CN108413903A - A kind of extraterrestrial target passes by region method for detecting position and system - Google Patents
A kind of extraterrestrial target passes by region method for detecting position and system Download PDFInfo
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Abstract
The present invention relates to space target position monitoring technical fields, especially a kind of extraterrestrial target passes by region method for detecting position and system, the system includes memory, processor and stores the computer program that can be run in memory and on a processor, and processor realizes the substar latitude and longitude coordinates for obtaining extraterrestrial target when executing program；Setting target area polar plot is divided into n-layer, establishes interlayer, the index relative in layer, with the raising of level, target zone is smaller；When substar is located in the 1st layer, substar and m+1 layers (1 are calculated successively<m<N 1) polar plot progress spatial relation, and continue to calculate more high-level and judge until judgement level is accurate to n-th layer, the judgement for the first time of substar position is comparatively fast realized by successively downward analysis, it is larger to solve Traditional Space target redundant computation amount in the method for detecting position of region of passing by, the speed of location determination and less efficient, to the problem calculated and performance requirement is excessively high.
Description
Technical field
The present invention relates to space target position monitoring technical field, especially a kind of extraterrestrial target passes by region position detection
Method and system.
Background technology
In recent years, with the development of science and technology with the promotion of social demand, countries in the world transmit a large amount of spacecraft clothes
It is engaged in human lives, scientific research and military field etc..It is well known that satellite velocity is exceedingly fast, quantity is more, real-time
It is required that it is high, therefore will face huge meter when to it pass by the work such as window calculation, early warning analysis and covering analyzing
Calculation amount, how under limited conditions to these, the satellite of high-speed flight carries out monitoring of passing by real time and becomes boat in space
The active demand of its department and related application department.
Monitoring of passing by real time for satellite is a cumbersome and very big process of calculation amount, is substantially to calculate
Substar present position, and it is the process for calculating point, line, surface spatial relationship in fact to calculate substar in ground present position.Star
Lower point refers to extraterrestrial target when being run around track and the intersection point of the line in the earth's core and earth surface.The substar position of extraterrestrial target
It is to analyze its substar on the location of ground to set judgement in fact, and according to different precision needs, judgement obtains extraterrestrial target
The target areas at different levels currently passed through.For the extraterrestrial target to run at high speed, if not using method appropriate, only according to
Spatial relationship algorithm goes traversal to calculate the vector block of target area residing for substar, it is clear that can not meet extraterrestrial target and pass by point
The required quickly real-time particular/special requirement such as analysis, covering analyzing.
There are many kinds of the ripe algorithms that can carry out point-line-surface spatial relation judgement at present, under normal circumstances
All it is the algorithm of Plane surface approximation, such as：Ring method, angle of intersection method, ray method either area-method, also have ratio of precision higher
Based on point face position relationship detection algorithm under spherical coordinate.But whether being that the Plane surface approximation either higher spherical surface of precision is forced
Closely, although algorithm is very ripe, when facing the calculating task of magnanimity extraterrestrial target, calculation amount remains unchanged very huge.In tradition side
In method, in order to judge to locate the position of substar, need by the results area vector block of substar coordinate and all target areas into
Row spatial relationship calculates, and then judges the position that substar is presently in, and this method is computationally intensive, it is useless compute repeatedly it is more,
Inefficiency is difficult to realize quick, real-time result feedback, therefore, conventional method when analyzing a large amount of extraterrestrial targets
The process judged target location is a kind of traversal property, there are the processes that a large amount of spatial relationships calculate, computationally intensive,
For the dependence also higher of computer performance.It, can only be to calculating since the algorithm for calculating spatial relationship is more mature
Process optimize, reduce to the greatest extent redundant space relationship calculate to improve substar location determination speed.Current business is soft
There are some to carry out the software of target real time position calculating in part, wherein utilizing commercial space mission simulation software STK
(Satellite Tool Kit) carries out one that extraterrestrial target orbit prediction and analysis are representative, it can calculate and defend
Star position at any time and posture, can also calculate the overlay area of satellite or earth station's remote sensor.However STK itself is soft
The function of part is complicated, and interface and menu operation are relatively complicated, while the block code of software is opaque, therefore inconvenient user makes
With.In addition to this, China can also provide similar function exclusively for No. three Seeds of First Post-flight of resource towards public service platform,
But be still not perfect, it is also to be improved in real-time.
Invention content
It passes by region method for detecting position and system the object of the present invention is to provide a kind of extraterrestrial target, to solve tradition
Extraterrestrial target redundant computation amount in the method for detecting position of region of passing by is larger, the speed of location determination and less efficient, to right
It calculates and the excessively high problem of performance requirement.
To achieve the above object, the thought of vector layered method proposed by the present invention imitates grid first by pretreatment
Tile pyramid pattern carries out hierarchical block to entire a wide range of target area polar plot, and establish interlayer, the topology in layer is closed
System, the judgement for the first time of realization substar position that later can be quickly by successively downward explication de texte, this process can be with
The spatial relationship that substar and vector block are greatly reduced by the advantage of layering calculates.On this basis, utilization is track restrained
Thought can quickly and accurately be realized by neighborhood parallel analysis and backtracking fuzzy judgement process directly from resultant layer
Decision process avoids substar position and continues redundant computation in decision process.
The present invention provides a kind of extraterrestrial target and passes by region method for detecting position, including following methods technical solution：
Method scheme one：A kind of extraterrestrial target passes by region method for detecting position, includes the following steps：
1) the substar latitude and longitude coordinates of extraterrestrial target are obtained；
2) setting target area polar plot is divided into n-layer, interlayer, the index relative in layer is established, with carrying for level
Height, target zone are smaller；
3) spatial relation calculating is carried out to substar and the 1st layer of polar plot, judges whether substar is located at the 1st layer of arrow
In spirogram, if it is not, then extraterrestrial target is not in setting target area；
4) if so, vector level is stepped up according to interlayer index relative, successively to substar and m+1 layers (1<m<
N-1) polar plot carries out spatial relation judgement, obtains result and records；
5) when level is accurate to n-th layer, the results area of the n-layer where feedback result using substar is as extraterrestrial target
The regional location that passes by.
By obscuring accurate thinking, target area is successively reduced, traversal is avoided to calculate all polar plots of n-th layer,
Extraterrestrial target substar position can quickly be judged, reduce a large amount of useless calculating, significantly improve calculating
Efficiency and speed.
Method scheme two：On the basis of method scheme one, in order to achieve the purpose that lasting judgement substar position, obtain
The spatial position of subsequent time extraterrestrial target substar obtains the substar latitude and longitude coordinates of subsequent time extraterrestrial target；By institute
It states subsequent time coordinate and the results area of step 5) carries out spatial relationship calculating, if substar is still located at the results area,
Then feedback result；It is adjacent each with the results area to substar and n-th layer if substar is not located at the results area
Region carries out spatial relationship calculating, judges whether substar is located in n-th layer in the adjacent each region of the results area, if so,
Then feedback result.
Method scheme three：On the basis of method scheme two, if substar not in n-th layer each adjacent area, judge
Whether substar is located at corresponding (n-1)th layer region of the results area, if so, again to substar and the results area
The n-th layer of corresponding (n-1)th layer region carries out spatial relationship calculating, and feedback result.
Method scheme four：On the basis of method scheme three, if substar is not corresponding (n-1)th layer in the results area
Region, then judge whether substar is located at the adjacent area of corresponding (n-1)th layer region of the results area, if so, by star
The n-th layer region that lower point is included with the adjacent area carries out spatial relationship calculating, and using result of calculation as space of lower a moment
The regional location that passes by of target.
Method scheme five：On the basis of method scheme four, if substar not in (n-1)th layer of adjacent area, gradually
The level for reducing polar plot is persistently judged, if substar is located at m-1 layers, carries out step 4).
Method scheme six：On the basis of method scheme five, if substar is not in given threshold layer, extraterrestrial target is not
In setting target area.
It passes by region position detecting system, including following system solution the present invention also provides a kind of extraterrestrial target：
System schema one：A kind of extraterrestrial target passes by region position detecting system, including memory, processor and storage
In memory and the computer program that can run on a processor, the processor realize following step when executing described program
Suddenly：
1) the substar latitude and longitude coordinates of extraterrestrial target are obtained；
2) setting target area polar plot is divided into n-layer, interlayer, the index relative in layer is established, with carrying for level
Height, target zone are smaller；
3) spatial relation calculating is carried out to substar and the 1st layer of polar plot, judges whether substar is located at the 1st layer of arrow
In spirogram, if it is not, then extraterrestrial target is not in setting target area；
4) if so, vector level is stepped up according to interlayer index relative, successively to substar and m+1 layers (1<m<
N-1) polar plot carries out spatial relation judgement, obtains result and records；
5) when level is accurate to n-th layer, the results area of the n-layer where feedback result using substar is as extraterrestrial target
The regional location that passes by.
System schema two：On the basis of system schema one, in order to achieve the purpose that lasting judgement substar position, obtain
The spatial position of subsequent time extraterrestrial target substar obtains the substar latitude and longitude coordinates of subsequent time extraterrestrial target；By institute
It states subsequent time coordinate and the results area of step 5) carries out spatial relationship calculating, if substar is still located at the results area,
Then feedback result；It is adjacent each with the results area to substar and n-th layer if substar is not located at the results area
Region carries out spatial relationship calculating, judges whether substar is located in n-th layer in the adjacent each region of the results area, if so,
Then feedback result.
System schema three：On the basis of system schema two, if substar not in n-th layer each adjacent area, judge
Whether substar is located at corresponding (n-1)th layer region of the results area, if so, again to substar and the results area
The n-th layer of corresponding (n-1)th layer region carries out spatial relationship calculating, and feedback result.
System schema four：On the basis of system schema three, if substar is not corresponding (n-1)th layer in the results area
Region, then judge whether substar is located at the adjacent area of corresponding (n-1)th layer region of the results area, if so, by star
The n-th layer region that lower point is included with the adjacent area carries out spatial relationship calculating, and using result of calculation as space of lower a moment
The regional location that passes by of target.
System schema five：On the basis of system schema four, if substar not in (n-1)th layer of adjacent area, gradually
The level for reducing polar plot is persistently judged, if substar is located at m-1 layers, carries out step 4).
System schema six：On the basis of system schema five, if substar is not in given threshold layer, extraterrestrial target is not
In setting target area.
Description of the drawings
Fig. 1 is that a kind of extraterrestrial target passes by the Technology Roadmap of region method for detecting position；
Fig. 2 is vector principle of stratification figure；
Fig. 3 is that a kind of extraterrestrial target of embodiment 1 passes by the flow chart of region method for detecting position；
Fig. 4 is that a kind of extraterrestrial target of embodiment 2 passes by the flow chart of region method for detecting position；
Fig. 5 is conventional method, 1 method of embodiment and the time-consuming comparison diagram of 2 method of embodiment in an experiment；
Fig. 6 is that conventional method, 1 method of embodiment and the spatial relationship calculation times of 2 method of embodiment in an experiment compare
Figure.
Specific implementation mode
The present invention will be further described in detail below in conjunction with the accompanying drawings.
A kind of extraterrestrial target proposed by the present invention region method for detecting position that passes by is broadly divided into two parts, respectively space
Position is put under target satellite to judge for the first time and persistently judge.As shown in Figure 1, being utilized well by means of the thought of layering first
The advantage of layering, pre-processes existing target area, accurate by obscuring, and is retracted layer by layer, drastically reduces sky
Between under target satellite point position calculate present in a large amount of wasted space relationships calculate.On this basis, by extraterrestrial target track
The principle of constraint, a location determination directly will persistently be sentenced as a result, by neighborhood parallel analysis before making full use of the extraterrestrial target
The judgement starting point for determining process is accurate to resultant layer, fuzzy again to accurate judgement from being accurate to then by recalling fuzzy judgement
Thought not only ensure that the judgement of substar position and occur as a result, not having the case where can not judging result, but also reduced and persistently sentence
A large amount of spatial relationship calculates during fixed, and the speed of lasting judgement is greatly improved.Extraterrestrial target transit zone domain representation
Ball surface can observe the region of extraterrestrial target, the region be one setting target area, extraterrestrial target pass by region position
Set as extraterrestrial target pass by after in the corresponding location point in setting target area.
Preprocessing process：As shown in Fig. 2, by the fine polar plot for the setting target area for being accurate to results area according to reality
Border situation is divided into n-layer, and with the raising of level, target zone is smaller, and content is finer, and n-th layer is resultant layer；Establish each layer
Between index relative, and be stored in each layer polar plot as attribute, to be indexed to more in successively decision process
Accurate polar plot；The topological relation that each polar plot in layer is established according to the Space Lorentz Curve inside level, so as to substar
Position continuously and healthily in decision process neighborhood parallel analysis and backtracking fuzzy judgement progress.
Embodiment 1
The present embodiment 1 provides a kind of extraterrestrial target and puts method for detecting position downwards, as shown in figure 3, based on vector layering
After pretreatment, extraterrestrial target substar latitude and longitude coordinates are obtained by existing means.
Step 1：It calculates substar and the 1st layer of polar plot carries out spatial relation, judge whether to be located in the 1st layer,
If the result is that carrying out next step if true, otherwise output is not as a result, the extraterrestrial target is setting target area.
Vector level is stepped up according to the index relative established between level, reduces target area.
Step 2：Substar and m+1 layers (1 are calculated successively<m<N-1) polar plot carries out spatial relation, records and obtains
It takes as a result, and continuing to calculate more high-level and judged.
Step 3：When judging that level is accurate to n-th layer, using the results area of the n-layer where substar as extraterrestrial target
The regional location that passes by.
When target area is bigger, such techniqueflow can be very good all arrows for avoiding traversal from calculating n-th layer
Spirogram successively reduces target area, can be carried out to extraterrestrial target substar position quick by obscuring accurate thinking
Judgement reduces a large amount of useless calculating, significantly improves computational efficiency and speed.
Embodiment 2
Satellite is high dynamic, the monitoring to it be also in real time, high frequency time, however above-mentioned layering thought, although
The bulk redundancy reduced well in substar position location computation calculates, but the position for often calculating a substar just needs
Whole flow process is repeated, therefore there is no the redundant computations solved the problems, such as during continuously monitoring for method in embodiment 1.
Extraterrestrial target is constrained by dynamics of orbits, makees elliptic motion by focus of the earth, although absolute position is at any time
High speed changes, but keeps relative stability in inertial space in its running track certain time.Therefore, on the basis of layering, base
A kind of numerical procedure judged continuously and healthily suitable for extraterrestrial target substar position is obtained in track restrained, the present embodiment 2 is
Carried out on the basis of embodiment 1, core be utilized obtained in embodiment 1 substar positioning as a result, assisting in turn
With the judgement for accelerating subsequent time extraterrestrial target substar position, as shown in Figure 4.
Using last judgement as a result, the results area of the n-th layer i.e. residing for sub-satellite point, directly adds according to index
Whether the vector file for carrying corresponding region, calculate substar real-time coordinates, judge substar still in the results area
In range, wherein judgment mode packet, neighborhood parallel computing and backtracking fuzzy judgement.
Neighborhood parallel computing：According to the topological relation of foundation, each adjacent area in substar and same layer is carried out successively empty
Between relationship calculate, if it is possible to the position of substar then direct feedback result is exported, if it is not, carrying out that backtracking is fuzzy to be sentenced
It is fixed.
Recall fuzzy judgement：If substar does not obscure target area to (n-1)th according to index relative in n-th layer
Then layer carries out spatial relationship judgement to (n-1)th layer of polar plot and substar, if result is true, export result；If
As a result it is false, then carries out (n-1)th layer of neighborhood parallel computing, if result is true, exports as a result, if result is
False then persistently carries out backtracking fuzzy judgement, it is assumed that obscures target area to m-1 layers (1<m<Result is when n-1)
True is then skipped under 1 culminant star of embodiment and is put the step 2 of position decision process for the first time.
If it is false that target area, which is obscured to result at m-1 layers, skips to point position under 1 culminant star of embodiment and sentence for the first time
Determine the step 1 of process.In recalling fuzzy judgement, the lookup of number is crossed in order to prevent, can also set corresponding threshold value layer, if returning
The fuzzy judgement that traces back reaches the threshold value layer of setting, and result false, then directly output result extraterrestrial target is not in target area.
According to the special environment of extraterrestrial target constrained by rail, take full advantage of last judgement as a result, judgement model
It encloses and is directly accurate to resultant layer, only need progress neighborhood parallel analysis that can obtain as a result, when the step-length monitored under normal circumstances
It, can be by recalling fuzzy judgement and successively neighborhood parallel analysis judges to obtain as a result, the present embodiment 2 drastically reduces when larger
The spatial relationship of redundancy calculates during lasting monitoring, improves computational efficiency, strong to have ensured that substar is passed by information
The rapidity and real-time of feedback.
Experimental design
The present invention is tested so that China is accurate to the monitoring of passing by of administrative areas at the county level as an example, with the thought of the verification present invention
And method.Layered mode in experimentation of the present invention uses the level dividing mode in China administrative area.China administrative area divides
Closely, level is apparent, and has natural hierarchical relationship, without subsequently resettling cumbersome index relative between level, has very much
Conducive to progress hierarchical operations.On the basis of the administrative division in China, the polar plot in China is divided into three layers herein, respectively
For：State's interlayer saves interlayer and layer at county level.In addition, experimentation spatial location relationship judges to realize using GeoTools tools.
GeoTools is a GIS kit increased income, and provides the interface of various processing space relationships, can easily be wrapped
The spatial relationships such as contain, abut to calculate.
In order to fully verify the calculating efficiency of the method provided by the present invention, the present invention will be layered+track restrained method (hereinafter referred to as
Leash law), only with layering method (hereinafter referred to as top and bottom process) and conventional method these three distinct methods in identical ring
It is compared under the conditions of border.In terms of data, the present invention utilizes the true operation data of resource series satellite, satellite parametric reduction such as table
It shown in one, is utilized respectively three kinds of methods substar tracking is carried out to target satellite and judge, in order to make result more compare and reliable
Property, each method respectively tracks substar 1000 times, 2000 times, 5000 times, 10000 times, step-length 0.03s, such as two institute of table
Show.
As can be seen from Figure 5, when tracking number is less, three kinds of methods, which take, to remain basically stable.When it is 1000 times to track number,
Leash law is 4s, top and bottom process 10s, conventional method 11s；When it is 2000 times to track number, leash law 5s, top and bottom process are
19s, conventional method 21s；And with the increase to the extraterrestrial target substar location tracking frequency, conventional method, which takes to present, to be referred to
Number increases, although top and bottom process, which takes, also apparent growth, opposite conventional method, which has, significantly to be shortened, and leash law takes
Amplification is minimum, and minimum, advantage protrusion is taken compared to the above two.Experimental result is consistent with theory analysis above.This experimental result
In conjunction with Fig. 6 the experiment results show that leash law reason higher than top and bottom process and conventional method in time efficiency is because of space
For relationship calculation times far below the two, and with the increase of the tracking frequency, the amplitude of spatial relationship calculation times difference will
Bigger.
Table one
Table two
The result of calculation of conventional method and method provided by the invention is subjected to comparison discovery, the method for the present invention, which is tracked, to be obtained
The administrative area quantity of the fruiting quantities and process that take is consistent with conventional method, in addition, in the result by a certain administrative area
The result of the comparison of occurrence number, two methods is equally consistent, generally can using the result of calculation of conventional method as a reference value,
Therefore the experiment show correctness of the quick numerical procedure in substar position of the present invention.
Specific implementation mode of the present invention is presented above, but the present invention is not limited to described embodiment.
Under the thinking that the present invention provides, to the skill in above-described embodiment by the way of being readily apparent that those skilled in the art
Art means are converted, are replaced, are changed, and play the role of with the present invention in relevant art means it is essentially identical, realize
Goal of the invention it is also essentially identical, the technical solution formed in this way is finely adjusted above-described embodiment to be formed, this technology
Scheme is still fallen in protection scope of the present invention.
Claims (10)
- The region method for detecting position 1. a kind of extraterrestrial target passes by, which is characterized in that include the following steps：1) the substar latitude and longitude coordinates of extraterrestrial target are obtained；2) setting target area polar plot is divided into n-layer, interlayer, the index relative in layer is established, with the raising of level, mesh It is smaller to mark range；3) spatial relation calculating is carried out to substar and the 1st layer of polar plot, judges whether substar is located at the 1st layer of polar plot It is interior, if it is not, then extraterrestrial target is not in setting target area；4) if so, vector level is stepped up according to interlayer index relative, successively to substar and m+1 layers (1<m<n-1) Polar plot carries out spatial relation judgement, obtains result and records；5) when level is accurate to n-th layer, the mistake of the results area of the n-layer where feedback result using substar as extraterrestrial target Border regional location.
- The region method for detecting position 2. extraterrestrial target according to claim 1 passes by, which is characterized in that obtain subsequent time The substar latitude and longitude coordinates of extraterrestrial target；The results area of the subsequent time coordinate and step 5) is subjected to spatial relationship meter It calculates, if substar is still located at the results area, feedback result；If substar is not located at the results area, under star Adjacent each region carries out spatial relationship calculating with the results area for point and n-th layer, judges whether substar is located in n-th layer In the adjacent each region of the results area, if so, feedback result.
- The region method for detecting position 3. extraterrestrial target according to claim 2 passes by, which is characterized in that if substar does not exist Each adjacent area in n-th layer, then judge whether substar is located at corresponding (n-1)th layer region of the results area, if so, weight Spatial relationship calculating, and feedback result newly are carried out to the n-th layer of substar and corresponding (n-1)th layer region of the results area.
- The region method for detecting position 4. extraterrestrial target according to claim 3 passes by, which is characterized in that if substar does not exist Corresponding (n-1)th layer region of the results area, then judge whether substar is located at the results area corresponding (n-1)th floor area The adjacent area in domain, if so, the n-th layer region for being included by substar and the adjacent area carries out spatial relationship calculating, and Using result of calculation as the regional location that passes by of extraterrestrial target of lower a moment.
- The region method for detecting position 5. extraterrestrial target according to claim 4 passes by, which is characterized in that if substar does not exist (n-1)th layer of adjacent area, the then level for gradually reducing polar plot are persistently judged, if substar is located at m-1 layers, into Row step 4).
- The region position detecting system 6. a kind of extraterrestrial target passes by, including memory, processor and storage are in memory simultaneously The computer program that can be run on a processor, which is characterized in that the processor realizes following steps when executing described program：1) the substar latitude and longitude coordinates of extraterrestrial target are obtained；2) setting target area polar plot is divided into n-layer, interlayer, the index relative in layer is established, with the raising of level, mesh It is smaller to mark range；3) spatial relation calculating is carried out to substar and the 1st layer of polar plot, judges whether substar is located at the 1st layer of polar plot It is interior, if it is not, then extraterrestrial target is not in setting target area；4) if so, vector level is stepped up according to interlayer index relative, successively to substar and m+1 layers (1<m<n-1) Polar plot carries out spatial relation judgement, obtains result and records；5) when level is accurate to n-th layer, the mistake of the results area of the n-layer where feedback result using substar as extraterrestrial target Border regional location.
- The region position detecting system 7. extraterrestrial target according to claim 6 passes by, which is characterized in that obtain subsequent time The substar latitude and longitude coordinates of extraterrestrial target；The results area of the subsequent time coordinate and step 5) is subjected to spatial relationship meter It calculates, if substar is still located at the results area, feedback result；If substar is not located at the results area, under star Adjacent each region carries out spatial relationship calculating with the results area for point and n-th layer, judges whether substar is located in n-th layer In the adjacent each region of the results area, if so, feedback result.
- The region position detecting system 8. extraterrestrial target according to claim 7 passes by, which is characterized in that if substar does not exist Each adjacent area in n-th layer, then judge whether substar is located at corresponding (n-1)th layer region of the results area, if so, weight Spatial relationship calculating, and feedback result newly are carried out to the n-th layer of substar and corresponding (n-1)th layer region of the results area.
- The region position detecting system 9. extraterrestrial target according to claim 8 passes by, which is characterized in that if substar does not exist Corresponding (n-1)th layer region of the results area, then judge whether substar is located at the results area corresponding (n-1)th floor area The adjacent area in domain, if so, the n-th layer region for being included by substar and the adjacent area carries out spatial relationship calculating, and Using result of calculation as the regional location that passes by of extraterrestrial target of lower a moment.
- The region position detecting system 10. extraterrestrial target according to claim 9 passes by, which is characterized in that if substar is not In (n-1)th layer of adjacent area, then the level for gradually reducing polar plot is persistently judged, if substar is located at m-1 layers, Carry out step 4).
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| CN111637881A (en) * | 2020-05-07 | 2020-09-08 | 北京控制工程研究所 | Earth surface model graph-based method for forecasting earth surface attributes of subsatellite points |
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