CN111060078A - Positioning method based on satellite observation angle error estimation - Google Patents
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Abstract
The application discloses a positioning method based on satellite observation angle error estimation. Selecting a control point on a first scene image, and acquiring accurate geographic coordinates and elevation information of the control point; obtaining a rough coordinate of the control point in a geocentric rotation coordinate system according to the elevation information; converting the precise geographic coordinates of the control points into coordinates under the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain coordinate errors of the control points in the geocentric rotation coordinate system; calculating an observation angle error according to the coordinate error; compensating the observation angle error to a second scene image to obtain an accurate observation angle value; and calculating to obtain the geographic coordinates at least comprising longitude and latitude of the pixel points in the second scene image according to the accurate observation angle value. The method and the device solve the technical problem that high-precision direct positioning of the remote sensing satellite image cannot be realized. By the method and the device, high-precision direct positioning based on satellite observation angle error estimation is realized.
Description
Technical Field
The application relates to the field of remote sensing satellite image processing, in particular to a positioning method based on satellite observation angle error estimation.
Background
The high-precision geometric positioning technology of the satellite remote sensing data is one of key basic supporting technologies for the quantification of the satellite remote sensing data, and the precision of the high-precision geometric positioning technology directly influences the depth of the quantification processing and the value-added processing.
As can be seen from the remote sensing satellite direct positioning model, positioning errors may occur in many places, such as the observation angle of the sensor, the attitude, position, velocity, etc. of the satellite platform. Among them, the observation angle of the satellite sensor is a very important factor.
In order to meet the high-precision geometric positioning problem to be solved in a plurality of remote sensing application fields, the observation angle which is a very important factor influencing the direct positioning error needs to be optimized.
Aiming at the problem that high-precision direct positioning of remote sensing satellite images cannot be realized in the related technology, an effective solution is not provided at present.
Disclosure of Invention
The main purpose of the present application is to provide a positioning method based on satellite observation angle error estimation, so as to solve the problem that high-precision direct positioning of remote sensing satellite images cannot be achieved.
To achieve the above object, according to one aspect of the present application, there is provided a positioning method based on satellite observation angle error estimation.
The positioning method based on satellite observation angle error estimation comprises the following steps: selecting a control point on a first scene image, and acquiring accurate geographic coordinates and elevation information of the control point; obtaining a rough coordinate of the control point in a geocentric rotation coordinate system according to the elevation information; converting the precise geographic coordinates of the control points into coordinates under the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain coordinate errors of the control points in the geocentric rotation coordinate system; calculating an observation angle error according to the coordinate error; compensating the observation angle error to a second scene image to obtain an accurate observation angle value; and calculating to obtain the geographic coordinates at least comprising longitude and latitude of the pixel points in the second scene image according to the accurate observation angle value.
Further, selecting a control point on the first scene image, and acquiring accurate geographic coordinates and elevation information of the control point comprises:
selecting a small number of control points of the first scene image, and obtaining accurate geographic coordinates of the corresponding control points on the digital map
Wherein n is the number of control points; and obtaining elevation information (L) of the control point using the DEM modeli,Bi,Hi),i＝1,...,n。
Further, obtaining a rough coordinate of the control point in the geocentric rotation coordinate system according to the elevation information includes:
using the obtained elevation information (L)i,Bi,Hi) N, calculating a rough coordinate (X) of a control point on the first scene image in a geocentric rotation coordinate system by a direct positioning methodi,Yi,Zi),i＝1,...,n。
Further, the step of converting the precise geographic coordinates of the control point into coordinates in the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain a coordinate error of the control point in the geocentric rotation coordinate system includes:
will be precise geographic coordinates
Conversion to elevation information (L)0 i,B0 i,H0 i) 1.. n, the conversion formula is as follows:
will (L)0 i,B0 i,H0 i) N is converted into corresponding coordinates in a geocentric rotation coordinate system
Will be provided with
Minus the coarse coordinate (X)i,Yi,Zi) I 1.. n, which yields the coordinate error (Δ X, Δ Y, Δ Z) of the control point in the earth-centered rotation coordinate system.
Further, from the coordinate error, calculating an observation angle error comprises:
if certain system error delta psi exists in observation angle of satellite sensorx,Δψy，
And obtaining the observation vector error transmitted from the observation vector error in the satellite body coordinate system to the earth center rotating coordinate system according to the transformation relation from the satellite body coordinate system to the orbit coordinate system and from the orbit coordinate system to the protocol inertia coordinate system.
Further, compensating the observation angle error to the second scene image on the same orbit, and obtaining an accurate observation angle value includes:
compensating the obtained observation angle error to the second scene image on the same orbit to obtain an accurate value of the observation angle of (psi)x+Δψx,ψy+Δψy) Wherein the error of the observation angle of the satellite sensor is (delta phi)x,Δψy) If there is a certain system error delta psi in the observation angle of the satellite sensorx,Δψy。
Further, the coordinates of any point on the ground in the geographic coordinate system can be represented by (L, B, H) or (X, Y, Z), where L is the dihedral angle formed by the meridian plane of the ground point and the meridian plane of the prime meridian, B is the angle between the normal line of the ellipsoid corresponding to the ground point and the equatorial plane, and H is the height of the ellipsoid, i.e., the distance from the ground point to the ellipsoid along the normal line.
Furthermore, an earth coordinate system with a protocol earth as a datum point is adopted in the earth center rotating coordinate system, the earth center of mass is used as an origin, the Z axis points to the north pole of the earth, the X axis points to the intersection point of the Greenwich mean meridian and the equator of the earth, and the Y axis is determined according to the right-hand rule.
Furthermore, the first scene image is a satellite remote sensing image serving as a sample, and the second scene image is a satellite remote sensing image serving as a to-be-positioned image.
Further, the second scene image is an in-orbit image of the first scene image.
In the positioning method based on satellite observation angle error estimation in the embodiment of the application, a control point is selected on a first scene image, and accurate geographic coordinates and elevation information of the control point are obtained; obtaining a rough coordinate of the control point in a geocentric rotation coordinate system according to the elevation information; converting the precise geographic coordinates of the control points into coordinates under the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain coordinate errors of the control points in the geocentric rotation coordinate system; calculating an observation angle error according to the coordinate error; compensating the observation angle error to a second scene image to obtain an accurate observation angle value; and calculating to obtain the geographic coordinates at least including longitude and latitude of the pixel points in the second scene image according to the accurate observation angle value, and achieving the purpose of high-precision direct positioning based on satellite observation angle error estimation through the observation angle, thereby realizing the technical effect of high-precision direct positioning based on satellite observation angle error estimation and further solving the technical problem that the high-precision direct positioning of the remote sensing satellite image cannot be realized.
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The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic flowchart of a positioning method based on satellite observation angle error estimation according to an embodiment of the present application;
fig. 2 is a flowchart illustrating a positioning method based on satellite observation angle error estimation according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the method includes steps S101 to S106 as follows:
step S101, selecting a control point on a first scene image, and acquiring accurate geographic coordinates and elevation information of the control point;
step S102, obtaining rough coordinates of the control point in a geocentric rotation coordinate system according to the elevation information;
step S103, converting the precise geographic coordinates of the control points into coordinates under the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain coordinate errors of the control points in the geocentric rotation coordinate system;
step S104, calculating an observation angle error according to the coordinate error;
s105, compensating the observation angle error to a second scene image to obtain an accurate observation angle value;
and step S106, calculating to obtain the geographic coordinates at least including longitude and latitude of the pixel points in the second scene image according to the accurate observation angle value.
Specifically, a small number of control points are selected from a first scene image to obtain accurate geographic position and elevation information; calculating a rough coordinate of the control point in the geocentric rotation coordinate system by using the acquired elevation information through a direct positioning method; subtracting the rough coordinate from the precise coordinate to obtain a coordinate error under the geocentric rotation coordinate system; accurately calculating an observation angle error according to the coordinate error; compensating the observation angle error to a second scene image on the same orbit to obtain an accurate value of an observation angle; and calculating the geographic coordinates of the second scene image by a direct positioning method by using the accurate observation angle.
From the above description, it can be seen that the following technical effects are achieved by the present application:
through the steps, high-precision direct positioning based on satellite observation angle error estimation is realized, positioning errors caused by factors such as satellite observation angle errors are overcome, the positioning precision of remote sensing satellite images can be effectively improved, and the deep application of remote sensing satellite image data is promoted.
According to the embodiment of the present application, as shown in fig. 2, as a preferable option in the embodiment, selecting a control point on the first scene image, and acquiring the precise geographic coordinate and the elevation information of the control point includes:
selecting a small number of control points of the first scene image, and obtaining accurate geographic coordinates of the corresponding control points on the digital map
Wherein n is the number of control points; and obtaining elevation information (L) of the control point using the DEM modeli,Bi,Hi),i＝1,...,n。
According to the embodiment of the present application, as a preferable preference in the embodiment, as shown in fig. 2, obtaining the rough coordinates of the control point in the geocentric rotation coordinate system according to the elevation information includes:
using the obtained elevation information (L)i,Bi,Hi) N, calculating a rough coordinate (X) of a control point on the first scene image in a geocentric rotation coordinate system by a direct positioning methodi,Yi,Zi),i＝1,...,n。
According to the embodiment of the present application, as a preferable example in the embodiment, as shown in fig. 2, the step of converting the precise geographic coordinates of the control point into coordinates in the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain the coordinate error of the control point in the geocentric rotation coordinate system includes:
will be precise geographic coordinates
Conversion to elevation information (L)0 i,B0 i,H0 i) 1.. n, the conversion formula is as follows:
will (L)0 i,B0 i,H0 i) N is converted into corresponding coordinates in a geocentric rotation coordinate system
Will be provided with
Minus the coarse coordinate (X)i,Yi,Zi) I 1.. n, which yields the coordinate error (Δ X, Δ Y, Δ Z) of the control point in the earth-centered rotation coordinate system.
According to the embodiment of the present application, as a preferable example in the embodiment, as shown in fig. 2, calculating the observation angle error from the coordinate error includes:
if certain system error delta psi exists in observation angle of satellite sensorx,ΔψyAnd obtaining the observation vector error transmitted from the observation vector error in the satellite body coordinate system to the earth center rotating coordinate system according to the transformation relation from the satellite body coordinate system to the orbit coordinate system and from the orbit coordinate system to the protocol inertia coordinate system.
According to the embodiment of the present application, as a preferable example in the embodiment, as shown in fig. 2, the compensating the observation angle error to the on-orbit second scene image to obtain an accurate observation angle value includes:
compensating the obtained observation angle error to the second scene image on the same orbit to obtain an accurate value of the observation angle of (psi)x+Δψx,ψy+Δψy)。
According to the embodiment of the present application, as a preference in the present embodiment, coordinates of any point on the ground in the geographic coordinate system may be represented by (L, B, H) or (X, Y, Z), where L is a dihedral angle formed by the meridian plane of the ground and the meridian plane of the first meridian, B is an angle between the normal line of the ellipsoid corresponding to the ground and the equatorial plane, and H is an ellipsoidal height, that is, a distance from the ground point to the ellipsoidal surface along the normal line.
According to the embodiment of the application, as a preferable example in the embodiment, an earth coordinate system with a protocol earth as a reference point is adopted in the earth center rotation coordinate system, the earth centroid is taken as an origin, the Z axis points to the north pole of the earth, the X axis points to the intersection point of the greenwich mean meridian and the equator of the earth, and the Y axis is determined according to the right-hand rule.
According to the embodiment of the present application, as a preferable preference in the embodiment, the first scene image is a satellite remote sensing image as a sample, and the second scene image is a satellite remote sensing image to be positioned.
According to the embodiment of the present application, it is preferable in the embodiment that the second scene image is an in-orbit image of the first scene image.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to the embodiment of the present application, there is also provided an implementation principle explanation for implementing the above-mentioned high-precision direct positioning method based on satellite observation angle error estimation, as shown in fig. 2, including:
the method comprises the following steps: selecting a small number of control points of the first scene image, acquiring accurate geographic coordinates of the corresponding control points on a Digital map, and acquiring Elevation information of the control points by using a Digital Elevation Model (DEM);
step two: calculating to obtain a rough coordinate of a control point on the first scene image in the geocentric rotation coordinate system by using the obtained elevation information through a direct positioning method;
step three: converting the precise geographic coordinates of the control points into coordinates under the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain coordinate errors of the control points in the geocentric rotation coordinate system;
step four: accurately calculating the error of the observation angle by using a formula according to the coordinate error;
step five: compensating the obtained observation angle error to a second scene image on the same orbit to obtain an accurate observation angle value;
step six: and (4) obtaining the geographic coordinates (longitude and latitude) of the pixel points in the second scene image by using the accurate observation angle through direct positioning calculation.
Specifically, the high-precision direct positioning method based on satellite observation angle error estimation comprises the following steps:
the method comprises the following steps: selecting a small number of control points of the first scene image, and obtaining accurate geographic coordinates of the corresponding control points on the digital map
And obtaining elevation information (L) of the control point using the DEM modeli,Bi,Hi) N, n is the number of control points;
step two: calculating rough coordinates (X) of the control points on the first scene image in the geocentric rotation coordinate system by a direct positioning method by using the obtained elevation informationi,Yi,Zi),i＝1,...,n；
Step three: converting the precise geographic coordinates of the control points into coordinates in a geocentric rotating coordinate system
Subtracting the rough coordinates to obtain coordinate errors (delta X, delta Y and delta Z) of the control points in the geocentric rotation coordinate system;
step four: from the coordinate error, the error of the observation angle is accurately calculated as (delta psi) using a formulax,Δψy)；
Step five: compensating the obtained observation angle error to the second scene image on the same orbit to obtain an accurate value of the observation angle of (psi)x+Δψx,ψy+Δψy)；
Step six: and calculating the geographic position coordinates (longitude and latitude) of the pixel points in the second scene image by using the accurate observation angle through a direct positioning method.
Detailed Description
The method comprises the following steps: selecting a small number of control points of the first scene image, and obtaining accurate geographic coordinates of the corresponding control points on the digital map
n is the number of control points, and elevation information (L) of the control points is obtained by using a DEM modeli,Bi,Hi),i＝1,...,n。
The geographical coordinate system is also called the earth-centered coordinate system, known as the longitude and latitude coordinate system. The reference ellipsoid is generally selected as a basic reference surface, a reference point is selected as a starting point (geodetic origin) of geodetic measurement, and the position and the direction of the reference ellipsoid in the earth can be determined by using an astronomical observation value of the geodetic origin. Notably, the reference ellipsoid center thus determined does not generally coincide with the earth's centroid. The coordinate system takes the center O of the reference ellipsoid as an origin, the Z axis is parallel to the rotating axis of the reference ellipsoid, the X axis points to the intersection point of the initial geodetic meridian plane and the equator of the reference ellipsoid, and the Y axis is determined according to the right-hand rule. The coordinates of any point on the ground can be represented by (L, B, H) or (X, Y, Z), wherein L is a dihedral angle formed by a meridian plane of the earth where the ground point is located and the meridian plane of the prime meridian, B is an included angle between the normal line of the ellipsoid corresponding to the ground point and the equatorial plane, and H is the height of the ellipsoid, namely the distance from the ground point to the ellipsoid along the normal line.
Step two: using the obtained elevation information (L)i,Bi,Hi) N, calculating a rough coordinate (X) of a control point on the first scene image in a geocentric rotation coordinate system by a direct positioning methodi,Yi,Zi),i＝1,...,n。
An Earth center Rotating coordinate System (ECR), also called a protocol Earth coordinate System (CTS), is an Earth coordinate System using a protocol Earth pole as a reference point, and uses the Earth centroid as an origin, the Z-axis points to the north pole of the Earth, the X-axis points to the intersection of the greenwich mean meridian and the equator, and the Y-axis is determined according to the right-hand rule.
(Li,Bi,Hi) N is converted into corresponding rough coordinates (X) in the earth's center rotation coordinate systemi,Yi,Zi) 1, n is:
wherein,
the curvature radius of the prime circle at the point is a long radius of an earth ellipsoid, and e is the earth eccentricity.
Step three: precise geographical coordinates of control points
Converting into coordinates in a geocentric rotation coordinate system
And subtracting the rough coordinates to obtain the coordinate errors (delta X, delta Y and delta Z) of the control points in the geocentric rotation system.
First selected, precise geographic coordinates
Conversion to elevation information (L)0 i,B0 i,H0 i) 1.. n, the conversion formula is as follows:
wherein b is the major radius of the earth ellipsoid,
the other symbols have the same meanings as those of the formula (1).
Then, (L) is expressed according to the formula (1)0 i,B0 i,H0 i) N is converted into corresponding 1, n in the earth center rotation coordinate systemCoordinates of the object
Finally, will
Minus the coarse coordinate (X)i,Yi,Zi) I 1.. times, n, the coordinate error (Δ X, Δ Y, Δ Z) of the control point in the earth-center rotation coordinate system is obtained as follows:
step four: from the coordinate errors (Δ X, Δ Y, Δ Z), an error of (Δ ψ) of the observation angle of the satellite sensor is accurately calculated using equation (14)x,Δψy)。
If certain system error delta psi exists in observation angle of satellite sensorx,ΔψyThis will result in the observation vector in the satellite body coordinate system becoming u1＝[-tg(ψy+Δψy)tg(ψx+Δψx)-1]The expansion using the first order taylor approximation yields:
obtaining an observation vector error delta u in the satellite body coordinate system according to the transformation relation from the satellite body coordinate system to the orbit coordinate system and from the orbit coordinate system to the protocol inertia coordinate system1Observed vector error Deltau transmitted into geocentric rotating coordinate system3The following were used:
namely, it is
Due to the fact that
In the formula
Other parameters may be calculated with reference to the forms of equations (8) - (10).
Combining (6) and (7) to obtain
In order to ensure that the water-soluble organic acid,
then
(13) The equation is an over-determined equation that needs to be solved by the least squares method. Therefore, the final error accurate estimation formula for the sensor observation angle is:
step five: compensating the obtained observation angle error to the second scene image on the same orbit to obtain an accurate value of the observation angle of (psi)x+Δψx,ψy+Δψy)；
Step six: and calculating the geographic position coordinates (longitude and latitude) of the pixel points in the second scene image by using the accurate observation angle through a direct positioning method.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A positioning method based on satellite observation angle error estimation is characterized by comprising the following steps:
selecting a control point on a first scene image, and acquiring accurate geographic coordinates and elevation information of the control point;
obtaining a rough coordinate of the control point in a geocentric rotation coordinate system according to the elevation information;
converting the precise geographic coordinates of the control points into coordinates under the geocentric rotation coordinate system, and subtracting the rough coordinates from the coordinates to obtain coordinate errors of the control points in the geocentric rotation coordinate system;
calculating an observation angle error according to the coordinate error;
compensating the observation angle error to a second scene image to obtain an accurate observation angle value;
and calculating to obtain the geographic coordinates at least comprising longitude and latitude of the pixel points in the second scene image according to the accurate observation angle value.
2. The positioning method based on the satellite observation angle error estimation according to claim 1, wherein a control point is selected on the first scene image, and obtaining the precise geographic coordinates and elevation information of the control point comprises:
selecting a small number of control points of the first scene image, and obtaining accurate geographic coordinates of the corresponding control points on the digital map
Wherein n is the number of control points; and obtaining elevation information (L) of the control point using the DEM modeli,Bi,Hi),i＝1,...,n。
3. The positioning method based on satellite observation angle error estimation according to claim 1, wherein obtaining the rough coordinates of the control point in the geocentric rotation coordinate system according to the elevation information includes:
using the obtained elevation information (L)i,Bi,Hi) N, calculating a rough coordinate (X) of a control point on the first scene image in a geocentric rotation coordinate system by a direct positioning methodi,Yi,Zi),i＝1,...,n。
4. The positioning method based on satellite observation angle error estimation according to claim 1, wherein converting the precise geographical coordinates of the control point into coordinates in the geocentric rotation coordinate system, and subtracting the rough coordinates to obtain the coordinate error of the control point in the geocentric rotation coordinate system comprises:
will be precise geographic coordinates
Conversion to elevation information (L)0 i,B0 i,H0 i) 1.. n, the conversion formula is as follows:
will (L)0 i,B0 i,H0 i) N is converted into corresponding coordinates in a geocentric rotation coordinate system
Will be provided with
Minus the coarse coordinate (X)i,Yi,Zi) I 1.. n, which yields the coordinate error (Δ X, Δ Y, Δ Z) of the control point in the earth-centered rotation coordinate system.
5. The satellite observation angle error estimation-based positioning method according to claim 1, wherein calculating an observation angle error from the coordinate error comprises:
if certain system error delta psi exists in observation angle of satellite sensorx,Δψy，
And obtaining the observation vector error transmitted from the observation vector error in the satellite body coordinate system to the earth center rotating coordinate system according to the transformation relation from the satellite body coordinate system to the orbit coordinate system and from the orbit coordinate system to the protocol inertia coordinate system.
6. The positioning method based on satellite observation angle error estimation according to claim 1, wherein the compensating the observation angle error to the in-orbit second scene image to obtain an accurate observation angle value comprises:
compensating the obtained observation angle error to the second scene image on the same orbit to obtain an accurate value of the observation angle of (psi)x+Δψx,ψy+Δψy) Wherein the error of the observation angle of the satellite sensor is (delta phi)x,Δψy) If there is a certain system error delta psi in the observation angle of the satellite sensorx,Δψy。
7. The positioning method according to claim 1, wherein the coordinates of any point on the ground in the geographic coordinate system can be represented by (L, B, H) or (X, Y, Z), where L is a dihedral angle formed by the meridian plane of the ground and the meridian plane of the first meridian, B is an angle between the normal of the ellipsoid corresponding to the ground and the equatorial plane, and H is an ellipsoidal height, i.e. a distance from the ground point to the ellipsoid along the normal.
8. The positioning method based on the satellite observation angle error estimation according to claim 1, characterized in that an earth coordinate system with a protocol earth as a reference point is adopted in the earth center rotation coordinate system, the earth centroid is taken as an origin, the Z-axis points to the north pole of the earth, the X-axis points to the intersection point of the greenwich mean meridian and the equator of the earth, and the Y-axis is determined according to the right-hand rule.
9. The positioning method based on satellite observation angle error estimation according to claim 1, characterized in that the first scene image is a satellite remote sensing image as a sample, and the second scene image is a satellite remote sensing image to be positioned.
10. The satellite observation angle error estimation-based positioning method of claim 1, wherein the second scene image is an in-orbit image of the first scene image.
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