CN112068130A - Stationary orbit microwave imaging method and system based on whole-satellite two-dimensional scanning motion - Google Patents
Stationary orbit microwave imaging method and system based on whole-satellite two-dimensional scanning motion Download PDFInfo
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Abstract
The invention provides a stationary orbit microwave imaging method and a stationary orbit microwave imaging system based on whole-satellite two-dimensional scanning motion, which comprise the following steps: step M1: determining the constant-speed scanning angular speed of the star according to the size of the probe element of the microwave detector and the cone scanning period; step M2: determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time; step M3: determining the time of a two-dimensional scanning acceleration and deceleration section of the star body according to the total observation time of the satellite area, the size of the observation area, the field width of the microwave detector and the uniform scanning angular speed of the star body; step M4: determining a star two-dimensional scanning path according to the star constant scanning angular speed and the star two-dimensional scanning acceleration and deceleration section time; step M5: after the current scanning process is finished, according to the starting position of the next scanning area pointed by the end position of the current scanning area, a quick maneuvering path of the current observation area pointing to the next observation area is determined by using a maneuvering mode around an Euler axis. The invention can be used in the research and development process of the stationary orbit microwave detection satellite.
Description
Technical Field
The invention relates to the general technology of a space vehicle, in particular to a static orbit microwave imaging method and a static orbit microwave imaging system based on whole-satellite two-dimensional scanning motion, and more particularly to a static orbit microwave imaging method based on whole-satellite two-dimensional scanning motion.
Background
High-precision long-time weather forecast is the fundamental task of developing a weather satellite system, and monitoring and early warning of disastrous weather systems such as typhoons, rainstorms, strong convection currents and the like are the most important tasks in weather forecast and are also the application fields of the weather satellite playing important roles.
Different from visible light and infrared radiation, on one hand, microwaves can well penetrate through cloud and rain atmosphere, on the other hand, the cloud and rain atmosphere can also generate influence on the transmission of the microwave radiation through absorption, emission and scattering effects, the influence is related to the thermal structure and the micro physical characteristics of the atmosphere, therefore, a microwave detector can be installed on a stationary orbit meteorological satellite, the thermal structure and the micro physical characteristic parameters in the cloud and rain atmosphere are inverted through data, the defects of an optical detection satellite are overcome, and the accuracy of weather forecast is effectively improved.
The microwave detector focuses weak microwave thermal radiation of an object through the reflecting surface antenna, and point-by-point coverage of a view field is realized by matching whole-star slow scanning with conical rotary scanning of a scanning mirror of the detector. Different from the conventional mode of three-axis stable zero attitude or two-dimensional maneuvering stepping + resident imaging of the geostationary orbit satellite, the geostationary orbit microwave detection satellite needs to complete load ground track translation in a constant-speed scanning mode and perform imaging in the constant-speed scanning process. The method puts new requirements on imaging path planning, attitude control and the like of the satellite.
The microwave detector is arranged on the static orbit meteorological satellite platform, the cloud and rain atmosphere can be well penetrated through for observation, the observation data can be used for inverting the thermal structure and the micro physical characteristic parameters in the cloud and rain atmosphere, and the defects of the optical detection meteorological satellite can be effectively overcome. However, due to the particularity of conical scanning imaging of the microwave detector, the traditional zero-attitude three-axis stable satellite cannot meet the observation requirement.
Patent document CN108388958A (application number: 201810093044.1) discloses a method and device for researching a two-dimensional attitude maneuver satellite mission planning technology, the method comprises the steps of constructing a database related to satellite mission planning; reading data in a database, and preprocessing the data; abstracting the data and the satellite relation data to obtain logic resource data; defining a constraint variable; establishing a task scheduling model based on the constraint variable and the hypothesis of the task scheduling model; applying a planning algorithm in the task scheduling model, executing an iterative process of the planning algorithm, and performing constraint processing on the logic resource data; and when the iterative process meets the termination criterion of the planning algorithm, obtaining the optimal solution meeting the termination criterion, and using the planning scheme obtained by decoding the optimal solution as the optimal scheme of the two-dimensional attitude maneuver satellite task planning. The patent introduces a method for making a reasonable microwave detector scheduling scheme for an on-orbit satellite by comprehensively considering various constraints and utilizing a task planning method aiming at a satellite with two-dimensional attitude mobility capability, but does not describe the content of whole-satellite two-dimensional scanning mobility control suitable for stationary orbit microwave detection.
Patent document CN101513939A (application number: 200910081631.X) discloses a two-dimensional attitude control system for a synthetic aperture radar satellite, which includes a satellite position resolution module, and a desired attitude determination module. The patent introduces that on a synthetic aperture radar satellite operating in an elliptical orbit, the Doppler center frequency of an echo signal is zero by applying a yaw and pitching two-dimensional attitude control technology, the difficulty and the operation of imaging processing are reduced, but the content of whole-satellite two-dimensional scanning maneuvering control suitable for stationary orbit microwave detection is not illustrated.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a stationary orbit microwave imaging method and a stationary orbit microwave imaging system based on whole-satellite two-dimensional scanning motion.
The invention provides a stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion, which comprises the following steps:
step M1: determining the constant-speed scanning angular speed of the star according to the size of the probe element of the microwave detector and the cone scanning period;
step M2: determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time;
step M3: determining the time of a two-dimensional scanning acceleration and deceleration section of the star body according to the total observation time of the satellite area, the size of the observation area, the field width of the microwave detector and the uniform scanning angular speed of the star body;
step M4: determining a star two-dimensional scanning path according to the star constant scanning angular speed and the star two-dimensional scanning acceleration and deceleration section time;
step M5: after the current scanning process is finished, according to the starting position of the next scanning area pointed by the end position of the current scanning area, a quick maneuvering path of the current observation area pointing to the next observation area is determined by using a maneuvering mode around an Euler axis.
Preferably, the step M1 includes:
for a stationary orbit microwave detection/microwave detector satellite, determining the constant-speed scanning angular speed of a satellite star body according to the size of a detection element of a microwave detector and a conical scanning period;
in the satellite star scanning process, under the condition that beta probe element overlapping areas exist in adjacent periodic view fields, the star scans the angular velocity omega at a constant speedx_unifExpressed as:
wherein, theta represents the size of the probe element of the microwave detector, and T represents the cone scanning period of the microwave detector.
Preferably, the step M2 includes:
under the condition that the change of the visual axis of the microwave detector caused by the change of the satellite attitude during the exposure of the detector of the microwave detector does not exceed the preset value of lambda probe elements, the stability of the satellite scanning attitude is delta omegaxExpressed as:
wherein, theta represents the size of the probe element of the microwave detector, and t represents the exposure time of the microwave detector.
Preferably, the step M3 includes: determining the time of a satellite star two-dimensional scanning acceleration and deceleration section according to the total observation time of the satellite, the size of an observation area, the field width of a microwave detector and the uniform velocity scanning angular speed of the star;
under the condition that a preset value beta linear array length overlapping area exists between adjacent scanning lines, the time of the star two-dimensional scanning acceleration and deceleration section is represented as TACC：
Wherein, TsumFor total observation time of satellite region, nlineFor scanning lines, TunifFor a constant scanning time, SxFor the length of the observation region in the scanning direction, SyFor observation of the length of the zone in the stepping direction, omegax_unifFor scanning the angular velocity at a constant speed, L is the length of the linear array of the microwave detector, and ceil () represents rounding up.
Preferably, the step M4 includes:
step M4.1: determining an acceleration and deceleration rule in a scanning direction according to the scanning angular speed of the uniform speed section and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body;
step M4.2: and determining an acceleration and deceleration rule in the stepping direction between lines according to the space between adjacent scanning lines and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body.
Preferably, the scanning direction acceleration and deceleration rule in step M4.1 includes:
wherein TT ═ rem (T)in+TAcc,Tcircle)；Tcircle＝4TAcc+2Tunif；
Wherein, TinRepresenting the current time, rem () represents the remainder calculation.
The inter-row stepping direction acceleration and deceleration rule in the step M4.2 comprises the following steps:
wherein, ω isy_maxMaximum angular velocity, ω, in the stepping directiony_max＝L/TAcc。
Preferably, the step M5 includes:
because the maneuver is the shortest path around the Euler axis in various maneuvering paths, the target position can be quickly reached under the condition of certain maneuvering capacity;
after the current scanning process is finished, according to the end position [ S ] of the current scanning areaxn,Syn,0]Determining the current quaternion Qn(ii) a Starting position of next scanning area Sxt,Syt,0]Determination of target fourNumber of elements QtAccording to Qn、QtError quaternion is obtained by calculation
Wherein the content of the first and second substances,
i.e. the kinematic euler axis vector, qe0A scalar section representing an error quaternion;
motorized angle alpha about the Euler axistExpressed as: alpha is alphat＝2arccos(qe0)。
Preferably, the method further comprises the following steps: and carrying out simulation analysis on the maneuvering path of the current observation area pointing to the next observation area. And (3) establishing a controller model by adopting simulation tools including MATLAB or SIMULINK and the like, and analyzing and simulating the precision and stability including attitude control.
The invention provides a whole-satellite two-dimensional scanning motion-based stationary orbit microwave imaging system, which comprises:
module M1: determining the constant-speed scanning angular speed of the star according to the size of the probe element of the microwave detector and the cone scanning period;
module M2: determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time;
module M3: determining the time of a two-dimensional scanning acceleration and deceleration section of the star body according to the total observation time of the satellite area, the size of the observation area, the field width of the microwave detector and the uniform scanning angular speed of the star body;
module M4: determining a star two-dimensional scanning path according to the star constant scanning angular speed and the star two-dimensional scanning acceleration and deceleration section time;
module M5: after the current scanning process is finished, according to the starting position of the next scanning area pointed by the end position of the current scanning area, a quick maneuvering path of the current observation area pointing to the next observation area is determined by using a maneuvering mode around an Euler axis.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can be used in the research and development process of the stationary orbit microwave detection satellite.
2. The microwave imager adopts a cone scanning mode to detect a target, and the ground track of the microwave imager is an arc. Under the geostationary orbit of the earth, if the traditional whole-satellite zero-momentum three-axis stabilization or maneuvering stepping + stabilization imaging scheme is adopted, the satellite postures at the imaging moment of the instrument are all three-axis zero postures, the ground tracks are all single circular arcs, only point target detection can be realized, and region detection cannot be realized. The whole-satellite two-dimensional scanning motion-based stationary orbit microwave imaging method can be combined with one-dimensional rapid cone scanning of a microwave imager, microwave detection of any target area in a stationary orbit is achieved, and the blank of stationary orbit microwave detection is filled.
3. The invention can be used for the research and development of a microwave detection satellite in a static orbit and the application of on-orbit service, realizes the high-precision earth observation function of the microwave detector through the two-dimensional scanning motion of the satellite star body, and has important significance for improving the spatial resolution and the time resolution performance of satellite meteorological observation.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram illustrating the steps of the present invention;
FIG. 2 is a schematic diagram of a conical scanning ground track of the microwave detector;
FIG. 3 is a schematic diagram of a ground track formed by the two-dimensional scanning of a star body and the conical rotary scanning of a microwave detector;
FIG. 4 is a schematic diagram of angular velocity under a typical condition of 30s commutation;
FIG. 5 is a schematic view of an angle of a typical operating condition under 30s commutation.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
According to the invention, as shown in fig. 1, the method for stationary orbit microwave imaging based on whole-satellite two-dimensional scanning motion comprises the following steps:
step M1: determining the constant-speed scanning angular speed of the star according to the size of the probe element of the microwave detector and the cone scanning period;
step M2: determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time;
step M3: determining the time of a two-dimensional scanning acceleration and deceleration section of the star body according to the total observation time of the satellite area, the size of the observation area, the field width of the microwave detector and the uniform scanning angular speed of the star body;
step M4: determining a star two-dimensional scanning path according to the star constant scanning angular speed and the star two-dimensional scanning acceleration and deceleration section time;
step M5: after the current scanning process is finished, according to the starting position of the next scanning area pointed by the ending position of the current scanning area, determining a quick maneuvering path of the current observation area pointing to the next observation area by using a maneuvering mode around an Euler axis;
specifically, the step M1 includes:
for a stationary orbit microwave detection/microwave detector satellite, determining the constant-speed scanning angular speed of a satellite star body according to the size of a detection element of a microwave detector and a conical scanning period;
in the satellite star scanning process, under the condition that 1/3 probe element overlapping areas exist in adjacent periodic view fields, the star scans the angular velocity omega at a constant speedx_unifExpressed as:
wherein, theta represents the size of the probe element of the microwave detector, and T represents the cone scanning period of the microwave detector.
The constant velocity of the star body is matched with the conical scanning period of the microwave detector, so that a gap between two linear array images is avoided, and the angular velocity of the star body scanning is designed to ensure that 1/3 overlapping areas exist between the linear array images of adjacent periods. As shown in fig. 3.
Specifically, the step M2 includes:
attitude jitter during exposure of the detector can cause the displacement of an observation target relative to the detector of the microwave detector, so that the imaging quality is reduced, and the variation of satellite attitude during exposure of the detector of the microwave detector is generally required to be 1/10-1/3 probe elements. Under the condition that the change of the visual axis of the microwave detector caused by the change of the satellite attitude during the exposure of the detector of the microwave detector does not exceed 1/10 probe elements, the stability of the satellite scanning attitude is delta omegaxExpressed as:
wherein, theta represents the size of the detecting element of the microwave detector, and t is the exposure time of the microwave detector.
Specifically, the step M3 includes: determining the time of a satellite star two-dimensional scanning acceleration and deceleration section according to the total observation time of the satellite, the size of an observation area, the field width of a microwave detector and the uniform velocity scanning angular speed of the star;
in the case of 1/10 linear array length overlapping region between adjacent scanning lines, the time of the star two-dimensional scanning acceleration and deceleration section is represented as TACC：
Wherein, TsumFor total observation time of satellite region, nlineFor scanning lines, TunifFor a constant scanning time, SxFor the length of the observation region in the scanning direction, SyFor observation of the length of the zone in the stepping direction, omegax_unifFor scanning the angular velocity at a constant speed, L is the length of the linear array of the microwave detector, and ceil () represents rounding up.
The time resolution is an important index in a satellite earth observation task, earth observation imaging is mainly focused on a satellite body uniform scanning stage, the uniform scanning angular speed is matched with a microwave detector conical scanning period, and the adjustment space is limited, if the whole task detection period is required to be shortened and the time resolution is improved, the time of an acceleration and deceleration section is required to be reduced as much as possible within the control system capacity range.
Specifically, the step M4 includes:
step M4.1: determining an acceleration and deceleration rule in a scanning direction according to the scanning angular speed of the uniform speed section and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body;
step M4.2: and determining an acceleration and deceleration rule in the stepping direction between lines according to the space between adjacent scanning lines and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body.
The star two-dimensional scanning consists of one-dimensional scanning and one-dimensional maneuvering, and the stepping between lines is completed while the acceleration, deceleration and reversing of line scanning are performed; the path planning of the acceleration and deceleration section is designed by integrating angular displacement, angular velocity and angular acceleration, so that the impact is reduced, and the vibration of flexible accessories such as a solar array and the like is avoided.
Specifically, the scanning direction acceleration and deceleration rule in step M4.1 includes:
wherein, taking one scanning round trip as one period, the period can be expressed as:
Tcircle＝4TAcc+2Tunif
the time within a scan cycle can be expressed as:
TT＝rem(Tin+TAcc,Tcircle)
wherein, TinRepresenting the current time, rem () represents the remainder calculation.
The inter-row stepping direction acceleration and deceleration rule in the step M4.2 comprises the following steps:
wherein, ω isy_maxMaximum angular velocity, ω, in the stepping directiony_max＝L/TAcc。
Specifically, the step M5 includes:
because the maneuver is the shortest path around the Euler axis in various maneuvering paths, the target position can be quickly reached under the condition of certain maneuvering capacity;
after the current scanning process is finished, according to the end position [ S ] of the current scanning areaxn,Syn,0]Determining the current quaternion Qn(ii) a Starting position of next scanning area Sxt,Syt,0]Determining a target quaternion QtAccording to Qn、QtError quaternion is obtained by calculation
Wherein the content of the first and second substances,
i.e. the kinematic euler axis vector, qe0A scalar section representing an error quaternion;
motorized angle alpha about the Euler axistExpressed as: alpha is alphat＝2arccos(qe0)。
Considering the control margin, the maneuvering angular velocity omega of the uniform velocity sectionβ_unifThe design is carried out by adopting an actuating mechanism to provide half of angular momentum:
ωβ_unif＝Hmin/2Jmax
in the formula, HminMinimum angular momentum, J, that can be provided for the three-axis orientation of the satellitemaxAnd the maximum value of the satellite triaxial direction inertia.
Similarly, the maximum angular acceleration α in the acceleration/deceleration section is taken into consideration of the control marginβThe design is carried out by adopting an actuating mechanism to provide half of control torque:
αβ＝Tmin/2Jmax
in the formula, TminIs a satellite IIIMinimum value of moment that can be provided in the axial direction, JmaxAnd the maximum value of the satellite triaxial direction inertia.
The moment and angular momentum that the actuating mechanism (such as flywheel, moment gyro, thruster, etc.) of the satellite can provide are limited, the moment of the actuating mechanism reflects the angular acceleration of the satellite on the whole satellite, the angular momentum reflects the angular acceleration of the satellite; in addition, other interference items need to be offset and controlled in the satellite maneuvering process, the maneuvering capability of the satellite cannot be full, and otherwise the satellite attitude is unstable under the action of other interference. Therefore, the path planning should be limited with respect to the mobility of the satellite, and a 50% margin is generally left.
The invention provides a whole-satellite two-dimensional scanning motion-based stationary orbit microwave imaging system, which comprises:
module M1: determining the constant-speed scanning angular speed of the star according to the size of the probe element of the microwave detector and the cone scanning period;
module M2: determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time;
module M3: determining the time of a two-dimensional scanning acceleration and deceleration section of the star body according to the total observation time of the satellite area, the size of the observation area, the field width of the microwave detector and the uniform scanning angular speed of the star body;
module M4: determining a star two-dimensional scanning path according to the star constant scanning angular speed and the star two-dimensional scanning acceleration and deceleration section time;
module M5: after the current scanning process is finished, according to the starting position of the next scanning area pointed by the ending position of the current scanning area, determining a quick maneuvering path of the current observation area pointing to the next observation area by using a maneuvering mode around an Euler axis;
specifically, the module M1 includes:
for a stationary orbit microwave detection/microwave detector satellite, determining the constant-speed scanning angular speed of a satellite star body according to the size of a detection element of a microwave detector and a conical scanning period;
in the process of satellite star body scanning, under the condition that 1/3 probe element overlapping regions exist in adjacent periodic field of view, a starBody uniform scanning angular velocity omegax_unifExpressed as:
wherein, theta represents the size of the probe element of the microwave detector, and T represents the cone scanning period of the microwave detector.
The constant velocity of the star body is matched with the conical scanning period of the microwave detector, so that a gap between two linear array images is avoided, and the angular velocity of the star body scanning is designed to ensure that 1/3 overlapping areas exist between the linear array images of adjacent periods.
Specifically, the module M2 includes:
attitude jitter during exposure of the detector can cause the displacement of an observation target relative to the detector of the microwave detector, so that the imaging quality is reduced, and the variation of satellite attitude during exposure of the detector of the microwave detector is generally required to be 1/10-1/3 probe elements. Under the condition that the change of the visual axis of the microwave detector caused by the change of the satellite attitude during the exposure of the detector of the microwave detector does not exceed 1/10 probe elements, the stability of the satellite scanning attitude is delta omegaxExpressed as:
wherein, theta represents the size of the detecting element of the microwave detector, and t is the exposure time of the microwave detector.
Specifically, the module M3 includes: determining the time of a satellite star two-dimensional scanning acceleration and deceleration section according to the total observation time of the satellite, the size of an observation area, the field width of a microwave detector and the uniform velocity scanning angular speed of the star;
in the case of 1/10 linear array length overlapping region between adjacent scanning lines, the time of the star two-dimensional scanning acceleration and deceleration section is represented as TACC：
Wherein, TsumFor total observation time of satellite region, nlineFor scanning lines, TunifFor a constant scanning time, SxFor the length of the observation region in the scanning direction, SyFor observation of the length of the zone in the stepping direction, omegax_unifFor scanning the angular velocity at a constant speed, L is the length of the linear array of the microwave detector, and ceil () represents rounding up.
The time resolution is an important index in a satellite earth observation task, earth observation imaging is mainly focused on a satellite body uniform scanning stage, the uniform scanning angular speed is matched with a microwave detector conical scanning period, and the adjustment space is limited, if the whole task detection period is required to be shortened and the time resolution is improved, the time of an acceleration and deceleration section is required to be reduced as much as possible within the control system capacity range.
Specifically, the module M4 includes: as shown in fig. 4-5:
module M4.1: determining an acceleration and deceleration rule in a scanning direction according to the scanning angular speed of the uniform speed section and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body;
module M4.2: and determining an acceleration and deceleration rule in the stepping direction between lines according to the space between adjacent scanning lines and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body.
The star two-dimensional scanning consists of one-dimensional scanning and one-dimensional maneuvering, and the stepping between lines is completed while the acceleration, deceleration and reversing of line scanning are performed; the path planning of the acceleration and deceleration section is designed by integrating angular displacement, angular velocity and angular acceleration, so that the impact is reduced, and the vibration of flexible accessories such as a solar array and the like is avoided.
Specifically, the acceleration and deceleration rule of the scanning direction in the module M4.1 includes:
wherein, taking one scanning round trip as one period, the period can be expressed as:
Tcircle＝4TAcc+2Tunif
the time within a scan cycle can be expressed as:
TT＝rem(Tin+TAcc,Tcircle)
wherein, TinRepresenting the current time, rem () represents the remainder calculation.
The module M4.2 interline stepping direction acceleration and deceleration rule comprises:
wherein, ω isy_maxMaximum angular velocity, ω, in the stepping directiony_max＝L/TAcc。
Specifically, the module M5 includes:
because the maneuver is the shortest path around the Euler axis in various maneuvering paths, the target position can be quickly reached under the condition of certain maneuvering capacity;
after the current scanning process is finished, according to the end position [ S ] of the current scanning areaxn,Syn,0]Determining the current quaternion Qn(ii) a Starting position of next scanning area Sxt,Syt,0]Determining a target quaternion QtAccording to Qn、QtError quaternion is obtained by calculation
Wherein the content of the first and second substances,
i.e. the kinematic euler axis vector, qe0A scalar section representing an error quaternion;
motorized angle alpha about the Euler axistExpressed as: alpha is alphat＝2arccos(qe0)。
Considering the control margin, the maneuvering angular velocity omega of the uniform velocity sectionβ_unifThe design is carried out by adopting an actuating mechanism to provide half of angular momentum:
ωβ_unif＝Hmin/2Jmax
in the formula, HminProvided for three-axis direction of satelliteMinimum value of angular momentum, JmaxAnd the maximum value of the satellite triaxial direction inertia.
Similarly, the maximum angular acceleration α in the acceleration/deceleration section is taken into consideration of the control marginβThe design is carried out by adopting an actuating mechanism to provide half of control torque:
αβ＝Tmin/2Jmax
in the formula, TminMinimum moment, J, that can be provided for the three axis directions of the satellitemaxAnd the maximum value of the satellite triaxial direction inertia.
The moment and angular momentum which can be provided by an actuating mechanism (such as a flywheel, a moment gyro, a thruster and the like) of the satellite are limited, the moment of the actuating mechanism is reflected as the angular acceleration of the satellite on the whole satellite, and the angular momentum is reflected as the angular acceleration of the satellite; in addition, other interference items need to be offset and controlled in the satellite maneuvering process, the maneuvering capability of the satellite cannot be full, and otherwise the satellite attitude is unstable under the action of other interference. Therefore, the path planning should be limited with respect to the mobility of the satellite, and a 50% margin is generally left.
Example 2
Example 2 is a modification of example 1
Aiming at the defects in the prior art, the invention aims to provide a stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion.
The invention provides a stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion, which comprises the following steps:
step 1: and determining the constant-speed scanning speed of the star body according to the size of the probe element of the microwave detector and the cone scanning period.
Step 2: and determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time.
And step 3: and determining the acceleration and deceleration section time of the two-dimensional scanning of the star according to the total observation time of the area.
And 4, step 4: and designing a star two-dimensional scanning path.
And 5: and designing a quick maneuvering path pointing to the next observation area after the scanning maneuvering is completed.
Specifically, the step 1 includes: for a stationary orbit microwave detection satellite, the size of a probe element of a microwave detector and a conical scanning period determine the angular speed of satellite star body scanning. During the satellite star scan, the adjacent periodic fields of view ensure 1/3 probe overlap regions.
Specifically, the step 2 includes: the attitude jitter during the exposure of the detector can cause the deviation of an observation target relative to the detector of the microwave detector, thereby causing the imaging quality to be reduced, and the invention requires that the variation of the satellite attitude during the exposure of the detector of the microwave detector is not more than 1/10 probe elements, thereby determining the attitude stability during the uniform scanning of the satellite.
Specifically, the step 3 includes: the time of the two-dimensional scanning acceleration and deceleration section of the satellite star body is determined by the total observation time of the satellite, the size of an observation area, the field width of a microwave detector, the star body scanning speed and the like.
Specifically, the step 4 includes: designing a scanning direction acceleration and deceleration rule by the scanning speed of the constant speed section and the acceleration and deceleration time determined in the step 3, and designing a stepping direction acceleration and deceleration rule between lines by the distance between adjacent scanning lines and the acceleration and deceleration time. By adopting an 1/2 sine acceleration and deceleration mode, the satellite scanning attitude angle, the angular velocity and the angular acceleration can be continuous, and the vibration of flexible accessories such as a solar array and the like caused by impact is reduced.
Specifically, the step 5 includes: since the maneuvering is the shortest path around the euler axis among various maneuvering paths, the target position can be reached more quickly with a certain maneuvering capability. After the current scanning process is finished, determining a current attitude quaternion Q according to the end position of the current scanning areanDetermining a target posture quaternion Q at the initial position of the next scanning areatAccording to Qn、QtError quaternion is obtained by calculation
The maneuvering process adopts a mode of 1/2 sine acceleration + uniform speed +1/2 sine deceleration to reduce the impact caused by the discontinuity of angular speed/acceleration.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A whole-satellite two-dimensional scanning motion-based stationary orbit microwave imaging method is characterized by comprising the following steps:
step M1: determining the constant-speed scanning angular speed of the star according to the size of the probe element of the microwave detector and the cone scanning period;
step M2: determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time;
step M3: determining the time of a two-dimensional scanning acceleration and deceleration section of the star body according to the total observation time of the satellite area, the size of the observation area, the field width of the microwave detector and the uniform scanning angular speed of the star body;
step M4: determining a star two-dimensional scanning path according to the star constant scanning angular speed and the star two-dimensional scanning acceleration and deceleration section time;
step M5: after the current scanning process is finished, according to the starting position of the next scanning area pointed by the end position of the current scanning area, a quick maneuvering path of the current observation area pointing to the next observation area is determined by using a maneuvering mode around an Euler axis.
2. The stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion as claimed in claim 1, wherein the step M1 includes:
for a stationary orbit microwave detection/microwave detector satellite, determining the constant-speed scanning angular speed of a satellite star body according to the size of a detection element of a microwave detector and a conical scanning period;
in the satellite star scanning process, under the condition that alpha probe element overlapping areas exist in adjacent periodic view fields, the star scans the angular velocity omega at a constant speedx_unifExpressed as:
wherein, theta represents the size of the probe element of the microwave detector, and T represents the cone scanning period of the microwave detector.
3. The stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion as claimed in claim 1, wherein the step M2 includes:
under the condition that the change of the visual axis of the microwave detector caused by the change of the satellite attitude during the exposure of the detector of the microwave detector does not exceed the preset value of lambda probe elements, the stability of the satellite scanning attitude is delta omegaxExpressed as:
wherein, theta represents the size of the probe element of the microwave detector, and t represents the exposure time of the microwave detector.
4. The stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion as claimed in claim 1, wherein the step M3 includes: determining the time of a satellite star two-dimensional scanning acceleration and deceleration section according to the total observation time of the satellite, the size of an observation area, the field width of a microwave detector and the uniform velocity scanning angular speed of the star;
under the condition that a preset value beta linear array length overlapping area exists between adjacent scanning lines, the time of the star two-dimensional scanning acceleration and deceleration section is represented as TACC：
Wherein, TsumFor total observation time of satellite region, nlineFor scanning lines, TunifFor a constant scanning time, SxFor the length of the observation region in the scanning direction, SyFor observation of the step length of the region, wx_unifFor scanning the angular velocity at a constant speed, L is the length of the linear array of the microwave detector, and ceil () represents rounding up.
5. The whole-satellite two-dimensional scanning motion-based stationary orbit microwave imaging method as claimed in claim 1, wherein the step M4 includes employing 1/2 sinusoidal acceleration and deceleration modes in both scanning and stepping directions, so that satellite scanning attitude angle, angular velocity and angular acceleration are continuous, and impact-induced solar array and other flexible accessory vibrations are reduced:
step M4.1: determining an acceleration and deceleration rule in a scanning direction according to the scanning angular speed of the uniform speed section and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body;
step M4.2: and determining an acceleration and deceleration rule in the stepping direction between lines according to the space between adjacent scanning lines and the time of the acceleration and deceleration section of the two-dimensional scanning of the star body.
6. The stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion as claimed in claim 5, wherein the law of acceleration and deceleration in the scanning direction in the step M4.1 includes:
wherein TT ═ rem (T)in+TAcc,Tcircle)；Tcircle＝4TAcc+2Tunif；
Wherein, TinRepresents the current time; t isACCAnd representing the acceleration and deceleration period time of the two-dimensional sweep of the star.
The inter-row stepping direction acceleration and deceleration rule in the step M4.2 comprises the following steps:
wherein, ω isy_maxMaximum angular velocity, ω, in the stepping directiony_max＝L/TAcc。
7. The stationary orbit microwave imaging method based on whole-satellite two-dimensional scanning motion as claimed in claim 1, wherein the step M5 includes:
because the maneuver is the shortest path around the Euler axis in various maneuvering paths, the target position can be quickly reached under the condition of certain maneuvering capacity;
after the current scanning process is finished, according to the end position [ S ] of the current scanning areaxn,Syn,0]Determining the current quaternion Qn(ii) a Starting position of next scanning area Sxt,Syt,0]Determining a target quaternion QtAccording to Qn、QtError quaternion is obtained by calculation
Wherein the content of the first and second substances,
i.e. the kinematic euler axis vector, qe0A scalar section representing an error quaternion;
motorized angle alpha about the Euler axistExpressed as: alpha is alphat＝2arccos(qe0)，The maneuvering process adopts a mode of 1/2 sine acceleration + uniform speed +1/2 sine deceleration to reduce the impact caused by the discontinuity of angular speed/acceleration.
8. A stationary orbit microwave imaging system based on whole-satellite two-dimensional scanning motion is characterized by comprising:
module M1: determining the constant-speed scanning angular speed of the star according to the size of the probe element of the microwave detector and the cone scanning period;
module M2: determining the stability of the scanning attitude of the star body according to the size of the probe element of the microwave detector and the exposure time;
module M3: determining the time of a two-dimensional scanning acceleration and deceleration section of the star body according to the total observation time of the satellite area, the size of the observation area, the field width of the microwave detector and the uniform scanning angular speed of the star body;
module M4: determining a star two-dimensional scanning path according to the star constant scanning angular speed and the star two-dimensional scanning acceleration and deceleration section time;
module M5: after the current scanning process is finished, according to the starting position of the next scanning area pointed by the end position of the current scanning area, a quick maneuvering path of the current observation area pointing to the next observation area is determined by using a maneuvering mode around an Euler axis.
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