CN106597434A - Agile satellite target decomposition method and system based on push-scan trajectories - Google Patents
Agile satellite target decomposition method and system based on push-scan trajectories Download PDFInfo
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- CN106597434A CN106597434A CN201611063401.7A CN201611063401A CN106597434A CN 106597434 A CN106597434 A CN 106597434A CN 201611063401 A CN201611063401 A CN 201611063401A CN 106597434 A CN106597434 A CN 106597434A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
- B64G1/1021—Earth observation satellites
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/242—Orbits and trajectories
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/0218—Very long range radars, e.g. surface wave radar, over-the-horizon or ionospheric propagation systems
Abstract
The invention discloses a satellite target decomposition method and system based on a push-scan trajectories. The method includes obtaining vertex-crossing side sway of a satellite when crossing each vertex of a satellite target, and calculating breadth corresponding minimum side sway of the vertex-crossing side sway as strip width; utilizing the strip width to solve two endpoints of each push-scan trajectory; calculating boundary feature points of a corresponding strip according to the two endpoints of each push-scan trajectory; utilizing the boundary feature points to extend the push-scan trajectory, thereby obtaining a push-scan trajectory vector; substituting the push-scan trajectory vector and the strip width into a strip four-vertex calculation model, thereby obtaining strip four-vertex coordinates; and the strip four-vertex calculation model is a model established by use of a method for coordinate conversion based on conjugate quaternion and is used for calculating the strip four-vertex coordinates. The method and system provided by the invention selects the width corresponding to the minimum side sway at a vertex-crossing moment of the satellite as the strip width, so that the strip can be guaranteed to be fully covered, and the utilization rate of the width of the satellite is improved.
Description
Technical field
It is more particularly to a kind of based on pushing away the quick Satellite Targets point of sweeping track the present invention relates to satellite imagery technical field
Solution method and system.
Background technology
The core of agile satellite imagery mission planning is rational management observation mission and arrange satellite action to realize defending
Star economy of resources is maximized.For planning, either using method for precisely solving or intelligent optimization method, it is necessary to will
Diversified observation requirementses are converted to the standard input of plan model, and this process is commonly referred to task pretreatment.Task is located in advance
Reason serves mission planning, by the independent complexity that can reduce mission planning of task pretreatment, improves solution efficiency.
Goal decomposition in task pretreatment is mainly in regional aim.Satellite load fabric width is limited to, for region
Target cannot be imaged the covering realized to regional aim with single, need to be broken down into multiple single imaging bands, then will
The imaging joint of multiple single imaging bands gets up to realize the observation to target.It is current to be primarily present static point with regard to goal decomposition
Solution and two kinds of forms of dynamic Decomposition.Static state decomposition is based primarily upon predefined referential or fixed satellite fabric width is divided, and moves
State decomposition is based primarily upon the satellite angle of visual field or dynamic satellite fabric width is divided.
Compare typically France in decomposing using predefined referential to appoint in a kind of imaging of earth observation satellite system
Using the decomposition method based on grid referential (Grid Reference System, GRS) in business planning, adopt and be based on grid
The decomposition method of referential is relatively more suitable for frame width formula imaging satellite, for rely on detector array push-scanning image satellite, one
As realize decomposition to target with strips, the decomposition method is according to direction (direction) and displacement (offset) two
Parameter realizes the decomposition of the non-isometric band to irregular area with parallel stripes, but the decomposition method does not account for Satellite Attitude
The fabric width change that state is brought.
The content of the invention
It is an object of the invention to provide it is a kind of based on the quick Satellite Targets decomposition method and system of sweeping track is pushed away, do not defended
The impact of the fabric width change that star attitudes vibration brings.
For achieving the above object, the invention provides following scheme：
It is a kind of based on pushing away the Satellite Targets decomposition method of sweeping track, including：
Top side pendulum is crossed when obtaining each summit of the excessively described Satellite Targets of satellite；
The corresponding fabric width of minimum side-sway crossed in the pendulum of top side is calculated as strip width；The strip width is by institute
Stating Satellite Targets carries out the width of each band after band division；
Solved using the strip width and two end points for sweeping track are pushed away described in each；
The edge feature point of the two end points calculating correspondence band for sweeping track is pushed away according to each；The edge feature point
For determining the boundary position of the band；
Sweep track and extend to pushing away using the edge feature point, obtain pushing away and sweep track vector；
Described pushing away is swept into track vector and the strip width substitution summit computation model of band four, the summit of band four is obtained
Coordinate；The summit computation model of the band four is the model set up using the method for the coordinate transform based on conjugate quaternion, is used
In the calculating apex coordinate of band four.
Optionally, when the Satellite Targets are regional aim, described solution using the strip width is pushed away described in each
Two end points of track are swept, is specifically included：
Determine the normal vector in initial track face using bar width central angle and side width central angle；The bar width central angle is described
The corresponding earth central angle of strip width, the side width central angle is the earth circle corresponding to the compensation width of the band both sides
Heart angle；
The normal vector of all track planes is asked for using recurrence formula on the basis of the normal vector in known initial track face；
The corresponding Origin And Destination for pushing away and sweeping track is calculated according to the normal vector of each track plane.
Optionally, when the Satellite Targets are linear goal, it is described using the strip width solve described in push away and sweep rail
Two end points of mark, specifically include：
Fitting point set is determined using the front method to matching；
The three dimensional local information of the fitting point set is changed to two dimensional surface, the fitting point set under two dimensional surface is obtained；
In the two dimensional surface fitting point set under the two dimensional surface is fitted using method of least square, is obtained
Fitting pushes away the fitting parameter for sweeping track；
Described fitting is calculated using the fitting parameter push away two end points for sweeping track.
Optionally, described pushing away is swept into track vector and the strip width substitution summit computation model of band four described,
After obtaining the apex coordinate of band four, also include：
Last band is translated, the track plane of revised last band is obtained；Described last band is
Using the band corresponding to last track plane that recurrence formula is obtained；
Using the edge feature point of last band of the recurrence formula amendment；
It is right according to the track plane and the edge feature point of revised last band of revised last band
Last band is modified, and obtains irredundant division band.
The invention also discloses it is a kind of based on pushing away the Satellite Targets decomposing system of sweeping track, including：
Side-sway acquisition module, for crossing top side pendulum during each summit for obtaining the excessively described Satellite Targets of satellite；
Strip width module, for calculating the corresponding fabric width of minimum side-sway crossed in the pendulum of top side as strip width；
The strip width is the width that the Satellite Targets are carried out each band after band division；
End points solves module, and two end points for sweeping track are pushed away described in each for solving using the strip width；
Feature modeling module, for pushing away the boundary characteristic that two end points for sweeping track calculate correspondence band according to each
Point；The edge feature point is used to determine the boundary position of the band；
Track extension module, for sweeping track and extending to pushing away using the edge feature point, obtain pushing away sweep track to
Amount；
Model computation module, for described pushing away to be swept into track vector and strip width substitution band four summit calculating mould
Type, obtains the apex coordinate of band four；The summit computation model of the band four is using the coordinate transform based on conjugate quaternion
The model that method is set up, for calculating the apex coordinate of band four.
Optionally, when the Satellite Targets are regional aim, the end points solves module to be included：
Initial normal vector unit, for determining the normal vector in initial track face using bar width central angle and side width central angle；
The bar width central angle is the corresponding earth central angle of the strip width, and the side width central angle is the benefit of the band both sides
Repay the earth central angle corresponding to width；
Track plane asks for unit, for asking for institute using recurrence formula on the basis of the normal vector in known initial track face
There is the normal vector of track plane, obtain all track planes；
Two-end-point solves unit, and corresponding the starting point for sweeping track is pushed away for calculating according to the normal vector of each track plane
With terminal.
Optionally, when the Satellite Targets are linear goal, the end points solves module to be included：
Fitting point set determining unit, for determining fitting point set using the front method to matching；
Two-dimensional transformations unit, for the three dimensional local information of the fitting point set to be changed to two dimensional surface, obtains two dimension
Fitting point set under plane；
Fitting unit, for method of least square to be utilized in the two dimensional surface to the fitting point set under the two dimensional surface
It is fitted, obtains being fitted and push away the fitting parameter for sweeping track；
Two-end-point computing unit, for calculating the fitting using the fitting parameter two end points for sweeping track are pushed away.
Optionally, the system also includes：
Band translation module, for translating last band, obtains the track plane of revised last band；Institute
It is the band corresponding to last track plane obtained using recurrence formula to state last band；
Border correcting module, for using the edge feature point of last band of the recurrence formula amendment；
Band correcting module, for according to the track plane of revised last band and it is revised last
The edge feature point of band, is modified to last band, obtains irredundant division band.
According to the specific embodiment that the present invention is provided, the invention discloses following technique effect：The present invention selects satellite mistake
The top moment, the minimum corresponding fabric width of side-sway was used as strip width such that it is able to ensure that band is completely covered, and improve and defend
The utilization rate of the fabric width of star.
Description of the drawings
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 institute in embodiment
The accompanying drawing that needs are used is briefly described, it should be apparent that, drawings in the following description are only some enforcements of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can be with according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the present invention based on the method flow diagram for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
Fig. 2 is the present invention based on pushing away solving to push away for regional aim and sweeping for the Satellite Targets decomposition method embodiment of sweeping track
The method flow diagram of two end points in track；
Fig. 3 is that of the invention being pushed away based on the linear object solving for pushing away the Satellite Targets decomposition method embodiment for sweeping track is swept
The method flow diagram of two end points in track；
Fig. 4 is that the present invention is based on conjugate quaternion based on the utilization for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The method of coordinate transform sets up the model structure of the summit computation model of band four；
Fig. 5 is structure chart of the present invention based on the decomposition coordinate system for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
Fig. 6 is the present invention determines side based on push away the Satellite Targets decomposition method embodiment of sweeping track in coordinate system is decomposed
The structure chart of boundary's characteristic point；
Fig. 7 is the present invention based on the corresponding track of the first band for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The structure chart of the determination in face；
Fig. 8 is that of the invention being based in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track translates bar
Ribbon structure figure after band；
Fig. 9 is that of the invention being based in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track corrects bar
Ribbon structure figure after strip length；
Figure 10 is that the present invention carries out mesh based on the linear target for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The structure chart of the fitted coordinate system set up in mark catabolic process；
Figure 11 is the present invention based on the system construction drawing for pushing away the Satellite Targets decomposing system embodiment for sweeping track.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is understandable to enable the above objects, features and advantages of the present invention to become apparent from, it is below in conjunction with the accompanying drawings and concrete real
The present invention is further detailed explanation to apply mode.
Fig. 1 is the present invention based on the method flow diagram for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
Referring to Fig. 1, should be based on and push away the Satellite Targets decomposition method for sweeping track, including：
Step 101：Top side pendulum is crossed when obtaining each summit of the excessively described Satellite Targets of satellite；
Step 102：The corresponding fabric width of minimum side-sway crossed in the pendulum of top side is calculated as strip width；The bar bandwidth
Degree is the width that the Satellite Targets are carried out each band after band division；
Step 103：Solved using the strip width and two end points for sweeping track are pushed away described in each；
Step 104：The edge feature point of the two end points calculating correspondence band for sweeping track is pushed away according to each；The side
Boundary's characteristic point is used to determine the boundary position of the band；
Step 105：Sweep track and extend to pushing away using the edge feature point, obtain pushing away and sweep track vector；
Step 106：Described pushing away is swept into track vector and the strip width substitution summit computation model of band four, bar is obtained
Four apex coordinates of band；The summit computation model of the band four is to be set up using the method for the coordinate transform based on conjugate quaternion
Model, for calculating the apex coordinate of band four.
Fig. 2 is the present invention based on pushing away solving to push away for regional aim and sweeping for the Satellite Targets decomposition method embodiment of sweeping track
The method flow diagram of two end points in track；
Referring to Fig. 2, when the Satellite Targets are regional aim, described solution using the strip width is pushed away described in each
Two end points of track are swept, is specifically included：
Step 201：Determine the normal vector in initial track face using bar width central angle and side width central angle；The bar width center of circle
Angle is the corresponding earth central angle of the strip width, and the side width central angle is corresponding to the compensation width of the band both sides
Earth central angle；
Step 202：All track planes are asked on the basis of the normal vector in known initial track face using recurrence formula
Normal vector, obtains all track planes；
Step 203：The corresponding Origin And Destination for pushing away and sweeping track is calculated according to the normal vector of each track plane.
Fig. 3 is that of the invention being pushed away based on the linear object solving for pushing away the Satellite Targets decomposition method embodiment for sweeping track is swept
The method flow diagram of two end points in track；
Referring to Fig. 3, when the Satellite Targets are linear goal, it is described using the strip width solve described in push away and sweep rail
Two end points of mark, specifically include：
Step 301：Fitting point set is determined using the front method to matching；
Step 302：The three dimensional local information of the fitting point set is changed to two dimensional surface, the plan under two dimensional surface is obtained
Chalaza collection；
Step 303：In the two dimensional surface fitting point set under the two dimensional surface is carried out using method of least square
Fitting, obtains being fitted and pushes away the fitting parameter for sweeping track；
Step 304：Described fitting is calculated using the fitting parameter push away two end points for sweeping track.
Optionally, described pushing away is swept into track vector and the strip width substitution summit computation model of band four described,
After obtaining the apex coordinate of band four, also include：
Last band is translated, the track plane of revised last band is obtained；Described last band is
Using the band corresponding to last track plane that recurrence formula is obtained；
Using the edge feature point of last band of the recurrence formula amendment；
It is right according to the track plane and the edge feature point of revised last band of revised last band
Last band is modified, and obtains irredundant division band.
In this embodiment of the invention, using space geometry calculate, will the earth be approximately spherical, by the earth longitude and latitude sit
Mark is converted to rectangular space coordinate.The x of definition space rectangular coordinate system points to the intersection point of 0 ° of warp and 0 ° of parallel, and z-axis points to north
Pole, according to right-handed system y-axis is determined.Conversion between latitude coordinates (α, beta, gamma) and rectangular space coordinate (x, y, z) then bigly is closed
It is to be：
Wherein α is latitude, and β is longitude, and γ is height, and γ is usually 0, ReFor earth mean radiuss.
Then when y >=0, can obtain：
As y ＜ 0, can obtain：
The process of setting up of the summit computation model of band in the present invention four is specifically described below：
Fig. 4 is that the present invention is based on conjugate quaternion based on the utilization for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The method of coordinate transform sets up the model structure of the summit computation model of band four；
Referring to Fig. 4, it is assumed that push away sweep track starting point the earth latitude coordinates be Vs(αs,βs, 0), the earth latitude coordinates of terminal
For Ve(αe,βe, 0), the coordinate changed to rectangular coordinate system in space is respectively Then foundation
Push away to sweep to be pushed away when track starting point, terminal and the earth's core can just uniquely determine imaging and sweep track place plane, i.e. track plane, the track
The normal vector in face is
In the case of the angle of visual field that satellite has fixed, because the optical axis is continually changing over the ground in imaging process, satellite is over the ground
Fabric width is continually changing.The model is fixed to single band width, is the minimum side-sway correspondence that satellite is crossed in the pendulum of top side
Fabric width d, to ensure that band is completely covered.The side of band twoRespectively parallel to track plane plane with
One section of minor arc on the intersecting sphere roundlet of sphere, the side of band twoThe plane parallel to track plane being located
The distance in relevant path face is：
The side at band two endsRespectively cross and push away the plane vertical with track plane for sweeping track starting point and sphere
One section of minor arc on intersecting the major circle of a sphere.Four summits for determining band can be converted according to four elements accordingly, method is as follows：
The central angle of strip width correspondence the major circle of a sphere arc is δ=d/R, using the method for the coordinate transform based on quaternary number
V can be obtainedsThe rectangular space coordinate on the band summit of one end is
WhereinFor Q1Conjugate quaternion, wherein For three imaginary units, q0, q1, q2, q3For real number, andIn the same manner, can obtain
ArriveThe band summit of one end is
WhereinFor its conjugate quaternion, and
Again band is obtained by coordinate system transformationThe earth latitude coordinates on four summits.Using the model, sweep according to pushing away
The Origin And Destination coordinate of track can just obtain the apex coordinate of band four, claim vector A=(Vs,Ve) sweep track vector to push away.
When the Satellite Targets are regional aim, need to initially set up decomposition coordinate system, then in the case where coordinate system is decomposed
Edge feature point is determined, it is determined that dividing to band after edge feature point.
Fig. 5 is structure chart of the present invention based on the decomposition coordinate system for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
Referring to Fig. 5, the foundation for decomposing coordinate system is adopted with the following method：
First the earth latitude coordinates of regional aim are converted to into rectangular space coordinate, obtain the seat on the summit of regional aim
Mark set
{(xi,yi,zi) | i=1,2 ..., n }
Then geometric center C of regional aimtargetFor
Substar ground velocityThe direction taken is the downward point ground velocity direction of satellite under central instant, and so-called central instant refers to
, to the earliest Covering time of representative points and the intermediate time point of Covering time the latest, foundation exploded angle θ is to substar for satellite
Ground velocitySitting rotation transformation can obtain decomposing direction, and rotation can adopt coordinate transform or the coordinate system transformation based on quaternary number
Method.Illustrate by taking the method for coordinate system change as an example below.
It is rightRotated, angle is θ, then rotating direction of principal axis unit vector isWithFor z-axis, with directionFor y-axis, with directionNew coordinate system is set up for x-axis, the coordinate system
Basic matrix is
ThenCoordinate under new coordinate systemAroundAnglec of rotation θ equivalent toAround z-axis rotation
Rotational angle theta, postrotational coordinate isWherein Rz(- θ) is the primitive spin moment around z-axis
Battle array and
According to x-axis or y-axis, then corresponding spin matrix is
With
As shown in figure 5, withZ-axis is set up in direction, withY-axis is set up in direction, and x-axis is true according to right hand relation
It is fixed, you can to obtain decomposing coordinate system, the track plane of each band is parallel to x-axis during goal decomposition.
Fig. 6 is the present invention determines side based on push away the Satellite Targets decomposition method embodiment of sweeping track in coordinate system is decomposed
The structure chart of boundary's characteristic point；
Referring to Fig. 6, the determination of edge feature point is primarily to convenient calculate band number and calculate what band was divided
Boundary position, determination process is carried out based on coordinate system is decomposed.Carried out based on track due to pushing away to sweep, the track plane of band is parallel to x
Axle.The maximum angle that representative points can be formed parallel to the major circle of a sphere of x-axis is crossed, its face normal vector and z-axis can be converted into
Angle.Normal vectorWithDefine minimum angle with z-axis respectivelyWith maximum angleCorresponding track plane is P-With P+, corresponding representative points v-With v+As edge feature point.IfRepresent vertex vector,WithFor x-axis unit vector and z-axis
Unit vector, then normal vector determine that formula is as follows
Angle calcu-lation formula is defined below
Fig. 7 is the present invention based on the corresponding track of the first band for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The structure chart of the determination in face；
Referring to Fig. 7, if bar width central angle is η=d/Re, side width central angle is τ, then the normal vector in initial track face is
The gap that attitude control error and bar interband are likely to occur when considering imaging, introduces the coincidence ratio lambda of band, this
When band number be
After the normal vector for obtaining initial track face, obtain recurrence formula that the normal vector of other track planes adopts for
It is determined that after the normal vector of each track plane, it is possible to solve each and push away the Origin And Destination for sweeping track, i.e.,
Push away two end points for sweeping track.
After obtaining each and pushing away and sweep two end points of track, it is possible to solve four apex coordinates of each band, from
And realize the division of band.
The invention also discloses a kind of method being modified to band.Generally after band is divided and finished, last
May there is the situation of unilateral big redundancy in individual band, i.e. the width of last band is excessive, does not cover beyond regional aim
The width in region.The present invention realizes the amendment to unilateral big redundancy phenomena using the method for correcting last band.
Fig. 8 is that of the invention being based in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track translates bar
Ribbon structure figure after band；
Fig. 9 is that of the invention being based in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track corrects bar
Ribbon structure figure after strip length；
Referring to Fig. 8, last band is translated to inner side first.Translate equivalent to the track for correcting last band
Face, the track plane normal vector derivation formula for thus obtaining target stripe division is as follows：
I is integer
The amendment of track plane can solve the problem that the problem of unilateral big redundancy, it is to avoid the observation of inactive area, but observation redundancy
Still exist, be mainly reflected in the length of band, therefore second step will be modified to the solution of edge feature point.Referring to figure
9, correction strategy is the edge feature point foundation track plane normal vector recurrence formula amendment of last band, i.e.,Can preferably be kept away with the amendment of edge feature point by the track plane to last band
The observation and redundancy for exempting from inactive area is observed.
When Satellite Targets are linear goals, to being described as follows for the decomposition of linear goal：
Linear target is the emerging target of a class, be specifically designed in possess actively push away sweep ability satellite it is non-along mark into
Picture.Because the number of vertex of the linear target for describing is more, calculate to reduce the time window to various summit, improving target can
The efficiency that opinion property is calculated, to border feature point extraction mainly by extracting to linear feature, to reduce description its shape spy
The points levied.The extraction of edge feature point is mainly optimized with least dividing band as target, is divided pushing away for band and is swept track
Origin And Destination can be regarded as the edge feature point of linear target, adopt the minimum band that divides to be because considering for optimization aim
2 points below：
(1) with minimum band number coverage goal, bar interband attitude maneuver number of times can be reduced.
(2) with minimum band number coverage goal, change excessive in strip direction, caused bar interband appearance can be reduced
State conversion time increases.
For the decomposition of linear goal, the present invention is optimized using the track fitting algorithm under the front method to matching,
What track fitting referred to band pushes away that to sweep track be that using many summit linear fits of method of least square, the selection gist on summit is former
Order is uninterrupted to be selected.Forward direction matching is referred to when carrying out track fitting, and follow-up summit is ensureing preferentially to be received on the premise of covering
In entering the fitting point sequence of previous band.
For a fitting point set, its point for including possesses three dimensional local information, and the basic thought of fitting is exactly will
Three dimensional local information is changed to two dimensional surface carries out linear fit using method of least square, to obtain and calculate end points after fitting parameter
And change to three-dimensional coordinate, obtain to push away by doing appropriate extension further according to point set and sweep track vector.
Figure 10 is that the present invention carries out mesh based on the linear target for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The structure chart of the fitted coordinate system set up in mark catabolic process；
Referring to Figure 10, the foundation of two dimensional surface needs to select suitable conversion coordinate system, to avoid target shape information
Excessive distortion.After setting up fitted coordinate system, target location is changed and retains two dimension main constituent letters again to the coordinate system
Breath, with this conversion of two dimensional surface is realized.The earth latitude coordinates of fitting point set are changed to rectangular coordinate system in space, is then fitted
Point set can be expressed asIts geometric center is vectorial and earth's surface intersection point is used as fitted coordinate system origin,
Calculation expression is
WithFor z-axis direction, withFor y-axis direction, x-axis determines according to right-handed system sets up fitted coordinate system.
Fitting point set is changed to fitted coordinate system, z coordinate of skimming, obtain its two dimension seat changed to plane oxy
Mark.Then, a sequence is fitted to by model y=ax+b using method of least square, parameter calculation formula is as follows：
The end points V that subsequently will be solvedsWith VeChange to former rectangular coordinate system in space, track plane is set up with this two-end-point, and according to
Determine that edge feature point does appropriate extension and can obtain pushing away sweeping track vector according to fitting point set.
Whether whether fitting point set is covered by band, be less than limiting distance d according to the distance of point to track planepSentenced
Disconnected.Sweep the unit normal vector of track plane and be if pushing awayThen it is divided band and covers pointFollowing condition must be met
Figure 11 is the present invention based on the system construction drawing for pushing away the Satellite Targets decomposing system embodiment for sweeping track；
Referring to Figure 11, should be based on and push away the Satellite Targets decomposing system for sweeping track, including：
Side-sway acquisition module 1101, for crossing top side pendulum during each summit for obtaining the excessively described Satellite Targets of satellite；
Strip width module 1102, for calculating the corresponding fabric width of minimum side-sway crossed in the pendulum of top side as bar bandwidth
Degree；The strip width is the width that the Satellite Targets are carried out each band after band division；
End points solves module 1103, and two end points for sweeping track are pushed away described in each for solving using the strip width；
Feature modeling module 1104, for pushing away the border that two end points for sweeping track calculate correspondence band according to each
Characteristic point；The edge feature point is used to determine the boundary position of the band；
Track extension module 1105, for being swept track and being extended to pushing away using the edge feature point, obtains pushing away and sweeps rail
Mark vector；
Model computation module 1106, by described pushing away to be swept based on track vector and the strip width substitute into the summit of band four
Model is calculated, the apex coordinate of band four is obtained；The summit computation model of the band four is to be become using the coordinate based on conjugate quaternion
The model that the method changed is set up, for calculating the apex coordinate of band four.
Optionally, when the Satellite Targets are regional aim, the end points solves module 1103 to be included：
Initial normal vector unit, for determining the normal vector in initial track face using bar width central angle and side width central angle；
The bar width central angle is the corresponding earth central angle of the strip width, and the side width central angle is the benefit of the band both sides
Repay the earth central angle corresponding to width；
Track plane asks for unit, for asking for institute using recurrence formula on the basis of the normal vector in known initial track face
There is the normal vector of track plane, obtain all track planes；
Two-end-point solves unit, and corresponding the starting point for sweeping track is pushed away for calculating according to the normal vector of each track plane
With terminal.
Optionally, when the Satellite Targets are linear goal, the end points solves module 1103 to be included：
Fitting point set determining unit, for determining fitting point set using the front method to matching；
Two-dimensional transformations unit, for the three dimensional local information of the fitting point set to be changed to two dimensional surface, obtains two dimension
Fitting point set under plane；
Fitting unit, for method of least square to be utilized in the two dimensional surface to the fitting point set under the two dimensional surface
It is fitted, obtains being fitted and push away the fitting parameter for sweeping track；
Two-end-point computing unit, for calculating the fitting using the fitting parameter two end points for sweeping track are pushed away.
Optionally, the system also includes：
Band translation module 1107, for translating last band, obtains the track of revised last band
Face；Described last band is the band corresponding to last track plane obtained using recurrence formula；
Border correcting module 1108, for using the edge feature point of last band of the recurrence formula amendment；
Band correcting module 1109, for according to the track plane of revised last band and it is revised last
The edge feature point of individual band, is modified to last band, obtains irredundant division band.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help and understand the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, foundation
The thought of the present invention, will change in specific embodiments and applications.In sum, this specification content is not
It is interpreted as limitation of the present invention.
Claims (8)
1. it is a kind of based on pushing away the Satellite Targets decomposition method of sweeping track, it is characterised in that to include：
Top side pendulum is crossed when obtaining each summit of the excessively described Satellite Targets of satellite；
The corresponding fabric width of minimum side-sway crossed in the pendulum of top side is calculated as strip width；The strip width is to defend described
Star target carries out the width of each band after band division；
Solved using the strip width and two end points for sweeping track are pushed away described in each；
The edge feature point of the two end points calculating correspondence band for sweeping track is pushed away according to each；The edge feature point is used for
Determine the boundary position of the band；
Sweep track and extend to pushing away using the edge feature point, obtain pushing away and sweep track vector；
Described pushing away is swept into track vector and the strip width substitution summit computation model of band four, the summit of band four seat is obtained
Mark；The summit computation model of the band four is the model set up using the method for the coordinate transform based on conjugate quaternion, is used for
Calculate the apex coordinate of band four.
2. method according to claim 1, it is characterised in that when the Satellite Targets are regional aim, the utilization
The strip width solves and two end points for sweeping track is pushed away described in each, specifically includes：
Determine the normal vector in initial track face using bar width central angle and side width central angle；The bar width central angle is the band
The corresponding earth central angle of width, the side width central angle is the earth center of circle corresponding to the compensation width of the band both sides
Angle；
The normal vector of all track planes is asked for using recurrence formula on the basis of the normal vector in known initial track face；
The corresponding Origin And Destination for pushing away and sweeping track is calculated according to the normal vector of each track plane.
3. method according to claim 1, it is characterised in that when the Satellite Targets are linear goal, the utilization
The strip width pushes away two end points for sweeping track described in solving, and specifically includes：
Fitting point set is determined using the front method to matching；
The three dimensional local information of the fitting point set is changed to two dimensional surface, the fitting point set under two dimensional surface is obtained；
In the two dimensional surface fitting point set under the two dimensional surface is fitted using method of least square, is fitted
Push away the fitting parameter for sweeping track；
Described fitting is calculated using the fitting parameter push away two end points for sweeping track.
4. method according to claim 2, it is characterised in that described pushing away is swept into track vector and the bar bandwidth described
Degree substitutes into the summit computation model of band four, after obtaining the apex coordinate of band four, also includes：
Last band is translated, the track plane of revised last band is obtained；Described last band is utilization
The band corresponding to last track plane that recurrence formula is obtained；
Using the edge feature point of last band of the recurrence formula amendment；
According to the track plane and the edge feature point of revised last band of revised last band, to last
One band is modified, and obtains irredundant division band.
5. it is a kind of based on pushing away the Satellite Targets decomposing system of sweeping track, it is characterised in that to include：
Side-sway acquisition module, for crossing top side pendulum during each summit for obtaining the excessively described Satellite Targets of satellite；
Strip width module, for calculating the corresponding fabric width of minimum side-sway crossed in the pendulum of top side as strip width；It is described
Strip width is the width that the Satellite Targets are carried out each band after band division；
End points solves module, and two end points for sweeping track are pushed away described in each for solving using the strip width；
Feature modeling module, for pushing away the edge feature point that two end points for sweeping track calculate correspondence band according to each；
The edge feature point is used to determine the boundary position of the band；
Track extension module, for being swept track and being extended to pushing away using the edge feature point, obtains pushing away and sweeps track vector；
Model computation module, for described pushing away to be swept into track vector and the strip width substitution summit computation model of band four,
Obtain the apex coordinate of band four；The summit computation model of the band four is the method using the coordinate transform based on conjugate quaternion
The model of foundation, for calculating the apex coordinate of band four.
6. system according to claim 5, it is characterised in that when the Satellite Targets are regional aim, the end points
Solving module includes：
Initial normal vector unit, for determining the normal vector in initial track face using bar width central angle and side width central angle；It is described
Bar width central angle is the corresponding earth central angle of the strip width, and the side width central angle is the compensation width of the band both sides
The corresponding earth central angle of degree；
Track plane asks for unit, for asking for institute's rail using recurrence formula on the basis of the normal vector in known initial track face
The normal vector in mark face；
Two-end-point solves unit, and corresponding starting point and the end of sweeping track are pushed away for calculating according to the normal vector of each track plane
Point.
7. system according to claim 5, it is characterised in that when the Satellite Targets are linear goal, the end points
Solving module includes：
Fitting point set determining unit, for determining fitting point set using the front method to matching；
Two-dimensional transformations unit, for the three dimensional local information of the fitting point set to be changed to two dimensional surface, obtains two dimensional surface
Under fitting point set；
Fitting unit, for being carried out to the fitting point set under the two dimensional surface using method of least square in the two dimensional surface
Fitting, obtains being fitted and pushes away the fitting parameter for sweeping track；
Two-end-point computing unit, for calculating the fitting using the fitting parameter two end points for sweeping track are pushed away.
8. system according to claim 6, it is characterised in that the system also includes：
Band translation module, for translating last band, obtains the track plane of revised last band；It is described most
Latter band is the band corresponding to last track plane obtained using recurrence formula；
Border correcting module, for using the edge feature point of last band of the recurrence formula amendment；
Band correcting module, for according to the track plane of revised last band and revised last band
Edge feature point, is modified to last band, obtains irredundant division band.
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| GB1719609.8A GB2559235B (en) | 2016-11-28 | 2017-11-27 | Agile satellite target decomposition method and system based on push-broom trajectory |
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| GB201719609D0 (en) | 2018-01-10 |
| CN106597434B (en) | 2019-04-30 |
| GB2559235B (en) | 2021-04-07 |
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