CN116840851B - Method for arranging ground detectors of satellite-borne ground laser altimeter - Google Patents
Method for arranging ground detectors of satellite-borne ground laser altimeter Download PDFInfo
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- CN116840851B CN116840851B CN202310817997.9A CN202310817997A CN116840851B CN 116840851 B CN116840851 B CN 116840851B CN 202310817997 A CN202310817997 A CN 202310817997A CN 116840851 B CN116840851 B CN 116840851B
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- 238000000034 method Methods 0.000 title claims abstract description 32
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- 238000003331 infrared imaging Methods 0.000 description 2
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- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a method for arranging ground detectors of a satellite-borne ground laser altimeter, which comprises the following steps: step one, calculating the center position interval of each laser footprint according to the track height, the laser beams, the included angles among the beams and the emission frequency of the satellite-borne earth laser altimeter; step two, calculating the diameter of a single laser footprint according to the track height and the divergence angle of the satellite-borne earth laser altimeter; and thirdly, determining a detector layout method according to the laser footprint interval, the size and the expected number of the captured footprints. The invention can determine the number of the ground footprint light spots and the positions of the footprint light spots of the satellite-borne ground laser altimeter, thereby providing high-precision ground footprint coordinates for subsequently eliminating the positioning angle error of the satellite-borne laser altimeter.
Description
Technical Field
The invention relates to the technical field of satellite-borne laser altimeter data processing, in particular to a method for arranging a ground detector of a satellite-borne ground laser altimeter.
Background
In the development and test process of the satellite-borne earth laser altimeter, the instrument generally has high pointing and ranging precision after being calibrated on the ground. However, due to the influence of vibration during satellite transmission, space environment change after orbit entering and other factors, system parameters such as pointing, ranging and the like of the laser altimeter can change relative to a ground measured value before transmission, and errors of laser footprint coordinate calculation can be caused. Therefore, in order to obtain high-precision satellite-borne laser altimetry data, the systematic error of the altimetry laser radar must be eliminated by an on-orbit geometric calibration method.
At present, the on-orbit geometric calibration method of the satellite-borne earth laser altimeter mainly comprises the following steps: an airborne infrared imaging method, a ground detector calibration method, a satellite maneuver scanning method and a laser echo analysis method. The airborne infrared imaging method can achieve that an airplane and a satellite fly through a calibration field synchronously, and the laser footprint images are difficult to extract from the infrared images, so that the success rate is low. The ground detector calibration method needs to arrange an energy detector in advance in the area to be irradiated by the laser to determine the real position of the laser footprint, and has the defects of high calibration reliability and precision, high construction requirement of a calibration field and high test difficulty, and the position of the laser footprint needs to be accurately estimated in advance. The satellite maneuver scanning method cannot be adopted under the condition that the attitude maneuver capability of the satellite is weak. Laser echo analysis may be used when the laser altimeter provides ranging waveform data.
Disclosure of Invention
Aiming at the problems existing in the on-orbit calibration of the current satellite-borne ground laser altimeter, the invention provides a method for arranging the ground detectors of the satellite-borne ground laser altimeter on the basis of deeply exploring the influence of theoretical design parameters of the satellite-borne ground laser altimeter on the size and interval of ground footprint spots of the laser altimeter. According to the invention, the ground spot diameter and the interval distance of the laser altimeter can be calculated according to the theoretical design parameters of the orbit height, the laser beams, the included angles among the beams, the emission frequency and the divergence angle of the satellite-borne ground laser altimeter, the distance between each detector area array and each laser detector in each detector area array can be determined according to the spot diameter and the interval distance, and finally, the ground footprint spot number and the footprint spot positions of the satellite-borne ground laser altimeter are determined according to the ground laser detector layout scheme, so that the high-precision ground footprint coordinates are provided for eliminating the satellite-borne laser altimeter placement angle errors subsequently.
The invention belongs to a method in a ground detector calibration method, which mainly comprises the steps of determining the real position of a laser footprint by arranging an energy detector in a region to be irradiated by a laser altimeter, and realizing the on-orbit geometric calibration of the satellite-borne ground laser altimeter by using a difference value between the real laser footprint position and a laser footprint position calculated by theoretical design parameters. In this process, how to accurately arrange the ground detectors in the area to be irradiated by the laser altimeter, and under the condition of limited number of the ground detectors, responding to single laser footprints by using the ground detectors as much as possible and improving the number of captured laser footprints are the most critical matters in the ground detector calibration method.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a layout method of a satellite-borne ground laser altimeter ground detector comprises the following steps:
step one, calculating the center position interval of each laser footprint according to the track height, the laser beams, the included angles among the beams and the emission frequency of the satellite-borne earth laser altimeter;
step two, calculating the diameter of a single laser footprint according to the track height and the divergence angle of the satellite-borne earth laser altimeter;
and thirdly, determining a detector layout method according to the laser footprint interval, the size and the expected number of the captured footprints.
Further, the first step includes:
if the satellite orbit height is H, the satellite point velocity is v, the laser beam is n, the included angle between beams is alpha and the transmitting frequency is a, the minimum value X of the laser footprint center position interval is calculated by adopting the following mode:
wherein X is v Representing the distance value X of the laser footprint gap generated by the same laser at adjacent emission time α Representing the distance value of the laser footprint gap generated by adjacent lasers at the same transmitting moment, min { X } v ,X α ,|X v -X α And | } represents the minimum distance value of the laser footprint gap generated by different lasers at adjacent times.
Further, the second step includes:
if the orbit height of the satellite around the earth is H and the divergence angle of the laser altimeter is theta, the diameter R of the laser footprint is calculated by adopting the following mode:
further, the third step includes:
step 3.1, determining the distance D between each laser detector in each detector area array according to the single laser footprint diameter R calculated in the step two and the requirement that at least 1 laser detector captures laser footprint light spots; if at least 1 laser detector is required to respond to the satellite-borne earth laser altimeter, thenAt most 4 laser detectors respond to the satellite-borne earth laser altimeter;
and 3.2, determining the distance between adjacent detector arrays and the number of the detector array layout according to the minimum X of the interval between the central positions of the laser marks calculated in the step one and the number of the expected captured footprint light spots.
The beneficial effects are that:
the invention belongs to a method in a ground detector calibration method, wherein an energy detector is required to be arranged in advance in an area to be irradiated by laser to determine the real position of a laser footprint, the calibration reliability and the precision are higher, but the ground laser detector is generally expensive in cost and generally limited in quantity, so that the innovation point of the application is to simplify the ground detector arrangement flow, simultaneously provide a ground detector arrangement method which is directly related to different satellite load key indexes and has higher applicability, finally the application can determine the ground detector arrangement method according to the number of the expected captured footprints, and the use efficiency of the ground detector is improved.
Drawings
FIG. 1 is a flow chart of a method for arranging a ground detector of a satellite-borne ground laser altimeter;
FIG. 2 is a schematic diagram of 1 laser detector response to a satellite-borne earth laser altimeter;
FIG. 3 is a schematic diagram of 4 laser detectors responding to a satellite-borne earth laser altimeter;
FIG. 4 is a schematic layout of a ground laser altimeter ground detector;
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in FIG. 1, the method for arranging the ground detector of the satellite-borne ground laser altimeter comprises the following steps:
step one, calculating the center position interval of each laser footprint according to the track height, the laser beams, the included angles among the beams and the emission frequency of the satellite-borne earth laser altimeter, wherein the step one comprises the following steps:
if the satellite orbit height is H, the satellite point velocity is v, the laser beam is n, the included angle between beams is alpha and the transmitting frequency is a, the minimum value X of the central position interval of the laser footprint can be calculated by adopting the following mode:
wherein X is v Representing the distance value X of the laser footprint gap generated by the same laser at adjacent emission time α Representing the distance value of the laser footprint gap generated by adjacent lasers at the same transmitting moment, min { X } v ,X α ,|X v -X α And | } represents the minimum distance value of the laser footprint gap generated by different lasers at adjacent times.
Step two, calculating the diameter of a single laser footprint according to the orbit height and the divergence angle of the satellite-borne earth laser altimeter, comprising the following steps:
if the orbit height of the satellite around the earth is H, the divergence angle of the laser altimeter is theta, and the diameter of the laser footprint is R, the following mode can be adopted for calculation:
determining a detector layout method according to the laser footprint interval, the size and the expected number of the captured footprints, wherein the method comprises the following steps:
and 3.1, determining the distance D between each laser detector in each detector area array according to the single laser footprint diameter R calculated in the step two and the requirement that at least 1 detector captures laser footprint light spots. The detector is a laser detector, if at least 1 laser detector is required to respond to the satellite-borne earth laser altimeter, thenAs shown in fig. 2;
the invention can have 4 laser detectors at most to respond to the satellite-borne earth laser altimeter, as shown in figure 3;
and 3.2, determining the distance between adjacent detector arrays and the number of the detector array layout according to the minimum X of the interval between the central positions of the laser footprints calculated in the step one and the requirement of the number of expected captured footprints, as shown in fig. 4.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (1)
1. The method for arranging the ground detector of the satellite-borne ground laser altimeter is characterized by comprising the following steps of:
step one, calculating the center position interval of each laser footprint according to the track height, the laser beams, the included angles among the beams and the emission frequency of the satellite-borne earth laser altimeter, wherein the step one comprises the following steps:
if the satellite orbit height is H, the satellite point velocity is v, the laser beam is n, the included angle between beams is alpha and the transmitting frequency is a, the minimum value X of the laser footprint center position interval is calculated by adopting the following mode:
wherein X is v Representing the distance value X of the laser footprint gap generated by the same laser at adjacent emission time α Representing the distance value of the laser footprint gap generated by adjacent lasers at the same transmitting moment, min { X } v ,X α ,|X v -X α The | } represents the minimum distance value of the laser footprint interval generated by different lasers at adjacent moments;
step two, calculating the diameter of a single laser footprint according to the orbit height and the divergence angle of the satellite-borne earth laser altimeter, comprising the following steps:
if the orbit height of the satellite around the earth is H and the divergence angle of the laser altimeter is theta, the diameter R of the laser footprint is calculated by adopting the following mode:
determining a detector layout method according to the laser footprint interval, the size and the expected number of the captured footprints, wherein the method comprises the following steps:
step 3.1, determining the distance D between each laser detector in each detector area array according to the single laser footprint diameter R calculated in the step two and the requirement that at least 1 laser detector captures laser footprint light spots; if at least 1 laser detector is required to respond to the satellite-borne earth laser altimeter, thenAt most 4 laser detectors respond to the satellite-borne earth laser altimeter;
and 3.2, determining the distance between adjacent detector arrays and the number of the detector array layout according to the minimum X of the interval between the central positions of the laser marks calculated in the step one and the number of the expected captured footprint light spots.
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|---|---|---|---|---|
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