CN109828362A - Ultra-large-width imaging method based on whole-satellite fast swing - Google Patents
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Abstract
本发明公开了一种基于整星快摆的超大幅宽成像方法，首先设置敏捷卫星的控制参数，设整星回摆至初始位置，完成一个钟摆的最长时限为tmax,设卫星从角速度为0开始成像，到回摆至再次开始成像位置的时间为t，则设置敏捷卫星的控制参数时，使t＜tmax，敏捷卫星运行时设置输入满足上述条件的控制参数，然后将控制参数输入敏捷卫星的姿态摆动控制组件，通过姿态摆动控制组件控制敏捷卫星进行快速往复摆动，通过搭载于其上的光学相机进行对地观测，完成多个无缝连续的成像条带，继而实现超大幅宽无缝连续成像，所述基于整星快摆的超大幅宽成像方法，有效实现对地目标的超大幅宽无缝连续机动成像，且具有机动性强、效率高、分辨率高的优点。
The invention discloses an ultra-large-width imaging method based on the fast pendulum of the whole satellite. First, the control parameters of the agile satellite are set, the whole satellite is set to swing back to the initial position, the longest time limit for completing a pendulum is t max , and the angular velocity of the satellite is set from the angular velocity If it is 0 to start imaging, and the time from swinging back to the position where imaging starts again is t, then when setting the control parameters of the agile satellite, make t < t max . When the agile satellite is running, set and input the control parameters that meet the above conditions, and then set the control parameters Input the attitude swing control component of the agile satellite, control the agile satellite to swing back and forth rapidly through the attitude swing control component, and conduct the earth observation through the optical camera mounted on it to complete multiple seamless continuous imaging strips, and then realize the ultra-large scale Wide seamless continuous imaging, the ultra-large-width imaging method based on the whole star fast pendulum can effectively realize the ultra-large-width seamless continuous maneuvering imaging of the ground target, and has the advantages of strong maneuverability, high efficiency and high resolution.
Description
Technical field
The present invention relates to space optical remote technical field more particularly to a kind of super large breadth imagings put fastly based on whole star
Method.
Background technique
Spaceborne Remote Sensing Application imaging technique has the characteristics that observation scope is wide, target information is abundant, information timeliness is high,
The fields such as target monitoring, geographical mapping, national defense safety, agricultural resource investigation have extremely important effect.Super large breadth pair
Ground observation can significantly shorten the revisiting period of satellite target over the ground, effectively improve the timeliness of detection information, this allows for user
It is more more and more urgent to super large breadth, high-resolution, the demand of high-timeliness imaging data.
In the prior art, obtain super large breadth, high-resolution, high-timeliness imaging data method specifically include that multi-load
Field stitching imaging, the imaging of single-point load entirety sweeping and the imaging of scanning pendulum len sweeping.Multi-load field stitching imaging mode is simple
And big breadth imaging may be implemented, such as Belgium's whole world PROBA-V vegetation observation satellite is spliced using three imaging load, can
Realize ground based scanning breadth degree 2250km high-resolution imaging；The GF-1 satellite in China is spliced using four cameras, realizes ground
Surface scan breadth degree 830km high-resolution imaging；Although the high-resolution that can obtain super large breadth is imaged in multi-load field stitching
Rate imaging, but system weight volume is larger, is unfavorable for the detectivity of raising system, and the motor-driven of optical camera was imaged
Process control is got up relatively difficult.As shown in Fig. 4, single-point load entirety sweeping and scanning mirror sweeping imaging mode, basic principle
It is identical as effect is realized, it can all realize the imaging of super large breadth, and compared with multi-load field stitching method, system weight is light
It is small in size, be conducive to the sensitivity of raising system.But it has a disadvantage in that: as sweeping angle increases, whole star gesture stability energy
Power and ground resolution can be substantially reduced.
Three of the above imaging mode is technically very mature, also can satisfy the earth observation of certain application field
Demand.But with the universalness of Spaceborne Remote Sensing Application technology and industrialization and combine both at home and abroad it is in-orbit and grind remote sensing at
As the current situation of load, it can be seen that the development trend of the following remotely sensed image load is light and small agile, super large breadth, high score
Resolution and high-timeliness, and obviously above-mentioned existing three kinds of imaging techniques can not fully meet these conditions.
Summary of the invention
The technical problems to be solved by the present invention are: provide it is a kind of have light and small agile, super large breadth, high-resolution and
The whole star of high-timeliness puts imaging method fastly.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions:
A kind of super large breadth imaging method put fastly based on whole star, comprising the following steps:
The control parameter of quick satellite is arranged, if whole star backswing completes the longest of a pendulum to initial position in step 1
When be limited to tmaxIf satellite is imaged since angular speed is 0, it is t to backswing to the time for starting again at imaging position, is then arranged
When the control parameter of quick satellite, make t < tmax, setting input meets the control parameter of above-mentioned condition when quick satellite transit；
Control parameter is inputted the posture weave control component of quick satellite, passes through posture weave control component by step 2
It controls quick satellite and carries out whole star fast reciprocating swing；
Step 3, quick satellite during wide-angle back and forth quick sweeping, by carry optical camera thereon into
Row earth observation completes multiple seamless continuous imaging bands, while completing image shift compensation by the fast pendulum mirror in optical camera,
To realize the seamless continuous imaging of super large breadth.
Preferably, the image shift compensation process is, by controlling the rotational angle of fast pendulum mirror, to make in the step 3
The camera image planes for obtaining quick satellite are opposing stationary with atural object, then realize image shift compensation.
Preferably, making optical axis be directed toward ground scene point through too fast pendulum mirror, and then make light when controlling fast pendulum mirror rotation
Axis is directed toward changes over the ground, so that the camera image planes of quick satellite are opposing stationary with atural object, then realizes image shift compensation.
Preferably, the posture weave control component is set as control-moment gyro component in the quick step 2.
Preferably, the posture weave control component controls quick satellite and carries out reciprocal quickly pendulum in the step 2
Dynamic direction is to wear rail direction.
Compared with prior art, usefulness of the present invention is: the super large breadth imaging method put fastly based on whole star,
The a wide range of quick swing that rail direction carries out whole star at the appointed time is worn on posture edge by controlling quick satellite, and is combined and defended
The image motion compensation technology of mirror is put in star optical imaging system fastly, to effectively realize the seamless continuous machine of super large breadth of target over the ground
Dynamic imaging, and have the advantages that mobility strong, high-efficient, high resolution, it can be mentioned for the development of small-sized quick optical sensor
For technical support, thus with good application prospect.
Detailed description of the invention
The following further describes the present invention with reference to the drawings:
Fig. 1 is the seamless continuous imaging schematic diagram of super large breadth of quick satellite in the present invention；
Fig. 2 is the seamless continuous imaging schematic diagram of quick satellite super large breadth in the present invention；
Fig. 3 is the fast pendulum mirror sweeping imaging schematic diagram in the present invention；
Fig. 4 is big breadth push-scanning image schematic diagram in the prior art；
Fig. 5 is a certain operating status schematic diagram of Application Example of the invention in simulation software.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses:
A kind of super large breadth imaging method put fastly based on whole star, comprising the following steps:
The control parameter of quick satellite is arranged, if whole star backswing completes the longest of a pendulum to initial position in step 1
When be limited to tmaxIf satellite is imaged since angular speed is 0, it is t to backswing to the time for starting again at imaging position, is then arranged
When the control parameter of quick satellite, make t < tmax, setting input meets the control parameter of above-mentioned condition when quick satellite transit；
Control parameter is inputted the posture weave control component of quick satellite, passes through posture weave control component by step 2
It controls quick satellite and is wearing the whole star fast reciprocating swing of rail direction progress, in the present embodiment, to improve control process stability,
The posture weave control component is set as control-moment gyro component, is swung by whole star fast reciprocating, thus can effectively mention
Mobility during a height of raising satellite imagery, the sensitivity of system, and the high resolution being imaged, timeliness are high；
Step 3, quick satellite during wide-angle back and forth quick sweeping, by carry optical camera thereon into
Row earth observation completes multiple seamless continuous imaging bands, while completing image shift compensation by the fast pendulum mirror in optical camera,
To realize the seamless continuous imaging of super large breadth.
In practical applications, as shown in figure 3, since quick satellite is during earth observation, the track of satellite platform is transported
Dynamic, a wide range of fast reserve and the influence of earth rotation movement factor, will lead to the image motion velocity vector to form camera image planes,
And in order to keep camera image planes and atural object opposing stationary, need to carry out image shift compensation, in this embodiment, to realize image shift compensation,
The fast pendulum mirror being provided in optical system in the optical camera of quick satellite controls the angular turn of fast pendulum mirror, passes through optical axis
Too fast pendulum mirror is directed toward ground scene point, and then is directed toward optical axis over the ground and changes, so that the camera image planes of quick satellite
It is opposing stationary with atural object, to realize image shift compensation process.
In the specific application process, if t < t in above-mentioned steps onemaxFor formula (1), in the present embodiment, the formula (1)
Determination process it is as follows,
If quick satellite and the speed of related movement on ground are Vd, pixel resolution G, orbit altitude Hkm, whole star at
Film size is wide to be required to be D, as shown in Figure 1 and Figure 2, while setting the detector that mK*nK specification is used in the optical camera of quick satellite,
Then the substar breadth of the satellite is L*W, and corresponding field angle is θL*θW, thus can must be shown below:
L=Gm；W=Gn； (2)
θL=L/S；θW=W/S； (3)
Wherein, field of view corresponding when being 1 ° that S is field angle, expression are as follows: S=Hsin1 ° (km)；
In addition, L and θLRespectively correspond substar breadth and field angle of the satellite along rail direction, W and θWSatellite is respectively corresponded to wear
The breadth and field angle in rail direction.
Then according to above-mentioned parameter, to realize the fast seamless continuous imaging of pendulum-type, then whole star backswing to initial position completes one
The longest time limit of a pendulum is shown below:
tmax=L/Vd=Gm/Vd； (4)
It is required to complete to be shown below along the swing angle for wearing rail direction meanwhile when whole star imaging breadth is D:
θD=D* θW/W (5)
If the control moment of quick satellite control-moment gyro component is M, whole star is in the rotary inertia worn on rail direction
Ix, then satellite is shown below along the motor-driven angular acceleration for wearing rail direction:
αD=M/Ix (6)
If the motor-driven angular speed of maximum of satellite is ωmax, satellite is 0 to accelerate to ω from angular speedmaxThe required time is set as
t1, the angle that satellite turns over is set as θ1, then it can obtain such as following formula:
t1=ωmax/αD=ωmax*Ix/M (7)；
θ1=αD t2 1/2 (8)
In addition, the angle of time and rotation needed for accelerating and slow down due to satellite are all the same, it can thus be concluded that satellite is at the uniform velocity
The angle, θ of swing2And time t2It is respectively as follows:
θ2=θD-2θ1(9)；
t2=θ2/ωmax(10)；
Therefore, satellite turns over θ from angular speed 0D, then time-consuming needed for decelerating to 0 are as follows:
t3=2t1+t2；
Then satellite is imaged since angular speed is 0, to backswing to the time t for starting again at imaging position are as follows:
T=2t3=4t1+2t2 (11)
It can then be obtained according to formula (11), (10), (7):
T=4* ωmax*Ix/M+2*D/(S*W)+2W*Ix/M (12)
Thus, in practical applications, be arranged and input gesture stability component control parameter when, according to formula (12) it is found that
In the case where keeping constant parameter constant, changes and adjust corresponding variable parameter, generally need to only guarantee t < tmax, quick
Satellite can effectively realize the mobile process of the seamless continuous motor-driven imaging of quick satellite.
It is illustrated below with reference to concrete application,
If the speed of related movement V of quick satellite over the grounddFor 6.8km/s；Quick satellite pixel resolution G=3m；Track
Height is 500km, if it is 1000km that satellite, which requires the breadth D of detection, the detector is used with 13K*7K detector splicing 3
Piece, then spliced detector is 39K*7K, corresponding substar breadth L*W=117*21km, wherein area corresponding to 1 °
S=500*sin1 ° of domain=8.7262km, then according to corresponding calculation formula, corresponding field angle θL*θW=13.41 ° * 2.41 °, L
=117km is along rail direction；Whole star imaging breadth when being D required completion wear rail direction swing angle are as follows: θD=D* θW/ W=
90°
To realize seamless continuous imaging, then the longest time limit an of pendulum is completed in satellite backswing to initial position are as follows:
tmax=L/Vd=117km/6.8km/s=17.2s；
If the torque M=1Nm of satellite control-moment gyro, satellite is wearing the inertia I on rail directionx=7kgm2, satellite
Maximum motor-driven angular speed is ωmax=15 °/s, then its angular acceleration is αD=M/Ix=8.19 °/s2,15 °/s institute is accelerated to from 0
Take time 1.83s, 13.7 ° of the angle turned over；
Satellite reduces speed now when turning over 90 ° of -13.7 ° of * 2=62.6 ° again, turns over 62.6 ° of time-consuming 4.17s, slows down time-consuming
1.83s；
Therefore, satellite turns over 90 ° from angular speed 0, then decelerates to 0 time-consuming t3=1.83*2+4.17=7.83s；It can obtain
Satellite is imaged since angular speed is 0, to backswing to the time of re-imaging position are as follows: t=7.83*2=15.66s；
Thus, t=15.66s < tmax=17.2s, quick satellite can effectively realize that 90 ° of super large breadth are seamless continuous motor-driven
The mobile process of imaging.
Thus, in the mobile process for meeting satellite, the optical camera on quick satellite is complete within the defined time kept in reserve
Image shift compensation is completed at a plurality of imaging band, while by the fast pendulum mirror in optical camera, to realize the seamless company of super large breadth
Continuous imaging.
Examples detailed above, which is applied, carries out Simulation Example using profession Attitude Simulation software STK, on Attitude Simulation software STK,
Quick satellite forms the dynamic process of the continuous imaging of complete and stable quick sweeping, as shown in figure 5, it is quick sweeping
The sweeping state diagram at a certain moment, simulation result show in the process:, can be complete under the conditions of the control parameter being arranged in above-mentioned application
Beauty realizes that 90 ° of super large breadth of quick satellite are seamless and continuously puts motor-driven imaging process fastly.
It is emphasized that: the above is only presently preferred embodiments of the present invention, not make in any form to the present invention
Limitation, any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention,
All of which are still within the scope of the technical scheme of the invention.
Claims (5)
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| CN111399077A (en) * | 2020-04-24 | 2020-07-10 | 中国科学院微小卫星创新研究院 | Optical satellite imaging system and imaging method |
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| CN115685535A (en) * | 2022-11-18 | 2023-02-03 | 中国科学院长春光学精密机械与物理研究所 | Dynamic scanning optical system based on optical fast-swing mirror |
| CN116500779A (en) * | 2023-04-27 | 2023-07-28 | 中国科学院长春光学精密机械与物理研究所 | High-frequency and wide-range imaging method based on the linkage between space-based platform and orbiting rotating mirror |
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