CN107816973A - Photography task automatic planning system and method for visual remote sensing spacecraft - Google Patents
Photography task automatic planning system and method for visual remote sensing spacecraft Download PDFInfo
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Abstract
The invention discloses a kind of photography task automatic planning for visual remote sensing spacecraft, set a time quantum, the photographing region proposed in each time quantum based on user is required, constraint is used according to weather information, spaceborne memory residual capacity and the camera that the orbital data of TT＆C system offer, weather bureau provide, carry out the photography planning in the time quantum, generation photography switching on and shutting down instruction；In time quantum, when weather information changes, photography planning is re-started；The setting range of time quantum is less than or equal to 24 hours.Present invention also offers a kind of photography task automatic planning system.It is of the invention to do photography planning using newest orbital data, the defects of photographing region deviation caused by being instructed according to the photography of theoretical orbit computation is larger is overcome, reduces spaceborne storage resource and the grounded receiving station wasting of resources to greatest extent, improves spacecraft observed efficiency.
Description
Technical Field
The invention belongs to the technical field of on-orbit operation management of spacecrafts, and particularly relates to a photographic task automatic planning system and a photographic task automatic planning method, which are suitable for on-orbit operation management of a visible light remote sensing spacecraft.
Background
The optical remote sensing spacecraft is an earth observation satellite for acquiring ground image information from the outer space, and plays an important role in the fields of military affairs, disaster prevention and control, environmental protection and the like. With the increase of the number of remote sensing spacecrafts, the imaging task requirements show a trend of diversification, complication and rapid growth, an optimized imaging scheme is formulated according to the requirement of a shooting task and the resource capacity of the existing spacecrafts, and the method is an effective technical way for improving the observation efficiency of the spacecrafts and fully playing the overall efficiency of a spacecraft system.
The existing optical remote sensing spacecraft mainly realizes a preset observation task at the cost of spacecraft resource consumption and real-time loss, and mainly comprises the following components: cloud layer meteorological information is considered limitedly, so that more satellite-borne storage resource waste and data transmission time waste are caused, and the imaging chance of a key target in a revisit period is lost; the optical remote sensing generally adopts a near-earth orbit to improve a resolution index, the transit time of a spacecraft is short, the imaging target changes frequently, the weather information changes rapidly in a short period, and the working parameters of a remote sensor need to be adjusted frequently, the real-time strain capacity of the prior art is limited, and timely adjustment and response cannot be made on certain observation targets with high real-time requirements.
Disclosure of Invention
In view of this, the invention provides a method and a system for automatically planning a photography task, which use the latest orbit data for photography planning, overcome the defect of large deviation of a photography area caused by calculating a photography instruction according to a theoretical orbit, reduce the waste of satellite-borne storage resources and ground receiving station resources to the maximum extent, and improve the observation efficiency of a spacecraft.
In order to solve the technical problem, the invention is realized as follows:
a method for automatically planning a photography task comprises the steps of setting a time unit, carrying out photography planning in each time unit according to orbit data provided by a measurement and control system, meteorological information provided by a meteorological bureau, residual capacity of a satellite-borne memory and camera use constraint on the basis of a photography area requirement provided by a user in each time unit, and generating a photography on-off instruction; in the time unit, when the meteorological information changes, the photography planning is carried out again; the set range of time units is less than or equal to 24 hours.
Preferably, the photography planning comprises:
step 1, calculating the orbit position and the sun position of the spacecraft per second according to orbit data and the planning start-stop time;
step 2, calculating whether the substellar point enters the shooting area, the time and the longitude and latitude of entering and leaving the shooting area according to the spacecraft orbit position, the shooting area and the camera use constraint at each moment, and then obtaining the shooting area, the camera on-off time and the data volume which meet the illumination condition according to the local solar altitude;
step 3, determining the priority of the photographing area meeting the illumination condition obtained in the step 2 according to the importance level of the photographing area;
step 4, judging the effectiveness of the shooting instruction: according to the cloud layer condition, removing the cloud layer area covered too thickly and not carrying out photography; and according to the residual capacity of the satellite-borne memory, removing the low-priority photographing area which does not meet the capacity limit of the satellite-borne memory to obtain a final photographing on-off instruction.
Preferably, the exposure time of the photographing is further adjusted in real time according to the sun height of the photographing intersatellite point calculated from the orbit data.
Preferably, the exposure time t is calculated in the following manner:
wherein, K 1 The constant is B, the average brightness of the ground scene is B, and delta is an illumination attenuation coefficient of an imaging surface;
the average brightness of the ground scenery is calculated in the following way:
wherein E is the ground illumination and the solar altitude h θ A function of (a); r is the reflectivity of the ground scenery; t _ air is the atmospheric transmission rate; i is the atmospheric brightness and also the solar altitude h θ As a function of (c).
Preferably, the ground illumination E and the atmospheric brightness I are in proportion to the solar altitude h θ The functional relationships of (A) are respectively:
E＝0.00012493h θ 4 -0.0546319h θ 3 +4.80427h θ 2 +45.6507h θ +105.286
I＝-0.0000493688h θ 4 +0.0141825h θ 3 -1.38802h θ 2 +47.5287h θ +209.63。
preferably, the method further comprises a step 5 of counting the task completion condition of each shooting area, giving the completed shooting area and the coverage condition thereof, including the shooting overlapping rate, the coverage area and the coverage times, and giving the non-shot area.
Preferably, the constraint of the camera usage constraint is determined according to a photography subsystem constraint and a thermal control subsystem constraint, and includes:
1) During the on-orbit flight life of the spacecraft, the camera accumulates the constraint of the startup and shutdown times;
2) The constraint of the accumulated startup and shutdown times of the camera in the photography planning of each half day;
3) The constraint of the accumulated startup and shutdown times of the camera in the daily photography planning;
4) Time interval T between one-time photographing start and photographing stop ON-OFF The constraint of (2);
5) Time interval T between the stop of the current photography and the start of the next photography OFF-ON The constraint of (2);
6) Setting the starting time T of each photographing ON Continuously judging the time interval T between the stop of all subsequent photographs and the start of the next photograph OFF-ON Up to T OFF-ON If the current time is greater than the set upper limit, recording the shutdown time T of the time OFF Then, T is required OFF －T ON Less than a constraint value;
7) Setting the sum of time accumulation between all photographing start and stop in a photographing arc segment as T TOTAL The number of times that the power-on/off control in one photographing arc satisfies the following condition 1 is N CON1 The number of times of satisfying the condition 2 is N CON2 The number of times of satisfying the condition 3 is N CON3 Let T be the time interval between the stop of the I-th photographing and the start of the I + 1-th photographing (OFF-ON)I Then, then
Wherein the cases 1 to 3 are respectively:
case 1: the time interval between the current photographing stop time and the next photographing start time is within the range A;
case 2: the time interval between the stop time of the current photographing and the start time of the next photographing is in the range B;
case 3: the time interval between the stop time of the current photographing and the start time of the next photographing is more than the upper limit of the range B;
the first term on the left of the above equation is the total photographing time; the second term is the accumulated hot door opening time of the shooting interval in the range A; the third item is the accumulated hot door opening time of the shooting interval in the range B; the fourth term is the accumulated hot door opening time with the shooting interval larger than the upper limit of the range B; the sum is the total hot door opening time in one revolution.
The invention also provides a photography task automatic planning system, which comprises a communication interface module, and a photography task automatic planning module, a track calculation module and an exposure calculation module which are connected with the communication interface module;
the communication interface module is used for finishing data interaction between the system and the outside;
the automatic planning module of the photography task, according to the time cell presumed, on the basis of the photography regional requirement that users put forward in each time cell, orbit data, meteorological information, satellite-borne memory surplus capacity and camera that the measuring and controlling system provides are used to restrain, carry on the photography planning in the time cell, turn on or off the order in the production photography; in the time unit, when the meteorological information changes, the photography planning is carried out again; the set range of the time unit is less than or equal to 24 hours;
the orbit calculation module is used for calculating orbit data and sun position of the spacecraft at any moment according to the number of orbits provided by the ground measurement and control system and providing the orbit data and the sun position to the automatic photography task planning module and the exposure calculation module;
and the exposure amount calculating module is used for calculating the solar height of the shooting satellite lower point according to the orbit data and calculating the exposure time code which is adopted when the spacecraft flies through the shooting area in real time as a part of the shooting task planning.
Preferably, the automatic planning module for the photography task comprises a planning module, a priority determining module and an effectiveness judging module;
the planning module is used for calculating whether the sub-satellite points enter the shooting area or not, time for entering and leaving the shooting area and longitude and latitude according to the orbit position of the spacecraft, the shooting area and camera use constraints at each moment, and then obtaining the shooting area meeting the illumination condition, the camera on-off time and data volume according to the local solar altitude;
the priority determining module is used for determining the priority of the photographing region meeting the illumination condition according to the importance level of the photographing region;
and the effectiveness judging module is used for judging the effectiveness of the shooting instruction: according to the cloud layer condition, removing the cloud layer area which is covered too thickly without shooting, and according to the residual capacity of the satellite borne memory, removing the low-priority shooting area which does not meet the capacity limit of the satellite borne memory, and obtaining the final shooting on-off instruction.
Preferably, the system further comprises a completion statistics module for counting the task completion of each shooting area, giving the completed shooting area and its coverage, including shooting overlap ratio, coverage area, and number of coverage, and giving the area not shot.
Has the advantages that:
(1) Automatically generating a photography program control command according to a photography area requirement provided by a user every day, orbit data provided by a measurement and control system and meteorological information provided by a meteorological bureau; the latest orbit data is used for photography planning every day, and the defect of large deviation of a photography area caused by calculating a photography instruction according to a theoretical orbit is overcome.
(2) The weather forecast provided by the weather bureau is fully utilized, selective photography is carried out according to the actual distribution condition of the cloud layer, and the waste of satellite-borne storage resources and ground receiving station resources is reduced to the maximum extent.
(3) And optimizing and adjusting the target priority in time according to the cloud layer parameters, the residual storage resources and the download window, so that the observation efficiency of the spacecraft is improved.
(4) The exposure time is adjusted in real time according to various factors influencing exposure, such as the orbit of the spacecraft, the sun height of the point under the shooting star and the like, and the defects that fixed exposure is not flexible and photometer photometry is easily interfered are overcome.
Drawings
FIG. 1 is a schematic diagram of the scheme of the invention.
FIG. 2 is a method of exposure optimization calculation.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a scheme for automatically planning a photographic task, which has the basic idea that a time unit is set, and in order to ensure real-time performance, the setting range of the time unit is less than or equal to 24 hours, for example, the time unit is set to 24 hours; and performing photography planning in each time unit based on the photography area requirement proposed by the user according to orbit data provided by the measurement and control system, meteorological information provided by a meteorological bureau, the residual capacity of the satellite-borne memory and camera use constraint, and generating a photography startup and shutdown instruction. And in the time unit, when the meteorological information is changed, the photography planning is carried out again.
Therefore, each time unit of the scheme uses the latest orbit data to carry out the photography planning of the time unit, and the defect of large deviation of the photography area caused by calculating the photography instruction according to the theoretical orbit is overcome. The real-time weather forecast provided by the weather bureau is fully utilized, selective photography is carried out according to the actual distribution condition of the cloud layer, and the waste of satellite-borne storage resources and ground receiving station resources is reduced to the maximum extent. And the photography planning is optimized in time according to the residual capacity of the satellite-borne memory, so that the observation efficiency of the spacecraft is improved.
Based on the core thought, the invention provides an automatic planning method for a photography task, which comprises the following steps:
step 1, calculating the orbit position and the sun position of the spacecraft per second according to the orbit parameters and the planning start-stop time. In the embodiment, the time unit is set to be 24 hours, and may also be set to be 12 hours or 8 hours, or may be set by the user according to needs.
And 2, calculating whether the substellar point enters the shooting area, the time and the longitude and the latitude of entering and leaving the shooting area according to the orbit position of the spacecraft, the shooting area and the camera use constraint at each moment, and then obtaining the shooting area, the camera on-off time and the data volume which meet the illumination condition according to the local solar altitude (the illumination condition).
And 3, determining the priority of the photographing region meeting the illumination condition obtained in the step 2 according to the importance level of the photographing region. Generally, the importance level of the photographing region is designated from the outside.
Step 4, shooting instruction validity judgment: according to the cloud layer condition, removing the covered too thick cloud layer area and not shooting; and according to the residual capacity of the satellite-borne memory, removing the low-priority photographing area which does not meet the capacity limit of the satellite-borne memory to obtain a final photographing on-off instruction.
In the step, according to the cloud layer condition, identifying the area covering the cloud layer above n levels (determined before the task) without shooting; judging whether the storage capacity of the satellite-borne memory meets the requirement of the storage data volume or not according to the shooting instruction, and if so, judging all shooting areas; if not, deleting the photographic area with lower priority according to the available capacity. And finally, obtaining a final effective photographing program control instruction, recording a time period without photographing, and providing the time period for a spacecraft user to be used as a reference for setting a photographing area next time.
And 5, adjusting the exposure time of the photography in real time according to the sun height of the photography sub-satellite point.
The method comprises the following steps of obtaining a solar altitude angle by using an orbit calculation module, calculating according to the reflectivity of an appointed scenery to obtain the ground brightness of the appointed scenery, and finally obtaining an exposure code to be adopted at the shooting moment through an exposure time calculation algorithm according to the atmospheric transmittance, the illumination attenuation coefficient of an imaging surface and camera parameters.
And 6, counting the task completion condition.
According to the history of the program control instruction of photography, the photography time, the photography height and the photography cloud layer condition of each film are counted, and the finished photography area and the coverage condition thereof as well as the area which is not photographed are given. The coverage condition comprises a shooting overlapping rate, a coverage area, the number of coverage times and the like, and information such as a shooting height cloud layer condition and shooting time can be further provided for evaluating the completion condition of a shooting task.
Wherein, the coverage area is easy to obtain according to the longitude and latitude data;
coverage = area covered by photography/total area of the photography area;
the number of times of covering is the number of times of entering the photographing region.
Camera usage constraints and exposure time calculations are described in detail below.
Camera use constraints
The photographing instruction mainly refers to a camera power-on instruction and a camera power-off instruction. Generally, when a spacecraft intersatellite point enters a certain shooting area, a camera is started, and when the spacecraft intersatellite point leaves the certain area, the camera is shut down, but due to the use constraint of the camera and the constraint of other subsystems on the spacecraft, the startup and shutdown time of the camera cannot be simply calculated, and a shooting instruction needs to be comprehensively considered and planned according to various constraint conditions. Taking a certain remote sensing spacecraft as an example, the photography planning constraint conditions are as follows:
(1) Constraint condition of image capture subsystem
The constraint conditions of the photography subsystem on photography planning include the following points:
● The number of times of startup and shutdown is not more than 2000 in the on-track operation period;
● The longest duration time of one-time startup work is not more than 240s;
● The shortest duration of one-time starting-up work is more than 10s;
● The shortest interval between two starting operations is more than 10s;
● The longest duration of the photography in 90 minutes is less than 480s;
● After the completion of the hot door opening, photographing was started for 60 s.
(2) Thermal control subsystem constraint conditions
The total opening time of the hot door in one track cycle is less than 480s.
(3) Synthesis of Total constraint conditions of (1) and (2)
According to the use constraint of the spacecraft, the control of all the on-off machines in one shooting arc segment is divided into the following three conditions:
in case 1, the time interval between the stop time of the current photographing and the start time of the next photographing is between 10s and 30 s;
in case 2, the time interval between the stop time of the current photographing and the start time of the next photographing is between 30s and 120s;
in case 3, the time interval between the current photographing stop time and the next photographing start time is greater than 120s; then according to the constraint conditions of the photography and thermal control subsystem, the comprehensive constraint conditions for photography planning are as follows:
● During the on-orbit flight life of the spacecraft, the accumulated startup and shutdown times of the camera are less than 2000 times;
● The accumulated startup and shutdown times of the camera in the photography planning of each half day are less than 50 times;
● The accumulated startup and shutdown times of the camera in the photography planning of each day are less than 100 times;
● Let T be the time interval between the start of one shot and the stop of the shot ON-OFF Then T is ON-OFF >10s；
● Setting the time interval between the stop of the current photography and the start of the next photography as T OFF-ON Then T is OFF-ON >10s；
● Setting the starting time T of each photographing ON Continuously judging the time interval T between the stop of all subsequent photographs and the start of the next photograph OFF-ON Up to T OFF-ON If the time is more than 30s, recording the shutdown time
T OFF Requires T OFF－TON <220s；
● Setting the sum of time accumulation between all photographing start and stop in a photographing arc segment as T TOTAL The number of times that the power-on/off control of one photographing arc satisfies the above condition 1 is N CON1 The number of times of satisfying the above case 2 is N CON2 The number of times of satisfying the above case 3 is N CON3 Let T be the time interval between the stop of the I-th photographing and the start of the I + 1-th photographing (OFF-ON)I Then, then
The first item on the left side of the above equation is the total photographing time;
the second term is the accumulated hot door opening time with the shooting interval of 10 s-30 s;
the third item is the accumulated hot door opening time with the shooting interval of 30-120 s;
the fourth term is the accumulated hot door opening time with the shooting interval being more than 120s;
the sum is the total hot door opening time in one revolution.
And according to the constraint conditions, compiling software codes to realize the planning of the shooting instructions.
Exposure time calculation
According to the optical imaging principle, the exposure time is determined by the following equation:
wherein, T: is the optical transmittance of the camera system;
δ: an imaging surface illumination attenuation coefficient;
η: camera shutter efficiency;
f/N 0 : f-number of the camera;
f, the filter factor of the camera;
h, exposure on an image surface;
b, average brightness of ground scenery;
t: a camera exposure time;
the exposure time t can be derived from the equation (1):
for selected cameras and films, the above equation is constant except for B and δ, so equation (2) can be reduced to:
K 1 the two parameters are obtained as follows.
(1) The calculation mode of the average brightness of the ground scenery is as follows:
wherein, E: the ground illumination;
r: the reflectivity of the ground scenery;
t _ air: atmospheric transmittance;
i, atmospheric brightness;
● Ground illuminance E
The ground illuminance E is the solar altitude h θ Empirically, the fitting formula is:
E＝0.00012493h θ 4 -0.0546319h θ 3 +4.80427h θ 2 +45.6507h θ +105.286…(5)
● Atmospheric brightness I
Atmospheric brightness I is the solar altitude h θ Empirically, the fitting formula is:
I＝-0.0000493688h θ 4 +0.0141825h θ 3 -1.38802h θ 2 +47.5287h θ +209.63……(6)
the above method has proved to be an effective method.
● Atmospheric transmittance T _ air
The atmospheric transmittance is a parameter related to regional cloud cover, weather and the like, and is generally T _ air =0.65 for clear weather.
● Reflectivity of ground scenery r
Scene reflectivity from space to a large number of representative objects on earth, such as water, vegetation, etc., is known. In particular, for a complex large format camera, a certain reflectivity value should be taken as the average reflectivity over the entire image plane. Calculations and simulations indicate that it is appropriate to take r = 0.15.
(2) The calculation mode of the illumination attenuation coefficient of the imaging surface is as follows:
the space remote sensing camera facing the surveying and mapping requirement generally has a larger field of view and an imaging frame, the ground surface coverage area of each imaging can reach tens of thousands of square kilometers, and it can be known from related optical theory that for a large-field and large-format camera, the illuminance of different positions of the imaging frame has great difference, and just because of the illuminance distribution difference, when the illuminance attenuation coefficient of the imaging surface is calculated, a certain position on an image surface needs to be selected as a reference point, and the point is selected according to the principle of obtaining the expected exposure.
In practice, the entire imaging task may be planned in advance, and the daily planning result may be verified and limited using this as the prior information. The overall photography task is planned as follows:
1) Calculating the orbit position and the solar altitude angle of each second by taking the second as a step length according to the initial orbit parameters and the start-stop time;
2) Calculating whether the sub-satellite point enters the shooting area, and the time and longitude and latitude of entering and leaving the shooting area according to the spacecraft orbit position, the shooting area and the shooting comprehensive constraint at each moment, and then obtaining the shooting area, the camera startup and shutdown time and the whole-course data volume which meet the lighting conditions according to the local solar altitude (obtaining the lighting conditions);
3) And determining whether each shooting area can be completely covered and the covering times in the flight process of the spacecraft according to the shooting overlapping rate, the shooting areas obtained in the last step and the on-off time.
In order to implement the method, the invention further provides a photography task automatic planning system, as shown in fig. 1, which includes a communication interface module, a photography task automatic planning module, a track calculation module and an exposure calculation module.
And the communication interface module is used for finishing the data interaction between the system and the outside.
And the automatic shooting task planning module is used for carrying out 24-hour shooting planning and generating a shooting startup and shutdown instruction according to the orbit data provided by the measurement and control system, the meteorological information provided by the meteorological bureau, the residual capacity of the satellite-borne memory and the camera use constraint based on the shooting area requirements provided by the user every day.
And the orbit calculation module is used for calculating orbit data and sun position of the spacecraft at any moment according to the number of orbits provided by the ground measurement and control system and providing the orbit data and the sun position to the photography task automatic planning module and the exposure calculation module.
And the exposure calculation module is used for calculating the solar height of a shooting sub-satellite point according to the orbit data, and calculating an exposure time code which is adopted when the spacecraft flies through a shooting area in real time as a part of the shooting task planning.
Preferably, the system further comprises a completion statistics module for performing statistics on task completion of each shooting region, giving completed shooting regions and their coverage, including shooting overlap rate, coverage area, and number of coverage, and giving regions that are not shot.
As shown in fig. 2, the automatic photography task planning module includes a planning module, a priority determination module, and an effectiveness determination module. Wherein, the first and the second end of the pipe are connected with each other,
and the planning module is used for calculating whether the intersatellite point enters the shooting area or not, and the time and the longitude and latitude of entering and leaving the shooting area according to the orbit position of the spacecraft, the shooting area and the camera use constraint at each moment, and then obtaining the shooting area meeting the illumination condition, the camera on-off time and the data volume according to the local solar altitude.
And the priority determining module is used for determining the priority of the photographing region meeting the illumination condition according to the importance level of the photographing region.
And the effectiveness judging module is used for judging the effectiveness of the shooting instruction: according to the residual capacity of the satellite-borne memory, removing low-priority photographic areas which do not meet the capacity limit of the satellite-borne memory; and according to the cloud layer condition, removing the cloud layer area covered too thickly and not shooting to obtain a final camera startup and shutdown instruction.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for automatically planning a photography task for a visible light remote sensing spacecraft is characterized in that a time unit is set, and photography planning in the time unit is carried out according to orbit data provided by a measurement and control system, meteorological information provided by a meteorological bureau, residual capacity of a satellite-borne memory and camera use constraint on the basis of a photography area requirement provided by a user in each time unit to generate a photography startup and shutdown instruction; in the time unit, when the meteorological information changes, the photography planning is carried out again; the set range of time units is less than or equal to 24 hours.
2. The method of claim 1, wherein the photography planning comprises:
step 1, calculating the orbit position and the sun position of the spacecraft per second according to orbit data and the planning start-stop time;
step 2, calculating whether the substellar point enters the shooting area, the time and the longitude and latitude of entering and leaving the shooting area according to the spacecraft orbit position, the shooting area and the camera use constraint at each moment, and then obtaining the shooting area, the camera on-off time and the data volume which meet the illumination condition according to the local solar altitude;
step 3, determining the priority of the photographing area meeting the illumination condition obtained in the step 2 according to the importance level of the photographing area;
step 4, judging the effectiveness of the shooting instruction: according to the cloud layer condition, removing the covered too thick cloud layer area and not shooting; and according to the residual capacity of the satellite-borne memory, removing the low-priority photographing area which does not meet the capacity limit of the satellite-borne memory to obtain a final photographing on-off instruction.
3. The method of claim 1 or 2, wherein the exposure time for the photography is further adjusted in real time based on the solar altitude of the photographic undersatellite point calculated from the orbit data.
4. A method according to claim 3, characterized in that the exposure time t is calculated by:
wherein, K 1 The constant is B, the average brightness of the ground scene is B, and delta is an illumination attenuation coefficient of an imaging surface;
the average brightness of the ground scenery is calculated in the following way:
wherein E is the ground illumination and the solar altitude h θ A function of (a); r is the reflectivity of the ground scenery; t _ air is the atmospheric transmission rate; i is the atmospheric brightness and also the solar altitude h θ As a function of (c).
5. The method of claim 4, wherein the ground illumination E and the atmospheric brightness I are related to the solar altitude h θ The functional relationships of (A) are respectively:
E＝0.00012493h θ 4 -0.0546319h θ 3 +4.80427h θ 2 +45.6507h θ +105.286
I＝-0.0000493688h θ 4 +0.0141825h θ 3 -1.38802h θ 2 +47.5287h θ +209.63。
6. the method as claimed in claim 2, wherein the method further comprises a step 5 of counting task completion of each photographing region, giving completed photographing regions and their coverage including photographing overlapping rate, coverage area, number of coverage, and giving non-photographed regions.
7. The method of claim 1, wherein the camera usage constraints are determined based on photography subsystem constraints and thermal control subsystem constraints, comprising:
1) During the on-orbit flight life of the spacecraft, the camera accumulates the constraint of the startup and shutdown times;
2) The constraint of the accumulated startup and shutdown times of the camera in the photography planning of each half day;
3) The constraint of the accumulated startup and shutdown times of the camera in the photography planning of each day;
4) Time interval T between the start of one shot and the stop of the shot ON-OFF The constraint of (2);
5) Time interval T between the stop of the current photography and the start of the next photography OFF-ON The constraint of (2);
6) Setting each time of photographing starting time T ON Continuously judging the time interval T between the stop of all subsequent photographs and the start of the next photograph OFF-ON Up to T OFF-ON If the current time is greater than the set upper limit, recording the shutdown time T of the current time OFF Then require T OFF －T ON Less than a constraint value;
7) Setting the time summation between all the start and stop of photography in a photography arc segment as T TOTAL The number of times that the power-on/off control in one photographing arc satisfies the following condition 1 is N CON1 The number of times of satisfying the condition 2 is N CON2 The number of times of satisfying the condition 3 is N CON3 Let T be the time interval between the stop of the I-th photographing and the start of the I + 1-th photographing (OFF-ON)I Then, then
Wherein the cases 1 to 3 are respectively:
case 1: the time interval between the stop time of the current photographing and the start time of the next photographing is within the range A;
case 2: the time interval between the current photographing stop time and the next photographing start time is within the range B;
case 3: the time interval between the current photographing stop time and the next photographing start time is more than the upper limit of the range B;
the first term on the left of the above equation is the total photographing time; the second term is the accumulated hot door opening time of the shooting interval in the range A; the third term is the accumulated hot door opening time of the shooting interval in the range B; the fourth term is the accumulated hot door opening time with the shooting interval larger than the upper limit of the range B; the sum is the total hot door opening time in one revolution.
8. The automatic planning system for the photography task is characterized by comprising a communication interface module, and an automatic planning module for the photography task, an orbit calculation module and an exposure calculation module which are connected with the communication interface module;
the communication interface module is used for finishing the data interaction between the system and the outside;
the automatic planning module of the photography task, according to the time unit presumed, on the basis of the photography regional requirement that users put forward in every time unit, according to orbit data, meteorological information, satellite-borne memory surplus capacity and camera that the measurement and control system provides that the meteorological bureau provides use the constraint, carry on the photography planning in the time unit, turn on or off the order in photography; in the time unit, when the meteorological information changes, the photography planning is carried out again; the set range of the time unit is less than or equal to 24 hours;
the orbit calculation module is used for calculating orbit data and sun position of the spacecraft at any moment according to the number of orbits provided by the ground measurement and control system and providing the orbit data and the sun position to the photography task automatic planning module and the exposure calculation module;
and the exposure amount calculating module is used for calculating the solar height of the shooting satellite lower point according to the orbit data and calculating the exposure time code which is adopted when the spacecraft flies through the shooting area in real time as a part of the shooting task planning.
9. The system of claim 8, wherein the photography task auto-planning module comprises a planning module, a priority determination module, and a validity discrimination module;
the planning module is used for calculating whether the intersatellite point enters the shooting area or not, and the time and the longitude and latitude of entering and leaving the shooting area according to the orbit position of the spacecraft, the shooting area and the camera use constraint at each moment, and then obtaining the shooting area meeting the illumination condition, the camera on-off time and the data volume according to the local solar altitude;
the priority determining module is used for determining the priority of the photographing area meeting the illumination condition according to the importance level of the photographing area;
and the effectiveness judging module is used for judging the effectiveness of the shooting instruction: according to the cloud layer condition, removing the cloud layer area which is covered too thickly without shooting, and according to the residual capacity of the satellite borne memory, removing the low-priority shooting area which does not meet the capacity limit of the satellite borne memory, and obtaining the final shooting on-off instruction.
10. The system of claim 8, further comprising a completion statistics module for performing statistics on task completion of each photographing region, giving completed photographing regions and their coverage including photographing overlap ratio, coverage area, number of coverage, and giving non-photographed regions.
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