CN110134914A - A kind of method, apparatus and computer storage medium for planning the motor-driven imaging task of quick satellite two-dimensional attitude - Google Patents
A kind of method, apparatus and computer storage medium for planning the motor-driven imaging task of quick satellite two-dimensional attitude Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of method, apparatus and computer storage medium for planning the motor-driven imaging task of quick satellite two-dimensional attitude；This method may include: to obtain the satellite for the constraint qualification parameter of each target in all targets in the orbit parameter of mission planning period and all clarification of objective parameters according to satellite；The constraint qualification condition for meeting setting corresponding to the constraint qualification parameter of the target, the target is determined as can imageable target；According to it is all can imageable target generate imageable target sequence；According to the satellite the maneuverability information that the development stage is arranged in the imageable target sequence can imageable target screen according to the screening strategy of setting, the imageable target sequence after being screened；Wherein, the imageable target in the imageable target sequence after the screening is the target for needing to carry out the motor-driven imaging task of two-dimensional attitude of the satellite.
Description
Technical field
The present embodiments relate to satellite technology field more particularly to a kind of motor-driven imagings of the quick satellite two-dimensional attitude of planning
The method, apparatus and computer storage medium of task.
Background technique
The fast reserves such as quick passing of satelline rolling, pitching control realizes that observation, mobility than are generally defended on a large scale
Star is stronger, is the emphasis satellite type that each spacefaring nation is competitively developed.Currently, the imaging task of simple target is no longer satisfied
The needs of modern space flight development.The task that more star coordinateds carry out investigations and take pictures needs one subtask of satellite for multiple
Different ground targets are imaged.It is limited since ground receiver data are instructed with upper note by segmental arc, in order to ensure task execution
High efficiency and rapidity, need satellite to be able to carry out in-orbit autonomous mission planning.
In traditional imaging task, satellite usually only considers the push-scanning image mode of rotating direction.Nevertheless, due to
Satellite carries out staring imaging and/or three-dimensional imaging sometimes for specific objective, then just needing satellite can be in pitching, rolling
It is motor-driven that direction carries out two dimension.The two-dimentional mobile process of different satellites may also be different, for example, some satellites can bow
Face upward, rolling direction passes through two axis while it is motor-driven to realize, and some satellites are in order to avoid the coupling of yaw direction, in pitching, rolling
The motor-driven of direction cannot carry out simultaneously.
Based on the various process of the motor-driven imaging of above-mentioned satellite two dimension, two can be realized for quick satellite by being badly in need of one kind at present
Tie up the scheme of attitude maneuver imaging task.
Summary of the invention
In view of this, an embodiment of the present invention is intended to provide a kind of sides for planning the motor-driven imaging task of quick satellite two-dimensional attitude
Method, device and computer storage medium；It can be applied not only to staring imaging that single star carries out multiple target/single goal, vertical
A variety of two-dimensional imaging tasks such as body imaging, but also can be realized more stars to multiple target/single goal two-dimensional imaging task.
The technical solution of the embodiment of the present invention is achieved in that
In a first aspect, the embodiment of the invention provides a kind of sides for planning the motor-driven imaging task of quick satellite two-dimensional attitude
Method, which comprises
The satellite needle is obtained in the orbit parameter of mission planning period and all clarification of objective parameters according to satellite
To the constraint qualification parameter of each target in all targets；
The constraint qualification condition for meeting setting corresponding to the constraint qualification parameter of the target, the target is determined as can
Imageable target；
According to it is all can imageable target generate imageable target sequence；
According to the satellite in the maneuverability information that the development stage is arranged to being imaged in the imageable target sequence
Target is screened according to the screening strategy of setting, the imageable target sequence after being screened；Wherein, the imaging after the screening
Imageable target in target sequence is the target for needing to carry out the motor-driven imaging task of two-dimensional attitude of the satellite.
Second aspect, the embodiment of the invention provides a kind of dresses for planning the motor-driven imaging task of quick satellite two-dimensional attitude
It sets, described device includes: fetching portion, determines part, generating portion and screen fraction；Wherein,
The fetching portion is configured to orbit parameter and all clarifications of objective according to satellite in the mission planning period
Parameter obtains the satellite for the constraint qualification parameter of each target in all targets；
The determining part is configured to meet the constraint qualification item of setting corresponding to the constraint qualification parameter of the target
Part, the target is determined as can imageable target；
The generating portion, be configured to according to it is all can imageable target generate imageable target sequence；
The screen fraction, the maneuverability information for being configured to be arranged according to the satellite in the development stage is to the imaging
In target sequence can imageable target screened according to the screening strategy of setting, the imageable target sequence after being screened；Its
In, the imageable target in imageable target sequence after the screening is that the motor-driven imaging of two-dimensional attitude that needs to carry out of the satellite is appointed
The target of business.
The third aspect, the embodiment of the invention provides a kind of dresses for planning the motor-driven imaging task of quick satellite two-dimensional attitude
It sets, described device includes: memory and processor；Wherein,
The memory, for storing the computer program that can be run on the processor；
The processor plans quick satellite two for executing when running the computer program described in first aspect
The step of tieing up the method for attitude maneuver imaging task.
Fourth aspect, the embodiment of the invention provides a kind of computer storage medium, the computer storage medium storage
There are the program for planning the motor-driven imaging task of quick satellite two-dimensional attitude, the motor-driven imaging task of the quick satellite two-dimensional attitude of the planning
Program realize when being executed by least one processor and plan the quick motor-driven imaging task of satellite two-dimensional attitude described in first aspect
Method the step of.
The embodiment of the invention provides a kind of method, apparatus and meter for planning the motor-driven imaging task of quick satellite two-dimensional attitude
Calculation machine storage medium；All targets are subjected to screening according to constraint qualification condition by quick satellite and obtain imageable target sequence
Afterwards, further according to satellite from the development stage setting maneuverability information in imageable target sequence can imageable target carry out
Postsearch screening, so as to realize staring imaging, three-dimensional imaging that quick satellite carries out multiple target/single goal etc. a variety of two
The planning of imaging task is tieed up, and the technical solution of the embodiment of the present invention is based on quick satellite itself and carries out postsearch screening, therefore,
More stars be can be applicable to the two-dimensional imaging mission planning of multiple target/single goal.
Detailed description of the invention
Fig. 1 is a kind of method flow for planning the motor-driven imaging task of quick satellite two-dimensional attitude provided in an embodiment of the present invention
Schematic diagram；
Fig. 2 is a kind of satellite imagery mobile process schematic diagram provided in an embodiment of the present invention；
Fig. 3 is that a kind of method for planning the motor-driven imaging task of quick satellite two-dimensional attitude provided in an embodiment of the present invention is specific
Implementation process schematic diagram；
Fig. 4 is a kind of device composition for planning the motor-driven imaging task of quick satellite two-dimensional attitude provided in an embodiment of the present invention
Schematic diagram；
Fig. 5 is a kind of tool of device for planning the motor-driven imaging task of quick satellite two-dimensional attitude provided in an embodiment of the present invention
Body hardware structural diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
Referring to Fig. 1, it illustrates a kind of quick motor-driven imagings of satellite two-dimensional attitude times of planning provided in an embodiment of the present invention
The method of business, this method can be applied to the quick satellite that the motor-driven imaging of two-dimensional attitude is carried out to single target or multiple targets
In, and the two-dimensional attitude includes pitching and roll attitude, this method may include:
S1: the satellite is obtained in the orbit parameter of mission planning period and all clarification of objective parameters according to satellite
For the constraint qualification parameter of each target in all targets；
S2: meeting the constraint qualification condition of setting corresponding to the constraint qualification parameter of the target, and the target is determined
For can imageable target；
S3: according to it is all can imageable target generate imageable target sequence；
S4: according to the satellite the maneuverability information that the development stage is arranged in the imageable target sequence can be at
As target is screened according to the screening strategy of setting, the imageable target sequence after being screened；Wherein, after the screening at
As the target for needing to carry out the motor-driven imaging task of two-dimensional attitude that the imageable target in target sequence is the satellite.
By technical solution shown in FIG. 1, all targets are screened according to constraint qualification condition by quick satellite
After obtaining imageable target sequence, further according to satellite from the maneuverability information in development stage setting in imageable target sequence
Can imageable target carry out postsearch screening, so as to realize staring imaging that quick satellite carries out multiple target/single goal,
The planning of a variety of two-dimensional imaging tasks such as three-dimensional imaging, and technical solution shown in FIG. 1 is based on quick satellite itself and carries out two
Secondary screening, and hence it is also possible to be suitable for more stars to the two-dimensional imaging mission planning of multiple target/single goal.
For technical solution shown in FIG. 1, in one possible implementation, it is described according to satellite in mission planning
The orbit parameter and all clarification of objective parameters of section obtain the satellite and sentence for the constraint of each target in all targets
Determine parameter, comprising:
According to the satellite in the preliminary orbit parameter of t moment, determine that the satellite exists using earth-satellite orbit recurrence model
Mission planning period [t0,tf] orbit parameter；Wherein, t≤t0, t0Indicate the start time point of the mission planning period, tf
Indicate the end time point of the mission planning period；
According to the satellite in mission planning period [t0,tf] in orbit parameter and each target location parameter, benefit
The satellite is obtained in [t with Fibonacci method0,tf] in for each target Covering time point and imaging lateral swinging angle；
According to the satellite in [t0,tf] in determine the satellite in [t for the Covering time point of each target0,tf] in
For the solar elevation of each target.
For above-mentioned implementation, specifically, for the preliminary orbit parameter being set, t (t≤t is generally included0)
Initial position vector of the moment satellite under J2000.0 coordinate systemInitial velocity vectorIt can so be obtained by Orbit simulation
To acquisition t (t≤t0) any time after the moment position vector rSWith the vector r of satellite to target TS-T.To reduce calculation amount,
Operation efficiency is improved, Newton iteration method can be used and obtain earth-satellite orbit recursion mode, and satellite is calculated using Fibonacci method
Covering time point and corresponding imaging lateral swinging angle (or roll angle) to target T.Meanwhile according to the Covering time of satellite point,
Corresponding solar elevation at this time can also be calculated.
For technical solution shown in FIG. 1, in one possible implementation, the method also includes:
For each target Tm: when the satellite is in [t0,tf] interior for TmCovering time point tm∈[t0,tf], and institute
Satellite is stated in [t0,tf] interior for TmImaging lateral swinging angle φm∈ C, and the satellite is directed to TmSolar elevation meet setting
Satellite imagery requirement, it is determined that the TmConstraint qualification parameter meet the constraint qualification condition of setting；Wherein, 1≤m≤M,
M indicates the total quantity of all targets, and C indicates the rolling angular region that the satellite allows.
Specifically, with target TmFor, obtaining corresponding satellite Covering time by aforementioned implementation is tm, rolling
Angle is φm, solar elevation βm.According to mission planning period [t0,tf] judge TmCovering time whether meet tm∈[t0,
tf]；T is judged according to the rolling angular region C that satellite allowsmRoll angle whether meet φm∈C；If satellite has detailed imaging
Quality requirement, then also needing to judge altitude of the sun angle betamEtc. data whether meet the image quality requirement.When meeting above-mentioned institute
When Prescribed Properties, T can be determinedmConstraint qualification parameter meet the constraint qualification condition of setting.It therefore, can be by target
TmBe determined as can imageable target, and can by it is obtained it is N number of can imageable target point constitute a target point set.
To can imageable target determine after, preferably for, it is described according to it is all can imageable target generate imageable target
Sequence, comprising:
By it is described can imageable target according to the addition sequence of setting sequentially add imageable target initiation sequence Seq0 S；Wherein,
The imageable target initiation sequence Seq0 SInitial value be { T0,Tf, T0And TfIt is illustrated respectively in t0And tfThe moment attitude of satellite pair
The virtual target point answered；
By the imageable target initiation sequence Seq after the addition0 SIn can imageable target according to the satellite in [t0,tf]
It is interior for can the sequencing of Covering time point of imageable target be ranked up, obtain imageable target sequence SeqS。
Specifically, can by it is N number of can imageable target according to different degree (if identical without different degree or different degree, according to
Target designation sequence) sequentially add imageable target sequence SeqS。SeqSIn target point according to corresponding Covering time point from arriving first
Sequence sequence afterwards.SeqSInitiation sequence Seq0 SFor { T0,Tf, wherein T0And TfRespectively t0And tfThe attitude of satellite pair at moment
The virtual target point answered.
It is in one possible implementation, described to be arranged in the development stage according to the satellite for above scheme
Maneuverability information in the imageable target sequence can imageable target screen according to the screening strategy of setting, sieved
Imageable target sequence after choosing, comprising:
For the target T in the imageable target sequencen(n=1,2 ..., N), N are indicated in the imageable target sequence
Target numbers and N≤M:
It is in office for describing the satellite according to determined by the fitting function for passing through setting in the satellite development stage
The time kept in reserve function anticipated under motor-driven angle determines the satellite for target TformerTo institute after imaging and pitch attitude return
Satellite is stated for the target TnForword-looking imaging start before between the first time kept in reserve section whether meet the imaging task of setting and want
It asks and the satellite is for the target TnTarget T is directed to the satellite after imaging and pitch attitude returnlaterForward sight at
As whether the second time kept in reserve section between before starting meets the imaging task demand of setting, wherein TformerIndicate the imaging mesh
Mark target T described in sequencenPrevious target, TlaterIndicate target T described in the imageable target sequencenThe latter mesh
Mark；
It is unsatisfactory for corresponding to the first time kept in reserve section and the section of any time kept in reserve in the second time kept in reserve section
The imaging task demand of the setting, then by the target TnIt is screened out from the imageable target sequence；
The imaging task of the setting is all satisfied with the second time kept in reserve section corresponding to the first time kept in reserve section
Demand, then by the target TnRetain in the imageable target sequence；The target in imageable target sequence after screening
All target points that point number reaches in the satellite maximum imaging number or the imageable target sequence, which are screened, to be finished.
It should be noted that above-mentioned implementation realize in imageable target sequence can imageable target secondary sieve
Choosing, the target point in imageable target sequence after obtained screening is satellite in [t0,tf] in the period, it is necessary to it is imaged
Target, so as to complete the planning for the quick motor-driven imaging task of satellite two-dimensional attitude.Moreover, in above-mentioned implementation
In, the time kept in reserve function AngleT_Calculate_Fit can be provided in the satellite development stage with discrete form
The time kept in reserve of satellite under different motor-driven angles, and fitting function is established, it is defended under any motor-driven angle to obtain and can calculate
The function AngleT_Calculate_Fit of the time kept in reserve of star.Specifically, it is quasi- that fitting of a polynomial, Fourier space may be selected
The approximating methods such as conjunction, to obtain time kept in reserve function AngleT_Calculate_Fit, for the function, input is
The motor-driven angle of satellite single shaft, exported as the time kept in reserve of satellite single shaft.
For above-mentioned implementation, furthermore, it is understood that the basis passes through the fitting of setting in the satellite development stage
For describing time kept in reserve function of the satellite under any motor-driven angle determined by function, determine the satellite for mesh
Mark TformerThe target T is directed to the satellite after imaging and pitch attitude returnnForword-looking imaging start before between it is first motor-driven
Whether the period meets the imaging task requirement of setting and the satellite is directed to the target TnImaging and pitch attitude return
Target T is directed to the satellite afterwardslaterForword-looking imaging start before between the second time kept in reserve section whether meet setting imaging appoint
Business demand, comprising:
Set target T described in the imageable target sequencenPrevious target be target Tformer, the imageable target
Target T described in sequencenThe latter target be target Tlater；
It is in office for describing the satellite according to determined by the fitting function for passing through setting in the satellite development stage
The time kept in reserve function anticipated under motor-driven angle determines the satellite for the target TformerAfter imaging and pitch attitude return
The target T is directed to the satellitenCarry out the first time kept in reserve section passed through before forword-looking imaging starts and the satellite
For the target TnThe target T is directed to the satellite after imaging and pitch attitude returnlaterForword-looking imaging is carried out to start
Before between the second time kept in reserve section；
When corresponding to any motor-driven in first time kept in reserve section and second time kept in reserve section of the satellite
Between motor-driven in place and can not stablize in section, it is determined that any in the first time kept in reserve section and second time kept in reserve section
Time kept in reserve section is unsatisfactory for the imaging task demand of the setting；
It can be motor-driven in the first time kept in reserve section and second time kept in reserve section corresponding to the satellite
In place and stablize, it is determined that the imaging that the first time kept in reserve section is all satisfied the setting with the second time kept in reserve section is appointed
Business demand.
It should be noted that satellite can include successively four-stage carrying out the mobile process in town and country to target, with Fig. 2
For, satellite is in target point T over the groundAThe mobile process being imaged may each comprise the motor-driven stage P of two dimension before imaging1A, cross push up
Preceding imaging session P2A, Guo Dinghou imaging session P3AAnd posture return stage P4A；Correspond to target point TB, satellite to its into
The mobile process of row imaging equally may include the motor-driven stage P of two dimension before being imaged1B, Guo Dingqian imaging session P2B, cross push up after be imaged
Stage P3BAnd posture return stage P4B.And during being imaged motor-driven, preceding visual angle and back angle are usually the constant value set,
To which satellite is in P1、P2、P3、P4Pitching time kept in reserve dt needed for stage1y、dt2y、dt3y、dt4yFor determining constant value.For around
The one-dimensional motor-driven imaging task of wobble shaft, there is dt2y=dt3y=0.For two axis of rolling/pitching cannot motor-driven satellite simultaneously, P4
Process only has that pitching is motor-driven, and rolling is motor-driven only in P1It carries out in the process；Two axis of rolling/pitching motor-driven simultaneously can be defended
Star, P4The total time of process is the pitching time kept in reserve.In embodiments of the present invention, subscript x indicates the motor-driven mark of the axis of rolling, under
Marking y indicates that the motor-driven mark of pitch axis, subscript indicate total motor-driven mark of pitch axis and the axis of rolling without x and y；Subscript former and
Later respectively indicates the previous imageable target and a rear imageable target of current goal in imaging target sequence.
For above-mentioned further description, specifically, the basis passes through the quasi- of setting in the satellite development stage
It closes determined by function for describing time kept in reserve function of the satellite under any motor-driven angle, determines that the satellite is directed to
The target TformerThe target T is directed to the satellite after imaging and pitch attitude returnnIt carries out forword-looking imaging and starts preceding institute
The the first time kept in reserve section passed through and the satellite are directed to the target TnTo the satellite after imaging and pitch attitude return
For the target TlaterCarry out the second time kept in reserve section between before forword-looking imaging starts, comprising:
The satellite, which is obtained, according to the time kept in reserve function is being directed to target TnImaging before the motor-driven stage P of two dimension1nIn
Required pitching time kept in reserve dt1ynAnd rolling time kept in reserve dt1xn；
The satellite, which is obtained, according to the time kept in reserve function is being directed to target TlaterImaging before two dimension motor-driven stage
P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlater；
If the wobble shaft and pitch axis of the satellite is independent motor-driven, by the satellite in P1nNeeded for pitching machine
Dynamic time dt1ynAnd rolling time kept in reserve dt1xnIt is added, obtains the satellite in P1nNeeded for time kept in reserve dt1n；And
By the satellite in P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlaterIt is added, obtains institute
Satellite is stated in P1laterNeeded for time kept in reserve dt1later；Wherein, the satellite is in P1nNeeded for time kept in reserve dt1nFor institute
The first time kept in reserve section is stated, the satellite is in P1laterNeeded for time kept in reserve dt1laterFor the second time kept in reserve section；
If the wobble shaft and pitch axis of the satellite is motor-driven simultaneously, by the satellite in P1nNeeded for pitching machine
Dynamic time dt1ynAnd rolling time kept in reserve dt1xnIn maximum value be determined as the satellite in P1nNeeded for the time kept in reserve
dt1n；And by the satellite in P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlaterIn
Maximum value be determined as the satellite in P1laterNeeded for time kept in reserve dt1later；Wherein, the satellite is in P1nNeeded for
Time kept in reserve dt1nFor the first time kept in reserve section, the satellite is in P1laterNeeded for time kept in reserve dt1laterIt is described
Two time kept in reserve section.
Correspondingly, the method also includes:
The satellite is obtained in P based on following formula1nIn total time dT1nAnd the satellite is in P1laterIn total time
dT1later:
Wherein, tnIndicate the satellite for target TnCovering time point, tformerIndicate the satellite for target
TformerCovering time point, tlaterIndicate the satellite for target TlaterCovering time point, dT3formerIt is defended described in expression
Star is being directed to target TformerCross push up after imaging session P3formerTotal time, dT4formerIndicate the satellite for target
TformerPosture return stage P4formerTotal time, dT2nIndicate the satellite for target TnCross push up before imaging session
P2nTotal time, dT3nIndicate the satellite for target TnCross push up after imaging session P3nTotal time, dT4nDescribed in expression
Satellite is being directed to target TnPosture return stage P4nTotal time, dT2laterIndicate the satellite for target TlaterMistake
Imaging session P before pushing up2laterTotal time；
When the first time kept in reserve section is not more than the satellite in P1nIn total time dT1nAnd it is described second it is motor-driven when
Between section no more than the satellite in P1laterIn total time dT1later, then the satellite in first time kept in reserve section and
It can be motor-driven in place and stable in the second time kept in reserve section；Otherwise, the satellite in first time kept in reserve section and
It can not be motor-driven in place and stable in section of any time kept in reserve in the second time kept in reserve section.
It, specifically, can imageable target point T for above-mentioned concrete schemen(n=1,2 ..., N) imageable target is added
Sequence SeqSAfterwards, previous target point TformerCorresponding Covering time is tformer, the latter target point TlaterIt is corresponding
Covering time is tlater.The satellite being calculated by time kept in reserve function AngleT_Calculate_Fit is set in P4former
The rolling time kept in reserve needed for stage is dt4xformer；Satellite is for target TnP1The rolling time kept in reserve needed for stage is
dt1xn；Satellite is for target TnP4The rolling time kept in reserve needed for stage is dt4xn；Satellite is for target TlaterP1Stage institute
The rolling time kept in reserve needed is dt1xlater。
Set P3former、P4former、P1n、P2n、P3n、P4n、P1later、P2laterThe total time of each section of process is dT3former、
dT4former、dT1n、dT2n、dT3n、dT4n、dT1later、dT2laterIf P4formerFinish time be later than P1nAt the beginning of, then
dT1nIt can be negative value；dT1laterSimilarly or negative value.Time kept in reserve needed for satellite during each section respectively corresponds
For dt3former、dt4former、dt1n、dt2n、dt3n、dt4n、dt1later、dt2later。
Independent motor-driven satellite is needed for two axis of rolling/pitching, there is following formula establishment
Wherein, dt1xnIt is acquired for target T to be calculated by function AngleT_Calculate_Fitn, satellite is two
Time kept in reserve between a lateral swinging angle (roll angle), dt1xlaterSimilarly, to be calculated by function AngleT_Calculate_Fit
It is acquired for target Tlater, time kept in reserve of the satellite between two lateral swinging angles (roll angle).
And for the satellite that two axis of rolling/pitching can be motor-driven simultaneously, there is following formula establishment
Wherein, between setting two lateral swinging angles (roll angle) as obtained by function AngleT_Calculate_Fit calculating
Time kept in reserve is Δ tx.In above formula, if dt4xformer≤Δtx, i.e. dt4xformer=dt4yformer, then dt1xn=Δ tx?
dt4xformer；If dt4xformer≥Δtx, i.e. dt4xformer≤dt4yformer, then dt1xn=0；dt1xlaterIt can similarly obtain.
It should be noted that no matter satellite whether can two axis simultaneously it is motor-driven, for virtual target point T0There is dt30=
dT30=dt40=dT40=0；For virtual target point TfThere is dt3f=dT1f=dt2f=dT2f=0.
Due to the constant value that the preceding visual angle of satellite imagery and back angle are setting, thus according to the pitching maneuverability of satellite,
dt3former、dt4former、dt2n、dt3n、dt4n、dt2laterValue be definite value, target point TnImageable target sequence can be retained in
Arrange SeqS, only and dt1nAnd dt1laterValue it is related.For two axis of rolling/pitching must independent motor-driven and two axis of rolling/pitching can
With two kinds of motor-driven simultaneously satellites, the dt calculated respectively according to it1nAnd dt1laterValue judged, to make target point Tn
Imageable target sequence Seq can be retained inS, only it need to meet following condition:
I.e. satellite to previous target point imaging and pitch attitude return after to satellite to current target point forward sight at
As in elapsed time before starting, the attitude angle of satellite can be motor-driven in place and stable, while satellite is to current target point
Before being imaged and starting to satellite to next target point forword-looking imaging after pitch attitude return in elapsed time, satellite
Attitude angle also can be motor-driven in place and stable.Otherwise, target TnFrom imageable target sequence SeqSMiddle rejecting.
It is to be appreciated that be directed to above-described embodiment technical solution, in face of more stars to multiple target/single goal two dimension/
When one-dimensional motor-driven imaging task, the process of above-mentioned technical proposal need to be only repeated.
Based on the identical technical concept of aforementioned embodiment shown in FIG. 1, referring to Fig. 3, it illustrates the embodiment of the present invention to mention
A kind of specific implementation process of the method for the motor-driven imaging task of planning agility satellite two-dimensional attitude supplied, the process may include:
S001: input satellite is in P1、P2、P3、P4Pitching time kept in reserve dt needed for stage1y、dt2y、dt3y、dt4y, and
Time kept in reserve of the several groups satellite under the motor-driven angle of different rollings；
S002: the motor-driven function of time AngleT_ of satellite is generated by fitting function method for above-mentioned input data
Calculate_Fit；
It is to be appreciated that the function can generate to obtain by approximating methods such as fitting of a polynomial, Fourier space fittings, and
And for the function, input is the motor-driven angle of satellite single shaft, is exported as the time kept in reserve of satellite single shaft.For above-mentioned
For S001 and S002, the two steps can be realized in the satellite development stage, to complete the prepackage of data and function
Order work.
S101: the preliminary orbit parameter of satellite and number, longitude and latitude and the different degree of each target are inputted；
S102: by Fibonacci method, satellite is calculated to the visibility, expectation imaging time point, minimum lateral swinging angle of target
And the parameters such as solar elevation；
It is to be appreciated that above-mentioned S101 and S102 complete the pretreatment to satellite and all target related datas,
Aiming at the data prediction work of this mission planning.
S103: determine whether the parameters of each target are all satisfied the mission requirements of setting: if so, going to S104；It is no
Then, which is rejected；
Specifically, for each target Tm: when the satellite is in [t0,tf] interior for TmCovering time point tm∈[t0,
tf], and the satellite is in [t0,tf] interior for TmImaging lateral swinging angle φm∈ C, and the satellite is directed to TmSolar elevation
Meet the satellite imagery requirement of setting, it is determined that the TmConstraint qualification parameter meet the constraint qualification condition of setting, accordingly
Ground also just meets the mission requirements of setting.By S103, the first time screening for target is realized, obtained mesh is screened
Mark, it is believed that being can imageable target.
S104: by goal-setting be can imageable target, until all targets pass through S103 and are determined；
It is to be appreciated that above-mentioned steps S103 to S104 completes the primary screening process to target.
S105: can imageable target it is (suitable according to target designation if identical without different degree or different degree according to different degree
Sequence) sequentially add imageable target sequence；
S106: for each of imageable target sequence can imageable target satellite determined according to the motor-driven function of time of satellite
Maneuverability whether allow this can imageable target retain to imageable target sequence；If so, going to S107, otherwise go to
S108；
It is to be appreciated that the motor-driven function of time of satellite is the embodiment of satellite maneuverability, when satellite maneuverability can not expire
Foot to it is a certain can imageable target be imaged, then should by this can imageable target deleted from imageable target sequence, to protect
Demonstrate,proving the target in the imageable target sequence finally obtained is the target that satellite is able to carry out imaging by itself maneuverability.
S107: can imageable target retain to imageable target sequence, output satellite imaging sequence；
S108: can imageable target deleted from imageable target sequence；
It is to be appreciated that the satellite imagery sequence finally obtained namely passes through postsearch screening described in S105 to S108
Later imageable target sequence, satellite can complete imaging task according to the target sequences in the sequence and therefore also be achieved that
Satellite is directed to the primary system plan of two-dimensional imaging task.
Based on the identical inventive concept of previous embodiment, referring to fig. 4, it illustrates a kind of rule provided in an embodiment of the present invention
The device 40 of the motor-driven imaging task of quick satellite two-dimensional attitude is drawn, which may include: fetching portion 401, determines part
402, generating portion 403 and screen fraction 404；Wherein,
The fetching portion 401 is configured to orbit parameter and all targets according to satellite in the mission planning period
Characteristic parameter obtains the satellite for the constraint qualification parameter of each target in all targets；
The determining part 402 is configured to meet the constraint qualification of setting corresponding to the constraint qualification parameter of the target
Condition, the target is determined as can imageable target；
The generating portion 403, be configured to according to it is all can imageable target generate imageable target sequence；
The screen fraction 404, the maneuverability information for being configured to be arranged according to the satellite in the development stage is to described
In imageable target sequence can imageable target screened according to the screening strategy of setting, the imageable target sequence after being screened
Column；Wherein, the imageable target in the imageable target sequence after the screening be the satellite need to carry out two-dimensional attitude it is motor-driven
The target of imaging task.
In the above scheme, the fetching portion 401, is configured that
According to the satellite in the preliminary orbit parameter of t moment, determine that the satellite exists using earth-satellite orbit recurrence model
Mission planning period [t0,tf] orbit parameter；Wherein, t≤t0, t0Indicate the start time point of the mission planning period, tf
Indicate the end time point of the mission planning period；
According to the satellite in mission planning period [t0,tf] in orbit parameter and each target location parameter, benefit
The satellite is obtained in [t with Fibonacci method0,tf] in for each target Covering time point and imaging lateral swinging angle；
According to the satellite in [t0,tf] in determine the satellite in [t for the Covering time point of each target0,tf] in
For the solar elevation of each target.
In the above scheme, the determining part 402, is additionally configured to
For each target Tm: when the satellite is in [t0,tf] interior for TmCovering time point tm∈[t0,tf], and institute
Satellite is stated in [t0,tf] interior for TmImaging lateral swinging angle φm∈ C, and the satellite is directed to TmSolar elevation meet setting
Satellite imagery requirement, it is determined that the TmConstraint qualification parameter meet the constraint qualification condition of setting；Wherein, 1≤m≤M,
M indicates the total quantity of all targets, and C indicates the rolling angular region that the satellite allows.
In the above scheme, the generating portion 403, is configured that
By it is described can imageable target according to the addition sequence of setting sequentially add imageable target initiation sequence Seq0 S；Wherein,
The imageable target initiation sequence Seq0 SInitial value be { T0,Tf, T0And TfIt is illustrated respectively in t0And tfThe moment attitude of satellite pair
The virtual target point answered；
By the imageable target initiation sequence Seq after the addition0 SIn can imageable target according to the satellite in [t0,tf]
It is interior for can the sequencing of Covering time point of imageable target be ranked up, obtain imageable target sequence SeqS。
In the above scheme, the screen fraction 404 is configured that and described is arranged in the development stage according to the satellite
Maneuverability information in the imageable target sequence can imageable target screen according to the screening strategy of setting, sieved
Imageable target sequence after choosing, comprising:
For the target T in the imageable target sequencen(n=1,2 ..., N), N are indicated in the imageable target sequence
Target numbers:
It is in office for describing the satellite according to determined by the fitting function for passing through setting in the satellite development stage
The time kept in reserve function anticipated under motor-driven angle determines the satellite for target TformerTo institute after imaging and pitch attitude return
Satellite is stated for the target TnForword-looking imaging start before between the first time kept in reserve section whether meet the imaging task of setting and want
It asks and the satellite is for the target TnTarget T is directed to the satellite after imaging and pitch attitude returnlaterForward sight at
As whether the second time kept in reserve section between before starting meets the imaging task demand of setting, wherein TformerIndicate the imaging mesh
Mark target T described in sequencenPrevious target, TlaterIndicate target T described in the imageable target sequencenThe latter mesh
Mark；
It is unsatisfactory for corresponding to the first time kept in reserve section and the section of any time kept in reserve in the second time kept in reserve section
The imaging task demand of the setting, then by the target TnIt is screened out from the imageable target sequence；
The imaging task of the setting is all satisfied with the second time kept in reserve section corresponding to the first time kept in reserve section
Demand, then by the target TnRetain in the imageable target sequence；The target in imageable target sequence after screening
All target points that point number reaches in the satellite maximum imaging number or the imageable target sequence, which are screened, to be finished.
In the above scheme, the screen fraction 404, is configured that
Set target T described in the imageable target sequencenPrevious target be target Tformer, the imageable target
Target T described in sequencenThe latter target be target Tlater；
It is in office for describing the satellite according to determined by the fitting function for passing through setting in the satellite development stage
The time kept in reserve function anticipated under motor-driven angle determines the satellite for the target TformerAfter imaging and pitch attitude return
The target T is directed to the satellitenCarry out the first time kept in reserve section passed through before forword-looking imaging starts and the satellite
For the target TnThe target T is directed to the satellite after imaging and pitch attitude returnlaterForword-looking imaging is carried out to start
Before between the second time kept in reserve section；
When corresponding to any motor-driven in first time kept in reserve section and second time kept in reserve section of the satellite
Between motor-driven in place and can not stablize in section, it is determined that any in the first time kept in reserve section and second time kept in reserve section
Time kept in reserve section is unsatisfactory for the imaging task demand of the setting；
It can be motor-driven in the first time kept in reserve section and second time kept in reserve section corresponding to the satellite
In place and stablize, it is determined that the imaging that the first time kept in reserve section is all satisfied the setting with the second time kept in reserve section is appointed
Business demand.
In the above scheme, the screen fraction 404, is configured that
The satellite, which is obtained, according to the time kept in reserve function is being directed to target TnImaging before the motor-driven stage P of two dimension1nIn
Required pitching time kept in reserve dt1ynAnd rolling time kept in reserve dt1xn；
The satellite, which is obtained, according to the time kept in reserve function is being directed to target TlaterImaging before two dimension motor-driven stage
P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlater；
If the wobble shaft and pitch axis of the satellite is independent motor-driven, by the satellite in P1nNeeded for pitching machine
Dynamic time dt1ynAnd rolling time kept in reserve dt1xnIt is added, obtains the satellite in P1nNeeded for time kept in reserve dt1n；And
By the satellite in P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlaterIt is added, obtains institute
Satellite is stated in P1laterNeeded for time kept in reserve dt1later；Wherein, the satellite is in P1nNeeded for time kept in reserve dt1nFor institute
The first time kept in reserve section is stated, the satellite is in P1laterNeeded for time kept in reserve dt1laterFor the second time kept in reserve section；
If the wobble shaft and pitch axis of the satellite is motor-driven simultaneously, by the satellite in P1nNeeded for pitching machine
Dynamic time dt1ynAnd rolling time kept in reserve dt1xnIn maximum value be determined as the satellite in P1nNeeded for the time kept in reserve
dt1n；And by the satellite in P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlaterIn
Maximum value be determined as the satellite in P1laterNeeded for time kept in reserve dt1later；Wherein, the satellite is in P1nNeeded for
Time kept in reserve dt1nFor the first time kept in reserve section, the satellite is in P1laterNeeded for time kept in reserve dt1laterIt is described
Two time kept in reserve section.
Correspondingly, in the above scheme, the screen fraction 404, is additionally configured to:
The satellite is obtained in P based on following formula1nIn total time dT1nAnd the satellite is in P1laterIn total time
dT1later:
Wherein, tnIndicate the satellite for target TnCovering time point, tformerIndicate the satellite for target
TformerCovering time point, tlaterIndicate the satellite for target TlaterCovering time point, dT3formerIt is defended described in expression
Star is being directed to target TformerCross push up after imaging session P3formerTotal time, dT4formerIndicate the satellite for target
TformerPosture return stage P4formerTotal time, dT2nIndicate the satellite for target TnCross push up before imaging session
P2nTotal time, dT3nIndicate the satellite for target TnCross push up after imaging session P3nTotal time, dT4nDescribed in expression
Satellite is being directed to target TnPosture return stage P4nTotal time, dT2laterIndicate the satellite for target TlaterMistake
Imaging session P before pushing up2laterTotal time；
When the first time kept in reserve section is not more than the satellite in P1nIn total time dT1nAnd it is described second it is motor-driven when
Between section no more than the satellite in P1laterIn total time dT1later, then the satellite in first time kept in reserve section and
It can be motor-driven in place and stable in the second time kept in reserve section；Otherwise, the satellite in first time kept in reserve section and
It can not be motor-driven in place and stable in section of any time kept in reserve in the second time kept in reserve section.
It is to be appreciated that in the present embodiment, " part " can be partial circuit, segment processor, subprogram or soft
Part etc., naturally it is also possible to be unit, can also be that module is also possible to non-modularization.
In addition, each component part in the present embodiment can integrate in one processing unit, it is also possible to each list
Member physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit both can be with
Using formal implementation of hardware, can also be realized in the form of software function module.
If the integrated unit realizes that being not intended as independent product is sold in the form of software function module
Or in use, can store in a computer readable storage medium, based on this understanding, the technical side of the present embodiment
Substantially all or part of the part that contributes to existing technology or the technical solution can be produced case in other words with software
The form of product embodies, which is stored in a storage medium, including some instructions are used so that one
Platform computer equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute sheet
The all or part of the steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
Therefore, the embodiment of the invention provides a kind of computer storage medium, the computer storage medium is stored with rule
Draw the program of the motor-driven imaging task of quick satellite two-dimensional attitude, the journey for planning the motor-driven imaging task of quick satellite two-dimensional attitude
It is realized when sequence is executed by least one processor and plans that the quick motor-driven imaging of satellite two-dimensional attitude is appointed described in preceding solution
The step of method of business.
Based on the device 40 and computer storage medium of the motor-driven imaging task of above-mentioned planning agility satellite two-dimensional attitude, ginseng
See Fig. 5, it illustrates a kind of devices 40 for planning the motor-driven imaging task of quick satellite two-dimensional attitude provided in an embodiment of the present invention
Specific hardware structure, may include:
Memory 501 and processor 502；Various components are coupled by bus system 503.It is understood that total linear system
System 503 is for realizing the connection communication between these components.Bus system 503 further includes power supply in addition to including data/address bus
Bus, control bus and status signal bus in addition.But for the sake of clear explanation, various buses are all designated as bus in Fig. 5
System 503.Wherein,
Memory 501, for storing the computer program that can be run on processor 502；
Processor 502, for executing following steps when running the computer program:
The satellite needle is obtained in the orbit parameter of mission planning period and all clarification of objective parameters according to satellite
To the constraint qualification parameter of each target in all targets；
The constraint qualification condition for meeting setting corresponding to the constraint qualification parameter of the target, the target is determined as can
Imageable target；
According to it is all can imageable target generate imageable target sequence；
According to the satellite in the maneuverability information that the development stage is arranged to being imaged in the imageable target sequence
Target is screened according to the screening strategy of setting, the imageable target sequence after being screened；Wherein, the imaging after the screening
Imageable target in target sequence is the target for needing to carry out the motor-driven imaging task of two-dimensional attitude of the satellite.
It is appreciated that the memory 501 in the embodiment of the present invention can be volatile memory or nonvolatile memory,
It or may include both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (Read-
Only Memory, ROM), programmable read only memory (Programmable ROM, PROM), the read-only storage of erasable programmable
Device (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or
Flash memory.Volatile memory can be random access memory (Random Access Memory, RAM), be used as external high
Speed caching.By exemplary but be not restricted explanation, the RAM of many forms is available, such as static random access memory
(Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory
(Synchronous DRAM, SDRAM), double data speed synchronous dynamic RAM (Double Data Rate
SDRAM, DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced SDRAM, ESDRAM), synchronized links
Dynamic random access memory (Synchlink DRAM, SLDRAM) and direct rambus random access memory (Direct
Rambus RAM, DRRAM).The memory 501 of system and method described herein is intended to include but is not limited to these and arbitrarily its
It is suitble to the memory of type.
And processor 502 may be a kind of IC chip, the processing capacity with signal.During realization, on
Each step for stating method can be completed by the integrated logic circuit of the hardware in processor 502 or the instruction of software form.
Above-mentioned processor 502 can be general processor, digital signal processor (Digital Signal Processor, DSP),
Specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array
(Field Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor are patrolled
Collect device, discrete hardware components.It may be implemented or execute disclosed each method, step and the logical box in the embodiment of the present invention
Figure.General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with the present invention
The step of method disclosed in embodiment, can be embodied directly in hardware decoding processor and execute completion, or use decoding processor
In hardware and software module combination execute completion.Software module can be located at random access memory, and flash memory, read-only memory can
In the storage medium of this fields such as program read-only memory or electrically erasable programmable memory, register maturation.The storage
Medium is located at memory 501, and processor 502 reads the information in memory 501, and the step of the above method is completed in conjunction with its hardware
Suddenly.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuit (Application
Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing,
DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (Programmable Logic
Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), general processor,
In controller, microcontroller, microprocessor, other electronic units for executing herein described function or combinations thereof.
For software implementations, it can be realized herein by executing the module (such as process, function etc.) of function described herein
The technology.Software code is storable in memory and is executed by processor.Memory can in the processor or
It is realized outside processor.
Specifically, it when processor 502 is additionally configured to run the computer program, executes described in preceding solution
Method and step, be not discussed here.
It should be understood that between technical solution documented by the embodiment of the present invention, in the absence of conflict, Ke Yiren
Meaning combination.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of method for planning the quick motor-driven imaging task of satellite two-dimensional attitude, which is characterized in that the two-dimensional attitude includes
Pitching and roll attitude, which comprises
The satellite, which is obtained, in the orbit parameter of mission planning period and all clarification of objective parameters according to satellite is directed to institute
There is the constraint qualification parameter of each target in target；
The target is determined as to be imaged by the constraint qualification condition for meeting setting corresponding to the constraint qualification parameter of the target
Target；
According to it is all can imageable target generate imageable target sequence；
According to the satellite the maneuverability information that the development stage is arranged in the imageable target sequence can imageable target
It is screened according to the screening strategy of setting, the imageable target sequence after being screened；Wherein, the imageable target after the screening
Imageable target in sequence is the target for needing to carry out the motor-driven imaging task of two-dimensional attitude of the satellite.
2. the method according to claim 1, wherein according to satellite the mission planning period orbit parameter and
All clarification of objective parameters obtain the satellite for the constraint qualification parameter of each target in all targets, comprising:
According to the satellite in the preliminary orbit parameter of t moment, determine the satellite in task using earth-satellite orbit recurrence model
Plan period [t0,tf] orbit parameter；Wherein, t≤t0, t0Indicate the start time point of the mission planning period, tfIt indicates
The end time point of the mission planning period；
According to the satellite in mission planning period [t0,tf] in orbit parameter and each target location parameter, utilize Huang
Golden split plot design obtains the satellite in [t0,tf] in for each target Covering time point and imaging lateral swinging angle；
According to the satellite in [t0,tf] in determine the satellite in [t for the Covering time point of each target0,tf] in be directed to
The solar elevation of each target.
3. the method according to claim 1, wherein the method also includes:
For each target Tm: when the satellite is in [t0,tf] interior for TmCovering time point tm∈[t0,tf], and the satellite
In [t0,tf] interior for TmImaging lateral swinging angle φm∈ C, and the satellite is directed to TmSolar elevation meet setting satellite
Imaging requirements, it is determined that the TmConstraint qualification parameter meet the constraint qualification condition of setting；Wherein, 1≤m≤M, M are indicated
The total quantity of all targets, C indicate the rolling angular region that the satellite allows.
4. according to the method described in claim 2, it is characterized in that, it is described according to it is all can imageable target generate imageable target sequence
Column, comprising:
By it is described can imageable target according to the addition sequence of setting sequentially add imageable target initiation sequence Seq0 S；Wherein, described
Imageable target initiation sequence Seq0 SInitial value be { T0,Tf, T0And TfIt is illustrated respectively in t0And tfThe moment attitude of satellite is corresponding
Virtual target point；
By the imageable target initiation sequence Seq after the addition0 SIn can imageable target according to the satellite in [t0,tf] interior needle
To can the sequencing of Covering time point of imageable target be ranked up, obtain imageable target sequence SeqS。
5. method according to any one of claims 1 to 4, which is characterized in that it is described according to the satellite in the development stage
The maneuverability information of setting in the imageable target sequence can imageable target screen according to the screening strategy of setting,
Imageable target sequence after being screened, comprising:
For the target T in the imageable target sequencen(n=1,2 ..., N), N indicate the target in the imageable target sequence
Number and N≤M:
For describing the satellite in any machine according to determined by the fitting function for passing through setting in the satellite development stage
Time kept in reserve function under dynamic angle determines the satellite for target TformerIt is defended after imaging and pitch attitude return to described
Star is directed to the target TnForword-looking imaging start before between the first time kept in reserve section whether meet the imaging task requirement of setting, with
And the satellite is directed to the target TnTarget T is directed to the satellite after imaging and pitch attitude returnlaterForword-looking imaging is opened
Whether the second time kept in reserve section between before the beginning meets the imaging task demand of setting, wherein TformerIndicate the imageable target sequence
Target T described in columnnPrevious target, TlaterIndicate target T described in the imageable target sequencenThe latter target；
Described in being unsatisfactory for corresponding to first time kept in reserve section and the section of any time kept in reserve in the second time kept in reserve section
The imaging task demand of setting, then by the target TnIt is screened out from the imageable target sequence；
The imaging task demand of the setting is all satisfied with the second time kept in reserve section corresponding to the first time kept in reserve section,
Then by the target TnRetain in the imageable target sequence；The target point number in imageable target sequence after screening
Reach all target points in satellite maximum imaging number or the imageable target sequence and be screened and finishes.
6. according to the method described in claim 5, it is characterized in that, according to the fitting in the satellite development stage by setting
For describing time kept in reserve function of the satellite under any motor-driven angle determined by function, determine the satellite for mesh
Mark TformerThe target T is directed to the satellite after imaging and pitch attitude returnnForword-looking imaging start before between it is first motor-driven
Whether the period meets the imaging task requirement of setting and the satellite is directed to the target TnImaging and pitch attitude return
Target T is directed to the satellite afterwardslaterForword-looking imaging start before between the second time kept in reserve section whether meet setting imaging appoint
Business demand, comprising:
Set target T described in the imageable target sequencenPrevious target be target Tformer, in the imageable target sequence
The target TnThe latter target be target Tlater；
For describing the satellite in any machine according to determined by the fitting function for passing through setting in the satellite development stage
Time kept in reserve function under dynamic angle determines the satellite for the target TformerTo institute after imaging and pitch attitude return
Satellite is stated for the target TnIt carries out the first time kept in reserve section passed through before forword-looking imaging starts and the satellite is directed to
The target TnThe target T is directed to the satellite after imaging and pitch attitude returnlaterCarry out forword-looking imaging start before it
Between the second time kept in reserve section；
Corresponding to any time kept in reserve section of the satellite in the first time kept in reserve section and second time kept in reserve section
It is interior motor-driven in place and to stablize, it is determined that any motor-driven in first time kept in reserve section and second time kept in reserve section
Period is unsatisfactory for the imaging task demand of the setting；
Corresponding to the satellite in first time kept in reserve section and second time kept in reserve section can it is motor-driven in place
And stablize, it is determined that the imaging task that the first time kept in reserve section is all satisfied the setting with the second time kept in reserve section needs
It asks.
7. according to the method described in claim 6, it is characterized in that, the basis passes through setting in the satellite development stage
For describing time kept in reserve function of the satellite under any motor-driven angle determined by fitting function, the satellite needle is determined
To the target TformerThe target T is directed to the satellite after imaging and pitch attitude returnnBefore progress forword-looking imaging starts
The the first time kept in reserve section passed through and the satellite are for the target TnIt is defended after imaging and pitch attitude return to described
Star is directed to the target TlaterCarry out the second time kept in reserve section between before forword-looking imaging starts, comprising:
The satellite, which is obtained, according to the time kept in reserve function is being directed to target TnImaging before the motor-driven stage P of two dimension1nIn needed for
Pitching time kept in reserve dt1ynAnd rolling time kept in reserve dt1xn；
The satellite, which is obtained, according to the time kept in reserve function is being directed to target TlaterImaging before the motor-driven stage P of two dimension1laterIn
Required pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlater；
If the wobble shaft and pitch axis of the satellite is independent motor-driven, by the satellite in P1nNeeded for pitching it is motor-driven when
Between dt1ynAnd rolling time kept in reserve dt1xnIt is added, obtains the satellite in P1nNeeded for time kept in reserve dt1n；And by institute
Satellite is stated in P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlaterIt is added, is defended described in acquisition
Star is in P1laterNeeded for time kept in reserve dt1later；Wherein, the satellite is in P1nNeeded for time kept in reserve dt1nIt is described
One time kept in reserve section, the satellite is in P1laterNeeded for time kept in reserve dt1laterFor the second time kept in reserve section；
If the wobble shaft and pitch axis of the satellite is motor-driven simultaneously, by the satellite in P1nNeeded for pitching it is motor-driven when
Between dt1ynAnd rolling time kept in reserve dt1xnIn maximum value be determined as the satellite in P1nNeeded for time kept in reserve dt1n；And
And by the satellite in P1laterNeeded for pitching time kept in reserve dt1ylaterAnd rolling time kept in reserve dt1xlaterIn maximum
Value is determined as the satellite in P1laterNeeded for time kept in reserve dt1later；Wherein, the satellite is in P1nNeeded for it is motor-driven when
Between dt1nFor the first time kept in reserve section, the satellite is in P1laterNeeded for time kept in reserve dt1laterIt is motor-driven for described second
Period.
Correspondingly, the method also includes:
The satellite is obtained in P based on following formula1nIn total time dT1nAnd the satellite is in P1laterIn total time
dT1later:
Wherein, tnIndicate the satellite for target TnCovering time point, tformerIndicate the satellite for target Tformer's
Covering time point, tlaterIndicate the satellite for target TlaterCovering time point, dT3formerIndicate that the satellite is being directed to
Target TformerCross push up after imaging session P3formerTotal time, dT4formerIndicate the satellite for target TformerAppearance
State return stage P4formerTotal time, dT2nIndicate the satellite for target TnCross push up before imaging session P2nIt is total when
Between, dT3nIndicate the satellite for target TnCross push up after imaging session P3nTotal time, dT4nIndicate the satellite in needle
To target TnPosture return stage P4nTotal time, dT2laterIndicate the satellite for target TlaterCross push up before imaging
Stage P2laterTotal time；
When the first time kept in reserve section is not more than the satellite in P1nIn total time dT1nAnd the second time kept in reserve section is not
Greater than the satellite in P1laterIn total time dT1later, then the satellite is in first time kept in reserve section and described the
It can be motor-driven in place and stable in two time kept in reserve section；Otherwise, the satellite is in first time kept in reserve section and described the
It can not be motor-driven in place and stable in section of any time kept in reserve in two time kept in reserve section.
8. a kind of device for planning the motor-driven imaging task of quick satellite two-dimensional attitude, which is characterized in that described device includes: to obtain
Partially, part, generating portion and screen fraction are determined；Wherein,
The fetching portion is configured to orbit parameter and all clarification of objective parameters according to satellite in the mission planning period
The satellite is obtained for the constraint qualification parameter of each target in all targets；
The determining part is configured to meet the constraint qualification condition of setting corresponding to the constraint qualification parameter of the target, will
The target is determined as can imageable target；
The generating portion, be configured to according to it is all can imageable target generate imageable target sequence；
The screen fraction, the maneuverability information for being configured to be arranged according to the satellite in the development stage is to the imageable target
In sequence can imageable target screened according to the screening strategy of setting, the imageable target sequence after being screened；Wherein, institute
The imageable target in imageable target sequence after stating screening is that the satellite needs to carry out two-dimensional attitude motor-driven imaging task
Target.
9. a kind of device for planning the motor-driven imaging task of quick satellite two-dimensional attitude, which is characterized in that described device includes: storage
Device and processor；Wherein,
The memory, for storing the computer program that can be run on the processor；
The processor, for when running the computer program, perform claim to require any one of 1 to 7 planning quick
The step of method of the motor-driven imaging task of satellite two-dimensional attitude.
10. a kind of computer storage medium, the computer storage medium be stored with the quick satellite two-dimensional attitude of planning it is motor-driven at
As the program of task, when the program for planning the motor-driven imaging task of quick satellite two-dimensional attitude is executed by least one processor
The step of realizing the method that the motor-driven imaging task of quick satellite two-dimensional attitude is planned described in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401449.1A CN110134914B (en) | 2019-05-15 | 2019-05-15 | Method and device for planning agile satellite two-dimensional attitude maneuver imaging task and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910401449.1A CN110134914B (en) | 2019-05-15 | 2019-05-15 | Method and device for planning agile satellite two-dimensional attitude maneuver imaging task and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
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| CN110134914A true CN110134914A (en) | 2019-08-16 |
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