CN105841705A - Time-attitude based method for decomposition and synthesis of imaging satellite observation task - Google Patents

Abstract

A time-attitude based method for decomposition and synthesis of imaging satellite observation task is disclosed. The method is characterized by comprising the following steps: (1) determining the time-orientation vector of a target according to the weft height of the target and the position of a satellite; (2) establishing an external characteristic rectangle, with a long edge parallel to a star line and including all target points, as a target region, determining a pitch angle, and calculating the characteristic vector of a region target; (3) according to the width of the satellite, dividing bands; and (4) according to the region target borders, cutting the bands to a right length. The method can intuitively and efficiently conduct target decomposition and synthesis, and more easily generate element task information input to a task planning and scheduling model. The method puts forward a concept of time-attitude, which is not only easy to understand and calculate, but also provides a unified description method for target decomposition and synthesis, and has certain operability, generality and scalability.

Description

Based on time the imaging satellite observation Task-decomposing of m-attitude and synthetic method

Technical field

The present invention relates to satellite observation task field, be specifically related to a kind of based on time m-attitude imaging satellite observation appoint Business is decomposed and synthetic method.

Background technology

In imaging satellite mission planning pretreatment, a complicated problem is the relation setting up satellite with target, its complexity Reason is that target location, satellite position and the attitude of satellite all use different coordinate systems to describe, and needs during Practical Calculation Carry out substantial amounts of Coordinate Conversion work, but these are changed and all only considered locus, the not concept of time, and satellite Its time-constrain of aloft flying and regularity are very strong, therefore need badly and are combined with satellite capacity locus, time, it is provided that A set of new satellite and the description method of relationship by objective (RBO).

Summary of the invention

For solving the problems referred to above in existing satellite observation task, it is an object of the invention to provide one readily appreciate and Calculating, more goal decomposition provides a set of unified description method with synthesis, has certain operability, versatility and can Autgmentability based on time the imaging satellite observation Task-decomposing of m-attitude and synthetic method.

For achieving the above object, the present invention provides techniques below scheme:

Based on time the imaging satellite observation Task-decomposing of m-attitude and synthetic method, step is as follows: (1) is according to point target Latitude determine the time m-attitude vectors of target through height and the position of satellite；(2) comprise all impact points one is set up long The Bian Yuxing parallel external characteristic rectangle that rolls off the production line is as regional aim, and determines the angle of pitch, zoning clarification of objective to Amount；(3) band is divided according to the fabric width of satellite；(4) according to regional aim border, band is reduced as suitable length.

Further, the concrete operation method of step (4) is: finds the representative points being in band, then calculates bar Band and regional aim intersection point, finally by time m-attitude vectors when contrasting zero angle of pitch of these summits and intersection point, find out The early momentMoment the latest

Further, step (5) is comprised between step (2) and step (3): at least two regional aim is closed And.

Further, the concrete operation method of each step is:

(1) point target (Target) latitude under WGS84 coordinate system is respectively b, l, h through height, and satellite is in J2000 the earth's core Under inertial coodinate system, the position of t isThe sensing attitude of target is by satellite t under orbital coordinate systemThe position of satellite with the corresponding relation of moment point is

Target is pointed to the corresponding relation of attitude by the position of target and satellite in certain position

Therefore, target location can represent, i.e. at the function F that target is pointed to attitude by certain moment with satellite

Above formula right side functions independent variable is write a Chinese character in simplified form into (t, r, p, y)_Target, referred to as satellite to certain " time m-attitude " put to Amount, during abbreviation, appearance vector, is designated as v, for non-quick its p=0 of satellite, time appearance vector deteriorate to " time m-side-sway " vector (t, r)_Target, when being called for short zero, appearance vector, is designated as

(2) two characteristic points being on broadside determine the length of rectangle, it is characterized in that under Zone Full summit is to star The intersection point of line is in the position at two ends, when satellite claims satellite to cross top through certain surface putting the intersection point rolling off the production line star, So determining that the two characteristic point of rectangle length is satellite t the earliest^eT the latest^lCross two points on top, be designated as e respectively^eAnd e^l, defend Star flight speed approximation is regarded as at the uniform velocity, if the angle of pitch of satellite is fixed, i.e. and p=p₀, then when the length of rectangle is converted into employing Between expression, i.e.

It is on long limit two characteristic points and determines the width of rectangle, it is characterized in that when top is crossed in Zone Full summit by satellite Lateral swinging angle maximum r⁺With minimum r^-Two points, be designated as e respectively⁺And e^-, the satellite angle of pitch is fixed, such as p=p₀, then the width of rectangle It is converted into the expression using satellite side-sway angle, i.e.

Characteristic rectangle is the most only represented by four amounts, the moment the most the earliestMoment the latestMinimum side-sway AngleMaximum lateral swinging angleWrite as the form of vectorBeing referred to as the angle of pitch is p₀Time feature Vector, works as p₀When=0, i.e. satellite does not has pitching ability, and now characteristic vector deteriorates toThe i.e. angle of pitch is 0 Time characteristic vector, be called for short zero characteristic vector；

(3) strip width directly using angle of visual field δ of imaging load represent, such band uses zero characteristic vector to retouch State, i.e.Wherein (r⁺-r^-)_strip=δ；

If dividing band in strict accordance with given redundancy angle one by one from minimum side-sway side, often occur that one side is the most superfluous Remaining situation, is evenly distributed to everywhere redundancy by last big redundancy, obtains mediation redundancy angle Δ δ ' >=Δ δ, reduces further Due to error, leakage angle or the risk in gap occur at each redundancy, use

Expression adjacent ribbons spacing and the ratio of fabric width, referred to as band granularity of division,

When being g when specifying band granularity of division, rightCharacteristic rectangle divide band, the bar marked off Band number isIts mediation redundancy angle is

Therefore zero characteristic vector of band iMiddle minimum and maximum lateral swinging angle is

(4) traversal representative points, if for summit iThen record summit i, otherwise gives up summit i, continues Judge summit i+1；If for summit iAndOrAndThen explanation summit i With limit and the ribbing cross of i ± 1, summit composition, start to forward to when calculate intersection point zero appearance vector, the i.e. side-sway of intersection point and intersect The side-sway on limit equal, then obtained moment of intersection point by similar triangles, record intersection point, continue to judge representative points；

If all summit traversal is complete, then find out band moment the most the latest, the summit more all recorded and friendship The moment value of point, draws the moment the earliest of bandMoment the latestEach band is carried out band cutting so it After, goal decomposition completes.

Further, carry out the merging of regional aim during scenario described below: describe by time and side-sway scope, i.e. one Maximum zero characteristic vector of single sliceMeet

Target synthesis condition is point target zero time appearance vectorOr zero characteristic vector of regional aimLess than maximum zero characteristic vector of single slice, i.e.

The method have the advantages that (1) present invention time-space relationship according to satellite Yu target, it is proposed that based on time The point target of m-attitude describes method, and expands to regional aim and describe method, is converted into and satellite by the geographical coordinate of target Information on time that self is relevant and two orthogonal dimensions of attitude, more intuitively can carry out goal decomposition and synthesis efficiently, Generate the Meta task information being input in mission planning scheduling model more easily；The time m-attitude concept proposed is not only convenient for Understanding and calculate, more goal decomposition provides a set of unified description method with synthesis, has certain operability, general Property and extensibility；(2) when using, m-attitude method determines that the boundary rectangle of regional aim actually asks the spy of regional aim Levying vector, and need to choose a fixing angle of pitch, generally use is zero pitching, i.e. uses zero characteristic vector.Zero is special Levying vector and have more versatility: on the one hand, zero characteristic vector represents the non-quick satellite not having pitching ability natively, compatible Good；On the other hand, for the quick satellite that h a height of away from ground, viewing field of camera angle are δ, ground approximation is regarded as plane, in pitching In the case of angle and yaw angle are 0, its fabric width d with the relation of the angle of pitch p of satellite isIt is easy to get and works as p= When 0, d obtains fabric width minimum corresponding when minima, the i.e. angle of pitch are 0, although quick width corresponding to the satellite difference angle of pitch Wide different, but due to pretreatment stage do not know satellite when to target imaging, therefore using the angle of pitch is that fabric width when 0 is drawn Under the conditions of the band branched away can ensure that the most any angle of pitch, imaging band is all not less than this minimum fabric width Band；(3) band has obtained one group of isometric band after dividing, and the demand according to user can be by band according to target Edge carries out cutting, improves the Efficient Coverage Rate of band；(4) some are apart from close point target or regional aim, if right Each target individually carries out place and comprehends a lot of little bands of generation, not only makes the search volume of planning stage increase, also can be because of defending The frequent attitude maneuver of star is lost time, and causes much originally can observing of task to observe, it is therefore desirable to enter these targets Row merges, two targets of observation that band is the most inswept, although Efficient Coverage Rate reduces, but has observed a target, income more Increase.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used does simple introduction, it should be apparent that, the accompanying drawing in describing below is the present invention Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to These accompanying drawings obtain other accompanying drawing.

Accompanying drawing 1 is characteristic point and the characteristic rectangle of the embodiment of the present invention.

Accompanying drawing 2 is the goal decomposition step of the embodiment of the present invention.

Accompanying drawing 3 is the angle of pitch impact on fabric width of the embodiment of the present invention.

Accompanying drawing 4 is the lateral swinging angle impact on fabric width of the embodiment of the present invention.

What accompanying drawing 5 was the embodiment of the present invention avoids the band of error to divide schematic diagram.

What accompanying drawing 6 was the embodiment of the present invention avoids the band of redundancy inequality to divide schematic diagram.

Accompanying drawing 7 is the band cutting schematic diagram of the embodiment of the present invention.

Accompanying drawing 8 is the non-quick Satellite Targets synthesis observation schematic diagram of the embodiment of the present invention.

Accompanying drawing 9 is the situation of the invalid synthesis of the embodiment of the present invention.

Accompanying drawing 10 is the quick satellite synthesis observation schematic diagram of the embodiment of the present invention.

Accompanying drawing 11 is the goal decomposition result of the embodiment of the present invention.

Detailed description of the invention

Below by specific embodiment, the present invention is further illustrated.

The time m-attitude vectors of 1 point target

The point target (Target) latitude under WGS84 coordinate system is respectively b, l, h through height, and satellite is used in J2000 the earth's core Under property coordinate system, the position of t isThe sensing attitude of target is by satellite t under orbital coordinate systemWhen calculating the position relationship of satellite and target, they can be transformed under a coordinate system.

For the satellite of normal flight, the position of satellite is the function of time, uses high accuracy ephemeris forecasting procedure permissible Forecast the position of certain moment satellite following, the i.e. position of satellite and moment point one_to_one corresponding:

Target location can be converted to the position under certain moment satellite orbit coordinate system, and therefore the position of target and satellite exist Certain position sensing attitude one_to_one corresponding to target:

From formula (1) and formula (2), target can be pointed to the function F of attitude by target location with satellite in certain moment Represent, i.e.

Above formula right side functions independent variable is write a Chinese character in simplified form into (t, r, p, y)_Target, referred to as satellite to certain " time m-attitude " put to Amount, during abbreviation, appearance vector, is designated as v.For non-quick its p=0 of satellite, time appearance vector deteriorate to " time m-side-sway " vector (t, r)_Target, when being called for short zero, appearance vector, is designated as

The characteristic vector of 2 regional aims

Region can regard a closed figure surrounded by multiple points as, and therefore regional aim can be expressed as impact point Set, i.e. Area:{Target₁,Target₂,...,Target_n, appearance vector representation, then district when each impact point is used Territory target can be designated as Area:{ (t, r, p, y)₁,(t,r,p,y)₂,...,(t,r,p,y)_n}。

Owing to satellite imagery band rolls off the production line parallel with star, regional aim decomposes typically first to set up as shown in Figure 1 Roll off the production line parallel boundary rectangle with star on long limit, with this rectangle can complete coverage goal region, and have satellite and target area The all multiple features fastened are closed in territory, therefore this boundary rectangle is referred to as the characteristic rectangle of regional aim herein, and definition is parallel to star and rolls off the production line Limit be characterized the length of rectangle, be perpendicular to the limit that star rolls off the production line and be characterized the width of rectangle, due to characteristic rectangle determination only and region The point connected with rectangle is relevant, therefore these points are referred to as the characteristic point of regional aim herein, is designated as e.

As it is shown in figure 1, be on broadside two characteristic points determine the length of rectangle, it is characterized in that on Zone Full summit The intersection point that star is rolled off the production line is in the position at two ends, when satellite claims satellite through certain surface putting the intersection point rolling off the production line star Cross top, so determining that the two characteristic point of rectangle length is satellite t the earliest^eT the latest^lCross two points on top, be designated as e respectively^eWith e^l, satellite flight speed can approximate and regard as at the uniform velocity, if fixed the angle of pitch of satellite (such as p=p₀) then the length of rectangle permissible It is converted into the expression of employing time, i.e.It is on long limit two characteristic points and determines the width of rectangle, its Feature is satellite lateral swinging angle maximum r time Zone Full summit is crossed top⁺With minimum r^-Two points, be designated as e respectively⁺And e^-If, The satellite angle of pitch is fixed (such as p=p₀) then the width of rectangle can be converted into use satellite side-sway angle expression, i.e.

Thus, if being fixed by the angle of pitch of satellite, then characteristic rectangle can essentially only be represented, the most the earliest by four amounts MomentMoment the latestMinimum side pivot angleMaximum lateral swinging angleWrite as the form of vectorBeing referred to as the angle of pitch is p₀Time characteristic vector, work as p₀When=0, i.e. satellite does not has pitching ability, now Characteristic vector deteriorates toThe i.e. angle of pitch is characteristic vector when 0, is called for short zero characteristic vector.

The decomposition of 3 targets and synthesis

3.1 goal decomposition

The process that goal decomposition becomes Meta task band is first to set up the parallel boundary rectangle that rolls off the production line with star, such as Fig. 2 Shown in (c), then divide band according to the fabric width of satellite, as shown in Fig. 2 (b), finally according to regional aim border, band is cut out It is cut to suitable length, as shown in Fig. 2 (c).

Goal decomposition is one of critical function in imaging satellite task pretreatment, and always in pretreatment is multiple Miscellaneous problem, the most a lot of regional aim decomposition methods do not account for the ability of satellite itself and the sensing attitude of satellite, based on The decomposition method error of gauss projection is relatively big, and decomposition method computation complexity based on space geometry is relatively big, based on MapX point Solution method needs to rely on third party software, and when using in this paper, the description method of m-attitude can solve this well A little problems, next to based on time m-attitude goal decomposition method have been described in detail.

3.1.1 boundary rectangle is determined

According to above-mentioned definition, during employing, m-attitude method determines that the boundary rectangle of regional aim actually seeks region mesh Target characteristic vector, and need to choose a fixing angle of pitch, generally use is zero pitching, i.e. use zero feature to Amount.

In terms of two, illustrate that zero characteristic vector has more versatility below: on the one hand, zero characteristic vector represents natively There is no the non-quick satellite of pitching ability, compatible good；On the other hand, it is the quick of δ for h a height of away from ground, viewing field of camera angle Prompt satellite, regards ground approximation as plane, in the case of the angle of pitch and yaw angle are 0, and its fabric width d and the angle of pitch p of satellite Relation be

It is minimum that the d as p=0 that is easy to get obtains fabric width corresponding when minima, the i.e. angle of pitch are 0, although quick satellite is not Different with the fabric width corresponding to the angle of pitch, but owing to not knowing that satellite, when to target imaging, therefore uses at pretreatment stage The angle of pitch is that under the conditions of the band that fabric width when 0 divides out can ensure that the most any angle of pitch imaging band is not the most Less than the band of this minimum fabric width, as it is shown on figure 3, therefore selecting the angle of pitch when dividing band is fabric width when 0.

3.1.2 band divides

By calculating target, zero characteristic vector of certain star rail can be obtained characteristic rectangle, next need feature square Shape is divided into band.

The mode that someone uses fixing fabric width to divide band does not accounts for the satellite side-sway impact on its imaging fabric width, as Shown in Fig. 4, it is R spheroid that the earth is regarded as radius, the most a height of h of satellite, and the angle of visual field of imaging load is δ, satellite side-sway angle Be 0 for r, the angle of pitch and yaw angle, then imaging fabric width d is

Work as R=6400, when h=700, δ=2 °, formula (5) and formula (4) obtain d as shown in table 1 with the change of r and p, can Seeing that r is notable on the impact of d, therefore fabric width is fixed as side-sway is that fabric width when 0 carries out band division and can cause a lot of waste.

Table 1 d is with the change table of r and p

In order to overcome fixing fabric width to divide the shortcoming of band, strip width directly can be used the angle of visual field of imaging load Representing, such band can also use zero characteristic vector to describe, i.e.Wherein (r⁺-r^-)_strip= δ, had the most both maintained the concordance of description, in turn simplify calculating, and different bands only need to according to the angle of visual field of imaging load successively Successively decrease.

Space occur between adjacent ribbons as shown in Fig. 5 (a) in order to avoid error causes or omits the situation of corner, can make Adjacent ribbons is overlapped and extends out to both sides and reserves amount of redundancy, and as shown in Fig. 5 (b), the width of redundancy section uses angle equally Degree represents, referred to as redundancy angle is designated as Δ δ.So as shown in Fig. 5 (b), zero characteristic vector of band 1 is

If but dividing band, often appearance such as figure in strict accordance with given redundancy angle one by one from minimum side-sway side Unilateral big redundancy condition shown in 6 (a), if being evenly distributed to everywhere redundancy by last big redundancy, as shown in Fig. 6 (b) Obtain mediation redundancy angle Δ δ ' >=Δ δ, can reduce further at each redundancy owing to leakage angle or the risk in gap occurs in error. Practical Project generally uses

Represent the ratio of adjacent ribbons spacing and fabric width, referred to as band granularity of division.

When being g when specifying band granularity of division, rightCharacteristic rectangle divide band, the bar marked off Band number is

Its mediation redundancy angle is

Therefore zero characteristic vector of band iMiddle minimum and maximum lateral swinging angle is

3.1.3 band cutting

Band has obtained one group of isometric band after dividing, and the demand according to user can be by band according to target limit Edge carries out cutting, improves the Efficient Coverage Rate of band.Liu Xiaodong is based on MapX^[70]With based on space geometry^[71]Method obtain The intersection point of band and regional aim carries out the cutting of band, and the former needs third party software, the latter to need the space geometry of complexity Calculating, describe owing to the length of band being converted into the time herein, when can still use, the description method of appearance vector carries out bar Band cutting.

For a band time appearance describe under carry out band cutting, first have to find the representative points being in band, Then band and regional aim intersection point are calculated, vectorial finally by appearance during than the zero of these summits and intersection point, find out the moment the earliest Moment the latestCutting to band 4 specifically comprises the following steps that as shown in Figure 7

Step1: traversal representative points.If for summit iThen record summit i, otherwise gives up summit i, Rebound Step1 continues to judge summit i+1；If for summit iAndOrAndSummit i and the limit of i ± 1, summit composition and ribbing cross are then described, start appearance when forward Step2 calculating intersection point to zero Vector；If all summit traversal is complete, jump to Step3.

Step2: appearance vector when calculating the zero of intersection point.The side-sway of intersection point is equal with the side-sway on the limit intersected, then by similar Triangle obtains the moment of intersection point, record intersection point, rebound Step1.Such as intersection point P shown in Fig. 7 zero time appearance vector

Concrete solution procedure is as follows:

Step3: find out the band moment the most the latest.The summit more all recorded and the moment value of intersection point, obtain shaping The moment the earliest of bandMoment the latest

After each band is carried out band cutting so, goal decomposition completes.

3.2 target synthesis

Different from goal decomposition, some are apart from close point target or regional aim, if individually entered each target Comprehend a lot of little bands of generation at row, not only make the search volume of planning stage increase, also can be because of the frequent attitude maneuver of satellite Lose time, cause much originally can observing of task to observe, it is therefore desirable to these targets are merged.

Such as two shown in Fig. 8 (a) target, can divide with each target for band center according to decomposition method above Go out two little bands, need the attitude swinging to band 2 that target 2 is observed after satellite is inswept band 1, non-agility is defended Star, its side-sway speed is slow, and often to enclose number of oscillations restricted due to the constraint of the aspect of energy, it is thus possible to cannot be to target 2 are observed, and if the distance that two targets roll off the production line on direction at vertical star is less than the fabric width of satellite, then can be by two Individual target merges observation, according to two targets of the most inswept observation of the band shown in Fig. 8 (b), although Efficient Coverage Rate reduces, But having observed a target, income increases more.

But to be not that the spacing of target is little just can be effectively synthesized, be also satisfied the constraint of a lot of satellite self.As Shown in Fig. 9 (a), although target 1 and target 2 are apart from close, but target 2 beyond the visible range of satellite, this synthesis is Invalid, not requiring nothing more than synthesis target on vertical row rolls off the production line direction can not beyond the fabric width of single band, and avoid surpassing Go out the situation of satellite visible range；Rolling off the production line direction it is possible that situation as shown in Fig. 9 (b), although target 1,2 and along star 3 is all visible and be among single visual field, but typically have single the longest imaging time T due to satellite_maxConstraint, therefore Multiple targets can not be synthesized long band.

Only roll off the production line along star due to target synthesis and vertical star rolls off the production line the constraint in direction, therefore can also be converted into and use the time Describe with side-sway scope, i.e. one maximum zero characteristic vector of single sliceMeet

Target synthesis condition is point target zero time appearance vectorOr zero characteristic vector of regional aimLess than maximum zero characteristic vector of single slice, i.e.

Synthesis observation not only has clear meaning to non-quick satellite, for quick satellite no less important, for such as figure Shown in 10 (a) two target, observes respectively and altogether needs 4 bands, and if using the target synthesis as shown in Figure 10 (b) Observation only needs three bands, although increases some invalid coverings, but reduces by an attitude maneuver and can save the plenty of time With the energy on star.

Synthetic method set forth above only accounts for the geographical position of target, and the task synthesis in practical problem also needs to Considering the synthesis of other attributes such as mission requirements, priority, the task in preprocessing process is collectively referred to as static monitor, because quiet State synthesis cannot be adjusted according to satellite actual schedule situation, so the general method using dynamically synthesis, task is synthesized During being put into mission planning, concrete synthesis strategy is relevant to mission planning dispatching algorithm, is not the most given concrete Synthetic method, describe only based on time m-attitude description task synthesis determination methods, owing to mission planning model is examined mostly Worry time and the attitude of satellite, be more convenient for during programming dispatching directly calculating and judging so this describes method.

4 experiment and interpretations of result

If certain satellite parametric reduction is as shown in table 2, region to be decomposed and requirement are as shown in table 3.

Table 2 certain quick satellite and imaging load simulation parameter

Table 3 detailed survey demand information table

Using method goal decomposition result in this paper as shown in figure 11, dark gray areas is the band divided, coating The light grey parallelogram of lid is region to be decomposed.

Table 2 stripe information

Principle and the embodiment of the present invention are set forth by specific embodiment used herein, above example Method and the core concept thereof being only intended to help to understand the present invention is described.The above is only the side of being preferable to carry out of the present invention Formula, it is noted that due to the finiteness of literal expression, and objectively there is unlimited concrete structure, for the art For those of ordinary skill, under the premise without departing from the principles of the invention, it is also possible to make some improvement, retouch or change, also Above-mentioned technical characteristic can be combined by rights；These improve retouching, change or combine, or the most improved general is sent out Bright design and technical scheme directly apply to other occasion, are regarded as protection scope of the present invention.

Claims (5)

1. based on time the imaging satellite observation Task-decomposing of m-attitude and synthetic method, it is characterised in that step is as follows: (1) root The latitude of strong point target determines the time m-attitude vectors of target through the position of height and satellite；(2) foundation comprises all impact points The a long limit parallel external characteristic rectangle that rolls off the production line with star as regional aim, and determine the angle of pitch, zoning target Characteristic vector；(3) band is divided according to the fabric width of satellite；(4) according to regional aim border, band is reduced as suitable length.

The most according to claim 1 based on time the imaging satellite observation Task-decomposing of m-attitude and synthetic method, its feature Being, the concrete operation method of step (4) is: finds the representative points being in band, then calculates band and regional aim Intersection point, finally by time m-attitude vectors when contrasting zero angle of pitch of these summits and intersection point, finds out the moment the earliest? Moment in evening

The most according to claim 1 based on time the imaging satellite observation Task-decomposing of m-attitude and synthetic method, its feature It is, comprises step (5) between step (2) and step (3): at least two regional aim is merged.

4. according to described in any one of claim 1-3 based on time m-attitude imaging satellite observation Task-decomposing and synthesis side Method, it is characterised in that the concrete operation method of each step is:

(1) point target (Target) latitude under WGS84 coordinate system is respectively b, l, h through height, and satellite is at J2000 Earth central inertial Under coordinate system, the position of t isThe sensing attitude of target is by satellite t under orbital coordinate systemThe position of satellite with the corresponding relation of moment point is

$t\↔{(x,y,z)}_t^{J2000},$

Target is pointed to the corresponding relation of attitude by the position of target and satellite in certain position

${(b,l,h)}_{T\arg et}^{WGS84}\↔({\left(x,y,z\right)}_t^{J2000},{\left(r,p,y\right)}_{t,T\arg et}^{Orbit}),$

Therefore, target location can represent, i.e. at the function F that target is pointed to attitude by certain moment with satellite

${(b,l,h)}_{T\arg et}^{WGS84}=F(t,{\left(r,p,y\right)}_{t,T\arg et}^{Orbit})$

Above formula right side functions independent variable is write a Chinese character in simplified form into (t, r, p, y)_Target, referred to as satellite to certain vector in " time m-attitude " put, During abbreviation, appearance vector, is designated as v, for non-quick its p=0 of satellite, time appearance vector deteriorate to " time m-side-sway " vector (t, r)_Target, when being called for short zero, appearance vector, is designated as

(2) two characteristic points being on broadside determine the length of rectangle, it is characterized in that rolling off the production line star on Zone Full summit Intersection point is in the position at two ends, when satellite claims satellite to cross top through certain surface putting the intersection point rolling off the production line star, so The two characteristic point of decision rectangle length is satellite t the earliest^eT the latest^lCross two points on top, be designated as e respectively^eAnd e^l, satellite flies Line speed approximation is regarded as at the uniform velocity, if the angle of pitch of satellite is fixed, i.e. and p=p₀, then the length of rectangle is converted into the employing time Represent, i.e.

It is on long limit two characteristic points and determines the width of rectangle, it is characterized in that side-sway when top is crossed in Zone Full summit by satellite Angle maximum r⁺With minimum r^-Two points, be designated as e respectively⁺And e^-, the satellite angle of pitch is fixed, such as p=p₀, then the wide conversion of rectangle For using the expression at satellite side-sway angle, i.e.

Characteristic rectangle is the most only represented by four amounts, the moment the most the earliestMoment the latestMinimum side pivot angle Maximum lateral swinging angleWrite as the form of vectorBeing referred to as the angle of pitch is p₀Time characteristic vector, work as p₀ When=0, i.e. satellite does not has pitching ability, and now characteristic vector deteriorates toThe i.e. angle of pitch is feature when 0 Vector, is called for short zero characteristic vector；

(3) strip width directly using angle of visual field δ of imaging load represent, such band uses zero characteristic vector to describe, I.e.Wherein (r⁺-r^-)_strip=δ；

If dividing band in strict accordance with given redundancy angle one by one from minimum side-sway side, unilateral big redundancy feelings often occur Condition, is evenly distributed to everywhere redundancy by last big redundancy, obtains mediation redundancy angle Δ δ ' >=Δ δ, reduces each further Due to error, leakage angle or the risk in gap occur at redundancy, use

$g=1-\frac{\mathrm{\Δ}\mathrm{\δ}}{\mathrm{\δ}}$

Expression adjacent ribbons spacing and the ratio of fabric width, referred to as band granularity of division,

When being g when specifying band granularity of division, rightCharacteristic rectangle divide band, the band number marked off isIts mediation redundancy angle is

${\mathrm{\Δ\δ}}^{\′}=\frac{n\mathrm{\δ}-(r^{+}-r^{-})}{n+1},$

Therefore zero characteristic vector of band iMiddle minimum and maximum lateral swinging angle is

$\left\{\begin{array}{c}{r}_i^{-}=r^{-}-{\mathrm{\Δ\δ}}^{\′}+(i-1)(\mathrm{\δ}-{\mathrm{\Δ\δ}}^{\′})\\ r_i^{+}=r_i^{-}+\mathrm{\δ}\end{array}\right.;$

(4) traversal representative points, if for summit iThen record summit i, otherwise gives up summit i, continues to judge Summit i+1；If for summit iAndOrAndThen explanation summit i and top The limit of some i ± 1 composition and ribbing cross, start appearance vector, the i.e. side-sway of intersection point and the limit intersected when forward calculate intersection point to zero Side-sway equal, then obtained moment of intersection point by similar triangles, record intersection point, continue to judge representative points；

If all summit traversal is complete, then find out band moment the most the latest, the summit more all recorded and intersection point Moment value, draws the moment the earliest of bandMoment the latestAfter each band is carried out band cutting so, mesh Mark decomposition completes.

The most according to claim 4 based on time the imaging satellite observation Task-decomposing of m-attitude and synthetic method, its feature Being, carry out the merging of regional aim: describe by time and side-sway scope during scenario described below, i.e. one single slice maximum zero is special Levy vectorMeet

$\left\{\begin{array}{c}{t}^l-t^e\≤T_{max}\\ -R_{\max }\≤r^{-}\≤r^{+}\≤R_{\max }\end{array}\right.$

Target synthesis condition is point target zero time appearance vectorOr zero characteristic vector of regional aimLess than maximum zero characteristic vector of single slice, i.e.

$\left\{\begin{array}{c}{t}^e\≤t_i,t_j^e,t_j^l\≤t^l\\ r^{-}\≤r_i,r_j^{-},r_j^{+}\≤r^{+}\end{array}\right..$