CN116142489A - Real-time bias current angle compensation method for tracking imaging satellite for ground dynamic target - Google Patents
Real-time bias current angle compensation method for tracking imaging satellite for ground dynamic target Download PDFInfo
- Publication number
- CN116142489A CN116142489A CN202211717305.5A CN202211717305A CN116142489A CN 116142489 A CN116142489 A CN 116142489A CN 202211717305 A CN202211717305 A CN 202211717305A CN 116142489 A CN116142489 A CN 116142489A
- Authority
- CN
- China
- Prior art keywords
- satellite
- target
- coordinate system
- tracking
- inertial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000003384 imaging method Methods 0.000 title claims abstract description 30
- 239000013598 vector Substances 0.000 claims description 46
- 239000011159 matrix material Substances 0.000 claims description 14
- 230000009466 transformation Effects 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a real-time compensation method for drift angles of a tracking imaging satellite for a ground dynamic target. The invention can improve the definition of earth observation and target tracking imaging of the satellite camera, and has practical significance for the earth dynamic target tracking imaging task of the satellite.
Description
Technical Field
The invention relates to the technical field of satellite drift angle compensation, in particular to a real-time drift angle compensation method for a tracking imaging satellite for a ground dynamic target.
Background
When a satellite camera performs tracking imaging on a ground target, the image blurring can be caused by the inconsistency between the push-broom direction of the camera and the moving direction of the target caused by the rotation of the earth, and the included angle between the two directions is required to be compensated. The existing method provides a drift angle calculation model for satellite imaging of the satellite point below the satellite and in a zero attitude of the three axes to the earth, but the calculation method is not applicable to satellite tracking of dynamic targets any more, and the main reasons are as follows:
1) When a satellite tracks a ground dynamic target, the three-axis attitude of the satellite in a ground coordinate system is not zero, and the existing drift angle calculation model is only suitable for the situation that the satellite is in zero attitude (tracking the point below the satellite) relative to the ground system;
2) When a satellite tracks a ground dynamic target, the three-axis attitude of the satellite relative to a ground system is time-varying, so that the current three-axis attitude information of the satellite is required to be utilized to calculate and compensate the drift angle in real time in an on-orbit manner;
3) The diversity and the unknowability of the ground target motion characteristics can lead to severe changes of the three-axis attitude during satellite tracking, so that the drift angle required to be compensated by the satellite also varies greatly, and the satellite attitude control system is influenced.
Disclosure of Invention
The invention aims to provide a real-time bias current angle compensation method for a tracking imaging satellite for a ground dynamic target, which can improve the definition of ground observation and target tracking imaging of a satellite camera when the satellite tracks and images the ground dynamic target, and has practical significance for the ground dynamic target tracking imaging task of the satellite.
In order to achieve the above object, the present invention is realized by the following technical scheme:
a real-time bias current angle compensation method for tracking imaging satellite of ground dynamic target includes the following steps:
s1, calculating projection of vectors of the geocentric pointing target in a J2000 inertial coordinate system and a WGS84 geodetic system according to longitude, latitude and altitude information of the ground dynamic target
And->
And velocity vector of the target in WGS84 ground system and J2000 inertial coordinate system +.>
And->
S2, calculating projection rho of unit vector of satellite pointing target in J2000 inertial coordinate system when satellite tracking dynamic target is calculated m←s And the velocity vector of the projection of the vector of the satellite pointing target in the J2000 inertial coordinate system is expressed as
S3, calculating a pointing unit vector i of a triaxial of a satellite body coordinate system coordinate axis under a J2000 inertial coordinate system when a satellite tracking dynamic target is calculated x 、i y 、i z ；
S4, calculating an attitude cosine array A of a satellite body coordinate system when the J2000 inertial coordinate system reaches a satellite tracking target m←i ；
S5, calculating an attitude cosine array A of a satellite body coordinate system when the earth coordinate system reaches a satellite tracking target m←o Thereby obtaining the magnitude of the drift angle.
Optionally, the step S1 further includes:
projection of a vector with a centroid pointing to a target in a WGS84 geodetic system
Calculated as follows: />
Wherein r is m For the local radius of the target point, the following is calculated:
projection of vector of geocentric pointing target in J2000 inertial coordinate system
Calculated as follows:
wherein lambda is m 、γ m 、h m The geographic longitude, the geographic latitude and the geographic elevation of the target are respectively; r is R e 、f e The equatorial radius and the flat rate of the earth are respectively; a is that i←g A pose conversion matrix fixedly tied to a J2000 inertial system for WGS 84;
velocity vector of target in WGS84 geodetic system and J2000 inertial coordinate system
And->
Calculated according to the following formula:
in the method, in the process of the invention,
the derivatives of the geographic longitude, geographic latitude and geographic elevation of the target; />
The derivative of the attitude transformation matrix from the WGS84 ground system to the J2000 inertial coordinate system.
Optionally, the step S2 further includes:
the projection of the satellite-pointing target vector in the J2000 inertial coordinate system is denoted as l m←s Then
Projection ρ of unit vector of satellite pointing target in J2000 inertial coordinate system m←s Calculated according to the following formula:
projection l of vector of satellite pointing target in J2000 inertial coordinate system m←s Is denoted as l m←s Then
In the method, in the process of the invention,
and->
The vectors and their derivatives of the earth-centered satellites are projected in the J2000 inertial coordinate system, respectively.
Optionally, the step S3 further includes:
three-axis pointing unit vector i of satellite body coordinate system coordinate axis under J2000 inertial coordinate system during satellite tracking dynamic target x 、i y 、i z Calculated according to the following formula:
i z ＝ρ m←s
i x ＝i y ×i z 。
optionally, the step S4 further includes:
attitude cosine array A of satellite body coordinate system when J2000 inertial coordinate system reaches satellite tracking target m←i Calculated according to the following formula:
in the formula e x ＝[1；0；0]，e y ＝[0；1；0]，e z ＝[0；0；1]。
Optionally, the step S5 further includes:
attitude cosine array A of satellite body coordinate system when earth coordinate system reaches satellite tracking target m←o Calculated according to the following formula:
A m←o ＝A m←i A i←o
wherein A is i←o The coordinate transformation matrix is from a satellite earth coordinate system to a J2000 inertial coordinate system.
Compared with the prior art, the invention has the following advantages:
the invention provides a real-time compensation method for drift angles of a tracking imaging satellite for a ground dynamic target. The method can improve the definition of earth observation and target tracking imaging of the satellite camera, and has practical significance for the earth dynamic target tracking imaging task of the satellite.
Drawings
For a clearer description of the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are one embodiment of the present invention, and that, without inventive effort, other drawings can be obtained by those skilled in the art from these drawings:
FIG. 1 is a flow chart of a method for compensating drift angle of a satellite tracking imaging on a ground dynamic target in real time.
Detailed Description
The following provides a further detailed description of the proposed solution of the invention with reference to the accompanying drawings and detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
As described in the background art, a drift angle, in which a camera push-broom direction and a target moving direction are not consistent due to rotation of the earth, may cause imaging ambiguity of a satellite, and thus compensation for the drift angle is required. The existing method provides a drift angle calculation model for satellite imaging of the satellite point below the satellite and in a zero attitude of the earth triaxial, but the calculation method is not applicable to satellite tracking of dynamic targets. The invention provides a real-time bias current angle compensation method for a ground dynamic target tracking imaging satellite. The three-axis attitude calculation method for compensating the drift angle of the satellite in real time when tracking and imaging the ground moving target is solved through the geographic position information of the ground target and the conversion relation among the inertial system, the ground fixed system and the satellite to ground coordinate system. The method can improve the definition of earth observation and target tracking imaging of the satellite camera, and has practical significance for the earth dynamic target tracking imaging task of the satellite.
As shown in FIG. 1, the method for compensating the drift angle of the imaging satellite for tracking the ground dynamic target in real time comprises the following steps:
s1, calculating projection of vectors of the geocentric pointing target in a J2000 inertial coordinate system and a WGS84 geodetic system according to longitude, latitude and altitude information of the ground dynamic target
And->
And velocity vector of the target in WGS84 ground system and J2000 inertial coordinate system +.>
And->
S2, calculating projection rho of unit vector of satellite pointing target in J2000 inertial coordinate system when satellite tracking dynamic target is calculated m←s And the velocity vector of the projection of the vector of the satellite pointing target in the J2000 inertial coordinate system is expressed as
S3, calculating a pointing unit vector i of a triaxial of a satellite body coordinate system coordinate axis under a J2000 inertial coordinate system when a satellite tracking dynamic target is calculated x 、i y 、i z ；
S4、Attitude cosine array A of satellite body coordinate system when J2000 inertial coordinate system reaches satellite tracking target m←i ；
S5, calculating an attitude cosine array A of a satellite body coordinate system when the earth coordinate system reaches a satellite tracking target m←o Thereby obtaining the magnitude of the drift angle.
The invention relates to a projection of vectors of earth-centered directional satellites and derivatives thereof under an inertial coordinate system according to a coordinate transformation matrix from a WGS84 earth-fixed system to a J2000 inertial system, a coordinate transformation matrix from a satellite to earth coordinate system to the inertial system, and a projection of vectors of earth-centered directional satellites and derivatives thereof under the inertial coordinate system
And->
) And the position parameters of the ground target are calculated to obtain the three-axis attitude under the inertial system when the satellite is in the visual axis tracking target, and the yaw angle of the satellite under the ground coordinate system is the real-time drift angle. The following space vector information is required first.
(1) Calculating the projection of vectors of earth-centered targets in the J2000 inertial coordinate system
Projection of a vector with a geodetic pointing target in the WGS84 geodetic system
Calculated as follows:
wherein r is m For the local radius of the target point (without taking into account the geodetic distance), the following is calculated:
the product can be obtained by the method,
wherein lambda is m ，γ m ，h m The target geographic longitude, geographic latitude and geographic elevation are respectively; r is R e ，f e The equatorial radius and the flat rate of the earth are respectively; a is that i←g A pose conversion matrix fixedly tied to a J2000 inertial system for WGS 84;
(2) Calculating velocity vectors of targets in WGS84 geodetic system and J2000 inertial coordinate system
And->
In the method, in the process of the invention,
derivatives of the target geographic longitude, geographic latitude and geographic elevation, respectively; />
Derivatives of the attitude transformation matrix for the WGS84 ground system to the J2000 inertial system;
(3) Coordinate transformation matrix A from WGS84 ground fixed system to J2000 inertial system i←g And its derivative
And a coordinate conversion matrix A from a satellite earth coordinate system to an inertial system i←o Can be defended byThe orbital parameters of the star are obtained.
The invention realizes the three-axis attitude and drift angle calculation when the satellite visual axis tracks the target through the following steps:
(1) The projection of the satellite-pointing target vector in the J2000 inertial coordinate system is denoted as l m←s ，
Projection ρ of unit vector of satellite pointing target in J2000 inertial coordinate system m←s
(2) Projection l of vector of satellite pointing target in J2000 inertial coordinate system m←s Is denoted as l m←s Then
(3) When the satellite tracks the dynamic target, the visual axis of the satellite camera is Z b The axis is directed to the target, the direction vector is ρ m←s . In order to make the push-broom direction of the visual axis of the satellite camera consistent with the moving direction of the target, the Y of the satellite body system b Axis and ρ m←s And-l m←s The plane of the formation is vertical. X of satellite b The axis is then determined by the right hand rule.
i z ＝ρ m←s
i x ＝i y ×i z
Wherein i is x 、i y 、i z The system is in inertial system when the satellites track the targets respectivelyIn the direction unit vector.
(4) The attitude cosine array of the system when the inertial system tracks to the satellite target is
In the formula e x ＝[1；0；0]，e y ＝[0；1；0]，e z ＝[0；0；1]。
(5) The earth attitude quaternion q of the satellite under the inertial system at the moment is obtained by a calculation method of the mutual conversion of an attitude cosine array and an attitude quaternion i→o 。
A m←o ＝A m←i A i←o
A i←o The coordinate transformation matrix is from a satellite earth coordinate system to an inertial system;
coordinate transformation matrix A from satellite earth coordinate system to inertial system i←o The three-axis attitude angle of the satellite in the earth coordinate system can be obtained, and the conversion belongs to basic mathematical transformation. The Z-axis direction angle of the satellite under the earth coordinate system, namely the yaw angle, is the real-time drift angle.
The push-broom direction of the visual axis of the satellite camera is consistent with the moving direction of the target, and the drift angle of the satellite in tracking and imaging the ground dynamic target is compensated in real time.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (6)
1. A real-time bias current angle compensation method for tracking an imaging satellite on a ground dynamic target is characterized by comprising the following steps:
s1, calculating the vector of the geocentric pointing target according to longitude, latitude and altitude information of the ground dynamic targetProjection of quantities in J2000 inertial frame and WGS84 ground frame
And->
And velocity vector of the target in WGS84 ground system and J2000 inertial coordinate system +.>
And->
S2, calculating projection rho of unit vector of satellite pointing target in J2000 inertial coordinate system when satellite tracking dynamic target is calculated m←s And the velocity vector of the projection of the vector of the satellite pointing target in the J2000 inertial coordinate system is expressed as
S3, calculating a pointing unit vector i of a triaxial of a satellite body coordinate system coordinate axis under a J2000 inertial coordinate system when a satellite tracking dynamic target is calculated x 、i y 、i z ；
S4, calculating an attitude cosine array A of a satellite body coordinate system when the J2000 inertial coordinate system reaches a satellite tracking target m←i ；
S5, calculating an attitude cosine array A of a satellite body coordinate system when the earth coordinate system reaches a satellite tracking target m←o And the satellite at the moment has the quaternion q of the earth attitude under the J2000 inertial system o→m Thereby obtaining the magnitude of the drift angle.
2. The method for compensating for drift angle of a satellite for tracking and imaging a ground dynamic target according to claim 1, wherein S1 further comprises:
projection of a vector with a centroid pointing to a target in a WGS84 geodetic system
Calculated as follows:
wherein r is m For the local radius of the target point, the following is calculated:
projection of vector of geocentric pointing target in J2000 inertial coordinate system
Calculated as follows:
wherein lambda is m 、γ m 、h m The geographic longitude, the geographic latitude and the geographic elevation of the target are respectively; r is R e 、f e The equatorial radius and the flat rate of the earth are respectively; a is that i←g A pose conversion matrix fixedly tied to a J2000 inertial system for WGS 84;
velocity vector of target in WGS84 geodetic system and J2000 inertial coordinate system
And->
Calculated according to the following formula:
in the method, in the process of the invention,
the derivatives of the geographic longitude, geographic latitude and geographic elevation of the target; />
The derivative of the attitude transformation matrix from the WGS84 ground system to the J2000 inertial coordinate system.
3. The method for compensating for drift angle of a satellite for tracking and imaging a ground dynamic target according to claim 1, wherein S2 further comprises:
the projection of the satellite-pointing target vector in the J2000 inertial coordinate system is denoted as l m←s Then
Projection ρ of unit vector of satellite pointing target in J2000 inertial coordinate system m←s Calculated according to the following formula:
projection l of vector of satellite pointing target in J2000 inertial coordinate system m←s Is expressed as a velocity vector of (2)
Then
In the method, in the process of the invention,
and->
The vectors and their derivatives of the earth-centered satellites are projected in the J2000 inertial coordinate system, respectively.
4. The method for compensating for drift angle of a satellite for tracking an imaging on a ground dynamic target according to claim 3, wherein S3 further comprises:
three-axis pointing unit vector i of satellite body coordinate system coordinate axis under J2000 inertial coordinate system during satellite tracking dynamic target x 、i y 、i z Calculated according to the following formula:
i z ＝ρ m←s
i x ＝i y ×i z 。
5. the method for compensating for drift angle of a satellite for tracking and imaging a ground dynamic target according to claim 1, wherein S4 further comprises:
attitude cosine array A of satellite body coordinate system when J2000 inertial coordinate system reaches satellite tracking target m←i Calculated according to the following formula:
in the formula e x ＝[1；0；0]，e y ＝[0；1；0]，e z ＝[0；0；1]。
6. The method for compensating for drift angle of a satellite for tracking and imaging a ground dynamic target according to claim 1, wherein S5 further comprises:
attitude cosine array A of satellite body coordinate system when earth coordinate system reaches satellite tracking target m←o Calculated according to the following formula:
A m←o ＝A m←i A i←o
wherein A is i←o The coordinate transformation matrix is from a satellite earth coordinate system to a J2000 inertial coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211717305.5A CN116142489A (en) | 2022-12-29 | 2022-12-29 | Real-time bias current angle compensation method for tracking imaging satellite for ground dynamic target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211717305.5A CN116142489A (en) | 2022-12-29 | 2022-12-29 | Real-time bias current angle compensation method for tracking imaging satellite for ground dynamic target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116142489A true CN116142489A (en) | 2023-05-23 |
Family
ID=86353590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211717305.5A Pending CN116142489A (en) | 2022-12-29 | 2022-12-29 | Real-time bias current angle compensation method for tracking imaging satellite for ground dynamic target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116142489A (en) |
-
2022
- 2022-12-29 CN CN202211717305.5A patent/CN116142489A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108344396B (en) | Attitude calculation method for oblique strip imaging mode of agile satellite | |
| US8666661B2 (en) | Video navigation | |
| CN107689064B (en) | Satellite optical strict geometric imaging model construction method considering light aberration correction | |
| CN107505948B (en) | Attitude adjustment method for imaging along curve strip in agile satellite locomotive | |
| CN106124170A (en) | A kind of camera optical axis based on high-precision attitude information points to computational methods | |
| CN101750067B (en) | Imaging type method for correcting earth oblateness by earth sensor | |
| CN105043417B (en) | Multiple target continuous imaging drift angle compensation method | |
| CN108710379A (en) | Fixed statellite is imaged Yaw steering angle computational methods | |
| CN107525492B (en) | Drift angle simulation analysis method suitable for agile earth observation satellite | |
| CN108663052B (en) | Autonomous space non-cooperative target Relative Navigation camera is directed toward control method on a kind of star | |
| CN110631567B (en) | Inversion and correction method for atmospheric refraction error of differential sky polarization compass | |
| CN113720360A (en) | On-orbit calibration method for included angle of agile optical remote sensing satellite/ground camera | |
| CN113264201A (en) | Implementation method for active push-broom imaging of agile satellite | |
| CN110736457A (en) | combination navigation method based on Beidou, GPS and SINS | |
| CN103955138B (en) | A kind of dynamic middle imaging satellite attitude control method based on increment type drift angle | |
| CN102279001B (en) | Phase shift compensation method of space-borne camera | |
| CN103941740B (en) | A kind of motor-driven imaging satellite yaw attitude control method of multiaxis considering compression of the earth | |
| CN105005310B (en) | A kind of attitude adjusting method being imaged along slanted bar band | |
| CN116105730A (en) | Angle measurement-only optical combination navigation method based on cooperative target satellite very short arc observation | |
| CN113253325A (en) | Inertial satellite sequential tight combination lie group filtering method | |
| CN106289156B (en) | The method of photography point solar elevation is obtained when a kind of satellite is imaged with any attitude | |
| CN116142489A (en) | Real-time bias current angle compensation method for tracking imaging satellite for ground dynamic target | |
| Cao et al. | Dynamic lever arm compensation of SINS/GPS integrated system for aerial mapping | |
| CN105928513B (en) | A kind of airborne synthetic aperture radar movement parameter measurement method based on position and attitude measuring system | |
| CN110362120B (en) | Scanning control method for two-dimensional scanning wide-range imaging platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |