CN108613655A - A kind of motor-driven middle attitude adjusting method along the imaging of slanted bar band of agility satellite - Google Patents
A kind of motor-driven middle attitude adjusting method along the imaging of slanted bar band of agility satellite Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
A kind of motor-driven middle attitude adjusting method along the imaging of slanted bar band of agility satellite, by establishing slanted bar band in the position coordinates under ground is admittedly and the Circular test model between the imaging cumulative time, calculate the position vector that arbitrary imaging moment photography point is admittedly on ground, further calculate the roll angle of the moment satellite, pitch angle and yaw angle, under the premise of considering that compression of the earth influences, it can get more accurate satellite and it is expected posture, meet the requirement of high pointing accuracy over the ground, the case where effectively preventing that when viewing field of camera angle is smaller target cannot be covered, reliability is high, stability is good.
Description
Technical field
The present invention relates to a kind of quick motor-driven middle attitude adjusting methods along the imaging of slanted bar band of satellite, for along given oblique
The pose adjustment that camera carrier is realized in band imaging process, belongs to spacecraft attitude adjustment technology field.
Background technology
Traditional optical remote sensing agility satellite is usually to move to sweep into pushing away for target area to realize by the track of satellite
Picture, entire imaging process Satellite posture are kept fixed constant, and the imaging band of acquisition is offline parallel with star.This imaging mode
It is weaker in the imaging covering power along east-west direction, for the target that east-west direction breadth is larger, it is necessary to pass through multiple parallel strips
Mode with splicing realizes that covering, the efficiency of covering are very low.With the fast lifting of attitude maneuver ability, novel agility satellite
Can be over the ground directed toward by the real-time motor-driven adjustment optical axis of posture and carry out push-scanning image, this imaging mode be referred to as " in dynamic at
Picture ", its imaging track no longer need to be parallel to sub-satellite track, can effectively solve the problems, such as that satellite is imaged along east-west direction.
Dynamic middle imaging most common at present is imaged along the slanted bar band to form an angle with sub-satellite track.
When being imaged along given slanted bar band during novel agile satellite attitude maneuvers, the three-axis attitude of satellite need to become in real time
Change, needs to plan the posture in imaging process.Yellow group east et al. provides a kind of posture of quick satellite dynamic imaging
Method of adjustment is realized by adjusting satellite three-axis attitude angle in real time to east-west direction (i.e. band and the offline angle in 90 ° of star)
Push-scanning image (a kind of attitude adjusting methods for quick satellite dynamic imaging of the such as Huang Qundong, Huang Lin, Yang Fang,
ZL201310028956.8)；Huang Min et al. provides a kind of attitude adjusting method being imaged along slanted bar band, is suitable for and substar
Track is imaged a kind of (pose adjustments along the imaging of slanted bar band of the such as Huang Min, Ge Yujun, Yang Fang at the slanted bar band of arbitrary fixed angle
Method, CN201510411941.9).The deficiency of above two method is mainly manifested in：Their descriptions and posture in band
It in the calculating process at angle, is required for assuming that the earth is ideal sphere and satellite orbit face is a fully-flattened, these and the sun
The actual conditions that geo-stationary orbit Optical remote satellite is imaged over the ground are not consistent, and attitude of satellite planning can have deviation, can not
Meet the requirement of the smaller high-resolution optical remote sensing satellite height in viewing field of camera angle pointing accuracy over the ground, or even occurs to cover
The case where target.It is (old that Chen Xiongzi et al. provides a kind of motor-driven middle attitude adjusting method being imaged along curvilinear bands of quick satellite
Majestic appearance, the such as Xie Song, Wang Shuyan are a kind of to be used for the motor-driven middle attitude adjusting method along curvilinear bands imaging of quick satellite,
CN201710595137.X).The advantage of this method is to handle along curvilinear bands single continuous imaging problem, slanted bar band
Though being substantially a kind of special case of curvilinear bands, if each slanted bar band is established the more of curvilinear bands by iterative calculation
Item formula model is unreasonable.
Invention content
Present invention solves the technical problem that being：For parallel stripes scan mode covering power in currently available technology compared with
Weak, existing slanted bar with scan method cannot be satisfied the smaller satellite in viewing field of camera angle over the ground pointing accuracy the problem of, it is proposed that one
The motor-driven middle attitude adjusting method along the imaging of slanted bar band of the quick satellite of kind.
The present invention solves above-mentioned technical problem and is achieved by following technical solution：
A kind of motor-driven middle attitude adjusting method along the imaging of slanted bar band of agility satellite, is as follows：
(1) Circular test model of the slanted bar with image space coordinate with imaging cumulative time is established in body-fixed coordinate system；
(2) arbitrary imaging moment satellite roll angle and pitch angle are calculated according to Circular test model obtained by step (1)；
(3) when satellite roll angle and pitch angle obtained by Circular test model and step (2) obtained by step (1) being utilized to calculate imaging
Satellite yaw angle is carved, the complete attitude of satellite is obtained.
In the step (1), establishes Circular test model and be as follows：
(1a) is according to geographical longitude and latitude of the slanted bar with starting pointGeographical longitude and latitude of the slanted bar with terminal
The earth's core longitude and latitude is calculated, calculation formula is as follows：
λe1=λ1
λe2=λ2
In formula,For the earth's core longitude and latitude of the slanted bar with starting point A,For the ground the heart channel of Hang-Shaoyin of slanted bar with terminal B
Latitude, f are compression of the earth；
(1b) calculates slanted bar according to the earth's core longitude and latitude obtained by step (1a), slanted bar band start position, slanted bar band final position
The arc radius of band, calculation formula are as follows：
Rm=(R1+R2)/2
In formula, RmFor slanted bar band arc radius, R1And R2Respectively earth radius of the slanted bar with starting point, final position is logical
Cross following formula resolving：
In formula, ReFor terrestrial equator radius,For the latitude of selected location；
(1c) in body-fixed coordinate system, according to vector OAs of the geocentric origin O to slanted bar with starting point Ae, geocentric origin O is to oblique
The vector OB of band starting point Be, slanted bar band arc radius R obtained by step (1b)m, calculate vector OAe, vector OBeSlanted bar band pair
Answer angle Ω, computational methods as follows：
(1d) calculates slanted bar band according to push-scanning image ground velocity and is imaged total duration T, and calculation formula is as follows：
vd=k ωsRm
In formula, vdFor push-scanning image ground velocity, ωsFor the orbit angular velocity of satellite, k is velocity coeffficient；
(1e) obtains slanted bar band coordinate system and body-fixed coordinate system transition matrix A by calculatinget；
(1f) according to step (1a)~(1e) establish image space coordinate in imaging the cumulative time Circular test model it is as follows：
The slanted bar band coordinate system and body-fixed coordinate system transition matrix AetComputational methods be：
Slanted bar band plane coordinate system is established, using geocentric origin O as origin, OA is x-axis, and OB is z-axis, and y-axis meets right hand method
Then, calculation formula is as follows：
Aet=[OAe OBe OCe][OAt OBt OCt]-1
In formula, OAe、OBeThe vector for being OA, OB in body-fixed coordinate system, OCeFor OAe、OBeMultiplication cross vector, wherein：
OAe=[xa ya za]T
OBe=[xb yb zb]T
OCe=OAe×OBe
OAt、OBtFor OA, OB in slanted bar with the vector in plane coordinate system, OCtFor OAt、OBtMultiplication cross vector, wherein：
OAt=[Rm 0 0]T
OBt=[RmcosΩ RmsinΩ0]T
OCt=OAt×OBt
In the step (2), arbitrary imaging moment satellite roll angleIt is as follows with the calculation formula of satellite pitching angle theta：
In formula, SPo(y)The vector y-axis durection component of observation point P, SP are directed toward for satellite S under orbital coordinate systemo(x)For track
Satellite S is directed toward the vector x-axis direction component of observation point P, SP under coordinate systemo(z)It is directed toward observation point P for satellite S under orbital coordinate system
Vector z-axis durection component, r is position vectors of the satellite S in inertial system, AieBe solid system to the transition matrix of inertial system, Aoi
It is transition matrix of the inertial system to track system,
SPo=Aoi·(AiePe-r)
In formula, PeIt is the position vector of the P that is obtained with Circular test model based on slanted bar in the case where ground is admittedly.
In the step (3), satellite yaw angle φ is calculated according to satellite pitch angle obtained by step (2) and roll angle, is calculated
Method is as follows：
In formula, VP(t) it is the sliding speed of arbitrary t moment ground observation point, [VP(t)]b(y)For in satellite body coordinate system
Under arbitrary t moment ground observation point sliding speed y-axis component velocity, [VP(t)]b(x)For appointing under satellite body coordinate system
The sliding speed x-axis component velocity of meaning t moment ground observation point, calculation formula are as follows：
[VP(t)]b=AboAoiAie[VP(t)]e
In formula, the sliding speed [V in the case where ground is admittedlyP(t)]eCalculation formula is as follows：
In formula, AboFor from orbital coordinate system to satellite side-sway and pitching it is motor-driven after this system attitude matrix, wherein：
Preferably, in the step (1d), the value range of velocity coeffficient k is 0.8~1.2.
The advantages of the present invention over the prior art are that：
(1) a kind of quick motor-driven middle attitude adjusting method along the imaging of slanted bar band of satellite provided by the invention, is considering ground
The position coordinates that slanted bar band is admittedly on ground are established on the basis of ball ellipticity and the Circular test mathematics being imaged between the cumulative time is built
Mould, the actual trajcctorics based on the model and satellite can get more accurate satellite and it is expected posture, meet high pointing accuracy over the ground
Requirement, the case where effectively preventing that when viewing field of camera angle is smaller target cannot be covered；Secondly, when the model is to be imaged accumulative
Between be independent variable, be very suitable for the layout of the in-orbit imaging task of satellite；It is realized in addition, the model is based primarily upon coordinate conversion,
It is based on spherical geometry principle different from existing method, complicated trigonometric function is avoided and calculates；
(2) the method for the present invention realizes drift angle in the calculating process of camera attitude of carrier parameter by yaw steering
Compensation.It is the method for the present invention compared with ideal sphere is assumed to be based on the earth with bias current angle compensation of the existing slanted bar with imaging technique
Drift angle computational methods based on Circular test model are more accurate, can get higher image quality.
Description of the drawings
Fig. 1 is the pose adjustment steps flow chart block diagram that invention provides；
Fig. 2 is the slanted bar band Circular test model modeling flow chart that invention provides；
Fig. 3 is the slanted bar band Circular test model schematic that invention provides；
Fig. 4 is that the quick satellite that invention provides is motor-driven middle along slanted bar band imaging schematic diagram；
Specific implementation mode
A kind of motor-driven middle attitude adjusting method along the imaging of slanted bar band of agility satellite, is imaged according to quick Optical remote satellite
Principle can establish imaging geometry model as shown in Figure 4：The orbital coordinate system of satellite is S-XoYoZo, S is the barycenter of satellite,
ZoAxis is directed toward the earth's core, XoAxis is directed toward heading, YoIt is determined by the right-hand rule, substar is S ', and P shoots for current t moment satellite
Slanted bar band on any point.The yaw overlapping of axles of the camera optical axis and satellite body coordinate system.Assuming that satellite body
Coordinate system initial time is overlapped with orbital coordinate system, turns sequence using 1-2-3 postures.
The definition of slanted bar band is：Two point A and B of known earth surface, then the bad circular arc of A points to B points is that 2 points of A, B is true
Fixed slanted bar band.
As shown in Figure 1, the quick motor-driven middle three-axis attitude along the imaging of slanted bar band of satellite calculates, steps are as follows：
(1) as shown in figure 3, the position coordinates (x, y, z) for being admittedly with establishing slanted bar band and the circle being imaged between cumulative time t
Locus model is as follows：
Wherein, RmFor the arc radius of slanted bar band, AetFor newly-built slanted bar with plane coordinate system and ground be admittedly between turn
Change matrix, Ω is slanted bar with the angle between the vector of beginning and end the earth's core, and T is that slanted bar band is imaged total duration；
As shown in Fig. 2, modeling process and intermediate quantity computational methods are as follows：
(1a) is according to geographical longitude and latitude of the slanted bar with starting pointGeographical longitude and latitude of the slanted bar with terminal
The earth's core longitude and latitude is calculated, calculation formula is as follows：
λe1=λ1
λe2=λ2
In formula,For the earth's core longitude and latitude of the slanted bar with starting point A,For the ground the heart channel of Hang-Shaoyin of slanted bar with terminal B
Latitude, f are compression of the earth；
(1b) calculates slanted bar according to the earth's core longitude and latitude obtained by step (1a), slanted bar band start position, slanted bar band final position
The arc radius of band, calculation formula are as follows：
Rm=(R1+R2)/2
In formula, RmFor slanted bar band arc radius, R1And R2Respectively earth radius of the slanted bar with starting point, final position is logical
Cross following formula resolving：
In formula, ReFor terrestrial equator radius,For the latitude of selected location；
(1c) in body-fixed coordinate system, according to vector OAs of the geocentric origin O to slanted bar with starting point Ae, geocentric origin O is to oblique
The vector OB of band starting point Be, slanted bar band arc radius R obtained by step (1b)m, calculate vector OAe, vector OBeSlanted bar band pair
Answer angle Ω, computational methods as follows：
(1d) calculates slanted bar band according to push-scanning image ground velocity and is imaged total duration T, and calculation formula is as follows：
vd=k ωsRm
In formula, vdFor push-scanning image ground velocity, ωsFor the orbit angular velocity of satellite, k is velocity coeffficient, value range 0.8
~1.2；
(1e) establishes slanted bar band plane coordinate system, and using geocentric origin O as origin, OA is x-axis, and OB is z-axis, and y-axis meets the right side
Gimmick then, and carries out matrix conversion by slanted bar band coordinate system and body-fixed coordinate system transition matrix, wherein slanted bar band coordinate system with
The computational methods of body-fixed coordinate system transition matrix are as follows：
Aet=[OAe OBe OCe][OAt OBt OCt]-1
In formula, OAe、OBeThe vector for being OA, OB in body-fixed coordinate system, OCeFor OAe、OBeMultiplication cross vector, wherein：
OAe=[xa ya za]T
OBe=[xb yb zb]T
OCe=OAe×OBe
OAt、OBtFor OA, OB in slanted bar with the vector in plane coordinate system, OCtFor OAt、OBtMultiplication cross vector, wherein：
OAt=[Rm 0 0]T
OBt=[RmcosΩ RmsinΩ 0]T
OCt=OAt×OBt
(2) it is based on the roll angle that slanted bar obtained by step (1) calculates arbitrary imaging moment satellite with Circular test modelWith bow
Elevation angle theta, steps are as follows for calculating：
(2a) calculates position vectors of the arbitrary imaging t moment observation point P in the case where ground is admittedly based on slanted bar with Circular test model
Pe；
(2b) calculates the vector S P that satellite S under orbit coordinate is directed toward observation point Po, calculation formula is as follows：
SPo=Aoi·(AiePe-r)
In formula, r is position vectors of the known satellite S under inertial system, AieBe solid system to inertial system transition matrix,
AoiIt is transition matrix of the inertial system to track system.
(2c) calculates arbitrary imaging t moment satellite roll angle and pitch angle, calculation formula are as follows：
(3) it is based on the roll angle that the slanted bar that step (1) obtains is obtained with Circular test model and step (2)And pitch angle
θ calculates the yaw angle of satellite.
The yaw angle size is equal to drift angle, it is equal to movement speed vs of the observation point P with respect to image planesbWith image plane x-axis
Angle.Under the Satellite Camera coordinate system overlapped with satellite body coordinate system, movement speed vs of the observation point P with respect to image planesb
For：
vb=(ωe×Re)b-(ωs×Re)b-ωb×SPb
Wherein, (ωe×Re)bThe absolute movement speed for being target point P under inertial system；(ωs×Re)bFor target point P by
In the velocity of following that the rotation of satellite orbit motion coordinate system is brought；ωb×SPbFor target point P because of the motor-driven band of the attitude of satellite
The velocity of following come.
Roll angle of the slanted bar with Circular test model and step (2) acquisition obtained based on step (1)And pitching angle theta,
The yaw angle of satellite is calculated, computational methods are as follows：
In formula, VP(t) it is the sliding speed of arbitrary t moment ground observation point, it is contemplated that slanted bar band Circular test model is
Give the functional relation expression formula of position coordinates x, y, z and imaging time t of the observation point in the case where ground is admittedly.Therefore, when arbitrary t
Carving the sliding speed of ground observation point can be expressed as in the case where ground is admittedly：
In formula, [VP(t)]ePrecisely due to the observation point that satellite orbit motion, attitude maneuver and earth rotation synthesize exists
Ground be admittedly under velocity vector.
The sliding speed of arbitrary t moment ground observation point is expressed as in satellite body coordinate system：[VP(t)]b=
AboAoiAie[VP(t)]e；
Wherein, AboFor the attitude matrix of this system from orbital coordinate system to satellite side-sway and after pitching is motor-driven
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (6)
1. a kind of motor-driven middle attitude adjusting method along the imaging of slanted bar band of agility satellite, it is characterised in that steps are as follows：
(1) Circular test model of the slanted bar with image space coordinate with imaging cumulative time is established in body-fixed coordinate system；
(2) arbitrary imaging moment satellite roll angle and pitch angle are calculated according to Circular test model obtained by step (1)；
(3) it utilizes satellite roll angle and pitch angle obtained by Circular test model and step (2) obtained by step (1) to calculate imaging moment to defend
Star yaw angle obtains the complete attitude of satellite.
2. a kind of quick motor-driven middle attitude adjusting method along the imaging of slanted bar band of satellite according to claim 1, feature
It is：In the step (1), establishes Circular test model and be as follows：
(1a) is according to geographical longitude and latitude of the slanted bar with starting pointGeographical longitude and latitude of the slanted bar with terminalIt calculates
The earth's core longitude and latitude, calculation formula are as follows：
λe1=λ1
λe2=λ2
In formula, λe1、For the earth's core longitude and latitude of the slanted bar with starting point A, λe2、For the earth's core longitude and latitude of the slanted bar with terminal B, f is
Compression of the earth；
(1b) calculates slanted bar band according to the earth's core longitude and latitude obtained by step (1a), slanted bar band start position, slanted bar band final position
Arc radius, calculation formula are as follows：
Rm=(R1+R2)/2
In formula, RmFor slanted bar band arc radius, R1And R2Respectively earth radius of the slanted bar with starting point, final position, by with
Lower formula resolves：
In formula, ReFor terrestrial equator radius,For the latitude of selected location；
(1c) in body-fixed coordinate system, according to vector OAs of the geocentric origin O to slanted bar with starting point Ae, geocentric origin O to slanted bar takes up
The vector OB of point Be, slanted bar band arc radius R obtained by step (1b)m, calculate vector OAe, vector OBeSlanted bar band correspond to angle
Ω, computational methods are as follows：
(1d) calculates slanted bar band according to push-scanning image ground velocity and is imaged total duration T, and calculation formula is as follows：
vd=k ωsRm
In formula, vdFor push-scanning image ground velocity, ωsFor the orbit angular velocity of satellite, k is velocity coeffficient；
(1e) obtains slanted bar band coordinate system and body-fixed coordinate system transition matrix A by calculatinget；
(1f) according to step (1a)~(1e) establish image space coordinate in imaging the cumulative time Circular test model it is as follows：
3. a kind of quick motor-driven middle attitude adjusting method along the imaging of slanted bar band of satellite according to claim 2, feature
It is：The slanted bar band coordinate system and body-fixed coordinate system transition matrix AetComputational methods be：
Slanted bar band plane coordinate system is established, using geocentric origin O as origin, OA is x-axis, and OB is z-axis, and y-axis meets right-hand rule, meter
It is as follows to calculate formula：
Aet=[OAe OBe OCe][OAt OBt OCt]-1
In formula, OAe、OBeThe vector for being OA, OB in body-fixed coordinate system, OCeFor OAe、OBeMultiplication cross vector, wherein：
OAe=[xa ya za]T
OBe=[xb yb zb]T
OCe=OAe×OBe
OAt、OBtFor OA, OB in slanted bar with the vector in plane coordinate system, OCtFor OAt、OBtMultiplication cross vector, wherein：
OAt=[Rm 0 0]T
OBt=[RmcosΩ RmsinΩ 0]T
OCt=OAt×OBt。
4. a kind of quick motor-driven middle attitude adjusting method along the imaging of slanted bar band of satellite according to claim 2, feature
It is：In the step (2), arbitrary imaging moment satellite roll angleIt is as follows with the calculation formula of satellite pitching angle theta：
In formula, SPo(y)The vector y-axis durection component of observation point P, SP are directed toward for satellite S under orbital coordinate systemo(x)For orbit coordinate
The lower satellite S of system is directed toward the vector x-axis direction component of observation point P, SPo(z)The arrow of observation point P is directed toward for satellite S under orbital coordinate system
Z-axis durection component is measured, r is position vectors of the satellite S in inertial system, AieBe solid system to the transition matrix of inertial system, AoiIt is used
Property system to track system transition matrix,
SPo=Aoi·(AiePe-r)
In formula, PeIt is the position vector of the P that is obtained with Circular test model based on slanted bar in the case where ground is admittedly.
5. a kind of quick motor-driven middle attitude adjusting method along the imaging of slanted bar band of satellite according to claim 4, feature
It is：In the step (3), satellite yaw angle φ, computational methods are calculated according to satellite pitch angle obtained by step (2) and roll angle
It is as follows：
In formula, VP(t) it is the sliding speed of arbitrary t moment ground observation point, [VP(t)]b(y)For under satellite body coordinate system
The sliding speed y-axis component velocity of arbitrary t moment ground observation point, [VP(t)]b(x)For arbitrary t under satellite body coordinate system when
The sliding speed x-axis component velocity of ground observation point is carved, calculation formula is as follows：
[VP(t)]b=AboAoiAie[VP(t)]e
In formula, the sliding speed [V in the case where ground is admittedlyP(t)]eCalculation formula is as follows：
In formula, AboFor from orbital coordinate system to satellite side-sway and pitching it is motor-driven after this system attitude matrix, wherein：
6. a kind of quick motor-driven middle attitude adjusting method along the imaging of slanted bar band of satellite according to claim 2, feature
It is：In the step (1d), the value range of velocity coeffficient k is 0.8~1.2.
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| CN113063436A (en) * | 2021-02-25 | 2021-07-02 | 上海卫星工程研究所 | Forecasting method and system for evaluating satellite stability and pointing accuracy on-orbit performance |
| CN114494895A (en) * | 2021-11-26 | 2022-05-13 | 哈尔滨工业大学 | Push-broom method for searching ultra-large range area of high orbit satellite |
| US20230086393A1 (en) * | 2020-03-03 | 2023-03-23 | Airbus Defence And Space Sas | Method for acquiring images of a terrestrial region using a spacecraft |
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| 黄群东，等: "《敏捷卫星宽幅动态成像姿态调整技术研究》", 《航天器工程》 * |
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| CN110111260A (en) * | 2019-05-20 | 2019-08-09 | 哈尔滨工业大学 | A kind of method, apparatus and computer storage medium for planning Satellite Formation Flying strips mosaic imaging task |
| CN110111260B (en) * | 2019-05-20 | 2020-06-05 | 哈尔滨工业大学 | Method, device and medium for planning formation satellite strip splicing imaging task |
| US20230086393A1 (en) * | 2020-03-03 | 2023-03-23 | Airbus Defence And Space Sas | Method for acquiring images of a terrestrial region using a spacecraft |
| US11802766B2 (en) * | 2020-03-03 | 2023-10-31 | Airbus Defence And Space Sas | Method for acquiring images of a terrestrial region using a spacecraft |
| CN113063436A (en) * | 2021-02-25 | 2021-07-02 | 上海卫星工程研究所 | Forecasting method and system for evaluating satellite stability and pointing accuracy on-orbit performance |
| CN113063436B (en) * | 2021-02-25 | 2022-07-01 | 上海卫星工程研究所 | Forecasting method and system for evaluating satellite stability and pointing accuracy on-orbit performance |
| CN114494895A (en) * | 2021-11-26 | 2022-05-13 | 哈尔滨工业大学 | Push-broom method for searching ultra-large range area of high orbit satellite |
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