CN112504235A - Small satellite in-orbit autonomous imaging method - Google Patents
Small satellite in-orbit autonomous imaging method Download PDFInfo
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- 238000003384 imaging method Methods 0.000 title claims abstract description 98
- 108091092878 Microsatellite Proteins 0.000 claims 3
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- 108091092919 Minisatellite Proteins 0.000 description 1
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
An in-orbit autonomous imaging method for a small satellite relates to the technical field of in-orbit imaging of satellites and solves the problems of large workload and low efficiency of planning satellite service of the prior art, and comprises the following steps: the satellite central machine judges whether a target is in a range in which a satellite can image or not and judges whether conditions such as satellite energy, a satellite operation mode and the like meet the imaging conditions or not, only when the target is in the range in which the satellite can image and meets the imaging conditions, the satellite central machine adjusts the satellite attitude to enable the target to be located in the imaging range of the camera, and the satellite central machine sets camera parameters and controls the camera to image the target; the satellite central machine judges whether the satellite is separated from the target, if so, the next step is carried out, otherwise, the satellite imaging attitude is kept until the satellite is separated from the target; the satellite central machine controls the camera to stop imaging, and adjusts the satellite attitude to enable the whole satellite to keep the three-axis sun-facing attitude. The invention greatly reduces the ground intervention planning satellite imaging service, reduces the ground workload and improves the execution efficiency of the satellite on-orbit service.
Description
Technical Field
The invention relates to the technical field of satellite in-orbit imaging, in particular to a small satellite in-orbit autonomous imaging method.
Background
At present, a commercial minisatellite is mainly used for executing an in-orbit imaging task by adopting a ground satellite manager, and the task is planned and executed according to the requirement of a user, wherein the task planning main steps comprise: and calculating target position information on the ground, calculating load setting parameters on the ground, calculating attitude parameters on the ground, injecting the tasks to the satellite through the measurement and control transponder, and waiting for the satellite to execute the tasks. The method has the defects of large ground workload and low efficiency of planning satellite services.
With the increasing number of commercial satellites and the increasing demand of the market on aerospace information products, the flexibility and intelligence of executing tasks by a single satellite are improved, the autonomous execution of on-orbit tasks on the satellite is realized, the manual operation on the ground is reduced, and the improvement of the execution efficiency of satellite imaging services becomes one of the key directions of the current research.
Therefore, it is necessary to develop an in-orbit autonomous imaging method for a small satellite, which reduces the ground workload and has high planning satellite service efficiency.
Disclosure of Invention
In order to solve the problems, the invention provides a small satellite in-orbit autonomous imaging method.
The technical scheme adopted by the invention for solving the technical problem is as follows:
an in-orbit autonomous imaging method for a small satellite comprises the following steps:
s1, the satellite central machine judges whether the target is in the range that the satellite can image and whether the satellite energy and the satellite operation mode meet the imaging conditions, and only when the target is in the range that the satellite can image and the satellite energy and the satellite operation mode meet the imaging conditions, S2 is carried out;
s2, the satellite central machine adjusts the satellite attitude to enable the target to be located in the camera imaging range, the satellite central machine sets camera parameters, and the satellite central machine controls the camera to image the target;
s3, the satellite central unit judges whether the satellite is separated from the target, if the satellite is separated from the target, S4 is carried out, and if the satellite is not separated from the target, the satellite keeps an imaging posture and repeatedly executes S3 until the satellite is separated from the target;
and S4, controlling the camera to stop imaging by the satellite central machine, and adjusting the satellite attitude by the satellite central machine to keep the whole satellite in a three-axis sun-facing attitude.
The invention has the beneficial effects that:
the small satellite in-orbit autonomous imaging method adopts on-satellite autonomous calculation to configure load parameters, and autonomous calculation controls the attitude of the whole satellite to autonomously execute imaging services. The method greatly reduces the ground intervention planning satellite imaging service, reduces the ground workload, and improves the execution efficiency of the satellite on-orbit service. In particular, the on-orbit autonomous imaging based on the target area can be realized, and the on-orbit autonomous imaging based on the target guidance can also be realized.
Drawings
Fig. 1 is a flowchart of an in-orbit autonomous imaging method for a small satellite according to the present invention.
Fig. 2 is a flowchart of a small satellite in-orbit autonomous imaging method based on a target region according to the present invention.
Fig. 3 is a flowchart of the small satellite in-orbit autonomous imaging method based on target guidance according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
An in-orbit autonomous imaging method for a small satellite, as shown in fig. 1, comprises the following steps:
and S1, the satellite central machine judges whether the target is in the range in which the satellite can image, the satellite central machine judges whether the conditions such as the satellite energy source and the satellite operation mode meet the imaging conditions, and the S2 is performed only when the target is in the range in which the satellite can image and the satellite energy source and the satellite operation mode meet the imaging conditions.
When the condition that "the target is within the range in which the satellite can image and the satellite energy source and the satellite operation mode satisfy the imaging condition" is not satisfied, the process returns to S1. In this embodiment, when the satellite central unit determines that the target is within the range in which the satellite can image, it determines whether the satellite energy and the satellite operation mode satisfy the imaging conditions, and when the target is not within the range in which the satellite can image, it returns to S1 no matter whether the conditions such as the satellite energy and the satellite operation mode satisfy the imaging conditions, that is, when the satellite central unit determines that the target is not within the range in which the satellite can image, it may directly return to S1 without determining whether the satellite energy and the satellite operation mode satisfy the imaging conditions; when the satellite central machine judges that the target is in the range in which the satellite can image, judging whether the conditions such as satellite energy, satellite operation mode and the like meet the imaging conditions; if the conditions such as the satellite energy source and the satellite operation mode do not satisfy the imaging conditions, the process returns to S1, and if the conditions such as the satellite energy source and the satellite operation mode satisfy the imaging conditions, the process proceeds to S2. When the conditions that the target is in the range that the satellite can image and the satellite energy and the satellite operation mode meet the imaging conditions are not met, the satellite central machine can also keep the whole satellite attitude three-axis sun-to-sun attitude.
And S2, the satellite central machine adjusts the satellite attitude to enable the target to be located in the imaging range of the satellite camera. The satellite central machine sets camera parameters and controls the camera to image the target.
And the satellite central machine adjusts the satellite attitude according to the target information, so that the target corresponding to the target information is positioned in the imaging range of the camera on the satellite. The satellite central unit sets camera parameters according to illumination conditions and the like. The satellite central unit controls the camera to start imaging the target. The object information includes object parameter information including position information of the object, size information of the object, and the like.
And S3, the satellite central unit judges whether the satellite is separated from the target, if the satellite is separated from the target, S4 is carried out, if the satellite is not separated from the target, the satellite keeps the imaging attitude, the imaging attitude is kept, and S3 is repeatedly executed until the satellite is separated from the target.
And S4, controlling the camera to stop imaging by the satellite central machine, and adjusting the satellite attitude by the satellite central machine to keep the whole satellite in a three-axis sun-facing attitude. The whole star keeps the three-axis sun-facing posture, and the efficient charging of the whole-star solar array is guaranteed.
The invention is further received in two forms, area targeting and targeting as guidance.
An in-orbit autonomous imaging method for a small satellite belongs to an in-orbit autonomous imaging method for a small satellite based on a regional target, and as shown in fig. 2, the method comprises the following steps:
and S1, the satellite central unit judges whether the satellite enters a region right above the target region, for example, the target region is Beijing City, judges whether the satellite enters the region right above the Beijing City, and if the satellite is located right above the Beijing City, the target Beijing City is within the range in which the satellite can image. If the satellite is not located in the area right above the target area, ending the operation; and if the satellite is positioned in the area right above the target area, judging whether the conditions such as satellite energy, satellite operation modes and the like meet the imaging conditions by the satellite central machine. If the satellite energy satisfies the satellite energy imaging condition and the satellite operation mode satisfies the satellite operation mode imaging condition, performing S2; and if the satellite energy does not meet the imaging condition of the satellite energy and/or the satellite operation mode does not meet the imaging condition of the satellite operation mode, ending the operation. In this embodiment, the satellite central unit determines whether the target is within the range in which the satellite can image, specifically, the satellite central unit determines whether the satellite enters a region directly above a target region, the target region is a target to be photographed, and if the satellite enters the region directly above the target region, the target is within the range in which the satellite can image.
And S2, the satellite central machine adjusts the satellite attitude pointing direction according to the target position to enable the target area to be located in the camera imaging range, the satellite central machine sets camera parameters according to the illumination condition, and the satellite central machine controls the camera to image the target area.
And S3, the satellite central unit judges whether the satellite deviates from the area right above the target area, and if the satellite deviates from the area right above the target area, the S4 is carried out. If the satellite does not leave the region directly above the target region, the satellite keeps the imaging posture (the camera continues to image the target region), and the step S3 is repeatedly executed until the satellite leaves the region directly above the target region, and the step S4 is executed.
And S4, controlling the camera to stop imaging by the satellite central unit. The satellite central machine adjusts the satellite attitude, so that the whole satellite keeps the three-axis sun-facing attitude, the efficient charging of the whole satellite solar sailboard is ensured, and the small satellite completes the in-orbit autonomous imaging.
An in-orbit autonomous imaging method for a small satellite belongs to an in-orbit autonomous imaging method for a target-guided small satellite, and as shown in fig. 3, the method comprises the following steps:
s1, the satellite central unit acquires target information received by the satellite load; the satellite central machine judges whether the satellite energy and the satellite operation mode meet the imaging conditions or not, the satellite central machine judges whether the target is positioned in the range in which the satellite can image or not according to the target information, and if the target is positioned in the range in which the satellite can image and the satellite energy and the satellite operation mode meet the imaging conditions, S2 is carried out;
in this embodiment, the range in which the satellite can image is a camera imaging range in which the satellite can realize by attitude adjustment, that is, a range in which the camera width is added to the attitude adjustment. The target information may be target parameter information, the corresponding satellite load is an AIS receiver, the target parameter information includes position information of the target and size information of the target, for example, the ship is the target, the satellite central unit acquires ship information received by the satellite AIS receiver, the target parameter information is ship information, and the ship information includes ship position information (longitude and latitude information) and ship size information. The target information can also be fire point information, and the corresponding satellite loads are a long wave camera, a medium wave camera and a short wave camera.
And S2, the satellite central machine adjusts the satellite attitude according to the target position (the position of the target corresponding to the fire point information or the position of the target corresponding to the target parameter information) to enable the target to be located in the camera imaging range, the satellite central machine sets the camera parameters, and the satellite central machine controls the camera to image the target.
And S3, the satellite central machine judges whether the satellite load can receive the target information, and the satellite central machine judges whether the target is in the range that the satellite can image. When the satellite receiver can receive the target information and the target is within the range that the satellite can image (not departing from the target), the camera continues to image the target, returns to S3 to re-execute S3 until the satellite departs from the target to proceed to S4, that is, to proceed to S4 when one of the following two conditions occurs: the target information that the satellite load can not receive, the target (namely the target position) are not in the range that the satellite can image, and the target information that the satellite load can not receive and the target are not in the range that the satellite can image.
And S4, controlling the camera to stop imaging by the satellite central machine, and adjusting the satellite attitude by the satellite central machine to keep the whole satellite in a three-axis sun-facing attitude.
The satellite central machine can simultaneously acquire target parameter information of the AIS receiver and fire point information in remote sensing data of the long wave camera, the medium wave camera and the short wave camera, equivalently the target information comprises the target parameter information and the fire point information, the priority of the target parameter information and the fire point information can be set, for example, the priority of the fire point information is set, as long as the fire point information exists, the satellite central machine judges whether a target corresponding to the fire point information is located in a range where the satellite can image according to the fire point information, and after imaging of the target corresponding to the fire point information is completed, the satellite central machine judges whether the target corresponding to the target parameter information is located in the range where the satellite can image according to the target parameter information. When the fire point information does not exist (including the fire point information which is not imaged by the satellite), the satellite central unit judges whether the target corresponding to the target parameter information is located in the range which can be imaged by the satellite according to the target parameter information, namely the target parameter information is used as the target information in S1 and S3, and the target position in S2 is the position of the target parameter information.
The small satellite in-orbit autonomous imaging method adopts on-satellite autonomous calculation to configure load parameters, and autonomous calculation controls the attitude of the whole satellite to autonomously execute imaging services. The method greatly reduces the ground intervention planning satellite imaging service, reduces the ground workload, and improves the execution efficiency of the satellite on-orbit service. In particular, the on-orbit autonomous imaging based on the target area can be realized, and the on-orbit autonomous imaging based on the target guidance can also be realized.
The regional target autonomous imaging is as follows: and after the satellite enters a target designated area, autonomously judging whether conditions such as the energy of the whole satellite and the like meet imaging conditions, judging whether the operation mode of the satellite meets the target imaging conditions, setting camera parameters after the conditions are met, then starting autonomous imaging, and autonomously setting camera remote sensing data.
Target-guided autonomous imaging is: on one hand, the satellite receives target parameter information of a satellite load, the information contains certain target position information (longitude and latitude information) and certain target size information, the satellite central machine extracts effective information of an AIS or other load receivers, judges whether the position of a certain target is located, the operation mode of the satellite is met or not, whether energy is met or not, sets camera parameters after the conditions are met, and starts imaging; on the other hand, the satellite comprehensive information processing unit identifies whether fire points (namely fire point information) exist in the data according to the imaging remote sensing data of the three cameras, namely the long-wave camera, the medium-wave camera and the short-wave camera, if the fire points exist, the fire point information (including the fire point position information) is extracted, the satellite central unit performs satellite attitude control according to the orbit data in the navigation receiver, and the multispectral camera is set for imaging. The target-guided autonomous imaging mainly comprises the steps that a satellite acquires position information of a target as a target point according to the satellite, and the satellite is autonomously set for imaging.
Claims (7)
1. An in-orbit autonomous imaging method for a small satellite, comprising the steps of:
s1, the satellite central machine judges whether the target is in the range that the satellite can image and whether the satellite energy and the satellite operation mode meet the imaging conditions, and only when the target is in the range that the satellite can image and the satellite energy and the satellite operation mode meet the imaging conditions, S2 is carried out;
s2, the satellite central machine adjusts the satellite attitude to enable the target to be located in the camera imaging range, the satellite central machine sets camera parameters, and the satellite central machine controls the camera to image the target;
s3, the satellite central unit judges whether the satellite is separated from the target, if the satellite is separated from the target, S4 is carried out, and if the satellite is not separated from the target, the satellite keeps an imaging posture and repeatedly executes S3 until the satellite is separated from the target;
and S4, controlling the camera to stop imaging by the satellite central machine, and adjusting the satellite attitude by the satellite central machine to keep the whole satellite in a three-axis sun-facing attitude.
2. The small satellite in-orbit autonomous imaging method of claim 1, wherein the S3 is: the satellite central unit judges whether the satellite is deviated from the target, if so, the satellite central unit proceeds to S4, and if not, the satellite central unit repeats S3 until the satellite is deviated from the target.
3. The microsatellite in-orbit autonomous imaging method according to claim 1,
the S1 specifically includes: the satellite central machine judges whether the satellite enters a region right above the target region, if the satellite is located in the region right above the target region, the satellite central machine judges whether the satellite energy and the satellite operation mode meet the imaging conditions, and if the satellite energy and the satellite operation mode meet the imaging conditions, S2 is carried out;
the S2 specifically includes: the satellite central machine adjusts the satellite attitude to enable the target area to be located in the camera imaging range, the satellite central machine sets camera parameters, and the satellite central machine controls the camera to image the target area;
the S3 specifically includes: the satellite central unit judges whether the satellite is separated from the area right above the target area, and if the satellite is separated from the area right above the target area, the S4 is carried out; if the satellite does not leave the area directly above the target area, S3 is repeatedly executed until the satellite leaves the area directly above the target area.
4. The microsatellite in-orbit autonomous imaging method according to claim 1,
the S1 specifically includes: the satellite central machine acquires target information received by a satellite load; the satellite central machine judges whether the satellite energy and the satellite operation mode meet the imaging conditions or not, the satellite central machine judges whether the target is positioned in the range in which the satellite can image or not according to the target information, and if the target is positioned in the range in which the satellite can image and the satellite energy and the satellite operation mode meet the imaging conditions, S2 is carried out;
the S3 specifically includes: and when the target information can be received by the satellite load and the target is in the range in which the satellite can image, repeatedly executing S3 until the target parameter information and/or the target which cannot be received by the satellite receiver is not in the range in which the satellite can image, otherwise executing S4.
5. The small satellite in-orbit autonomous imaging method of claim 4, wherein the satellite loads are long wave camera, medium wave camera and short wave camera, and the target information is fire point information.
6. The small satellite in-orbit autonomous imaging method of claim 4, wherein the satellite payload is an AIS receiver and the target information is target parameter information.
7. The microsatellite in-orbit autonomous imaging method according to claim 6, wherein the target parameter information includes position information of the target and size information of the target.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114419868A (en) * | 2021-11-10 | 2022-04-29 | 北京控制工程研究所 | Satellite-borne fire information multi-channel release system |
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