CN111486850B - In-orbit frame frequency adjustment strategy for earth observation satellite - Google Patents

In-orbit frame frequency adjustment strategy for earth observation satellite Download PDF

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CN111486850B
CN111486850B CN202010309932.XA CN202010309932A CN111486850B CN 111486850 B CN111486850 B CN 111486850B CN 202010309932 A CN202010309932 A CN 202010309932A CN 111486850 B CN111486850 B CN 111486850B
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刘国华
高爽
田龙飞
尹增山
王旭辉
戴正升
祁海铭
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Shanghai Engineering Center for Microsatellites
Innovation Academy for Microsatellites of CAS
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Abstract

The invention provides an on-orbit frame frequency adjusting method for an earth observation satellite, which comprises the following steps: step one, according to the angle of the side-sway strabismus of the earth observation satellite relative to a target point, calculating the azimuth angle and the pitch angle of the target point relative to the earth observation satellite; step two: establishing a target point linear equation, calculating target point linear equation parameters, and acquiring the tangential resolution of the ground space element and the radial resolution of the ground space element according to the target point linear equation parameters; step three: simultaneously establishing a target point ground space element oblique ellipse equation and elevation information, and correcting the resolution along the track direction according to the tangential resolution of the ground space element and the radial resolution of the ground space element; step four: the frame rate is calculated in real time.

Description

In-orbit frame frequency adjustment strategy for earth observation satellite
Technical Field
The invention belongs to the technical field of spacecraft remote sensing observation, and relates to an in-orbit frame frequency adjustment strategy for an earth observation satellite.
Background
The earth observation satellite is widely applied to the fields of meteorological forecasting, forest surveying, national general survey, ocean forecasting, disaster monitoring, mapping, military reconnaissance and the like, plays an indispensable role in national economy, social development and national security, and has become one of the main application directions of satellite technology for earth observation.
The earth observation satellite is commonly used at present, a fixed frame frequency is adopted, the observation of a camera can be influenced by the attitude motion of the satellite, the fixed frame frequency of the camera can only meet the requirement of the attitude stability, the problems such as ghost image and the like can occur in the shot image under the attitude maneuver condition, and the high-precision imaging requirement of the remote sensing satellite cannot be met. In order to meet the high-precision imaging requirement of the earth observation satellite, the invention designs an on-orbit frame frequency adjustment strategy of the earth observation satellite, which can adjust the frame frequency of a camera in an on-orbit manner and realize the stable output of an observation image.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the influence of the satellite attitude on an in-orbit observation image of an earth observation satellite, an in-orbit frame frequency adjusting method is provided to meet the high-precision imaging requirement of the earth observation satellite.
In order to solve the problem, the invention designs an in-orbit frame frequency adjusting method for an earth observation satellite, which comprises the following steps:
calculating the azimuth angle and the pitch angle of the target point relative to the earth observation satellite according to the angle of the side sway squint of the earth observation satellite relative to the target point;
establishing a target point linear equation according to the azimuth angle and the pitch angle, calculating target point linear equation parameters, and acquiring the tangential resolution of the ground space element and the radial resolution of the ground space element according to the target point linear equation parameters;
simultaneously establishing a target point ground space element oblique ellipse equation and elevation information, and correcting the resolution along the track direction according to the tangential resolution of the ground space element and the radial resolution of the ground space element;
and calculating the frame rate in real time according to the resolution along the track direction.
Optionally, in the method for adjusting the in-orbit frame rate of the earth observation satellite, the calculating an azimuth angle and a pitch angle of the target point relative to the earth observation satellite according to the roll-tilt angle of the earth observation satellite relative to the target point further includes:
at any time of the condensed scanning imaging of the earth observation satellite, according to the real-time position of the earth observation satellite and the known position of the target point, determining a unit direction vector of the target point in an orbit system coordinate system as follows:
Vsat2tg＝(xtg,ytg,ztg)
the orbit system coordinate system takes the earth observation satellite as an origin, the intersatellite point from the earth observation satellite to the earth observation satellite is a Z axis of the orbit system coordinate system, and an X axis and a Y axis of the orbit system coordinate system are both vertical to the Z axis;
the nadir angles from the earth observation satellite to the target point are as follows:
α＝arccos(ztg)
the azimuth angle from the target point to the earth observation satellite is as follows:
θaz＝arctan(xtg/ytg)
the pitch angle from the target point to the earth observation satellite is as follows:
θel＝90-α。
optionally, in the method for adjusting the in-orbit frame frequency of the earth observation satellite, the establishing a target point linear equation according to the azimuth angle and the pitch angle, calculating a target point linear equation parameter, and obtaining the tangential resolution of the ground space element and the radial resolution of the ground space element according to the target point linear equation parameter further includes:
the earth observation satellite rotates the azimuth angle around the Z axis, and then rotates the pitch angle around the Y axis, so that the optical axis of the earth observation satellite points to the target point, and the ground space element of the target point is a rectangle; the target point linear equation parameters comprise the slant distance from the earth observation satellite to the target point and the altitude angle of the target point relative to the earth observation satellite;
the slant distance from the earth observation satellite to the target point is as follows:
Figure GDA0003161471260000031
the altitude angle of the target point relative to the earth observation satellite is as follows:
Figure GDA0003161471260000032
wherein Rsat is the orbit height of the earth observation satellite, and Re is the radius of the earth;
the ground space element has a tangential resolution of:
Figure GDA0003161471260000033
the ground space element has a radial resolution of:
Figure GDA0003161471260000034
wherein p is the pixel size of the target point ground space element, and f is the focal length of the optical camera of the earth observation satellite.
Optionally, in the method for adjusting the in-orbit frame frequency of the earth observation satellite, the correcting the resolution along the track direction according to the tangential resolution of the ground space element and the radial resolution of the ground space element by the simultaneous target point ground space element oblique ellipse equation and the elevation information further includes: setting each pixel of the optical camera to be a square, wherein each pixel of the optical camera corresponds to a symmetrical square view field, and making an inscribed circle and an circumscribed circle of each pixel square;
when the earth observation satellite actually performs in-orbit condensing scanning imaging, adjusting the yaw direction of each pixel to enable the front edge of the ground space element and the rear edge of the ground space element to be vertical to the ground track direction, and calculating the distance of the ground space element corresponding to each pixel after rotation in the ground track direction to serve as the resolution in the track direction; the elevation information includes:
the semi-major axis of the inscribed circle is as follows:
a＝rr/2
the semi-minor axis of the inscribed circle is as follows:
b＝rt/2
the rotation angle in the yaw direction is:
c＝θaz
the target point ground space element oblique ellipse equation is as follows:
mx2+ny2+kxy＝1
the elevation information is brought into the ground space element oblique ellipse equation of the target point,
Figure GDA0003161471260000041
Figure GDA0003161471260000042
Figure GDA0003161471260000043
the along-track direction resolution is:
Figure GDA0003161471260000051
optionally, in the method for adjusting the in-orbit frame rate of the earth observation satellite, the calculating the frame rate in real time according to the in-orbit direction resolution further includes:
the frame rate is calculated as follows:
Figure GDA0003161471260000052
wherein v is the flight speed of the earth observation satellite, and Δ s is the along-track direction resolution.
According to the method for adjusting the in-orbit frame frequency of the earth observation satellite, the azimuth angle and the pitch angle of a target point relative to the earth observation satellite are calculated according to the side-sway squint angle of the earth observation satellite relative to the target point, a target point linear equation is established according to the azimuth angle and the pitch angle, target point linear equation parameters are calculated, the tangential resolution of a ground space element and the radial resolution of the ground space element are obtained according to the target point linear equation parameters, the resolution in the track direction is corrected according to the tangential resolution of the ground space element and the radial resolution of the ground space element, and the frame frequency is calculated in real time according to the resolution in the track direction, so that the imaging requirement of the current in-orbit observation satellite is met, and the in-orbit adjustment strategy of the earth observation satellite is designed. In the prior art, earth observation satellites are commonly used at present, a fixed frame frequency is adopted, the camera observation is influenced by the attitude motion of the satellites, the fixed frame frequency of the camera can only meet the requirement of the attitude stability, and for the imaging under the attitude maneuver condition, the problems of ghosting and the like can occur in the shot images, so that the high-precision imaging requirement of the remote sensing satellite can not be met. The method provided by the invention is used for on-orbit adjustment of the camera frame frequency to form clear, coherent and stable image output, and can meet the requirement of high-precision imaging. The method has strong theoretical application and engineering practical value, obvious effect and convenient engineering realization. The technical scheme provided by the invention ensures the precision of satellite orbit control through ground simulation verification.
Drawings
FIG. 1 is a schematic diagram of a method for calculating radial observation resolution and tangential observation resolution according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a method for calculating a resolution along a track according to an embodiment of the invention.
Detailed Description
The method for adjusting the in-orbit frame rate of the earth observation satellite according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The core idea of the invention is to provide an on-orbit frame frequency adjusting method for an earth observation satellite, so as to solve the problem that the existing earth observation satellite cannot meet the requirement of high-precision imaging.
In order to achieve the above idea, the present invention provides an in-orbit frame rate adjustment method for an earth observation satellite, including: step one, according to the angle of the side-sway strabismus of the earth observation satellite relative to a target point, calculating the azimuth angle and the pitch angle of the target point relative to the earth observation satellite; step two: establishing a target point linear equation according to the azimuth angle and the pitch angle, calculating target point linear equation parameters, and acquiring the tangential resolution of the ground space element and the radial resolution of the ground space element according to the target point linear equation parameters; step three: simultaneously establishing a target point ground space element oblique ellipse equation and elevation information, and correcting the resolution along the track direction according to the tangential resolution of the ground space element and the radial resolution of the ground space element; step four: and calculating the frame rate in real time according to the resolution along the track direction.
< example one >
The embodiment provides an in-orbit frame rate adjusting method for an earth observation satellite, which includes: step one, according to the angle of the side-sway strabismus of the earth observation satellite relative to a target point, calculating the azimuth angle and the pitch angle of the target point relative to the earth observation satellite; step two: establishing a target point linear equation according to the azimuth angle and the pitch angle, calculating target point linear equation parameters, and acquiring the tangential resolution of the ground space element and the radial resolution of the ground space element according to the target point linear equation parameters; step three: simultaneously establishing a target point ground space element oblique ellipse equation and elevation information, and correcting the resolution along the track direction according to the tangential resolution of the ground space element and the radial resolution of the ground space element; step four: and calculating the frame rate in real time according to the resolution along the track direction.
Specifically, in the method for adjusting the in-orbit frame rate of the earth observation satellite, the first step further includes: at any time of the condensed scanning imaging of the earth observation satellite, according to the real-time position of the earth observation satellite and the known position of the target point, determining a unit direction vector of the target point in an orbit system coordinate system as follows:
Vsat2tg＝(xtg,ytg,ztg)
the orbit system coordinate system takes the earth observation satellite as an origin, the intersatellite point from the earth observation satellite to the earth observation satellite is a Z axis of the orbit system coordinate system, and an X axis and a Y axis of the orbit system coordinate system are both vertical to the Z axis;
the nadir angles from the earth observation satellite to the target point are as follows:
α＝arccos(ztg)
the azimuth angle from the target point to the earth observation satellite is as follows:
θaz＝arctan(xtg/ytg)
the pitch angle from the target point to the earth observation satellite is as follows:
θel＝90-α。
as shown in fig. 1, in the method for adjusting the in-orbit frame rate of the earth observation satellite, the second step further includes: the earth observation satellite rotates the azimuth angle around the Z axis, and then rotates the pitch angle around the Y axis, so that the optical axis of the earth observation satellite points to the target point, and the ground space element of the target point is a rectangle; the target point linear equation parameters comprise the slant distance from the earth observation satellite to the target point and the altitude angle of the target point relative to the earth observation satellite;
the slant distance from the earth observation satellite to the target point is as follows:
Figure GDA0003161471260000081
the altitude angle of the target point relative to the earth observation satellite is as follows:
Figure GDA0003161471260000082
wherein Rsat is the orbit height of the earth observation satellite, and Re is the radius of the earth;
the ground space element has a tangential resolution of:
Figure GDA0003161471260000083
the ground space element has a radial resolution of:
Figure GDA0003161471260000084
wherein p is the pixel size of the target point ground space element, and f is the focal length of the optical camera of the earth observation satellite.
Each pixel of the detector is considered to be a square, corresponding to a symmetrical square field of view, and an inscribed circle and a circumscribed circle of each pixel square are made, so that when the detector is projected to the ground, due to the fact that the satellite distance is long and the spatial resolution is low, the ground projection can be considered to be parallel projection, and the projection plane can be assumed to be a plane, and based on the assumption, the ground projections of the inscribed circle and the circumscribed circle are concentric ellipses, as shown in the left side of fig. 2. When the observation is condensed and swept in the actual orbit, the yawing direction needs to be adjusted, so that the front edge and the rear edge of the space element are perpendicular to the ground track direction, and the high-spectrum space line view field can be guaranteed to be perpendicular to the ground track. Therefore, the distance of the ground space element corresponding to each pixel in the X direction after rotation needs to be solved, i.e. the resolution in the along-track direction. It can be known that the major axis of the oblique ellipse is the radial observation resolution before yaw adjustment, and the minor axis is the tangential observation resolution. Therefore, as shown in fig. 2, in the method for adjusting the in-orbit frame rate of the earth observation satellite, the third step further includes: setting each pixel of the optical camera to be a square, wherein each pixel of the optical camera corresponds to a symmetrical square view field, and making an inscribed circle and an circumscribed circle of each pixel square; when the earth observation satellite actually performs in-orbit condensing scanning imaging, adjusting the yaw direction of each pixel to enable the front edge of the ground space element and the rear edge of the ground space element to be vertical to the ground track direction, and calculating the distance of the ground space element corresponding to each pixel after rotation in the ground track direction to serve as the resolution in the track direction; the elevation information includes:
the semi-major axis of the inscribed circle is as follows:
a＝rr/2
the semi-minor axis of the inscribed circle is as follows:
b＝rt/2
the rotation angle in the yaw direction is:
c＝θaz
the target point ground space element oblique ellipse equation is as follows:
mx2+ny2+kxy＝1
the elevation information is brought into the ground space element oblique ellipse equation of the target point,
Figure GDA0003161471260000091
Figure GDA0003161471260000092
Figure GDA0003161471260000101
the along-track direction resolution is:
Figure GDA0003161471260000102
further, in the method for adjusting the in-orbit frame rate of the earth observation satellite, the fourth step further includes:
the frame rate is calculated as follows:
Figure GDA0003161471260000103
wherein v is the flight speed of the earth observation satellite, and Δ s is the along-track direction resolution.
Under the 1: n ground speed reduction condition, the frame rate is calculated as follows:
Figure GDA0003161471260000104
according to the method for adjusting the in-orbit frame frequency of the earth observation satellite, the azimuth angle and the pitch angle of a target point relative to the earth observation satellite are calculated according to the side-sway squint angle of the earth observation satellite relative to the target point, a target point linear equation is established according to the azimuth angle and the pitch angle, target point linear equation parameters are calculated, the tangential resolution of a ground space element and the radial resolution of the ground space element are obtained according to the target point linear equation parameters, the resolution in the track direction is corrected according to the tangential resolution of the ground space element and the radial resolution of the ground space element, and the frame frequency is calculated in real time according to the resolution in the track direction, so that the imaging requirement of the current in-orbit observation satellite is met, and the in-orbit adjustment strategy of the earth observation satellite is designed. In the prior art, earth observation satellites are commonly used at present, a fixed frame frequency is adopted, the camera observation is influenced by the attitude motion of the satellites, the fixed frame frequency of the camera can only meet the requirement of the attitude stability, and for the imaging under the attitude maneuver condition, the problems of ghosting and the like can occur in the shot images, so that the high-precision imaging requirement of the remote sensing satellite can not be met. The method provided by the invention is used for on-orbit adjustment of the camera frame frequency to form clear, coherent and stable image output, and can meet the requirement of high-precision imaging. The method has strong theoretical application and engineering practical value, obvious effect and convenient engineering realization. The technical scheme provided by the invention ensures the precision of satellite orbit control through ground simulation verification.
In summary, the above embodiments describe in detail different aspects of the method for adjusting the orbital frame rate of the earth observation satellite, but it is understood that the present invention includes but is not limited to the configurations described in the above embodiments, and any configuration that is transformed based on the configurations provided in the above embodiments is within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims (5)

1. An in-orbit frame rate adjustment method for an earth observation satellite, the in-orbit frame rate adjustment method for the earth observation satellite comprising:
calculating the azimuth angle and the pitch angle of the target point relative to the earth observation satellite according to the angle of the side sway squint of the earth observation satellite relative to the target point;
establishing a target point linear equation according to the azimuth angle and the pitch angle, calculating target point linear equation parameters, and acquiring the tangential resolution of the ground space element and the radial resolution of the ground space element according to the target point linear equation parameters;
simultaneously establishing an oblique ellipse equation and elevation information in the ground space element of the target point, and correcting the resolution along the track direction according to the tangential resolution of the ground space element and the radial resolution of the ground space element;
and calculating the frame rate in real time according to the resolution along the track direction.
2. The method according to claim 1, wherein the calculating the azimuth and the pitch of the target point relative to the earth observation satellite according to the roll angle of the earth observation satellite relative to the target point further comprises:
at any time of the condensed scanning imaging of the earth observation satellite, according to the real-time position of the earth observation satellite and the known position of the target point, determining a unit direction vector of the target point in an orbit system coordinate system as follows:
Vsat2tg＝(xtg,ytg,ztg)
the orbit system coordinate system takes the earth observation satellite as an origin, the intersatellite point from the earth observation satellite to the earth observation satellite is a Z axis of the orbit system coordinate system, and an X axis and a Y axis of the orbit system coordinate system are both vertical to the Z axis;
the nadir angles from the earth observation satellite to the target point are as follows:
α＝arccos(ztg)
the azimuth angle from the target point to the earth observation satellite is as follows:
θaz＝arctan(xtg/ytg)
the pitch angle from the target point to the earth observation satellite is as follows:
θel＝90-α。
3. the method according to claim 2, wherein the establishing a target point linear equation according to the azimuth angle and the pitch angle, calculating the target point linear equation parameters, and obtaining the tangential resolution of the ground space element and the radial resolution of the ground space element according to the target point linear equation parameters further comprises:
the earth observation satellite rotates the azimuth angle around the Z axis, and then rotates the pitch angle around the Y axis, so that the optical axis of the earth observation satellite points to the target point, and the ground space element of the target point is a rectangle; the target point linear equation parameters comprise the slant distance from the earth observation satellite to the target point and the altitude angle of the target point relative to the earth observation satellite;
the slant distance from the earth observation satellite to the target point is as follows:
Figure FDA0003161471250000021
the altitude angle of the target point relative to the earth observation satellite is as follows:
Figure FDA0003161471250000022
wherein Rsat is the orbit height of the earth observation satellite, and Re is the radius of the earth;
the ground space element has a tangential resolution of:
Figure FDA0003161471250000023
the ground space element has a radial resolution of:
Figure FDA0003161471250000024
wherein p is the pixel size of the target point ground space element, and f is the focal length of the optical camera of the earth observation satellite.
4. The method according to claim 3, wherein the frame rate of the Earth observation satellite in orbit is adjusted,
the simultaneous target point ground space element oblique ellipse equation and elevation information, according to the ground space element tangential resolution and the ground space element radial resolution, correcting the resolution along the track direction further comprises: setting each pixel of the optical camera to be a square, wherein each pixel of the optical camera corresponds to a symmetrical square view field, and making an inscribed circle and an circumscribed circle of each pixel square;
when the earth observation satellite actually performs in-orbit condensing scanning imaging, adjusting the yaw direction of each pixel to enable the front edge of the ground space element and the rear edge of the ground space element to be vertical to the ground track direction, and calculating the distance of the ground space element corresponding to each pixel after rotation in the ground track direction to serve as the resolution in the track direction; the elevation information includes:
the semi-major axis of the inscribed circle is as follows:
a＝rr/2
the semi-minor axis of the inscribed circle is as follows:
b＝rt/2
the rotation angle in the yaw direction is:
c＝θaz
the target point ground space element oblique ellipse equation is as follows:
mx2+ny2+kxy＝1
the elevation information is brought into the ground space element oblique ellipse equation of the target point,
Figure FDA0003161471250000031
Figure FDA0003161471250000032
Figure FDA0003161471250000041
the along-track direction resolution is:
Figure FDA0003161471250000042
5. the method according to claim 4, wherein the calculating the frame rate in real time according to the along-track resolution further comprises:
the frame rate is calculated as follows:
Figure FDA0003161471250000043
wherein v is the flight speed of the earth observation satellite, and Δ s is the along-track direction resolution.
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