CN105005310B - A kind of attitude adjusting method being imaged along slanted bar band - Google Patents

A kind of attitude adjusting method being imaged along slanted bar band Download PDF

Info

Publication number
CN105005310B
CN105005310B CN201510411941.9A CN201510411941A CN105005310B CN 105005310 B CN105005310 B CN 105005310B CN 201510411941 A CN201510411941 A CN 201510411941A CN 105005310 B CN105005310 B CN 105005310B
Authority
CN
China
Prior art keywords
mrow
msub
slanted bar
point
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
Application number
CN201510411941.9A
Other languages
Chinese (zh)
Other versions
CN105005310A (en
Inventor
黄敏
葛玉君
杨芳
黄群东
王抒雁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aerospace Dongfanghong Satellite Co Ltd
Original Assignee
Aerospace Dongfanghong Satellite Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Aerospace Dongfanghong Satellite Co Ltd filed Critical Aerospace Dongfanghong Satellite Co Ltd
Priority to CN201510411941.9A priority Critical patent/CN105005310B/en
Publication of CN105005310A publication Critical patent/CN105005310A/en
Application granted granted Critical
Publication of CN105005310B publication Critical patent/CN105005310B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention provides a kind of attitude adjusting method being imaged along slanted bar band, this method has good practicality in the high-resolution imaging task for moving towards not parallel sub-satellite track for highway, coastline, boundary line etc. along the imaging of slanted bar band.The present invention, which is directed to along the imaging of given slanted bar band, does not have the problem of attitude maneuver method of adjustment also, propose a kind of sliding speed of first planning photography point along given slanted bar band, then it is imaged by the slip of attitude of satellite maneuver tracking photography point and carries out the attitude adjusting method of drift angle compensation, is realized along the imaging to the slanted bar band that sets the goal.The attitude adjusting method of the inventive method can meet different imaging tasks along the sliding speed of slanted bar band by changing photography point, such as can realize the quick push-scanning image of emergent imaging task and increase the time for exposure to improve the selection of the push-scanning image at a slow speed of image quality.

Description

A kind of attitude adjusting method being imaged along slanted bar band
Technical field
The present invention relates to spacecraft attitude adjustment technology field, more particularly to a kind of pose adjustment side being imaged along slanted bar band Method, for realizing that the attitude maneuver of camera carrier adjusts in along given slanted bar with imaging process.
Background technology
Traditional static imaging is mainly caused due to pushing away speed of sweeping the floor by track motion, and it is imaged track and is considered parallel substar Track, one section of track is referred to as a band, and the joining image-forming to rectangular area can be realized by strips mosaic.It is however, right Move towards the high-resolution imaging task of not parallel sub-satellite track in highway, coastline, boundary line etc., traditional static imaging due to The necessary parallel sub-satellite track of band, need to repeatedly observe target area the acquisition that could realize complete image, can not meet mesh The demand that mark area image obtains in real time, imaging efficiency are relatively low.
With further enhancing for small satellite attitude control ability, satellite can be broken traditions by attitude maneuver it is static into As when strictly push away the constraint swept by track motion, so as to realize more flexible ground push-scanning image, imaging band no longer needs Want parallel sub-satellite track, it might even be possible to the imaging of vertical sub-satellite track is formed by attitude maneuver.With sub-satellite track into The band of certain angle is referred to as slanted bar band.In traditional static imaging, the imaging for given a certain parallel sub-satellite track Band, the lateral swinging angle of satellite keep constant, and the posture in imaging process is without planning；However, along given slanted bar in attitude maneuver During band imaging, the three-axis attitude of satellite needs real-time change, it is necessary to plan the posture in imaging process.
The quick motor-driven middle imaging technique of satellite, refer to satellite three-axis attitude it is motor-driven it is middle unlatching optics payload and carry out into Picture, adjustment optical axis points to realize complicated imaging task over the ground in real time in imaging process.The Pleiades-HR satellites of France The push-scanning image of vertical sub-satellite track can be realized by attitude maneuver, obtains 350km × 20km of east-west direction 0.7m High-definition picture, single imaging can obtain wide cut high-definition picture.Imaging pattern Huang group east was at 2012 the 12nd in dynamic Phase《Optical precision engineering》's《Posture point to over the ground constantly be changing into as when image motion velocity calculate》In have a detailed description, at present Motor-driven middle imaging technique lack motor-driven middle imaging method to giving target trajectory, can not realize along slanted bar band imaging process Posture planning, also do not carry out in its attitude adjusting method being imaged bias current angle compensation, it is difficult to ensure the imaging of motor-driven middle imaging Quality.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of pose adjustment side being imaged along slanted bar band Method, this method first plan that sliding speed and position, the posture that then adjusts camera carrier of the photography point along given slanted bar band cause Camera follow shot point is imaged, it is achieved thereby that being imaged along to the slanted bar band that sets the goal, relative to traditional quiescent imaging side Method, the high-resolution imaging task that this method moves towards not parallel sub-satellite track for highway, coastline, boundary line etc. have very well Practicality, and wide cut high-definition picture can be obtained by the imaging of vertical sub-satellite track.
The above-mentioned purpose of the present invention is realized by following scheme：
A kind of attitude adjusting method being imaged along slanted bar band, specific implementation step are as follows：
(1) circular arc using the earth's core as the center of circle, is made by imaging starting point M to imaging end point N, and using the circular arc as into As the center line of slanted bar band；Location parameter of the slanted bar band under ECEF coordinate system is calculated according to spherical geometry；The position Parameter includes slanted bar the angle i with center line and the equatorial plane, longitude Ω of the slanted bar with center line Yu equatorial plane intersection point, in slanted bar band The sphere argument f of heart line and equatorial plane intersection point to starting point；
(2), under ECEF coordinate system, the slanted bar band being calculated according to step (1) is under ECEF coordinate system Location parameter, and setting photography spot speed size variation function vD(t) photography point, is calculated to slide along slanted bar band center line To the velocity V during D of positionDWith position vector RD；Wherein position D is between imaging starting point M to imaging end point N；
(3), function S (t), and the photography point position arrow that step (2) determines are changed according to the camera carrier positions of setting Measure RD, calculate the pose adjustment parameter that camera carrier optical axis follow shot point moves the airborne body of phase；The adjusting parameter includes Roll anglePitching angle theta and yaw angle β, and axis of rolling angular velocity omegaxWith pitch axis angular velocity omegay；
(4), the pose adjustment parameter for the camera carrier being calculated according to step (3), three axle appearances of camera carrier are adjusted State.
The above-mentioned attitude adjusting method being imaged along slanted bar band, in step (1), slanted bar band is calculated according to spherical geometry and existed Location parameter under ECEF coordinate system, circular are as follows：
(1a), the warp for calculating imaging end point N first and angle C of the slanted bar with disc where center line：
Wherein：αM、δMThe imaging starting point M respectively set longitude and latitude；αN、δNThe imaging knot respectively set Spot N longitude and latitude；
(1b), the angle C calculated according to step (1a) determine folder of the slanted bar with center line and the equatorial plane by equation below Angle i：
Cosi=sin (π-C) cos δN；
(1c), longitude Ω of the slanted bar with center line Yu equatorial plane intersection point is calculated by equation below：
tan(αN- Ω)=sinitan (π-C)；
(1d), sphere argument f of the slanted bar with center line with equatorial plane intersection point to starting point is calculated by equation below：
The above-mentioned attitude adjusting method being imaged along slanted bar band, in step (2), under ECEF coordinate system, calculate Photography point along slanted bar slided with center line when velocity VDWith position vector RDComprise the following steps that：
(2a), first according to the photography spot speed size variation function v (t) of setting, photography point is calculated along slanted bar band center The spherical angle during D of position is slided on line
(2b), photography spot speed vector V is calculated by equation belowDWith position vector RD：
Wherein, vDFor the velocity magnitude value photographed during point in-position D；ReFor earth radius.
The above-mentioned attitude adjusting method being imaged along slanted bar band, in step (3), calculate the pose adjustment ginseng of camera carrier Several comprises the following steps that：
(3a), calculate when camera attitude of carrier is adjusted to the airborne body body coordinate system X of optical axis alignment photography point phaseb Yb ZbThe axial vector x of target threeb、yb、zb；Wherein, during camera carrier optical axis alignment photography point, ZbAxle points to photography point position D, YbAxle Perpendicular to ZbAxle and photography spot speed vector VDThe plane at place, XbBy ZbAxle and YbAxle determines according to right-hand rule；
(3b), the axial vector x of target three being calculated according to step (1)b、yb、zb, calculate the adjustment of camera attitude of carrier Roll anglePitching angle theta and yaw angle β；Wherein, the pose adjustment implementation process is：Orbital coordinate system turns according to 123 turns of sequences The airborne body body coordinate system X of photography point phase is directed to the camera carrier optical axisb Yb Zb；
(3c), the ground according to caused by moving camera attitude of carrier push away and sweep speed, calculate axis of rolling angular velocity omegaxAnd pitching Axis angular rate ωy。
The above-mentioned attitude adjusting method being imaged along slanted bar band, in step (3a), camera carrier body coordinate system Xb Yb ZbThe axial vector x of target threeb、yb、zbSpecific formula for calculation it is as follows：
xb=yb×zb；
Wherein,To point to photography point position D direction vector by camera carrier positions S.
The above-mentioned attitude adjusting method being imaged along slanted bar band, in step (3b), roll anglePitching angle theta and yaw angle β circular is as follows:
First by axial vector zb[Z is expressed as in orbital coordinate systemb]orbit=[zbx zby zbz]T, then roll angleWith bow The calculation formula of elevation angle theta is as follows：
Make roll pitching it is motor-driven after camera carrier body coordinate system XbAxle and target axial vector xbAngle be yaw angle β, the i.e. calculation formula of yaw angle β are as follows：
The above-mentioned attitude adjusting method being imaged along slanted bar band, in step (3c), axis of rolling angular velocity omegaxAnd pitch axis Angular velocity omegaySpecific calculating process it is as follows：
(3ca), under orbital coordinate system, ground caused by calculating the motion of camera attitude of carrier, which pushes away, sweeps speed Vη：
Vη=VD+ωe×RD-ωs×RD；
Wherein, ωeFor the earth rotation speed vector of setting；ωsAngular velocity vector is run for the camera carrier rack of setting Amount；
(3cb), axis of rolling angular velocity omega is calculated by equation belowxWith pitch axis angular velocity omegay：
Wherein, L is distance of the camera carrier position to photography point position.The present invention compared with prior art the advantages of It is：
(1), the attitude adjusting method of the inventive method realizes the imaging along given slanted bar band：Traditional static imaging into Slice band can only parallel sub-satellite track, the imaging mode of the inventive method can realize what is formed an angle with sub-satellite track Slanted bar band, the high-resolution imaging task for moving towards not parallel sub-satellite track for highway, coastline, boundary line etc. have well Practicality, and wide cut high-definition picture can be obtained by the imaging of vertical sub-satellite track；
(2), the inventive method is planned sliding speed of the photography point on slanted bar band first, then using mutually airborne The pose adjustment of imaging process is realized in the slip of the motor-driven real-time tracking photography point of body body coordinate system three-axis attitude, so as to complete edge The imaging task of slanted bar band.This attitude maneuver method of adjustment moved by follow shot point is to propose first, and can be with Meet different imaging tasks by changing sliding speed programme of the photography point on slanted bar band, make imaging task planning more Add flexibly, such as the quick push-scanning image of realization of goal and the control of push-scanning image at a slow speed, quick push-scanning image be able to can be expired The emergent imaging task of foot, at a slow speed push-scanning image can increase the camera exposure time and reach preferable image quality；
(3), the inventive method realizes drift angle in camera attitude of carrier parameter calculation procedure by yaw steering Compensation, ensure that image quality；The drift angle of motor-driven middle imaging is produced jointly by satellite orbit motion, earth rotation and attitude maneuver It is raw, there is bigger difference with the drift angle of traditional static imaging, existing motor-driven middle imaging model does not carry out drift angle adjustment.And And because satellite three-axis attitude is simultaneously motor-driven in real time, the motor-driven adjustment to yaw axis of the axis of rolling and pitch axis has coupling and made With considering this influence in the bias current angle compensation of the inventive method.
Brief description of the drawings
Fig. 1 is the attitude adjusting method flow chart being imaged along slanted bar band of the present invention；
Fig. 2 is slanted bar band geometrical model schematic diagram in the present invention；
Fig. 3 is the schematic diagram that photography point slides along slanted bar with center line in the present invention；
Fig. 4 is the imaging attitude maneuver model schematic with driftage compensation in the present invention；
Fig. 5 is that the three-axis attitude when camera carrier optical axis is directed at imaging point in the present invention points to schematic diagram；
Fig. 6 is the roll angle and angle of pitch schematic diagram of calculation result being imaged in embodiment along vertical substar；
Fig. 7 is the yaw angle schematic diagram of calculation result being imaged in embodiment along vertical substar；
Fig. 8 is the Attitude Tracking angular speed schematic diagram of calculation result being imaged in embodiment along vertical substar；
Fig. 9 is the STK simulating scenes schematic diagrames being imaged in embodiment along vertical substar.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
Method flow diagram as shown in Figure 1, the present invention are slided for being imaged along slanted bar band in planning photography point along slanted bar band On the basis of dynamic speed, mended by the drift angle for being created as attitude maneuver model realization tracking and imaging to photography point Repay, obtained along slanted bar with camera carrier (the satellite, spacecraft etc.) three-axis attitude and Attitude Tracking angular speed in imaging process, Realize the pose adjustment being imaged in attitude maneuver along given slanted bar band.
(1), slanted bar band geometric parameter determines
Slanted bar band model as shown in Figure 2 is established, on slanted bar band, is made by imaging starting point M to imaging end point N with ground The heart is the circular arc in the center of circle, the center line using the circular arc as imaging slanted bar band.The slanted bar with center line cross the earth's core great circle on, The geometric parameter of the slanted bar band can be calculated according to spherical geometry under ECEF coordinate system, wherein, the earth's core is connected coordinate Be be origin in the earth's core, X-axis points to the intersection point of zero degree warp and the equatorial plane, and Z axis points to the arctic along earth's axis, and XYZ is into the right side Hand rectangular coordinate system.
The slanted bar band geometric parameter being calculated in the present invention includes：Angle i of the slanted bar with center line and the equatorial plane, tiltedly The longitude Ω of band center line and equatorial plane intersection point, sphere argument f of the slanted bar with center line with equatorial plane intersection point to starting point.Tool Body computational methods are as follows：
(1a), the warp for calculating imaging end point N first and angle C of the slanted bar with disc where center line：
Wherein：αM、δMThe imaging starting point M respectively set longitude and latitude；αN、δNThe imaging knot respectively set Spot N longitude and latitude；
(1b), the angle C calculated according to step (1a) determine folder of the slanted bar with center line and the equatorial plane by equation below Angle i：
Cosi=sin (π-C) cos δN；
(1c), longitude Ω of the slanted bar with center line Yu equatorial plane intersection point is calculated by equation below：
tan(αN- Ω)=sinitan (π-C)；
(1d), sphere argument f of the slanted bar with center line with equatorial plane intersection point to starting point is calculated by equation below：
(2) velocity and position vector that, photography point slides along slanted bar band calculate
When being imaged along slanted bar band, photography point slides on slanted bar band center line, and the camera carrier optical axis needs follow shot point Motion, so as to realize real time imagery.Therefore, the present invention realizes the rule of the attitude of satellite by planning the sliding speed for point of photographing Draw.In imaging process, the changing rule S (t) of camera carrier positions over time has given, and the optical axis of the camera carrier is in office Moment of anticipating will photograph point to alignment, therefore when carrying out the adjustment of camera attitude of carrier, it is necessary to first determine photography point along slanted bar band Slide rule D (t).
As shown in figure 3, in moment t photographies point with velocity VDPosition D is slided into, the earth's core is to position D vector RD, position D is between imaging starting point M to imaging end point N.The present invention is under ECEF coordinate system according to slanted bar band Geometry of position parameter, and the photography spot speed size variation function v of settingD(t) photography point, is calculated to slide along slanted bar band center line Move to the velocity V during D of positionDWith position vector RD, specific calculation procedure is as follows：
(2a), first according to the photography spot speed size variation function v (t) of setting, photography point is calculated along slanted bar band center The spherical angle during D of position is slided on line
(2b), photography spot speed vector V is calculated by equation belowDWith position vector RD：
Wherein, vDFor the velocity magnitude value photographed during point in-position D；ReFor earth radius.
Photograph spot speed size variation function v in the present inventionD(t) programme have it is a variety of, can by change take the photograph Sliding speed programme of the shadow point on slanted bar band meets different imaging tasks, imaging task is planned more flexible, example Such as can be to the quick push-scanning image of realization of goal and the control of push-scanning image at a slow speed, quick push-scanning image can meet emergent imaging Task, at a slow speed push-scanning image can increase the camera exposure time and reach preferable image quality.One kind is provided in the present embodiment most Simple scheme is to explain：Programme is imaged using the slanted bar band of constant ground velocity, photography point is existed with the speed of constant size Slided on given slanted bar band, i.e., any time photography point sliding speed size keeps constant, and photography point is in ground level interior edge slanted bar Move in band direction.Sliding speed size v of the photography point on slanted bar bandD=k ωsRe, wherein：ωsRun for satellite around the earth Angular speed；ReFor earth radius；K is velocity coeffficient, and sliding speed of the bigger photography points of k on slanted bar band is bigger, by k's Planning can realize sweeping or sweeping slowly soon to target slanted bar band.
(3), camera attitude of carrier parameter calculates
Imaging model as shown in Figure 4, the motor-driven imaging process of camera carrier are as follows：Satellite S orbiting, passes through rolling The motor-driven of axle and pitch axis realizes Attitude Tracking so that the optical axis points to SD is slided along landing ground slanted bar band track, it is illustrated that tiltedly Band, into η angles, passes through compensation linear array direction vertically oblique strip direction of going off course with sub-satellite track.Wherein VSTransported for track Ground caused by dynamic, which pushes away, sweeps speed, VeFor earth rotation speed, VrollPush away ground caused by sweeping for roll angle to push away and sweep speed, VPitch Ground caused by sweeping is pushed away for the angle of pitch to push away and sweep speed.
The present invention changes function S (t) and photography point position D position vector R according to the camera carrier positions of settingD, meter When calculating the motion of camera carrier optical axis follow shot point, the pose adjustment parameter of camera carrier：Including roll anglePitching angle theta and partially Navigate angle beta, and axis of rolling angular velocity omegaxWith pitch axis angular velocity omegay.Specific calculation procedure is as follows：
(3a), calculate when camera attitude of carrier is adjusted to the airborne body body coordinate system X of optical axis alignment photography point phaseb Yb ZbThe axial vector x of target threeb、yb、zb；Wherein, during camera carrier optical axis alignment photography point, ZbAxle points to photography point position D, YbAxle Perpendicular to ZbAxle and photography spot speed vector VDThe plane at place, XbBy ZbAxle and YbAxle determines according to right-hand rule.Wherein：
xb=yb×zb；
Wherein,, can be according to known to point to photography point position D direction vector by camera carrier positions S The changing rule S (t) of camera carrier positions over time and position D position vector is calculated.
(3b), the roll angle for calculating attitude of satellite adjustmentPitching angle theta and yaw angle β；Wherein, the pose adjustment is realized Process is：Satellite body coordinate system X when orbital coordinate system goes to satellite optical axis alignment photography point according to 123 turns of sequencesb Yb Zb, i.e., First rotated around the axis of rollingAngle, further around pitch axes θ angles, finally rotate γ angles around yaw axis and reach predetermined posture in Fig. 5.Its In, orbital coordinate system is：Z-axis points to substar direction, and x-axis points to spacecraft velocity attitude, and y-axis is true by right hand Normal rule It is fixed.
Circular is as follows:First by axial vector zb[Z is expressed as in orbital coordinate systemb]orbit=[zbx zby zbz]T, then roll angleIt is as follows with the calculation formula of pitching angle theta： Make roll pitching it is motor-driven after Camera carrier body coordinate system XbAxle and target axial vector xbAngle be yaw angle β, i.e., yaw angle β calculation formula is such as Under：
Bias current angle compensation has been carried out in the attitude of carrier parameter being calculated according to above method.
(3c), the ground according to caused by Satellite Attitude Movement, which push away, sweeps speed, calculates axis of rolling angular velocity omegaxWith pitching shaft angle Speed omegay.Specific calculating process is as follows：
(3ca), under orbital coordinate system, ground caused by calculating Satellite Attitude Movement, which pushes away, sweeps speed Vη：
Vη=VD+ωe×RD-ωs×RD；
Wherein, ωeFor the earth rotation speed vector of setting；ωsAngular velocity vector is run for the satellite orbit of setting；
(3cb), axis of rolling angular velocity omega is calculated by equation belowxWith pitch axis angular velocity omegay：
Wherein, L is distance of the satellite position to photography point position.
Then according to the pose adjustment parameter for the camera carrier being calculated, the three-axis attitude of adjustment camera carrier.
Embodiment:
The present embodiment uses the sliding speed of constant ground velocity exemplified by being imaged to the slanted bar band of vertical sub-satellite track Programme adjusts to carry out the three-axis attitude of satellite, and the velocity coeffficient k used is 0.5,1 and 1.5.It is calculated under vertical star Satellite needs roll angle, the angle of pitch, yaw angle and rolling axis angular rate and the pitching axis angular rate adjusted when the locus of points is imaged, As a result as shown in Fig. 6, Fig. 7, Fig. 8.
In the present embodiment, the major parameter of vertical substar imaging is as shown in table 1, wherein：Velocity coeffficient can be real when being 1 Now about 700km imaging, obtain high-resolution and the remotely-sensed data of big breadth.Roll angle in vertical sub-satellite track imaging process Speed is used to offsetting the speed of sweeping the floor that pushes away of track motion, and rate of pitch determines the speed of push-scanning image, angle of pitch speed during k=1.5 Degree maximum has reached 1.267 °/s.By the posture of satellite
Control ability limits, and needs to control velocity coeffficient during imaging and is pushed away with to reduce required posture and sweeps angular speed.
The major parameter of 1 vertical substar of table imaging
Fig. 9 is STK imaging simulation results：The vertical sub-satellite track of slanted bar band of imaging meets imaging task requirement；From CCD Linear array sweeps track and understands to push away to sweep direction and maintain along oblique strip direction in pushing away for ground, has carried out driftage compensation；Satellite body axle All the time point to along oblique strip direction, three-axis attitude maneuver mode is correct, meets imaging Gesture.
It is described above, it is only an embodiment of the invention, but protection scope of the present invention is not limited thereto, and is appointed What those familiar with the art the invention discloses technical scope in, the change or replacement that can readily occur in, all It should be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (5)

  1. A kind of 1. attitude adjusting method being imaged along slanted bar band, it is characterised in that：It is as follows to implement step：
    (1) circular arc using the earth's core as the center of circle, is made by imaging starting point M to imaging end point N, and it is oblique using the circular arc as imaging The center line of band；Location parameter of the slanted bar band under ECEF coordinate system is calculated according to spherical geometry；The location parameter Including slanted bar the angle i with center line and the equatorial plane, longitude Ω of the slanted bar with center line Yu equatorial plane intersection point, slanted bar band center line With the sphere argument f of equatorial plane intersection point to starting point；
    (2), under ECEF coordinate system, the position of the slanted bar band that is calculated according to step (1) under ECEF coordinate system Put parameter, and the photography spot speed size variation function v of settingD(t) photography point, is calculated to slide in place along slanted bar band center line Put velocity V during DDWith position vector RD；Wherein position D is between imaging starting point M to imaging end point N；
    (3), function S (t), and the photography point position vector R that step (2) determines are changed according to the camera carrier positions of settingD, Calculate the pose adjustment parameter of the camera carrier optical axis follow shot point motion airborne body of phase；The adjusting parameter includes roll anglePitching angle theta and yaw angle β, and axis of rolling angular velocity omegaxWith pitch axis angular velocity omegay；Wherein, the appearance of camera carrier is calculated State adjusting parameter comprises the following steps that：
    (3a), calculate when camera attitude of carrier is adjusted to the airborne body body coordinate system X of optical axis alignment photography point phaseb Yb Zb's The axial vector x of target threeb、yb、zb；Wherein, during camera carrier optical axis alignment photography point, ZbAxle points to photography point position D, YbAxle is vertical In ZbAxle and photography spot speed vector VDThe plane at place, XbBy ZbAxle and YbAxle determines according to right-hand rule；
    (3b), the axial vector x of target three being calculated according to step (1)b、yb、zb, calculate the roll of camera attitude of carrier adjustment AnglePitching angle theta and yaw angle β；Wherein, the pose adjustment implementation process is：Orbital coordinate system goes to phase according to 123 turns of sequences The airborne body body coordinate system X of airborne stereoscopic axle alignment photography point phaseb Yb Zb；Wherein, roll anglePitching angle theta and yaw angle β Circular it is as follows:
    First by axial vector zb[Z is expressed as in orbital coordinate systemb]orbit=[zbx zby zbz]T, then roll angleAnd pitching angle theta Calculation formula it is as follows：
    Make roll pitching it is motor-driven after camera carrier body coordinate system XbAxle and target axial vector xbAngle be yaw angle β, i.e., Yaw angle β calculation formula is as follows：
    (3c), the ground according to caused by moving camera attitude of carrier push away and sweep speed, calculate axis of rolling angular velocity omegaxWith pitching shaft angle Speed omegay；
    (4), the pose adjustment parameter for the camera carrier being calculated according to step (3), the three-axis attitude of camera carrier is adjusted.
  2. A kind of 2. attitude adjusting method being imaged along slanted bar band according to claim 1, it is characterised in that：In step (1) In, location parameter of the slanted bar band under ECEF coordinate system is calculated according to spherical geometry, circular is as follows：
    (1a), the warp for calculating imaging end point N first and angle C of the slanted bar with disc where center line：
    <mrow> <mi>cot</mi> <mi>C</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>tan&amp;delta;</mi> <mi>M</mi> </msub> <msub> <mi>cos&amp;delta;</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>sin&amp;delta;</mi> <mi>N</mi> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;alpha;</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>&amp;alpha;</mi> <mi>M</mi> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>&amp;alpha;</mi> <mi>N</mi> </msub> <mo>-</mo> <msub> <mi>&amp;alpha;</mi> <mi>M</mi> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>;</mo> </mrow>
    Wherein：αM、δMThe imaging starting point M respectively set longitude and latitude；αN、δNThe imaging end point N respectively set Longitude and latitude；
    (1b), the angle C calculated according to step (1a) determine angle i of the slanted bar with center line and the equatorial plane by equation below：
    Cosi=sin (π-C) cos δN；
    (1c), longitude Ω of the slanted bar with center line Yu equatorial plane intersection point is calculated by equation below：
    tan(αN- Ω)=sinitan (π-C)；
    (1d), sphere argument f of the slanted bar with center line with equatorial plane intersection point to starting point is calculated by equation below：
    <mrow> <mi>sin</mi> <mi>f</mi> <mo>=</mo> <mfrac> <mrow> <mi>sin</mi> <mi> </mi> <mi>i</mi> </mrow> <mrow> <msub> <mi>sin&amp;delta;</mi> <mi>M</mi> </msub> </mrow> </mfrac> <mo>.</mo> </mrow>
  3. A kind of 3. attitude adjusting method being imaged along slanted bar band according to claim 1, it is characterised in that：In step (2) In, under ECEF coordinate system, calculate photography point along slanted bar slided with center line when velocity VDWith position vector RD's Comprise the following steps that：
    (2a), first according to the photography spot speed size variation function v of settingD(t) photography point, is calculated along slanted bar band center line Slide into the spherical angle during D of position
    (2b), photography spot speed vector V is calculated by equation belowDWith position vector RD：
    <mrow> <msub> <mi>V</mi> <mi>D</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>D</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>-</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;Omega;</mi> <mo>-</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;Omega;</mi> <mi>cos</mi> <mi> </mi> <mi>i</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;Omega;</mi> <mo>+</mo> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;Omega;</mi> <mi>cos</mi> <mi> </mi> <mi>i</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>sin</mi> <mi> </mi> <mi>i</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
    <mrow> <msub> <mi>R</mi> <mi>D</mi> </msub> <mo>=</mo> <msub> <mi>R</mi> <mi>e</mi> </msub> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;Omega;</mi> <mo>-</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;Omega;</mi> <mi>cos</mi> <mi> </mi> <mi>i</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mi>&amp;Omega;</mi> <mo>+</mo> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&amp;Omega;</mi> <mi>cos</mi> <mi> </mi> <mi>i</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mi>f</mi> <mo>+</mo> <mi>&amp;mu;</mi> <mo>)</mo> </mrow> <mi>sin</mi> <mi> </mi> <mi>i</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>
    Wherein, vDFor the velocity magnitude value photographed during point in-position D；ReFor earth radius.
  4. A kind of 4. attitude adjusting method being imaged along slanted bar band according to claim 1, it is characterised in that：In step (3a) In, camera carrier body coordinate system Xb Yb ZbThe axial vector x of target threeb、yb、zbSpecific formula for calculation it is as follows：
    <mrow> <msub> <mi>z</mi> <mi>b</mi> </msub> <mo>=</mo> <mfrac> <mover> <mrow> <mi>S</mi> <mi>D</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mrow> <mo>|</mo> <mover> <mrow> <mi>S</mi> <mi>D</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>;</mo> </mrow>
    <mrow> <msub> <mi>y</mi> <mi>b</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>z</mi> <mi>b</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>V</mi> <mi>D</mi> </msub> </mrow> <mrow> <mo>|</mo> <msub> <mi>z</mi> <mi>b</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>V</mi> <mi>D</mi> </msub> <mo>|</mo> </mrow> </mfrac> <mo>;</mo> </mrow>
    xb=yb×zb；
    Wherein,To point to photography point position D direction vector by camera carrier positions S.
  5. A kind of 5. attitude adjusting method being imaged along slanted bar band according to claim 1, it is characterised in that：In step (3c) In, axis of rolling angular velocity omegaxWith pitch axis angular velocity omegaySpecific calculating process it is as follows：
    (3ca), under orbital coordinate system, ground caused by calculating the motion of camera attitude of carrier, which pushes away, sweeps speed Vη：
    Vη=VD+ωe×RD-ωs×RD；
    Wherein, ωeFor the earth rotation speed vector of setting；ωsAngular velocity vector is run for the camera carrier rack of setting；
    (3cb), axis of rolling angular velocity omega is calculated by equation belowxWith pitch axis angular velocity omegay：
    <mrow> <msub> <mi>&amp;omega;</mi> <mi>x</mi> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>&amp;eta;</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>y</mi> <mi>b</mi> </msub> </mrow> <mi>L</mi> </mfrac> <mo>;</mo> <msub> <mi>&amp;omega;</mi> <mi>y</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>&amp;eta;</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>x</mi> <mi>b</mi> </msub> </mrow> <mi>L</mi> </mfrac> </mrow>
    Wherein, L is distance of the camera carrier position to photography point position.
CN201510411941.9A 2015-07-14 2015-07-14 A kind of attitude adjusting method being imaged along slanted bar band Active CN105005310B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510411941.9A CN105005310B (en) 2015-07-14 2015-07-14 A kind of attitude adjusting method being imaged along slanted bar band

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510411941.9A CN105005310B (en) 2015-07-14 2015-07-14 A kind of attitude adjusting method being imaged along slanted bar band

Publications (2)

Publication Number Publication Date
CN105005310A CN105005310A (en) 2015-10-28
CN105005310B true CN105005310B (en) 2017-12-22

Family

ID=54378017

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510411941.9A Active CN105005310B (en) 2015-07-14 2015-07-14 A kind of attitude adjusting method being imaged along slanted bar band

Country Status (1)

Country Link
CN (1) CN105005310B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106225807A (en) * 2016-07-27 2016-12-14 中国科学院长春光学精密机械与物理研究所 Video satellite carries out emulation mode and the system of staring imaging to ground regional aim
CN106527457B (en) * 2016-11-17 2019-04-19 天津津航技术物理研究所 Airborne scanner scan control instructs planing method
CN106850038B (en) * 2016-12-29 2020-09-04 航天恒星科技有限公司 Task planning method for agile satellite
CN108509576B (en) * 2018-03-28 2021-04-20 浙江知水信息技术有限公司 Electronic map-based filtering optimization method for wrong point positions of patrol track
CN111079291B (en) * 2019-12-18 2022-02-11 中国科学院长春光学精密机械与物理研究所 Moonlet splicing imaging ground simulation system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040133381A1 (en) * 2003-01-02 2004-07-08 Ping-Ho Chen Control scheme for spatial and level searching of a panoramic stabilized periscope
US9045239B2 (en) * 2009-01-14 2015-06-02 Space Systems/Loral, Llc Spacecraft payload orientation steering
CN103217987B (en) * 2013-01-25 2015-05-27 航天东方红卫星有限公司 Agile satellite dynamic imaging posture adjustment method
CN103983254B (en) * 2014-04-22 2016-02-10 航天东方红卫星有限公司 The motor-driven middle formation method of a kind of novel quick satellite
CN104217123B (en) * 2014-09-15 2017-02-08 航天东方红卫星有限公司 Method for carrying out inclined stripe imaging on targets in agile satellite maneuvering
CN104698849B (en) * 2015-02-12 2017-04-05 中国科学院长春光学精密机械与物理研究所 Quick satellite is with the seamless spliced attitude registration of rail bar band and imaging matching process

Also Published As

Publication number Publication date
CN105005310A (en) 2015-10-28

Similar Documents

Publication Publication Date Title
CN105005310B (en) A kind of attitude adjusting method being imaged along slanted bar band
CN104848860B (en) A kind of agile satellite imagery process attitude maneuver planing method
CN105184002B (en) A kind of several simulating analysis for passing antenna pointing angle
CN107450582B (en) Phased array data transmission guide control method based on-satellite real-time planning
CN104764443B (en) A kind of tight imaging geometry model building method of Optical remote satellite
CN103983254B (en) The motor-driven middle formation method of a kind of novel quick satellite
CN108344396B (en) Attitude calculation method for oblique strip imaging mode of agile satellite
CN103217987B (en) Agile satellite dynamic imaging posture adjustment method
CN107505948B (en) Attitude adjustment method for imaging along curve strip in agile satellite locomotive
CN102229362B (en) Attitude compensation method of agile satellite imagery in reverse push-broom mismatch
CN109018441A (en) A kind of satellite any attitude mobile process drift angle tracking and controlling method
CN104698849B (en) Quick satellite is with the seamless spliced attitude registration of rail bar band and imaging matching process
CN106909161B (en) A kind of optimum attitude motor-driven planing method of agility satellite zero drift angle imaging
CN105160125B (en) A kind of simulating analysis of star sensor quaternary number
CN105444781B (en) It is spaceborne to be imaged ground validation method from main boot
CN105438499B (en) Around the drift angle tracking and controlling method of spatial axes
CN104581144A (en) Full-field integral time determining method for satellite-borne linear array push broom camera
CN107525492B (en) Drift angle simulation analysis method suitable for agile earth observation satellite
CN103487032B (en) Low rail space camera freely points to picture and moves vector calculation method
CN102426025A (en) Simulation analysis method for drift correction angle during remote sensing satellite attitude maneuver
CN113264201A (en) Implementation method for active push-broom imaging of agile satellite
CN108613655B (en) Attitude adjustment method for imaging along inclined strip in agile satellite machine
CN103886208B (en) High-resolution optical satellite maneuvering imaging drift angle correction method
CN102279001B (en) Phase shift compensation method of space-borne camera
CN105486315A (en) Method for adjusting remote sensing satellite absolute calibration attitude relative to moon

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant