CN104034314B - A kind of guiding formation method, extraterrestrial target space-based formation method and device - Google Patents
A kind of guiding formation method, extraterrestrial target space-based formation method and device Download PDFInfo
- Publication number
- CN104034314B CN104034314B CN201410210669.3A CN201410210669A CN104034314B CN 104034314 B CN104034314 B CN 104034314B CN 201410210669 A CN201410210669 A CN 201410210669A CN 104034314 B CN104034314 B CN 104034314B
- Authority
- CN
- China
- Prior art keywords
- satellite
- target
- formation method
- space
- based imaging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
Abstract
A kind of guiding formation method, extraterrestrial target space-based formation method and device.A kind of extraterrestrial target space-based formation method, including: 1) according to the sub-satellite track of observation satellite Yu target satellite, it is judged that whether observation satellite moves closer to target satellite, if then execution step 2), otherwise perform step 5)；2) judge that the distance between observation satellite and target satellite, whether less than one first predetermined threshold value, if being less than, performing step 3), otherwise performing step 4)；3) use wait formation method that target satellite is carried out space-based imaging；4) use tracking formation method that target satellite is carried out space-based imaging；5) judge that the distance between observation satellite and target satellite, whether less than one second predetermined threshold value, if being less than, performing step 6), otherwise performing step 7)；6) use wait formation method that target satellite is carried out space-based imaging；7) use guiding formation method of the present invention that target satellite is carried out space-based imaging.Present invention achieves space-based imaging simple to extraterrestrial target, efficient.
Description
Technical field
The present invention relates to extraterrestrial target space-based optical image technology field, specifically, relate to a kind of guiding formation method and extraterrestrial target space-based formation method based on intersection kinetic characteristic and device.
Background technology
The emulation of extraterrestrial target optical imagery has important value and significance in space-based optic observation system development development process.The pattern that existing extraterrestrial target space-based optical imagery is used has from motion tracking imaging pattern and waits imaging pattern.
Follow the tracks of imaging mode: slightly oriented by ground control extraterrestrial target space-based imaging system, then lock onto target, then turn autonomous tracking, accurate pointing, and during optical camera, follow the tracks of target continuously, to extend shooting time.The advantage of this mode is that the observation time to target is longer, beneficially optical imagery.Shortcoming is that the capacity of will to extraterrestrial target space-based imaging system requires the highest, need to increase extraterrestrial target capture, follow the tracks of, identification system, systematic comparison complexity.It addition, when approaching close together, target is very big relative to the angular velocity of observation system, quickly follow the tracks of to realize difficulty big.
Waiting imaging mode: instruct according to earth station, extraterrestrial target space-based imaging system carries out attitude maneuver in advance, points to predetermined direction, images when waiting target through visual field.The advantage of this mode is that system is simple, and reliability is higher.Shortcoming is to be only capable of extraterrestrial target carries out " passively " observation, and observation time is short, requires the highest to the opportunity of imaging observation, correspondingly requires the highest to the forecast precision of target.
Accordingly, it would be desirable to existing extraterrestrial target space-based formation method is improved.
Summary of the invention
It is an object of the present invention to provide a kind of guiding formation method, it can preferably obtain the space of near-range target image.
For achieving the above object, the invention provides a kind of guiding formation method, comprise the following steps: (A) forecasts simulant design extraterrestrial target space-based imaging system movement locus according to ground, obtain orbiting motion bag；(B) described orbiting motion bag is noted by ground；(C) control extraterrestrial target space-based imaging system and appearance control subsystem are 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 motor process.
The present invention guides the advantage of formation method to be in the case of acquisition and tracking thrashing still can be to extraterrestrial target space-based imaging, and reduction motion blur can be photographed by rotating the method reducing observation satellite and target satellite speed of related movement in advance, it is thus achieved that closer to distance objective image.
It is a further object of the present invention to provide a kind of extraterrestrial target space-based formation method and device, it can select different imaging patterns, preferably to obtain the space of near-range target image according to observation satellite from the intersection kinetic characteristic of target satellite.
For achieving the above object, the invention provides a kind of extraterrestrial target space-based formation method, comprise the following steps: (1) is according to the sub-satellite track of observation satellite Yu target satellite, it is judged that whether observation satellite moves closer to target satellite, if then performing step (2), otherwise perform step (5)；(2) judge that the distance between observation satellite and target satellite, whether less than one first predetermined threshold value, if being less than, performing step (3), otherwise performing step (4)；(3) use wait formation method that target satellite is carried out space-based imaging；(4) use tracking formation method that target satellite is carried out space-based imaging；(5) judge that the distance between observation satellite and target satellite, whether less than one second predetermined threshold value, if being less than, performing step (6), otherwise performing step (7)；(6) use wait formation method that target satellite is carried out space-based imaging；(7) use guiding formation method of the present invention that target satellite is carried out space-based imaging.
For achieving the above object, present invention also offers a kind of extraterrestrial target space-based imaging device, including 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, for the sub-satellite track according to observation satellite Yu target satellite, judge whether observation satellite moves closer to target satellite, if then calling 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 less than, control image-generating unit uses and waits that formation method carries out space-based imaging to target satellite, otherwise controls image-generating unit and uses tracking formation method that target satellite is carried out space-based imaging；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 less than, control image-generating unit and use wait formation method that target satellite carries out space-based imaging, otherwise control image-generating unit and use the guiding formation method described in claim 1 that target satellite is carried out space-based imaging.
It is an advantage of the current invention that the intersection kinetic characteristic according to observation satellite Yu target satellite, and follow the tracks of imaging, etc. to be imaged, guide the respective characteristic of imaging, select different imaging pattern, it is achieved that space-based imaging simple to extraterrestrial target, efficient.
Accompanying drawing explanation
Fig. 1, the flow chart of guiding formation method of the present invention；
Fig. 2, the flow chart of extraterrestrial target space-based formation method of the present invention；
The relative motion situation schematic diagram of Fig. 3 A-3B, observation satellite and target satellite；
Fig. 4, the Organization Chart of extraterrestrial target space-based imaging device of the present invention.
Detailed description of the invention
Offer of the present invention guide the detailed description of the invention of formation method, extraterrestrial target space-based formation method and device elaborate below in conjunction with the accompanying drawings.
Shown in Figure 1, a kind of guiding formation method, comprise the following steps: S11: forecast simulant design extraterrestrial target space-based imaging system movement locus according to ground, 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 motor process.The following is the detailed description to above-mentioned steps.
S11: forecast simulant design extraterrestrial target space-based imaging system movement locus according to ground, obtains orbiting motion bag.
Forecast according to high-precision ground, simulant design extraterrestrial target space-based imaging system movement locus, thus obtain orbiting motion bag.Described orbiting motion bag includes 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 motor process.
Extraterrestrial target space-based imaging system and appearance control subsystem are moved according to the orbiting motion contracted affreightment of note on ground, move to precalculated position, extraterrestrial target space-based imaging system continuous imaging in this motor process at each predetermined instant.
The present invention guides the advantage of formation method to be in the case of acquisition and tracking thrashing still can be to extraterrestrial target space-based imaging, and reduction motion blur can be photographed by rotating the method reducing observation satellite and target satellite speed of related movement in advance, it is thus achieved that closer to distance objective image.
Shown in Figure 2, the flow chart 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 Yu target satellite, it is judged that whether observation satellite moves closer to target satellite, if then performing step S22, otherwise performs step S25.
According to observation satellite and target satellite sub-satellite track, during extraterrestrial target space-based imaging, observation satellite has two kinds with the relative motion situation of target satellite: one, observation satellite moves closer to target satellite, as shown in Figure 3A；Two, observation satellite is gradually distance from target satellite, as shown in Figure 3 B.Therefore extraterrestrial target space-based imaging bilateral observation can according to relative motion situation in different ways.
S22: judge that the distance between observation satellite and target satellite, whether less than one first predetermined threshold value, if being less than, performing step S23, otherwise performing step S24.
When observation satellite moves closer to 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 that observation satellite moves closer to target satellite, according to the corresponding imaging mode of distance different choice between two stars, with more preferable imaging.
First predetermined threshold value R1 can be arranged 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: use and wait that formation method carries out space-based imaging to target satellite.
Waiting formation method: instruct according to earth station, extraterrestrial target space-based imaging system carries out attitude maneuver in advance, points to predetermined direction, images when waiting target through visual field.During owing to approaching, two star speed of related movements are very fast, and to intersection mode without particular/special requirement, but observation time is short, it is thus achieved that view data is few, and motion blur is obvious；Therefore use and wait formation method, simple, reliability is higher, target satellite can well be carried out space-based imaging.
S24: use tracking formation method that target satellite is carried out space-based imaging.
Follow the tracks of formation method: slightly oriented by ground control extraterrestrial target space-based imaging system, then lock onto target, then turn autonomous tracking, accurate pointing, and during optical camera, follow the tracks of target continuously, to extend shooting time.Due to two star speed of related movements from slow to fast, it is beneficial to capture, steady tracking target；Therefore use and follow the tracks of formation method, longer to the observation time of target, beneficially optical imagery.
S25: judge that the distance between observation satellite and target satellite, whether less than one second predetermined threshold value, if being less than, performing step S26, otherwise performing step S27.
When observation satellite is gradually distance from target 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 distance from target satellite, also according to the corresponding imaging mode of distance different choice between two stars, with more preferable imaging.Wherein, described first predetermined threshold value can be equal with described second predetermined threshold value, it is also possible to for different value.
Such as, described second predetermined threshold value R2 can be:
Wherein, V1 is two star speed of related movements, V2 be upper note track bag in the speed of simulant design, S is viewing field of camera, and f is frequency.
S26: use and wait that formation method carries out space-based imaging to target satellite.
When observation satellite is gradually distance from target satellite, when the distance between two stars is less than the second predetermined threshold value, owing to two star speed of related movements are very fast, to intersection mode without particular/special requirement, but observation time is short, it is thus achieved that view data is few, and motion blur is obvious；Therefore use and wait formation method, simple, reliability is higher, target satellite can well be carried out space-based imaging.
S27: use and guide formation method that target satellite is carried out space-based imaging.
Guiding formation method of the present invention: forecast simulant design extraterrestrial target space-based imaging system movement locus according to ground, obtains 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, move to precalculated position at each predetermined instant, and control extraterrestrial target space-based imaging system continuous imaging in this motor process.Forecast according to high-precision ground, simulant design extraterrestrial target space-based imaging system movement locus, thus obtain orbiting motion bag.Described orbiting motion bag includes 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.Owing to two star speed of related movements are by soon to slowly, use and guide formation method control observation satellite to rotate in advance, to reduce the relative motion of two stars, be beneficial to obtain closer to distance, the view data of more preferable effect.
Extraterrestrial target space-based formation method of the present invention, intersection kinetic characteristic according to observation satellite Yu target satellite, and follow the tracks of imaging, etc. to be imaged, guide the respective characteristic of imaging, select different imaging pattern, it is achieved that space-based imaging simple to extraterrestrial target, efficient.
Shown in Figure 4, the Organization Chart of extraterrestrial target space-based imaging device of the present invention, described device includes 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, for the sub-satellite track according to observation satellite Yu target satellite, judge whether observation satellite moves closer to target satellite, if then calling first threshold judging unit 42, otherwise call Second Threshold judging unit 43.According to observation satellite and target satellite sub-satellite track, during extraterrestrial target space-based imaging, observation satellite has two kinds with the relative motion situation of target satellite: observation satellite moves closer to target satellite, observation satellite is gradually distance from target satellite;Therefore extraterrestrial target space-based imaging bilateral observation can 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 less than, control image-generating unit 44 uses and waits that formation method carries out space-based imaging to target satellite, otherwise controls image-generating unit 44 and uses tracking formation method that target satellite is carried out space-based imaging.
When observation satellite moves closer to 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 that observation satellite moves closer to target satellite, according to the corresponding imaging mode of distance different choice between two stars, with more preferable imaging.When distance between two stars is more than the first predetermined threshold value, due to two star speed of related movements from slow to fast, it is beneficial to capture, steady tracking target；Therefore use and follow the tracks of formation method, longer to the observation time of target, beneficially optical imagery.When distance between two stars is less than the first predetermined threshold value, during owing to approaching, two star speed of related movements are very fast, and to intersection mode without particular/special requirement, but observation time is short, it is thus achieved that view data is few, and motion blur is obvious；Therefore use and wait formation method, simple, reliability is higher, target satellite can well be carried out space-based imaging.
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 less than, control image-generating unit 44 and use wait formation method that target satellite carries out space-based imaging, otherwise control image-generating unit 44 and use guiding formation method of the present invention that target satellite is carried out space-based imaging.Wherein, described first predetermined threshold value can be equal with described second predetermined threshold value, it is also possible to for different value.
When observation satellite is gradually distance from target 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 distance from target satellite, also according to the corresponding imaging mode of distance different choice between two stars, with more preferable imaging.When distance between two stars is less than the second predetermined threshold value, owing to two star speed of related movements are very fast, to intersection mode without particular/special requirement, but observation time is short, it is thus achieved that view data is few, and motion blur is obvious；Therefore use and wait formation method, simple, reliability is higher, target satellite can well be carried out space-based imaging.When distance between two stars is more than the second predetermined threshold value, owing to two star speed of related movements are by soon to slowly, use and guide formation method control observation satellite to rotate in advance, to reduce the relative motion of two stars, be beneficial to obtain closer to distance, the view data of more preferable 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 regarded as protection scope of the present invention.
Claims (4)
1. an extraterrestrial target space-based formation method, it is characterised in that comprise the following steps:
(1) according to the sub-satellite track of observation satellite Yu target satellite, it is judged that whether observation satellite moves closer to target satellite, if
It is to perform step (2), otherwise performs step (5)；
(2) judge that the distance between observation satellite and target satellite, whether less than one first predetermined threshold value, if being less than, performs step
(3) step (4), is otherwise performed；
(3) use wait formation method that target satellite is carried out space-based imaging；
(4) use tracking formation method that target satellite is carried out space-based imaging；
(5) judge that the distance between observation satellite and target satellite, whether less than one second predetermined threshold value, if being less than, performs step
(6) step (7), is otherwise performed；
(6) use wait formation method that target satellite is carried out space-based imaging；
(7) using guiding formation method that target satellite carries out space-based imaging, wherein said guiding formation method includes: (A) root
Forecast simulant design extraterrestrial target space-based imaging system movement locus according to ground, obtain orbiting motion bag；(B) ground is passed through
Upper note described orbiting motion bag；(C) extraterrestrial target space-based imaging system and appearance control subsystem are controlled according to described orbiting motion
Bag, moves to precalculated position at each predetermined instant, and control extraterrestrial target space-based imaging system connects in this motor process
Continuous imaging.
Extraterrestrial target space-based formation method the most according to claim 1, it is characterised in that described first predetermined threshold value and described the
Two predetermined threshold value are equal.
3. an extraterrestrial target space-based imaging device, it is characterised in that include track judging unit, first threshold judging unit,
Two threshold decision unit and image-generating units:
Described track judging unit is connected with first threshold judging unit and Second Threshold judging unit respectively, for defending according to observation
Star and the sub-satellite track of target satellite, it is judged that whether observation satellite moves closer to target satellite, if then calling first threshold
Judging unit, otherwise calls Second Threshold judging unit；
Described first threshold judging unit is connected with described image-generating unit, for judging that the distance between observation satellite and target satellite is
No it is less than one first predetermined threshold value, if less than, control image-generating unit and use and wait that formation method carries out space-based one-tenth to target satellite
Picture, otherwise controls image-generating unit and uses tracking formation method that target satellite is carried out space-based imaging；
Described Second Threshold judging unit is connected with described image-generating unit, for judging that the distance between observation satellite and target satellite is
No it is less than one second predetermined threshold value, if less than, control image-generating unit and use and wait that formation method carries out space-based one-tenth to target satellite
Picture, otherwise controls image-generating unit and uses guiding formation method that target satellite carries out space-based imaging, wherein said guiding imaging side
Method includes: (A) forecasts simulant design extraterrestrial target space-based imaging system movement locus according to ground, obtains orbiting motion bag；
(B) described orbiting motion bag is noted by ground；(C) control extraterrestrial target space-based imaging system and appearance control subsystem according to
Described orbiting motion bag, moves to precalculated position at each predetermined instant, and controls extraterrestrial target space-based imaging system at this
Continuous imaging in motor process.
Extraterrestrial target space-based imaging device the most according to claim 3, it is characterised in that described first predetermined threshold value and described the
Two predetermined threshold value are equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410210669.3A CN104034314B (en) | 2014-05-19 | 2014-05-19 | A kind of guiding formation method, extraterrestrial target space-based formation method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410210669.3A CN104034314B (en) | 2014-05-19 | 2014-05-19 | A kind of guiding formation method, extraterrestrial target space-based formation method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104034314A CN104034314A (en) | 2014-09-10 |
| CN104034314B true CN104034314B (en) | 2016-08-17 |
Family
ID=51465180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410210669.3A Active CN104034314B (en) | 2014-05-19 | 2014-05-19 | A kind of guiding formation method, extraterrestrial target space-based formation method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104034314B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7262312B2 (en) * | 2019-06-04 | 2023-04-21 | 三菱電機株式会社 | Mobile identification device, mobile identification method and program |
| CN111366986B (en) * | 2020-03-24 | 2022-08-26 | 中国科学院微小卫星创新研究院 | Space debris observation system and method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2153700C2 (en) * | 1995-04-17 | 2000-07-27 | Спейс Системз/Лорал, Инк. | Orientation and image shaping control system (design versions) |
| EP1555506A1 (en) * | 2004-01-14 | 2005-07-20 | Wow Company S.A. | Imaging optical device ensuring focus independently of the object position |
-
2014
- 2014-05-19 CN CN201410210669.3A patent/CN104034314B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104034314A (en) | 2014-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110692027B (en) | System and method for providing easy-to-use release and automatic positioning of drone applications | |
| CN110494360B (en) | System and method for providing autonomous photography and photography | |
| CN109238240B (en) | Unmanned aerial vehicle oblique photography method considering terrain and photography system thereof | |
| CN108235815B (en) | Imaging control device, imaging system, moving object, imaging control method, and medium | |
| CN105763790A (en) | Video System For Piloting Drone In Immersive Mode | |
| US20200074657A1 (en) | Methods and systems for processing an image | |
| CN102538782B (en) | Helicopter landing guide device and method based on computer vision | |
| CN110268704B (en) | Video processing method, device, unmanned aerial vehicle and system | |
| KR20160134316A (en) | Photographing apparatus, unmanned vehicle having the photographing apparatus and attitude control method for the photographing apparatus | |
| US20190168870A1 (en) | System and method for tracking targets | |
| CN110716579B (en) | Target tracking method and unmanned aerial vehicle | |
| CN104410797A (en) | Device and method for celestial body time-lapse photography | |
| US20210112194A1 (en) | Method and device for taking group photo | |
| JP2010231371A (en) | Apparatus and method for tracking of moving object image | |
| US10917561B2 (en) | Image processing in an unmanned autonomous vehicle | |
| CN107728646B (en) | Method and system for automatically controlling camera of automatic driving vehicle | |
| WO2022141369A1 (en) | Systems and methods for supporting automatic video capture and video editing | |
| WO2023036260A1 (en) | Image acquisition method and apparatus, and aerial vehicle and storage medium | |
| CN104034314B (en) | A kind of guiding formation method, extraterrestrial target space-based formation method and device | |
| AU2022271430A1 (en) | Method and System for Collection of Photographic Data | |
| CN113875222A (en) | Shooting control method and device, unmanned aerial vehicle and computer readable storage medium | |
| CN103983250B (en) | A kind of extraterrestrial target space-based formation method and device | |
| CN112292712A (en) | Device, imaging device, moving object, method, and program | |
| CN113784050B (en) | Image acquisition method and device, aircraft and storage medium | |
| JP6503607B2 (en) | Imaging control apparatus, imaging apparatus, imaging system, moving object, imaging control method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |