CN104034314A - Guide imaging method, and space target space-based imaging method and device - Google Patents
Guide imaging method, and space target space-based imaging method and device Download PDFInfo
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Abstract
The invention discloses a guide imaging method, and a space target space-based imaging method and device. The space target space-based imaging method comprises the steps of (1) judging whether an observation satellite gradually gets close to a target satellite according to sub-satellite point traces of the observation satellite and the target satellite, if so, executing the step (2), otherwise, executing the step (5); (2) judging whether the value of a distance between the observation satellite and the target satellite is smaller than a first preset threshold value, if so, executing the step (3), otherwise, executing the step (4); (3) performing space-based imaging on the target satellite by adopting a waiting imaging method; (4) performing space-based imaging on the target satellite by adopting a tracing imaging method; (5) judging whether the value of the distance between the observation satellite and the target satellite is smaller than a second preset threshold value, if so, executing the step (6), otherwise, executing the step (7); (6) performing the space-based imaging on the target satellite by adopting the waiting imaging method; (7) performing the space-based imaging on the target satellite by adopting the guide imaging method disclosed by the invention. According to the guide imaging method, and the space target space-based imaging method and device, the simple and high-efficiency space-based imaging of a space target is realized.
Description
Technical field
The present invention relates to extraterrestrial target space-based optical image technology field, specifically, relate to a kind of formation method and extraterrestrial target space-based formation method and device based on intersection kinetic characteristic of guiding.
Background technology
The emulation of extraterrestrial target optical imagery has important value and significance in space-based optic observation system development performance history.The pattern that existing extraterrestrial target space-based optical imagery adopts has from motion tracking imaging pattern and waits for imaging pattern.
Follow the tracks of imaging mode: by ground control extraterrestrial target space-based imaging system, carry out thick orientation, then lock onto target, then turns autonomous tracking, accurate pointing, and in optical camera process Continuous Tracking target, to extend shooting time.The advantage of this mode is longer to the observation time of target, is beneficial to optical imagery.Shortcoming is the capacity of will of extraterrestrial target space-based imaging system to be required very high, need to increase that extraterrestrial target is caught, tracking, recognition system, and systematic comparison is complicated.In addition, when approaching close together, the angular velocity of the relative recording geometry of target is very large, follow the tracks of fast to realize difficulty large.
Wait for imaging mode: according to land station's instruction, extraterrestrial target space-based imaging system is carried out attitude maneuver in advance, point to predetermined direction, while waiting for target through visual field, make a video recording.The advantage of this mode is that system is simple, and reliability is higher.Shortcoming is only can carry out " passive " observation to extraterrestrial target, and observation time is short, very high to requiring the opportunity of imaging observation, correspondingly to the forecast precision of target, requires also high.
Therefore, need to improve existing extraterrestrial target space-based formation method.
Summary of the invention
An object of the present invention is, a kind of guiding formation method is provided, and it can obtain the space of near-range target image better.
For achieving the above object, the invention provides a kind of guiding formation method, comprise the following steps: (A), according to ground forecast emulation planning space target space-based imaging system movement locus, obtain orbiting motion bag; (B) by noting described orbiting motion bag on ground; (C) control extraterrestrial target space-based imaging system and appearance control subsystem according to described orbiting motion bag, at each predetermined instant, move to precalculated position, and control extraterrestrial target space-based imaging system continuous imaging in this motion process.
The present invention guides the advantage of formation method to be still can be to the imaging of extraterrestrial target space-based in the situation that of acquisition and tracking thrashing, and the method that reduces observation satellite and target satellite speed of related movement by rotating in advance can photograph and reduce motion blur, obtains more close-in target image.
A further object of the present invention is, a kind of extraterrestrial target space-based formation method and device are provided, and it can select different imaging patterns from the intersection kinetic characteristic of target satellite according to observation satellite, to obtain better the space of near-range target image.
For achieving the above object, the invention provides a kind of extraterrestrial target space-based formation method, comprise the following steps: (1), according to the sub-satellite track of observation satellite and target satellite, judges that whether observation satellite is gradually near target satellite, if perform step (2), otherwise execution step (5); (2) judge whether the distance between observation satellite and target satellite is less than one first predetermined threshold value, if be less than execution step (3), otherwise execution step (4); (3) adopt and wait for that formation method carries out space-based imaging to target satellite; (4) adopt tracking formation method to carry out space-based imaging to target satellite; (5) judge whether the distance between observation satellite and target satellite is less than one second predetermined threshold value, if be less than execution step (6), otherwise execution step (7); (6) adopt and wait for that formation method carries out space-based imaging to target satellite; (7) adopt guiding formation method of the present invention to carry out space-based imaging to target satellite.
For achieving the above object, the present invention also provides a kind of extraterrestrial target space-based imaging device, comprise track judging unit, first threshold judging unit, Second Threshold judging unit and image-generating unit: described track judging unit is connected with first threshold judging unit and Second Threshold judging unit respectively, be used for according to the sub-satellite track of observation satellite and target satellite, judge that whether observation satellite is gradually near target satellite, if call first threshold judging unit, otherwise call Second Threshold judging unit; Described first threshold judging unit is connected with described image-generating unit, for judging whether the distance between observation satellite and target satellite is less than one first predetermined threshold value, if be less than, control image-generating unit and adopt wait formation method to carry out space-based imaging to target satellite, otherwise control image-generating unit, adopt tracking formation method to carry out space-based imaging to target satellite; Described Second Threshold judging unit is connected with described image-generating unit, for judging whether the distance between observation satellite and target satellite is less than one second predetermined threshold value, if be less than, control image-generating unit and adopt wait formation method to carry out space-based imaging to target satellite, otherwise control image-generating unit, adopt guiding formation method claimed in claim 1 to carry out space-based imaging to target satellite.
The invention has the advantages that, according to the intersection kinetic characteristic of observation satellite and target satellite, and follow the tracks of imaging, etc. the characteristic separately of to be imaged, guiding imaging, select different imaging patterns, realized, efficiently space-based imaging simple to extraterrestrial target.
Accompanying drawing explanation
Fig. 1, the process flow diagram of guiding formation method of the present invention;
Fig. 2, the process flow diagram of extraterrestrial target space-based formation method of the present invention;
Fig. 3 A-3B, the relative motion situation schematic diagram of observation satellite and target satellite;
Fig. 4, the Organization Chart of extraterrestrial target space-based imaging device of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of guiding formation method provided by the invention, extraterrestrial target space-based formation method and device is elaborated.
Shown in Figure 1, a kind of guiding formation method, comprises the following steps: S11: according to ground forecast emulation planning space target space-based imaging system movement locus, obtain orbiting motion bag; S12: by noting described orbiting motion bag on ground; S13: control extraterrestrial target space-based imaging system and appearance control subsystem according to described orbiting motion bag, move to precalculated position at each predetermined instant, and control extraterrestrial target space-based imaging system continuous imaging in this motion process.It is below the detailed description to above-mentioned steps.
S11: according to ground forecast emulation planning space target space-based imaging system movement locus, obtain orbiting motion bag.
According to the forecast of high-precision ground, emulation planning space target space-based imaging system movement locus, thus obtain orbiting motion bag.Described orbiting motion bag comprises that controlling extraterrestrial target space-based imaging system rotates in advance, to reduce the speed of related movement between observation satellite and target satellite.
S12: by noting described orbiting motion bag on ground.
Described orbiting motion bag is sent to extraterrestrial target space-based imaging system and appearance control subsystem, to control its motion.
S13: control extraterrestrial target space-based imaging system and appearance control subsystem according to described orbiting motion bag, move to precalculated position at each predetermined instant, and control extraterrestrial target space-based imaging system continuous imaging in this motion process.
Extraterrestrial target space-based imaging system and appearance control subsystem are moving according to the orbiting motion contracted affreightment of noting on ground, move to precalculated position, extraterrestrial target space-based imaging system continuous imaging in this motion process at each predetermined instant.
The present invention guides the advantage of formation method to be still can be to the imaging of extraterrestrial target space-based in the situation that of acquisition and tracking thrashing, and the method that reduces observation satellite and target satellite speed of related movement by rotating in advance can photograph and reduce motion blur, obtains more close-in target image.
Shown in Figure 2, the process flow diagram of extraterrestrial target space-based formation method of the present invention, said method comprising the steps of.
S21: according to the sub-satellite track of observation satellite and target satellite, judge that whether observation satellite is gradually near target satellite, if perform step S22, otherwise execution step S25.
According to observation satellite and target satellite sub-satellite track, during the imaging of extraterrestrial target space-based, the relative motion situation of observation satellite and target satellite has two kinds: one, observation satellite is gradually near target satellite, as shown in Figure 3A; Two, observation satellite wide satellite gradually, as shown in Figure 3 B.Therefore extraterrestrial target space-based imaging bilateral observation can be according to relative motion situation in different ways.
S22: judge whether the distance between observation satellite and target satellite is less than one first predetermined threshold value, if be less than, performs step S23, otherwise execution step S24.
When observation satellite is gradually when the target satellite, from slow to fast, when the distance between observation satellite and target satellite is less than the first predetermined threshold value, two star speed of related movements are very fast for two star speed of related movements.Therefore, when judging observation satellite gradually near target satellite, according to the corresponding imaging mode of distance different choice between two stars, with better imaging.
The first predetermined threshold value R1 can arrange in the following way:
，
Wherein, V1 is two star speed of related movements, and S is viewing field of camera, and f is frequency.
S23: adopt and wait for that formation method carries out space-based imaging to target satellite.
Wait for formation method: according to land station's instruction, extraterrestrial target space-based imaging system is carried out attitude maneuver in advance, point to predetermined direction, while waiting for target through visual field, make a video recording.Two star speed of related movements are very fast owing to approaching, and to intersection mode, without specific (special) requirements, but observation time is short, obtains view data few, and motion blur is obvious; Therefore adopt to wait for formation method, simple, reliability is higher, can well carry out space-based imaging to target satellite.
S24: adopt tracking formation method to carry out space-based imaging to target satellite.
Follow the tracks of formation method: by ground control extraterrestrial target space-based imaging system, carry out thick orientation, then lock onto target, then turns autonomous tracking, accurate pointing, and in optical camera process Continuous Tracking target, to extend shooting time.Due to two star speed of related movements from slow to fast, be beneficial to catch, steady tracking target; Therefore adopt, follow the tracks of formation method, longer to the observation time of target, be beneficial to optical imagery.
S25: judge whether the distance between observation satellite and target satellite is less than one second predetermined threshold value, if be less than, performs step S26, otherwise execution step S27.
When observation satellite is gradually during wide satellite, from fast to slow, when the distance between observation satellite and target satellite is less than the second predetermined threshold value, two star speed of related movements are very fast for two star speed of related movements.Therefore, when judging that observation satellite is gradually during wide satellite, same according to the corresponding imaging mode of distance different choice between two stars, with better imaging.Wherein, described the first predetermined threshold value can equate with described the second predetermined threshold value, can be also different value.
For example, described the second predetermined threshold value R2 can be:
Wherein, V1 is two star speed of related movements, the speed of emulation planning in the track bag that V2 is upper note, and S is viewing field of camera, f is frequency.
S26: adopt and wait for that formation method carries out space-based imaging to target satellite.
At observation satellite gradually during wide satellite, when the distance between two stars is less than the second predetermined threshold value, because two star speed of related movements are very fast, to intersection mode, without specific (special) requirements, but observation time is short, obtains view data few, and motion blur is obvious; Therefore adopt to wait for formation method, simple, reliability is higher, can well carry out space-based imaging to target satellite.
S27: adopt guiding formation method to carry out space-based imaging to target satellite.
Guiding formation method of the present invention: according to ground forecast emulation planning space target space-based imaging system movement locus, obtain orbiting motion bag; By noting described orbiting motion bag on ground; Control extraterrestrial target space-based imaging system and appearance control subsystem according to described orbiting motion bag, at each predetermined instant, move to precalculated position, and control extraterrestrial target space-based imaging system continuous imaging in this motion process.According to the forecast of high-precision ground, emulation planning space target space-based imaging system movement locus, thus obtain orbiting motion bag.Described orbiting motion bag comprises that controlling extraterrestrial target space-based imaging system rotates in advance, to reduce the speed of related movement between observation satellite and target satellite.Orbiting motion bag is sent to extraterrestrial target space-based imaging system and appearance control subsystem, to control its motion.Due to two star speed of related movements by fast to slow, adopt guiding formation method control observation satellite to rotate in advance, to reduce the relative motion of two stars, be beneficial to acquisition more closely, the view data of better effect.
Extraterrestrial target space-based formation method of the present invention, according to the intersection kinetic characteristic of observation satellite and target satellite, and follow the tracks of imaging, etc. the characteristic separately of to be imaged, guiding imaging, select different imaging patterns, realized, efficiently space-based imaging simple to extraterrestrial target.
Shown in Figure 4, the Organization Chart of extraterrestrial target space-based imaging device of the present invention, described device comprises track judging unit 41, first threshold judging unit 42, Second Threshold judging unit 43 and image-generating unit 44.
Described track judging unit 41 is connected with first threshold judging unit 42 and Second Threshold judging unit 43 respectively, be used for according to the sub-satellite track of observation satellite and target satellite, judge that whether observation satellite is gradually near target satellite, if call first threshold judging unit 42, otherwise call Second Threshold judging unit 43.According to observation satellite and target satellite sub-satellite track, during the imaging of extraterrestrial target space-based, the relative motion situation of observation satellite and target satellite has two kinds: observation satellite is gradually near target satellite, observation satellite wide satellite gradually; Therefore extraterrestrial target space-based imaging bilateral observation can be according to relative motion situation in different ways.
Described first threshold judging unit 42 is connected with described image-generating unit 44, for judging whether the distance between observation satellite and target satellite is less than one first predetermined threshold value, if be less than, control image-generating unit 44 and adopt wait formation method to carry out space-based imaging to target satellite, otherwise control image-generating unit 44, adopt tracking formation methods to carry out space-based imaging to target satellite.
When observation satellite is gradually when the target satellite, from slow to fast, when the distance between observation satellite and target satellite is less than the first predetermined threshold value, two star speed of related movements are very fast for two star speed of related movements.Therefore, when judging observation satellite gradually near target satellite, according to the corresponding imaging mode of distance different choice between two stars, with better imaging.When the distance between two stars is greater than the first predetermined threshold value, due to two star speed of related movements from slow to fast, be beneficial to catch, steady tracking target; Therefore adopt, follow the tracks of formation method, longer to the observation time of target, be beneficial to optical imagery.When the distance between two stars is less than the first predetermined threshold value, two star speed of related movements are very fast owing to approaching, and to intersection mode, without specific (special) requirements, but observation time is short, obtains view data few, and motion blur is obvious; Therefore adopt to wait for formation method, simple, reliability is higher, can well carry out space-based imaging to target satellite.
Described Second Threshold judging unit 43 is connected with described image-generating unit 44, for judging whether the distance between observation satellite and target satellite is less than one second predetermined threshold value, if be less than, control image-generating unit 44 and adopt wait formation method to carry out space-based imaging to target satellite, otherwise control image-generating unit 44, adopt guiding formation method of the present invention to carry out space-based imaging to target satellite.Wherein, described the first predetermined threshold value can equate with described the second predetermined threshold value, can be also different value.
When observation satellite is gradually during wide satellite, from fast to slow, when the distance between observation satellite and target satellite is less than the second predetermined threshold value, two star speed of related movements are very fast for two star speed of related movements.Therefore, when judging that observation satellite is gradually during wide satellite, same according to the corresponding imaging mode of distance different choice between two stars, with better imaging.When the distance between two stars is less than the second predetermined threshold value, because two star speed of related movements are very fast, to intersection mode, without specific (special) requirements, but observation time is short, obtains view data few, and motion blur is obvious; Therefore adopt to wait for formation method, simple, reliability is higher, can well carry out space-based imaging to target satellite.When the distance between two stars is greater than the second predetermined threshold value, because two star speed of related movements are by fast extremely slow, adopt guiding formation method control observation satellite to rotate in advance, to reduce the relative motion of two stars, be beneficial to acquisition more closely, the view data of better effect.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. a guiding formation method, is characterized in that, comprises the following steps:
(A) according to ground forecast emulation planning space target space-based imaging system movement locus, obtain orbiting motion bag;
(B) by noting described orbiting motion bag on ground;
(C) control extraterrestrial target space-based imaging system and appearance control subsystem according to described orbiting motion bag, at each predetermined instant, move to precalculated position, and control extraterrestrial target space-based imaging system continuous imaging in this motion process.
2. guide according to claim 1 formation method, it is characterized in that, described orbiting motion bag comprises that controlling extraterrestrial target space-based imaging system rotates in advance, to reduce the speed of related movement between observation satellite and target satellite.
3. an extraterrestrial target space-based formation method, is characterized in that, comprises the following steps:
(1) according to the sub-satellite track of observation satellite and target satellite, judge that whether observation satellite is gradually near target satellite, if perform step (2), otherwise execution step (5); (2) judge whether the distance between observation satellite and target satellite is less than one first predetermined threshold value, if be less than execution step (3), otherwise execution step (4); (3) adopt and wait for that formation method carries out space-based imaging to target satellite; (4) adopt tracking formation method to carry out space-based imaging to target satellite; (5) judge whether the distance between observation satellite and target satellite is less than one second predetermined threshold value, if be less than execution step (6), otherwise execution step (7); (6) adopt and wait for that formation method carries out space-based imaging to target satellite; (7) adopt guiding formation method claimed in claim 1 to carry out space-based imaging to target satellite.
4. extraterrestrial target space-based formation method according to claim 3, is characterized in that, described the first predetermined threshold value equates with described the second predetermined threshold value.
5. an extraterrestrial target space-based imaging device, is characterized in that, comprises track judging unit, first threshold judging unit, Second Threshold judging unit and image-generating unit:
Described track judging unit is connected with first threshold judging unit and Second Threshold judging unit respectively, be used for according to the sub-satellite track of observation satellite and target satellite, judge that whether observation satellite is gradually near target satellite, if call first threshold judging unit, otherwise call Second Threshold judging unit;
Described first threshold judging unit is connected with described image-generating unit, for judging whether the distance between observation satellite and target satellite is less than one first predetermined threshold value, if be less than, control image-generating unit and adopt wait formation method to carry out space-based imaging to target satellite, otherwise control image-generating unit, adopt tracking formation method to carry out space-based imaging to target satellite;
Described Second Threshold judging unit is connected with described image-generating unit, for judging whether the distance between observation satellite and target satellite is less than one second predetermined threshold value, if be less than, control image-generating unit and adopt wait formation method to carry out space-based imaging to target satellite, otherwise guide formation method to carry out space-based imaging to target satellite described in control image-generating unit employing claim 1.
6. extraterrestrial target space-based imaging device according to claim 5, is characterized in that, described the first predetermined threshold value equates with described the second predetermined threshold value.
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| JP2020198004A (en) * | 2019-06-04 | 2020-12-10 | 三菱電機株式会社 | Mobile body identifying device, mobile body identifying method, and program |
| JP7262312B2 (en) | 2019-06-04 | 2023-04-21 | 三菱電機株式会社 | Mobile identification device, mobile identification method and program |
| CN111366986A (en) * | 2020-03-24 | 2020-07-03 | 中国科学院微小卫星创新研究院 | Space debris observation system and method |
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