CN114679541A - Method for tracking moving target on satellite - Google Patents
Method for tracking moving target on satellite Download PDFInfo
- Publication number
- CN114679541A CN114679541A CN202210241634.0A CN202210241634A CN114679541A CN 114679541 A CN114679541 A CN 114679541A CN 202210241634 A CN202210241634 A CN 202210241634A CN 114679541 A CN114679541 A CN 114679541A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- calculating
- platform
- coordinate
- moving target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000009466 transformation Effects 0.000 claims abstract description 38
- 239000011159 matrix material Substances 0.000 claims abstract description 35
- 230000003287 optical effect Effects 0.000 claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims abstract description 6
- 230000006641 stabilisation Effects 0.000 claims abstract description 5
- 238000011105 stabilization Methods 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 125000000217 alkyl group Chemical group 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Navigation (AREA)
Abstract
The invention relates to a method for tracking a moving target on a satellite, which comprises the following steps: calculating to obtain a coordinate system transformation matrix of a J2000 coordinate system and a platform coordinate system through platform attitude parameters of the satellite platform; calculating to obtain a coordinate system transformation matrix from the platform coordinate system to the load coordinate system; calculating to obtain a single direction vector of the moving target in a load coordinate system; calculating to obtain a unit direction vector of the moving target in an optical coordinate system; and calculating the angle transformation of the rotary table according to the calculated single direction vector of the moving target in the load coordinate system and the single direction vector of the moving target in the optical coordinate system so as to perform image stabilization tracking on the moving target on the satellite. The invention can realize the tracking imaging of the on-satellite moving target, has low calculated amount and is easy to realize.
Description
Technical Field
The invention relates to a method for tracking a moving target on a satellite.
Background
With the continuous progress and maturity of the aerospace technology, people have developed a plurality of deep space exploration activities, and deep space exploration becomes one of the important development directions in the aerospace field. Through the deep space exploration, the system can help to research the origin, the evolution and the current situation of the solar system and the universe, further know the formation and the evolution of the earth environment, know the relation between the space phenomenon and the earth natural system, and have very important scientific and economic significance for the deep space exploration and development. The method develops key technologies of space target load on-satellite detection, verification of space-based optical detection, on-orbit target real-time detection and the like, develops verification tests of space target space-based system detection capability, positioning accuracy and the like, and improves space-based space target detection capability in China.
When the moving target is observed on the satellite, the position of the moving target in the image is unchanged by controlling the azimuth and the pitch angle of the rotary table. Meanwhile, for imaging of a deep space detection moving target, a method for tracking the moving target is needed to meet the requirement of target image stabilization in an image. However, the star sensor is generally adopted to fix the attitude at present, the calculation process is complicated, and embedded software is not easy to realize.
Disclosure of Invention
In view of the above, it is necessary to provide a method for tracking a moving object on a satellite.
The invention provides a method for tracking a moving target on a satellite, which comprises the following steps: a. calculating to obtain a coordinate system transformation matrix of a J2000 coordinate system and a platform coordinate system through platform attitude parameters of the satellite platform; b. calculating to obtain a coordinate system transformation matrix from the platform coordinate system to the load coordinate system; c. calculating to obtain a single direction vector of the moving target in a load coordinate system; d. calculating to obtain a single direction vector of the moving target in an optical coordinate system; e. and calculating the angle transformation of the rotary table according to the calculated single direction vector of the moving target in the load coordinate system and the single direction vector of the moving target in the optical coordinate system so as to perform image stabilization tracking on the moving target on the satellite.
Specifically, the method further comprises, before step a, the steps of:
and the satellite platform receives the issued satellite star tracking command.
Specifically, the platform attitude parameters include: and the quaternion of the inertial attitude and the angular velocity of the inertial attitude motion on the ship.
Specifically, the step a specifically includes the following steps:
step S11, calculating ta0Coordinate transformation matrix A (t) from J2000 coordinate system to platform coordinate system at timea0);
While on the ship ta0Moment, corresponding to platform inertial attitude quaternion [ q1,q2,q3,q4]Thus, J2000 to ta0The coordinate transformation matrix of the time platform coordinate system is as follows:
step S12, calculating a coordinate transformation matrix B corresponding to the attitude angle increment of the time interval delta t from the J2000 coordinate system to the platform coordinate system;
while on the ship ta0Moment corresponding inertial attitude motion angular velocity vector [ omega ]x0,ωy0,ωz0]Let Δ t be the time period from the start time to the calculation sampling time, and the rotational angular velocity β after Δ t is as follows:
calculating a unit vector r of the direction of rotationa:
The solving step of the coordinate transformation matrix B corresponding to the attitude angle increment is as follows:
ΔB=β×Δt
step S13, calculating ta0To ta0Coordinate transformation matrix M of J2000 coordinate system and platform coordinate system at + delta t moment1:
M1=A(ta0)×B。
Specifically, the step b specifically includes:
obtaining a coordinate system transformation matrix M from a platform coordinate system to a load coordinate system through calibration image data obtained by ground processing 2Calibration of M2Comprises the following steps:
and step S21, the load coordinate system is parallel to the lens coordinate system after moving according to the pitching motion and the azimuth motion. The lens coordinate system is therefore considered to coincide with the load coordinate system when the turret is set to the zero position. And when the rotary table is placed at a zero position, imaging the known fixed star, and searching the star table to obtain the coordinate of the fixed star in the J2000 coordinate system. Obtaining the coordinate of the fixed star in the lens coordinate system by downloading the image, and calculating a coordinate transformation matrix M from J2000 to the lens coordinate systemz。
Step S22, calculating a coordinate transformation matrix M from the J2000 coordinate system to the platform coordinate system at the exposure time of the load based on the posture broadcast data when the image is capturedAt。
Step S23, calculate M2。
M2=MzMAt。
Specifically, the step c comprises:
coordinate S of moving object S in J2000 coordinate system2000Comprises the following steps:
observing the moving target in a load coordinate system, wherein the coordinate is P:
the unit direction vector pointing from the load to the target is thus derived:
specifically, the step d includes:
the position of the target in the optical coordinate system is kept constant, namely the angle of the field of view (A) of the target in the field of view of the optical lensx,Ay) Invariably, the vector n of the target in the unit direction in the optical coordinate systemAInvariable, nAIs represented as follows:
specifically, the step e includes:
The load coordinate system and the lens coordinate system are sequentially rotated in the azimuth direction and the pitching direction of the two-dimensional turntable, so that coordinate axes are parallel to each other; the azimuth angle and the pitch angle of the rotary table are [ E, A ], and the following formula is satisfied:
solving to obtain:
according to the method and the device, the target value of the angle change of the rotary table can be obtained according to information such as the attitude of the platform, so that the angular position of the moving target in the optical lens is kept stable, and the tracking imaging of the moving target on the satellite is realized. The method is low in calculation amount, easy to realize in embedded development and has important significance for actual engineering project application.
Drawings
FIG. 1 is a flow chart of a method for tracking a moving object on a satellite according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and specific embodiments.
Fig. 1 is a flowchart illustrating the operation of the method for tracking a moving object on a satellite according to a preferred embodiment of the present invention.
And step S1, calculating the attitude parameters provided by the onboard platform to obtain a coordinate system transformation matrix of the J2000 coordinate system and the platform coordinate system. Specifically, the method comprises the following steps:
the onboard platform can pass through platform attitude parameters, which include: and acquiring a transformation matrix of the platform coordinate system under a J2000 coordinate system by using the ship time, inertial attitude quaternion and inertial attitude motion angular velocity. The calculation method of the coordinate transformation matrix from the J2000 coordinate system to the platform coordinate system is as follows:
Step S11, calculating ta0Coordinate transformation matrix A (t) from J2000 coordinate system to platform coordinate system at timea0)。
While on the ship ta0Moment, corresponding to platform inertial attitude quaternion [ q1,q2,q3,q4]Thus, J2000 to ta0The coordinate transformation matrix of the time platform coordinate system is as follows:
and step S12, calculating a coordinate transformation matrix B corresponding to the attitude angle increment of the time interval delta t from the J2000 coordinate system to the platform coordinate system.
While on the ship ta0Moment corresponding inertial attitude motion angular velocity vector [ omega ]x0,ωy0,ωz0]. Let Δ t be the time period from the start time to the calculation sampling time, and the rotational angular velocity β after Δ t is as follows:
calculating a unit vector r of the direction of rotationa:
The solving step of the coordinate transformation matrix B corresponding to the attitude angle increment is as follows:
ΔB=β×Δt
step S13, calculating ta0To ta0Coordinate transformation matrix M of J2000 coordinate system and platform coordinate system at + delta t moment1:
M1=A(ta0)×B。
And step S2, calculating a coordinate system transformation matrix from the platform coordinate system to the load coordinate system.
Specifically, the method comprises the following steps:
due to system errors caused by factors such as load installation, cabin body butt joint, coordinate axis direction definition difference and the like, a coordinate system transformation matrix expressed as M exists between the platform coordinate system and the load coordinate system2. Obtaining M from calibration image data obtained by ground processing 2And the upper notes are given. M is a group of2After scaling, as a constant matrix.
Calibration M2Comprises the following steps:
and step S21, the load coordinate system is parallel to the lens coordinate system after the load coordinate system moves according to the pitching motion and the azimuth motion. Thus, the lens coordinate system is considered to coincide with the load coordinate system when the turret is set to the zero position. And imaging the known fixed star when the rotary table is placed at a zero position, and searching the star table to obtain the coordinate of the fixed star in the J2000 coordinate system. Obtaining the coordinates of the fixed star in the lens coordinate system by downloading the image, and calculating a coordinate transformation matrix M from J2000 to the lens coordinate systemz。
Step S22, calculating a coordinate transformation matrix M from the J2000 coordinate system to the platform coordinate system at the exposure time of the load based on the posture broadcast data when the image is capturedAt。
Step S23, calculating M2。
M2=MzMAt。
And step S3, calculating to obtain a single direction vector of the moving object in the load coordinate system. Specifically, the method comprises the following steps:
in order to reduce the consumption of on-orbit computing power, moving object guide information is injected to the star after ground computing. Coordinate S of moving object S in J2000 coordinate system2000Comprises the following steps:
observing the moving target in a load coordinate system, wherein the coordinate is P:
the unit direction vector pointing from the load to the target is thus derived:
and step S4, calculating to obtain the single direction vector of the moving object in the optical coordinate system. Specifically, the method comprises the following steps:
When the embodiment tracks the moving target, the position of the target in the optical coordinate system is kept unchanged, namely the angle of the field of view (A) of the target in the field of view of the optical lensx,Ay) And is not changed. Vector n of target per unit direction in optical coordinate systemAAnd is not changed. n is a radical of an alkyl radicalAIs represented as follows:
and step S5, calculating the angle transformation of the turntable according to the calculated single direction vector of the moving target in the load coordinate system and the single direction vector of the moving target in the optical coordinate system so as to perform image stabilization tracking on the moving target on the satellite.
The load coordinate system and the lens coordinate system are sequentially rotated in the azimuth direction and the pitching direction of the two-dimensional turntable, so that the coordinate axes are parallel to each other. The azimuth angle and the pitch angle of the rotary table are [ E, A ], and the following formula is satisfied:
solving to obtain:
according to the method and the device, the moving target is always at the appointed angular position of the optical lens in the exposure time, and the guiding and tracking of the moving target are realized. The moving object on the image is fixed at the designated position of the image surface, and the fixed star generates tailing. When the moving target is guided and tracked, the attitude and position information broadcasted by the platform, the planned observation time interval on the ground and the position coordinates of the target in the time interval are utilized to calculate the double-shaft angle data of the rotary table, so that the angular position of the moving target in the optical lens is kept stable.
Although the present invention has been described with reference to the presently preferred embodiments, it will be understood by those skilled in the art that the foregoing description is illustrative only and is not intended to limit the scope of the invention, as claimed.
Claims (8)
1. A method for tracking a moving target on a satellite is characterized by comprising the following steps:
a. calculating a coordinate system transformation matrix of a J2000 coordinate system and a platform coordinate system through platform attitude parameters of the on-board platform;
b. calculating to obtain a coordinate system transformation matrix from the platform coordinate system to the load coordinate system;
c. calculating to obtain a single direction vector of the moving target in a load coordinate system;
d. calculating to obtain a single direction vector of the moving target in an optical coordinate system;
e. and calculating the angle transformation of the rotary table according to the calculated single direction vector of the moving target in the load coordinate system and the single direction vector of the moving target in the optical coordinate system so as to perform image stabilization tracking on the moving target on the satellite.
2. The method of claim 1, wherein the method further comprises, before step a, the steps of:
And the satellite platform receives the issued satellite moving target tracking instruction.
3. The method of claim 2, wherein the platform pose parameters comprise: and the quaternion of the time and inertia attitude and the angular velocity of the movement of the inertia attitude on the ship.
4. The method according to claim 3, wherein the step a specifically comprises the steps of:
step S11, calculating ta0Coordinate transformation matrix A (t) from J2000 coordinate system to platform coordinate system at timea0);
While on the ship ta0Moment, corresponding to platform inertial attitude quaternion [ q1,q2,q3,q4]Thus, J2000 to ta0The coordinate transformation matrix of the time platform coordinate system is as follows:
step S12, calculating a coordinate transformation matrix B corresponding to the attitude angle increment of the time interval delta t from the J2000 coordinate system to the platform coordinate system;
while on the ship ta0Moment corresponding inertial attitude motion angular velocity vector [ omega ]x0,ωy0,ωz0]Let Δ t be the time period from the start time to the calculation sampling time, and the rotational angular velocity β after Δ t is as follows:
calculating a unit vector r of the direction of rotationa:
The solving step of the coordinate transformation matrix B corresponding to the attitude angle increment is as follows:
ΔB=β×Δt
step S13, calculating ta0To ta0Coordinate transformation matrix M of J2000 coordinate system and platform coordinate system at + delta t moment1:
M1=A(ta0)×B。
5. The method according to claim 4, wherein said step b specifically comprises:
Obtaining a coordinate system transformation matrix M from a platform coordinate system to a load coordinate system through calibration image data obtained by ground processing2Calibration of M2Comprises the following steps:
step S21, the load coordinate system is parallel to the lens coordinate system after moving according to the pitching motion and the azimuth motion; therefore, willWhen the rotary table is arranged at a zero position, the lens coordinate system is considered to be coincident with the load coordinate system; when the rotary table is placed at a zero position, imaging a known fixed star, and searching a star table to obtain the coordinate of the fixed star in a J2000 coordinate system; obtaining the coordinates of the fixed star in the lens coordinate system by downloading the image, and calculating a coordinate transformation matrix M from J2000 to the lens coordinate systemz;
Step S22, calculating a coordinate transformation matrix M from the J2000 coordinate system to the platform coordinate system at the exposure time of the load based on the posture broadcast data when the image is capturedAt;
Step S23, calculating M2;
M2=MzMAt。
6. The method of claim 5, wherein said step c comprises:
coordinate S of moving object S in J2000 coordinate system2000Comprises the following steps:
observing the moving target in a load coordinate system, wherein the coordinate is P:
the unit direction vector pointing from the load to the target is thus derived:
7. the method of claim 6, wherein said step d comprises:
the position of the target in the optical coordinate system is kept constant, namely the angle of the field of view (A) of the target in the field of view of the optical lens x,Ay) Invariably, the target isVector n per unit direction in optical coordinate systemAInvariable, nAIs represented as follows:
8. the method of claim 7, wherein step e comprises:
the load coordinate system and the lens coordinate system are sequentially rotated in the azimuth direction and the pitching direction of the two-dimensional turntable, so that the coordinate axes are parallel to each other; the azimuth angle and the pitch angle of the rotary table are set to be [ E, A ], and the following formula is satisfied:
solving to obtain:
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210241634.0A CN114679541B (en) | 2022-03-11 | 2022-03-11 | On-board moving target tracking method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210241634.0A CN114679541B (en) | 2022-03-11 | 2022-03-11 | On-board moving target tracking method |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114679541A true CN114679541A (en) | 2022-06-28 |
CN114679541B CN114679541B (en) | 2024-06-18 |
Family
ID=82072591
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210241634.0A Active CN114679541B (en) | 2022-03-11 | 2022-03-11 | On-board moving target tracking method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114679541B (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115359095A (en) * | 2022-10-19 | 2022-11-18 | 中国工程物理研究院应用电子学研究所 | Universal motion platform tracking and guiding calculation method |
CN116091546A (en) * | 2023-01-12 | 2023-05-09 | 北京航天飞行控制中心 | Observation construction method under push-broom mode of optical camera |
CN117421938A (en) * | 2023-12-18 | 2024-01-19 | 齐鲁空天信息研究院 | Ground task planning method and system for star tracking observation |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010124399A (en) * | 2008-11-21 | 2010-06-03 | Mitsubishi Electric Corp | Automatic tracking photographing apparatus from aerial mobile vehicle |
JP2010124398A (en) * | 2008-11-21 | 2010-06-03 | Mitsubishi Electric Corp | Automatic tracking photographing apparatus from aerial mobile vehicle |
CN105184776A (en) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | Target tracking method |
CN105466477A (en) * | 2015-12-07 | 2016-04-06 | 中国科学院光电研究院 | A space-based observation simulation system and method targeted at satellite targets and fixed star targets |
CN105548976A (en) * | 2015-12-14 | 2016-05-04 | 中国科学院长春光学精密机械与物理研究所 | Shipborne radar offshore precision identification method |
US20160356650A1 (en) * | 2014-12-30 | 2016-12-08 | Huazhong University Of Science And Technology | Low-orbit satellite-borne image-spectrum associated detection method and payload |
CN107576326A (en) * | 2017-08-21 | 2018-01-12 | 中国科学院长春光学精密机械与物理研究所 | Suitable for the star tracking method of high motor-driven carrier |
CN110969643A (en) * | 2019-12-18 | 2020-04-07 | 中国人民解放军国防科技大学 | On-satellite autonomous prediction method for ground target moving track |
CN111897357A (en) * | 2020-08-13 | 2020-11-06 | 上海航天控制技术研究所 | Attitude tracking control method for satellite earth scanning |
CN112710303A (en) * | 2020-12-14 | 2021-04-27 | 中国科学院光电技术研究所 | Method for determining attitude angle theta change of target in field of view caused by motion of motion platform |
KR102344264B1 (en) * | 2021-11-02 | 2021-12-29 | 한화시스템(주) | Electro-optical tracking apparatus capable of automatic viewing angle correction and method thereof |
CN114076596A (en) * | 2021-11-11 | 2022-02-22 | 中国科学院长春光学精密机械与物理研究所 | Autonomous star tracking method and system based on star sensor and storage medium |
-
2022
- 2022-03-11 CN CN202210241634.0A patent/CN114679541B/en active Active
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010124399A (en) * | 2008-11-21 | 2010-06-03 | Mitsubishi Electric Corp | Automatic tracking photographing apparatus from aerial mobile vehicle |
JP2010124398A (en) * | 2008-11-21 | 2010-06-03 | Mitsubishi Electric Corp | Automatic tracking photographing apparatus from aerial mobile vehicle |
US20160356650A1 (en) * | 2014-12-30 | 2016-12-08 | Huazhong University Of Science And Technology | Low-orbit satellite-borne image-spectrum associated detection method and payload |
CN105184776A (en) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | Target tracking method |
CN105466477A (en) * | 2015-12-07 | 2016-04-06 | 中国科学院光电研究院 | A space-based observation simulation system and method targeted at satellite targets and fixed star targets |
CN105548976A (en) * | 2015-12-14 | 2016-05-04 | 中国科学院长春光学精密机械与物理研究所 | Shipborne radar offshore precision identification method |
CN107576326A (en) * | 2017-08-21 | 2018-01-12 | 中国科学院长春光学精密机械与物理研究所 | Suitable for the star tracking method of high motor-driven carrier |
CN110969643A (en) * | 2019-12-18 | 2020-04-07 | 中国人民解放军国防科技大学 | On-satellite autonomous prediction method for ground target moving track |
CN111897357A (en) * | 2020-08-13 | 2020-11-06 | 上海航天控制技术研究所 | Attitude tracking control method for satellite earth scanning |
CN112710303A (en) * | 2020-12-14 | 2021-04-27 | 中国科学院光电技术研究所 | Method for determining attitude angle theta change of target in field of view caused by motion of motion platform |
KR102344264B1 (en) * | 2021-11-02 | 2021-12-29 | 한화시스템(주) | Electro-optical tracking apparatus capable of automatic viewing angle correction and method thereof |
CN114076596A (en) * | 2021-11-11 | 2022-02-22 | 中国科学院长春光学精密机械与物理研究所 | Autonomous star tracking method and system based on star sensor and storage medium |
Non-Patent Citations (1)
Title |
---|
李世忠 等: "航天遥感立体测绘小卫星目标跟踪与角度测量", 测绘学院学报, vol. 18, no. 1, pages 29 - 32 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115359095A (en) * | 2022-10-19 | 2022-11-18 | 中国工程物理研究院应用电子学研究所 | Universal motion platform tracking and guiding calculation method |
CN116091546A (en) * | 2023-01-12 | 2023-05-09 | 北京航天飞行控制中心 | Observation construction method under push-broom mode of optical camera |
CN116091546B (en) * | 2023-01-12 | 2024-04-19 | 北京航天飞行控制中心 | Observation construction method under push-broom mode of optical camera |
CN117421938A (en) * | 2023-12-18 | 2024-01-19 | 齐鲁空天信息研究院 | Ground task planning method and system for star tracking observation |
CN117421938B (en) * | 2023-12-18 | 2024-03-12 | 齐鲁空天信息研究院 | Ground task planning method and system for star tracking observation |
Also Published As
Publication number | Publication date |
---|---|
CN114679541B (en) | 2024-06-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN114679541B (en) | On-board moving target tracking method | |
CN109507665B (en) | Satellite-borne AIS real-time information guidance-based on-satellite autonomous imaging method | |
CN111897357B (en) | Attitude tracking control method for satellite earth scanning | |
CN110081881B (en) | Carrier landing guiding method based on unmanned aerial vehicle multi-sensor information fusion technology | |
CN107450582B (en) | Phased array data transmission guide control method based on-satellite real-time planning | |
CN111102981B (en) | High-precision satellite relative navigation method based on UKF | |
CN108663052B (en) | Autonomous space non-cooperative target Relative Navigation camera is directed toward control method on a kind of star | |
CN109018441A (en) | A kind of satellite any attitude mobile process drift angle tracking and controlling method | |
CN107525492B (en) | Drift angle simulation analysis method suitable for agile earth observation satellite | |
CN110044361B (en) | Optical load on-satellite autonomous scheduling method based on target projection position | |
CN107300700B (en) | Agile synthetic aperture radar satellite bunching mode attitude maneuver demand calculation method | |
CN105043417A (en) | Multi-target continuous imaging drift angle compensation method | |
Santaguida et al. | Development of air-bearing microgravity testbed for autonomous spacecraft rendezvous and robotic capture control of a free-floating target | |
CN112710303A (en) | Method for determining attitude angle theta change of target in field of view caused by motion of motion platform | |
CN103955138A (en) | Moving imaging satellite attitude control method based on incremental type drift angle | |
CN112945242B (en) | Method for autonomously planning optimal time and attitude of task on orbit by satellite | |
CN106289156B (en) | The method of photography point solar elevation is obtained when a kind of satellite is imaged with any attitude | |
CN114677408A (en) | Method for tracking star target on satellite | |
Amidi et al. | Research on an autonomous vision-guided helicopter | |
CN111667413A (en) | Image despinning method and system based on multi-source sensing data fusion processing | |
Du et al. | Attitude guidance algorithms for agile satellite dynamic imaging | |
CN113968362A (en) | Satellite on-orbit autonomous three-axis quick maneuvering control method | |
CN110608724B (en) | Direct solving method for drift-free attitude in satellite maneuvering imaging process | |
CN114979477B (en) | Follow-up observation task planning method and device for space surveillance camera | |
CN118494787A (en) | Real-time continuous guidance system and method for pointing of satellite-borne high-precision turntable |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |