CN114814909A - Ground track tracking method - Google Patents
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Abstract
The invention provides a ground track tracking method, which comprises the following steps: the ground tracking control points of the satellite at different moments are obtained by controlling the condensed scanning attitude of the ground remote sensing satellite, and the three-axis attitude of the satellite is restrained and controlled according to the track angle of the target at the moment of passing the top, so that the pointing precision of condensed scanning observation is improved, and the high-precision distortion-free condensed scanning observation control of the ground target is realized.
Description
Technical Field
The invention relates to the technical field of remote sensing satellites, in particular to a ground track tracking method.
Background
With the development of high and new technologies and the promotion of requirements, the remote sensing micro-nano satellite has the advantages of light weight, small size, low power consumption, short development period, high functional density, high cost performance, capability of being formed into a team and networking and the like, and shows good development prospects in the fields of scientific research, national defense and commercial use such as resource management, environmental monitoring, land planning, geographical mapping and the like.
With the improvement of the task requirement and the target precision requirement of high-resolution remote sensing, the relationship between the monitoring capability of the remote sensing satellite camera on the optical axis position and the imaging quality in the task process is tighter, and the design level of a remote sensing satellite system is directly influenced.
Because the data processing and the load data processing of the remote sensing micro-nano satellite platform are designed independently, the actual attitude data of the satellite and the actual attitude of the optical load have certain errors, and the imaging quality of the load is greatly influenced.
In order to achieve the best imaging effect, the remote sensing satellite camera needs to ensure that the optical axis of the camera after the camera enters the orbit is consistent with the ground design, and a large amount of experimental verification and flight state simulation are needed to realize the aim. However, the disturbance of the optical axis caused by the vibration interference of the satellite platform during the in-orbit operation is difficult to measure and compensate. Therefore, the attitude control is carried out on the micro-vibration of the optical axis of the remote sensing satellite camera in real time on orbit, and the image quality recovery of the remote sensing camera is very important.
The existing remote sensing satellite camera micro-vibration in-orbit control method in China can not meet the high-precision measurement requirement of the remote sensing satellite camera in the in-orbit service life process; the prior art can not influence the key factors of the imaging quality of the remote sensing camera: the optical axis of the camera is directly and accurately controlled. In addition, the reliability of the mechanical sensitive elements required by the control system in the on-orbit long-time operation and the consequent system complexity also reduce the reliability and the usability of the remote sensing satellite camera system.
Disclosure of Invention
The invention aims to provide a ground track tracking method to solve the problem that the conventional remote sensing satellite is low in attitude control precision and affects the condensing and scanning precision.
In order to solve the technical problem, the invention provides a ground track tracking method, which comprises the following steps:
the ground tracking control points of the satellite at different moments are obtained by controlling the condensed scanning attitude of the ground remote sensing satellite, and the three-axis attitude of the satellite is restrained and controlled according to the track angle of the target at the moment of passing the top, so that the pointing precision of condensed scanning observation is improved, and the high-precision distortion-free condensed scanning observation control of the ground target is realized.
Optionally, in the ground track tracking method, the method further includes:
carrying out data processing and load data processing parameter sharing on the remote sensing micro-nano satellite platform so as to eliminate errors existing between satellite attitude data and the actual attitude of the optical load and ensure that the optical axis of the camera is consistent with the ground design after the camera is in orbit;
optical axis disturbance caused by vibration interference of a satellite platform during the in-orbit working period is eliminated through measurement and compensation;
attitude control is carried out on the micro-vibration of the optical axis of the remote sensing satellite camera in real time in an on-orbit manner so as to improve the image recovery quality of the remote sensing camera;
the on-orbit measurement precision requirement of the remote sensing satellite camera is met by a remote sensing satellite camera micro-vibration on-orbit control method;
the optical axis of the camera is directly and accurately controlled to influence the imaging quality of the remote sensing camera.
Optionally, in the ground track tracking method, the over-top time of the ground remote sensing satellite relative to the ground observation target point is calculated;
calculating a ground track angle of coagulation and scanning observation according to the overhead moment;
calculating a ground track tracking point based on the time sequence and the ground track angle;
calculating the load optical axis direction of the remote sensing satellite to the ground at a specific moment according to the ground track tracking point;
and determining the condensed scanning attitude of the remote sensing satellite to the ground at the current control point according to the load optical axis direction of the remote sensing satellite to the ground.
Optionally, in the ground track tracking method, calculating the over-top time of the ground remote sensing satellite relative to the ground observation target point includes:
receiving a signal of a ground observation target point in real time, and calculating the position of the ground observation target point in a VVL coordinate system at the current moment in real time, wherein the position of the ground observation target point in the VVL coordinate system at the current moment comprises a first X coordinate position value, a first Y coordinate position value and a first Z coordinate position value;
judging whether the distance between the ground remote sensing satellite and the ground observation target point is larger than a first threshold value or not according to the position of the ground observation target point in the VVLH coordinate system at the current moment;
if the distance between the ground remote sensing satellite and the ground observation target point is larger than a first threshold value, calculating the position of the ground observation target point in a VVLH coordinate system at a first moment;
the first time is the sum of the current time and a first threshold time, and the first threshold time is equal to the first threshold divided by the relative speed of the satellite and the target point;
if the distance between the ground remote sensing satellite and the ground observation target point is smaller than or equal to a first threshold value, calculating the position of the ground observation target point in a VVLH coordinate system at a second moment;
the second moment is the sum of the current moment and X coordinate time, and the X coordinate time is equal to the first X coordinate position value divided by the relative speed of the satellite and the target point;
and repeating the steps until the value of the first X coordinate position value is smaller than a second threshold value, wherein the corresponding current moment is the over-top moment of the earth observation target point.
Optionally, in the ground track tracking method, the first threshold is 2000km, and the second threshold is 0.1 km.
Optionally, in the ground track tracking method, calculating the ground track angle of the condensing and scanning observation according to the overhead time includes:
generating the geographic longitude of a target point, the geographic latitude of the target point and the velocity vector of the satellite in the earth-fixed system at the over-the-top moment of the earth observation target point through a ground planning module or an on-satellite autonomous task planning module;
after the over-top time of the earth observation target point is obtained, calculating an included angle between a speed vector of the earth remote sensing satellite in an earth fixed system and the positive north direction of the earth observation target point on a northern east coordinate system at the time, and taking the included angle as the ground track angle, wherein the ground track angle is positive when the north is deviated to the east, and the ground track angle is negative when the north is deviated to the west;
the transformation matrix of the earth observation target point from the earth fixation system to the northeast earth coordinate system is as follows:
wherein (J) 0 ) Is the geographic longitude of the target point, (W) 0 ) The geographical latitude of the target point is the true north direction vector N of the earth observation target point in the earth fixation system e Comprises the following steps:
N e ＝[-cos(J 0 )sin(W 0 ),-sin(J 0 )sin(W 0 ),cos(W 0 )]
calculating the velocity vector V of the satellite in the earth-fixed system at the over-top moment of the earth observation target point e North direction vector N with respect to the target point in the earth fixation system e And the included angle is used as a ground track angle.
Optionally, in the ground track tracking method, calculating a ground track tracking point based on the time series and the ground track angle includes:
the ground planning module or the on-satellite autonomous task planning module generates condensed sweep observation starting time t according to the over-top time of the earth observation target point and the total condensed sweep observation duration _start And coagulation and sweeping observation end time t _end ，
t _start ＝T pass -△T/2，t _end ＝T pass +△T/2；
Wherein, the Delta T is the total length of coagulation-sweeping observation time, T pass The over-top time of the ground observation target point is obtained;
generating a time sequence Tm (Tm) from the coagulation-scanning observation starting time to the coagulation-scanning observation ending time according to the step length of 0.25 second of the attitude control period 1 ，Tm 2 ，…，Tm n )；
Wherein, Tm is i+1 ＝Tm i +0.25s，i＝1，2，…，n；
The total length N of the coagulation sweeping is v delta T,
wherein the total condensing-sweeping length comprises a transition track and an actual imaging track, and v is the earth rotation speed;
calculating the time difference between each moment in the time sequence and the over-top moment of the ground observation target point as follows: delta t i ＝Tm i -T pass ；
Calculating the ground distance between the ground track tracking point at each moment in the time sequence and the ground observation target point as follows: si ═ v Δ t i ；
Calculating the longitude and latitude of the ground track tracking point by adopting a midsplit latitude method, wherein the method comprises the following steps:
the warp difference D lambda and the weft difference between each ground track tracking point and the ground observation target point
Is as follows;
Dλi＝Si*sinC*secW 0 /R_e*(180/Π)；
wherein C is the ground track angle, R _ e is the reference ellipsoid radius of the earth observation target point, and the longitude and latitude of each ground track tracking point are as follows:
respectively calculating the position vector P of each ground track tracking point in the earth fixation system according to the longitude and latitude and the geographic height of each ground track tracking point hj 。
Optionally, in the ground track tracking method, calculating a geocentric distance of the geospatial observation target point by using a reference ellipsoid radius of the geospatial observation target point includes:
the longitude and the latitude of a target point of the upper note task are geographical latitudes W 0 And calculating a normalized angle u as follows:
tan(u)＝0.9966471615*tan(W 0 )
x＝acos(u)＝6378.137*cos(u)
y＝bsin(u)＝6356.752*sin(u)
R_e＝sqrt(x^2+y^2)
the distance between the earth observation target point and the earth center is as follows:
R_tg＝R_e+h 0
wherein h is 0 To observe the geographic height of the target point to the ground.
Optionally, in the ground track tracking method, the position vector P of each ground track tracking point in the earth-fixed system is respectively calculated according to the longitude and latitude and the geographic height of each ground track tracking point hj The method comprises the following steps:
setting the longitude range to be-180 degrees to +180 degrees, the west meridian to be negative and the east meridian to be positive;
converting the geographical latitude of the ground track tracking point into geocentric latitude:
calculating the geocentric distance R _ tg _ ctrl of the current ground track tracking point according to the geocentric distance of the earth observation target point;
and (3) calculating the coordinates of the ground track tracking point in a ground fixed system:
tg_ctrl_x_fixed＝R_tg_ctrl*cosd(phi_dixin)*cosd(λ i )
tg_ctrl_y_fixed＝R_tg_ctrl*cosd(phi_dixin)*sind(λ i )
tg_ctrl_z_fixed＝R_tg_ctrl*sind(phi_dixin)
wherein tg _ ctrl _ x _ fixed, tg _ ctrl _ y _ fixed, and tg _ ctrl _ z _ fixed are three-axis coordinates of a position vector of the ground track tracking point in the ground fixation system, respectively.
Optionally, in the ground track tracking method, calculating a load optical axis direction of the remote sensing satellite to ground at a specific time according to the ground track tracking point includes:
calculating the directional vector of the load optical axis in the earth-fixed system:
V boresight ＝P hj -P sat ；
wherein, P hj Tracking the position vector of each ground track in the ground fixation system; p sat Position vectors of the satellites corresponding to the ground track tracking points at the moment in the earth-fixed system are obtained;
converting the directional vector of the load optical axis in the earth fixation system into a directional vector V of the load optical axis in the orbit system b_vvlh ；
Vb_vvlh＝R oi ·R ie ·V boresight ；
Wherein: r ie For transformation matrix of ground fixation system to J2000 coordinate system, R oi Is a transformation matrix from the J2000 coordinate system to the orbital system.
Optionally, in the ground track tracking method, determining the condensed-scanning attitude of the remote ground sensing satellite at the current control point according to the direction of the load optical axis of the remote ground sensing satellite includes: taking a center of mass of the satellite as an origin, taking a satellite to the ground track tracking point as a Z axis, determining an X axis according to the Z axis, determining a Y axis according to a right-hand rule, establishing a coagulation scanning direction coordinate system, and calculating a conversion matrix from an orbit system to the coagulation scanning direction coordinate system according to the coagulation scanning direction coordinate system:
and calculating to obtain four attitude elements under the track system according to the transformation matrix, and outputting the attitude angular velocity.
Optionally, in the ground track tracking method, the load optical axis pointing vector is unitized under the track system, and a load optical axis pointing unit vector u _ Vb _ vvlh is obtained, where a unit vector of the Z axis under the track system is ZS;
ZS＝u_Vb_vvlh
the unit vector of the satellite velocity vector in the earth-fixed coordinate system at the over-top moment of the earth observation target point is IX _0_ fix, and is converted into the unit vector in the orbit system at the current moment:
IX_0_vvlh＝R oi *R ie *IX_0_fix
the geographic longitude and latitude heights of the earth observation target points are respectively (W) 0 ,J 0 ,h 0 ) Converted into geocentric latitude
W_p_x＝atand(0.99330559*tand(W 0 ))
The position of the earth observation target point in the earth fixation system is as follows:
P_tg_fix_z＝R_tg.*sind(W_p_x)；
P_tg_fix_x＝R_tg.*cosd(W_p_x).*cosd(J 0 )；
P_tg_fix_y＝R_tg.*cosd(W_p_x).*sind(J 0 )；
the unit position vector of the earth observation target point in the current VVLH coordinate system is u _ P _ tg _ VVLH, u _ P _ tg _ VVLH points to the target point from the earth center, and a line view field projection vector of the earth observation target point is calculated as follows:
cross1＝IX_0_vvlh×u_P_tg_vvlh
under the orbital system, cross-multiplying the unit vector pointed by the optical axis by cross1 and unitizing to obtain a unit vector XS of the X axis under the orbital system;
the Y-axis unit vector of the solidification and scanning coordinate system under the track coordinate system is as follows:
YS＝ZS×XS。
the invention also provides a ground track tracking system, which comprises a ground planning module or an on-satellite autonomous task planning module, an on-satellite load sensor module and a condensed scanning algorithm module, wherein:
the on-board load sensor module receives a signal of a ground observation target point and sends the signal to the ground planning module or the on-board autonomous task planning module;
the ground planning module or the on-satellite autonomous task planning module calculates the over-top time of the ground observation target point and a ground track angle according to the signal of the ground observation target point;
the ground planning module or the on-satellite autonomous task planning module calculates coagulation and sweeping starting time and coagulation and sweeping ending time according to the overhead moment of the ground observation target point;
the ground planning module or the on-satellite autonomous task planning module sends the over-top time of the earth observation target point, the ground track angle, the condensed sweep observation starting time and the condensed sweep observation ending time to the condensed sweep algorithm module;
the condensed scanning algorithm module calculates a ground track tracking point according to the time sequence and the ground track angle;
the condensed scanning algorithm module calculates the load optical axis direction of the remote sensing satellite to the ground at a specific moment according to the ground track tracking point;
and the condensed scanning algorithm module determines the condensed scanning attitude of the remote sensing satellite to the ground at the current control point according to the load optical axis direction of the remote sensing satellite to the ground.
In the ground track tracking method provided by the invention, the ground track tracking method is adopted to obtain the ground tracking control points of the satellite at different moments, and the three-axis attitude of the satellite is restrained and controlled according to the track angle of the target at the moment of passing the top, so that the pointing accuracy of condensed-sweep observation is improved, and the high-precision distortion-free condensed-sweep observation control of the ground target is realized.
The method realizes the data processing and load data processing parameter sharing design of the remote sensing micro-nano satellite platform, overcomes the defect that the satellite attitude data and the actual attitude of the optical load have errors, improves the load imaging quality, ensures that the optical axis of the camera is consistent with the ground design after the camera enters the orbit, and achieves the optimal imaging effect of the remote sensing satellite camera; the condensation-sweeping algorithm is simple and easy to realize, and is realized without a large amount of experimental verification and flight state simulation; optical axis disturbance caused by vibration interference of a satellite platform during the working period of in-orbit is eliminated through measurement and compensation; the invention realizes the attitude control of the optical axis micro-vibration of the remote sensing satellite camera in real time on orbit, and indirectly improves the quality of image quality recovery of the remote sensing camera; the invention overcomes the defect that the existing remote sensing satellite camera micro-vibration in-orbit control method can not meet the high-precision measurement requirement in the in-orbit service life process of the remote sensing satellite camera; the invention realizes the following key factors for influencing the imaging quality of the remote sensing camera: the optical axis of the camera is directly and accurately controlled; in addition, the reliability of the mechanical sensitive element required by the control system in the on-orbit long-time operation is improved, the system complexity is low, and the reliability and the usability of the remote sensing satellite camera system are improved.
Drawings
Fig. 1 is a schematic diagram of a ground track tracking method according to an embodiment of the present invention.
Detailed Description
The ground track tracking method proposed by the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The core idea of the invention is to provide a ground track tracking method to solve the problem that the conventional remote sensing satellite has low attitude control precision and affects the condensing and scanning precision.
In order to realize the idea, the invention provides a ground track tracking method, which comprises the following steps: the ground tracking control points of the satellite at different moments are obtained by controlling the condensed scanning attitude of the ground remote sensing satellite, and the three-axis attitude of the satellite is restrained and controlled according to the track angle of the target at the moment of passing the top, so that the pointing precision of condensed scanning observation is improved, and the high-precision distortion-free condensed scanning observation control of the ground target is realized.
< example one >
The embodiment provides a ground track tracking method, which comprises the following steps: calculating the over-top time of the ground remote sensing satellite relative to a ground observation target point; calculating a ground track angle of coagulation and scanning observation according to the overhead moment; calculating ground track tracking points based on the time sequence and the ground track angle; fourthly, calculating the load optical axis direction of the remote sensing satellite to the ground at a specific moment according to the ground track tracking point; and step five, determining the condensed scanning attitude of the remote sensing satellite to the ground at the current control point according to the load optical axis direction of the remote sensing satellite to the ground.
Specifically, in the ground track tracking method, calculating the over-top time of the ground remote sensing satellite relative to the ground observation target point includes: receiving a signal of a ground observation target point in real time, and calculating the position of the ground observation target point in a VVL coordinate system at the current moment in real time, wherein the position of the ground observation target point in the VVL coordinate system at the current moment comprises a first X coordinate position value, a first Y coordinate position value and a first Z coordinate position value; judging whether the distance between the ground remote sensing satellite and the ground observation target point is larger than a first threshold value or not according to the position of the ground observation target point in the VVLH coordinate system at the current moment; if the distance between the ground remote sensing satellite and the ground observation target point is larger than a first threshold value, calculating the position of the ground observation target point in a VVLH coordinate system at a first moment; the first time is the sum of the current time and a first threshold time, and the first threshold time is equal to the first threshold divided by the relative speed of the satellite and the target point; if the distance between the ground remote sensing satellite and the ground observation target point is smaller than or equal to a first threshold value, calculating the position of the ground observation target point in a VVLH coordinate system at a second moment; the second moment is the sum of the current moment and X coordinate time, and the X coordinate time is equal to the first X coordinate position value divided by the relative speed of the satellite and the target point; and repeating the steps until the value of the first X coordinate position value is smaller than a second threshold value, wherein the corresponding current moment is the over-top moment of the earth observation target point. In the ground track tracking method, the first threshold value is 2000km, and the second threshold value is 0.1 km.
Further, in the ground track tracking method, calculating the ground track angle of the condensing and scanning observation according to the overhead time includes: generating the geographic longitude of a target point, the geographic latitude of the target point and the velocity vector of the satellite in the earth-fixed system at the over-the-top moment of the earth observation target point through a ground planning module or an on-satellite autonomous task planning module; after the over-top time of the earth observation target point is obtained, calculating an included angle between a speed vector of the earth remote sensing satellite in an earth fixed system and the positive north direction of the earth observation target point on a northern east coordinate system at the time, and taking the included angle as the ground track angle, wherein the ground track angle is positive when the north is deviated to the east, and the ground track angle is negative when the north is deviated to the west; the conversion matrix from the earth fixation system to the north east coordinate system of the earth observation target point is as follows:
wherein (J) 0 ) Is the geographic longitude of the target point, (W) 0 ) The geographical latitude of the target point is the true north direction vector N of the earth observation target point in the earth fixation system e Comprises the following steps:
N e ＝[-cos(J 0 )sin(W 0 ),-sin(J 0 )sin(W 0 ),cos(W 0 )]
calculating the intermediate speed of the satellite in the earth-fixed system at the over-top moment of the earth observation target pointDegree vector V e North direction vector N with respect to the target point in the earth fixation system e And the included angle is used as a ground track angle.
In addition, in the ground track tracking method, calculating the ground track tracking point based on the time series and the ground track angle includes: the ground planning module or the on-satellite autonomous task planning module generates condensed sweep observation starting time t according to the over-top time of the earth observation target point and the total condensed sweep observation duration _start And coagulation and sweeping observation end time t _end ，
t _start ＝T pass -△T/2，t _end ＝T pass +△T/2；
Wherein, the Delta T is the total length of coagulation-sweeping observation time, T pass The over-top time of the ground observation target point is obtained; generating a time sequence Tm (Tm) from the coagulation-scanning observation starting time to the coagulation-scanning observation ending time according to the step length of 0.25 second of the attitude control period 1 ，Tm 2 ，…，Tm n ) (ii) a Wherein, Tm is i+1 ＝Tm i +0.25s, i ═ 1, 2, …, n; the total condensing and sweeping length N is equal to v delta T, wherein the total condensing and sweeping length comprises a transition track and an actual imaging track, and v is the earth rotation speed; calculating the time difference between each moment in the time sequence and the over-top moment of the ground observation target point as follows: delta t i ＝Tm i -T pass (ii) a Calculating the ground distance between the ground track tracking point at each moment in the time sequence and the ground observation target point as follows: si ═ v Δ t i (ii) a Calculating the longitude and latitude of the ground track tracking point by adopting a midsplit latitude method, wherein the method comprises the following steps: the warp difference D lambda and the weft difference between each ground track tracking point and the ground observation target point
Is as follows;
Dλi＝Si*sinC*secW 0 /R_e*(180/Π)；
wherein C is the ground track angle, R _ e is the reference ellipsoid radius of the earth observation target point, and the longitude and latitude of each ground track tracking point are as follows:
respectively calculating the position vector P of each ground track tracking point in the earth fixation system according to the longitude and latitude and the geographic height of each ground track tracking point hj 。
Further, in the ground track tracking method, calculating the geocentric distance of the earth observation target point by referring to the ellipsoid radius of the earth observation target point, the method includes: the longitude and the latitude of a target point of the upper note task are geographical latitudes W 0 And calculating a normalized angle u as follows:
tan(u)＝0.9966471615*tan(W 0 )
x＝acos(u)＝6378.137*cos(u)
y＝bsin(u)＝6356.752*sin(u)
R_e＝sqrt(x^2+y^2)
the distance between the earth observation target point and the earth center is as follows:
R_tg＝R_e+h 0 ；
wherein h is 0 To observe the geographic height of the target point to the ground.
Specifically, in the ground track tracking method, the position vector P of each ground track tracking point in the earth fixation system is respectively calculated according to the longitude and latitude and the geographic height of each ground track tracking point hj The method comprises the following steps: setting the longitude range to be-180 degrees to +180 degrees, the west meridian to be negative and the east meridian to be positive; converting the geographical latitude of the ground track tracking point into geocentric latitude:
calculating the geocentric distance R _ tg _ ctrl of the current ground track tracking point according to the geocentric distance of the earth observation target point; and (3) calculating the coordinates of the ground track tracking point under a ground fixation system:
tg_ctrl_x_fixed＝R_tg_ctrl*cosd(phi_dixin)*cosd(λ i )
tg_ctrl_y_fixed＝R_tg_ctrl*cosd(phi_dixin)*sind(λ i )
tg_ctrl_z_fixed＝R_tg_ctrl*sind(phi_dixin)
wherein tg _ ctrl _ x _ fixed, tg _ ctrl _ y _ fixed, and tg _ ctrl _ z _ fixed are three-axis coordinates of a position vector of the ground track tracking point in the ground fixation system, respectively.
In addition, in the ground track tracking method, calculating the load optical axis orientation of the remote sensing satellite to the ground at a specific moment according to the ground track tracking point comprises: calculating the directional vector of the load optical axis in the earth-fixed system:
V boresight ＝P hj -P sat ；
wherein, P hj Tracking the position vector of each ground track in the ground fixation system; p sat Position vectors of the satellites corresponding to the ground track tracking points at the moment in the earth-fixed system are obtained; converting the directional vector of the load optical axis in the earth fixation system into a directional vector V of the load optical axis in the orbit system b_vvlh ；
Vb_vvlh＝R oi ·R ie ·V boresight ；
Wherein: r ie For transformation matrix of ground fixation system to J2000 coordinate system, R oi Is a transformation matrix from the J2000 coordinate system to the orbital system.
Finally, in the ground track tracking method, determining the condensed scanning attitude of the remote sensing satellite to the ground at the current control point according to the load optical axis direction of the remote sensing satellite to the ground comprises the following steps: taking a center of mass of the satellite as an origin, taking a satellite to the ground track tracking point as a Z axis, determining an X axis according to the Z axis, determining a Y axis according to a right-hand rule, establishing a coagulation scanning direction coordinate system, and calculating a conversion matrix from an orbit system to the coagulation scanning direction coordinate system according to the coagulation scanning direction coordinate system:
and calculating to obtain four attitude elements under the track system according to the transformation matrix, and outputting the attitude angular velocity.
Specifically, in the ground track tracking method, the load optical axis pointing vector is unitized under the track system, and a load optical axis pointing unit vector u _ Vb _ vvlh is obtained, so that the unit vector of the Z axis under the track system is ZS;
ZS＝u_Vb_vvlh
the unit vector of the satellite velocity vector in the earth-fixed coordinate system at the over-top moment of the earth observation target point is IX _0_ fix, and is converted into the unit vector in the orbit system at the current moment:
IX_0_vvlh＝R oi *R ie *IX_0_fix
the geographic longitude and latitude heights of the earth observation target points are respectively (W) 0 ,J 0 ,h 0 ) Converted into geocentric latitude
W_p_x＝atand(0.99330559*tand(W 0 ))
The position of the earth observation target point in the earth fixation system is as follows:
P_tg_fix_z＝R_tg.*sind(W_p_x)；
P_tg_fix_x＝R_tg.*cosd(W_p_x).*cosd(J 0 )；
P_tg_fix_y＝R_tg.*cosd(W_p_x).*sind(J 0 )；
the unit position vector of the earth observation target point in the current VVLH coordinate system is u _ P _ tg _ VVLH, u _ P _ tg _ VVLH points to the target point from the earth center, and a line view field projection vector of the earth observation target point is calculated as follows:
cross1＝IX_0_vvlh×u_P_tg_vvlh
under the orbital system, cross-multiplying the unit vector pointed by the optical axis by cross1 and unitizing to obtain a unit vector XS of the X axis under the orbital system; the Y-axis unit vector of the coagulation-sweeping coordinate system under the track coordinate system is as follows:
YS＝ZS×XS。
in summary, the above embodiments have described the different configurations of the ground track tracking method in detail, and it is understood that the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any modifications based on the configurations provided by the above embodiments are within the scope of the present invention. One skilled in the art can take the content of the above embodiments to take the inverse three.
< example two >
The embodiment provides a ground track tracking system, which comprises a ground planning module or an on-satellite autonomous task planning module, an on-satellite load sensor module and a condensed scanning algorithm module, wherein: the on-board load sensor module receives a signal of a ground observation target point and sends the signal to the ground planning module or the on-board autonomous task planning module; the ground planning module or the on-satellite autonomous task planning module calculates the over-top time of the ground observation target point and a ground track angle according to the signal of the ground observation target point; the ground planning module or the on-satellite autonomous task planning module calculates coagulation and sweeping starting time and coagulation and sweeping ending time according to the overhead moment of the ground observation target point; the ground planning module or the on-satellite autonomous task planning module sends the over-top time of the earth observation target point, the ground track angle, the condensed sweep observation starting time and the condensed sweep observation ending time to the condensed sweep algorithm module; the condensed scanning algorithm module calculates a ground track tracking point according to the time sequence and the ground track angle; the condensed scanning algorithm module calculates the load optical axis direction of the remote sensing satellite to the ground at a specific moment according to the ground track tracking point; and the condensed scanning algorithm module determines the condensed scanning attitude of the remote sensing satellite to the ground at the current control point according to the load optical axis direction of the remote sensing satellite to the ground.
In the ground track tracking method provided by the invention, the ground track tracking method is adopted to obtain the ground tracking control points of the satellite at different moments, and the three-axis attitude of the satellite is restrained and controlled according to the track angle of the target at the moment of passing the top, so that the pointing accuracy of condensed-sweep observation is improved, and the high-precision distortion-free condensed-sweep observation control of the ground target is realized.
The method realizes the data processing and load data processing parameter sharing design of the remote sensing micro-nano satellite platform, overcomes the defect that the satellite attitude data and the actual attitude of the optical load have errors, improves the load imaging quality, ensures that the optical axis of the camera is consistent with the ground design after the camera enters the orbit, and achieves the optimal imaging effect of the remote sensing satellite camera; the condensation-sweeping algorithm is simple and easy to realize, and is realized without a large amount of experimental verification and flight state simulation; optical axis disturbance caused by vibration interference of a satellite platform during the working period of in-orbit is eliminated through measurement and compensation; the invention realizes the attitude control of the optical axis micro-vibration of the remote sensing satellite camera in real time on orbit, and indirectly improves the quality of image quality recovery of the remote sensing camera; the invention overcomes the defect that the existing remote sensing satellite camera micro-vibration in-orbit control method can not meet the high-precision measurement requirement in the in-orbit service life process of the remote sensing satellite camera; the invention realizes the following key factors for influencing the imaging quality of the remote sensing camera: the optical axis of the camera is directly and accurately controlled; in addition, the reliability of the mechanical sensitive element required by the control system in the on-orbit long-time operation is improved, the system complexity is low, and the reliability and the usability of the remote sensing satellite camera system are improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (10)
1. A ground track tracking method, comprising:
the ground tracking control points of the satellite at different moments are obtained by controlling the condensed scanning attitude of the ground remote sensing satellite, and the three-axis attitude of the satellite is restrained and controlled according to the track angle of the target at the moment of passing the top, so that the pointing precision of condensed scanning observation is improved, and the high-precision distortion-free condensed scanning observation control of the ground target is realized.
2. The ground track following method of claim 1, further comprising:
carrying out data processing and load data processing parameter sharing on the remote sensing micro-nano satellite platform so as to eliminate errors existing between satellite attitude data and the actual attitude of the optical load and ensure that the optical axis of the camera is consistent with the ground design after the camera is in orbit;
optical axis disturbance caused by vibration interference of a satellite platform during the in-orbit working period is eliminated through measurement and compensation;
attitude control is carried out on the micro-vibration of the optical axis of the remote sensing satellite camera in real time in an on-orbit manner so as to improve the image recovery quality of the remote sensing camera;
the on-orbit measurement precision requirement of the remote sensing satellite camera is met by a remote sensing satellite camera micro-vibration on-orbit control method;
the optical axis of the camera is directly and accurately controlled to influence the imaging quality of the remote sensing camera.
3. The ground track following method of claim 2, further comprising:
calculating the over-top time of the ground remote sensing satellite relative to a ground observation target point;
calculating a ground track angle of coagulation and scanning observation according to the overhead moment;
calculating a ground track tracking point based on the time sequence and the ground track angle;
calculating the load optical axis direction of the remote sensing satellite to the ground at a specific moment according to the ground track tracking point;
and determining the condensed scanning attitude of the remote sensing satellite to the ground at the current control point according to the load optical axis direction of the remote sensing satellite to the ground.
4. The ground track following method of claim 3, wherein calculating the over-the-top time of the remote ground sensing satellite relative to the ground observation target point comprises:
receiving a signal of a ground observation target point in real time, and calculating the position of the ground observation target point in a VVL coordinate system at the current moment in real time, wherein the position of the ground observation target point in the VVL coordinate system at the current moment comprises a first X coordinate position value, a first Y coordinate position value and a first Z coordinate position value;
judging whether the distance between the ground remote sensing satellite and the ground observation target point is larger than a first threshold value or not according to the position of the ground observation target point in the VVLH coordinate system at the current moment;
if the distance between the ground remote sensing satellite and the ground observation target point is larger than a first threshold value, calculating the position of the ground observation target point in a VVLH coordinate system at a first moment;
the first time is the sum of the current time and a first threshold time, and the first threshold time is equal to the first threshold divided by the relative speed of the satellite and the target point;
if the distance between the ground remote sensing satellite and the ground observation target point is smaller than or equal to a first threshold value, calculating the position of the ground observation target point in a VVLH coordinate system at a second moment;
the second moment is the sum of the current moment and X coordinate time, and the X coordinate time is equal to the first X coordinate position value divided by the relative speed of the satellite and the target point;
and repeating the steps until the value of the first X coordinate position value is smaller than a second threshold value, wherein the corresponding current moment is the over-top moment of the earth observation target point.
5. The ground track following method of claim 4, wherein calculating a coagulation-scan observed ground track angle from the over-top time comprises:
generating the geographic longitude of a target point, the geographic latitude of the target point and the velocity vector of the satellite in the earth-fixed system at the over-the-top moment of the earth observation target point through a ground planning module or an on-satellite autonomous task planning module;
after the over-top time of the earth observation target point is obtained, calculating an included angle between a speed vector of the earth remote sensing satellite in an earth fixed system and the positive north direction of the earth observation target point on a northern east coordinate system at the time, and taking the included angle as the ground track angle, wherein the ground track angle is positive when the north is deviated to the east, and the ground track angle is negative when the north is deviated to the west;
the transformation matrix of the earth observation target point from the earth fixation system to the northeast earth coordinate system is as follows:
wherein (J) 0 ) Is the geographic longitude of the target point, (W) 0 ) The geographical latitude of the target point is the true north direction vector N of the earth observation target point in the earth fixation system e Comprises the following steps:
N e ＝[-cos(J 0 )sin(W 0 ),-sin(J 0 )sin(W 0 ),cos(W 0 )]
calculating the velocity vector V of the satellite in the earth-fixed system at the over-top moment of the earth observation target point e North direction vector N with respect to the target point in the earth fixation system e And the included angle is used as a ground track angle.
6. The ground track following method of claim 5, wherein calculating ground track following points based on the time series and the ground track angle comprises:
the ground planning module or the on-satellite autonomous task planning module generates condensed sweep observation starting time t according to the over-top time of the earth observation target point and the total condensed sweep observation duration _start And coagulation and sweeping observation end time t _end ，
t _start ＝T pass -△T/2，t _end ＝T pass +△T/2；
Wherein, the Delta T is the total length of coagulation-sweeping observation time, T pass The over-top time of the ground observation target point is obtained;
generating a time sequence Tm (Tm) from the coagulation-scanning observation starting time to the coagulation-scanning observation ending time according to the step length of 0.25 second of the attitude control period 1 ，Tm 2 ，…，Tm n )；
Wherein, Tm is i+1 ＝Tm i +0.25s，i＝1，2，…，n；
The total length N of the coagulation sweeping is v delta T,
wherein the total condensing-sweeping length comprises a transition track and an actual imaging track, and v is the earth rotation speed;
calculating the time difference between each moment in the time sequence and the over-top moment of the ground observation target point as follows: delta t i ＝Tm i -T pass ；
Calculating the ground distance between the ground track tracking point at each moment in the time sequence and the ground observation target point as follows: si ═ v Δ t i ；
Calculating the longitude and latitude of the ground track tracking point by adopting a midsplit latitude method, wherein the method comprises the following steps:
the warp difference D lambda and the weft difference between each ground track tracking point and the ground observation target point
Is as follows;
Dλi＝Si*sinC*secW 0 /R_e*(180/Π)；
wherein C is the ground track angle, R _ e is the reference ellipsoid radius of the earth observation target point, and the longitude and latitude of each ground track tracking point are as follows:
respectively calculating the position vector P of each ground track tracking point in the earth fixation system according to the longitude and latitude and the geographic height of each ground track tracking point hj 。
7. The ground track tracking method of claim 6, wherein calculating the geocentric distance of the geo-observation target point by referring to the ellipsoid radius of the geo-observation target point comprises:
purpose of upper note taskThe longitude and latitude of the punctuation point is the geographic latitude W 0 And calculating a normalized angle u as follows:
tan(u)＝0.9966471615*tan(W 0 )
x＝acos(u)＝6378.137*cos(u)
y＝bsin(u)＝6356.752*sin(u)
R_e＝sqrt(x^2+y^2)
the distance between the earth observation target point and the earth center is as follows:
R_tg＝R_e+h 0
wherein h is 0 Observing the geographical height of a target point to the ground;
respectively calculating the position vector P of each ground track tracking point in the earth fixation system according to the longitude and latitude and the geographic height of each ground track tracking point hj The method comprises the following steps:
setting the longitude range to be-180 degrees to +180 degrees, the west meridian to be negative and the east meridian to be positive;
converting the geographical latitude of the ground track tracking point into geocentric latitude:
calculating the geocentric distance R _ tg _ ctrl of the current ground track tracking point according to the geocentric distance of the earth observation target point;
and (3) calculating the coordinates of the ground track tracking point under a ground fixation system:
tg_ctrl_z_fixed＝R_tg_ctrl*sind(phi_dixin)
wherein tg _ ctrl _ x _ fixed, tg _ ctrl _ y _ fixed, and tg _ ctrl _ z _ fixed are three-axis coordinates of a position vector of the ground track tracking point in the ground fixation system, respectively.
8. The ground track following method of claim 7, wherein calculating the orientation of the optical axis of the load of the remote ground sensing satellite at a specific moment according to the ground track following points comprises:
calculating the directional vector of the load optical axis in the earth-fixed system:
V boresight ＝P hj -P sat ；
wherein, P hj Tracking the position vector of each ground track in the ground fixation system; p sat Position vectors of the satellites corresponding to the ground track tracking points at the moment in the earth-fixed system are obtained;
converting the directional vector of the load optical axis in the earth fixation system into a directional vector V of the load optical axis in the orbit system b_vvlh ；
Vb_vvlh＝R oi ·R ie ·V boresight ；
Wherein: r ie For transformation matrix of ground fixation system to J2000 coordinate system, R oi Is a transformation matrix from the J2000 coordinate system to the orbital system.
9. The ground track following method according to claim 8, wherein determining the condensed scanning attitude of the remote sensing satellite over the ground at the current control point according to the orientation of the optical axis of the remote sensing satellite over the ground comprises: taking a center of mass of the satellite as an origin, taking a satellite to the ground track tracking point as a Z axis, determining an X axis according to the Z axis, determining a Y axis according to a right-hand rule, establishing a coagulation scanning direction coordinate system, and calculating a conversion matrix from an orbit system to the coagulation scanning direction coordinate system according to the coagulation scanning direction coordinate system:
and calculating to obtain four attitude elements under the track system according to the transformation matrix, and outputting the attitude angular velocity.
10. The ground track following method according to claim 9, wherein the load optical axis pointing vector is unitized under the track system to obtain a load optical axis pointing unit vector u _ Vb _ vvlh, and then the unit vector of the Z axis under the track system is ZS;
ZS＝u_Vb_vvlh
the unit vector of the satellite velocity vector in the earth-fixed coordinate system at the over-top moment of the earth observation target point is IX _0_ fix, and is converted into the unit vector in the orbit system at the current moment:
IX_0_vvlh＝R oi *R ie *IX_0_fix
the geographic longitude and latitude heights of the earth observation target points are respectively (W) 0 ,J 0 ,h 0 ) Converted into geocentric latitude
W_p_x＝atand(0.99330559*tand(W 0 ))
The position of the earth observation target point in the earth fixation system is as follows:
P_tg_fix_z＝R_tg.*sind(W_p_x)；
P_tg_fix_x＝R_tg.*cosd(W_p_x).*cosd(J 0 )；
P_tg_fix_y＝R_tg.*cosd(W_p_x).*sind(J 0 )；
the unit position vector of the earth observation target point in the current VVLH coordinate system is u _ P _ tg _ VVLH, u _ P _ tg _ VVLH points to the target point from the earth center, and a line view field projection vector of the earth observation target point is calculated as follows:
cross1＝IX_0_vvlh×u_P_tg_vvlh
under the orbital system, cross-multiplying the unit vector pointed by the optical axis by cross1 and unitizing to obtain a unit vector XS of the X axis under the orbital system;
the Y-axis unit vector of the coagulation-sweeping coordinate system under the track coordinate system is as follows:
YS＝ZS×XS。
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