CN111552915B - Method for decomposing irregular long strip target imaging task strip - Google Patents
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Abstract
Because the agile satellite can rapidly maneuver along three axes of rolling, pitching and yawing, the imaging of strip targets with any direction on the ground surface, such as irregular strip targets, can be realized. An irregular strip target is a long linear target consisting of a series of consecutive points, connected by straight lines. For the irregular long strip target, in order to reduce the number of times of posture adjustment among satellite imaging tasks, the characteristic that a camera has a certain imaging width can be utilized, the irregular long strip target is divided into a plurality of rectangular strips and then observed, and based on the technical scheme, the invention provides a strip decomposition method for the imaging tasks of the irregular long strip target. Through verification, the irregular long strip decomposition method provided by the invention is feasible, and can effectively reduce the attitude adjustment times among satellite imaging tasks.
Description
Technical Field
The invention relates to a strip decomposition method for an irregular long strip target imaging task, and belongs to the field of agile satellite imaging task planning.
Background
The agile satellite is a satellite capable of realizing large-angle rapid maneuvering in a short time, and by utilizing the rapid attitude maneuvering capability of the agile satellite, the pointing direction of an onboard camera to the ground can be rapidly changed, so that the ground target can be efficiently and flexibly observed, and agility is the most vivid expression of the agile satellite. In view of the flexibility and high efficiency of imaging, agile satellites have become an important development direction of current remote sensing satellites, and many countries in the world have successfully launched or are researching agile satellites. The Ikonos series, the Worldview series, the Pleiades series in France and the like in the United states are typical, and related research work is currently carried out in China.
Compared with the traditional satellite, the attitude of the agile satellite can maneuver along 3 axial directions of rolling, pitching and yawing, and the ground target in any direction can be observed within the range allowed by the capability. Because the satellite can rotate in the pitching direction, when the satellite is positioned in front of, above and behind the target, the target can be observed, the available observation time is long, any time period can be freely selected in a long time window to observe the target, and the observation flexibility is improved. At present, a strip decomposition method for a regional target has been studied, but relevant data about strip decomposition of an irregular strip target does not appear.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method for decomposing the imaging task bands of the irregular long-strip target overcomes the defects of the prior art, the characteristic that a camera has a certain imaging width is utilized, the irregular long-strip target is divided into a plurality of rectangular bands to be observed, and the posture adjusting times among satellite imaging tasks can be effectively reduced.
The purpose of the invention is realized by the following technical scheme:
an irregular long strip target imaging task strip decomposition method comprises the following steps:
s1, calculating the shooting width of a sub-satellite point according to the semi-major axis of the satellite orbit and the field angle of a camera;
s2, according to the sequence of target points, starting from a first target point, forming a rectangle by taking two non-adjacent points Pi and Pj as opposite side midpoints and taking the shooting width of the substellar point as opposite side distance, solving four vertexes of the rectangle, and then turning to S3;
s3, judging whether all target points between two non-adjacent points Pi and Pj fall in the rectangle, if all the target points fall in the rectangle, continuously moving back the rear point of the two non-adjacent points, namely forming the rectangle by taking Pi and Pj +1 as opposite side middle points and taking the shooting width of the sub-satellite point as opposite side distance, and turning to S2; if one or more points between two non-adjacent points Pi and Pj fall outside the rectangle, the rectangle which is formed by taking Pi and Pj-1 as the middle points of opposite sides and the photographic width of the point under the satellite as the distance of the opposite sides is taken as a strip; then, forming a rectangle by taking Pj and Pj +2 as middle points of opposite sides, and switching to S2; until all target points are scribed into the strip.
Preferably, in S2, the four vertices of the rectangle are solved according to whether the slope of the midpoint connecting line of the broad side of the rectangle ABCD exists or not and whether the existing condition is 0 or not.
Preferably, in S3, a projection method, a dot product method, or an equation method is used to determine whether all target points between two non-adjacent points Pi and Pj fall within a rectangle.
Preferably, the orbit semimajor axis corresponding to the middle moment of the visible time period of the irregular strip by the satellite is used as the satellite orbit semimajor axis in the S1.
In the method for decomposing the irregular long strip target imaging task strip, preferably, in S3, all target points fall within the rectangle, including the inside of the rectangle and the boundary of the rectangle.
An irregular long strip target imaging task strip decomposition device comprises a sub-satellite point photographic width calculation module, a rectangular vertex solving module and a strip dividing module;
the satellite point photographing width calculating module calculates the satellite point photographing width according to the satellite orbit semi-major axis and the camera field angle;
the rectangular vertex solving module is used for establishing a rectangular area according to the photographic widths of the two target points and the sub-satellite points and solving four vertexes of the rectangle;
the strip dividing module firstly arranges the target points in sequence, then sends the non-adjacent two points Pi and Pj to the rectangular vertex solving module from the first target point to obtain four vertices of the rectangle, finally judges whether all the target points between the non-adjacent two points Pi and Pj fall in the rectangle, if all the points fall in the rectangle, the back points of the non-adjacent two points are continuously moved backwards, namely the points Pi and Pj +1 are sent to the rectangular vertex solving module; if one or more points between two non-adjacent points Pi and Pj fall outside the rectangle, the rectangle established by the rectangular vertex solving module at the points Pi and Pj-1 is used as a strip, and the points Pj and Pj +2 are sent to the rectangular vertex solving module; until all target points are scribed into the strip.
Preferably, the method for establishing the rectangular region by the rectangular vertex solving module is to form a rectangle by taking two non-adjacent points as opposite side midpoints and the photographic width of the sub-satellite point as an opposite side distance.
Preferably, in the device for decomposing the irregular long strip target imaging task strip, the strip division module judges whether all target points between two non-adjacent points Pi and Pj fall in a rectangle by using a projection method, a dot product method or an equation method.
Preferably, the orbit semimajor axis corresponding to the middle moment of the visible time interval of the irregular long strip by the satellite is used as the satellite orbit semimajor axis for calculating the shooting width of the satellite point.
The irregular long strip target imaging task strip decomposition device preferably enables all target points to fall in the rectangle, and comprises the rectangle inner part and the rectangle boundary.
Compared with the prior art, the invention has the following beneficial effects:
(1) The method makes up the blank of the current method for decomposing the irregular long strip and provides a new method for task planning;
(2) By the method, the attitude adjusting times of the satellite between imaging tasks can be effectively reduced;
(3) The method improves the imaging efficiency of the agile satellite on the irregular area;
(4) The method reduces the fuel consumed by the satellite during scanning imaging, and prolongs the on-orbit service life;
(5) The method has the advantages of high calculation speed and good real-time performance, and other parameters or settings of the satellite or the camera do not need to be adjusted.
Drawings
FIG. 1 is a flow chart of the steps of the method of the present invention;
FIG. 2 is a schematic view of the calculation of the width in the case of the sub-satellite point photography according to the embodiment 1;
FIG. 3 is a schematic view of the calculation of the width in the case of the sub-satellite spot photography according to the embodiment 2;
FIG. 4 is a schematic diagram of a rectangular vertex solution when the slope of the embodiment exists and is not 0;
FIG. 5 is a schematic diagram of solving for the rectangular vertex with a slope of 0 according to an embodiment;
FIG. 6 is a diagram illustrating the relationship between the point P and the matrix according to the embodiment;
FIG. 7 is a flowchart of an embodiment irregular banding procedure;
FIG. 8 is a diagram illustrating the result of irregular long stripe division according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
An irregular long strip target imaging task strip decomposition method is shown in fig. 1, and comprises the following steps:
s1, calculating the shooting width of a sub-satellite point according to the semi-major axis of the satellite orbit and the field angle of a camera; the orbit semimajor axis corresponding to the middle moment of the satellite in the irregular strip visible time period is used as the satellite orbit semimajor axis in S1.
And S2, according to the sequence of target points, forming a rectangle by using two non-adjacent points Pi and Pj as opposite side midpoints and using the shooting width of the substellar point as an opposite side distance from the first target point, solving four vertexes of the rectangle, and then turning to S3. And solving four vertexes of the rectangle according to the condition that whether the slope of the midpoint connecting line of the broad sides of the rectangle ABCD exists or not and whether the existing condition is 0 or not.
S3, judging whether all target points between two non-adjacent points Pi and Pj fall in the rectangle by adopting a projection method, a dot product method or an equation method, if all the target points fall in the rectangle, continuously moving back the back point of the two non-adjacent points, namely forming a rectangle by taking Pi and Pj +1 as middle points of opposite sides and taking the photographic width of the points under the satellite as distance of the opposite sides, and turning to S2; if one or more points between two non-adjacent points Pi and Pj fall outside the rectangle, the rectangle which is formed by taking Pi and Pj-1 as the middle point of the opposite side and the photographic width of the point under the satellite as the distance of the opposite side is taken as a strip; then, forming a rectangle by taking Pj and Pj +2 as middle points of opposite sides, and switching to S2; until all target points are scribed into the strip.
In S3, all the target points fall within the rectangle, including the interior of the rectangle and the boundaries of the rectangle.
An irregular long strip target imaging task strip decomposition device comprises a sub-satellite point photographic width calculation module, a rectangular vertex solving module and a strip dividing module;
and the satellite point photographing width calculating module calculates the satellite point photographing width according to the satellite orbit semi-major axis and the camera field angle.
The rectangular vertex solving module is used for establishing a rectangular area according to the photographic widths of the two target points and the sub-satellite points and solving four vertexes of the rectangle; the method for establishing the rectangular area by the rectangular vertex solving module is to form a rectangle by taking two non-adjacent points as opposite side midpoints and the shooting width of the sub-satellite points as opposite side distances.
The strip dividing module firstly arranges the target points in sequence, then sends the non-adjacent two points Pi and Pj to the rectangular vertex solving module from the first target point to obtain four vertices of the rectangle, and finally judges whether all the target points between the non-adjacent two points Pi and Pj fall in the rectangle by adopting a projection method, a dot product method or an equation method, if all the points fall in the rectangle, the rear points of the non-adjacent two points are continuously moved backwards, namely the points Pi and Pj +1 are sent to the rectangular vertex solving module; if one or more points between two non-adjacent points Pi and Pj fall outside the rectangle, the rectangle established by the rectangular vertex solving module at the points Pi and Pj-1 is used as a strip, and the points Pj and Pj +2 are sent to the rectangular vertex solving module; until all target points are scribed into the strip.
Example (b):
an irregular long strip target imaging task strip decomposition method comprises the following steps:
(1) Calculating the shooting width of the sub-satellite points according to the average equator radius of the earth, the semi-long axis of the satellite orbit and the field angle of the camera;
(2) Starting from the first point of the irregular strip target, forming a rectangle by taking two non-adjacent points Pi and Pj as the midpoints of opposite sides, and solving four vertexes of the rectangle;
(3) Judging whether all points between two non-adjacent points Pi and Pj fall in the rectangle, if all the points fall in the rectangle, continuously moving the latter point of the two non-adjacent points backwards, namely forming a rectangle by taking Pi and Pj +1 as middle points of opposite sides, and repeating the steps; if one or more points between two non-adjacent points Pi and Pj fall outside the rectangle, the divided strip is the rectangle with Pi and Pj-1 as the middle points of the opposite sides, and then Pj and Pj +2 as the middle points of the opposite sides to form the rectangle, and the steps are repeated.
The method specifically comprises the following steps:
1. sustan-spot photographic width calculation
From fig. 2 and 3, the geocentric angle α can be obtained as:
wherein a is the semi-major axis of the orbit, R e The average equatorial radius of the earth, the FOV is the camera field angle.
Then, the width of the interstellar point photography L =2sin (α) · R e 。
2. Solving four vertices of a rectangle
2.1 slope k of the midpoint connecting line of the broad side of the rectangle ABCD exists and is not 0
In FIG. 4, E and F are the midpoints of AD and BC, respectively, E is the AE length, β is the inclination angle of the straight line EF, and a 3 The amount of translation required to translate from line EF to line AB is given by the slope k of the line EF:
β＝tan -1 k
the solution to the γ angle in fig. 4 is to divide the slope into positive and negative cases, when the slope k is negative:
slope k is positive:
translation amount a 3 ：
The point E is marked with the coordinate (E) x ,E y ) And the F coordinate is (F) x ,F y ) Wherein the abscissa represents geographical longitude and the ordinate represents geographical latitude, and then the equations of the four sides of the rectangle are:
by combining any two equations, the coordinates of the four vertices ABCD of the matrix can be obtained. Wherein x is an independent variable and y is a dependent variable.
2.2 case where the slope k of the middle point connecting line of the wide side of the rectangle exists and is 0
The coordinates of the four points are directly obtained from fig. 5 as: a (E) x ,E y -e)，B(F x ,F y -e)，C(F y ,F y +e)，D(E x ,E y +e)。
2.3 absence of slope k for the connecting line of midpoints of wide sides of rectangle
The coordinates of four points are directly obtained as: a (E) x -e,E y )，B(F x -e,F y )，C(F x +e,F y )，D(E x +e,E y )。
3. Solving method for whether point P is located inside rectangle
Fig. 6 is a schematic diagram showing the relationship between the point P and the position of the rectangle, and three methods for determining whether the point P is located inside the rectangle are described below.
The method comprises the following steps: projection method
If the point P is located inside the rectangle, then there is
For the case where point P is located on the four sides of the rectangle:
when P is located on the AD side, there are
And->
When P is located on the BC edge, there are
And->
When P is located on side AB, there are
And->
When P is located on the CD edge, there are
And->
If the point P is outside the rectangle ABCD, then it is necessary
The second method comprises the following steps: dot product method
Firstly, solving the constraint condition required when the point P is positioned in the matrix, wherein the position of the point P between the straight line AB and the CD comprises the following steps:
(BP×BA)·(CP×CD)＜0
point P lies between lines AD and BC with:
(AP×AD)·(BP×BC)＜0
the following condition is therefore satisfied when the point P is inside the matrix:
the third method comprises the following steps: method of equations
A plane-a straight line-can divide the plane into left and right parts, assuming the equation of a straight line is Ax + By + C =0 (a > 0), then substituting points in the left region into the equation would have Ax + By + C <0, and substituting points in the right region into the equation would have Ax + By + C >0.
Assuming that the equations of the four sides of the rectangle are fAB, fBC, fCD, and fDA, and the coefficients of x in each equation are positive, fAB · fCD <0 is required when the point P is located between AB and CD, and fBC · fDA <0 is required when the point P is located between BC and DA, so that the following condition is satisfied when the point P is located on the rectangle ABCD:
4. method for dividing irregular strip
The irregular long stripes are given in the form of a lattice, denoted p, with n × 2 matrix, longitude in the first column and latitude in the second column, n being the number of points, pi1 representing the longitude of the ith point and Pi2 representing the latitude of the ith point. The track semimajor axis a is explained in detail here, the value of a may be a semimajor axis corresponding to the track starting time, but is not accurate enough, and here, a satellite is used to adopt a track semimajor axis corresponding to the middle time of the irregular strip visible time period.
The adopted division rule is that two non-adjacent points Pi and Pj in a lattice p are used as the middle points of two opposite sides of a rectangular strip, the shooting width L of a substellar point is used as the length of the two opposite sides to form the rectangular strip, and then whether the point between the Pi and the Pj falls in the matrix is judged. An example is illustrated:
two points with P0 and P2 as opposite sides form a rectangle, and whether P1 falls into the interior is judged;
if P1 falls in the interior, two points with P0 and P3 as opposite sides form a rectangle, and whether P1 and P2 fall in the interior is judged; if one of P1 and P2 does not fall in the rectangle, the first strip is a rectangle formed by P0 and P2 as the middle points of the opposite sides; now, a second stripe is planned starting from point P2, and so on, and the specific flow is shown in fig. 7.
For example, the longitude and latitude data for an irregularly long strip is shown in the following table:
TABLE 1
The visible time period is: [63479.854s,64035.078s ].
The camera field angle is: 2.5 degrees.
The division result is as follows:
start and end of band data:
TABLE 2
| Starting point longitude (°) | Starting point latitude (°) | End point longitude (°) | Terminal latitude (°) |
| 104.3370 | 46.0380 | 103.4570 | 45.0021 |
| 103.4570 | 45.0021 | 103.6640 | 44.2251 |
| 103.6640 | 44.2251 | 103.5080 | 43.4482 |
| 103.5080 | 43.4482 | 102.8870 | 42.8266 |
| 102.8870 | 42.8266 | 102.8350 | 41.9461 |
| 102.8350 | 41.9461 | 103.3010 | 41.2728 |
| 103.3010 | 41.2728 | 102.7310 | 40.8584 |
| 102.7310 | 40.8584 | 102.3690 | 39.9779 |
| 102.3690 | 39.9779 | 102.2650 | 39.0455 |
| 102.2650 | 39.0455 | 102.7830 | 38.6830 |
| 102.7830 | 38.6830 | 102.8870 | 37.4399 |
| 102.8870 | 37.4399 | 101.2810 | 34.4357 |
| 101.2810 | 34.4357 | 100.7630 | 33.8660 |
| 100.7630 | 33.8660 | 101.4880 | 32.7783 |
| 101.4880 | 32.7783 | 101.1780 | 31.8977 |
| 101.1780 | 31.8977 | 100.5040 | 31.2244 |
The division result is schematically shown in FIG. 8.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. An irregular long strip target imaging task strip decomposition method is characterized by comprising the following steps:
s1, calculating the shooting width of a sub-satellite point according to the semi-major axis of the satellite orbit and the field angle of a camera;
s2, according to the sequence of target points, starting from a first target point, forming a rectangle by taking two non-adjacent points Pi and Pj as opposite side midpoints and taking the shooting width of the substellar point as opposite side distance, solving four vertexes of the rectangle, and then turning to S3;
s3, judging whether all target points between two non-adjacent points Pi and Pj fall in the rectangle, if all the target points fall in the rectangle, continuously moving back the rear point of the two non-adjacent points, namely forming the rectangle by taking Pi and Pj +1 as opposite side middle points and taking the shooting width of the sub-satellite point as opposite side distance, and turning to S2; if one or more points between two non-adjacent points Pi and Pj fall outside the rectangle, the rectangle which is formed by taking Pi and Pj-1 as the middle points of opposite sides and the photographic width of the point under the satellite as the distance of the opposite sides is taken as a strip; then, forming a rectangle by taking Pj and Pj +2 as the midpoints of opposite sides, and turning to S2; until all target points are scribed into the strip.
2. The method as claimed in claim 1, wherein in S2, the four vertices of the rectangle are solved according to whether the slope of the midpoint connecting line of the wide side of the rectangle ABCD exists and whether the existing condition is 0.
3. The method for decomposing an irregular long strip target imaging task strip as claimed in claim 1 or 2, wherein in S3, a projection method, a dot product method or an equation method is used to determine whether all target points between two non-adjacent points Pi and Pj fall within a rectangle.
4. The method for decomposing the irregular long strip target imaging task strip as claimed in claim 1 or 2, wherein the orbit semi-major axis corresponding to the middle time of the visible time period of the satellite for the irregular long strip is used as the satellite orbit semi-major axis in S1.
5. The method for strip decomposition of an irregular long strip target imaging task according to claim 1 or 2, wherein in S3, all target points fall within the rectangle, including the interior and the boundary of the rectangle.
6. An irregular long-strip target imaging task strip decomposition device is characterized by comprising a sub-satellite point photographic width calculation module, a rectangular vertex solving module and a strip division module;
the satellite point photographing width calculating module calculates the satellite point photographing width according to the satellite orbit semi-major axis and the camera field angle;
the rectangular vertex solving module is used for establishing a rectangular area according to two target points and the shooting width of the substellar point and solving four vertexes of the rectangle;
the strip dividing module firstly arranges the target points in sequence, then sends the non-adjacent two points Pi and Pj to the rectangular vertex solving module from the first target point to obtain four vertices of the rectangle, finally judges whether all the target points between the non-adjacent two points Pi and Pj fall in the rectangle, if all the points fall in the rectangle, the back points of the non-adjacent two points are continuously moved backwards, namely the points Pi and Pj +1 are sent to the rectangular vertex solving module; if one or more points between two non-adjacent points Pi and Pj fall outside the rectangle, the rectangle established by the rectangular vertex solving module at the points Pi and Pj-1 is used as a strip, and the points Pj and Pj +2 are sent to the rectangular vertex solving module; until all target points are scribed into the strip.
7. The apparatus as claimed in claim 6, wherein the method for the rectangular vertex solving module to establish the rectangular region is to form a rectangle by using two non-adjacent points as opposite side midpoints and using the photographic width of the sub-satellite point as an opposite side distance.
8. The strip decomposition device for an irregular long strip target imaging task according to claim 6 or 7, wherein the strip division module adopts a projection method, a dot product method or an equation method to judge whether all target points between two non-adjacent points Pi and Pj fall within a rectangle.
9. The device for decomposing the task band of the irregular long band object imaging according to claim 6 or 7, characterized in that the orbit semi-major axis corresponding to the middle time of the visible period of the satellite to the irregular long band is used as the satellite orbit semi-major axis for calculating the shooting width of the sub-satellite points.
10. The apparatus of claim 6 or 7, wherein all target points are located within the rectangle, including the interior and the boundary of the rectangle.
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