CN107292831A - Fixed statellite imaging based navigation and registering attitude motion compensation method - Google Patents
Fixed statellite imaging based navigation and registering attitude motion compensation method Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention provides a kind of fixed statellite imaging based navigation and registering attitude motion compensation method, comprise the following steps：Step one：The scanning reflection mechanism light path of remote sensing instrument is analyzed, the expression formula from instrument imaging system sight to instrument outgoing sight is write out；Step 2：Increase compensation rate on remote sensing instrument scanning reflection mechanism corner, expression formula is realized in the instrument outgoing set up after compensation；Step 3：Remote sensing instrument outgoing sight when remote sensing instrument outgoing sight during satellite zero attitude instrument uncompensation should be with having attitude motion and increase scanning reflection mechanism compensation rate is equal, equation is set up accordingly, so as to solve the expression formula of compensation rate；Step 4：Realistically displayed is carried out to compensation rate expression formula, it is ensured that derive correctness.The present invention is pointed to Satellite Attitude Movement is solved and imaging based navigation and registering influence to instrument sight, and the method applied in the present invention more targetedly solves pose problem, advantageously reduces system research and development difficulty and improve engineering realizability.
Description
Technical Field
The invention relates to an attitude motion compensation method, in particular to an attitude motion compensation method for imaging navigation and registration of a static satellite.
Background
In numerical weather forecasting, regional complex weather needs to be located, the development trend of severe weather is tracked, and cloud picture animation is generated. This requires accurate positioning of the absolute geographic location corresponding to the image and accurate registration of the relative positional relationship of adjacent images. The imaging navigation registration accuracy is related to the processing accuracy of weather diagnosis, cloud picture analysis, target identification of disaster monitoring application, wind vector and other quantitative remote sensing products. However, the satellite platform and the remote sensing instrument are influenced by factors such as space mechanics environment and thermal environment change, the satellite can have orbit drift and attitude pointing deviation, the instrument can generate geometric deformation, and the positioning and registration accuracy of the remote sensing image is influenced. The "satellite imaging navigation and registration" technique can solve such problems: the satellite carries out real-time angle increment compensation on a two-dimensional scanning mechanism of the remote sensing instrument, and guides the moving track of an instrument observation point on the earth surface to a preset path, thereby realizing imaging navigation and registering the remote sensing image to a global nominal grid (attached figure 1).
The static meteorological satellite that present each country adopted the stable appearance of triaxial to control the mode mainly includes: there are the GOES-I-M series of american stationary service environment satellites (abbreviated as GOES), the GOES-NOP series of satellites, the Electro-L of russia, and the himwari-8 of japan that have been launched into orbit. To be transmitted are the GOES-R satellite in the united states, the Third Generation meteorological satellite in europe (MTG for short), and the wind cloud number four (FY-4) satellite in china. The satellites all put forward higher requirements on the pointing accuracy of the instrument, and are mainly reflected in image navigation and registration indexes. The instrument sight pointing error sources of the United states GOSE-I-M satellite comprise orbit and attitude drift, satellite thermal deformation, instrument servo error, attitude control system noise, dynamic internal action and the like. Ahmed Kamel et al introduced an Image Motion Compensation System (IMCS) scheme adopted by the INR system of GOES-I-M series satellites: the ground application system notes the satellite orbit, attitude and thermal deformation drift parameters every day within 1 day in the future, and the on-board computer calculates the image registration compensation signal in real time according to the notes parameters and the two-dimensional rotation angle of the scanning reflection mechanism and sends the image registration compensation signal to the control loop of the scanning mirror. And substituting the positions of a scanning angle AZ and a stepping angle EL of the current scanning mirror by an Image Motion Compensation (IMC) algorithm according to the satellite long-period orbit recursion parameters and an instrument internal deformation prediction model, and calculating compensation quantities delta AZ and delta EL. The navigation and registration aspects of the GOES-NOP series satellite images are greatly improved, and a parametric system Error Correction method (abbreviated as ParSEC) is developed on the basis of Imager and star sensors and is used for eliminating the distortion and the system deviation of the satellite images. The method introduces data of a satellite remote sensing instrument for observing fixed stars, data of an observation landmark and ground ranging information into an Orbit Attitude Determination System (OADS), obtains a determination coefficient in an iterative mode, and then introduces the determination coefficient into a compensation System on the satellite for calculation.
Research data in the aspect of image navigation and registration in the United states show that in the engineering application of the static meteorological satellite, the main influence factors of the sight pointing of the instrument are analyzed but are not classified according to different types of errors; and a comprehensive compensation model is adopted, all the measurement information is introduced into an algorithm, and comprehensive compensation quantity is output.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an attitude motion compensation method for imaging navigation and registration of a static satellite, which solves the problem that the line-of-sight pointing error during imaging is influenced by the interference of a space environment in the in-orbit operation of the satellite.
According to one aspect of the invention, an attitude motion compensation method for navigation and registration of stationary satellite imaging is provided, which is characterized by comprising the following steps:
the method comprises the following steps: analyzing a scanning reflection mechanism light path of the remote sensing instrument, and writing an expression from the sight of an instrument imaging system to the emergent sight of the instrument;
step two: adding compensation quantity on a corner of a scanning reflection mechanism of a remote sensing instrument, and establishing a compensated instrument emergent implementation expression;
step three: the emergent sight of the remote sensing instrument when the satellite zero-attitude instrument is not compensated is equal to the emergent sight of the remote sensing instrument when the attitude motion exists and the compensation quantity is added to the scanning reflection mechanism, and an equation is established according to the emergent sight of the remote sensing instrument when the attitude motion exists, so that the expression of the compensation quantity is solved;
step four: and carrying out simulation verification on the compensation expression to ensure the derivation correctness.
Preferably, the compensation amount of the second step is calculated by establishing an attitude motion compensation calculation module, the satellite attitude determination information and the rotation angle position of the scanning mirror are used as input, and the scanning mirror compensation amount capable of offsetting the attitude interference is used as output.
Preferably, the equation of step three is solved under the condition of neglecting the second order small quantity of the attitude angle, and the compensation quantity is described as a function expression with the satellite attitude euler angle and the scanning mirror rotation angle as variables.
Compared with the prior art, the invention has the following beneficial effects: the method can be used for the research and the application of the static meteorological satellite, and the comprehensive image compensation method adopted by the countries such as the United states, Europe and the like can solve the attitude problem more specifically, thereby being beneficial to reducing the research and development difficulty of the system and improving the realizability of the project.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of an optical path of an internal scanning reflection mechanism of a wind cloud four-satellite imager; xr, Yr and Zr form an attitude reference coordinate system, and Xb, Yb and Zb form a satellite body coordinate system.
Fig. 2 is a schematic diagram of a simulation verification result of the attitude motion compensation algorithm.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The attitude motion compensation method for imaging navigation and registration of the stationary satellite comprises the following steps:
the method comprises the following steps: and analyzing the optical path of the scanning reflection mechanism of the remote sensing instrument, and writing an expression from the sight of an imaging system of the instrument to the emergent sight of the instrument.
Step two: and adding compensation quantity (unknown number) on the corner of the scanning reflection mechanism of the remote sensing instrument, and establishing a compensated instrument emission implementation expression.
Step three: the emergent sight line of the remote sensing instrument when the satellite zero-attitude instrument is not compensated is equal to the emergent sight line of the remote sensing instrument when the attitude motion exists and the compensation quantity is added to the scanning reflection mechanism, and an equation is established according to the emergent sight line to solve the expression of the compensation quantity.
Step four: and carrying out simulation verification on the compensation expression to ensure the derivation correctness.
The following description will be made of a specific embodiment of the present invention with reference to the accompanying drawings, taking an advanced stationary orbit radiation imager (abbreviated as imager), which is a main load of a wind-cloud-fourth satellite, as an example.
First, the light path analysis of the scanning reflection mechanism of the remote sensing instrument
The imager of the wind cloud number four satellite is one of main loads, and is used for imaging the ground through reciprocating scanning of two orthogonal reflectors. The optical path schematic diagram of the internal scanning reflection mechanism of the imager is shown in fig. 1, and comprises an imaging system, an east-west mirror a1 and a north-south mirror a 2. The imaging system line of sight is emitted from the imaging system optical center, reflected by the east-west mirror and the north-south mirror, and directed to the observation target 4 through the light shield a 3. The rotation angles of the east-west mirror and the north-south mirror are defined as eta respectively, and the mirror is a zero position when the angle between the mirror and the coordinate axis of the system is 45 degrees as shown in figure 2. The transformation relationship from the outgoing light ray r of the imaging system to the intermediate reflected light ray q is as follows (1):
wherein, CZIs a coordinate transformation direction cosine matrix rotating around the Z axis.
The conversion relation from the intermediate reflected light q to the outgoing light p of the instrument pointing to the target is as follows (2):
wherein, CXThe direction cosine matrix is transformed for coordinates rotating around the X-axis.
In the posture motion compensation study, taking the main optical axis of the imaging system as a study object, the emergent ray r of the imaging system is taken as the following formula (3):
the expression for obtaining the projection component of the instrument emergent sight line vector in the system is represented by the following formula (4):
adding unknown compensation quantity
The compensation quantity delta and delta eta are respectively added on the basis of the original rotation angles of the east-west mirror and the north-south mirror, and then the projection component expression of the compensated instrument emergent sight vector in the system is as the following formula (5):
thirdly, establishing an attitude motion compensation equation
When there is a satellite attitude bias, the attitude reference frame to body frame transformation matrix can be described in small quantities as the following equation (6):
wherein,theta and psi are satellite attitude Euler angles.
Under the attitude reference system, the instrument line-of-sight orientation when the satellite is in the 0 attitude and the instrument is not compensated should be equal to the instrument line-of-sight orientation when the satellite is in the attitude and the instrument is compensated, thereby establishing the equation as the following formula (7):
substituting the equation (4), the equation (5) and the equation (6) into an equation, and solving the attitude motion compensation expression under the condition of neglecting the second-order small quantity of the attitude angle to obtain the following equation (8):
fourthly, checking the compensation algorithm
The attitude angle is randomly selected within the range of +/-0.01 degrees, and 100 groups of numerical values are respectively selected within the range of +/-6 degrees for the rotation angles of the east-west mirror and the south-north mirror. And giving the instrument sight line direction when the satellite has the attitude 0 and the instrument is not compensated and the instrument sight line direction when the satellite has the attitude and the instrument is additionally compensated for each group of scanning mirror rotating angles, wherein the two vector included angles are the error of attitude motion compensation. Simulation shows that (figure 2), the maximum value of the simulation result of the multiple groups of data does not exceed 0.05 mu rad, and the use requirements of image navigation and registration can be met. The error mainly results from ignoring the second order small amount of attitude angle.
The invention solves the influence of satellite attitude motion on the sight line pointing and imaging navigation and registration of an instrument, and provides an attitude motion compensation method under the condition of not considering other influence factors on a satellite. After the compensation, the moving path of the instrument sight on the earth surface can be navigated to an expected position when the satellite has attitude deviation, the remote sensing imaging effect is close to the image formed when the satellite is in the 0 attitude, and the method has important significance for improving the imaging navigation and registration processing performance of a remote sensing imaging system. The invention can be used for the development and application of the static meteorological satellite. The method adopted by the invention aims at solving the attitude problem more specifically, and is beneficial to reducing the system research and development difficulty and improving the project realizability.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (3)
1. An attitude motion compensation method for imaging navigation and registration of a static satellite is characterized by comprising the following steps:
the method comprises the following steps: analyzing a scanning reflection mechanism light path of the remote sensing instrument, and writing an expression from the sight of an instrument imaging system to the emergent sight of the instrument;
step two: adding compensation quantity on a corner of a scanning reflection mechanism of a remote sensing instrument, and establishing a compensated instrument emergent implementation expression;
step three: the emergent sight of the remote sensing instrument when the satellite zero-attitude instrument is not compensated is equal to the emergent sight of the remote sensing instrument when the attitude motion exists and the compensation quantity is added to the scanning reflection mechanism, and an equation is established according to the emergent sight of the remote sensing instrument when the attitude motion exists, so that the expression of the compensation quantity is solved;
step four: and carrying out simulation verification on the compensation expression to ensure the derivation correctness.
2. The attitude motion compensation method for imaging navigation and registration of a stationary satellite according to claim 1, wherein the compensation amount of the second step is calculated by establishing an attitude motion compensation calculation module, taking satellite attitude determination information and the rotational angle position of the scanning mirror as input, and taking the compensation amount of the scanning mirror capable of counteracting attitude disturbance as output.
3. The attitude motion compensation method for imaging navigation and registration of stationary satellites as claimed in claim 1, wherein the equation of step three is solved under the condition of neglecting second order small quantity of attitude angle, and the compensation quantity is described as a function expression of Euler angle of satellite attitude and rotation angle of scanning mirror as variables.
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Cited By (6)
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| CN109116379A (en) * | 2018-06-15 | 2019-01-01 | 上海卫星工程研究所 | Mapping method of the earth's surface target in stationary weather satellite imager image |
| CN109918724A (en) * | 2019-01-30 | 2019-06-21 | 上海卫星工程研究所 | The analysis method that space remote sensing instrument optical path component displacement deformation influences visual direction amount |
| CN113063437A (en) * | 2021-02-26 | 2021-07-02 | 上海卫星工程研究所 | Satellite sight pointing simulation method and system suitable for full physical simulation |
| CN113063438A (en) * | 2021-02-26 | 2021-07-02 | 上海卫星工程研究所 | Measurement error correction method and system for full-physical simulation satellite sight pointing |
| CN113063439A (en) * | 2021-02-26 | 2021-07-02 | 上海卫星工程研究所 | Satellite sight pointing simulation measurement method and system suitable for full physical simulation |
| CN115147313A (en) * | 2022-09-01 | 2022-10-04 | 中国科学院空天信息创新研究院 | Geometric correction method, device, equipment and medium for oval orbit remote sensing image |
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| CN113063437A (en) * | 2021-02-26 | 2021-07-02 | 上海卫星工程研究所 | Satellite sight pointing simulation method and system suitable for full physical simulation |
| CN113063438A (en) * | 2021-02-26 | 2021-07-02 | 上海卫星工程研究所 | Measurement error correction method and system for full-physical simulation satellite sight pointing |
| CN113063439A (en) * | 2021-02-26 | 2021-07-02 | 上海卫星工程研究所 | Satellite sight pointing simulation measurement method and system suitable for full physical simulation |
| CN115147313A (en) * | 2022-09-01 | 2022-10-04 | 中国科学院空天信息创新研究院 | Geometric correction method, device, equipment and medium for oval orbit remote sensing image |
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Application publication date: 20171024 |