CN111121765A - Method for skillfully observing earth and monitoring GEO target by using common remote sensing satellite platform - Google Patents
Method for skillfully observing earth and monitoring GEO target by using common remote sensing satellite platform Download PDFInfo
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- CN111121765A CN111121765A CN201911294459.6A CN201911294459A CN111121765A CN 111121765 A CN111121765 A CN 111121765A CN 201911294459 A CN201911294459 A CN 201911294459A CN 111121765 A CN111121765 A CN 111121765A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
The invention discloses a method for skillfully observing the earth and monitoring an earth GEO target by using a common remote sensing satellite platform, wherein the remote sensing satellite is applied to the earth observation and the earth monitoring with high efficiency and low cost; then planning an attitude path of the remote sensing satellite platform, realizing smart imaging of the earth observation camera, and completing non-along-rail imaging observation in attitude maneuver of the remote sensing satellite; and finally, calculating a three-axis stabilized turntable instruction angle, and controlling the turntable and the sky monitoring camera to realize efficient traversal monitoring on the GEO target in one day. The method has the advantages of low cost, high efficiency and strong reliability.
Description
Technical Field
The invention relates to satellite earth observation and earth observation technologies, in particular to a method for flexibly observing earth and monitoring earth GEO targets by using a common remote sensing satellite platform.
Background
The ground smart observation is realized by non-along-track imaging observation in remote sensing satellite attitude maneuver to quickly observe any curved target on the ground, the defect that the traditional along-track imaging adopts a multi-time push-broom splicing mode for imaging important and sensitive curved distributed targets such as coastlines, railways, highways, urban groups and the like is overcome, and the real-time performance and the flexibility of imaging investigation are obviously improved. For the monitoring of a geosynchronous orbit (GEO) target, the GEO target with extremely important value can be efficiently monitored and accurately catalogued by adopting an efficient monitoring mode and a large-view-field and high-precision camera, and the spatial situation perception capability and the national spatial safety coefficient are effectively improved. The method has important significance for improving the integrated acquisition capability of heaven and earth information, enhancing the space safety multi-azimuth perception co-scheduling, shortening the development period and reducing the development cost by concentrating the earth skillful observation and the earth GEO target monitoring on the same remote sensing satellite platform for sharing.
Disclosure of Invention
The invention provides a method for observing a smart earth observation and monitoring a GEO target in a sky by using a common remote sensing satellite platform.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a method for flexibly observing the earth and monitoring the GEO target on the sky by using a common remote sensing satellite platform comprises the following steps: s1, installing a three-axis turntable on the remote sensing satellite platform, fixedly connecting the earth observation camera to the satellite platform, and fixedly connecting the earth observation camera to an inner frame of the three-axis turntable; s2, calculating an attitude path of the earth observation camera for smartly imaging an arbitrary curve target, and completing non-along-rail imaging observation in remote sensing satellite attitude maneuver; and S3, calculating a three-axis turntable instruction angle, controlling the turntable and the sky monitoring camera to realize efficient traversal monitoring of the GEO target in one day.
Preferably, the step S2 further includes:
determining a roll angle, a pitch angle and a yaw angle of the remote sensing satellite platform according to the following formulas (1), (2) and (3) respectively:
in the formula (I), the compound is shown in the specification,
respectively the roll angles at the ith moment and the (i + 1) th moment; n isoIs the track angular velocity; reRadius of the earth, h height of the ground object αiIs the included angle between the arc segment of the target point and the orbit of the satellite point; omegaeiThe rotational angular velocity of the earth; l isiThe geographic latitude of the ground feature; i is a satellite orbit inclination angle; h is the satellite height; delta t is the interval time of two moments;
in the formula, thetai、θi+1The pitch angles at the ith moment and the (i + 1) th moment are respectively; h is the satellite height; omegayIs the satellite pitch angle velocity; delta t is the interval time of two moments;
ψi＝αi+βi(3)
in the formula, #iYaw angle at time i αiIs the angle between the arc segment of the target point and the orbit of the satellite point, βiIs the satellite drift angle.
Preferably, in step S3, the command angle of the three-axis turntable is determined according to the monitoring mode of the sky camera, the inertial attitude of the satellite, and the installation matrix of the turntable, the optical axis of the camera is controlled to point at the GEO target, and the traversal monitoring of the GEO target is completed within one day.
Preferably, the step S3 further includes:
three-axis turntable base-to-table topIs converted into a matrix CtjComprises the following steps:
Ctj＝Ctc·Csi·Cib·Cbj(4)
in the formula, CtcConverting a matrix from a camera coordinate system to a table coordinate system; csiConverting a matrix from an inertial coordinate system to a sight line coordinate system; cibConverting a matrix from a satellite body coordinate system to an inertial coordinate system; cbjConverting a matrix from a base coordinate system to a satellite body coordinate system;
instruction angle theta of inner shaft, middle shaft and outer shaft of three-shaft turntableInner part、θIn、θOuter coverRespectively as follows:
in the formula, Ctj(1,3) row 1, column 3 elements of the substrate-to-mesa conversion matrix; ctj(3,3) row 3 column 3 elements of the substrate-to-mesa conversion matrix; ctj(2,3) row 2, column 3 elements of the substrate-to-mesa conversion matrix; ctj(2,1) row 2, column 1 element of the substrate-to-mesa conversion matrix;
Ctj(2,2) row 2 column element of the substrate-to-mesa conversion matrix.
Compared with the prior art, the invention has the beneficial effects that: (1) the ground smart imaging observation can be used for imaging in the attitude motion, so that the real-time performance of imaging investigation is greatly improved; a step scanning monitoring mode is adopted for monitoring the natural GEO target, so that the monitoring efficiency of the GEO target is greatly improved; (2) the invention concentrates the flexible earth observation and the natural GEO target monitoring on the same remote sensing satellite platform, reduces the number of the satellite platforms, and has lower development cost and shorter development period; (3) the invention shares the smart earth observation and the earth GEO target monitoring of the remote sensing satellite platform, does not need the intervention of a ground station, can simultaneously, effectively and systematically acquire space and ground information, and has stronger integrated acquisition capability of the earth information.
Drawings
FIG. 1 is a schematic diagram of a system for smart earth observation and GEO-object monitoring of a common remote sensing satellite platform according to the present invention;
FIG. 2 is a flow chart of a method for smart earth observation and geostationary GEO target monitoring using a common remote sensing satellite platform according to the present invention;
FIG. 3 is a diagram of the method for observing the earth-ground-agility and monitoring the earth-ground GEO target of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
As shown in fig. 1-3, the present invention provides a method for agile earth observation and earth GEO target monitoring using a common remote sensing satellite platform, the method comprises the following steps:
s1, installing a three-axis stable turntable on the remote sensing satellite platform, fixedly connecting the earth observation camera to the satellite platform, and fixedly connecting the sky observation camera to an inner frame of the three-axis turntable;
s2, calculating an attitude path of the earth observation camera for smartly imaging an arbitrary curve target, and completing non-along-track imaging observation in remote sensing satellite attitude maneuver;
and S3, calculating a three-axis stabilized rotating table instruction angle, and controlling the rotating table and the sky monitoring camera to realize efficient traversal monitoring on the GEO target in one day.
The step S2 further includes:
as shown in fig. 2, determining the longitude and latitude of the observation target ground object, and determining the roll angle, pitch angle and yaw angle of the remote sensing satellite platform according to the calculation models of the longitude and latitude of the observation target geography, the drift angle and the like, which are respectively as follows (1), (2) and (3):
in the formula (I), the compound is shown in the specification,
respectively the roll angles at the ith moment and the (i + 1) th moment; n isoIs the track angular velocity; reRadius of the earth, h height of the ground object αiIs the included angle between the arc segment of the target point and the orbit of the satellite point; omegaeiThe rotational angular velocity of the earth; l isiThe geographic latitude of the ground feature; i is a satellite orbit inclination angle; h is the satellite height; Δ t is the time interval between two instants.
In the formula, thetai、θi+1The pitch angles at the ith moment and the (i + 1) th moment are respectively; h is the satellite height; omegayIs the satellite pitch angle velocity; Δ t is the time interval between two instants.
ψi＝αi+βi(3)
In the formula, #iYaw angle at time i αiIs the angle between the arc segment of the target point and the orbit of the satellite point, βiIs the satellite drift angle.
In step S3, determining the command angle of the three-axis turntable according to the monitoring mode of the sky camera, the inertial attitude of the satellite (i.e. the attitude matrix of the satellite relative to the inertial coordinate system, which is measured on the satellite and is known) and the installation matrix of the turntable (i.e. the matrix of the turntable relative to the satellite when the turntable is installed on the satellite, which is measured and known), and controlling the optical axis of the camera to point to the target, and completing the traversal monitoring of the GEO target in one day; the method comprises the following specific steps:
(1) firstly establishing a related coordinate system (such as a camera coordinate system, a sight line coordinate system and the like), and then determining a monitoring mode, wherein the monitoring mode is determined by performing step scanning monitoring on 25-degree arcs of geosynchronous orbits in 16 minutes of south-pole arcs of each orbit of the monitoring orbit, so that the object is ensured to be monitored in a traversing mode in one day.
(2) Then calculating a conversion matrix from the base of the three-axis turntable to the table top (on the inner frame surface of the turntable) and a three-axis instruction angle of the three-axis turntable at each moment, and controlling the three-axis turntable to ensure that the optical axis of the camera points to a target and stably images; the three-axis turntable provided by the invention can correspondingly rotate according to the guidance of the instruction angle, so that the aim of enabling the optical axis of the camera on the turntable to point to the target is fulfilled.
Wherein, the conversion matrix C from the base to the table top of the three-axis turntabletjComprises the following steps:
Ctj＝Ctc·Csi·Cib·Cbj(4)
in the formula, CtcConverting a matrix from a camera coordinate system to a table top coordinate system, wherein the table top coordinate system refers to a coordinate system established on an inner frame of the rotary table; csiConverting a matrix from an inertial coordinate system to a sight line coordinate system; cibConverting a matrix from a satellite body coordinate system to an inertial coordinate system; cbjThe matrix is converted from a base coordinate system to a satellite body coordinate system, and the base coordinate system is a coordinate system established at the bottom of the turntable.
Instruction angle theta of inner shaft, middle shaft and outer shaft of three-shaft turntableInner part、θIn、θOuter coverRespectively as follows:
in the formula, Ctj(1,3) row 1, column 3 elements of the substrate-to-mesa conversion matrix; ctj(3,3) row 3 column 3 elements of the substrate-to-mesa conversion matrix; ctj(2,3) row 2, column 3 elements of the substrate-to-mesa conversion matrix; ctj(2,1) row 2, column 1 element of the substrate-to-mesa conversion matrix; ctj(2,2) row 2 column element of the substrate-to-mesa conversion matrix.
In summary, the remote sensing satellite platform of the invention is provided with an earth observation camera, an sky observation camera, a three-axis turntable and the like, and runs on a sun synchronous orbit; the earth observation camera is fixedly connected with the satellite platform, and the sky observation camera is fixedly connected with the inner frame of the three-axis turntable; according to the invention, smart imaging of the earth observation camera is realized by planning the attitude path of the remote sensing satellite platform, non-along-rail imaging observation in attitude maneuver of the remote sensing satellite is completed, the instruction angle of the three-axis stabilized turntable is calculated, and the turntable and the sky monitoring camera are controlled to realize efficient traversal monitoring of the GEO target in one day.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (4)
1. A method for flexibly observing a ground and monitoring a geospatial GEO target by using a common remote sensing satellite platform is characterized by comprising the following steps:
s1, installing a three-axis turntable on the remote sensing satellite platform, fixedly connecting the earth observation camera to the satellite platform, and fixedly connecting the earth observation camera to an inner frame of the three-axis turntable;
s2, calculating an attitude path of the earth observation camera for smartly imaging an arbitrary curve target, and completing non-along-rail imaging observation in remote sensing satellite attitude maneuver;
and S3, calculating a three-axis turntable instruction angle, controlling the turntable and the sky monitoring camera to realize efficient traversal monitoring of the GEO target in one day.
2. The method for telepresence observation and daily GEO target monitoring using a common remote sensing satellite platform as claimed in claim 1,
the step S2 further includes:
determining a roll angle, a pitch angle and a yaw angle of the remote sensing satellite platform according to the following formulas (1), (2) and (3) respectively:
in the formula (I), the compound is shown in the specification,
respectively the roll angles at the ith moment and the (i + 1) th moment; n isoIs the track angular velocity; reRadius of the earth, h height of the ground object αiIs the included angle between the arc segment of the target point and the orbit of the satellite point; omegaeiThe rotational angular velocity of the earth; l isiThe geographic latitude of the ground feature; i is a satellite orbit inclination angle; h is the satellite height; delta t is the interval time of two moments;
in the formula, thetai、θi+1The pitch angles at the ith moment and the (i + 1) th moment are respectively; h is the satellite height; omegayIs the satellite pitch angle velocity; delta t is the interval time of two moments;
ψi＝αi+βi(3)
in the formula, #iYaw angle at time i αiIs the angle between the arc segment of the target point and the orbit of the satellite point, βiIs the satellite drift angle.
3. The method for telepresence observation and daily GEO target monitoring using a common remote sensing satellite platform as claimed in claim 2,
in step S3, the instruction angle of the three-axis turntable is determined according to the monitoring mode of the sky camera, the inertial attitude of the satellite, and the installation matrix of the turntable, the optical axis of the camera is controlled to point to the GEO target, and traversal monitoring of the GEO target is completed within one day.
4. The method for telepresence observation and daily GEO target monitoring using a common remote sensing satellite platform as claimed in claim 3,
the step S3 further includes:
three-axis turntable substrate-to-table conversion matrix CtjComprises the following steps:
Ctj＝Ctc·Csi·Cib·Cbj(4)
in the formula, CtcConverting a matrix from a camera coordinate system to a table coordinate system; csiConverting a matrix from an inertial coordinate system to a sight line coordinate system; cibConverting a matrix from a satellite body coordinate system to an inertial coordinate system; cbjConverting a matrix from a base coordinate system to a satellite body coordinate system;
instruction angle theta of inner shaft, middle shaft and outer shaft of three-shaft turntableInner part、θIn、θOuter coverRespectively as follows:
in the formula, Ctj(1,3) row 1, column 3 elements of the substrate-to-mesa conversion matrix; ctj(3,3) row 3 column 3 elements of the substrate-to-mesa conversion matrix; ctj(2,3) row 2, column 3 elements of the substrate-to-mesa conversion matrix; ctj(2,1) row 2, column 1 element of the substrate-to-mesa conversion matrix; ctj(2,2) row 2 column element of the substrate-to-mesa conversion matrix.
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