CN114882105A - Improved satellite ground track intersection point extraction method - Google Patents

Improved satellite ground track intersection point extraction method Download PDF

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CN114882105A
CN114882105A CN202210544105.8A CN202210544105A CN114882105A CN 114882105 A CN114882105 A CN 114882105A CN 202210544105 A CN202210544105 A CN 202210544105A CN 114882105 A CN114882105 A CN 114882105A
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intersection
arc section
straddle
track
points
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李潇
张胜凯
肖峰
李佳星
耿通
龚力
朱本鑫
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Wuhan University WHU
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Abstract

The invention provides an improved satellite ground track intersection extraction method, which is used for preprocessing satellite height measurement data, and comprises the steps of extracting longitude, latitude, elevation and track number based on the satellite height measurement data, cutting the data according to a target area, and separating a lifting track; the track screening comprises judging whether cross points exist in the rail ascending arc sections and the rail descending arc sections before calculating the positions of the cross points, and eliminating arc section combinations without the cross points; curve fitting is carried out to solve the initial approximate position of the intersection point; and the accurate position solving and the elevation interpolation of the intersection comprise determining a running area for rapid repulsion and straddle detection based on the initial approximate position, performing rapid repulsion and straddle detection on a lifting rail arc section of a selected area, and selecting the optimal intersection position from a plurality of intersections. The method improves the calculation efficiency and the position precision of the intersection points, and increases the spatial resolution and the accuracy of the ice rack elevation change long-time sequence, which has great significance for monitoring the ice rack grounding wire.

Description

Improved satellite ground track intersection point extraction method
Technical Field
The invention belongs to the field of geodetic surveying and mapping engineering, and particularly relates to a technical scheme for solving a cross point of a satellite for measuring high school.
Background
Under the influence of earth rotation and orbital perturbation, the track of the satellite's subsatellite point forms an intersection on the earth's surface. The adjustment calculation is carried out by utilizing elevation nonconformity values at the satellite height measurement intersection points, so that the radial orbit error, the backscattering error, the system error and the like of the satellite can be effectively weakened, the adjustment calculation is used for weakening sea surface time-varying errors (such as sea surface height, effective wave height, wind speed and the like) when the sea surface height is measured, the intersection point data can be used for establishing an ice cover, sea surface and lake elevation change time sequence and monitoring of surface subsidence, a lunar surface DEM is generated, and the joint use of earth gravity field inversion, satellite gravity data precision evaluation, tide harmonic analysis and multi-satellite data is realized.
The satellite trajectory is composed of discrete data points and is not a continuous curve, in an orbit repetition period, a cross point formed by an ascending arc section and a descending arc section is obtained by intersecting curves fitted by a plurality of data points, and how to acquire more cross points and accurate cross point positions in a short time is a key problem in the implementation process of a cross point method. The position of the intersection can be classified into a rough position and an accurate position, which is a final intersection position, and various methods have been already available for extraction of the accurate position of the intersection. The first method is to obtain a theoretical intersection based on an earth rotation model and satellite orbit parameters, the second method is to solve an intersection by using actual orbit data of a satellite, the method can obtain an accurate position of the intersection based on an approximate position of the intersection, such as an iteration method, and can also directly solve the accurate position of the intersection, such as fast repulsion and straddle detection, height measuring points in a terrain complex area affected by terrain cannot be regularly distributed generally, in the case, the iteration method cannot solve the intersection or cannot accurately solve the intersection, if the fast repulsion and straddle detection method is directly used for solving the intersection, the number of the height measuring points existing in the satellite orbit is too large, the flow needs to be judged for many times, and the efficiency is too low. Therefore, the invention aims to combine the advantages and the disadvantages of the methods and provide an improved method for extracting the height measurement cross points of the satellite, which can simultaneously improve the number and the position accuracy of the required cross points.
Disclosure of Invention
The invention aims to synthesize the advantages and the disadvantages of the existing intersection solving method, and provides an improved satellite height finding intersection extracting method which can simultaneously improve the number and the position accuracy of the obtained intersections.
The invention provides an improved satellite ground track intersection point extraction method, which comprises the following steps,
step 1, preprocessing satellite height measurement data, including extracting longitude, latitude, elevation and track number based on the satellite height measurement data, cutting the data according to a target area, and separating lifting tracks;
step 2, screening the track, which comprises judging whether the rail ascending arc section and the rail descending arc section have a cross point before calculating the position of the cross point, and eliminating the arc section combination without the cross point;
step 3, solving the initial approximate position of the intersection point by curve fitting;
step 4, solving the accurate position of the intersection and interpolating the elevation of the intersection, comprising the following substeps,
step 4.1, determining an operation area for rapid exclusion and straddle detection based on the initial approximate position solved in the step 3;
4.2, performing rapid exclusion and straddle detection on the lifting rail arc section of the selected area;
and 4.3, selecting the optimal cross point position from the plurality of cross points, including in a pair of lifting rails with the cross points, calculating the average distance between each cross point and a plurality of corresponding interpolation points when a plurality of line segment combinations capable of forming the cross points are searched through fast repulsion and straddle detection, and selecting the cross point with the minimum average distance and in the required area.
And the step 2 is realized by connecting the head and tail points of the ascending arc segment into line segments and using the line segments as diagonal lines to generate corresponding rectangles, judging whether the rectangles generated by the ascending arc segment and the descending arc segment have overlapping areas or not, and if not, the ascending arc segment and the descending arc segment do not have intersection points.
And the step 3 is realized by respectively carrying out quadratic polynomial fitting on the rising arc section and the falling arc section to obtain a quadratic equation representing the track of the rising arc section, solving the quadratic equations of the two arc sections in parallel, and solving the quadratic equations into longitude and latitude coordinates of the initial approximate position if the solution of the equations is positioned in the longitude and latitude range of the rising rail.
Moreover, when the fast exclusion and the straddle detection are performed, whether the two line segments straddle is judged according to the geometric meaning of the vector cross product, including if the line segments straddle
Figure BDA0003649148760000021
Straddle line segment
Figure BDA0003649148760000022
Then vector
Figure BDA0003649148760000023
And
Figure BDA0003649148760000024
located in a vector
Figure BDA0003649148760000025
On both sides, if line segment
Figure BDA0003649148760000026
Straddle line segment
Figure BDA0003649148760000027
Then vector
Figure BDA0003649148760000028
And
Figure BDA0003649148760000029
located in a vector
Figure BDA00036491487600000210
Two sides.
Or, when the fast repulsion and the span detection are carried out, whether the two line segments span is judged according to the intersection point position of the extended straight line of the line segments.
And the method is used for monitoring the grounding wire of the ice rack.
The invention provides a method for extracting a satellite ground track intersection, which is an improved method for automatically extracting the position of the intersection based on computer graphics on the basis of the traditional method for extracting a satellite height measurement intersection. The method overcomes the defect that the traditional iteration method cannot solve the complex terrain area to obtain the intersection, improves the operation efficiency and the position precision of the intersection, and increases the number of the intersections in the edge area of the ice cover, thereby increasing the spatial resolution and the accuracy of the long-time sequence of the elevation change of the ice frame, and having great significance for monitoring the grounding wire of the ice frame.
Drawings
FIG. 1 is a schematic diagram of fast repulsion and straddle detection according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a quadratic polynomial solution cross-point location according to an embodiment of the invention.
FIG. 3 is a schematic diagram of fast repulsion and straddle detection according to an embodiment of the present invention.
FIG. 4 illustrates a first cross-detection method according to an embodiment of the present invention.
FIG. 5 is a second straddle detection method according to an embodiment of the present invention.
FIG. 6 is a flow chart of an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
The embodiment of the invention provides an improved method for extracting a satellite ground track intersection, and the flow is shown in fig. 6:
step 1, preprocessing satellite height measurement data, and further preferably, the method comprises the following substeps:
step 1.1, reading data, and extracting longitude, latitude, elevation, track number and the like;
the embodiment reads GDR data in a secondary product of a CS2 satellite in 2013 based on height measurement data of a CryoSat-2(CS2) satellite, wherein the GDR data comprises information such as longitude and latitude elevations and track numbers; the GDR represents a geophysical data set.
In specific implementation, corresponding satellite products can be adopted according to conditions, data including longitude, latitude, elevation, track number and the like are generally required to be read, the longitude, the latitude and the elevation are used in the step 1.2, and the track number is used in the step 2.
Step 1.2, data cutting, wherein data are cut and the lifting rail is separated according to a target area;
in the embodiment, the detection area is a ross ice shelf area and a filbert-luni ice shelf area in the south Pole area, in order to improve the accuracy of the track curve fitting, the read data needs to be cut, and the length of the ground height measurement data after cutting needs to be as consistent as possible with the latitude and longitude range of the detection area.
The lifting rail data are separated, because the intersection of the same height finding satellite data is solved, only the intersection can be formed between the lifting track and the descending track, and the lifting track and the descending track are separated for each data file before the intersection is solved.
And 2, screening the tracks, wherein in order to avoid redundant calculation, whether the intersection exists between the rail ascending arc section and the rail descending arc section is judged before the intersection position is calculated.
Connecting the first point and the last point of the ascending arc segment into line segments and using the line segments as diagonal lines to generate corresponding rectangles, judging whether the rectangles generated by the ascending arc segment and the descending arc segment have overlapped areas, and then eliminating most arc segment combinations without cross points.
For example, let A 1 And A 2 A rectangle R as the starting point and the end point of the rising arc section 1 Is a line segment A 1 A 2 Rectangular with diagonal lines, D 1 And D 2 For the starting and end points of the descending arc, rectangle R 2 Is a line segment D 1 D 2 A diagonal rectangle. R 1 X min 、R 1 X max Are respectively rectangular R 1 Longitude minimum and maximum of, R 1 Y min 、R 1 Y max Are respectively rectangular R 1 Latitude minimum and maximum of, R 2 X min 、R 2 X max Are respectively rectangular R 2 Longitude minimum and maximum of, R 2 Y min 、R 2 Y max Are respectively rectangular R 2 Latitude minimum and maximum of. Rectangle R 1 And R 2 The two rectangles are determined to intersect when the coordinates of (1) satisfy the formula, as shown in the parts a and b in fig. 1, and the rectangles do not intersect, as shown in the part c in fig. 1.
Figure BDA0003649148760000041
Step 3, solving the initial approximate position of the intersection point by curve fitting, and the embodiment is preferably realized as follows:
as shown in fig. 2, quadratic polynomial fitting is performed on the rising arc section and the falling arc section respectively to obtain a quadratic equation representing the track of the rising arc section, the quadratic equations of the two arc sections are solved in parallel, and if the solution of the equation is located within the longitude and latitude range of the rising rail, the solution of the equation is longitude and latitude coordinates of the initial approximate position. Namely, it is
Figure BDA0003649148760000042
In the formula 2A a ,B a ,C a Is the coefficient of the fitted ascending curve equation, A d ,B d ,C d Is fitted withThe coefficients of the falling trajectory equation, λ,
Figure BDA0003649148760000043
Is the longitude and latitude coordinate of the intersection point of the two fitted curves, if the lambda in the formula 2 is just within the longitude range of the starting point of the two arc segments, then the lambda,
Figure BDA0003649148760000044
Respectively, longitude and latitude coordinates of the initial approximate location.
And 4, solving the accurate position of the intersection, which comprises the following substeps,
step 4.1, determining an operation area for rapid exclusion and straddle detection based on the initial approximate position solved in the step 3, and setting a suitable longitude and latitude range by taking the approximate position as a center, wherein the longitude +/-1.5 degrees and the latitude +/-0.5 degrees of the coordinate of the approximate position are taken as the operation area in the embodiment;
step 4.2, the rapid exclusion and the straddle detection are carried out on the lifting rail arc section of the selected area,
in the step, quick exclusion detection and straddle detection are respectively carried out according to the operation areas divided in the step 4.1. The fast rejection detection implementation is identical to that in step 2. As shown in fig. 3, the straddle detection can be expressed in that two line segments inevitably straddle each other if the two line segments intersect, and the straddle means that two end points of one line segment are respectively located on both sides of a straight line where the other line segment is located. Part (a) of fig. 3 is a case where the detection is by fast repulsion and the detection is not by straddle; (b) partly by the case of fast repulsion detection, and by straddle detection; (c) and partly schematic in the case where the fast repulsion detection is not passed. Only the case (b) is that the crossover point exists.
In specific implementation, the straddle detection can be performed in various ways and is within the protection scope of the present invention. For the sake of reference, the skilled person can easily make reference to two alternative methods for determining whether two line segments are straddling.
1) The first cross-detection method comprises the following steps: according to the geometric meaning of the vector cross product, whether the two line segments are spanned can be judged. Taking the left part of FIG. 4 as an example, if the line segment
Figure BDA0003649148760000051
Straddle line segment
Figure BDA0003649148760000052
Then vector
Figure BDA0003649148760000053
And
Figure BDA0003649148760000054
located in a vector
Figure BDA0003649148760000055
On both sides, i.e.
Figure BDA0003649148760000056
Vector
Figure BDA0003649148760000057
Indicating points
Figure BDA0003649148760000058
X, y coordinates of (1) minus point
Figure BDA0003649148760000059
X in equation 3 represents the cross product of the vectors, and similarly, the vectors
Figure BDA00036491487600000510
Indicating points
Figure BDA00036491487600000511
X, y coordinates of (1) minus point
Figure BDA00036491487600000512
The vector obtained from the x, y coordinates of
Figure BDA00036491487600000513
Indicating points
Figure BDA00036491487600000514
X, y coordinates of (1) minus point
Figure BDA00036491487600000515
The x, y coordinates of (a) and (b) are multiplied by a vector, and the intersection of the two line segments is subject to the condition that the two line segments cross each other, and the formula 3 and the requirement of the system are satisfied
Figure BDA00036491487600000516
Straddle stand
Figure BDA00036491487600000517
Then vector
Figure BDA00036491487600000518
And
Figure BDA00036491487600000519
located in a vector
Figure BDA00036491487600000520
On both sides, i.e.
Figure BDA00036491487600000521
Wherein, the vector
Figure BDA00036491487600000522
Indicating points
Figure BDA00036491487600000523
X, y coordinates of (1) minus point
Figure BDA00036491487600000524
X represents the cross product of the vector, and likewise, the vector
Figure BDA00036491487600000525
Indicating points
Figure BDA00036491487600000526
X, y coordinates of (1) minus point
Figure BDA00036491487600000527
The vector obtained from the x, y coordinates of
Figure BDA00036491487600000528
Indicating points
Figure BDA00036491487600000529
X, y coordinates of (1) minus point
Figure BDA00036491487600000530
The x, y coordinates of (a).
Otherwise, the right part, line segment, in FIG. 4
Figure BDA00036491487600000531
Straddle line segment
Figure BDA00036491487600000532
2) The second straddle detection method comprises: according to the intersection point position of the line segment extended straight line, whether the two line segments span can be judged. A, B and C, D in FIG. 5 are the endpoints of two segments, respectively, (A) x ,A y ),(B x ,B y ),(C x ,C y ),(D x ,D y ) The x and y coordinates of the points A, B, C and D are shown, and the I is the intersection point of two segments or the intersection point of an extended straight line thereof. Coordinate I point I x 、I y And a position relation parameter t of the I point and the two line segments 1 、t 2 As unknowns, four equations in equation 5 can be obtained.
Figure BDA00036491487600000533
Solving the unknown number I in equation 5 x 、I y 、t 1 、t 2 If equation 6 is satisfied, the two line segments intersect and point I is the intersection of the line segments.
0≤t 1 <1&0≤t 2 <1 (6)
And 4.3, judging the intersection result according to the step 4.2. The invention further provides a method for selecting the best intersection point position from a plurality of intersection points, in a pair of lifting rails with the intersection points, a plurality of line segment combinations capable of forming the intersection points can be searched through fast repulsion and straddle detection, in this case, the best intersection point needs to be discussed, the average distance between each intersection point and 4 corresponding interpolation points is calculated, and the intersection point with the minimum average distance and in the required area is selected.
The method is further provided with advantage verification, in order to verify the effectiveness of the method provided by the invention, an iterative method and a rapid exclusion and transstationary detection method are compared, and the comparison results are shown in tables 1 and 2, so that the advantages of the improved exclusion and transstationary detection method in the embodiment of the invention relative to other methods are proved.
Note: the corresponding relationship between the abbreviations and the full names of the extraction methods in tables 1 and 2 is
FI-5 (iterative method of fixed values-5), FI-15 (iterative method of fixed values-15), FI-25 (iterative method of fixed values-25), FI-35 (iterative method of fixed values-35), FI-45 (iterative method of fixed values-45), RST (rejection and straddle detection), IRST (modified rejection and straddle detection)
TABLE 1 comparison of different cross-point extraction methods performed on Ross Ice Rack area
Figure BDA0003649148760000061
Table 2 comparison results of different cross point extraction methods adopted in the Longni ice shelf region
Figure BDA0003649148760000062
The above process improves the operation efficiency and the position precision of the intersection points, and increases the number of the intersection points in the edge area of the ice cover, thereby increasing the spatial resolution and the accuracy of the long-time sequence of the elevation change of the ice frame, and being used for automatically monitoring the grounding wire of the ice frame.
In specific implementation, a person skilled in the art can implement the automatic operation process by using a computer software technology, and a system device for implementing the method, such as a computer-readable storage medium storing a corresponding computer program according to the technical solution of the present invention and a computer device including a corresponding computer program for operating the computer program, should also be within the scope of the present invention.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (6)

1. An improved method for extracting a satellite ground track intersection point is characterized by comprising the following steps: comprises the following steps of (a) preparing a solution,
step 1, preprocessing satellite height measurement data, including extracting longitude, latitude, elevation and track number based on the satellite height measurement data, cutting the data according to a target area, and separating lifting tracks;
step 2, screening the track, which comprises judging whether the rail ascending arc section and the rail descending arc section have a cross point before calculating the position of the cross point, and eliminating the arc section combination without the cross point;
step 3, solving the initial approximate position of the intersection point by curve fitting;
step 4, solving the accurate position of the intersection and interpolating the elevation of the intersection, comprising the following substeps,
step 4.1, determining an operation area for rapid exclusion and straddle detection based on the initial approximate position solved in the step 3;
4.2, performing rapid exclusion and straddle detection on the lifting rail arc section of the selected area;
and 4.3, selecting the optimal cross point position from the plurality of cross points, including in a pair of lifting rails with the cross points, calculating the average distance between each cross point and a plurality of corresponding interpolation points when a plurality of line segment combinations capable of forming the cross points are searched through fast repulsion and straddle detection, and selecting the cross point with the minimum average distance and in the required area.
2. The improved satellite ground track intersection extraction method of claim 1, characterized by: and 2, connecting the head and tail points of the ascending arc section into line segments and using the line segments as diagonal lines to generate corresponding rectangles, judging whether the rectangles generated by the ascending arc section and the descending arc section have overlapping areas, and if not, judging that no intersection point exists between the ascending arc section and the descending arc section.
3. The improved satellite ground track intersection extraction method of claim 1, characterized by: and 3, respectively carrying out quadratic polynomial fitting on the rising arc section and the falling arc section to obtain a quadratic equation representing the track of the rising arc section, solving the quadratic equations of the two arc sections in parallel, and solving the quadratic equations into longitude and latitude coordinates of the initial approximate position if the solution of the equations is located in the longitude and latitude range of the rising rail.
4. The improved satellite ground track intersection extraction method of claim 1, characterized by: during the fast exclusion and straddle detection, whether two line segments straddle is judged according to the geometric meaning of the vector cross product, including if the line segments straddle
Figure FDA0003649148750000011
Straddle line segment
Figure FDA0003649148750000012
Then the vector
Figure FDA0003649148750000013
And
Figure FDA0003649148750000014
located in a vector
Figure FDA0003649148750000015
Two sides, if line segment
Figure FDA0003649148750000016
Straddle line segment
Figure FDA0003649148750000017
Then vector
Figure FDA0003649148750000018
And
Figure FDA0003649148750000019
located in a vector
Figure FDA00036491487500000110
Two sides.
5. The improved satellite ground track intersection extraction method of claim 1, characterized by: and during the quick exclusion and span detection, judging whether the two line segments span or not according to the intersection point position of the extended straight line of the line segments.
6. The improved satellite ground track intersection extraction method of claim 1, 2, 3, 4 or 5, wherein: the method is used for monitoring the grounding wire of the ice rack.
CN202210544105.8A 2022-05-18 2022-05-18 Improved satellite ground track intersection point extraction method Pending CN114882105A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116883617A (en) * 2023-09-07 2023-10-13 武汉大学 Method and system for constructing moon permanent shadow zone DEM based on correction height measurement data

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116883617A (en) * 2023-09-07 2023-10-13 武汉大学 Method and system for constructing moon permanent shadow zone DEM based on correction height measurement data
CN116883617B (en) * 2023-09-07 2023-11-28 武汉大学 Method and system for constructing moon permanent shadow zone DEM based on correction height measurement data

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