CN105841705B - Based on when m- posture imaging satellite observation Task-decomposing and synthetic method - Google Patents
Based on when m- posture imaging satellite observation Task-decomposing and synthetic method Download PDFInfo
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Abstract
The invention discloses it is a kind of based on when m- posture imaging satellite observation Task-decomposing and synthetic method, it is characterised in that steps are as follows: (1) determining the when m- attitude vectors of target through the position of height and satellite according to the latitude of point target；(2) long side comprising all target points is established with the offline parallel external characteristic rectangle of star as regional aim, and determines pitch angle, zoning clarification of objective vector；(3) band is divided according to the breadth of satellite；(4) band is reduced as suitable length according to regional aim boundary.This method more intuitive can efficiently carry out goal decomposition and synthesis, more easily generate the Meta task information being input in mission planning scheduling model, the when m- posture concept of proposition is not only convenient for understanding and calculate, more goal decomposition and synthesis provides a set of unified description method, has certain operability, Universal and scalability.
Description
Technical field
The present invention relates to satellite observation task fields, and in particular to it is a kind of based on when m- posture imaging satellite observation appoint
Business is decomposed and synthetic method.
Background technique
A complicated problem is to establish the relationship of satellite and target in imaging satellite mission planning pretreatment, complicated
The reason is that target position, satellite position and the attitude of satellite are all described using different coordinate systems, needed in practical calculating process
A large amount of coordinate conversion work is carried out, but these conversions all only considered spatial position, not the concept of having time, and satellite
Its time-constrain of flying in the sky and regularity are very strong, therefore need to combine spatial position, time with satellite capacity, provide
The description method of a set of new satellite and relationship by objective (RBO).
Summary of the invention
To solve the above problem in existing satellite observation task, be easy to understand the purpose of the present invention is to provide one kind and
It calculates, more goal decomposition and synthesis provides a set of unified description method, has certain operability, versatility and can
Scalability based on when m- posture imaging satellite observation Task-decomposing and synthetic method.
To achieve the above object, the present invention the following technical schemes are provided:
Based on when m- posture imaging satellite observation Task-decomposing and synthetic method, steps are as follows: (1) according to point target
Latitude the when m- attitude vectors of target are determined through the position of height and satellite；(2) it establishes one long comprising all target points
Side and the offline parallel external characteristic rectangle of star determine pitch angle as regional aim, zoning clarification of objective to
Amount；(3) band is divided according to the breadth of satellite；(4) band is reduced as suitable length according to regional aim boundary.
Further, the concrete operation method of step (4) are as follows: find the representative points in band, then calculate item
Band and regional aim intersection point, when m- attitude vectors when finally by zero pitch angle for comparing these vertex and intersection point, find out most
The early momentMoment the latest
Further, include between step (2) and step (3) step (5): at least two regional aims are closed
And.
Further, the concrete operation method of each step are as follows:
(1) latitude of the point target (Target) under WGS84 coordinate system is respectively b, l, h through height, and satellite is in the earth's core J2000
The position of t moment is under inertial coodinate systemSatellite t moment under orbital coordinate system is to the direction posture of targetThe position of satellite and the corresponding relationship of moment point are
The position of target and satellite are in corresponding relationship of certain position to the direction posture of target
Therefore, target position at a certain moment can indicate the function F of the direction posture of target with satellite, 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 " when m- posture " of certain point to
Amount, appearance vector when abbreviation, is denoted as v, for non-its p=0 of quick satellite, when appearance vector degenerate for " when m- side-sway " vector (t,
r)Target, referred to as zero when appearance vector, be denoted as
(2) two characteristic points on broadside determine the length of rectangle, it is characterized in that in the case where whole region vertex is to star
It is in the position at most both ends in the intersection point of line, claims satellite to cross top when satellite puts the surface of the intersection point offline to star by certain,
So determining that the two long characteristic points of rectangle are the earliest t of satelliteeT the latestlTwo points for crossing top, are denoted as e respectivelyeAnd el, defend
Star flying speed approximation is regarded as at the uniform velocity, if the pitch angle of satellite fixed, i.e. p=p0, then when the length of rectangle is converted into use
Between expression, i.e.,
Two characteristic points in long side determine the width of rectangle, it is characterized in that when satellite crosses top to whole region vertex
Lateral swinging angle maximum r+With minimum r-Two points, be denoted as e respectively+And e-, satellite pitch angle 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 actually only passes through four amounts expressions, i.e., earliest momentMoment the latestMinimum side-sway
AngleMaximum lateral swinging angleWrite as the form of vectorReferred to as pitch angle is p0When feature
Vector works as p0When=0, i.e., satellite does not have pitching ability, and feature vector degeneration at this time isI.e. pitch angle is 0
When feature vector, referred to as zero feature vector；
(3) the field angle δ that strip width directlys adopt imaging load is indicated that such band is retouched using zero feature vector
It states, i.e.,Wherein (r+-r-)strip=δ；
If dividing band one by one from minimum side-sway side in strict accordance with given redundancy angle, often will appear unilateral big superfluous
Last big redundancy is evenly distributed to everywhere redundancy by remaining situation, is obtained reconciliation redundancy angle Δ δ ' >=Δ δ, is further decreased
Since the risk in leakage angle or gap occurs in error at each redundancy, use
Indicate the ratio between adjacent ribbons spacing and breadth, referred to as band granularity of division,
It is right when specified band granularity of division is gCharacteristic rectangle divide band, the item marked off
It is with numberIts reconciliation redundancy angle is
Therefore zero feature vector of band iMiddle minimum and maximum lateral swinging angle is
(4) representative points are traversed, if for vertex iVertex i is then recorded, vertex i is otherwise given up, is continued
Judge vertex i+1；If for vertex iAndOrAndThen illustrate vertex
The side and ribbing cross that i and vertex i ± 1 is formed, appearance vector, the i.e. side-sway of intersection point and intersection when starting to go to calculate intersection point zero
Side side-sway it is equal, then at the time of find out intersection point by similar triangles, record intersection point continues to determine representative points；
If whole vertex traversals finish, band moment the latest earliest, the vertex more all recorded and friendship are found out
Value at the time of point, obtains the earliest moment of bandMoment the latestIt is cut carrying out band so to each band
Afterwards, goal decomposition is completed.
Further, the merging of regional aim is carried out when following scenario described: being described with time and side-sway range, i.e., one
Single slice zero feature vector of maximumMeet
Appearance vector when the condition of target synthesis is the zero of point targetOr zero feature vector of regional aimNo more than maximum zero feature vector of single slice, i.e.,
The invention has the following advantages: (1) present invention according to time-space relationship of satellite and target, propose based on when
The point target of m- posture describes method, and expands to regional aim and describe method, converts the geographical coordinate of target to and satellite
Information in two orthogonal dimensions of itself relevant time and posture more intuitive can efficiently carry out goal decomposition and synthesis,
More easily generate the Meta task information being input in mission planning scheduling model；The when m- posture concept of proposition is not only convenient for
Understand and calculate, more goal decomposition and synthesis provides a set of unified description method, has certain operability, general
Property and scalability；(2) m- posture method determines that the boundary rectangle of regional aim is actually the spy for seeking regional aim when using
Vector is levied, and needs to choose a fixed pitch angle, zero pitching is generally used, that is, uses zero feature vector.Zero is special
Levy vector and have more versatility: on the one hand, zero feature vector natively indicates the non-quick satellite of no pitching ability, compatibility
It is good；On the other hand, for ground approximation being regarded as plane, in pitching away from a height of h in ground, the quick satellite that viewing field of camera angle is δ
In the case that angle and yaw angle are 0, the relationship of the pitch angle p of breadth d and satellite isIt is easy to get and works as p=
D obtains minimum value when 0, i.e., corresponding breadth is minimum when pitch angle is 0, although width corresponding to quick satellite difference pitch angle
Wide different, but due to when not knowing satellite to target imaging in pretreatment stage, breadth when the use of pitch angle being 0 is drawn
Imaging band is all not less than this minimum breadth under the conditions of the band branched away can guarantee any pitch angle at any time
Band；(3) band has obtained one group of isometric band after dividing, according to the demand of user can be by band according to target
Edge is cut, and the Efficient Coverage Rate of band is improved；(4) some apart from close point target or regional aim, if right
Each target, which individually carries out processing, can generate many small bands, not only increase the search space of planning stage, can also be because of defending
The frequent attitude maneuver of star wastes time, cause much originally can the observing of the tasks can not observe, it is therefore desirable to these targets into
Row merges, and band two targets of primary inswept observation have observed a target, income although Efficient Coverage Rate reduces more
Increase.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simple introduction, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Attached drawing 1 is the characteristic point and characteristic rectangle of the embodiment of the present invention.
Attached drawing 2 is the goal decomposition step of the embodiment of the present invention.
Attached drawing 3 is influence of the pitch angle of the embodiment of the present invention to breadth.
Attached drawing 4 is influence of the lateral swinging angle of the embodiment of the present invention to breadth.
Attached drawing 5 is that the band for avoiding error of the embodiment of the present invention divides schematic diagram.
Attached drawing 6 is that the band for avoiding redundancy unevenness of the embodiment of the present invention divides schematic diagram.
Attached drawing 7 is the band cutting schematic diagram of the embodiment of the present invention.
Attached drawing 8 is the non-quick Satellite Targets synthesis observation schematic diagram of the embodiment of the present invention.
The case where attached drawing 9 is the invalid synthesis of the embodiment of the present invention.
Attached drawing 10 is the quick satellite synthesis observation schematic diagram of the embodiment of the present invention.
Attached drawing 11 is the goal decomposition result of the embodiment of the present invention.
Specific embodiment
Below by specific embodiment, the present invention is further illustrated.
The when m- attitude vectors of 1 point target
Latitude of the point target (Target) under WGS84 coordinate system is respectively b, l, h through height, and satellite is used in the earth's core J2000
The position of t moment is under property coordinate systemSatellite t moment under orbital coordinate system is to the direction posture of targetWhen calculating the positional 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-precision ephemeris forecasting procedure can be with
The position of certain following moment satellite is forecast, i.e. the position of satellite and moment point corresponds:
Target position can be converted to the position under certain moment satellite orbit coordinate system, therefore the position of target and satellite exist
Certain position corresponds the direction posture of target:
By formula (1) and formula (2) it is found that target position can be with satellite at a certain moment to the function F of the direction posture of target
It indicates, 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 " when m- posture " of certain point to
Amount, appearance vector when abbreviation, is denoted as v.For non-quick its p=0 of satellite, when appearance vector degenerate for " when m- side-sway " vector (t,
r)Target, referred to as zero when appearance vector, be denoted as
The feature vector of 2 regional aims
Region can regard the closed figure surrounded by multiple points as, therefore regional aim can be expressed as target point
Set, i.e. Area:{ Target1,Target2,...,Targetn, appearance vector indicates when each target point is used, then area
Domain target can be denoted as Area:{ (t, r, p, y)1,(t,r,p,y)2,...,(t,r,p,y)n}。
Since satellite imagery band is offline parallel with star, regional aim, which decomposes, generally will first establish as shown in Figure 1 one
Long side and the offline parallel boundary rectangle of star, with the rectangle can complete coverage goal region, and possess satellite and target area
All multiple features in the relationship of domain, therefore the boundary rectangle is known as to the characteristic rectangle of regional aim herein, it is offline that definition is parallel to star
Side be characterized the length of rectangle, the width of rectangle is characterized perpendicular to the offline side of star, due to characteristic rectangle determination only and region
It is related with the point that rectangle connects, therefore these points are known as to the characteristic point of regional aim herein, it is denoted as e.
As shown in Figure 1, two characteristic points on broadside determine the length of rectangle, it is characterized in that on whole region vertex
It is in the position at most both ends in the intersection point offline to star, claims satellite when satellite puts the surface of the intersection point offline to star by certain
Top is crossed, so determining that the two long characteristic points of rectangle are the earliest t of satelliteeT the latestlTwo points for crossing top, are denoted as e respectivelyeWith
el, satellite flight speed can approximation regard as at the uniform velocity, if the pitch angle of satellite is fixed (such as p=p0) then the length of rectangle can be with
It is converted into the expression using the time, i.e.,Two characteristic points in long side determine the width of rectangle, special
Sign is lateral swinging angle maximum r when satellite crosses top to whole region vertex+With minimum r-Two points, be denoted as e respectively+And e-If will
Satellite pitch angle fixes (such as p=p0) then the width of rectangle can be converted into the expression using satellite side-sway angle, i.e.,
If as a result, fixing the pitch angle of satellite, characteristic rectangle can actually be indicated only by four amounts, i.e., earliest
MomentMoment the latestMinimum lateral swinging angleMaximum lateral swinging angleWrite as the form of vector
Referred to as pitch angle is p0When feature vector, work as p0When=0, i.e., satellite does not have pitching ability, and feature vector degeneration at this time isFeature vector when i.e. pitch angle is 0, referred to as zero feature vector.
The decomposition and synthesis of 3 targets
3.1 goal decomposition
It at the process of Meta task band is first to establish one and the offline parallel boundary rectangle of star, such as Fig. 2 by goal decomposition
(c) shown in, band is then divided according to the breadth of satellite and is finally cut out band according to regional aim boundary as shown in Fig. 2 (b)
It is cut to suitable length, as shown in Fig. 2 (c).
Goal decomposition is one of the critical function in the pretreatment of imaging satellite task, is always one in pretreatment multiple
Miscellaneous problem, many regional aim decomposition methods do not account for the ability of satellite itself and the direction posture of satellite at present, are based on
The decomposition method error of gauss projection is larger, and the decomposition method computation complexity based on space geometry is larger, point based on MapX
Solution method needs to rely on third party software, and the description method of while using proposed in this paper m- posture can well solve this
A little problems, next to based on when m- posture goal decomposition method have been described in detail.
3.1.1 boundary rectangle is determined
According to above-mentioned definition, when use, m- posture method determined that the boundary rectangle of regional aim is actually to seek region mesh
Target feature vector, and need to choose a fixed pitch angle, generally uses zero pitching, i.e., using zero feature to
Amount.
Illustrate that zero feature vector has more versatility in terms of two below: on the one hand, zero feature vector natively indicates
There is no the non-quick satellite of pitching ability, good compatibility；On the other hand, for being the quick of δ away from a height of h in ground, viewing field of camera angle
Prompt satellite regards ground approximation as plane, in the case where pitch angle and yaw angle are 0, the pitch angle p of breadth d and satellite
Relationship be
The d as p=0 that is easy to get obtains minimum value, i.e., corresponding breadth is minimum when pitch angle is 0, although quick satellite is not
With the difference of breadth corresponding to pitch angle, but due to not knowing that satellite when to target imaging, uses in pretreatment stage
Breadth when pitch angle is 0, which marks off the band come, can guarantee that band is imaged not under the conditions of any pitch angle at any time
Less than the band of this minimum breadth, as shown in figure 3, breadth when therefore to select pitch angle when dividing band be 0.
3.1.2 band divides
By calculating target to the available characteristic rectangle of zero feature vector of certain star rail, next need feature square
Shape is divided into band.
Someone does not account for the influence that satellite side-sway it is imaged breadth in such a way that fixed breadth divides band, such as
Shown in Fig. 4, regarding the earth as radius is R sphere, and satellite a height of h from the ground, the field angle that load is imaged is δ, satellite side-sway angle
For r, pitch angle and yaw angle are 0, then breadth d is imaged and is
Work as R=6400, when δ=2 °, it is as shown in table 1 with the variation of r and p to obtain d by formula (5) and formula (4) by h=700, can
See that influence of the r to d is significant, therefore breadth is fixed as breadth progress band division when side-sway is 0 and will cause many wastes.
1 d of table with r and p variation table
Strip width can be directlyed adopt the field angle of imaging load by the shortcomings that in order to overcome fixed breadth to divide band
It indicates, such band can also be described using zero feature vector, i.e.,Wherein (r+-r-)strip=
δ had both maintained the consistency of description in this way, in turn simplified calculating, different bands only need to according to imaging load field angle successively
Successively decrease.
In order to avoid error causes the case where occurring gap between the adjacent ribbons as shown in Fig. 5 (a) or omitting corner, can make
Adjacent ribbons are overlapped and extend out to two sides and reserve amount of redundancy, and as shown in Fig. 5 (b), the width of redundancy section equally uses angle
Degree expression, referred to as redundancy angle, are denoted as Δ δ.In this way as shown in Fig. 5 (b), zero feature vector of band 1 is
However if dividing band one by one from minimum side-sway side in strict accordance with given redundancy angle, often will appear such as figure
The big redundancy condition in unilateral side shown in 6 (a), if last big redundancy is evenly distributed to everywhere redundancy, as shown in Fig. 6 (b)
Reconciliation redundancy angle Δ δ ' >=Δ δ is obtained, can be further decreased at each redundancy since the risk in leakage angle or gap occurs in error.
It is generally used in Practical Project
Indicate the ratio between adjacent ribbons spacing and breadth, referred to as band granularity of division.
It is right when specified band granularity of division is gCharacteristic rectangle divide band, the item marked off
It is with number
Its reconciliation redundancy angle is
Therefore zero feature vector of band iMiddle minimum and maximum lateral swinging angle is
3.1.3 band is cut
Band has obtained one group of isometric band after dividing, according to the demand of user can be by band according to target side
Edge is cut, and the Efficient Coverage Rate of band is improved.Liu Xiaodong is based on MapX[70]Be based on space geometry[71]Method find out
The intersection point of band and regional aim carries out the cutting of band, the former needs third party software, and the latter needs complicated space geometry
It calculates, due to converting time description for the length of band herein, the description method of appearance vector carries out item when can still use
Band is cut.
For a band when appearance description under carry out band cutting, first have to the representative points found in the band,
Then band and regional aim intersection point are calculated, finally by than these vertex and intersection point zero when appearance vector, find out the earliest momentMoment the latestTo the cutting of band 4, specific step is as follows as shown in Figure 7:
Step1: traversal representative points.If for vertex iVertex i is then recorded, vertex i is otherwise given up,
Step1 is jumped back to continue to judge vertex i+1；If for vertex iAndOrAndThen illustrate the side and ribbing cross that vertex i and vertex i ± 1 is formed, starts to go to appearance when Step2 calculates the zero of intersection point
Vector；Step3 is jumped to if whole vertex traversals finish.
Step2: appearance vector when calculating the zero of intersection point.The side-sway on side of side-sway and intersection of intersection point is equal, then by similar
At the time of triangle finds out intersection point, record intersection point jumps back to Step1.Such as intersection point P shown in Fig. 7 zero when appearance vector
Specific solution procedure is as follows:
Step3: band moment the latest earliest is found out.The value at the time of vertex more all recorded and intersection point, obtains shaping
The earliest moment of bandMoment the latest
After carrying out band cutting so to each band, goal decomposition is completed.
The synthesis of 3.2 targets
It is different from goal decomposition, it is some apart from close point target or regional aim, if to each target individually into
Row processing can generate many small bands, not only increase the search space of planning stage, can also be because of the frequent attitude maneuver of satellite
It wastes time, causes originally can much observing for task that can not observe, it is therefore desirable to merge to these targets.
Such as two targets shown in Fig. 8 (a), it can be divided by band center of each target according to the decomposition method of front
Two small bands out, the posture for needing to swing to band 2 after satellite is inswept band 1 are observed target 2, non-agility are defended
Star, side-sway speed is slow, and since the every circle number of oscillations of the constraint of the aspect of energy is restricted, it is thus possible to can not be to target
2 are observed, and if distance of two targets on the offline direction of vertical star is no more than the breadth of satellite, it can be by two
A target merges observation, according to two targets of primary inswept observation of band shown in Fig. 8 (b), although Efficient Coverage Rate reduces,
But observed a target more, income increases.
However to be not that distance is small between target can be effectively synthesized, and also meet the constraint of many satellites itself.Such as
Shown in Fig. 9 (a), although target 1 and target 2, apart from close, target 2 has exceeded the visible range of satellite, and this synthesis is
Invalid, the breadth of single band cannot be exceeded by not requiring nothing more than synthesis target on the offline direction of vertical row, and avoid surpassing
Out the case where satellite visible range；Along the offline direction of star it is possible that situation as shown in Fig. 9 (b), although target 1,2 and
3 is all visible and among the single visual field, but since satellite generally has single longest imaging time TmaxConstraint, therefore
Multiple targets cannot be synthesized to too long band.
Since target synthesizes the constraint only along the offline and vertical offline direction of star of star, it can also be converted into and use the time
It is described with side-sway range, i.e. maximum zero feature vector of a single sliceMeet
Appearance vector when the condition of target synthesis is the zero of point targetOr zero feature vector of regional aimNo more than maximum zero feature 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 scheming
Two targets shown in 10 (a) are observed need 4 bands in total respectively, and if synthesized using the target as shown in Figure 10 (b)
Observation only needs three bands, although increasing some invalid coverings, the plenty of time can be saved by reducing by an attitude maneuver
With the energy on star.
Synthetic method set forth above only accounts for the geographical location of target, and the task synthesis in practical problem also needs
Consider 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 can not be adjusted according to satellite actual schedule situation, so generally using dynamic synthetic method, task is synthesized
It is put into during mission planning, specific synthetic strategy is related to mission planning dispatching algorithm, therefore does not provide herein specific
Synthetic method, describe only based on when m- attitude description task synthesize judgment method, since mission planning model is examined mostly
Consider time and the attitude of satellite, is more convenient for directly calculating and judging during programming dispatching so this describes method.
4 experiments and interpretation 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.
Certain the quick satellite of table 2 and imaging load simulation parameter
3 detailed survey demand information table of table
As shown in figure 11 using method goal decomposition result proposed in this paper, dark gray areas is the band divided, is coated
The light grey parallelogram of lid is region to be decomposed.
2 stripe information of table
Principle and implementation of the present invention are described for specific embodiment used herein, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention.The above is only preferred implementation side of the invention
Formula, it is noted that due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the art
For those of ordinary skill, without departing from the principle of the present invention, several improvement, retouching or variation can also be made,
Above-mentioned technical characteristic can be combined in the right way；These improve retouching, variation or combination, or not improved by hair
Bright conception and technical scheme directly apply to other occasions, are regarded as protection scope of the present invention.
Claims (3)
1. based on when m- posture imaging satellite observation Task-decomposing and synthetic method, it is characterised in that steps are as follows: (1) root
The latitude of strong point target determines the when m- attitude vectors of target through the position of height and satellite；(2) establish includes all target points
A long side and the offline parallel external characteristic rectangle of star as regional aim, and determine pitch angle, zoning target
Feature vector；(3) band is divided according to the breadth of satellite；(4) band is reduced as suitable length according to regional aim boundary；
The concrete operation method of each step are as follows:
(1) latitude of the point target Target under WGS84 coordinate system is respectively b, l, h through height, and satellite is sat in J2000 Earth central inertial
Mark is that the position of lower t moment isSatellite t moment under orbital coordinate system is to the direction posture of targetThe position of satellite and the corresponding relationship of moment point are
The position of target and satellite are in corresponding relationship of certain position to the direction posture of target
Therefore, target position at a certain moment can indicate the function F of the direction posture of target with satellite, 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 " when m- posture " vector of certain point,
Appearance vector when abbreviation, is denoted as v, for non-quick its p=0 of satellite, when appearance vector degenerate for " when m- side-sway " vector (t,
r)Target, referred to as zero when appearance vector, be denoted as
(2) two characteristic points on broadside determine the length of rectangle, it is characterized in that offline to star on whole region vertex
It is in the position at most both ends in intersection point, claims satellite to cross top when satellite puts the surface of the intersection point offline to star by certain, so
Determine that the two long characteristic points of rectangle are the earliest t of satelliteeT the latestlTwo points for crossing top, are denoted as e respectivelyeAnd el, satellite fly
Scanning frequency degree approximation is regarded as at the uniform velocity, if the pitch angle of satellite fixed, i.e. p=p0, then the length of rectangle was converted into using the time
It indicates, i.e.,
Two characteristic points in long side determine the width of rectangle, it is characterized in that side-sway when satellite crosses top to whole region vertex
Angle maximum r+With minimum r-Two points, be denoted as e respectively+And e-, satellite pitch angle is fixed, such as p=p0, then the wide conversion of rectangle
For using satellite side-sway angle expression, i.e.,
Characteristic rectangle actually only passes through four amounts expressions, i.e., earliest momentMoment the latestMinimum lateral swinging angle
Maximum lateral swinging angleWrite as the form of vectorReferred to as pitch angle is p0When feature vector, work as p0
When=0, i.e., satellite does not have pitching ability, and feature vector degeneration at this time isFeature when i.e. pitch angle is 0
Vector, referred to as zero feature vector；
(3) the field angle δ that strip width directlys adopt imaging load is indicated that such band is described using zero feature vector,
I.e.Wherein (r+-r-)strip=δ；
If dividing band one by one from minimum side-sway side in strict accordance with given redundancy angle Δ δ, often will appear unilateral big superfluous
Last big redundancy is evenly distributed to everywhere redundancy by remaining situation, is obtained reconciliation redundancy angle Δ δ ' >=Δ δ, is further decreased
Since the risk in leakage angle or gap occurs in error at each redundancy, use
Indicate the ratio between adjacent ribbons spacing and breadth, referred to as band granularity of division,
It is right when specified band granularity of division is gCharacteristic rectangle divide band, the band number marked off
ForIts reconciliation redundancy angle is
Therefore zero feature vector of band iMiddle minimum and maximum lateral swinging angle is
(4) representative points in band are found, band and regional aim intersection point are then calculated, finally by these tops of comparison
When m- attitude vectors when zero pitch angle of point and intersection point, find out earliest moment and the latest moment, to the progress of each band such as
After this band is cut, goal decomposition is completed.
2. it is according to claim 1 based on when m- posture imaging satellite observation Task-decomposing and synthetic method, feature
It is, includes between step (2) and step (3) step (5): at least two regional aims are merged.
3. it is according to claim 2 based on when m- posture imaging satellite observation Task-decomposing and synthetic method, feature
It is, the merging of regional aim is carried out when following scenario described: being described with time and side-sway range, i.e., a single slice maximum zero is special
Levy vectorMeet
TmaxAppearance vector when condition for single longest imaging time, target synthesis is the zero of point targetOr regional aim
Zero feature vectorNo more than maximum zero feature vector of single slice, i.e.,
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| CN106597434B (en) * | 2016-11-28 | 2019-04-30 | 中国人民解放军国防科学技术大学 | It is a kind of based on pushing away the quick Satellite Targets decomposition method and system for sweeping track |
| CN106595598B (en) * | 2016-12-21 | 2019-03-19 | 上海航天控制技术研究所 | A kind of first optical remote sensing imaging method in permanent ground of wide visual field |
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| CN108345984B (en) * | 2018-01-05 | 2021-09-24 | 合肥工业大学 | Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition |
| CN108364116B (en) * | 2018-01-05 | 2021-09-24 | 合肥工业大学 | Multi-imaging satellite area coverage dynamic scheduling method under satellite resource limitation condition |
| CN109211245B (en) * | 2018-07-30 | 2021-12-31 | 上海卫星工程研究所 | Multi-objective task planning method |
| CN109190847B (en) * | 2018-10-12 | 2022-03-15 | 合肥工业大学 | Remote sensing satellite observation strip dividing method |
| CN109359167B (en) * | 2018-10-12 | 2021-09-10 | 合肥工业大学 | Stripe division method based on observation target |
| CN110276043B (en) * | 2019-06-19 | 2022-08-12 | 中国电子科技集团公司第五十四研究所 | Regional target access calculation method based on boundary point access calculation |
| CN111402340B (en) * | 2020-03-08 | 2020-11-03 | 中国科学院微小卫星创新研究院 | Imaging control system and method for earth observation satellite |
| CN111695237B (en) * | 2020-05-12 | 2022-08-12 | 上海卫星工程研究所 | Region decomposition method and system for satellite-to-region coverage detection simulation |
| CN113654526B (en) * | 2021-07-30 | 2023-11-14 | 北京控制与电子技术研究所 | Photoelectric nacelle scanning method under low-altitude rapid flight condition |
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