CN106597434B - It is a kind of based on pushing away the quick Satellite Targets decomposition method and system for sweeping track - Google Patents
It is a kind of based on pushing away the quick Satellite Targets decomposition method and system for sweeping track Download PDFInfo
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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 present invention discloses a kind of based on pushing away the Satellite Targets decomposition method for sweeping track and system.Method includes: to obtain to cross top side pendulum when satellite crosses each vertex of Satellite Targets；The corresponding breadth of minimum side-sway in the pendulum of top side was calculated as strip width；It is solved using strip width and each pushes away two endpoints for sweeping track；It sweeps two endpoints of track according to each push away and calculates the edge feature point of corresponding band；It sweeps track using edge feature point and extends to pushing away, obtain pushing away and sweep track vector；It will push away and sweep track vector and strip width substitution four vertex computation model of band, and obtain four apex coordinate of band；Four vertex computation model of band is the model established using the method for the coordinate transform based on conjugate quaternion, for calculating four apex coordinate of band.Method and system of the invention select satellite to cross the corresponding breadth of top moment minimum side-sway as strip width and improve the utilization rate of the breadth of satellite so as to guarantee that band is completely covered.
Description
Technical field
The present invention relates to satellite imagery technical field, more particularly to a kind of based on pushing away the quick Satellite Targets point for sweeping track
Solve method and system.
Background technique
The core of agile satellite imagery mission planning is that rational management observation mission is defended with satellite movement is arranged to realize
Star economy of resources maximizes.For planning, method for precisely solving or intelligent optimization method are either used, it is necessary to will
Diversified observation requirements are converted to the standard input of plan model, this process is commonly referred to as task pretreatment.Task is located in advance
Reason serves mission planning, and task is pre-processed the independent complexity that can reduce mission planning, improves solution efficiency.
Goal decomposition in task pretreatment is mainly in regional aim.It is limited to satellite load breadth, for region
The covering realized to regional aim can not be imaged with single in target, 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.Currently static point is primarily present about goal decomposition
Solution and two kinds of forms of dynamic Decomposition.Static state decomposition is based primarily upon predefined referential or fixed satellite breadth is divided, and moves
State decomposition is based primarily upon satellite field angle or dynamic satellite breadth is divided.
Appointed using a kind of typically French imaging in earth observation satellite system is compared in the decomposition of predefined referential
Using the decomposition method based on grid referential (Grid Reference System, GRS) in business planning, using 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 with strips realize decomposition to target, the decomposition method is according to direction (direction) and displacement (offset) two
Parameter realizes the decomposition to the non-isometric band of irregular area with parallel stripes, but the decomposition method does not account for Satellite Attitude
The variation of state bring breadth.
Summary of the invention
The object of the present invention is to provide a kind of based on the quick Satellite Targets decomposition method and system for sweeping track is pushed away, and is not defended
The influence of star attitudes vibration bring breadth variation.
To achieve the above object, the present invention provides following schemes:
It is a kind of based on pushing away the Satellite Targets decomposition method for sweeping track, comprising:
Top side pendulum is crossed when obtaining each vertex of the excessively described Satellite Targets of satellite；
The corresponding breadth of minimum side-sway crossed in the pendulum of top side is calculated as strip width；The strip width is by institute
State the width for each band that Satellite Targets carry out after band division；
Each described push away, which is solved, using the strip width sweeps two endpoints of track；
It sweeps two endpoints of track according to each described push away and calculates the edge feature point of corresponding band；The edge feature point
For determining the boundary position of the band；
It sweeps track using the edge feature point and extends to pushing away, obtain pushing away and sweep track vector；
Described push away is swept into track vector and strip width substitution four vertex computation model of band, obtains four vertex of band
Coordinate；The four vertex computation model of band is the model established using the method for the coordinate transform based on conjugate quaternion, is used
In calculating four apex coordinate of band.
Optionally, described to solve each described push away using the strip width when the Satellite Targets are regional aim
Two endpoints for sweeping track, specifically include:
The normal vector in initial track face is determined using the wide central angle of the wide central angle of item and side；The wide central angle of item is described
The corresponding earth central angle of strip width, the wide central angle in side are the circle of the earth corresponding to the compensation width of the band two sides
Heart angle；
The normal vector of all track planes is sought using recurrence formula on the basis of the normal vector in known initial track face；
Corresponding push away, which is calculated, according to the normal vector of each track plane sweeps the Origin And Destination of track.
Optionally, it when the Satellite Targets are linear goal, is pushed away described in utilization strip width solution and sweeps rail
Two endpoints of mark, specifically include:
Fitting point set is determined to matched method using preceding；
The three dimensional local information of the fitting point set is converted to two-dimensional surface, the fitting point set under two-dimensional surface is obtained；
The fitting point set under the two-dimensional surface is fitted using least square method in the two-dimensional surface, is obtained
Fitting pushes away the fitting parameter for sweeping track；
Described be fitted, which is calculated, using the fitting parameter pushes away two endpoints for sweeping track.
Optionally, described push away is swept into track vector and strip width substitution four vertex computation model of band described,
After obtaining four apex coordinate of band, further includes:
The last one band is translated, the track plane of the last one revised band is obtained；The last one described band is
Band corresponding to the last one track plane obtained using recurrence formula；
The edge feature point of the last one band is corrected using the recurrence formula；
It is right according to the edge feature point of the track plane of the last one revised band and the last one revised band
The last one band is modified, and obtains irredundant division band.
The invention also discloses a kind of based on pushing away the Satellite Targets decomposing system for sweeping track, comprising:
Side-sway obtains module, crosses top side pendulum when for obtaining each vertex of the excessively described Satellite Targets of satellite；
Strip width module, for calculating the corresponding breadth 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 to each band after band division；
Endpoint solves module, sweeps two endpoints of track for solving each described push away using the strip width；
Feature modeling module, for sweeping two endpoints of track according to each described push away and calculating the boundary characteristic of corresponding band
Point；The edge feature point is used to determine the boundary position of the band；
Track extension module, for sweeping track using the edge feature point and extend to pushing away, obtain pushing away sweep track to
Amount；
Model computation module, for described push away to be swept track vector and strip width substitution four vertex of band calculating mould
Type obtains four apex coordinate of band；The four vertex computation model of band is to utilize the coordinate transform based on conjugate quaternion
The model that method is established, for calculating four apex coordinate of band.
Optionally, when the Satellite Targets are regional aim, the endpoint solves module and includes:
Initial normal vector unit, for determining the normal vector in initial track face using the wide central angle of the wide central angle of item and side；
The wide central angle of item is the corresponding earth central angle of the strip width, and the wide central angle in side is the benefit of the band two sides
Repay earth central angle corresponding to width；
Track plane seeks unit, for seeking institute using recurrence formula on the basis of the normal vector in known initial track face
There is the normal vector of track plane, obtains all track planes；
Two-end-point solves unit, sweeps the starting point of track for calculating corresponding push away according to the normal vector of each track plane
With terminal.
Optionally, when the Satellite Targets are linear goal, the endpoint solves module and includes:
It is fitted point set determination unit, for determining fitting point set to matched method using preceding；
Two-dimensional transformations unit obtains two dimension for converting the three dimensional local information of the fitting point set to two-dimensional surface
Fitting point set under plane；
Fitting unit, for utilizing least square method to the fitting point set under the two-dimensional surface in the two-dimensional surface
It is fitted, obtains fitting and push away the fitting parameter for sweeping track；
Two-end-point computing unit pushes away two endpoints for sweeping track for calculating described be fitted using the fitting parameter.
Optionally, the system also includes:
Band translation module obtains the track plane of the last one revised band for translating the last one band；Institute
Stating the last one band is band corresponding to the last one track plane for being obtained using recurrence formula；
Boundary correction module, for correcting the edge feature point of the last one band using the recurrence formula；
Band correction module, for according to the track plane of the last one revised band and it is revised the last one
The edge feature point of band is modified the last one band, obtains irredundant division band.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: the present invention selects satellite mistake
The corresponding breadth of moment minimum side-sway is pushed up as strip width, so as to guarantee that band is completely covered, and improves and defends
The utilization rate of the breadth of star.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that the present invention is based on the method flow diagrams for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
Fig. 2 is that the present invention is based on push away pushing away for regional aim solution for the Satellite Targets decomposition method embodiment for sweeping track to sweep
The method flow diagram of two endpoints in track；
Fig. 3 is to push away to sweep the present invention is based on the linear object solving for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The method flow diagram of two endpoints in track；
Fig. 4 is that the present invention is based on push away the utilization for the Satellite Targets decomposition method embodiment for sweeping track based on conjugate quaternion
The method of coordinate transform establishes the model structure of four vertex computation model of band；
Fig. 5 is that the present invention is based on the structure charts for the decomposition coordinate system for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
Fig. 6 is that the present invention is based on the determining sides in decomposing coordinate system for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The structure chart of boundary's characteristic point；
Fig. 7 is that the present invention is based on the corresponding tracks 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 the present invention is based on translate item in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track
Ribbon structure figure after band；
Fig. 9 is that the present invention is based on correct item in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track
Ribbon structure figure after strip length；
Figure 10 is that the present invention is based on the linear targets for pushing away the Satellite Targets decomposition method embodiment for sweeping track to carry out mesh
The structure chart for the fitted coordinate system established in mark decomposable process；
Figure 11 is that the present invention is based on the system construction drawings for pushing away the Satellite Targets decomposing system embodiment for sweeping track.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is that the present invention is based on the method flow diagrams for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
It, should be based on pushing away the Satellite Targets decomposition method for sweeping track referring to Fig. 1, comprising:
Step 101: crossing top side pendulum when obtaining each vertex of the excessively described Satellite Targets of satellite；
Step 102: calculating the corresponding breadth of minimum side-sway crossed in the pendulum of top side as strip width；Described bandwidth
Degree is the width that the Satellite Targets are carried out to each band after band division；
Step 103: solving each described push away using the strip width and sweep two endpoints of track；
Step 104: sweeping two endpoints of track according to each described push away and calculate the edge feature point of corresponding band；The side
Boundary's characteristic point is used to determine the boundary position of the band；
Step 105: sweeping track using the edge feature point and extend to pushing away, obtain pushing away and sweep track vector；
Step 106: described push away being swept into track vector and strip width substitution four vertex computation model of band, obtains item
Four apex coordinate of band；The four vertex computation model of band is to be established using the method for the coordinate transform based on conjugate quaternion
Model, for calculating four apex coordinate of band.
Fig. 2 is that the present invention is based on push away pushing away for regional aim solution for the Satellite Targets decomposition method embodiment for sweeping track to sweep
The method flow diagram of two endpoints in track；
Referring to fig. 2, described to solve each described push away using the strip width when the Satellite Targets are regional aim
Two endpoints for sweeping track, specifically include:
Step 201: the normal vector in initial track face is determined using the wide central angle of the wide central angle of item and side；The wide center of circle of item
Angle is the corresponding earth central angle of the strip width, and the wide central angle in side is corresponding to the compensation width of the band two sides
Earth central angle；
Step 202: seeking all track planes using recurrence formula on the basis of the normal vector in known initial track face
Normal vector obtains all track planes；
Step 203: corresponding push away being calculated according to the normal vector of each track plane and sweeps the Origin And Destination of track.
Fig. 3 is to push away to sweep the present invention is based on the linear object solving for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The method flow diagram of two endpoints in track；
Referring to Fig. 3, when the Satellite Targets are linear goal, are pushed away described in utilization strip width solution and sweep rail
Two endpoints of mark, specifically include:
Step 301: determining fitting point set to matched method using preceding；
Step 302: the three dimensional local information of the fitting point set being converted to two-dimensional surface, is obtained quasi- under two-dimensional surface
Chalaza collection；
Step 303: the fitting point set under the two-dimensional surface being carried out using least square method in the two-dimensional surface
Fitting obtains fitting and pushes away the fitting parameter for sweeping track；
Step 304: calculating described be fitted using the fitting parameter and push away two endpoints for sweeping track.
Optionally, described push away is swept into track vector and strip width substitution four vertex computation model of band described,
After obtaining four apex coordinate of band, further includes:
The last one band is translated, the track plane of the last one revised band is obtained；The last one described band is
Band corresponding to the last one track plane obtained using recurrence formula；
The edge feature point of the last one band is corrected using the recurrence formula；
It is right according to the edge feature point of the track plane of the last one revised band and the last one revised band
The last one band is modified, and obtains irredundant division band.
In this embodiment of the invention, it is calculated using space geometry, i.e., is approximately spherical shape by the earth, the earth longitude and latitude is sat
Mark is converted to rectangular space coordinate.The x of definition space rectangular coordinate system is directed toward the intersection point of 0 ° of warp and 0 ° of weft, and z-axis is directed toward north
Pole determines y-axis according to right-handed system.The conversion between latitude coordinates (α, beta, gamma) and rectangular space coordinate (x, y, z) is closed then bigly
System are as follows:
Wherein α is latitude, and β is longitude, and γ is height, and γ is usually 0, ReFor earth mean radius.
Then as y >=0, it can obtain:
As y < 0, can obtain:
The establishment process of four vertex computation model of band in the present invention is specifically described below:
Fig. 4 is that the present invention is based on push away the utilization for the Satellite Targets decomposition method embodiment for sweeping track based on conjugate quaternion
The method of coordinate transform establishes the model structure of four vertex computation model of band；
Referring to fig. 4, it is assumed that pushing away and sweeping the earth latitude coordinates of track starting point is Vs(αs,βs, 0), the earth latitude coordinates of terminal
For Ve(αe,βe, 0), conversion to the coordinate under rectangular coordinate system in space is respectively Then foundation
Push away sweep track starting point, terminal and the earth's core and pushed away when can uniquely determine imaging sweep track where plane, i.e. track plane, the track
The normal vector in face is
When satellite has fixed field angle, since the optical axis constantly changes over the ground in imaging process, satellite is over the ground
Breadth is continually changing.Single band width is fixed in the model, and it is corresponding to cross the minimum side-sway in the pendulum of top side for satellite
Breadth d, to guarantee that band is completely covered.Band two sidesRespectively be parallel to the plane of track plane with
One section of minor arc on the spherical surface roundlet of spherical surface intersection, band two sidesThe plane for being parallel to track plane at place
The distance in relevant path face are as follows:
The side at band both endsIt respectively crosses and pushes away the plane and spherical surface vertical with track plane for sweeping track starting point
One section of minor arc on the major circle of a sphere of intersection.Four vertex for determining band can be converted according to four elements accordingly, the method is as follows:
The central angle that strip width corresponds to the major circle of a sphere arc is δ=d/R, using the method for the coordinate transform based on quaternary number
Available VsThe rectangular space coordinate on the band vertex of one end is
WhereinFor Q1Conjugate quaternion, wherein For three imaginary units, q0, q1, q2, q3For real number, andSimilarly, available Ve
The band vertex of one end is
WhereinFor its conjugate quaternion, and
Band can be obtained by coordinate system transformation againThe earth latitude coordinates on four vertex.Using the model, swept according to pushing away
The Origin And Destination coordinate of track can obtain four apex coordinate of band, claim vector A=(Vs,Ve) it is to push away to sweep track vector.
When the Satellite Targets are regional aim, need to initially set up decomposition coordinate system, then in the case where decomposing coordinate system
It determines edge feature point, band is divided after determining edge feature point.
Fig. 5 is that the present invention is based on the structure charts for the decomposition coordinate system for pushing away the Satellite Targets decomposition method embodiment for sweeping track；
Referring to Fig. 5, the foundation of coordinate system is decomposed with the following method:
The earth latitude coordinates of regional aim are converted into rectangular space coordinate first, obtain the seat on the vertex of regional aim
Mark set
{(xi,yi,zi) | i=1,2 ..., n }
The then geometric center C of regional aimtargetFor
Substar ground velocityThe direction taken is downward ground velocity direction of satellite under central instant, and so-called central instant refers to
Satellite is to the intermediate time point of the earliest Covering time and Covering time the latest of representative points, and exploded angle θ is to substar for foundation
Ground velocitySitting rotation transformation can be obtained decomposition direction, and rotation can use coordinate transform or coordinate system transformation based on quaternary number
Method.It is illustrated by taking the method for coordinate system variation as an example below.
It is rightIt is rotated, angle θ, then rotary axis direction unit vector isWithFor z-axis, with directionFor y-axis, with directionNew coordinate system is established for x-axis, the coordinate system
Basic matrix is
ThenCoordinate under new coordinate system AroundRotation angle, θ is equivalent toIt is rotated around z-axis
Angle θ, postrotational coordinate areWherein Rz(- θ) is the primitive spin matrix around z-axis
And
According to x-axis or y-axis, then corresponding spin matrix is
With
As shown in figure 5, withZ-axis is established in direction, withY-axis is established in direction, and x-axis is true according to right hand relationship
It is fixed, it can be obtained decomposition coordinate system, the track plane of each band is parallel to x-axis when goal decomposition.
Fig. 6 is that the present invention is based on the determining sides in decomposing coordinate system for pushing away the Satellite Targets decomposition method embodiment for sweeping track
The structure chart of boundary's characteristic point；
Referring to Fig. 6, determining for edge feature point calculates band number and calculates what band divided primarily to facilitating
Boundary position, determination process are based on decomposing coordinate system progress.It is carried out due to pushing away to sweep based on track, the track plane of band is parallel to x
Axis.It crosses representative points and is parallel to the maximum angle that the major circle of a sphere of x-axis is capable of forming, its face normal vector and z-axis can be converted into
Angle.Normal vectorWithMinimum angle is formd with z-axis respectivelyWith maximum angleCorresponding track plane is P-With P+, corresponding representative points v-With v+As edge feature point.IfVertex vector is represented,WithFor x-axis unit vector and z-axis
Unit vector, then normal vector determines that formula is as follows
The determination of angle calcu-lation formula is as follows
Fig. 7 is that the present invention is based on the corresponding tracks 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 the wide central angle of item is η=d/Re, the wide central angle in side is τ, then the normal vector in initial track face is
Consider the gap that attitude control error and interband are likely to occur when imaging, introduces the coincidence ratio lambda of band, this
When band number be
After the normal vector for obtaining initial track face, obtain the recurrence formula that the normal vectors of other track planes uses for
After the normal vector for determining each track plane, so that it may solve each Origin And Destination for pushing away and sweeping track, i.e.,
Push away two endpoints for sweeping track.
Obtain it is each push away sweep two endpoints of track after, so that it may four apex coordinates for solving each band, from
And realize the division of band.
The invention also discloses the methods that a kind of pair of band is modified.Usually after band division finishes, last
A band may have the case where unilateral big redundancy, i.e. the width of the last one 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 the last one band.
Fig. 8 is that the present invention is based on translate item in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track
Ribbon structure figure after band；
Fig. 9 is that the present invention is based on correct item in the band makeover process for pushing away the Satellite Targets decomposition method embodiment for sweeping track
Ribbon structure figure after strip length；
Referring to Fig. 8, the last one band is translated inwardly first.Translation is equivalent to the track for correcting the last one band
Face, the track plane normal vector derivation formula for thus obtaining target stripe division are as follows:
The amendment of track plane is able to solve the problem of unilateral big redundancy, avoids the observation of inactive area, but observes redundancy
Still exist, be mainly reflected in the length of band, therefore second step will be modified the solution of edge feature point.Referring to figure
9, correction strategy is that the edge feature point of the last one band is corrected according to track plane normal vector recurrence formula, i.e.,It can preferably be kept away by the amendment of track plane and edge feature point to the last one band
The observation and redundancy for exempting from inactive area are observed.
When Satellite Targets are linear goals, to being described as follows for the decomposition of linear goal:
Linear target is a kind of emerging target, specifically in have actively push away sweep ability satellite it is non-along mark at
Picture.Since the number of vertex of the linear target of description is more, in order to reduce the time window calculating to various vertex, improving target can
The efficiency that opinion property calculates describes its shape spy to boundary feature point extraction mainly by extracting to linear feature to reduce
The points of sign.The extraction of edge feature point is mainly optimized using at 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, use it is minimum divide band for optimization aim be because it is contemplated that
Following two points:
(1) with minimum band number coverage goal, an interband attitude maneuver number can be reduced.
(2) with minimum band number coverage goal, variation excessive in strip direction, caused interband appearance can be reduced
State conversion time increases.
Decomposition for linear goal, the present invention are optimized using preceding to the track fitting algorithm under matched method,
Track fitting refers to that pushing away for band sweeps track as using more vertex linear fits of least square method, the selection gist on vertex is former
The uninterrupted selection of sequence.When forward direction matching refers to progress track fitting, subsequent vertex is preferentially received under the premise of guaranteeing covering
Enter in the fitting point sequence of previous band.
For a fitting point set, it includes point have a three dimensional local information, the basic thought of fitting be exactly be exactly will
Three dimensional local information uses least square method to carry out linear fit after converting to two-dimensional surface, calculates endpoint after obtaining fitting parameter
And convert to three-dimensional coordinate, it does suitably to extend to can be obtained to push away further according to point set and sweeps track vector.
Figure 10 is that the present invention is based on the linear targets for pushing away the Satellite Targets decomposition method embodiment for sweeping track to carry out mesh
The structure chart for the fitted coordinate system established in mark decomposable 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.It establishes after fitted coordinate system, retains two dimension principal component letters under target position is converted to the coordinate system again
Breath, the conversion of two-dimensional surface is realized with this.The earth latitude coordinates for being fitted point set are converted to rectangular coordinate system in space, then are fitted
Point set can be expressed asIts geometric center vector and earth's surface intersection point as fitted coordinate system origin,
Calculation expression is
WithFor z-axis direction, withFor y-axis direction, x-axis establishes fitted coordinate system according to right-handed system determination.
Fitting point set is converted to fitted coordinate system, z coordinate of skimming, obtains its conversion to the two dimension under plane oxy and sit
Mark.Then, a sequence is fitted to by model y=ax+b using least square method, parameter calculation formula is as follows:
Then by the endpoint V of solutionsWith VeConversion establishes track plane to former rectangular coordinate system in space, with this two-end-point, and according to
It determines that edge feature point does suitably to extend to can be obtained to push away according to fitting point set and sweeps track vector.
Whether fitting point set is covered by band, is whether to be less than limiting distance d according to the distance put to track planepSentenced
Disconnected.It sweeps the unit normal vector of track plane if pushing away and isThen it is divided band covering pointThe following conditions must be met
Figure 11 is that the present invention is based on the system construction drawings for pushing away the Satellite Targets decomposing system embodiment for sweeping track；
It, should be based on pushing away the Satellite Targets decomposing system for sweeping track referring to Figure 11, comprising:
Side-sway obtains module 1101, crosses top side pendulum when for obtaining each vertex of the excessively described Satellite Targets of satellite；
Strip width module 1102 is used as a bandwidth for calculating the corresponding breadth of minimum side-sway crossed in the pendulum of top side
Degree；The strip width is the width that the Satellite Targets are carried out to each band after band division；
Endpoint solves module 1103, sweeps two endpoints of track for solving each described push away using the strip width；
Feature modeling module 1104, for sweeping two endpoints of track according to each described push away and calculating the boundary of corresponding band
Characteristic point；The edge feature point is used to determine the boundary position of the band；
Track extension module 1105 obtains pushing away and sweeps rail for sweeping track using the edge feature point and extending to pushing away
Mark vector；
Model computation module 1106, by sweeping described push away based on track vector and strip width substitution four vertex of band
Model is calculated, four apex coordinate of band is obtained；The four vertex computation model of band is to be become using the coordinate based on conjugate quaternion
The model that the method changed is established, for calculating four apex coordinate of band.
Optionally, when the Satellite Targets are regional aim, the endpoint solves module 1103 and includes:
Initial normal vector unit, for determining the normal vector in initial track face using the wide central angle of the wide central angle of item and side；
The wide central angle of item is the corresponding earth central angle of the strip width, and the wide central angle in side is the benefit of the band two sides
Repay earth central angle corresponding to width；
Track plane seeks unit, for seeking institute using recurrence formula on the basis of the normal vector in known initial track face
There is the normal vector of track plane, obtains all track planes；
Two-end-point solves unit, sweeps the starting point of track for calculating corresponding push away according to the normal vector of each track plane
With terminal.
Optionally, when the Satellite Targets are linear goal, the endpoint solves module 1103 and includes:
It is fitted point set determination unit, for determining fitting point set to matched method using preceding；
Two-dimensional transformations unit obtains two dimension for converting the three dimensional local information of the fitting point set to two-dimensional surface
Fitting point set under plane；
Fitting unit, for utilizing least square method to the fitting point set under the two-dimensional surface in the two-dimensional surface
It is fitted, obtains fitting and push away the fitting parameter for sweeping track；
Two-end-point computing unit pushes away two endpoints for sweeping track for calculating described be fitted using the fitting parameter.
Optionally, the system also includes:
Band translation module 1107 obtains the track of the last one revised band for translating the last one band
Face；The last one described band is band corresponding to the last one track plane for being obtained using recurrence formula；
Boundary correction module 1108, for correcting the edge feature point of the last one band using the recurrence formula；
Band correction module 1109, for according to the track plane of the last one revised band and it is revised last
The edge feature point of a band is modified the last one band, obtains irredundant division band.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of based on pushing away the Satellite Targets decomposition method for sweeping track characterized by comprising
Top side pendulum is crossed when obtaining each vertex of the excessively described Satellite Targets of satellite；
The corresponding breadth 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；
Each described push away, which is solved, using the strip width sweeps two endpoints of track；
It sweeps two endpoints of track according to each described push away and calculates the edge feature point of corresponding band；The edge feature point is used for
Determine the boundary position of the band；
It sweeps track using the edge feature point and extends to pushing away, obtain pushing away and sweep track vector；
Described push away is swept into track vector and strip width substitution four vertex computation model of band, obtains four vertex of band seat
Mark；The four vertex computation model of band is the model established using the method for the coordinate transform based on conjugate quaternion, is used for
Calculate four apex coordinate of band；
The establishment process of the four vertex computation model of band are as follows:
Assuming that push away sweep track starting point the earth latitude coordinates be Vs(αs,βs, 0), the earth latitude coordinates of terminal are Ve(αe,βe,
0), conversion to the coordinate under rectangular coordinate system in space is respectivelyThen foundation, which pushes away, sweeps track
Point, terminal and the earth's core push away when uniquely determining imaging sweeps track place plane, i.e. track plane, the normal vector of the track plane isVsTo push away the earth latitude coordinates for sweeping track starting point, αsTo push away the latitude for sweeping track starting point, βsTrack is swept to push away
The longitude of point, VeTo push away the earth latitude coordinates for sweeping final on trajectory, αeTo push away the latitude for sweeping final on trajectory, βeTrack end is swept to push away
The longitude of point,To push away the coordinate for sweeping track starting point in rectangular coordinate system in space, xsFor the seat for pushing away the x-axis for sweeping track starting point
Mark, ysFor the coordinate for pushing away the y-axis for sweeping track starting point, zsFor the coordinate for pushing away the z-axis for sweeping track starting point,It sweeps final on trajectory to push away and exists
Coordinate in rectangular coordinate system in space, xeFor the coordinate for pushing away the x-axis for sweeping final on trajectory, yeFor the seat for pushing away the y-axis for sweeping final on trajectory
Mark, zeFor the coordinate for pushing away the z-axis for sweeping final on trajectory；
When satellite has fixed field angle, since the optical axis constantly changes over the ground in imaging process, satellite breadth over the ground
It is continually changing；Single band width is fixed in the model, crosses the corresponding width of minimum side-sway in the pendulum of top side for satellite
Wide d, to guarantee that band is completely covered；Band two sides Vs -Ve -、Vs +Ve +Point
The plane of track plane Wei be parallel to and spherical surface roundlet that spherical surface intersects on one section of minor arc, band two sides Vs -Ve -、Vs +
Ve +The distance in the plane relevant path face for being parallel to track plane at place are as follows:
Vs -、Ve -、Vs +And Ve +Respectively four vertex of band, wherein Vs -And Vs +Respectively two vertex of band starting point,
Ve -And Ve +Respectively two vertex of band terminal point, and Vs -With Ve -Positioned at the same side of band, Vs +With Ve+ it is located at band
The same side；The spherical surface is the spherical of the earth；Re is earth mean radius；The side V at band both endss -Vs +、Ve -Ve +Respectively cross
Push away one section of minor arc in the plane vertical with track plane for sweeping track starting point and the major circle of a sphere that intersects of spherical surface；Become according to quaternary number
Change four vertex of determining band, the method is as follows:
The central angle that strip width corresponds to the major circle of a sphere arc is δ=d/R, is obtained using the method for the coordinate transform based on quaternary number
VsThe rectangular space coordinate on the band vertex of one end is
Wherein For Q1Conjugate quaternion, wherein For
Three imaginary units, q0, q1, q2, q3For real number, andR is the radius of the major circle of a sphere arc,WithRespectively coordinate of two vertex of band starting point under rectangular coordinate system in space,It sweeps track starting point to push away and exists
Coordinate under rectangular coordinate system in space；Similarly, the rectangular space coordinate for obtaining the band vertex of the one end Ve is
WhereinFor conjugate quaternion, and With
Respectively coordinate of two vertex of band terminal point under rectangular coordinate system in space,Final on trajectory is swept in space right-angle to push away
Coordinate under coordinate system；Band V is obtained by coordinate system transformation agains -Vs +Ve +Ve -The earth latitude coordinates on four vertex；Using the mould
Type obtains four apex coordinate of band according to the Origin And Destination coordinate for sweeping track is pushed away, claims vector A=(Vs,Ve) be push away sweep track to
Amount；
It when the Satellite Targets are regional aim, needs to initially set up decomposition coordinate system, is then determined in the case where decomposing coordinate system
Edge feature point divides band after determining edge feature point.
2. the method according to claim 1, wherein when the Satellite Targets be regional aim when, the utilization
Two endpoints for sweeping track are pushed away described in the strip width solution is each, are specifically included:
The normal vector in initial track face is determined using the wide central angle of the wide central angle of item and side；The wide central angle of item is the band
The corresponding earth central angle of width, the wide central angle in side are the earth center of circle corresponding to the compensation width of the band two sides
Angle；
The normal vector of all track planes is sought using recurrence formula on the basis of the normal vector in known initial track face；
Corresponding push away, which is calculated, according to the normal vector of each track plane sweeps the Origin And Destination of track.
3. the method according to claim 1, wherein when the Satellite Targets be linear goal when, the utilization
Two endpoints for sweeping track are pushed away described in the strip width solution is each, are specifically included:
Fitting point set is determined to matched method using preceding；Forward direction matching refers to that subsequent vertex is being protected when carrying out track fitting
It is preferentially included in the fitting point sequence of previous band under the premise of card covering；
The three dimensional local information of the fitting point set is converted to two-dimensional surface, the fitting point set under two-dimensional surface is obtained；
The fitting point set under the two-dimensional surface is fitted using least square method in the two-dimensional surface, is fitted
Push away the fitting parameter for sweeping track；
Described be fitted, which is calculated, using the fitting parameter pushes away two endpoints for sweeping track.
4. according to the method described in claim 2, it is characterized in that, described push away is swept track vector and described bandwidth described
Degree substitutes into four vertex computation model of band, after obtaining four apex coordinate of band, further includes:
The last one band is translated, the track plane of the last one revised band is obtained；The last one described band is to utilize
Band corresponding to the last one track plane that recurrence formula obtains；
The edge feature point of the last one band is corrected using the recurrence formula；
According to the edge feature point of the track plane of the last one revised band and the last one revised band, to last
One band is modified, and obtains irredundant division band.
5. a kind of based on pushing away the Satellite Targets decomposing system for sweeping track characterized by comprising
Side-sway obtains module, crosses top side pendulum when for obtaining each vertex of the excessively described Satellite Targets of satellite；
Strip width module, for calculating the corresponding breadth 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 to each band after band division；
Endpoint solves module, sweeps two endpoints of track for solving each described push away using the strip width；
Feature modeling module, for sweeping two endpoints of track according to each described push away and calculating the edge feature point of corresponding band；
The edge feature point is used to determine the boundary position of the band；
Extension module in track obtains pushing away and sweeps track vector for sweeping track using the edge feature point and extending to pushing away；
Model computation module, for described push away to be swept track vector and strip width substitution four vertex computation model of band,
Obtain four apex coordinate of band；The four vertex computation model of band is the method using the coordinate transform based on conjugate quaternion
The model of foundation, for calculating four apex coordinate of band；
The establishment process of the four vertex computation model of band are as follows:
Assuming that push away sweep track starting point the earth latitude coordinates be Vs(αs,βs, 0), the earth latitude coordinates of terminal are Ve(αe,βe,
0), conversion to the coordinate under rectangular coordinate system in space is respectivelyThen foundation, which pushes away, sweeps track
Point, terminal and the earth's core push away when uniquely determining imaging sweeps track place plane, i.e. track plane, the normal vector of the track plane isVsTo push away the earth latitude coordinates for sweeping track starting point, αsTo push away the latitude for sweeping track starting point, βsTrack is swept to push away
The longitude of point, VeTo push away the earth latitude coordinates for sweeping final on trajectory, αeTo push away the latitude for sweeping final on trajectory, βeTrack end is swept to push away
The longitude of point,To push away the coordinate for sweeping track starting point in rectangular coordinate system in space, xsFor the seat for pushing away the x-axis for sweeping track starting point
Mark, ysFor the coordinate for pushing away the y-axis for sweeping track starting point, zsFor the coordinate for pushing away the z-axis for sweeping track starting point,It sweeps final on trajectory to push away and exists
Coordinate in rectangular coordinate system in space, xeFor the coordinate for pushing away the x-axis for sweeping final on trajectory, yeFor the seat for pushing away the y-axis for sweeping final on trajectory
Mark, zeFor the coordinate for pushing away the z-axis for sweeping final on trajectory；
When satellite has fixed field angle, since the optical axis constantly changes over the ground in imaging process, satellite breadth over the ground
It is continually changing；Single band width is fixed in the model, crosses the corresponding width of minimum side-sway in the pendulum of top side for satellite
Wide d, to guarantee that band is completely covered；Band two sides Vs -Ve -、Vs +Ve +Respectively it is parallel to the plane and spherical surface phase of track plane
One section of minor arc on the spherical surface roundlet of friendship, band two sides Vs -Ve -、Vs +Ve +The plane relevant path for being parallel to track plane at place
The distance in face are as follows:
Vs -、Ve -、Vs +And Ve +Respectively four vertex of band, wherein Vs -And Vs +Respectively two vertex of band starting point,
Ve -And Ve +Respectively two vertex of band terminal point, and Vs -With Ve -Positioned at the same side of band, Vs +With Ve +Positioned at band
The same side；The spherical surface is the spherical of the earth；Re is earth mean radius；The side V at band both endss -Vs +、Ve -Ve +Respectively cross
Push away one section of minor arc in the plane vertical with track plane for sweeping track starting point and the major circle of a sphere that intersects of spherical surface；Become according to quaternary number
Change four vertex of determining band, the method is as follows:
The central angle that strip width corresponds to the major circle of a sphere arc is δ=d/R, is obtained using the method for the coordinate transform based on quaternary number
VsThe rectangular space coordinate on the band vertex of one end is
Wherein For Q1Conjugate quaternion, wherein For
Three imaginary units, q0, q1, q2, q3For real number, andR is the radius of the major circle of a sphere arc,WithRespectively coordinate of two vertex of band starting point under rectangular coordinate system in space,It sweeps track starting point to push away and exists
Coordinate under rectangular coordinate system in space；Similarly, V is obtainedeThe rectangular space coordinate on the band vertex of one end is
WhereinFor conjugate quaternion, and With
Respectively coordinate of two vertex of band terminal point under rectangular coordinate system in space,Final on trajectory is swept in space right-angle to push away
Coordinate under coordinate system；Band V is obtained by coordinate system transformation agains -Vs +Ve +Ve -The earth latitude coordinates on four vertex；Using the mould
Type obtains four apex coordinate of band according to the Origin And Destination coordinate for sweeping track is pushed away, claims vector A=(Vs,Ve) be push away sweep track to
Amount；
It when the Satellite Targets are regional aim, needs to initially set up decomposition coordinate system, is then determined in the case where decomposing coordinate system
Edge feature point divides band after determining edge feature point.
6. system according to claim 5, which is characterized in that when the Satellite Targets are regional aim, the endpoint
Solving module includes:
Initial normal vector unit, for determining the normal vector in initial track face using the wide central angle of the wide central angle of item and side；It is described
The wide central angle of item is the corresponding earth central angle of the strip width, and the wide central angle in side is that the compensation of the band two sides is wide
The corresponding earth central angle of degree；
Track plane seeks unit, for seeking 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, sweeps starting point and the end of track for calculating corresponding push away according to the normal vector of each track plane
Point.
7. system according to claim 5, which is characterized in that when the Satellite Targets are linear goal, the endpoint
Solving module includes:
It is fitted point set determination unit, for determining fitting point set to matched method using preceding；Forward direction matching refers to carry out rail
When mark is fitted, subsequent vertex is in the fitting point sequence for guaranteeing preferentially to be included in previous band under the premise of covering；
Two-dimensional transformations unit obtains two-dimensional surface for converting the three dimensional local information of the fitting point set to two-dimensional surface
Under fitting point set；
Fitting unit, for being carried out using least square method to the fitting point set under the two-dimensional surface in the two-dimensional surface
Fitting obtains fitting and pushes away the fitting parameter for sweeping track；
Two-end-point computing unit pushes away two endpoints for sweeping track for calculating described be fitted using the fitting parameter.
8. system according to claim 6, which is characterized in that the system also includes:
Band translation module obtains the track plane of the last one revised band for translating the last one band；It is described most
The latter band is band corresponding to the last one track plane for being obtained using recurrence formula；
Boundary correction module, for correcting the edge feature point of the last one band using the recurrence formula；
Band correction module, for according to the track plane of the last one revised band and the last one revised band
Edge feature point is modified the last one band, obtains irredundant division band.
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| CN107102326B (en) * | 2017-05-26 | 2020-03-31 | 中国科学技术大学 | Rapid correlation imaging method and device based on strip segmentation and data fusion |
| CN107290961B (en) * | 2017-06-29 | 2020-08-11 | 中国人民解放军国防科学技术大学 | Online scheduling method for agile satellite |
| CN108932384A (en) * | 2018-07-04 | 2018-12-04 | 北京市遥感信息研究所 | Based on the maximized imaging satellite regional aim covering method of a covering tape |
| CN110435930B (en) * | 2019-08-26 | 2020-08-25 | 长光卫星技术有限公司 | Low-orbit optical satellite uniform-deceleration push-broom attitude planning method |
| CN110728447B (en) * | 2019-10-10 | 2021-03-09 | 合肥工业大学 | Partitioned satellite task planning method for achieving regional target coverage at earliest |
| CN110727903B (en) * | 2019-10-10 | 2023-03-28 | 合肥工业大学 | Satellite task planning method for realizing maximum observation area by limited coverage resources |
| 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 |
| CN112149911B (en) * | 2020-09-30 | 2024-04-02 | 武汉大学 | Ultra-agile satellite same-orbit multipoint target in-motion imaging task planning method |
| CN112607056B (en) * | 2020-12-07 | 2022-07-12 | 上海卫星工程研究所 | Target observation autonomous starting triggering method and system for radar satellite |
| CN114494895B (en) * | 2021-11-26 | 2023-02-17 | 哈尔滨工业大学 | Push-broom method for searching ultra-large range area of high orbit satellite |
| CN114943144A (en) * | 2022-05-17 | 2022-08-26 | 中国人民解放军军事科学院国防科技创新研究院 | Satellite layout optimization design method for distance control by utilizing Phi function |
| CN114926021B (en) * | 2022-05-20 | 2023-01-03 | 上海交通大学 | Satellite time sequence optimal task planning method based on integration of imaging segmentation and planning |
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