CN115200573A - Space target measuring equipment positioning method, system and storage medium - Google Patents
Space target measuring equipment positioning method, system and storage medium Download PDFInfo
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- CN115200573A CN115200573A CN202211092032.XA CN202211092032A CN115200573A CN 115200573 A CN115200573 A CN 115200573A CN 202211092032 A CN202211092032 A CN 202211092032A CN 115200573 A CN115200573 A CN 115200573A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20224—Image subtraction
Abstract
The invention relates to a method, a system and a storage medium for positioning measurement equipment of a space target, which are used for acquiring position measurement data of the space target relative to the measurement equipment; converting position measurement data of the space target relative to the measurement equipment from a first celestial sphere coordinate system taking the measurement equipment as a center to a second celestial sphere coordinate system taking the geocenter as the center to obtain first three-dimensional position data; converting the first three-dimensional position data of the measuring equipment from a second celestial coordinate system to a terrestrial coordinate system to obtain second three-dimensional position data; obtaining third three-dimensional position data of the space target at a preset observation time under a terrestrial coordinate system according to the precise ephemeris of the space target; determining position positioning data of the measuring equipment in the terrestrial coordinate system based on the second three-dimensional position data and the third three-dimensional position data; therefore, the method and the device can finish high-precision positioning of the space-based surveying equipment without depending on a new method of GNSS and geodetic surveying.
Description
Technical Field
The invention relates to the technical field of space target measurement, in particular to a method and a system for positioning measurement equipment of a space target and a storage medium.
Background
The measuring equipment of the space target is important equipment of a space situation perception system, and the accurate position of the measuring equipment needs to be known in order to finish high-precision measurement and orbit determination of the space target. The target can be positioned according to the accurate position of the measuring equipment and the obtained measuring data.
The existing ground equipment mostly obtains self accurate position coordinates through high-precision ground measurement or through Global Navigation Satellite System (GNSS) measurement, or solves self astronomical longitude and latitude of a station site through a fixed star shooting mode, and obtains an accurate station site by combining an elevation map. For space-based (mainly airborne or satellite-borne) measurement equipment, when no GNSS signal or interference is generated on the GNSS signal, the measurement equipment cannot complete self-positioning, and further the measurement accuracy of a space target is reduced or failed.
Disclosure of Invention
The invention mainly solves the technical problem of how to carry out high-precision positioning on the space-based measuring equipment.
According to a first aspect, there is provided in an embodiment a method of measuring equipment positioning of a spatial target, comprising:
acquiring position measurement data of a space target relative to measurement equipment, wherein the position measurement data is position measurement data under a first antenna coordinate system taking the measurement equipment as a center;
converting position measurement data of the space target relative to the measurement equipment from a first celestial coordinate system taking the measurement equipment as a center to a second celestial coordinate system taking the earth center as a center to obtain first three-dimensional position data of the measurement equipment under the second celestial coordinate system;
converting the first three-dimensional position data of the measuring equipment from the second celestial coordinate system to the terrestrial coordinate system to obtain second three-dimensional position data of the measuring equipment relative to the space target under the terrestrial coordinate system;
acquiring a precise ephemeris of the space target, and acquiring third three-dimensional position data of the space target at a preset observation time under a terrestrial coordinate system according to the precise ephemeris of the space target;
determining position location data of the measurement equipment in the terrestrial coordinate system based on the second three-dimensional position data and the third three-dimensional position data.
According to a second aspect, there is provided in an embodiment a measurement apparatus positioning system for a spatial target, comprising:
a spatial target, the spatial target being a spatial target of known ephemeris;
the measuring equipment is used for observing and tracking the space target so as to acquire image data of the space target;
the carrying platform is used for carrying the measuring equipment;
the data processing server is used for acquiring the image data of the space target and determining the position measurement data of the space target relative to the measurement equipment according to the image data of the space target;
the data processing server is further used for converting the position measurement data of the space target relative to the measurement equipment from a first celestial sphere coordinate system taking the measurement equipment as the center to a second celestial sphere coordinate system taking the geocenter as the center to obtain first three-dimensional position data of the measurement equipment under the second celestial sphere coordinate system; converting the first three-dimensional position data of the measuring equipment from the second celestial coordinate system to the terrestrial coordinate system to obtain second three-dimensional position data of the measuring equipment relative to the space target under the terrestrial coordinate system; acquiring a precise ephemeris of the space target, and acquiring third three-dimensional position data of the space target at a preset observation time under a terrestrial coordinate system according to the precise ephemeris of the space target; determining position location data of the measurement equipment in the terrestrial coordinate system based on the second three-dimensional position data and the third three-dimensional position data.
According to a third aspect, an embodiment provides a computer-readable storage medium having a program stored thereon, the program being executable by a processor to implement the method according to the above embodiment.
According to the positioning method/system of the measuring equipment of the space target in the embodiment, the position measurement data of the space target relative to the measuring equipment is obtained; converting position measurement data of the space target relative to the measurement equipment from a first celestial sphere coordinate system taking the measurement equipment as a center to a second celestial sphere coordinate system taking the geocenter as the center to obtain first three-dimensional position data; converting the first three-dimensional position data of the measuring equipment from a second celestial coordinate system to a terrestrial coordinate system to obtain second three-dimensional position data; obtaining third three-dimensional position data of the space target at a preset observation time under a terrestrial coordinate system according to the precise ephemeris of the space target; determining position positioning data of the measuring equipment in the terrestrial coordinate system based on the second three-dimensional position data and the third three-dimensional position data; therefore, the invention can finish high-precision positioning of the space-based surveying equipment without depending on a GNSS and a geodetic surveying method.
Drawings
FIG. 1 is a schematic diagram of a positioning system for a measurement device of a spatial target according to an embodiment;
FIG. 2 is a flowchart of a method for positioning a measurement apparatus of a spatial target according to an embodiment;
FIG. 3 is a schematic diagram of a conversion relationship between a first antenna coordinate system and a transition coordinate system;
FIG. 4 is a diagram illustrating a transformation relationship between a transition coordinate system and a second celestial coordinate system;
fig. 5 is a schematic diagram of a conversion relationship between the second celestial coordinate system and the terrestrial coordinate system.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments have been given like element numbers associated therewith. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the described features, operations, or characteristics may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of clearly describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where a certain sequence must be followed.
The ordinal numbers used herein for the components, such as "first," "second," etc., are used merely to distinguish between the objects described, and do not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
The space-based measurement equipment is carried on an aerial platform (such as an airplane and a satellite), and aiming at the problem that the space target measurement equipment of the space base cannot complete self positioning when a GNSS signal is interfered or the measurement equipment is higher than a GPS satellite orbit, the embodiment of the invention realizes shooting measurement on the space target with known precise ephemeris through the measurement equipment, does not need extra equipment guarantee, has simple operation and small operand, realizes high-precision positioning of the space-based measurement equipment, and further realizes orbit determination measurement on other space targets.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a positioning system of a measurement device for a space object according to an embodiment, which is hereinafter referred to as a positioning system of a measurement device for short, the positioning system of a measurement device comprising: a space target 101, measurement equipment 102, a mounting platform 103 and a data processing server 104.
The spatial target 101 is a known ephemeris spatial target, such as an artificial satellite, for example, a Beidou satellite, whose ephemeris has a positioning error of less than 0.2m.
The measuring device 102 is stably fixed on a carrying platform 103, the measuring device 102 is used for observing and tracking a space target 101, and the common carrying platform 103 comprises: the method comprises the steps that when weather allows, a measurement device 102 firstly conducts star calibration before observation, the measurement device 102 receives an observation plan of a space target 101, loads forecast information of the space target 101 and calculates the forecast information, calculates the specific time of the space target 101 and information such as the azimuth angle and the pitch angle of the measurement device 102, finally generates an observation task of the measurement device 102 and waits in a specified day area. Once the space target 101 enters the field of view of the measuring device 102, the measuring device 102 will automatically track and observe the space target 101, and obtain a plurality of pieces of image data of the same frame of the space target 101 and stars, that is, obtain image data of the space target 101.
The data processing server 104 is in communication connection with the measurement equipment 102, and the data processing server 104 acquires image data of the space target 101 output by the measurement equipment 102, and acquires visual right ascension and visual declination data of the space target 101 relative to the measurement equipment 102 in an astronomical positioning manner, that is, acquires position measurement data of the measurement equipment 102.
The specific method for the data processing server 104 to obtain the position measurement data of the measurement device 102 is as follows:
(1) According to the acquired information such as image data and observation time of the space target 101, a star table is quickly searched, fixed stars (calibration stars) in the view field of the measuring equipment 102 are found out, ideal coordinate data corresponding to the fixed stars are calculated according to the positions of the found fixed stars, and actual measurement coordinate data of the fixed stars are calculated through a modified moment analysis method.
(2) And according to the number of fixed stars, adopting different detector processing models and calculating the coefficients of the detector processing models.
(3) Background non-uniformity elimination, star map registration, difference frame star map removal, image multi-frame superposition, binarization processing and the like are carried out on the image data of the space target 101 output by the measuring equipment 102, star images of the space target 101 are extracted by adopting a star point mass center extraction method based on anisotropic Gaussian surface fitting, and the actually measured coordinate data of the space target 101 is calculated by a moment correction analysis method.
(4) According to the coefficients of the probe processing model and the measured coordinate data of the spatial target 101, the ideal coordinate data of the spatial target 101 is calculated, and further the position measurement data of the spatial target 101 in the first global coordinate system with the measurement equipment 102 as the center, namely the visual right ascension and visual declination of the spatial target 101 relative to the measurement equipment 102, is obtained.
In this embodiment, the observation of multiple arc segments of not less than 2 spatial targets is realized by the above method, and position measurement data of multiple groups of spatial targets relative to the measurement device 102 is obtained.
Based on the position measurement data of the spatial target 101 with respect to the measurement device 102 acquired by the above method, the data processing server 104 performs positioning calculation on the measurement device 102. Referring to fig. 2, fig. 2 is a flowchart illustrating a positioning method of measuring equipment for a space object according to an embodiment, which is applied to the data processing server 104 and includes steps 201 to 205.
Step 201: position measurement data of the spatial object 101 with respect to the measurement equipment 102 is acquired, the position measurement data being position measurement data in a first antenna coordinate system centered on the measurement equipment 102.
Step 202: the position measurement data of the spatial target 101 relative to the measurement equipment 102 is converted from a first celestial coordinate system centered on the measurement equipment 102 to a second celestial coordinate system centered on the earth center, resulting in first three-dimensional position data of the measurement equipment 102 in the second celestial coordinate system. The present embodiment converts position measurement data from a first celestial coordinate system to a second celestial coordinate system based on a constructed transition coordinate system.
Step 203: and converting the first three-dimensional position data of the measuring equipment 102 from the second celestial coordinate system to the terrestrial coordinate system to obtain second three-dimensional position data of the measuring equipment relative to the space target under the terrestrial coordinate system.
Step 204: and acquiring the precise ephemeris of the space target 101, and acquiring third three-dimensional position data of the space target 101 at a preset observation time in the terrestrial coordinate system according to the precise ephemeris of the space target 101.
Step 205: based on the second three-dimensional position data and the third three-dimensional position data, position location data of the measurement equipment 102 in the terrestrial coordinate system is determined.
The coordinate system according to the present embodiment will be explained below.
The first antenna coordinate system (O1-X1Y 1Z 1) takes the mass center of the measuring equipment 102 as an original point O1, the original point O1 points to the vernality point direction as the positive direction of an X1 axis, the Z1 axis is parallel to the earth rotation axis, the earth center points to the north and the south direction as the positive direction of the Z1 axis, the Y1 axis is positioned in the plane passing through the original point, and the Y1 axis, the X1 axis and the Z1 axis form a right-hand rectangular coordinate system.
The transition coordinate system (O2-X2Y 2Z 2) is a right-hand rectangular coordinate system which takes the mass center of the space target 101 as an original point, the direction of the original point O2 pointing to the spring equinox is taken as the positive direction of an X2 axis, the Z2 axis is parallel to the rotation axis of the earth, the direction of the earth center pointing to the north and the south is taken as the positive direction of the Z2 axis, the Y2 axis is positioned in the plane passing through the original point, and the Y2 axis, the X2 axis and the Z2 axis form a right-hand rectangular coordinate system.
The second celestial coordinate system (O3-X3Y 3Z 3) takes the geocenter as an origin O3, the Z3 axis is parallel to the rotation axis of the earth, the direction from the geocenter to the north and the south is the positive direction of the Z3 axis, the X3 axis is on the equatorial plane, the direction from the geocenter to the spring equinox is the positive direction of the X3 axis, the Y3 axis is on the equatorial plane, and the Y3 axis, the X3 axis and the Z3 axis form a right-hand rectangular coordinate system.
The earth coordinate system (O4-X4Y 4Z 4) takes the earth center as an origin O4, the direction from the origin O4 to the earth pole CIP of the given protocol is the positive direction of the Z4 axis, the X4 axis is in the equatorial plane, the origin O4 to the zero point of the given longitude is the positive direction, the Y4 axis is in the equatorial plane, and the Y4 axis, the X4 axis and the Z4 axis form a right-hand rectangular coordinate system.
In one embodiment, in step 202, converting the position measurement data of the spatial target 101 relative to the measurement equipment 102 from a first celestial coordinate system (O1-X1Y 1Z 1) centered on the measurement equipment 102 to a second celestial coordinate system (O3-X3Y 3Z 3) centered on the geocenter to obtain a first three-dimensional position data of the measurement equipment 102 in the second celestial coordinate system (O3-X3Y 3Z 3), comprising:
step 2021: a transition coordinate system (O2-X2Y 2Z 2) is constructed. In order to achieve a positioning of the measuring device, the invention proposes to establish a transitional coordinate system (O2-X2Y 2Z 2), which is identical in pointing direction for each coordinate axis, except for a different origin of coordinates, compared to the first antenna coordinate system centered on the measuring device 102.
Step 2022: and converting the position measurement data of the space target 101 relative to the measurement equipment 102 from the first antenna coordinate system (O1-X1Y 1Z 1) to a transition coordinate system (O2-X2Y 2Z 2) to obtain fourth three-dimensional position data of the measurement equipment 102 in the transition coordinate system (O2-X2Y 2Z 2).
As shown in fig. 3, fig. 3 shows a conversion relationship between the first antenna coordinate system (O1-X1Y 1Z 1) and the transition coordinate system (O2-X2Y 2Z 2), specifically:
space target
In the first place
The position measurement data at the time relative to the measurement equipment 102 is (
，
) Position measurement data (
，
) Is in a first antenna coordinate system (O1-X1Y 1Z 1). Assuming that the space object is present at this time
In the first place
The distance from the moment to the measuring device 102 is
Then, in the transitional coordinate system (O2-X2Y 2Z 2), the measuring equipment 102 is at the second position
Position data of time (
，
) And between the measuring equipment 102 and the space target
Distance of time of day
Respectively as follows:
wherein the content of the first and second substances,
as a space object
In the first place
The visual red channel at the moment of time,
as a space object
In the first place
The visual declination at the moment of time,
for measuring equipment 102 at the second
The red channels of the eyes at any moment,
for measuring equipment 102 at the second
The visual declination at the moment of time,
for a space target in a first antenna coordinate system (O1-X1Y 1Z 1)
In the first place
The distance from the time of day to the measurement equipment 102,
for measuring the equipment 102 and space target under a transition coordinate system (O2-X2Y 2Z 2)
In the first place
The distance of the moment of time.
Placing the measurement equipment 102 at the second
Position data of time (a)
，
) And measurement equipment 102 and space target
In the first place
Distance of time of day
Converting into rectangular coordinate in three-dimensional space to obtain the fourth and the thirdDimensional position data
The concrete formula is as follows:
wherein the content of the first and second substances,
for the measurement equipment 102 under the transition coordinate system (O2-X2Y 2Z 2)
Fourth three-dimensional position data of the time.
Step 2023: and converting the fourth three-dimensional position data of the measuring equipment 102 under the transition coordinate system (O2-X2Y 2Z 2) into a second celestial coordinate system (O3-X3Y 3Z 3) to obtain the first three-dimensional position data of the measuring equipment 102 under the second celestial coordinate system (O3-X3Y 3Z 3).
Except for the difference of the coordinate origin, the representation method that the coordinate axes of the transition coordinate system (O2-X2Y 2Z 2) and the second celestial coordinate system (O3-X3Y 3Z 3) point to the celestial body position is the same, and the transition coordinate system (O2-X2Y 2Z 2) can be regarded as the translation of the origin of the second celestial coordinate system (O3-X3Y 3Z 3) to the coordinate system with the space target 101 as the origin. As shown in fig. 4, fig. 4 shows a conversion relationship between the transition coordinate system (O2-X2Y 2Z 2) and the second celestial coordinate system (O3-X3Y 3Z 3), and then the first three-dimensional position data of the measurement equipment 102 in the second celestial coordinate system (O3-X3Y 3Z 3) is:
wherein the content of the first and second substances,
first three-dimensional position data for the measurement apparatus 102 in a second celestial coordinate system (O3-X3Y 3Z 3);
、
、
as a space object
Three-dimensional position data in a second celestial coordinate system (O3-X3Y 3Z 3).
In one embodiment, in step 203, the second three-dimensional position data of the measurement apparatus 102 relative to the spatial target 101 in the global coordinate system (O4-X4Y 4Z 4) is obtained by transforming the first three-dimensional position data of the measurement apparatus 102 from the second celestial coordinate system (O3-X3Y 3Z 3) to the global coordinate system (O4-X4Y 4Z 4) in the following manner.
The conversion relationship between the second celestial coordinate system (O3-X3Y 3Z 3) and the terrestrial coordinate system (O4-X4Y 4Z 4) is specifically as follows:
defining the rotation matrix as:
wherein the content of the first and second substances,
to rotate about the X-axis
The rotation matrix of (a);
to rotate about the Y axis
The rotation matrix of (a);
to rotate about the Z axis
The rotation matrix of (2).
Assuming spatial targets acquired by ephemeris
In that
The three-dimensional coordinates of the time of day are
. Space target
In that
The transformation matrix of the time transformation to the second celestial coordinate system (O3-X3Y 3Z 3) is
To be a space target
In that
Three-dimensional coordinates of a second celestial coordinate system (O3-X3Y 3Z 3) at the moment
Comprises the following steps:
wherein the content of the first and second substances,
is a transformation matrix.
In an embodiment, in step 204, obtaining third three-dimensional position data of the spatial target 101 at the preset observation time in the terrestrial coordinate system according to the ephemeris of the spatial target 101 includes:
in an interpolation interval, interpolating the space target at any time to the ephemeris of the space target 101 to obtain third three-dimensional position data of the space target 101 at the preset observation time in the terrestrial coordinate system.
The embodiment is based on the following formula for space target
In the interpolation interval, the spatial target at any time is interpolated:
wherein the content of the first and second substances,
representing a preset observation time tspace object
The interpolated position data of (a) is,
to interpolate the sample point epoch time,
is composed of
Temporal spatial object
The position data of (a). Calculating a space target at a preset observation time t by continuously changing an interpolation interval and locating a point t to be interpolated at the central position of the interpolation interval
Obtaining the space target under the earth coordinate system
Third three-dimensional position data of (2).
In the present embodiment, in order to improve the positioning accuracy of the measurement equipment 102, the number of the space targets 101 is not less than 2, that is, the measurement equipment 102 performs observation measurement on not less than 2 satellites, and the three-dimensional coordinates of the measurement equipment 102 in the earth coordinate system (O4-X4Y 4Z 4) can be obtained according to the trigonometric formula
By the above coordinate conversion, it is possible to obtain:
or
In the formula (I), the compound is shown in the specification,
are respectively shown in
At the moment 1 st, 2 nd (823030)
The distance between the individual spatial targets 101 and the measuring equipment 102;
、
is shown in
Time of day obtained by ephemeris
Third three-dimensional position data of the individual spatial object 101;
is shown in
First given by the time of day measuring equipment 102
The right ascension of the individual spatial target 101;
is shown in
The time of day measuring equipment 102 gives the first
Declination of vision of an individual spatial target 101.
The unknown solution can be obtained by the simultaneous equations of the above formulas
And obtaining the position of the measuring equipment in the terrestrial coordinate system as follows:
wherein, the first and the second end of the pipe are connected with each other,
representing intermediate parametersCounting;
In the embodiment of the invention, the spatial target 101 is shot and measured by the measuring equipment 102, no extra equipment guarantee is needed, the operation is simple, the calculation amount is small, and the high-precision positioning of space-based observation point equipment such as measuring equipment of any super GEO orbit is realized, so that orbit determination measurement of other spatial targets is realized.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid in understanding the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A method for positioning a measurement device of a space target is characterized by comprising the following steps:
acquiring position measurement data of a space target relative to measurement equipment, wherein the position measurement data is position measurement data under a first antenna coordinate system taking the measurement equipment as a center;
converting position measurement data of the space target relative to the measurement equipment from a first celestial sphere coordinate system taking the measurement equipment as a center to a second celestial sphere coordinate system taking the earth center as a center to obtain first three-dimensional position data of the measurement equipment under the second celestial sphere coordinate system;
converting the first three-dimensional position data of the measuring equipment from the second celestial coordinate system to a terrestrial coordinate system to obtain second three-dimensional position data of the measuring equipment relative to the space target under the terrestrial coordinate system;
acquiring a precise ephemeris of the space target, and acquiring third three-dimensional position data of the space target at a preset observation time under a terrestrial coordinate system according to the precise ephemeris of the space target;
determining position location data of the measurement equipment in the terrestrial coordinate system based on the second three-dimensional position data and the third three-dimensional position data.
2. The measurement equipment positioning method according to claim 1, wherein the first antenna coordinate system uses the centroid of the measurement equipment as an origin O1, and the direction of the origin O1 pointing to the spring point is a positive direction of the X1 axis; the Z1 axis is parallel to the earth rotation axis, and the direction from the earth center to the north zenith is the positive direction of the Z1 axis; the Y1 axis is positioned in a plane passing through the origin, and the Y1 axis, the X1 axis and the Z1 axis form a right-hand rectangular coordinate system.
3. The method of claim 1, wherein the second celestial coordinate system has a centroid as an origin O3, a Z3 axis parallel to an axis of rotation of the earth, and a north direction from the centroid to the north zenith as a positive direction of the Z3 axis; the X3 axis is on the equatorial plane, and the direction from the geocentric to the spring equinox is the positive direction of the X3 axis; the Y3 axis is on the equatorial plane, and the Y3 axis, the X3 axis and the Z3 axis form a right-hand rectangular coordinate system.
4. The measurement equipment positioning method according to claim 1, wherein the earth coordinate system has an earth center as an origin O4, and a direction pointing from the origin O4 to the given protocol earth polar CIP is a positive direction of the Z4 axis; the X4 axis is in the equatorial plane, and the positive direction is that the origin O4 points to the given longitude zero point; the Y4 axis is positioned in the equatorial plane, and the Y4 axis, the X4 axis and the Z4 axis form a right-hand rectangular coordinate system.
5. The method of claim 1, wherein transforming the position measurement data of the spatial target relative to the measurement equipment from a first celestial coordinate system centered on the measurement equipment to a second celestial coordinate system centered on the earth's center to obtain a first three-dimensional position data of the measurement equipment in the second celestial coordinate system comprises:
constructing a transition coordinate system, wherein the transition coordinate system takes the mass center of the space target as an origin O2, the direction of the origin O2 pointing to the spring equinox is taken as the positive direction of an X2 axis, a Z2 axis is parallel to the rotation axis of the earth, the direction of the earth center pointing to the north and the zenith is taken as the positive direction of the Z2 axis, a Y2 axis is positioned in a plane passing through the origin, and the Y2 axis, the X2 axis and the Z2 axis form a right-hand rectangular coordinate system;
converting the position measurement data of the space target relative to the measurement equipment from a first antenna coordinate system to the transition coordinate system to obtain fourth three-dimensional position data of the measurement equipment in the transition coordinate system;
and converting the fourth three-dimensional position data of the measuring equipment under the transition coordinate system into the second celestial coordinate system to obtain the first three-dimensional position data of the measuring equipment under the second celestial coordinate system.
6. The method of claim 1, wherein obtaining third three-dimensional position data of the spatial target in a global coordinate system at a preset observation time according to the ephemeris of the spatial target comprises:
and in an interpolation interval, interpolating the space target at any moment in the precise ephemeris of the space target to acquire third three-dimensional position data of the space target at a preset observation moment in the terrestrial coordinate system.
7. A measurement equipment positioning system for a spatial target, comprising:
a spatial target, the spatial target being a spatial target of known ephemeris;
the measuring equipment is used for observing and tracking the space target so as to acquire image data of the space target;
the carrying platform is used for carrying the measuring equipment;
the data processing server is used for acquiring the image data of the space target and determining the position measurement data of the space target relative to the measurement equipment according to the image data of the space target;
the data processing server is further used for converting the position measurement data of the space target relative to the measurement equipment from a first celestial sphere coordinate system taking the measurement equipment as the center to a second celestial sphere coordinate system taking the geocenter as the center to obtain first three-dimensional position data of the measurement equipment under the second celestial sphere coordinate system; converting the first three-dimensional position data of the measuring equipment from the second celestial coordinate system to a terrestrial coordinate system to obtain second three-dimensional position data of the measuring equipment relative to the space target under the terrestrial coordinate system; acquiring a precise ephemeris of the space target, and acquiring third three-dimensional position data of the space target at a preset observation time under a terrestrial coordinate system according to the precise ephemeris of the space target; determining position location data of the measurement equipment in the terrestrial coordinate system based on the second three-dimensional position data and the third three-dimensional position data.
8. The measurement equipment positioning system of claim 7, wherein transforming the position measurement data of the spatial target relative to the measurement equipment from a first celestial coordinate system centered on the measurement equipment to a second celestial coordinate system centered on the earth's center to obtain first three-dimensional position data of the measurement equipment in the second celestial coordinate system comprises:
constructing a transition coordinate system, wherein the transition coordinate system takes the mass center of the space target as an origin, the direction of the origin O2 pointing to the spring equinox is taken as the positive direction of an X2 axis, the Z2 axis is parallel to the earth rotation axis, the direction of the earth center pointing to the north and the south is taken as the positive direction of the Z2 axis, the Y2 axis is positioned in a plane passing through the origin, and the Y2 axis, the X2 axis and the Z2 axis form a right-hand rectangular coordinate system;
converting the position measurement data of the space target relative to the measurement equipment from a first antenna coordinate system to the transition coordinate system to obtain fourth three-dimensional position data of the measurement equipment under the transition coordinate system;
and converting the fourth three-dimensional position data of the measuring equipment under the transition coordinate system into the second celestial coordinate system to obtain the first three-dimensional position data of the measuring equipment under the second celestial coordinate system.
9. The measurement equipment positioning system of claim 7, wherein obtaining third three-dimensional position data of the spatial target at a preset observation time in a terrestrial coordinate system from the ephemeris of the spatial target comprises:
and in an interpolation interval, interpolating the space target at any moment in the precise ephemeris of the space target to acquire third three-dimensional position data of the space target at a preset observation moment in a terrestrial coordinate system.
10. A computer-readable storage medium, characterized in that the medium has stored thereon a program which is executable by a processor to implement the method according to any one of claims 1-6.
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