CN105628053B - A kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error - Google Patents
A kind of determination method of spaceborne laser altimeter system instrument pin point geometry location error Download PDFInfo
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Abstract
The present invention relates to a kind of determination methods of spaceborne laser altimeter system instrument pin point geometry location error, belong to laser remote sensing field, it solves existing pin point geometry location error analysis method and ignores position between laser measurement system and carrying platform sensor and angle installation error, under the premise of not accounting for measured target height relief, the instantaneous geometry location error model in part that laser footpoint is only provided, the problem of analysis the extreme value of laser footpoint geometry location error.The present invention is based on the communication theory of spaceborne laser altimeter system instrument laser footpoint geometry location process and error, the influence to be risen and fallen by considering a variety of error sources and planar target, it is proposed that the method for the geometry location error of judgement spaceborne laser altimeter system instrument laser footpoint comprehensively：The analysis method that instantaneous geometry location error is combined with extreme value geometry location error can realize the comprehensive analysis in the front and back performance indicator of spaceborne laser altimeter system instrument transmitting and assessment.
Description
Technical Field
The invention belongs to the field of laser remote sensing, and particularly relates to a method for judging a foot point geometric positioning error of a satellite-borne laser altimeter, which is suitable for precision analysis and evaluation of observation results of the satellite-borne laser altimeter.
Background
The satellite-borne laser altimeter is a laser remote sensing equipment placed on the surface of satellite, and can accurately obtain the distance between the laser altimeter and the laser foot point by measuring the transit time of emitted laser pulse. And the position and attitude data provided by the satellite platform are combined, so that the precise calculation of the geometric positioning coordinates of the laser foot points is realized. Under the condition of fully utilizing the autonomous flight of the satellite, the satellite-borne laser altimeter can observe and obtain a target digital elevation model covering the whole world, so the satellite-borne laser altimeter has very wide application in the fields of mapping, glaciery, geology, oceanography and the like.
The basic principle of the geometric positioning of the foot points of the satellite-borne laser altimeter is shown in figure 1, and the positioning process relates to the fusion of data of the laser altimeter, the satellite platform and the attitude sensor. According to the triangular vector method, the geometric vector of the laser foot point on the surface of the detected star can be expressed as
Wherein,represents the observation vector of the laser altimeter,representing a position offset vector between the laser altimeter and the attitude sensor,an observation vector representing the position sensor is shown,representing a position offset vector between the attitude sensor and the position sensor.
Considering that in the process of geometric positioning of the laser foot points of the satellite-borne laser altimeter, certain errors exist in the arrangement of each sensor and observation data of each sensor, the geometric positioning coordinates of the laser foot points are affected by multiple error sources, and the method mainly comprises the following steps: the satellite-borne laser altimeter comprises a laser ranging error of the satellite-borne laser altimeter, an attitude angle error of the satellite platform, a laser pointing angle error, a mounting angle error and a position error of each sensor, and an orbit determination error of the satellite platform. Meanwhile, when the satellite-borne laser altimeter actually works, measurement states such as laser pointing direction and attitude of a satellite platform can be changed, and geometric positioning errors of laser foot points can fluctuate to a certain extent, so that the geometric positioning errors of the laser foot points can be reasonably analyzed, and the satellite-borne laser altimeter has an important effect on evaluating technical indexes of the satellite-borne laser altimeter and application of results of the satellite-borne laser altimeter.
At present, there are some classical documents about the analysis of the geometric positioning error of the laser foot point, such as the analysis method based on the difference model (M,et al.A simplified analytical model for a-priorilidar point-positioning error estimation and a review of lidar errorsources.Photogrammetric Engineering&Remote Sensing,75(12), 1425-; DanJ, et al, random Error Modeling and Analysis of air borne Lidar systems, IEEEtransformations on Geoscience and Remote Sensing,52(7): 3885-; jump, et al, elevation error analysis of earth observation satellite-borne laser height measurement system, infrared and laser engineering, 44(3) 1042, 1047,2015, etc. The methods ignore the position and angle installation errors between the laser measurement system and the carrying platform sensor, only provide partial instantaneous geometric positioning error models of the laser foot points on the premise of not considering the height fluctuation of the measured target, and simultaneously do not aim at the laser foot pointsAnd analyzing the extreme value of the geometric positioning error. Therefore, the method can only analyze the influence of partial error factors on the instantaneous positioning error of the laser foot point aiming at the horizontal plane observation target, and cannot realize the comprehensive evaluation of the geometric positioning error of the laser foot point of the satellite-borne laser altimeter.
Disclosure of Invention
The invention mainly solves the technical problems existing in the existing analysis method; the method realizes instantaneous analysis and extreme value analysis of the laser foot point error of the satellite-borne laser altimeter by taking the propagation theory of medium errors as the basis under the condition of comprehensively considering various error sources, measurement states and plane target fluctuation, thereby comprehensively and quantitatively evaluating the geometric positioning error of the laser foot point of the satellite-borne laser altimeter.
The technical problem of the invention is mainly solved by the following technical scheme:
a method for judging geometric positioning errors of foot points of a satellite-borne laser altimeter is characterized by comprising the following steps:
step 1, calculating a foot point geometric positioning error component caused by an angle error, a distance measurement error and a position error under an attitude measurement coordinate system according to initial parameters of a foot point geometric positioning error of the satellite-borne laser altimeter, wherein the initial parameters of the foot point geometric positioning error of the satellite-borne laser altimeter comprise:
parameter I, hardware error parameter of the laser altimeter: the method comprises the steps of laser pointing angle error, hardware ranging error, placement angle error and placement position error;
parameter two, satellite platform error parameter: the method comprises the following steps of (1) including attitude angle errors (including roll angle errors, pitch angle errors and course angle errors) of a satellite platform, orbit determination errors of the satellite platform, and installation angle errors and installation position errors of an attitude sensor and a position sensor;
thirdly, correcting error parameters of atmospheric delay in the laser emission direction;
parameter four, measuring state parameters: the method comprises the steps of measuring the rotation relation between a satellite-borne laser altimeter laser pointing angle, an attitude angle of a satellite platform and an attitude measurement coordinate system and a satellite coordinate system;
parameter five, planar target parameter: including the inclination of the target in the along and perpendicular rail directions;
sixthly, the orbit height of the satellite;
calculating a foot point geometric positioning error component caused by the angle error, the range error and the position error, comprising the sub-steps of:
step 1.1, calculating the root mean square error dp of the satellite-borne laser altimeter laser rangingi：
In the formula, d ρsAnd d ρaRespectively laser altimeter hardware distance measuring error and atmosphere delay correction error (d phi)x,dФy) And(s)x,sy) Error of laser pointing angle and target tilt angle in the along-and perpendicular-rail directions, respectivelyiIs the laser pointing angle, which is the included angle between the laser emitting direction and the nadir direction, phii＝ΔФ×(i-1)，i＝1、2、3.....、int(ФmaxThe function int represents the numerical value rounding operation, wherein the delta phi is the angle interval of the laser pointing angle, the delta phi is more than or equal to 0.01 degrees and less than or equal to 1 degree, and the phimaxIs the maximum laser pointing angle and phi is more than or equal to 0 DEGmax≤30°，ρiFor laser range values, pi≈H/cosФiH is the orbital height of the satellite;
step 1.2, calculating the component dx of the geometric positioning error of the laser foot points in the attitude measurement coordinate systemij、dyijAnd dzij：
In the formula, d γx、dγyAnd d γzTo synthesize the angular errors, they can be expressed as:wherein, d phizAs the component of the laser pointing angle error in the nadir direction, (d β)x,dβy,dβz) For the positioning angle error of the attitude sensor under the satellite platform coordinate system, (d α)x,dαy,dαz) And (dr)x,dry,drz) Respectively setting angle error and setting position error of the satellite-borne laser altimeter under a satellite body coordinate system; is the attitude angle error of the satellite platform, ak(k 1, 2, 3.. 9) are elements of the attitude matrix, which satisfy the following relation:
in the formula,the attitude angles of the satellite platform are the same in value and meet the following requirements: sigmaj＝Δσ×(j-1)，j＝1、2、3.....、int(σmaxThe angle of the angle is more than or equal to 0.01 degrees and less than or equal to 1 degree, and the angle is more than or equal to 1 degreemaxThe maximum attitude angle is 0 degree or lessmax≤90°；
Step 2, calculating the instantaneous geometric positioning error of the laser foot point in the star coordinate system according to the rotation relation between the attitude measurement coordinate system and the star coordinate system;
and 3, calculating the maximum value and the minimum value of the geometric positioning error of the foot points by counting the geometric positioning error values of the laser foot points or based on an error extreme value model.
In the above method for determining a geometric positioning error of a foot point of a space-borne laser altimeter, in step 1, according to a rotation relationship between an attitude measurement coordinate system and a star coordinate system, an instantaneous geometric positioning error component dX of the foot point in the star coordinate system is calculated and obtainedij、dYijAnd dZij：
In the formula, ml(l 1, 2, 3.. 9) is an element of a rotation matrix between an attitude measurement coordinate system and a star coordinate system; (dX)g,dYg,dZg) The orbit determination error of the satellite in the satellite coordinate system is shown.
In the above method for determining a geometric positioning error of a foot point of a space-borne laser altimeter, in step 3, the maximum value and the minimum value of the geometric positioning error of the foot point are calculated, and the method includes the following substeps:
step 3.1, if all the measurement state parameters of the satellite-borne laser altimeter are known, searching each component (dX) of the instantaneous geometric positioning error of the laser foot pointij,dYij,dZij) The maximum value and the minimum value of the geometric positioning error of the foot points are counted:
dXmax＝max(dXij)，dYmax＝max(dYij)，dZmax＝max(dZij)
dXmin＝min(dXij)，dYmin＝min(dYij)，dZmin＝min(dZij)
in the formula, functions max and min represent the operation of solving the maximum value and the minimum value; (dX)max,dYmax,dZmax) And (dX)min,dYmin,dZmin) The maximum value and the minimum value of the geometric positioning error of the foot points are obtained;
step 3.2, if the partial measurement state parameters of the satellite-borne laser altimeter are unknown, calculating the maximum value and the minimum value of the geometric positioning errors of the foot points according to the extreme value error model of the geometric positioning of the foot points:
in the formula, ρmaxIs the maximum value of laser ranging (d gamma)min,dγmax)、(dσmin,dσmax)、(drmin,drmax)、(dρmin,dρmax)、(dVmin,dVmax) And respectively representing the minimum value and the maximum value of the synthetic angle error, the attitude angle error, the mounting position error of the satellite-borne laser altimeter, the distance measurement error and the orbit determination error.
Therefore, the invention has the following advantages: based on the geometric positioning process of the laser foot points of the satellite-borne laser altimeter and the propagation theory of errors, the method for comprehensively judging the geometric positioning errors of the laser foot points of the satellite-borne laser altimeter is provided by comprehensively considering the influence of various error sources and the fluctuation of a plane target: instantaneous geometric positioning error and extreme value geometric positioning error are combined. The method for judging the geometric positioning error of the laser foot points is particularly suitable for the optimization design of hardware error parameters of the satellite-borne laser altimeter and the evaluation and analysis of performance indexes of the hardware error parameters.
Drawings
Fig. 1 is the basic principle of laser foot spot geometric positioning of a laser altimeter.
FIG. 2 is a calculation process of geometric positioning errors of laser foot points of the satellite-borne laser altimeter.
FIG. 3a is a plot of laser range error versus laser pointing angle for an embodiment.
FIG. 3b shows the geometric positioning error of the foot point in the x direction under the international celestial coordinate system of the embodiment.
FIG. 3c shows the geometric positioning error of the foot point in the y-direction in the international celestial coordinate system of the embodiment.
FIG. 3d is a geometric positioning error of the foot point in the z direction under the international celestial coordinate system of the embodiment.
FIG. 4a shows the geometric positioning error of the foot point in the X direction under the international terrestrial coordinate system of the embodiment.
FIG. 4b shows the geometric positioning error of the foot point in the Y direction in the international terrestrial coordinate system according to the embodiment.
FIG. 4c shows the geometric positioning error of the foot point in the Z direction in the international terrestrial coordinate system according to the embodiment.
Detailed Description
The technical scheme of the invention is further specifically explained by an analysis embodiment of geometric positioning errors of foot points of an earth observation satellite-borne laser altimeter and by combining with the attached drawings.
Example (b):
firstly, a specific method flow of the present invention is introduced, which mainly comprises the following steps:
1. inputting initial parameters of a geometrical positioning error of a foot point of a satellite-borne laser altimeter, and the method comprises the following steps:
(1.1) inputting hardware error parameters of the laser altimeter, including laser pointing angle error, hardware ranging error, installation angle error and installation position error;
(1.2) inputting error parameters of the satellite platform, including attitude angle errors (including roll angle errors, pitch angle errors and course angle errors) of the satellite platform, orbit determination errors of the satellite platform, and installation angle errors and installation position errors of an attitude sensor and a position sensor;
(1.3) inputting an atmospheric delay correction error parameter in the laser emission direction;
(1.4) inputting measurement state parameters including a laser pointing angle of a satellite-borne laser altimeter, an attitude angle of a satellite platform, and a rotation matrix between an international celestial coordinate system (attitude measurement coordinate system) and an international terrestrial coordinate system (celestial coordinate system);
(1.5) inputting planar target parameters including the inclination of the target in the along-rail and perpendicular-rail directions;
and (1.6) inputting the orbital height of the satellite.
2. Calculating the components of the geometric positioning errors of the foot points caused by the angle errors, the distance measurement errors and the position errors in the international celestial coordinate system, and comprising the following processes:
(2.1) calculating the root mean square error dp of the laser ranging of the satellite-borne laser altimeteri：
In the formula, d ρsAnd d ρaRespectively laser altimeter hardware distance measuring error and atmosphere delay correction error (d phi)x,dФy) And(s)x,sy) Error of laser pointing angle and target tilt angle in the along-and perpendicular-rail directions, respectivelyiIs the laser pointing angle, which is the included angle between the laser emitting direction and the nadir direction, phii＝0.1°×i，i＝1、2、3.....、301，ρiFor laser range values, pi≈H/cosФiAnd H is the orbital altitude of the satellite.
(2.2) calculating the component dx of the geometric positioning error of the laser foot points in the international celestial coordinate systemij、dyijAnd dzij：
In the formula, d γx、dγyAnd d γzTo synthesize the angular errors, they can be expressed as:wherein, d phizAs the component of the laser pointing angle error in the nadir direction, (d β)x,dβy,dβz) For the positioning angle error of the attitude sensor under the satellite platform coordinate system, (d α)x,dαy,dαz) And (dr)x,dry,drz) The method is characterized by comprising the following steps of respectively determining a placement angle error and a placement position error of a satellite-borne laser altimeter under a satellite body coordinate system. Is the attitude angle (roll angle, pitch angle and course angle) error of the satellite platform. a isk(k ═ 1, 2, 3.. 9) are elements of the attitude matrix, which satisfy the following relationships:
in the formula,the attitude angles of the satellite platform are the same in value and meet the following requirements: sigmaj＝0.1°×(j-1)，j＝1、2、3.....、901。
In this step, the target is a planar diffuse reflector with a certain height fluctuation, and the inclination range thereof covers 0-60 degrees; in addition, the distance measurement error comprehensively considers the influence of multiple factors such as a laser altimeter hardware system, a target tilt effect, atmospheric delay and the like.
3. Calculating the instantaneous geometric positioning error component dX of the laser foot point in the international terrestrial coordinate systemij、dYijAnd dZij：
In the formula, ml(l 1, 2, 3.. 9) is an element of a rotation matrix between the international celestial coordinate system and the international terrestrial coordinate system. (dX)g,dYg,dZg) The orbit determination error of the satellite under the international terrestrial coordinate system is shown.
4. Calculating the maximum value and the minimum value of the geometric positioning error of the foot points, comprising the following processes:
(4.1) if all the measurement state parameters of the satellite-borne laser altimeter are known, searching each component (dX) of the instantaneous geometric positioning error of the laser foot pointij,dYij,dZij) The maximum value and the minimum value of the geometric positioning error of the foot point are obtained through statistics:
dXmax＝max(dXij)，dYmax＝max(dYij)，dZmax＝max(dZij)
dXmin＝min(dXij)，dYmin＝min(dYij)，dZmin＝min(dZij)
in the formula, functions max and min represent operations for obtaining maximum and minimum values. (dX)max,dYmax,dZmax) And (dX)min,dYmin,dZmin) The maximum value and the minimum value of the geometric positioning error of the foot point are obtained.
(4.2) if the partial measurement state parameters of the satellite-borne laser altimeter are unknown, calculating the maximum value and the minimum value of the geometric positioning errors of the foot points according to an extreme value error model of the geometric positioning of the foot points:
in the formula, ρmaxIs the maximum value of laser ranging (d gamma)min,dγmax)、(dσmin,dσmax)、(drmin,drmax)、(dρmin,dρmax)、(dVmin,dVmax) And respectively representing the minimum value and the maximum value of the synthetic angle error, the attitude angle error, the mounting position error of the satellite-borne laser altimeter, the distance measurement error and the orbit determination error.
In the step, two conditions that the measurement state of the satellite-borne laser altimeter is known and part of the measurement state is unknown are fully considered, and the maximum value and the minimum value of the geometric positioning error of the laser foot points are resolved and analyzed.
Secondly, the following is a specific embodiment of the method of the invention:
1. inputting initial parameters of foot point geometric positioning error evaluation of a satellite-borne laser altimeter, wherein the initial parameters comprise hardware error parameters of the laser altimeter, satellite platform error parameters, atmospheric delay correction error parameters, measurement state parameters, plane target parameters, satellite orbit height and the like, and the parameter names, symbols and numerical values are shown in table 1;
TABLE 1 initial parameters for evaluation of geometric positioning errors of foot points
2. Calculating laser ranging error dpiAnd the error component dx of the geometric positioning of the laser foot point under the international celestial coordinate systemij、dyijAnd dzijTheir relationships with the laser pointing angle and the satellite attitude angle are shown in fig. 3(a) and fig. 3(b) to fig. 3(d), respectively;
3. calculating the instantaneous geometric positioning error dX of the laser foot point in the international terrestrial coordinate systemij、dYijAnd dZijThe distribution rules of the laser pointing angle and the satellite attitude angle are shown in the figures 4(a) to 4 (c);
4. calculating the maximum value and the minimum value of the geometric positioning error of the laser foot points: finding dXij、dYijAnd dZijThe maximum value and the minimum value of the laser foot point are counted to obtain extreme values of the geometric positioning errors of the laser foot point in X, Y and Z directions: (dX)max,dYmax,dZmax)＝(5.14m,5.36m,5.54m)，(dXmin,dYmin,dZmin)＝(2.71m,3.99m,0.42m)。
Third, verification analysis
Since the international earth frame is related to the earth's motion, nutation and polar motion, which change every year, the rotation matrix between the international earth coordinate system and the international earth coordinate system is a function of time, which is related to the time at which the laser pulse arrives at the ground. Before the satellite-borne laser altimeter is transmitted, the extreme value of the geometric positioning coordinate of the laser foot point cannot be analyzed considering that the rotation matrix is unknown. By adopting the extreme value error model of the foot point geometric positioning, the extreme values of the geometric positioning errors of the laser foot points in X, Y and Z directions can be calculated and obtained through statistics: dXmax＝dYmax＝dZmax＝5.54m，dXmin＝dYmin＝dZmin＝0.42m。
Obviously, the error extreme value calculated by the extreme value error model of the foot point geometric positioning covers all the error extreme values under the measurement state, which is beneficial to comprehensively judging and analyzing the performance of the spaceborne laser altimeter before being transmitted so as to verify the conformity degree of the technical indexes.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (2)
1. A method for judging geometric positioning errors of foot points of a satellite-borne laser altimeter is characterized by comprising the following steps:
step 1, calculating a foot point geometric positioning error component caused by an angle error, a distance measurement error and a position error under an attitude measurement coordinate system according to initial parameters of a foot point geometric positioning error of the satellite-borne laser altimeter, wherein the initial parameters of the foot point geometric positioning error of the satellite-borne laser altimeter comprise:
parameter I, hardware error parameter of the laser altimeter: the method comprises the steps of laser pointing angle error, hardware ranging error, placement angle error and placement position error;
parameter two, satellite platform error parameter: the method comprises the steps of detecting the attitude angle error of a satellite platform, the orbit determination error of the satellite platform, the arrangement angle error and the arrangement position error of an attitude sensor and a position sensor, wherein the attitude angle error comprises a roll angle error, a pitch angle error and a course angle error;
thirdly, correcting error parameters of atmospheric delay in the laser emission direction;
parameter four, measuring state parameters: the method comprises the steps of measuring the rotation relation between a satellite-borne laser altimeter laser pointing angle, an attitude angle of a satellite platform and an attitude measurement coordinate system and a satellite coordinate system;
parameter five, planar target parameter: including the inclination of the target in the along and perpendicular rail directions;
sixthly, the orbit height of the satellite;
calculating a foot point geometric positioning error component caused by the angle error, the range error and the position error, comprising the sub-steps of:
step 1.1, calculating the root mean square error dp of the satellite-borne laser altimeter laser rangingi：
In the formula, d ρsAnd d ρaRespectively laser altimeter hardware distance measuring error and atmosphere delay correction error (d phi)x,dФy) And(s)x,sy) Error of laser pointing angle and target tilt angle in the along-and perpendicular-rail directions, respectivelyiIs the laser pointing angle, which is the included angle between the laser emitting direction and the nadir direction, phii＝ΔФ×(i-1)，i＝1、2、3.....、int(ФmaxThe function int represents the numerical value rounding operation, wherein the delta phi is the angle interval of the laser pointing angle, the delta phi is more than or equal to 0.01 degrees and less than or equal to 1 degree, and the phimaxIs the maximum laser pointing angle and phi is more than or equal to 0 DEGmax≤30°，ρiFor laser range values, pi≈H/cosФiH is the orbital height of the satellite;
step 1.2, calculating the component dx of the geometric positioning error of the laser foot points in the attitude measurement coordinate systemij、dyijAnd dzij：
In the formula, d γx、dγyAnd d γzTo synthesize the angular errors, they can be expressed as:wherein, d phizAs the component of the laser pointing angle error in the nadir direction, (d β)x,dβy,dβz) For the positioning angle error of the attitude sensor under the satellite platform coordinate system, (d α)x,dαy,dαz) And (dr)x,dry,drz) Respectively setting angle error and setting position error of the satellite-borne laser altimeter under a satellite body coordinate system;is the attitude angle error of the satellite platform, ak(k 1, 2, 3.. 9) are elements of the attitude matrix, which satisfy the following relation:
in the formula,is the attitude angle of the satellite platform, the values of which are the same and are allSatisfies the following conditions: sigmaj＝Δσ×(j-1)，j＝1、2、3.....、int(σmaxThe angle of the angle is more than or equal to 0.01 degrees and less than or equal to 1 degree, and the angle is more than or equal to 1 degreemaxThe maximum attitude angle is 0 degree or lessmax≤90°；
Step 2, calculating the instantaneous geometric positioning error of the laser foot point in the star coordinate system according to the rotation relation between the attitude measurement coordinate system and the star coordinate system;
step 3, calculating the maximum value and the minimum value of the geometric positioning error of the foot points by counting the geometric positioning error value of the laser foot points or based on an error extreme value model, and comprising the following substeps:
step 3.1, if all the measurement state parameters of the satellite-borne laser altimeter are known, searching each component (dX) of the instantaneous geometric positioning error of the laser foot pointij,dYij,dZij) The maximum value and the minimum value of the geometric positioning error of the foot points are counted:
dXmax＝max(dXij)，dYmax＝max(dYij)，dZmax＝max(dZij)
dXmin＝min(dXij)，dYmin＝min(dYij)，dZmin＝min(dZij)
in the formula, functions max and min represent the operation of solving the maximum value and the minimum value; (dX)max,dYmax,dZmax) And (dX)min,dYmin,dZmin) The maximum value and the minimum value of the geometric positioning error of the foot points are obtained;
step 3.2, if the partial measurement state parameters of the satellite-borne laser altimeter are unknown, calculating the maximum value and the minimum value of the geometric positioning errors of the foot points according to the extreme value error model of the geometric positioning of the foot points:
in the formula，ρmaxIs the maximum value of laser ranging (d gamma)min,dγmax)、(dσmin,dσmax)、(drmin,drmax)、(dρmin,dρmax)、(dVmin,dVmax) And respectively representing the minimum value and the maximum value of the synthetic angle error, the attitude angle error, the mounting position error of the satellite-borne laser altimeter, the distance measurement error and the orbit determination error.
2. The method for determining the geometric positioning error of the foot point of the space-borne laser altimeter according to claim 1, wherein in the step 1, the instantaneous geometric positioning error component dX of the foot point in the star coordinate system is calculated according to the rotation relationship between the attitude measurement coordinate system and the star coordinate systemij、dYijAnd dZij：
In the formula, ml(l 1, 2, 3.. 9) is an element of a rotation matrix between an attitude measurement coordinate system and a star coordinate system; (dX)g,dYg,dZg) The orbit determination error of the satellite in the satellite coordinate system is shown.
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| CN106840212A (en) * | 2017-04-12 | 2017-06-13 | 国家测绘地理信息局卫星测绘应用中心 | The in-orbit geometry calibration method of satellite borne laser based on ground laser facula centroid position |
| CN108519589B (en) * | 2018-03-08 | 2019-10-11 | 武汉大学 | Spaceborne laser altimeter system instrument footmark localization method based on passive target |
| CN111025327A (en) * | 2019-12-17 | 2020-04-17 | 中国资源卫星应用中心 | Satellite-borne laser data high-precision positioning method considering atmospheric delay correction |
| CN115770962A (en) * | 2022-12-07 | 2023-03-10 | 伯恩高新科技（惠州）有限公司 | Dicing method and optical element |
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| CN105068065A (en) * | 2015-07-29 | 2015-11-18 | 武汉大学 | Satellite-borne laser altimeter on-orbit calibration method and system |
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| 噪声对星载激光测高仪测距误差的影响;周辉 等;《红外与激光工程》;20150830;第44卷(第8期);第2256-2261页 * |
| 对地观测星载激光测高仪在轨姿态系统误差检校方法;马跃 等;《红外与激光工程》;20150830;第44卷(第8期);第2401-2405页 * |
| 星载激光测高仪大气干项延迟校正;马跃 等;《红外与激光工程》;20130430;第42卷(第4期);第909-914页 * |
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