CN105511482A - Mode regulation and control method for autonomous imaging task planning - Google Patents
Mode regulation and control method for autonomous imaging task planning Download PDFInfo
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Abstract
The invention provides a mode regulation and control method for autonomous imaging task planning. The mode regulation and control method specifies three operating modes of satellite imaging operation including a fine adjusting mode, a rough adjusting mode and a maneuvering mode through reasonable, simplified and accurate information definition and interaction design, and specifies five operating mode regulation and control factors including a rolling reference attitude angle, a pitching reference attitude angle, a yawing reference attitude angle, a reference oscillating mirror oscillating angle and an oscillating mirror oscillating angle control quantity for the three modes, provides generation mechanisms of the five factors corresponding to the three operating modes, and lays a technical foundation for completing the autonomous imaging task planning in a most effective and highly reliable manner.
Description
Technical field
The present invention relates to aerospace remotely sensed image task technical field, particularly relate to a kind of mode adjusting method of autonomous imaging task planning, it is for switching satellite operation pattern during multiple ground point target continuous imaging, to adapt to different imaging task requirements.
Background technology
Push-scanning image camera adopts linear array time delay integration as receiver, solves by multiexposure, multiple exposure the problem that traditional area array cameras leads to deficiency in light quantity.Due to the restriction at viewing field of camera angle, to ground specific objective imaging, according to star ground relativeness, often need, by attitude or camera pendulum mirror, to realize the adjustment pointed to camera.Make the visual field after adjusting, along with satellite flight, just will can photograph specifically Area Objects in certain moment.
Traditional remote sensing of the earth satellite will complete specific region imaging, normally to be jointly controlled by star, target position information is obtained in advance on ground, and after resolving imaging task parameter by ground, as the attitude of satellite, imaging load point to adjustment, imaging moment etc., generate program control operation, note on star on when satellite passes by.Because satellite-ground link cannot accomplish full-time intercommunication, therefore traditional method cannot tackle newfound target.Therefore a kind of star independently knows terrain object coordinate in real time, and the satellite demand independently can resolving imaging task parameter is in-orbit arisen at the historic moment, when after imaging parametric solution, also need the mission requirements according to satellite, the duty of camera, rail control in good time adjustment star, the present invention is exactly to solve wherein problems faced.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of mode adjusting method of autonomous imaging task planning.
According to the mode adjusting method of a kind of autonomous imaging task planning provided by the invention, comprise the steps:
Steps A, defines autonomous image forming job pattern;
Step B, for autonomous image forming job pattern deterministic model regulatory factor;
Step C: for the producing method of autonomous image forming job pattern deterministic model regulatory factor.
Preferably, three kinds of autonomous image forming job patterns are defined: refine pattern, slightly to repair a die formula, maneuver model;
Described refine pattern, is defined as and carries out drift angle correction in real time, puts illuminating apparatus structure complete imaging viewing field adjustment by the axis of rolling of camera;
The described formula that slightly repairs a die, is defined as and only revises substar drift angle, puts illuminating apparatus structure complete imaging viewing field adjustment by the axis of rolling of camera;
Described maneuver model, is defined as and carries out drift angle correction in real time, and the locking of camera pendulum mirror, only completes visual field adjustment by appearance control.
Preferably, for described three kinds of autonomous image forming job patterns, five mode adjusting factors are determined: rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle, swing mirror angle controlled quentity controlled variable.
Preferably, described rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle, calculate and drift angle Correction and Control for drift angle, when maneuver model, described rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle also control for viewing field of camera adjustment;
Described swing mirror angle controlled quentity controlled variable, for the visual field adjustment that reality drives pendulum mirror to swing.
Preferably, described rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle are fixed value time initial, when carrying out imaging task to each terrain object, upgrade.
Preferably, the producing method of the mode adjusting factor comprises:
Under refine pattern:
-rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle: three real-time roll attitude angles of axle of foundation, pitch attitude angle, yaw-position angle when equaling respectively to resolve terrain object imaging task parameter, before next terrain object arrives, remain unchanged;
Under the formula that slightly repairs a die:
-rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle: maintain a upper beat fixed value all the time during task, do not change with terrain object change;
-benchmark swing mirror angle: maintain a upper beat fixed value all the time during task, does not change with terrain object change;
-swing mirror angle controlled quentity controlled variable: the pivot angle equaling to calculate when resolving terrain object imaging task parameter need adjust angle;
Under maneuver model:
-rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle: need the angle that superposition pendulum mirror need adjust on the basis at the real-time roll attitude angle of current beat, pitch attitude angle, yaw-position angle respectively;
-benchmark swing mirror angle: equal pendulum mirror latched position angle;
-swing mirror angle controlled quentity controlled variable: equal pendulum mirror latched position angle.
Preferably, rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle and drift angle upgrade simultaneously, to avoid the attitude jitter caused because of drift angle time delay.
Compared with prior art, the present invention has following beneficial effect:
The present invention is used for switching satellite operation pattern during multiple ground point target continuous imaging, to adapt to different imaging task requirements.Autonomous imaging task planning relates to a lot of information interaction, as attitude angle, swing mirror angle, drift angle etc., the present invention is by rational, simplify, information definition and interaction design accurately, define three kinds of mode of operations of satellite imagery work, comprise refine pattern, slightly repair a die formula, maneuver model, five mode of operation regulatory factors are defined for Three models, comprise rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle, swing mirror angle controlled quentity controlled variable, give five kinds of factor generation mechanisms of corresponding three kinds of mode of operations, for the most effective, highly reliable completes autonomous imaging task planning tasks, establish technical foundation.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is autonomous imaging task planning information interaction figure.
Fig. 2 is multiple goal continuous imaging schematic diagram.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some changes and improvements can also be made.These all belong to protection scope of the present invention.
The present invention relates to aerospace remotely sensed image task technical field, particularly relate to a kind of mode adjusting method of autonomous imaging task planning.The present invention is used for switching satellite operation pattern during multiple ground point target continuous imaging, to adapt to different imaging task requirements.When satellite run into first, second ..., the n-th target time, the expansion of visual field usually only rely on around the satellite axis of rolling Attitude Offset or rely on the pendulum mirror of the axis of rolling to swing.Guaranteeing correct execution points to adjustment and imaging task.
The solving and control of above task parameters is implemented, and be mainly concerned with two aspects, one is platform rail control, and provide stable attitude for parametric solution, tracing control drift angle, two is cameras, Direct driver pendulum mirror adjustment visual field imaging.Wherein relate to a lot of information interaction, as attitude angle, swing mirror angle, drift angle etc., how can by reasonably, simplify, information definition and mutual accurately, the most effective and the most highly reliable completes autonomous imaging task planning tasks, becomes the problem needing to solve.
For solving the problem, the invention provides a kind of mode adjusting method of autonomous imaging task planning, the method comprises the steps:
Steps A, autonomous image forming job pattern definition
In this step, a kind of mode adjusting method of autonomous imaging task planning, mainly for Three models: refine pattern, slightly to repair a die formula, maneuver model.
In step, refine pattern, is defined as and carries out drift angle correction in real time, puts illuminating apparatus structure complete imaging viewing field adjustment by the axis of rolling of camera;
In step, slightly repair a die formula, is defined as and only revises substar drift angle, puts illuminating apparatus structure complete imaging viewing field adjustment by the axis of rolling of camera;
In step, maneuver model, is defined as and carries out drift angle correction in real time, and the locking of camera pendulum mirror, only completes visual field adjustment by appearance control.
Step B, deterministic model regulatory factor
In this step, define five regulatory factors: rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle, swing mirror angle controlled quentity controlled variable.
Autonomous imaging task planning information is mutual as shown in Figure 1.
In step, reference attitude angle (rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle), benchmark swing mirror angle, calculate and drift angle Correction and Control for drift angle, when maneuver model, viewing field of camera corrective action is also taken into account at reference attitude angle.
In step, swing mirror angle controlled quentity controlled variable is used for the actual visual field adjustment driving pendulum mirror to swing.
Step C, the producing method of the mode adjusting factor
In this step, imaging task parametric solution program is according to satellite current orbit position, terrain object coordinate, the real-time attitude angle of three axles etc., try to achieve imaging task parameter, mainly comprise pivot angle and need adjust angle, imaging moment etc., according to above result, according to different mode needs, carry out regulatory factor process, generate reference attitude angle corresponding to each pattern, benchmark swing mirror angle, swinging angle control amount.
In step C, reference attitude angle, benchmark swing mirror angle are fixed value time initial.When carrying out imaging task to each terrain object, upgrade.
In step C, refine mode treatment is as follows:
Reference attitude angle: the real-time attitude angle of three axles of foundation when equaling to resolve corresponding terrain object imaging task parameter, before next terrain object arrives, remains unchanged;
Benchmark swing mirror angle: the pivot angle equaling to calculate need adjust angle;
Swinging angle control amount: the pivot angle equaling to calculate need adjust angle.
In step C, it is as follows slightly to repair mode treatment:
Reference attitude angle: maintain a upper beat fixed value all the time during task, does not change with terrain object change;
Benchmark swing mirror angle: maintain a upper beat fixed value all the time during task, does not change with terrain object change;
Swinging angle control amount: the pivot angle equaling to calculate need adjust angle.
In step C, maneuver model process is as follows
Reference attitude angle: need superpose the angle that pendulum mirror need adjust on the basis of the real-time attitude angle of current beat, computing method are as follows:
When to turn sequence be 3-1-2 to attitude, 3-1-2 represents the rotational order of coordinate transform, and 1 representative rotates forward around x-axis, and 2 representatives rotate forward around y-axis, and 3 representatives rotate forward around z-axis.Get with real-time three-axis attitude angle (φ
sH_X, θ
sH_Y, ψ
sH_Z) calculate transition matrix A
bo:
Wherein, φ
sH_Xrepresent that satellite body system is relative to the real-time attitude angle of the rolling of track system, θ
sH_Yrepresent that satellite body system is relative to the real-time attitude angle of the pitching of track system, ψ
sH_Zrepresent that satellite body system is relative to the real-time attitude angle of the driftage of track system; If φ
bfor pivot angle need adjust angle, φ
kZBfor pendulum mirror latched position angle, calculate shift-matrix A
b ' o:
Wherein, intermediate quantity aa, ab, ac, ba, bb, bc, ca, cb, cc represent A respectively
bothe item at different rows column position place in matrix;
Calculate three-axis reference attitude angle (φ
jZ_X, θ
jZ_Y, ψ
jZ_Z):
Wherein, φ
jZ_Xrepresent rolling reference attitude angle, θ
jZ_Yrepresent pitching reference attitude angle, ψ
jZ_Zrepresent Yaw Reference attitude angle;
Benchmark swing mirror angle: equal pendulum mirror latched position angle;
Swinging angle control amount: equal pendulum mirror latched position angle.
Step D, for the renewal opportunity of drift angle calculation and control
In this step, reference attitude angle, benchmark swing mirror angle and drift angle are three key elements for drift angle control and compensation, and wherein drift angle calculates according to reference attitude angle and benchmark swing mirror angle, may exist and calculate time delay.
Can be effective in order to ensure drift angle compensatory control, these three controlled quentity controlled variables (reference attitude angle, benchmark swing mirror angle and drift angle) being given for rail control must upgrade simultaneously, to avoid the attitude jitter caused because of drift angle time delay.
In an embodiment, sweep camera for linear array push, it pushes away, and to sweep direction general identical with satellite flight direction, and the expansion of visual field usually only relies on and swung around the Attitude Offset of the satellite axis of rolling or the pendulum mirror of the dependence axis of rolling.As shown in Figure 2.
In Fig. 2, OXYZ is satellite orbit coordinate system, and under nominal state, satellite three-axis attitude is 0, and camera over the ground visual field is narrower, and the optical axis just over the ground.In the t0 moment, know the coordinate of terrain object Target1, on star comprehensively can imaging illumination constraint, satellite current location speed parameter, coordinates of targets, before imaging setup time how many etc., calculate in a time interval at thereafter, when side-sway angle is φ, camera pushes away to be swept array and pushes away pipeline purging center at floor projection, just runs into ground point target.Similar, run into second, the 3rd ..., the n-th target time, adjustment imaging task is pointed in execution that also can be correct.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, and this does not affect flesh and blood of the present invention.When not conflicting, the feature in the embodiment of the application and embodiment can combine arbitrarily mutually.
Claims (7)
1. a mode adjusting method for autonomous imaging task planning, is characterized in that, comprise the steps:
Steps A, defines autonomous image forming job pattern;
Step B, for autonomous image forming job pattern deterministic model regulatory factor;
Step C: for the producing method of autonomous image forming job pattern deterministic model regulatory factor.
2. the mode adjusting method of autonomous imaging task planning according to claim 1, is characterized in that, define three kinds of autonomous image forming job patterns: refine pattern, slightly to repair a die formula, maneuver model;
Described refine pattern, is defined as and carries out drift angle correction in real time, puts illuminating apparatus structure complete imaging viewing field adjustment by the axis of rolling of camera;
The described formula that slightly repairs a die, is defined as and only revises substar drift angle, puts illuminating apparatus structure complete imaging viewing field adjustment by the axis of rolling of camera;
Described maneuver model, is defined as and carries out drift angle correction in real time, and the locking of camera pendulum mirror, only completes visual field adjustment by appearance control.
3. the mode adjusting method of autonomous imaging task planning according to claim 2, it is characterized in that, for described three kinds of autonomous image forming job patterns, determine five mode adjusting factors: rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle, swing mirror angle controlled quentity controlled variable.
4. the mode adjusting method of autonomous imaging task planning according to claim 3, it is characterized in that, described rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle, calculate and drift angle Correction and Control for drift angle, when maneuver model, described rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle also control for viewing field of camera adjustment;
Described swing mirror angle controlled quentity controlled variable, for the visual field adjustment that reality drives pendulum mirror to swing.
5. the mode adjusting method of autonomous imaging task planning according to claim 3, it is characterized in that, described rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle are fixed value time initial, when carrying out imaging task to each terrain object, upgrade.
6. the mode adjusting method of autonomous imaging task planning according to claim 3, it is characterized in that, the producing method of the mode adjusting factor comprises:
Under refine pattern:
-rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle: three real-time roll attitude angles of axle of foundation, pitch attitude angle, yaw-position angle when equaling respectively to resolve terrain object imaging task parameter, before next terrain object arrives, remain unchanged;
Under the formula that slightly repairs a die:
-rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle: maintain a upper beat fixed value all the time during task, do not change with terrain object change;
-benchmark swing mirror angle: maintain a upper beat fixed value all the time during task, does not change with terrain object change;
-swing mirror angle controlled quentity controlled variable: the pivot angle equaling to calculate when resolving terrain object imaging task parameter need adjust angle;
Under maneuver model:
-rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle: need the angle that superposition pendulum mirror need adjust on the basis at the real-time roll attitude angle of current beat, pitch attitude angle, yaw-position angle respectively;
-benchmark swing mirror angle: equal pendulum mirror latched position angle;
-swing mirror angle controlled quentity controlled variable: equal pendulum mirror latched position angle.
7. the mode adjusting method of autonomous imaging task planning according to claim 3, it is characterized in that, rolling reference attitude angle, pitching reference attitude angle, Yaw Reference attitude angle, benchmark swing mirror angle and drift angle upgrade simultaneously, to avoid the attitude jitter caused because of drift angle time delay.
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