CN109507665B - Satellite-borne AIS real-time information guidance-based on-satellite autonomous imaging method - Google Patents
Satellite-borne AIS real-time information guidance-based on-satellite autonomous imaging method Download PDFInfo
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Abstract
The invention relates to an on-satellite autonomous imaging method based on satellite-borne AIS real-time information guidance, which comprises the following steps: (1) capturing and confirming a ship target to be observed; (2) determining a satellite observation time and an observation area; (3) calculating the observation attitude of the satellite to the ship; (4) and adjusting the satellite attitude, and determining SAR load to perform imaging work. The method utilizes the satellite-borne AIS information to carry out matching screening on the interested target in real time, determines the area where the target is located, realizes real-time resolving of data such as time, attitude, imaging parameters and the like required by SAR load imaging, automatically generates a satellite attitude adjusting instruction and an SAR load starting imaging instruction, and completes imaging tasks on the selected area and the selected target. The comprehensive utilization of the AIS information and the SAR imaging information improves the identification and confirmation efficiency of the marine ship target, improves the imaging accuracy of the ship target and improves the observation efficiency of the system.
Description
Technical Field
The invention relates to an on-board autonomous imaging method based on satellite-borne AIS real-time information guidance. The design can be applied to the fields of ocean situation perception, sea surface emergency search and rescue and the like.
Background
The imaging of the traditional SAR satellite is designed aiming at a certain specific scene or a fixed target (building), the imaging instruction is designed in advance on the ground or is injected on the ground, and the imaging task of a marine ship is not designed flexibly because the position of the marine ship is not determined in advance, and particularly the randomness is high when the SAR imaging task is carried out on a plurality of non-cooperative marine ships. According to the traditional satellite-borne SAR system, when a ship is imaged, ship position information is guided by imaging results of other satellites or information of electronic reconnaissance, the time interval from the acquisition of the ship position information to the transit of the SAR satellite is long, the ship can drive away from the original position when the SAR satellite has imaging conditions, and the difficulty of planning the imaging task of the SAR satellite on a sea surface ship target is high. At this time, a method for planning an onboard autonomous imaging task is urgently needed, which can capture ship information in real time onboard and perform onboard autonomous design of the imaging task, so as to complete the real-time imaging task of the onboard SAR on the ship.
An Automatic Identification System (AIS) for ships is an offshore radio communication system, which automatically broadcasts and receives dynamic (position, speed, course, etc.) and static (name, nationality, call sign, draft, etc.) information of ships, and due to the mandatory installation and self-reporting features of AIS, AIS is gradually popularized and applied to various aspects of sea area sensing, sea surface monitoring, etc., and its military and civil values are increasingly highlighted. The new generation satellite-borne ship identification subsystem (satellite-borne AIS system) can receive, process and extract AIS information transmitted by ship AIS equipment on a satellite in real time, and realizes the monitoring of an open sea ship and the identification and monitoring of target attributes; and analyzing the AIS message in real time, and monitoring whether an interested target exists in the observation area. Based on the information, autonomous imaging task planning can be completed on the satellite in real time, and imaging of SAR loads to specific ship targets by the AIS on the satellite in real time is realized.
Disclosure of Invention
The technical problems solved by the invention are as follows: aiming at the defects of the prior art, the invention provides an on-satellite SAR autonomous imaging process design based on satellite-borne AIS real-time information guidance, which utilizes the satellite-borne AIS information to match and screen an interested target in real time, determines the area where the target is located, realizes the real-time solution of data such as time, attitude, imaging parameters and the like required by SAR load imaging, automatically generates a satellite attitude adjusting instruction and an SAR load starting imaging instruction, and completes the imaging task of a selected area and the selected target. The comprehensive utilization of the AIS information and the SAR imaging information improves the identification and confirmation efficiency of the marine ship target, improves the imaging accuracy of the ship target and improves the observation efficiency of the system.
The technical scheme of the invention is realized as follows: an on-board autonomous imaging method based on satellite-borne AIS real-time information guidance comprises the following steps:
(1) capturing and confirming a ship target to be observed;
(2) determining a satellite observation time and an observation area;
(3) calculating the observation attitude of the satellite to the ship;
(4) and adjusting the satellite attitude, and determining SAR load to perform imaging work.
The specific process of the step (1) is as follows: the satellite-borne AIS receiving system receives AIS real-time information of ships and warships, extracts ship information in AIS message data in real time, wherein the ship information comprises ship identity, ship position and ship course and speed information, target identification is completed by utilizing the ship identity, and the identification completion time is marked as initial time T0.
The specific process of the step (2) is as follows:
determining the relative spatial position of the ship target relative to the satellite according to the current position coordinates of the ship and the satellite, and preliminarily calculating the moment when the satellite flies over the target by combining the speed of the satellite and the speed of the ship, wherein the moment is marked as T1; the SAR load enters the observation region to start working before flying to the target, and the time of entering the observation region is marked as T2.
The calculation method of the T1 is as follows:
the satellite captures and identifies the T0 moment of the ship target, and the position of the ship under the ground fixation at the moment is (P)0 boat)ECFVelocity is (V)0 boat)ECF(ii) a The position of the satellite in the earth's fixed system is (P)0 Star)ECFVelocity is (V)0 Star)ECF；
41) Selecting [ T0, T0+ delta ] as a numerical forecasting time interval, wherein delta represents an increment value and is selected according to the track characteristics;
42) step is chosen small enough and the time period T0, T0+ delta is chosen]Dispersing into a time point set, and recording as T ═ Ti1, …, n, where n is floor (Δ/step), floor (×) is a real number rounding operation;
43) forecasting satellite position and speed { (Pi star) ECF | i { (Pi star) 1, …, n } at each time according to the satellite position and speed at time T0;
44) forecasting the position and speed of the ship at each time according to the position and speed of the ship at the time T0 { (P)I ship)ECF1, | i ═ …, n }; the vessels being disposed in uniform motion, i.e.
(PI ship)ECF＝(P0 boat)ECF+(V0 boat)ECF(ti-t0)
45) Calculating the relative distance between the satellite and the ship at each moment, and recording as { DI star ship|i＝1,…，n}，DI star shipThe distance between the satellite and the ship at the moment ti is expressed by
DI star ship＝||(Pi star)ECF-(PI ship)ECF||
Wherein | | | | is norm operation;
46) get { DI star shipI is the minimum value of 1, …, n, and the time corresponding to the minimum value is T1.
The calculation method of the T2 is as follows: the position of the ship after the time T1 is determined as the center of the observation scene, the position of the target 20 kilometers ahead and behind the x axis can be determined as the observation area S, and the observation starting time is determined by the imaging mode and is marked as T2.
The specific process of the step (3) is as follows: and calculating SAR load imaging attitude information according to the position and speed information of the satellite and the target, acquiring beam pointing during satellite imaging, and determining the roll, yaw and pitch triaxial observation attitude of the satellite.
When the rolling, yawing and pitching three-axis observation attitude of the satellite is determined, the calculation method of the attitude Euler angle of the satellite relative to the orbit coordinate system comprises the following steps: the Euler angles are defined according to 123 rotation order;
31) calculating the vector direction of the ship relative to the satellite, and expressing the vector direction under the earth fixation system, and recording the vector direction as (R)ECF：
32) Will (R)ECFConverting to the satellite orbit coordinate system to obtain (R)orbit：
Wherein
A coordinate transformation matrix from an inertia system to a track system;
is a coordinate transformation matrix from the earth fixation system to the inertial system.
33) Note (R)orbitThe three coordinate components are rx, ry and rz respectively, so that the Euler angle of the attitude required by the satellite can be calculated to be
β＝arcsin(rx)
γ＝0
Wherein alpha is a rolling angle, beta is a pitch angle, and gamma is a yaw angle.
The specific process of the step (4) is as follows:
and adjusting the satellite attitude according to the three attitude parameters of alpha, beta and gamma, having SAR imaging beam pointing capability, and determining that the SAR load enters an SAR imaging working mode according to a pre-designed imaging program.
Compared with the prior art, the invention has the following advantages:
(1) compared with the prior art, the invention solves the timeliness of the imaging task planning of the satellite-borne SAR system on the marine ship target, and greatly improves the SAR imaging identification confirmation efficiency of the satellite-borne SAR system on the specific ship target from the imaging task planning of the found target to the full-autonomous implementation of the obtained SAR image on the satellite;
(2) according to the satellite-borne AIS subsystem, the AIS information of the ship is acquired and loaded on the satellite in real time, and the accurate information such as the size, the position, the speed and the course of the ship is acquired through real-time analysis; the satellite-borne SAR system can accurately image the AIS confirmed target, and the accuracy of sea surface ship target identification is effectively improved.
Drawings
Fig. 1 is a workflow of AIS guided SAR imaging.
FIG. 2 is a schematic diagram of a satellite-borne AIS capturing ship signal.
Fig. 3 is a schematic diagram of coordinate system definition.
Fig. 4 is a schematic view of imaging of a satellite-borne SAR vessel.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 and the specific embodiments.
Coordinate system used herein: the earth center inertial coordinate system OE-XIYIZI, the earth center fixed connection coordinate system OE-XFYFZF, the satellite orbit coordinate system OS-XOYOZO, the satellite body coordinate system OS-XBBZB and the antenna coordinate system OA-XAYAZA are shown in figure 3.
The antenna is fixed right below the satellite body, and the OA-XAYAZA three-axis is parallel to the corresponding coordinate axis of the OS-XBBZB. Because the distance between the antenna centroid OA and the satellite centroid OS is short, the satellite centroid is used for replacing an antenna phase center, a satellite body coordinate system replaces an antenna coordinate system, the error of beam projection on the ground is usually in a meter level, and the error can be ignored for a surveying and mapping zone above 20 km.
After the satellite enters the AIS to guide the SAR imaging mode to work, the working process is as follows:
(1) capturing and confirming ship target to be observed
The satellite-borne AIS receiving system receives AIS real-time information of ships and warships, extracts ship information in AIS message data in real time, wherein the ship information comprises ship identity, ship position and ship course and speed information, target identification is completed by utilizing the ship identity, and the identification completion time is marked as initial time T0;
(2) determining satellite observation time and observation area
Determining the relative spatial position of the ship target relative to the satellite according to the current position coordinates of the ship and the satellite, and simultaneously combining the satellite speed and the ship speed to preliminarily calculate the moment when the satellite flies over the target, wherein the moment is marked as T1, the SAR load enters an observation area to start working before flying over the target, and the moment when the SAR load enters the observation area is marked as T2.
The satellite captures and identifies the T0 moment of the ship target, and the position of the ship under the ground fixation at the moment is (P)0 boat)ECFVelocity is (V)0 boat)ECF(ii) a The position of the satellite in the earth's fixed system is (P)0 Star)ECFVelocity is (V)0 Star)ECF. The satellite is planned to fly above the ship at time T1 for one imaging observation.
The calculation method of T1 is as follows:
1) selecting [ T0, T0+ delta ] as a numerical forecasting time interval, wherein delta can be a large enough value according to the track characteristics;
2) step is chosen small enough and the time period T0, T0+ delta is chosen]Dispersing into a time point set, and recording as T ═ TiI ═ 1, …, n }, where n ═ floor (Δ/step), floor (×) is the real number rounding operation.
3) Forecasting satellite position and speed { (Pi star) ECF | i { (Pi star) 1, …, n } at each time according to the satellite position and speed at time T0; the forecasting algorithm is an orbit dynamics integral, and can refer to related monographs of the orbit dynamics, which are not described in detail.
4) Forecasting the position and speed of the ship at each time according to the position and speed of the ship at the time T0 { (P)I ship)ECF1, | i ═ …, n }; the vessels being disposed in uniform motion, i.e.
(PI ship)ECF＝(P0 boat)ECF+(V0 boat)ECF(ti-t0) (1)
5) Calculating the relative distance between the satellite and the ship at each moment, and recording as { DI star ship|i＝1,…，n}，DI star shipThe distance between the satellite and the ship at the moment ti is expressed by
DI star ship＝||(Pi star)ECF-(PI ship)ECF|| (2)
Where | | | | is a norm operation.
6) Get { DI star shipI is the minimum value of 1, …, n, and the time corresponding to the minimum value is T1. At this time, the positions of the satellite and the ship at that time can be further confirmed, and are respectively marked as (P)1 Star)ECF、(P1 boat)ECF。
7) The position of the ship after the time T1 can be determined as the center of the observation scene, the position of the target 20km back and forth along the x axis can be determined as the observation region S, the observation start time is determined by the imaging mode and is marked as T2, as shown in fig. 4.
(3) Calculating the attitude of a satellite to a vessel
And calculating SAR load imaging attitude information according to the position and speed information of the satellite and the target, and obtaining beam pointing during satellite imaging, thereby determining the roll, yaw and pitch triaxial observation attitude of the satellite.
The algorithm given below gives the attitude euler angles of the satellites with respect to the orbital coordinate system, defined in 123-degree rotation.
1) Calculating the vector direction of the ship relative to the satellite, and expressing the vector direction under the earth fixation system, and recording the vector direction as (R)ECF：
2) Will (R)ECFConverting to the satellite orbit coordinate system to obtain (R)orbit：
Wherein
The coordinate transformation matrix from the inertial system to the orbit system can be calculated according to the position and the speed of the satellite;
the coordinate transformation matrix from the earth-fixed system to the inertial system can be calculated from ephemeris according to the imaging time t 1. The relevant algorithms can be found in the orbital dynamics monograph.
3) Note (R)orbitThe three coordinate components are rx, ry and rz respectively, so that the Euler angle of the attitude required by the satellite can be calculated to be
Wherein alpha is a rolling angle, beta is a pitch angle, and gamma is a yaw angle.
(4) Adjusting satellite attitude, determining SAR load and performing imaging work
And adjusting the satellite attitude according to the three attitude parameters of alpha, beta and gamma, having SAR imaging beam pointing capability, and determining that the SAR load enters an SAR imaging working mode according to a pre-designed imaging program.
And (4) finishing the AIS guided SAR autonomous imaging design on the satellite through the steps (1), (2), (3) and (4).
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 on-board autonomous imaging method based on satellite-borne AIS real-time information guidance is characterized by comprising the following steps:
(1) capturing and confirming a ship target to be observed;
(2) determining a satellite observation time and an observation area;
(3) calculating the observation attitude of the satellite to the ship;
(4) adjusting the satellite attitude, and determining that the SAR load can perform imaging work;
the specific process of the step (1) is as follows: the satellite-borne AIS receiving system receives AIS real-time information of ships and warships, extracts ship information in AIS message data in real time, wherein the ship information comprises ship identity, ship position and ship course and speed information, target identification is completed by utilizing the ship identity, and the identification completion time is marked as initial time T0;
the specific process of the step (2) is as follows:
determining the relative spatial position of the ship target relative to the satellite according to the current position coordinates of the ship and the satellite, and preliminarily calculating the moment when the satellite flies over the target by combining the speed of the satellite and the speed of the ship, wherein the moment is marked as T1; the SAR load enters an observation area to start working before flying to a target, and the time of entering the observation area is marked as T2;
the calculation method of the T1 is as follows:
the satellite captures and identifies the T0 moment of the ship target, and the position of the ship under the ground fixation at the moment is (P)0 boat)ECFVelocity is (V)0 boat)ECF(ii) a The position of the satellite in the earth's fixed system is (P)0 Star)ECFVelocity is (V)0 Star)ECF；
41) Selecting [ T0, T0+ delta ] as a numerical forecasting time interval, wherein delta represents an increment value and is selected according to the track characteristics;
42) step is chosen small enough and the time period T0, T0+ delta is chosen]Dispersing into a time point set, and recording as T ═ Ti1, …, n, where n is floor (Δ/step), floor (×) is a real number rounding operation;
43) forecasting the satellite position and speed (P) at each moment according to the satellite position and speed at the T0 momenti star)ECF|i＝1,…，n}；
44) Forecasting the position and speed of the ship at each time according to the position and speed of the ship at the time T0 { (P)I ship)ECF1, | i ═ …, n }; the vessels being disposed in uniform motion, i.e.
(PI ship)ECF＝(P0 boat)ECF+(V0 boat)ECF(ti-t0)
45) Calculating the relative distance between the satellite and the ship at each moment, and recording as { DI star ship|i＝1,…，n}，DI star shipThe distance between the satellite and the ship at the moment ti is expressed by
DI star ship＝||(Pi star)ECF-(PI ship)ECF||
Wherein | | | | is norm operation;
46) get { DI star shipI is the minimum value of 1, …, n, and the time point corresponding to the minimum value is T1;
the specific process of the step (3) is as follows: according to the position and speed information of the satellite and the target, SAR load imaging attitude information is calculated, beam pointing during satellite imaging is obtained, and the three-axis observation attitude of the satellite in rolling, yawing and pitching is determined;
when the rolling, yawing and pitching three-axis observation attitude of the satellite is determined, the calculation method of the attitude Euler angle of the satellite relative to the orbit coordinate system comprises the following steps: the Euler angles are defined according to 123 rotation order;
31) calculating the vector direction of the ship relative to the satellite, and expressing the vector direction under the earth fixation system, and recording the vector direction as (R)ECF：
32) Will (R)ECFConverting to the satellite orbit coordinate system to obtain (R)orbit：
Wherein
A coordinate transformation matrix from an inertia system to a track system;
a coordinate transformation matrix from a ground fixation system to an inertial system;
33) note (R)orbitThe three coordinate components are rx, ry and rz respectively, so that the Euler angle of the attitude required by the satellite can be calculated to be
β＝arcsin(rx)
γ＝0
Wherein alpha is a rolling angle, beta is a pitch angle, and gamma is a yaw angle;
the specific process of the step (4) is as follows:
and adjusting the satellite attitude according to the three attitude parameters of alpha, beta and gamma, having SAR imaging beam pointing capability, and determining that the SAR load enters an SAR imaging working mode according to a pre-designed imaging program.
2. The on-board autonomous imaging method based on the satellite-borne AIS real-time information guidance according to claim 1, characterized in that: the calculation method of the T2 is as follows: the position of the ship after the time T1 is determined as the center of the observation scene, the position of the target 20 kilometers ahead and behind the x axis can be determined as the observation area S, and the observation starting time is determined by the imaging mode and is marked as T2.
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| CN110389366B (en) * | 2019-08-05 | 2021-03-30 | 中国人民解放军军事科学院国防科技创新研究院 | Maritime target motion estimation method based on multi-source SAR satellite |
| CN110386235B (en) * | 2019-08-08 | 2020-06-12 | 中国人民解放军军事科学院国防科技创新研究院 | Satellite-borne microwave optical composite ship rescue device and method |
| CN110596704B (en) * | 2019-08-19 | 2021-10-01 | 西安空间无线电技术研究所 | Satellite platform attitude maneuver method for satellite-borne SAR multi-azimuth repeated observation |
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| CN110889380B (en) * | 2019-11-29 | 2022-10-28 | 北京卫星信息工程研究所 | Ship identification method and device and computer storage medium |
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| CN111626129A (en) * | 2020-04-27 | 2020-09-04 | 中国人民解放军军事科学院国防科技创新研究院 | Ship target joint detection method based on satellite AIS and infrared camera |
| KR102272428B1 (en) * | 2020-07-14 | 2021-07-01 | 한국항공우주연구원 | Satellite Orbit Propagator Using Ship Automatic Identification Information And Control Method Thereof |
| CN111912430B (en) * | 2020-08-13 | 2022-07-01 | 中国人民解放军海军航空大学 | On-orbit geometric calibration method, device, equipment and medium for high-orbit optical satellite |
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| CN112379373B (en) * | 2020-09-29 | 2023-09-01 | 北京空间飞行器总体设计部 | Space-borne SAR real-time imaging device |
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