CN108613655B - Attitude adjustment method for imaging along inclined strip in agile satellite machine - Google Patents

Attitude adjustment method for imaging along inclined strip in agile satellite machine Download PDF

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CN108613655B
CN108613655B CN201810398232.5A CN201810398232A CN108613655B CN 108613655 B CN108613655 B CN 108613655B CN 201810398232 A CN201810398232 A CN 201810398232A CN 108613655 B CN108613655 B CN 108613655B
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陈雄姿
谢松
王抒雁
赵键
李志壮
刘思远
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Aerospace Dongfanghong Satellite Co Ltd
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Abstract

A method for adjusting the attitude of an agile satellite in motion imaging along an oblique strip includes establishing a circular track model between position coordinates of the oblique strip under a ground fixation system and imaging accumulation time, calculating position vectors of a shooting point at any imaging moment in the ground fixation system, and further calculating a rolling angle, a pitch angle and a yaw angle of a satellite at the moment.

Description

Attitude adjustment method for imaging along inclined strip in agile satellite machine
Technical Field
The invention relates to an attitude adjustment method for imaging along an inclined strip in an agile satellite locomotive, which is used for realizing the attitude adjustment of a camera carrier in the imaging process along a given inclined strip and belongs to the technical field of spacecraft attitude adjustment.
Background
The traditional optical remote sensing agile satellite generally realizes push-broom imaging of a target area by means of orbital motion of the satellite, the attitude of the satellite is kept fixed in the whole imaging process, and an obtained imaging strip is parallel to the off-satellite line. The imaging coverage capability of the imaging mode in the east-west direction is weak, and for the target with larger width in the east-west direction, the coverage must be realized by splicing a plurality of parallel strips, and the coverage efficiency is very low. Along with the rapid improvement of the attitude mobility, the novel agile satellite can adjust the visual axis to point to the ground through the real-time maneuvering of the attitude to carry out push-broom imaging, the imaging mode is called as 'imaging in motion' for short, the imaging track of the novel agile satellite does not need to be parallel to the track of a point below the satellite any more, and the problem of imaging of the satellite along the east-west direction can be effectively solved. The most common imaging in motion at present is imaging along oblique bands forming an angle with the locus of the points under the star.
When imaging along a given oblique strip in the attitude maneuvering process of the novel agile satellite, the three-axis attitude of the satellite needs to be changed in real time, and the attitude in the imaging process needs to be planned. Yellow crowd east et al provide an attitude adjustment method for agile satellite dynamic imaging, which realizes push-broom imaging in east-west direction (i.e. a strip forms an included angle of 90 degrees with an off-satellite line) by adjusting a three-axis attitude angle of a satellite in real time (yellow crowd east, huanglin, yanfang, etc.. an attitude adjustment method for agile satellite dynamic imaging, ZL 201310028956.8); huangmin et al provide a pose adjustment method for imaging along oblique stripes suitable for oblique stripe imaging at any fixed angle to the locus of points below the star (huangmin, guyujun, yanfan, etc. a pose adjustment method for imaging along oblique stripes, CN 201510411941.9). The disadvantages of the two methods are mainly expressed in that: in the description of the strips and the calculation process of the attitude angles, the earth is assumed to be an ideal sphere and the orbital plane of the satellite is an absolute plane, which are not consistent with the actual situation of the sun synchronous orbit optical remote sensing satellite to earth imaging, the satellite attitude planning has deviation, and the requirement of high earth pointing accuracy of a high-resolution optical remote sensing satellite with a small camera field angle cannot be met, even the situation that the target cannot be covered occurs. Chen Xiongzi et al provides a posture adjustment method for imaging along a curved strip in an agile satellite machine (Chen Xiong, Xie Song, Wang Xiyan, etc. A posture adjustment method for imaging along a curved strip in an agile satellite machine, CN201710595137. X). The advantage of this method is that it can deal with the problem of single continuous imaging along the curve band, and the oblique band is a special case of the curve band in nature, but it is not reasonable to establish the polynomial model of the curve band by iterative calculation for each oblique band.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problems that the coverage capability of a parallel strip scanning mode in the prior art is weak, and the existing oblique strip scanning method cannot meet the satellite ground pointing accuracy with a small camera field angle, the posture adjusting method for imaging along the oblique strip in the agile satellite motor is provided.
The technical scheme for solving the technical problems is as follows:
an attitude adjustment method for imaging along an inclined strip in an agile satellite locomotive comprises the following specific steps:
(1) establishing a circular track model of the imaging position coordinates and the imaging accumulated time of the oblique strips in a ground-fixed coordinate system;
(2) calculating a satellite rolling angle and a satellite pitching angle at any imaging time according to the circular track model obtained in the step (1);
(3) and (3) calculating the satellite yaw angle at the imaging moment by using the circular track model obtained in the step (1) and the satellite roll angle and the pitch angle obtained in the step (2), and obtaining the complete satellite attitude.
In the step (1), the specific steps of establishing the circular trajectory model are as follows:
(1a) geographical latitude and longitude according to starting point of oblique strip
Figure BDA0001645085840000021
Geographical latitude and longitude of oblique strip terminal
Figure BDA0001645085840000022
And calculating the latitude and longitude of the geocentric, wherein the calculation formula is as follows:
λe1＝λ1
Figure BDA0001645085840000023
λe2＝λ2
Figure BDA0001645085840000024
in the formula (I), the compound is shown in the specification,
Figure BDA0001645085840000025
is the latitude and longitude of the geocentric of the starting point A of the oblique strip,
Figure BDA0001645085840000026
the longitude and latitude of the geocentric region being the terminal point B of the oblique stripF is the earth's ellipse;
(1b) calculating the arc radius of the oblique strip according to the latitude and longitude of the geocentric, the starting point position of the oblique strip and the end point position of the oblique strip obtained in the step (1a), wherein the calculation formula is as follows:
Rm＝(R1+R2)/2
in the formula, RmIs a diagonal strip with a circular arc radius, R1And R2The earth radiuses of the starting point and the end point of the oblique strip are respectively calculated by the following formulas:
Figure BDA0001645085840000031
in the formula, ReIs the radius of the equator of the earth,
Figure BDA0001645085840000032
as the latitude of the selected location;
(1c) in the earth-fixed coordinate system, according to the vector OA from the origin O of the geocentric to the starting point A of the oblique stripeVector OB from origin O of geocentric to starting point B of oblique stripeThe arc radius R of the oblique strip obtained in the step (1b)mComputing vector OAeVector OBeThe calculation method of the included angle omega corresponding to the inclined strip is as follows:
Figure BDA0001645085840000033
(1d) calculating the total imaging duration T of the oblique strips according to the push-broom imaging ground speed, wherein the calculation formula is as follows:
vd＝kωsRm
Figure BDA0001645085840000034
in the formula, vdFor push-broom imaging of ground speed, omegasThe orbital angular velocity of the satellite is obtained, and k is a velocity coefficient;
(1e) obtaining the coordinate system of the oblique strip and the ground fixing seat through calculationMark system conversion matrix Aet；
(1f) Establishing a circular track model of the imaging position coordinates in the imaging accumulated time according to the steps (1a) to (1e) as follows:
Figure BDA0001645085840000035
the transformation matrix A of the oblique strip coordinate system and the ground-fixed coordinate systemetThe calculation method comprises the following steps:
establishing an inclined strip plane coordinate system, taking the geocentric origin O as the origin, OA as the x axis, OB as the z axis, and the y axis according with the right-hand rule, wherein the calculation formula is as follows:
Aet＝[OAe OBe OCe][OAt OBt OCt]-1
in the formula, OAe、OBeIs the vector of OA, OB in the earth-fixed coordinate system, OCeIs OAe、OBeThe cross-product vector of (a), wherein:
OAe＝[xa ya za]T
OBe＝[xb yb zb]T
OCe＝OAe×OBe
OAt、OBtis the vector of OA, OB in the oblique strip plane coordinate system, OCtIs OAt、OBtThe cross-product vector of (a), wherein:
OAt＝[Rm 0 0]T
OBt＝[RmcosΩ RmsinΩ0]T
OCt＝OAt×OBt
in the step (2), the rolling angle of the satellite at any imaging time
Figure BDA0001645085840000041
And satellite pitch angle θ is calculated as follows:
Figure BDA0001645085840000042
Figure BDA0001645085840000043
in the formula, SPo(y)Is a vector y-axis direction component of a satellite S pointing to an observation point P under an orbit coordinate system, SPo(x)Is a vector x-axis direction component of a satellite S pointing to an observation point P under an orbit coordinate system, SPo(z)A vector z-axis direction component of the satellite S pointing to an observation point P under the orbital coordinate system, r is a position vector of the satellite S in an inertial system, AieIs a conversion matrix from the earth-fixed system to the inertial system, AoiIs a transformation matrix from the inertial system to the orbital system,
SPo＝Aoi·(AiePe-r)
in the formula, PeIs a position vector of P in the earth's system obtained based on the oblique strip circular track model.
In the step (3), a satellite yaw angle phi is calculated according to the pitch angle and the roll angle of the satellite obtained in the step (2), and the calculation method comprises the following steps:
Figure BDA0001645085840000051
in the formula, VP(t) is the sliding speed of the ground observation point at any time t, [ V ]P(t)]b(y)Is the sliding speed y-axis component speed of the ground observation point at any time t under the satellite body coordinate system, [ V [ [ V ]P(t)]b(x)The calculation formula is as follows for the sliding speed x-axis partial speed of the ground observation point at any time t under the satellite body coordinate system:
[VP(t)]b＝AboAoiAie[VP(t)]e
in the formula, the sliding speed [ V ] under the ground systemP(t)]eThe calculation formula is as follows:
Figure BDA0001645085840000052
in the formula, AboIs an attitude matrix from an orbital coordinate system to a satellite yaw and pitch steered rear body system, wherein:
Figure BDA0001645085840000053
preferably, in the step (1d), the value range of the speed coefficient k is 0.8-1.2.
Compared with the prior art, the invention has the advantages that:
(1) according to the attitude adjusting method for imaging along the oblique strip in the agile satellite machine, the circular track mathematical modeling of the oblique strip between the position coordinate of a terrestrial system and the imaging accumulation time is established on the basis of considering the earth ellipse ratio, the more accurate expected attitude of the satellite can be obtained on the basis of the model and the real orbit of the satellite, the requirement of high pointing accuracy to the ground is met, and the condition that the target cannot be covered when the camera view angle is small is effectively avoided; secondly, the model takes the imaging accumulated time as an independent variable, and is very suitable for arranging the satellite in-orbit imaging task; in addition, the model is mainly realized based on coordinate conversion, and is different from the existing method based on the spherical geometry principle, so that the complex trigonometric function calculation is avoided;
(2) in the method, the drift angle is compensated by yaw adjustment in the calculation process of the attitude parameters of the camera carrier. Compared with the existing bias angle compensation of the oblique strip imaging technology based on the assumption that the earth is an ideal sphere, the bias angle calculation method based on the circular trajectory model is more accurate, and higher imaging quality can be obtained.
Drawings
FIG. 1 is a flow chart of the attitude adjustment steps provided by the present invention;
FIG. 2 is a flow chart of modeling of a diagonal strip circular trajectory model provided by the invention;
FIG. 3 is a schematic diagram of a diagonal strip circular trajectory model provided by the present invention;
FIG. 4 is a schematic diagram of imaging along a slant strip in an agile satellite maneuver provided by the present invention;
Detailed Description
An attitude adjustment method for imaging along an inclined strip in an agile satellite machine can establish an imaging geometric model as shown in figure 4 according to the imaging principle of an agile optical remote sensing satellite: the orbital coordinate system of the satellite is S-XoYoZoS is the center of mass of the satellite, ZoAxis directed to the earth's center, XoThe axis pointing in the direction of flight, YoAnd determining by a right-hand rule that the subsatellite point is S' and P is any point on the oblique strip shot by the satellite at the current time t. And the optical axis of the camera is coincided with the yaw axis of the satellite body coordinate system. And (4) assuming that the initial time of the satellite body coordinate system is coincident with the orbit coordinate system, and adopting 1-2-3 attitude rotation sequence.
The diagonal bands are defined as: knowing two points a and B on the earth's surface, the inferior arc from point a to point B is an oblique band defined by A, B points.
As shown in fig. 1, the three-axis attitude calculation for imaging along the oblique strip in the agile satellite machine comprises the following steps:
(1) as shown in fig. 3, a circular trajectory model between the position coordinates (x, y, z) of the oblique strip geostationary system and the imaging integration time t is established as follows:
Figure BDA0001645085840000061
wherein R ismIs the radius of the arc of the oblique strip, AetThe method comprises the following steps of (1) forming a newly-built transformation matrix between a plane coordinate system of the oblique strip and a ground fixation system, wherein omega is an included angle between geocentric vectors of a starting point and an end point of the oblique strip, and T is the total imaging duration of the oblique strip;
as shown in fig. 2, the modeling process and the intermediate quantity calculation method are as follows:
(1a) geographical latitude and longitude according to starting point of oblique strip
Figure BDA0001645085840000071
Geographical longitude with oblique strip end pointLatitude
Figure BDA0001645085840000072
And calculating the latitude and longitude of the geocentric, wherein the calculation formula is as follows:
λe1＝λ1
Figure BDA0001645085840000073
λe2＝λ2
Figure BDA0001645085840000074
in the formula (I), the compound is shown in the specification,
Figure BDA0001645085840000075
is the latitude and longitude of the geocentric of the starting point A of the oblique strip,
Figure BDA0001645085840000076
the geocentric longitude and latitude of the oblique strip end point B are shown, and f is the earth ellipse ratio;
(1b) calculating the arc radius of the oblique strip according to the latitude and longitude of the geocentric, the starting point position of the oblique strip and the end point position of the oblique strip obtained in the step (1a), wherein the calculation formula is as follows:
Rm＝(R1+R2)/2
in the formula, RmIs a diagonal strip with a circular arc radius, R1And R2The earth radiuses of the starting point and the end point of the oblique strip are respectively calculated by the following formulas:
Figure BDA0001645085840000077
in the formula, ReIs the radius of the equator of the earth,
Figure BDA0001645085840000078
as the latitude of the selected location;
(1c) sit firmly on the groundIn the system, a vector OA from the origin O of the geocentric to the starting point A of the oblique bandeVector OB from origin O of geocentric to starting point B of oblique stripeThe arc radius R of the oblique strip obtained in the step (1b)mComputing vector OAeVector OBeThe calculation method of the included angle omega corresponding to the inclined strip is as follows:
Figure BDA0001645085840000079
(1d) calculating the total imaging duration T of the oblique strips according to the push-broom imaging ground speed, wherein the calculation formula is as follows:
vd＝kωsRm
Figure BDA00016450858400000710
in the formula, vdFor push-broom imaging of ground speed, omegasThe orbit angular velocity of the satellite is adopted, k is a velocity coefficient, and the value range is 0.8-1.2;
(1e) establishing an oblique strip plane coordinate system, taking the geocentric origin O as the origin, OA as the x axis, OB as the z axis, and the y axis conforming to the right-hand rule, and performing matrix conversion through an oblique strip coordinate system and a ground-fixed coordinate system conversion matrix, wherein the calculation method of the oblique strip coordinate system and the ground-fixed coordinate system conversion matrix is as follows:
Aet＝[OAe OBe OCe][OAt OBt OCt]-1
in the formula, OAe、OBeIs the vector of OA, OB in the earth-fixed coordinate system, OCeIs OAe、OBeThe cross-product vector of (a), wherein:
OAe＝[xa ya za]T
OBe＝[xb yb zb]T
OCe＝OAe×OBe
OAt、OBtis the vector of OA, OB in the oblique strip plane coordinate system, OCtIs OAt、OBtThe cross-product vector of (a), wherein:
OAt＝[Rm 0 0]T
OBt＝[RmcosΩ RmsinΩ 0]T
OCt＝OAt×OBt
(2) calculating the rolling angle of the satellite at any imaging time based on the oblique strip circular track model obtained in the step (1)
Figure BDA0001645085840000081
And a pitch angle θ, the calculation steps are as follows:
(2a) calculating a position vector P of an observation point P at any imaging t moment under a geostationary system based on an inclined strip circular track modele；
(2b) Calculating a vector SP of a satellite S pointing to an observation point P under an orbital coordinateoThe calculation formula is as follows:
SPo＝Aoi·(AiePe-r)
where r is a position vector of a known satellite S in the inertial system, AieIs a conversion matrix from the earth-fixed system to the inertial system, AoiIs the transformation matrix from the inertial system to the orbital system.
(2c) And (3) calculating the rolling angle and the pitch angle of the satellite at any imaging time t, wherein the calculation formula is as follows:
Figure BDA0001645085840000091
Figure BDA0001645085840000092
(3) based on the oblique strip circular track model obtained in the step (1) and the rolling angle obtained in the step (2)
Figure BDA0001645085840000093
And pitch angle theta, computing satelliteYaw angle of the star.
The magnitude of the yaw angle is equal to the drift angle which is equal to the moving speed v of the observation point P relative to the image surfacebAngle to the x-axis of the image plane. The moving speed v of the observation point P relative to the image surface under the coordinate system of the satellite camera coinciding with the coordinate system of the satellite bodybComprises the following steps:
vb＝(ωe×Re)b-(ωs×Re)b-ωb×SPb
wherein (ω)e×Re)bThe absolute movement speed of the target point P under the inertial system; (omega)s×Re)bThe tracking speed of the target point P is brought by the rotation of the satellite orbit motion coordinate system; omegab×SPbThe target point P is the velocity involved by the satellite attitude maneuver.
Based on the oblique strip circular track model obtained in the step (1) and the rolling angle obtained in the step (2)
Figure BDA0001645085840000096
And a pitch angle theta, and calculating the yaw angle of the satellite according to the following calculation method:
Figure BDA0001645085840000094
in the formula, VPAnd (t) the sliding speed of the ground observation point at any time t, and a functional relation expression of the position coordinates x, y and z of the observation point under the ground fixation system and the imaging time t is given by considering an inclined strip circular track model. Therefore, the sliding speed of the ground observation point at any time t can be expressed as:
Figure BDA0001645085840000095
in the formula, [ V ]P(t)]eNamely the velocity vector of an observation point under the earth fixation system, which is obtained by the combination of satellite orbital motion, attitude maneuver and earth rotation.
The sliding speed of the ground observation point at any time t is expressed in a satellite body coordinate system as follows: [ V ]P(t)]b＝AboAoiAie[VP(t)]e；
Wherein A isboAttitude matrix from orbital coordinate system to satellite yaw and pitch maneuvered back body system
Figure BDA0001645085840000101
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (2)

1. An attitude adjustment method for imaging along an inclined strip in an agile satellite locomotive is characterized by comprising the following steps:
(1) establishing a circular track model of the imaging position coordinates and the imaging accumulated time of the oblique strips in a ground-fixed coordinate system;
the method comprises the following specific steps of establishing a circular track model:
(1a) geographical latitude and longitude according to starting point of oblique strip
Figure FDA0002583903580000011
Geographical latitude and longitude of oblique strip terminal
Figure FDA0002583903580000012
And calculating the latitude and longitude of the geocentric, wherein the calculation formula is as follows:
λe1＝λ1
Figure FDA0002583903580000013
λe2＝λ2
Figure FDA0002583903580000014
in the formula, λe1、
Figure FDA0002583903580000015
The longitude and latitude of the geocentric part of the starting point A of the oblique strip, lambdae2、
Figure FDA0002583903580000016
The geocentric longitude and latitude of the oblique strip end point B are shown, and f is the earth ellipse ratio;
(1b) calculating the arc radius of the oblique strip according to the latitude and longitude of the geocentric, the starting point position of the oblique strip and the end point position of the oblique strip obtained in the step (1a), wherein the calculation formula is as follows:
Rm＝(R1+R2)/2
in the formula, RmIs a diagonal strip with a circular arc radius, R1And R2The earth radiuses of the starting point and the end point of the oblique strip are respectively calculated by the following formulas:
Figure FDA0002583903580000017
in the formula, ReIs the radius of the equator of the earth,
Figure FDA0002583903580000018
as the latitude of the selected location;
(1c) in the earth-fixed coordinate system, according to the vector OA from the origin O of the geocentric to the starting point A of the oblique stripeVector OB from origin O of geocentric to starting point B of oblique stripeThe arc radius R of the oblique strip obtained in the step (1b)mComputing vector OAeVector OBeThe calculation method of the included angle omega corresponding to the inclined strip is as follows:
Figure FDA0002583903580000021
(1d) calculating the total imaging duration T of the oblique strips according to the push-broom imaging ground speed, wherein the calculation formula is as follows:
vd＝kωsRm
Figure FDA0002583903580000022
in the formula, vdFor push-broom imaging of ground speed, omegasThe orbital angular velocity of the satellite is obtained, and k is a velocity coefficient;
(1e) obtaining a transformation matrix A of an oblique strip coordinate system and a ground-fixed coordinate system through calculationet；
Transformation matrix A of oblique strip coordinate system and ground-fixed coordinate systemetThe calculation method comprises the following steps:
establishing an inclined strip plane coordinate system, taking the geocentric origin O as the origin, OA as the x axis, OB as the z axis, and the y axis according with the right-hand rule, wherein the calculation formula is as follows:
Aet＝[OAe OBe OCe][OAt OBt OCt]-1
in the formula, OAe、OBeIs the vector of OA, OB in the earth-fixed coordinate system, OCeIs OAe、OBeThe cross-product vector of (a), wherein:
OAe＝[xa ya za]T
OBe＝[xb yb zb]T
OCe＝OAe×OBe
OAt、OBtis the vector of OA, OB in the oblique strip plane coordinate system, OCtIs OAt、OBtThe cross-product vector of (a), wherein:
OAt＝[Rm 0 0]T
OBt＝[RmcosΩ RmsinΩ 0]T
OCt＝OAt×OBt；
(1f) establishing a circular track model of the imaging position coordinates in the imaging accumulated time according to the steps (1a) to (1e) as follows:
Figure FDA0002583903580000031
(2) calculating a satellite rolling angle and a satellite pitching angle at any imaging time according to the circular track model obtained in the step (1);
wherein the rolling angle of the satellite at any imaging time
Figure FDA0002583903580000032
And satellite pitch angle θ is calculated as follows:
Figure FDA0002583903580000033
Figure FDA0002583903580000034
in the formula, SPo(y)Is a vector y-axis direction component of a satellite S pointing to an observation point P under an orbit coordinate system, SPo(x)Is a vector x-axis direction component of a satellite S pointing to an observation point P under an orbit coordinate system, SPo(z)A vector z-axis direction component of the satellite S pointing to an observation point P under the orbital coordinate system, r is a position vector of the satellite S in an inertial system, AieIs a conversion matrix from the earth-fixed system to the inertial system, AoiIs a transformation matrix from the inertial system to the orbital system,
SPo＝Aoi·(AiePe-r)
in the formula, PeThe position vector of P under the earth fixation system is obtained based on an oblique strip circular track model;
(3) calculating the satellite yaw angle at the imaging moment by using the circular track model obtained in the step (1) and the satellite roll angle and the pitch angle obtained in the step (2), and obtaining the complete satellite attitude, wherein:
the calculation method for calculating the satellite yaw angle phi comprises the following steps:
Figure FDA0002583903580000041
in the formula, VP(t) is the sliding speed of the ground observation point at any time t, [ V ]P(t)]b(y)Is the sliding speed y-axis component speed of the ground observation point at any time t under the satellite body coordinate system, [ V [ [ V ]P(t)]b(x)The calculation formula is as follows for the sliding speed x-axis partial speed of the ground observation point at any time t under the satellite body coordinate system:
[VP(t)]b＝AboAoiAie[VP(t)]e
in the formula, the sliding speed [ V ] under the ground systemP(t)]eThe calculation formula is as follows:
Figure FDA0002583903580000042
in the formula, AboIs an attitude matrix from an orbital coordinate system to a satellite yaw and pitch steered rear body system, wherein:
Figure FDA0002583903580000043
2. the attitude adjustment method for imaging along an oblique band in an agile satellite machine according to claim 1, characterized in that: in the step (1d), the value range of the speed coefficient k is 0.8-1.2.
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