a, b] represents, counter value is plus n-1；Each decile [a, b] is handled as follows simultaneously:
(3.1) solved function F (a, b), when forecast time range time, make F (a, b)=f1 (and a, b), when forecast side-sway scope time, F (a, b)=f2 (a, b)；
(3.2) judge that (a, b) symbol of value, if (a, b) > 0 goes to step (3.3) to F to F；Otherwise, in ordered sequence tlist according to the value binary search of a to position p；Inserting 0 toward the position p in sequence vlist, the position p toward sequence tlist inserts a, counter value and subtracts 1, goes to step (4)；
(3.3) judge that the siding-to-siding block length b-a of decile [a, b] whether more than or equal to threshold value, the most then goes to step (3), by current decile [a, b] as the region of search [A, B], re-starts decile and subsequent treatment；Otherwise in ordered sequence tlist according to the value binary search of a to position p；Inserting 1 toward the position p in sequence vlist, the position p toward sequence tlist inserts a, counter value and subtracts 1, goes to step (4)；
(4) judge that counter value, whether equal to 0, if being equal to 0, then goes to step (5)；Otherwise, wait；
(5) initializing two tuples list ulist, for recording the solution of inequality, and to make search original position be q, q=1；
(6) in sequence vlist from the beginning of the q of position, search for by the saltus step of 0 to 1, find the position p of 0；From tlist, find variate-value corresponding for position p, recorded temporary variable s；
(7) in sequence vlist from the beginning of the p of position, the saltus step of search 1 to 0, find the position p of 0 correspondence, variate-value e corresponding for position p is found from tlist, with the variable s recorded before, form two tuple [s, e] and charge to list ulist as a solution of inequality；
(8) if judging whether to search for sequence end, the most then stopping, otherwise order search original position q=p, goes to step (6) and repeats, and the solution [s, e] in two tuples list ulist is time range or the side-sway angular range of all satisfied forecast requirements.
Described function f1 (x1, x2) and the constitution step of f2 (x1, x2) are as follows: when forecasting time range, (x1, x2) represents time interval, and when forecasting side-sway scope, (x1, x2) represents side-sway angular interval；
(1.1) it is currently entered, according to orbit computation, the satellite ephemeris that time interval (x1, x2) is corresponding；
(1.2) this sensor covered ground band on ground in the range of this time interval or side-sway is calculated according to the installation of sensor to be solved and visual field parameter；
(1.3) the scope of covered ground band obtained above Yu target make at the earth's surface geometry judge, if they exist intersect or inclusion relation, function return on the occasion of, otherwise return negative value.
The present invention compared with prior art has the beneficial effect that the camera of dozens of satellite is carried out covering forecast by the method using the present invention with hundreds of earth's surface targets, has only to run a few minutes on common terminal computer.Comparing than directly " linear search " method, substantially increase the efficiency covering forecast, meanwhile, forecast precision can reach exactly accurate precision in the allowed band of computer numerical error.
Accompanying drawing explanation
Fig. 1 is the inventive method flow chart.
Detailed description of the invention
Spaceborne pushing away is swept the covering forecasting problem of type camera and is actually had two problems: time range prediction and side-sway horizon prediction.The time range prediction purpose covered in forecast is to obtain time range [t1, t2], initially enters the region of superficial objects at moment t1 sensor strips, leaves region at moment t2.The purpose of side-sway horizon prediction is on the basis of time range is predicted, obtain and there is the camera of side-sway ability (whole star side-sway and camera pendulum mirror side-sway) at time range [t1, t2] on need the side-sway angle [w1, w2] taked, it is assumed that side-sway of turning left is the positive direction of angle.If maximum side-sway ability is Tmax, when angle t1 (t1>-Tmax), the band of camera side-sway to the right begins to pass through target area, and when angle t2 (t2<Tmax), the band of camera side-sway to the left leaves target area.
The two problem can essentially solve with same general-purpose algorithm, describes concrete solution procedure below, as it is shown in figure 1, specifically comprise the following steps that
(1) constructed fuction f1 (x1, x2), f2 (x1, x2)；When forecasting time range, (x1, x2) represents time interval, and when forecasting side-sway scope, (x1, x2) represents side-sway angular interval.
The step of specific configuration f1 (x1, x2) is as follows:
(1.1) it is currently entered, according to orbit computation, the satellite ephemeris that time interval (x1, x2) is corresponding；
(1.2) installation and visual field parameter according to sensor to be solved calculate interior this sensor covered ground band on ground of this time interval (x1, x2)；
(1.3) the scope of covered ground band obtained above Yu target make at the earth's surface geometry judge, if they exist intersect or inclusion relation, function return on the occasion of, otherwise return negative value.
The step of specific configuration f2 (x1, x2) is as follows:
(1.1) it is currently entered, according to orbit computation, the satellite ephemeris that time interval (t1, t2) is corresponding；
(1.2) installation and visual field parameter according to sensor to be solved calculate interior this sensor covered ground band on ground of given side-sway scope (x1, x2)；
(1.3) the scope of covered ground band obtained above Yu target make at the earth's surface geometry judge, if they exist intersect or inclusion relation, function return on the occasion of, otherwise return negative value.
Such as solve the sensor B cover time to target T on satellite A.The parameter of function f1 (x1, x2) is A, B, T, and variable x1, x2 represent one of them time period.First calculate satellite A at the ephemeris of (x1, x2), then calculate the sensor B strips S on ground, if strips S is handed over target T-phase or comprises, then return one on the occasion of, otherwise return negative value.
Such as on satellite A, target T was covered within the time (t1, t2) by sensor B, needed to solve side-sway angle.The parameter of function f2 (x1, x2) is A, B, T, t1, t2, and variable x1, x2 represent one of them side-sway angular range.First calculate satellite A at the ephemeris of (t1, t2), then calculate the sensor B strips S in the visual field determined by (x1, x2) on ground, if strips S is handed over target T-phase or comprises, then return one on the occasion of, otherwise return negative value.
(2) one empty sequence vlist of structure, for record 0 or 1；Constructing an empty ordered sequence tlist, for record variable value, when forecasting time range, this variate-value represents the time, and when forecasting side-sway scope, this variate-value represents side-sway angle, and ordered sequence tlist sorts from small to large according to variate-value；Tlist with vlist length all the time is consistent and is worth one_to_one corresponding；Setting enumerator counter, initial value is 1；
(3) region of search [A, B] being divided into n decile (n >=2), the demultiplexing such as each interval [a, b] represents, counter value is plus n-1；Each decile [a, b] is handled as follows simultaneously:
(3.1) solved function F (a, b), when forecast time range time, make F (a, b)=f1 (and a, b), when forecast side-sway scope time, F (a, b)=f2 (a, b)；
(3.2) judge that (a, b) symbol of value, if (a, b) > 0 goes to step (3.3) to F to F；Otherwise, in ordered sequence tlist according to the value binary search of a to position p；Inserting 0 toward the position p in sequence vlist, the position p toward sequence tlist inserts a, counter value and subtracts 1, goes to step (4)；
Binary search i.e. Binary searches, it returns to the position associated with nominal key in sequential chained list with speed faster.
(3.3) judge that the siding-to-siding block length b-a of [a, b] whether more than or equal to threshold value, the most then by current decile [a, b] as the region of search [A, B], goes to step (3) and re-starts decile and subsequent treatment；Otherwise in ordered sequence tlist according to the value binary search of a to position p；Inserting 1 toward the position p in sequence vlist, the position p toward sequence tlist inserts a, counter value and subtracts 1, goes to step (4)；
Threshold value mentioned here is determined by solving precision, and less threshold value causes the deeper iterative search degree of depth.Such as: when solving time range, it is intended that the time precision making forecast is better than 0.1 second by the threshold value of 0.1 second；When solving side-sway angular range, it is intended that the side-sway precision making forecast is better than 0.1 degree by the threshold value of 0.1 degree.
(4) judge that counter value, whether equal to 0, if being equal to 0, then goes to step (5)；Otherwise, continue waiting for；
(5) initializing two tuples list ulist, for recording the solution of inequality, and to make search original position be q, q=1；
(6) in sequence vlist from the beginning of the q of position, search for by the saltus step of 0 to 1, find the position p of 0；From tlist, find variate-value corresponding for position p, recorded temporary variable s；
(7) in sequence vlist from the beginning of the p of position, the saltus step of search 1 to 0, find the position p of 0 correspondence, variate-value e corresponding for position p is found from tlist, with the variable s recorded before, form two tuple [s, e] and charge to list ulist as a solution of inequality；
(8) judging whether to search sequence end, the most then stop, otherwise order search original position q=p, goes to step (6) and repeats, and the solution [s, e] in two tuples list ulist is time range or the side-sway angular range of all satisfied forecast requirements.
Explanation of giving one example below solves entire flow during time range, solves side-sway scope and is similar to.
Problem to be asked is: on the search date scope certain satellite A from 2010-9-1 to 2010-9-5, target T is passed by coverage condition by institute set sensor B.
Assuming that one of them actual time covered of passing by is 2010-9-311:30:20 to 2010-9-311:30:23, and assume to segment step-length n=5, threshold value is 1 second.
In the first time segmentation to interval (2010-9-1,2010-9-5), sequence tlist is
[2010-9-1,2010-9-2,2010-9-3,2010-9-4,2010-9-5],
Sequence vlist is [0,0,1,0,0].
At the 3rd section due to f1 > 0 and step-length be 1 day, so needing further segmentation.Remaining segmentation need not segmentation due to f1 < 0, and after second takes turns segmentation, sequence tlist is
[2010-9-1,2010-9-2,2010-9-30:0:0,2010-9-304:48:0,2010-9-309:36:0,2010-9-314:24:0,2010-9-319:12:0,2010-9-4,2010-9-5],
Sequence vlist is [0,0,0,0,1,0,0,0,0]
Obviously now it is also required to segment the 5th section further.For the sake of simplicity it is assumed that through some take turns segmentation after, step-length reaches 1 second threshold value, and one section in vlist is
[..., 0,0,1,1,1,1,0,0,0 ...], corresponding tlist is
[..., 2010-9-311:30:18,2010-9-311:30:19,2010-9-311:30:20,2010-9-311:30:21,2010-9-311:30:22,2010-9-311:30:23,2010-9-311:30:24,2010-9-311:30:25,2010-9-311:30:26 ...]
At this moment, just stop segmentation, search 0 to 1 saltus step and 1 to 0 saltus step following closely, can show that time range is
[2010-9-311:30:20,2010-9-311:30:23]
The present invention is unspecified partly belongs to general knowledge as well known to those skilled in the art.
Claims (2)
1. satellite based on transcendental inequality covers forecasting procedure, it is characterised in that step is as follows:
(1) constructed fuction f1 (x1, x2), f2 (x1, x2)；When forecasting time range, (x1, x2) represents the time
Interval, when forecasting side-sway scope, (x1, x2) represents side-sway angular interval；
(2) one empty sequence vlist of structure, for record 0/1；Construct an empty ordered sequence tlist,
For record variable value, when forecasting time range, this variate-value represents the time, when forecasting side-sway scope,
This variate-value represents side-sway angle, and ordered sequence tlist sorts from small to large according to variate-value；Tlist and vlist
All the time length is consistent and is worth one_to_one corresponding；Setting enumerator counter, initial value is 1；
(3) region of search [A, B] being divided into n decile, the demultiplexing such as each interval [a, b] represents, counter value
Plus n-1；Described n >=2；Each decile [a, b] is handled as follows simultaneously:
(3.1) (a, b), when forecasting time range, ((a b), works as forecast to solved function F for a, b)=f1 to make F
During side-sway scope, and F (a, b)=f2 (a, b)；
(3.2) judge that (a, b) symbol of value, if (a, b) > 0 goes to step (3.3) to F to F；Otherwise, in order
According to the value binary search of a to position p in sequence tlist；Toward the position p insertion 0 in sequence vlist, past
The position p of sequence tlist inserts a, counter value and subtracts 1, goes to step (4)；
(3.3) judge that the siding-to-siding block length b-a of decile [a, b] whether more than or equal to threshold value, the most then goes to step
(3), by current decile [a, b] as the region of search [A, B], decile and subsequent treatment are re-started；Otherwise exist
According to the value binary search of a to position p in ordered sequence tlist；1 is inserted toward the position p in sequence vlist,
Position p toward sequence tlist inserts a, counter value and subtracts 1, goes to step (4)；
(4) judge that counter value, whether equal to 0, if being equal to 0, then goes to step (5)；Otherwise, wait；
(5) initialize two tuples list ulist, for recording the solution of inequality, and make search start bit
It is set to q, q=1；
(6) in sequence vlist from the beginning of the q of position, search for by the saltus step of 0 to 1, find the position of 0
p；From tlist, find variate-value corresponding for position p, recorded temporary variable s；
(7) in sequence vlist from the beginning of the p of position, the saltus step of search 1 to 0, find the position of 0 correspondence
Put p, from tlist, find variate-value e corresponding for position p, with the variable s recorded before, form one two
Tuple [s, e] charges to list ulist as a solution of inequality；
(8) judge whether to search sequence end, the most then stop, otherwise order search original position q=p,
Go to step (6) to repeat, the solution [s, e] in two tuples list ulist be all satisfied forecast require time
Between scope or side-sway angular range.
Satellite based on transcendental inequality the most according to claim 1 covers forecasting procedure, and its feature exists
In: described function f1 (x1, x2) and the constitution step of f2 (x1, x2) are as follows:
(1.1) it is currently entered, according to orbit computation, the satellite ephemeris that time interval is corresponding；
(1.2) installation and visual field parameter according to sensor to be solved calculate this time interval or side-sway scope
Interior this sensor covered ground band on ground；
(1.3) scope of covered ground band obtained above Yu target is made geometry at the earth's surface to judge,
If they exist intersect or inclusion relation, function return on the occasion of, otherwise return negative value.
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