CN109993719A - A kind of more rail joining image-forming optimization methods of facing area covering - Google Patents
A kind of more rail joining image-forming optimization methods of facing area covering Download PDFInfo
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Abstract
This application provides a kind of more rail joining image-forming optimization methods of facing area covering, firstly, construction n are combined the lateral swinging angle scheme set P formed, the corresponding set F for generating n coverage rate composition by m lateral swinging angle, wherein m is track number, and each lateral swinging angle value is randomly generated between bound；Using polygon logic computing method, the coverage rate of each lateral swinging angle scheme in P is calculated, and records coverage rate maximum value and corresponding lateral swinging angle scheme；Using PSODE algorithm, after the evolutional operations such as being intersected, being made a variation to each lateral swinging angle scheme in scheme P, retains coverage rate preferably scheme, obtain the set P ' of corresponding new element composition；After repeating an operation k times, take in P ' the maximum lateral swinging angle scheme of coverage rate as optimal solution.The present invention overcomes conventional mesh point methods to calculate big, the inefficient defect of time loss.
Description
Technical field
The present invention relates to satellite remote sensing technology fields, excellent more particularly, to a kind of more rail joining image-formings of facing area covering
Change method.
Background technique
Since satellite transit orbit altitude is lower, load visual field is limited, imaging breadth it is smaller, need using side-sway at
Picture is just able to achieve extensive area target imaging with multi-ribbon connecting method.It is required that optimization is each in given task duration
Satellite passes by lateral swinging angle when observing, and meets region overlay requirement to greatest extent.
In existing regional imaging multi-ribbon lateral swinging angle optimizing research, common thinking has two kinds of mesh point method, strip coating method.Grid
Point method covers quantity by converting point target set for regional aim, by optimization mesh point to form side-sway scheme, can have
It imitates and simplifies modeling process, but task pretreatment work amount is big, and effect of optimization depends on the density of mesh point.Strip coating method first will
Target area is decomposed into several imaging bands for being parallel to satellite motion track, then is up to target with overlay area, using searching
Rope algorithm solves the optimal lateral swinging angle of each band.For the difference of band division mode, two kinds can be summarized as: 1) based on fixation
Region Decomposition is the flat of fixed width according to the flight radial direction and satellite borne sensor breadth of satellite by wide stripe division methods
Row band such as controls entire decomposition using parameter direction and offset, is covered with the imaging band of one group of imbricate
Regional aim, such band division methods realize variation that is simple, but not taking imaging breadth under the conditions of different lateral swinging angles into account, model
Precision is restricted；2) method divided based on regional dynamics, in each imaging time window of the satellite to regional aim, according to
Satellite side-sway angle constructs one group of equally spaced imaging band as candidate band, with the corresponding lateral swinging angle of certain step length searching.
For regional imaging task need and existing method deficiency propose it is a kind of solve lateral swinging angle Optimized model it is excellent
Change method.
Summary of the invention
The present invention calculates, lateral swinging angle on the basis of constructing regional imaging lateral swinging angle Optimized model for areal coverage
Optimized model, the present invention are calculated, lateral swinging angle on the basis of constructing regional imaging lateral swinging angle Optimized model based on areal coverage
Optimized model proposes the areal coverage quick calculation method based on vector polygon logical operation and is based on PSODE algorithm,
Propose a kind of satellite side-sway angle and optimizing method of facing area imaging task based on PSODE algorithm.
A kind of more rail joining image-forming optimization methods of facing area covering, comprising the following steps:
Step S1 is selected between the bound of the lateral swinging angle of each track segmental arc at random for m track segmental arc of satellite
1 lateral swinging angle is selected, a lateral swinging angle combination is constituted；Wherein, m is positive integer；
Step S2 repeats n times step S1, obtains n lateral swinging angle combination, and remember that the n lateral swinging angle group is combined into collection
P is closed, n is positive integer；
Step S3 determines the corresponding coverage rate of each element in the set P, and remembers that each element is corresponding in the set P
Coverage rate is set F；
Step S4 regard the corresponding lateral swinging angle combination of coverage rate maximum in the set F as optimal lateral swinging angle group
It closes；
Step S5 is updated each element in the set P, makes a variation, intersects, and obtains corresponding new element group
At set P '；
Step S6 obtains set F ' according to the corresponding coverage rate of each element in the set P '；
Each element of the set F ' is compared, if described by step S7 with corresponding element in the set F
Each element of set F ' is greater than corresponding element in the set F, then replaces with element corresponding in the set F described
Element corresponding in the set P is replaced with the element of the set P ' by the element of set F '；
Step S8, by the optimal side-sway in maximum element in the set F obtained in step S7 and step S4
Combination corresponding coverage rate in angle is compared, if maximum element is greater than step in the set F obtained in step S7
Coverage rate corresponding to the optimal lateral swinging angle combination in S4, then by maximum member in the set F obtained in step S7
Element in the set P corresponding to element is combined as optimal lateral swinging angle to be optimized；
Step S9, by step S5 the set P and the set F replace with the set P obtained in step S7
With the set F, K step S5 to step S8 is repeated, obtains final optimal lateral swinging angle combination, wherein K is generation of evolving
Number, K are the integer more than or equal to 1.
Further, it is determined that the corresponding coverage rate of each element in the set P, comprising:
According to each of lateral swinging angle combination lateral swinging angle, the position of central projection imaging geometry and satellite
And speed, it determines the corresponding shape of rectangular ribbon of each lateral swinging angle, obtains the apex coordinate on four vertex of each shape of rectangular ribbon；
According to the apex coordinate of all shape of rectangular ribbon, all shape of rectangular ribbon are asked and obtain covering polygon；
The covering polygon and target area are asked into friendship, obtain effectively covering polygon；
By the area of effective covering polygon divided by the area of the target area, coverage rate is obtained.
Further, the shape of rectangular ribbon is by the corresponding imaging center S of each lateral swinging angle to area array sensor four
What the feature light of a angle point and four intersection points of earth's surface were formed in earth's surface.
Further, the shape of rectangular ribbon is by the corresponding imaging center S of each lateral swinging angle to line array sensor two
The feature light of a angle point is by a period of time in the inswept formation of earth's surface.
Further, the apex coordinate on each vertex of each shape of rectangular ribbon is determining according to the following steps:
Under inertial coodinate system, if the earth is a standard rotation ellipsoid, the equation of the standard rotation ellipsoid is first
Formula:
Wherein, (x, y, z) is a point on standard rotation ellipsoid surface, and a, b are respectively the major semiaxis of standard rotation ellipsoid
With semi-minor axis length；
The equation in geocentric inertial coordinate system of feature light locating for the vertex is the second formula:
Wherein, (x0, y0, z0) it is coordinate of the imaging center S under geocentric inertial coordinate system, (A, B, C) is locating for the vertex
Direction number of the feature light under geocentric inertial coordinate system；
First formula described in simultaneous and second formula, obtain the apex coordinate on each vertex of each shape of rectangular ribbon.
Further, the area of effective covering polygon obtains according to the following steps:
By effective covering polygon decomposition at several triangles, each three are acquired one by one using the method for vector product
Angular area sums to the area of all triangles, obtains the area of effectively covering polygon；Wherein, it effectively covers polygon
The calculation formula of the area of shape are as follows:
Wherein, xi、yiFor the plane coordinates on i-th of vertex, q is the number on the effectively vertex of covering polygon, and S is effective
The area of polygon is covered, wherein i and q is positive integer.
Further, the unit of the apex coordinate on four vertex of each shape of rectangular ribbon is mm；
The apex coordinate of all shape of rectangular ribbon is rounded；
According to the apex coordinate after the rounding of all shape of rectangular ribbon, all shape of rectangular ribbon are asked and obtain covering polygon.
Further, the friendship rule of asking for asking friendship includes that Unlike asks friendship rule and like to seek friendship rule.
Further, the bound of the lateral swinging angle of each track segmental arc is determining according to the following steps:
According to the positional relationship of the sub-satellite track of each track segmental arc of satellite and shape of rectangular ribbon, obtains shape of rectangular ribbon and respectively push up
Point and sub-satellite track distance d；
According to satellite orbital altitude h and viewing field of camera angle IFOV, determine required when satellite primary optical axis is directed toward the imaging of each vertex
Lateral swinging angle β:
β=atan (d/h)+IFOV
Lateral swinging angle β sequence to each vertex correspondence, wherein lateral swinging angle maximum value is the maximum lateral swinging angle of the track segmental arc
U, lateral swinging angle minimum value are the minimum lateral swinging angle l of the track segmental arc；
If the side-sway angular region of satellite is (- Rollmax, Rollmax)；
If l <-RollmaxAnd u > Rollmax, then the bound of the lateral swinging angle of each track segmental arc be respectively-
Rollmax, Rollmax；
If l <-Rollmax and u < Rollmax, the bound of the lateral swinging angle of each track segmental arc is respectively-
Rollmax, u；
If l >-RollmaxAnd u < Rollmax, then the bound of the lateral swinging angle of each track segmental arc is respectively l, u；
If l >-RollmaxAnd u > Rollmax, then the bound of the lateral swinging angle of each track segmental arc is respectively l,
Rollmax。
Further, the lateral swinging angle Optimized model that final optimal lateral swinging angle combination is obtained in the step S9 is as follows:
Wherein, P={ x1,x2,…,xi,…xn, xi∈[li,ui], x in formulaiIt is combined for a lateral swinging angle, Scov (xi) be
The effectively area of covering polygon, SobjFor the area of target area, n is the quantity of element in the set P, li、uiFor the i-th rail
The bound of the lateral swinging angle of road segmental arc, i, n are positive integer.
Compared with prior art, the application includes following advantages:
The present invention passes through the process by the procedure decomposition of satellite imagery for the imaging of multiple track segmental arcs, it is contemplated that different side-sways
The variation of breadth is imaged under corner condition, a lateral swinging angle is randomly choosed in each track segmental arc, different lateral swinging angles form difference
Shape of rectangular ribbon, different shape of rectangular ribbon it is of different size, thus the shape of rectangular ribbon of multiple and different width is different from the application
In the prior art merely with the band of the fixed width of single type.It overcomes traditional based on fixed width band division methods
The defect that the variation of breadth is imaged under the conditions of different lateral swinging angles is not taken into account, further, using PSODE algorithm to n lateral swinging angle
Combination is constantly updated, intersects, variation generates new lateral swinging angle combination, obtains from new lateral swinging angle combination and meets image-forming condition
Lateral swinging angle combination is combined according to the final optimal lateral swinging angle for meeting image-forming condition, is improved and is determined optimal lateral swinging angle combination
Accuracy.
Since vector polygon logical calculation method must realize that the apex coordinate that need to will cover polygon turns with integer
Integer is turned to, computational accuracy switchs to the rounding error of integer depending on the unit and floating number of floating number.The present invention
For the precision for guaranteeing covering polygon solution, it is rounded again after being mm by the apex coordinate unit conversion for covering polygon,
Guarantee that coordinate precision loss caused by being rounded is less than 1mm.
Detailed description of the invention
Fig. 1 is the areas imaging figure of feature of present invention light and area array sensor in single track segmental arc；
Fig. 2 is that area array sensor of the present invention covers polygon schematic diagram；
Fig. 3 Vatti algorithm polygon reconstruction of the present invention and scan line dynamic update schematic diagram；
Fig. 4 is polygon intersection rule schematic diagram of the present invention；
Fig. 5 is lateral swinging angle bound figure of the present invention；
Fig. 6 is coverage rate of the present invention with iterative algebra evolutionary process figure；
Fig. 7 is the coverage effect figure that the present invention is obtained according to step S1- step S4；
Fig. 8 is the coverage effect figure that the present invention is obtained according to step S5- step S9；
Fig. 9 is step flow chart of the invention.
Specific embodiment
Below in conjunction with drawings and examples the present invention will be described in detail technical solution.
To overcome conventional mesh point method to calculate big, the inefficient defect of time loss, the present invention uses more based on vector
The coverage rate calculation method of side shape logical operation: first according to imaging geometry, calculate each track segmental arc of satellite it is corresponding at
Logical operation is carried out as band boundaries, then to the overlay area of multiple bands composition and target area, obtains effective overlay area
Boundary, acquire coverage rate.Finally using the coverage rate acquired as objective function, based on PSODE algorithm to satellite side-sway angle into
Row optimization.
As shown in figure 9, a kind of more rail joining image-forming optimization methods of facing area covering, comprising the following steps:
Step S1 is selected between the bound of the lateral swinging angle of each track segmental arc at random for m track segmental arc of satellite
1 lateral swinging angle is selected, a lateral swinging angle combination is constituted；Wherein, m is positive integer；
Wherein, the bound of the lateral swinging angle of each track segmental arc is determining according to the following steps:
As shown in figure 5, obtaining square according to the positional relationship of the sub-satellite track of each track segmental arc of satellite and shape of rectangular ribbon
Each vertex of shape band and sub-satellite track distance d；
According to satellite orbital altitude h and viewing field of camera angle IFOV, determine required when satellite primary optical axis is directed toward the imaging of each vertex
Lateral swinging angle β:
β=atan (d/h)+IFOV
Lateral swinging angle β sequence to each vertex correspondence, wherein lateral swinging angle maximum value is the maximum lateral swinging angle of the track segmental arc
U, lateral swinging angle minimum value are the minimum lateral swinging angle l of the track segmental arc；
If the side-sway angular region of satellite is (- Rollmax, Rollmax)；
If l <-RollmaxAnd u > Rollmax, then the bound of the lateral swinging angle of each track segmental arc be respectively-
Rollmax, Rollmax；
If l <-RollmaxAnd u < Rollmax, then the bound of the lateral swinging angle of each track segmental arc be respectively-
Rollmax, u；
If l >-Rollmax and u < Rollmax, the bound of the lateral swinging angle of each track segmental arc is respectively l,
u；
If l >-RollmaxAnd u > Rollmax, then the bound of the lateral swinging angle of each track segmental arc is respectively l,
Rollmax。
Step S2 repeats n times step S1, obtains n lateral swinging angle combination, and remember that the n lateral swinging angle group is combined into collection
P is closed, n is positive integer；
It is all randomly generated due to the lateral swinging angle in the element (element, that is, lateral swinging angle combination) in set P, so set P
In it is possible that the identical situation of two elements, but the probability that the identical situation of two elements occurs is very small, thus this
Place can ignore.Even if occurring two identical situations of element in set P, the present embodiment is not also influenced.
Step S3 determines the corresponding coverage rate of each element in the set P, and remembers that each element is corresponding in the set P
Coverage rate is set F；
Determine the corresponding coverage rate of each element in the set P, comprising:
Step 31, it according to each of the combination of lateral swinging angle lateral swinging angle, central projection imaging geometry and defends
The position and speed of star determines the corresponding shape of rectangular ribbon of each lateral swinging angle, obtains the top on four vertex of each shape of rectangular ribbon
Point coordinate.
Wherein it is determined that the mode of shape of rectangular ribbon includes but is not limited to following two mode:
Mode 1:
Shape of rectangular ribbon is the characteristic light by the corresponding imaging center S of each lateral swinging angle to four angle points of area array sensor
What line and four intersection points of earth's surface were formed in earth's surface.
Mode 2:
Shape of rectangular ribbon is the characteristic light by the corresponding imaging center S of each lateral swinging angle to two angle points of line array sensor
Line is through after a period of time in the inswept formation of earth's surface.
Wherein, the apex coordinate on each vertex of each shape of rectangular ribbon is determining according to the following steps:
Under inertial coodinate system, if the earth is a standard rotation ellipsoid, the equation of the standard rotation ellipsoid is first
Formula:
Wherein, (x, y, z) is a point on standard rotation ellipsoid surface, and a, b are respectively the major semiaxis of standard rotation ellipsoid
With semi-minor axis length；
The equation in geocentric inertial coordinate system of feature light locating for the vertex is the second formula:
Wherein, (x0, y0, z0) it is coordinate of the imaging center S under geocentric inertial coordinate system, (A, B, C) is locating for the vertex
Direction number of the feature light under geocentric inertial coordinate system；
First formula described in simultaneous and second formula, obtain the apex coordinate on each vertex of each shape of rectangular ribbon.
As shown in Figure 1, determining that imaging center S is arrived according to central projection geometrical relationship, satellite position, speed and lateral swinging angle
The feature light of four angle points of area array sensor and the intersection point of earth's surface are (for line array sensor, it may be determined that imaging center to line
The feature light of two angle points of array sensor and the intersection point of earth's surface), it is P respectively1、P2、P3、P4；Obtain each orbital arc of satellite
The shape of rectangular ribbon that section is formed in earth's surface, i.e. P1、P2、P3、P4In the rectangle that earth's surface is formed, and then acquire the top of each shape of rectangular ribbon
Point P1、P2、P3、P4Coordinate.As shown in Fig. 2, overlay area of the area array sensor in a step-length is that step-length starting point is corresponding
The approximate rectangular region that P1, P2 and terminal corresponding P3, P4 are formed.
Feature light is corresponding four corresponding image rays of sensor instantaneous field of view angle outermost, according to collinear condition, they
Determined the shape of rectangular ribbon that sensor is formed in earth's surface in each track segmental arc of satellite areas imaging (P1, P2 in Fig. 1,
P3, P4 are formed approximate rectangular).
The coordinate of P1, P2, P3, P4 can find intersection acquisition by feature light and earth surface.Under inertial coodinate system, if ground
Ball is a standard rotation ellipsoid, equation are as follows:
In above formula, a, b are respectively the major semiaxis and semi-minor axis length of standard rotation ellipsoid.By WGS84 (World
Geodetic System 1984, WGS84) earth model, a=6378.137km, b=6356.752km.
Feature light equation in inertial coodinate system are as follows:
In formula (2), (x0, y0, z0) it is coordinate of the imaging center S under geocentric inertial coordinate system, (A, B, C) is characterized light
Direction number of the line under geocentric inertial coordinate system.Wherein, the coordinate of imaging center S can be obtained according to Orbit simulation (assuming that imaging
Center is located at centroid of satellite), the direction number of feature light needs to acquire by changes in coordinates.
The coordinate transform process of the direction number of feature light is as follows:
Under sensor coordinate system, the direction vector of feature light is indicated are as follows:
Wherein, VL、VRIt is divided into the direction vector of two sides feature light, IFOV is viewing field of camera angle；
Direction vector under sensor coordinate system is transformed into the direction vector under geocentric inertial coordinate system are as follows:
Wherein, RTFor whole star attitude angle matrix,
For roll angle, ω is pitch angle, and κ is yaw angle；RREIt is determined by satellite motion state,Wherein,Y2=Z2∧X2, P (t), V (t) are respectively
For the position vector and velocity vector of t moment.
Joint type (1), (2) can solve the coordinate of P1, P2, P3, P4 in Earth central inertial system, can obtain by coordinate transformation
To their coordinates under body-fixed coordinate system.
Step 32, according to the apex coordinate of all shape of rectangular ribbon, all shape of rectangular ribbon is asked and obtain covering polygon；
The present embodiment is by the way of vector polygon logical operation, according to the apex coordinate of all shape of rectangular ribbon, by institute
There is shape of rectangular ribbon to ask and obtains covering polygon.
The unit of the apex coordinate on four vertex of each shape of rectangular ribbon is mm；
The apex coordinate of all shape of rectangular ribbon is rounded；
According to the apex coordinate after the rounding of all shape of rectangular ribbon, all shape of rectangular ribbon are asked and obtain covering polygon.
Since vector polygon logical calculation method must realize that the apex coordinate that need to will cover polygon turns with integer
Integer is turned to, computational accuracy switchs to the rounding error of integer depending on the unit and floating number of floating number.To guarantee
The precision that polygon solves is covered, the covering polygon vertex coordinate unit after gauss projection is converted mm by the present embodiment,
Floor operation is carried out again, guarantees that the loss of coordinate precision caused by floor operation is less than 1mm.
Step 33, the covering polygon and target area are asked into friendship, obtains effectively covering polygon；
All shape of rectangular ribbon are asked and the rule for obtaining covering polygon is as follows:
(1) (LC ∪ LS) or (LS ∪ LC)=LI；
(2) (RC ∪ RS) or (RS ∪ RC)=RI；
(3) (LS ∪ RC) or (LC ∪ RS)=MN；
(4) (RS ∪ LC) or (RC ∪ LS)=MX；
Ask the rule of friendship as follows on the covering polygon and target area:
Friendship rule is asked for Unlike edges are as follows:
(1) (LC ∩ LS) or (LS ∩ LC)=LI；
(2) (RC ∩ RS) or (RS ∩ RC)=RI；
(3) (LS ∩ RC) or (LC ∩ RS)=MX；
(4) (RS ∩ LC) or (RC ∩ LS)=MN；
Friendship rule is asked to Like edges are as follows:
(5) (LC ∩ RC) or (RC ∩ LC)=LI and RI；
(6) (LS ∩ RS) or (RS ∩ LS)=LI and RI；
It is left and right boundary that L, R, which represent polygon, in formula, and S, C are respectively subject polygon and clip polygon, according to
This LC, RC, LS, RS respectively indicate a left side for the left margin of clip polygon, the right margin of clip polygon, subject polygon
Boundary, subject polygon left margin, MN, MX are respectively local minimum and local maximum point, and LI and RI are respectively to transport
The intermediate point of polygon left margin and right margin after calculation.
The present invention realizes the logical operation of complex polygon using Vatti algorithm.Determine the side of the right boundary of polygon
Formula is as follows:
The local maxima of polygon vertex coordinate, minimum value (ordinate), polygon are redefined, each polygon
Shape is divided into several left and right boundaries to describing.Each boundary originates in local minimum points, terminates at local maximum point；It is left
Right margin defines the left or right side being located inside polygon position depending on boundary.In polygon as shown in Figure 3, part is most
It is a little louder P6, P2, Local Minimum point P0, P4, polygon is described as by two boundaries to description:
Boundary is to 1: left margin (P0P8, P8P7, P7P6), right margin (P0P1, P1P2)；
Boundary is to 2: left margin (P4P5, P5P6), right margin (P4P3, P3P2).
In intersection operation as shown in Figure 4, tetra- intersection points of A, B, C, D hand over rule with above asking, and A point is that (result is polygon by LI
The intermediate point of shape left margin), B point MN (the local minimum point of result polygon), C point RI (result polygon left margin
Intermediate point), D point be MN (local maximum point of result polygon).
Two scanline groups that the polygon of acquisition is swept using horizontal direction at Scan-beams scanning area (figure
3), basis is asked friendship, is asked in the area and rule carries out asking friendship, asks simultaneously logical operation, obtains the right boundary of result polygon
It is right.Scanning area is since polygon lowermost end, along the polygon vertically to top orientation update, after constantly updating logical operation
Right boundary pair finally obtains new polygon.
Step 34, the area of effective covering polygon is obtained into coverage rate divided by the area of the target area.
The area of effective covering polygon obtains according to the following steps:
By effective covering polygon decomposition at several triangles, each three are acquired one by one using the method for vector product
Angular area sums to the area of all triangles, obtains the area of effectively covering polygon；Wherein, it effectively covers polygon
The calculation formula of the area of shape are as follows:
Wherein, xi、yiFor the plane coordinates on i-th of vertex, q is the number on the effectively vertex of covering polygon, and S is effective
The area of polygon is covered, wherein i and q is positive integer.
Step S4 regard the corresponding lateral swinging angle combination of coverage rate maximum in the set F as optimal lateral swinging angle group
It closes；
The lateral swinging angle Optimized model that final optimal lateral swinging angle combination is obtained in the step S9 is as follows:
Wherein, P={ x1, x2 ..., xi ... xn }, xi ∈ [li, ui], x in formulaiIt is combined for a lateral swinging angle, Scov (xi)
For the area for effectively covering polygon, SobjFor the area of target area, n is the quantity of element in the set P, li、uiIt is i-th
The bound of the lateral swinging angle of track segmental arc, i, n are positive integer.
As shown in Figure 7 and Figure 8, the present invention passes through the mistake by the procedure decomposition of satellite imagery for the imaging of multiple track segmental arcs
Journey, it is contemplated that the variation of breadth is imaged under the conditions of different lateral swinging angles, a lateral swinging angle is randomly choosed in each track segmental arc, no
Form different shape of rectangular ribbon with lateral swinging angle, different shape of rectangular ribbon it is of different size (in such as Fig. 7 it is macroscopic from left to right
Start, the width of first shape of rectangular ribbon and Article 2 shape of rectangular ribbon it is of different size), thus multiple and different width in the application
Shape of rectangular ribbon be different from the prior art merely with the band of the fixed width of single type.It overcomes traditional based on fixation
Wide stripe division methods do not take the defect that the variation of breadth is imaged under the conditions of different lateral swinging angles into account, further, using PSODE
Algorithm constantly updates the combination of multiple lateral swinging angles, intersects, variation generates new lateral swinging angle and combines, and obtains from new lateral swinging angle combination
The lateral swinging angle combination that image-forming condition must be met, combines according to the final optimal lateral swinging angle for meeting image-forming condition, improves determination
The accuracy of optimal lateral swinging angle combination.
Particle swarm algorithm (Particle Swarm Optimization, PSO) and differential evolution algorithm
The intelligent algorithm that (Differential Evolution, DE) algorithm is all based on group is mentioned in conjunction with above two method advantage
Population-differential evolution algorithm (PSODE algorithm) is gone out.
Successive ignition is carried out using PSODE algorithm, to determine final optimal lateral swinging angle combination, which is specifically included:
Step S5 is updated each element in the set P, makes a variation, intersects, and obtains corresponding new element group
At set P '；
Step S6 obtains set F ' according to the corresponding coverage rate of each element in the set P '；
Each element of the set F ' is compared, if described by step S7 with corresponding element in the set F
Each element of set F ' is greater than corresponding element in the set F, then replaces with element corresponding in the set F described
Element corresponding in the set P is replaced with the element of the set P ' by the element of set F '；
Step S8, by the optimal side-sway in maximum element in the set F obtained in step S7 and step S4
Combination corresponding coverage rate in angle is compared, if maximum element is greater than step in the set F obtained in step S7
Coverage rate corresponding to the optimal lateral swinging angle combination in S4, then by maximum member in the set F obtained in step S7
Element in the set P corresponding to element is combined as optimal lateral swinging angle to be optimized；
Step S9, by step S5 the set P and the set F replace with the set P obtained in step S7
With the set F, repeat K step S5 to step S8, obtain final optimal lateral swinging angle combination, wherein K be greater than etc.
In 1 integer.
1 satellite orbit of table and sensor parameters
Now propose an example, using CHINESE REGION as target area, satellite orbit and sensor relevant parameter such as 1 institute of table
Show, which, which repeatedly passes by, completes clad can to regional imaging task.Emulation initial time is 4:00:00 on May 1st, 2017
Coordinated Universal Time(UTC) (coordinated universal time, UTC), end time are 4:00:00 on May 10th, 2017
(UTC)。
Step a1, it is random between the bound of the lateral swinging angle of each track segmental arc for 30 track segmental arcs of satellite
Select 1 lateral swinging angle；The lateral swinging angle that 30 track segmental arcs respectively select is as shown in table 2.
Step a2 repeats n times step Sa1, obtains n lateral swinging angle combination, and remember that the n lateral swinging angle group is combined into collection
Close P；Since quantity is more, all lateral swinging angle combinations are not listed one by one herein.
Step a3 determines the corresponding coverage rate of each element in the set P, and remembers that each element is corresponding in the set P
Coverage rate is set F；The multiple individual (element in set P) corresponding coverage rate is determined, according to each individual
The coverage rate of acquisition is known as the ideal adaptation angle value of the individual；
The lateral swinging angle of each segmental arc of table 2
| Number | Lateral swinging angle (°) | Number | Lateral swinging angle (°) |
| x1 | 1 | x16 | 2 |
| x2 | 2 | x17 | 6 |
| x3 | 5 | x18 | 4 |
| x4 | 6 | x19 | 5 |
| x5 | 4 | x20 | 4 |
| x6 | 7 | x21 | 5 |
| x7 | 1 | x22 | 6 |
| x8 | 2 | x23 | 4 |
| x9 | 3 | x24 | 1 |
| x10 | 5 | x25 | 5 |
| x11 | 6 | x26 | 6 |
| x12 | 4 | x27 | 4 |
| x13 | 1 | x28 | 2 |
| x14 | 5 | x29 | 4 |
| x15 | 1 | x30 | 2 |
Step a31, to the volume passed by the 14:27:31 period on May 1,14:24:33 to 2017 years on the 1st May in 2017
Number the apex coordinate of the shape of rectangular ribbon is calculated for the track segmental arc of x1.
By taking the apex coordinate calculation method of P1 point as an example:
T=-2101.603, A=0.624, B=-0.348, C=-0.727 are found out first.
Simultaneous following equation group:
Obtaining P1 point cartesian coordinate (three-dimensional coordinate x, y, z) is (- 4893.443,4136.054,6311.774), unit
For rice, it is converted into longitude and latitude recoil and is designated as (133.474,56.2042).
Similarly, can be respectively as follows: in the hope of successively acquiring coordinate P1, P2, P3, P4 of four angle points of corresponding covering tape
(133.474,56.2042), (130.29,55.7156), (135.211,44.0479), (137.706,44.4612).
Step a32, it is polygon using vector proposed in this paper to 30 segmental arcs on May 10,1 day to 2017 May in 2017
Shape logical operation method calculates a coverage rate.
Step a32 obtains the apex coordinate of all shape of rectangular ribbon according to the lateral swinging angle of upper table, can find out 30 track segmental arcs
The gross area of corresponding shape of rectangular ribbon are as follows: 9.6008*1018mm2；
Friendship is asked and asked to 30 shape of rectangular ribbon again, obtains the area of effectively covering polygon are as follows: 5.1136*1018mm2；
As shown in fig. 7, the area of effective covering polygon is obtained into a coverage rate divided by the area of regional, it should
Coverage rate is 53.2625%.
The individual fitness of remaining individual is obtained according to above-mentioned steps.
Step a4, using the corresponding maximum individual of ideal adaptation angle value of each individual in the set P as just
For all extreme values of population, all extreme values refer to the corresponding obtained maximum lateral swinging angle group of coverage rate in all lateral swinging angle combinations
It closes.
Step a5 is updated each element (i.e. individual) in the set P, makes a variation, intersects, obtains corresponding new
Element composition set P '；
Step a6 obtains set F ' according to the set P '；
Each element of the set F ' is compared, if described by step a7 with corresponding element in the set F
Each element of set F ' is greater than corresponding element in the set F, then replaces with element corresponding in the set F described
Element corresponding in the set P is replaced with the element of the set P ' by the element of set F '；
For example, being updated, making a variation, intersecting according to position and speed of the PSODE algorithm to an individual in set P
To the individual in set P ', by ideal adaptation angle value and first in set P ' that an individual obtains in set P
The ideal adaptation angle value of individual is compared, if the ideal adaptation angle value that an individual obtains in set P is more than or equal to
The ideal adaptation angle value of an individual in set P ' then retains the first individual in set P；If first in set P
The ideal adaptation angle value that individual obtains is less than the ideal adaptation angle value of the individual in set P ', then will in set P ' the
An individual is as the first individual in set P.
Each segmental arc lateral swinging angle optimum results of table 3
| Number | Lateral swinging angle (°) | Number | Lateral swinging angle (°) |
| x1 | 18.2035 | x16 | -31.3346 |
| x2 | -32.9375 | x17 | 18.5529 |
| x3 | -22.6816 | x18 | -0.4457 |
| x4 | 30.4829 | x19 | -6.3483 |
| x5 | 28.7086 | x20 | -22.5342 |
| x6 | 24.4881 | x21 | -20.2448 |
| x7 | -12.7036 | x22 | -33.4622 |
| x8 | 30.8017 | x23 | -34.6931 |
| x9 | 11.214 | x24 | -10.7434 |
| x10 | 15.4382 | x25 | -20.5764 |
| x11 | -33.0486 | x26 | 11.0523 |
| x12 | -14.7236 | x27 | 4.7268 |
| x13 | -34.6931 | x28 | 27.587 |
| x14 | 34.0358 | x29 | -16.2205 |
| x15 | 2.0449 | x30 | -19.6252 |
Step a8, by the complete of maximum element in the set F obtained in step a7 and the population primary in step a4
Coverage rate corresponding to body extreme value is compared, if maximum element is greater than step in the set F obtained in step a7
Coverage rate corresponding to all extreme values of population primary in a4, then by maximum element in the set F obtained in step 7
Element in the corresponding set P is as two generation entirety extreme values；
Step a9, by step a5 the set P and the set F replace with the set P obtained in step a7
With the set F, 500 step a5 to step a8 are repeated, obtain final all extreme values, i.e., final all extreme values are
Optimal lateral swinging angle combination, lateral swinging angle combination as shown in table 3.As shown in figure 8, the optimal side-sway after 500 iteration
The coverage diagram that angle is combined.
Due to using PSODE algorithm iteration process data more, the selected optimal side of every generation is preferably embodied with Fig. 6
Pivot angle combination and its variation of corresponding coverage rate.Abscissa is evolutionary generation in Fig. 6, and the corresponding algebra of ordinate obtains
Coverage rate, from fig. 6 it can be seen that with the increase of the number of iterations, coverage rate is gradually increasing.
Obtaining coverage rate according to the lateral swinging angle of table 3 is 93.8754%.93.8754% compared to 53.2625%, covering
Rate is improved close to 1 times.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
For system embodiments, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
Above to a kind of more rail joining image-forming optimization methods of facing area covering provided herein, carry out in detail
It introduces, specific examples are used herein to illustrate the principle and implementation manner of the present application, the explanation of above embodiments
It is merely used to help understand the present processes and its core concept；At the same time, for those skilled in the art, according to this
The thought of application, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered
It is interpreted as the limitation to the application.
Claims (10)
1. a kind of more rail joining image-forming optimization methods of facing area covering, which comprises the following steps:
Step S1 randomly chooses 1 between the bound of the lateral swinging angle of each track segmental arc for m track segmental arc of satellite
A lateral swinging angle constitutes a lateral swinging angle combination；Wherein, m is positive integer；
Step S2 repeats n times step S1, obtains n lateral swinging angle combination, and remember that the n lateral swinging angle group is combined into set P, n
For positive integer；
Step S3 determines the corresponding coverage rate of each element in the set P, and remembers the corresponding covering of each element in the set P
Rate is set F；
Step S4 combines the corresponding lateral swinging angle combination of coverage rate maximum in the set F as optimal lateral swinging angle；
Step S5 is updated each element in the set P, makes a variation, intersects, and obtains corresponding new element composition
Set P '；
Step S6 obtains set F ' according to the corresponding coverage rate of each element in the set P '；
Each element of the set F ' is compared, if the set by step S7 with corresponding element in the set F
Each element of F ' is greater than corresponding element in the set F, then element corresponding in the set F is replaced with the set
Element corresponding in the set P is replaced with the element of the set P ' by the element of F '；
Step S8, by the optimal lateral swinging angle group in maximum element in the set F obtained in step S7 and step S4
It closes corresponding coverage rate to be compared, if maximum element is greater than in step S4 in the set F obtained in step S7
The corresponding coverage rate of the optimal lateral swinging angle combination, then by element institute maximum in the set F obtained in step S7
Element in the corresponding set P is combined as optimal lateral swinging angle to be optimized；
Step S9, by step S5 the set P and the set F replace with the set P obtained in step S7 and institute
Set F is stated, K step S5 to step S8 is repeated, obtains final optimal lateral swinging angle combination, wherein K is evolutionary generation, K
For the integer more than or equal to 1.
2. being wrapped the method according to claim 1, wherein determining the corresponding coverage rate of each element in the set P
It includes:
According to each of a lateral swinging angle combination lateral swinging angle, the position of central projection imaging geometry and satellite and speed
Degree, determines the corresponding shape of rectangular ribbon of each lateral swinging angle, obtains the apex coordinate on four vertex of each shape of rectangular ribbon；
According to the apex coordinate of all shape of rectangular ribbon, all shape of rectangular ribbon are asked and obtain covering polygon；
The covering polygon and target area are asked into friendship, obtain effectively covering polygon；
By the area of effective covering polygon divided by the area of the target area, coverage rate is obtained.
3. according to the method described in claim 2, it is characterized in that, the shape of rectangular ribbon is corresponding by each lateral swinging angle
Imaging center S is formed to the feature light of four angle points of area array sensor and four intersection points of earth's surface in earth's surface.
4. according to the method described in claim 2, it is characterized in that, the shape of rectangular ribbon is corresponding by each lateral swinging angle
The feature light of imaging center S to two angle points of line array sensor passes through a period of time in the inswept formation of earth's surface.
5. according to the method described in claim 2, it is characterized in that, the apex coordinate on each vertex of each shape of rectangular ribbon be by
It is determined according to following steps:
Under inertial coodinate system, if the earth is a standard rotation ellipsoid, the equation of the standard rotation ellipsoid is the first formula:
Wherein, (x, y, z) is a point on standard rotation ellipsoid surface, and a, b are respectively the major semiaxis of standard rotation ellipsoid and short
Half shaft length；
The equation in geocentric inertial coordinate system of feature light locating for the vertex is the second formula:
Wherein, (x0, y0, z0) it is coordinate of the imaging center S under geocentric inertial coordinate system, (A, B, C) is spy locating for the vertex
Levy direction number of the light under geocentric inertial coordinate system；
First formula described in simultaneous and second formula, obtain the apex coordinate on each vertex of each shape of rectangular ribbon.
6. according to the method described in claim 2, it is characterized in that, the area of effective covering polygon is according to following step
Suddenly it obtains:
By effective covering polygon decomposition at several triangles, each triangle is acquired using the method for vector product one by one
Area, sum to the areas of all triangles, obtain the area of effectively covering polygon；Wherein, polygon is effectively covered
The calculation formula of area are as follows:
Wherein, xi、yiFor the plane coordinates on i-th of vertex, q is the number on the effectively vertex of covering polygon, and S is effectively covering
The area of polygon, wherein i and q is positive integer.
7. according to the method described in claim 2, it is characterized in that, the list of the apex coordinate on four vertex of each shape of rectangular ribbon
Position is mm；
The apex coordinate of all shape of rectangular ribbon is rounded；
According to the apex coordinate after the rounding of all shape of rectangular ribbon, all shape of rectangular ribbon are asked and obtain covering polygon.
8. according to the method described in claim 2, it is characterized in that, ask friendship ask friendship rule include Unlike ask friendship rule and
Like seeks friendship rule.
9. according to the method described in claim 2, it is characterized in that, the bound of the lateral swinging angle of each track segmental arc be according to
What lower step determined:
According to the positional relationship of the sub-satellite track of each track segmental arc of satellite and shape of rectangular ribbon, obtain each vertex of shape of rectangular ribbon with
Sub-satellite track distance d；
According to satellite orbital altitude h and viewing field of camera angle IFOV, side required when satellite primary optical axis is directed toward the imaging of each vertex is determined
Pivot angle β:
β=atan (d/h)+IFOV
Lateral swinging angle β sequence to each vertex correspondence, wherein lateral swinging angle maximum value is the maximum lateral swinging angle u of the track segmental arc, side
Pivot angle minimum value is the minimum lateral swinging angle l of the track segmental arc；
If the side-sway angular region of satellite is (- Rollmax, Rollmax)；
If l <-RollmaxAnd u > Rollmax, then the bound of the lateral swinging angle of each track segmental arc is respectively-Rollmax,
Rollmax；
If l <-RollmaxAnd u < Rollmax, then the bound of the lateral swinging angle of each track segmental arc is respectively-Rollmax, u；
If l >-RollmaxAnd u < Rollmax, then the bound of the lateral swinging angle of each track segmental arc is respectively l, u；
If l >-RollmaxAnd u > Rollmax, then the bound of the lateral swinging angle of each track segmental arc is respectively l, Rollmax。
10. the method according to claim 1, wherein obtaining final optimal lateral swinging angle group in the step S9
The lateral swinging angle Optimized model of conjunction is as follows:
Wherein, P={ x1,x2,…,xi,…xn, xi∈[li,ui], x in formulaiIt is combined for a lateral swinging angle, Scov (xi) it is effective
Cover the area of polygon, SobjFor the area of target area, n is the quantity of element in the set P, li、uiFor the i-th orbital arc
The bound of the lateral swinging angle of section, i, n are positive integer.
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