CN114679541A - Method for tracking moving target on satellite - Google Patents
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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.
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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:
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