CN107633108A - Fixed statellite imaging based navigation and registering track motion compensation method - Google Patents
Fixed statellite imaging based navigation and registering track motion compensation method Download PDFInfo
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- CN107633108A CN107633108A CN201710624387.1A CN201710624387A CN107633108A CN 107633108 A CN107633108 A CN 107633108A CN 201710624387 A CN201710624387 A CN 201710624387A CN 107633108 A CN107633108 A CN 107633108A
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Abstract
Comprise the following steps the invention provides a kind of fixed statellite imaging based navigation with registering track motion compensation method：Step 1, according to the scanning reflection mechanism light path model of remote sensing instrument, write out when satellite is in Nominal Set Point position, default scanning mirror corner corresponds to the expression formula of the expectation target point coordinates on earth ellipsoid；Step 2, calculate when orbital position after satellite is in drift, point to scanning mirror corner required during ground expectation target point；Step 3, default scanning mirror corner, which is subtracted, with the scanning mirror corner of needs obtains track motion compensation rate, the present invention it is consistent in the nominal grid image of the earth that Nominal Set Point position is generated with satellite into image, control errors advantageously reduce system research and development difficulty and improve engineering realizability in indication range.
Description
Technical field
The present invention relates to a kind of track motion compensation method, in particular it relates to a kind of fixed statellite imaging based navigation with it is registering
Track motion compensation method.
Background technology
, it is necessary to which localization region property complexity weather, tracks bad weather development trend and generate cloud in numerical weather forecast
Figure animation.This needs absolute geographical position accurate positioning corresponding to image, and the relative position relation registration of adjacent image is accurately.Into
It is quantitative that picture navigation registration accuracy is related to weather diagnosis, nephanalysis, the target identification of disaster monitoring application, and wind vector etc.
The processing accuracy of Remote Sensing Products.But satellite platform and remote sensing instrument are changed etc. the shadow of factor by space mechanics environment, thermal environment
Ring, satellite can have orbital drift and posture points to deviation, and instrument can produce geometry deformation, influence the positioning of remote sensing images with matching somebody with somebody
Quasi- precision.Satellite imagery navigates and registration technique can solve problems：Satellite is carried out to the two-dimentional scanning mechanism of remote sensing instrument
Real-time angular increment is compensated, and motion track of the Instrument observation point in earth's surface is guided to preset path, so as to realize imaging based navigation,
Making remote sensing image registration, the nominal grid 1 of the earth on earth disk 2, defend by static remote sensing to the earth nominal grid 1 (shown in Fig. 2)
Star 3 produces instrument sight 4, and static remote sensing satellite 3 can move along geostationary orbit 5.
Current various countries are mainly included using the GMS of three-axis stabilization attitude control mode：It is emitted enter the orbit have U.S.
(Geostationary Operational Environmental Satellite, are abbreviated as the static service environment satellite of state
GOES GOES-I~M series), GOES-NOP series of satellites, the Electro-L of Russia, the Himawari-8 of Japan.It is pending
Penetrate have the U.S. GOES-R satellites, Europe third generation meteorological satellite (Meteosat Third Generation, are abbreviated as
MTG), Chinese No. four (FY-4) satellites of wind and cloud.Above satellite proposes high requirement, major embodiment to instrument pointing accuracy
In image-guidance and registering index.Document [1] (JL Fiorello jr, IH Oh, KA Kelly, et al.Goes I/m
Image Navigation and Registration [R] .1989) indicate that the instrument sight of U.S.'s GOSE-I~M satellites refers to
To error source, including track and attitude drift, satellite thermal deformation, instrument servo error, attitude control system noise, in dynamics
Portion's effect etc..Ahmed Kamel et al. are in document [2] (JL Fiorello jr, IH Oh, KA Kelly, et al.Goes I/
M Image Navigation and Registration [R] .1989) in describe the INR systems of GOES-I~M series of satellites
Image motion compensation system (IMCS) scheme that system uses：Satellite orbit, posture in ground application system is following 1 day per note in the sky
With thermal deformation drift parameter, On board computer calculates image registration in real time according to upper note parameter and scanning reflection mechanism two dimension corner
Thermal compensation signal and the control loop for being sent to scanning mirror.Image motion compensation (IMC) algorithm is according to satellite long period Orbit simulation
Parameter and instrument internal Deformation Prediction model, bring scan angle AZ and stepping angle the EL position of Current Scan mirror into, calculate compensation rate
Δ AZ and Δ EL.GOES-NOP series of satellites image-guidance has a larger improvement with registering aspect, document [3] (Ahmed Kamel,
Jonathan Sheffield,Menlo Park.Image Navigation And Registration Accuracy
Improvement Using Parametric Systematic Error
Correction.US.Pat.No.20080114546A1, filed Nov15.2006) developed based on Imager and star sensor
" Parametric System error calibration method " (Parametric Systematic Error Correction, are abbreviated as
ParSEC), for eliminating distortion and the system deviation of satellite image.This method by the data of satellite remote sensing Instrument observation fixed star,
Observe the data of terrestrial reference, ground ranging information introduces track profile and determines system (Orbit and Attitude
Determination System, are abbreviated as OADS), determination coefficient is obtained with the mode of iteration, the compensation then brought on star
System is calculated.
The U.S. image-guidance with it is registering in terms of research data show, in the engineer applied of GMS, point
The major influence factors of instrument sight sensing are analysed but have been classified not according to the different type of error；Employ comprehensive compensation
Model, all metrical informations are introduced into algorithm, output integrated compensation rate.The special benefit of design is influenceed specifically for orbital drift
Compensation method.
The content of the invention
For in the prior art the defects of, it is an object of the invention to provide a kind of fixed statellite imaging based navigation and registering rail
Road motion compensation process, its it is consistent in the nominal grid image of the earth that Nominal Set Point position is generated with satellite into image, by mistake
Difference control advantageously reduces system research and development difficulty and improves engineering realizability in indication range.
According to an aspect of the present invention, there is provided a kind of fixed statellite imaging based navigation and registering track motion compensation side
Method, comprise the following steps：
Step 1, according to the scanning reflection mechanism light path model of remote sensing instrument, write out when satellite is in Nominal Set Point position
When, default scanning mirror corner corresponds to the expression formula of the expectation target point coordinates on earth ellipsoid；
Step 2, calculate when orbital position after satellite is in drift, it is required when pointing to ground expectation target point to sweep
Retouch mirror corner；
Step 3, subtract default scanning mirror corner with the scanning mirror corner of needs and obtain track motion compensation rate.
Compared with prior art, the present invention has following beneficial effect：Institute is into image and satellite in Nominal Set Point position
The nominal grid image of the earth generated is consistent, and control errors advantageously reduce system research and development difficulty and carried in indication range
High engineering realizability.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is flow chart of the fixed statellite imaging based navigation with registering track motion compensation method.
Fig. 2 is static remote sensing satellite to the nominal grid imaging schematic diagram of the earth.
Fig. 3 is satellite imagery instrument inner scanning reflected light path schematic diagram.
Fig. 4 is the influence schematic diagram that satellite orbit drifts about to imaging subject location (satellite is in Nominal Set Point position).
Fig. 5 is that (satellite physical location has track drift to influence schematic diagram of the satellite orbit drift to imaging subject location
Move).
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in Figures 1 to 5, fixed statellite imaging based navigation of the present invention and registering track motion compensation method, including with
Lower step：
Step 1, according to the scanning reflection mechanism light path model of remote sensing instrument, write out when satellite is in Nominal Set Point position
When, default scanning mirror corner corresponds to the expression formula of the expectation target point coordinates on earth ellipsoid；
Step 2, calculate when orbital position after satellite is in drift, it is required when pointing to ground expectation target point to sweep
Retouch mirror corner；
Step 3, subtract default scanning mirror corner with the scanning mirror corner of needs and obtain track motion compensation rate.
Embodiment
The present embodiment is related to a kind of fixed statellite imaging based navigation and registering track motion compensation method.
One, ground expectation target point position coordinates calculates
According to satellite imagery instrument light path characteristic, in the case where not considering instrument thermal deformation and attitude of satellite deviation, play the host
The western corner of mirror 6 is ε, and when the corner of north and south mirror 7 is η, it is as follows that satellite imagery instrument 8, which is emitted the component that sight unit vector is admittedly on ground,
Formula (1)：
Wherein, LS0To be emitted sight unit vector, AfrFor attitude of satellite reference frame to be admittedly Coordinate Conversion square
Battle array, is the function of current time and fixed statellite fixed point geographic logitude, and Px, Py, Pz are represented under LS0 vectors are admittedly on ground respectively
Three components.
Coordinate R in being admittedly on ground by arbitrfary point in satellite imagery instrument sightegIt is described as with space line equation such as following formula
(2)：
keFor unknown number, instrument is represented to the sight length scalar of target point.
Earth surface is thought of as ellipsoid, then the lower satellite surface arbitrfary point of solid system meets equation such as following formula (3)：
X, y, z are respectively three components of position under satellite surface target point is admittedly on ground.
Wherein, earth semi-major axis ae=6378.137, earth semi-minor axis be=6356.75231424518, according to the earth
WGS84 ellipsoidal models determine that XOY faces are the equatorial plane.Bringing formula (2) into formula (3) can establish on sight length keUnitary two
Equation of n th order n such as following formula (4)：
Easily solve and obtain ke, as satellite imagery instrument to the distance of ground expectation target brings formula (2) into and can obtain the ground phase
Hope target point be admittedly on ground under coordinate Reg。
Two, calculate satellite orbit drift and subsequently point to scanning mirror corner required during expectation target point
Present satellites physical location is Re1It can be drawn according to satellite orbit parameter, then currently practical satellite points to ground target
Vector on ground be component such as following formula (5) admittedly：
R1g=Reg-Re1 (5)
R1gTo point to the vector of ground target.
By R1gAdmittedly the actual sight unit vector LS under being with being converted into2, it is available using actual rotational angle as change to bring formula (1) into
The equation group of amount such as following formula (6)：
AfrAttitude reference system to be admittedly coordinate conversion matrix, subscript T represents the transposition of the matrix.
Easily solve satellite orbit drift and subsequently point to scanning mirror corner ε ' required during expectation target point and η '.
Three, calculate track motion compensation rate
Satellite orbit drift scanning mirror corner required when subsequently pointing to expectation target point subtracts default scanning mirror corner and is
Compensation rate such as following formula (7)：
The present invention into image and satellite consistent, error control in the nominal grid image of the earth that Nominal Set Point position is generated
System advantageously reduces system research and development difficulty and improves engineering realizability in indication range.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (3)
1. a kind of fixed statellite imaging based navigation and registering track motion compensation method, it is characterised in that comprise the following steps：
Step 1, according to the scanning reflection mechanism light path model of remote sensing instrument, write out when satellite is in Nominal Set Point position, in advance
If scanning mirror corner correspond to the expression formula of the expectation target point coordinates on earth ellipsoid.
Step 2, calculate when orbital position after satellite is in drift, point to scanning mirror required during ground expectation target point
Corner.
Step 3, subtract default scanning mirror corner with the scanning mirror corner of needs and obtain track motion compensation rate.
2. fixed statellite imaging based navigation according to claim 1 and registering track motion compensation method, it is characterised in that
It is described that instrument expection imageable target point when satellite is in Nominal Set Point position is calculated according to remote sensing instrument scanning mirror corner
Geographical coordinate position.
3. fixed statellite imaging based navigation according to claim 1 and registering track motion compensation method, it is characterised in that
The corner calculated according to satellite actual track parameter when currently pointing to be expected imageable target point needed for remote sensing instrument scanning mirror,
Itself and input corner difference be track motion compensation rate.
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Cited By (9)
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| CN108828623A (en) * | 2018-06-15 | 2018-11-16 | 上海卫星工程研究所 | The earth fixed mesh mapping method of stationary weather satellite imager |
| CN108958272A (en) * | 2018-06-15 | 2018-12-07 | 上海卫星工程研究所 | Yaw steering method is imaged in fixed statellite |
| CN109064500A (en) * | 2018-06-15 | 2018-12-21 | 上海卫星工程研究所 | The mapping method of stationary weather satellite imager sight and remote sensing images |
| 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 |
| CN109118568A (en) * | 2018-06-15 | 2019-01-01 | 上海卫星工程研究所 | The earth fixed mesh of stationary weather satellite imager |
| 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 |
| CN110429974A (en) * | 2019-08-07 | 2019-11-08 | 清华大学 | Rapid alignment method and device based on regression orbit constellation |
| CN111641456A (en) * | 2018-11-07 | 2020-09-08 | 长沙天仪空间科技研究院有限公司 | Laser communication method based on satellite |
| CN115752515A (en) * | 2022-12-06 | 2023-03-07 | 北京航空航天大学 | Iterative active dynamic compensation star sensitivity method and system |
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| CN109116379B (en) * | 2018-06-15 | 2021-02-02 | 上海卫星工程研究所 | Mapping method of earth surface target in static meteorological satellite imager image |
| CN108958272A (en) * | 2018-06-15 | 2018-12-07 | 上海卫星工程研究所 | Yaw steering method is imaged in fixed statellite |
| CN109064500A (en) * | 2018-06-15 | 2018-12-21 | 上海卫星工程研究所 | The mapping method of stationary weather satellite imager sight and remote sensing images |
| 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 |
| CN109118568A (en) * | 2018-06-15 | 2019-01-01 | 上海卫星工程研究所 | The earth fixed mesh of stationary weather satellite imager |
| CN109064500B (en) * | 2018-06-15 | 2022-02-08 | 上海卫星工程研究所 | Mapping method for sight line and remote sensing image of static meteorological satellite imager |
| CN108828623A (en) * | 2018-06-15 | 2018-11-16 | 上海卫星工程研究所 | The earth fixed mesh mapping method of stationary weather satellite imager |
| CN111641456B (en) * | 2018-11-07 | 2021-04-13 | 长沙天仪空间科技研究院有限公司 | Laser communication method based on satellite |
| CN111641456A (en) * | 2018-11-07 | 2020-09-08 | 长沙天仪空间科技研究院有限公司 | Laser communication method based on satellite |
| 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 |
| CN109918724B (en) * | 2019-01-30 | 2023-03-17 | 上海卫星工程研究所 | Method for analyzing influence of displacement deformation of light path component of satellite-borne remote sensing instrument on visual vector |
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| CN115752515A (en) * | 2022-12-06 | 2023-03-07 | 北京航空航天大学 | Iterative active dynamic compensation star sensitivity method and system |
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Application publication date: 20180126 |