GB2559235A - Agile satellite target decomposition method and system based on push-broom trajectory - Google Patents
Agile satellite target decomposition method and system based on push-broom trajectory Download PDFInfo
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
When a target is in range of a satellite, a minimum swath width (eta) is calculated to account for attitude changes of the satellite, and represent the width which is certain to be within targeting range of the satellite. A push-broom trajectory, which represents the projection of the satellites path onto the imaged surface, is calculated using the minimum strip width and the boundaries of the targeted region. The push-broom trajectory and the minimum strip width are then substituted into a model, which uses a conjugate quaternion-based coordinate transformation, to calculate coordinates of the four vertices of the strip. To ensure coverage of the entire region by overlapping strips, the planes containing the push-broom trajectories may be generated recursively. The final strip may be corrected, by shortening it and/or moving it inwards, to avoid redundancies in detection. Strips to cover linear targets may be obtained by fitting using forward matching.
Description
(71) Applicant(s):
National University of Defense Technology
No 47 Yanwachi Street, Kaifu District, Changsha City,
Hunan Province, China (51) INT CL:
G01C 11/00 (2006.01) B64G 1/10 (2006.01) (56) Documents Cited:
CN 106097310 A CN 103927744 B
CN 102479289 A (58) Field of Search:
INT CL B64G, G01C, G05D, G06T
Other: EPODOC, WPI, INSPEC, XPI3E, INTERNET (72) Inventor(s):
Renjie He Wenyuan Yang Yingwu Chen Yuning Chen Jimin Lv Yingguo Chen Cheng Chen Tao Wang Xiaolu Liu Lining Xing Feng Yao Huihui Liu (74) Agent and/or Address for Service:
Handsome I.P. Ltd
27-28 Monmouth Street, BATH, BA1 2AP, United Kingdom (54) Title of the Invention: Agile satellite target decomposition method and system based on push-broom trajectory
Abstract Title: Agile satellite target decomposition method based on a push-broom trajectory related to the targeted surface (57) When a target is in range of a satellite, a minimum swath width (eta) is calculated to account for attitude changes of the satellite, and represent the width which is certain to be within targeting range of the satellite. A push-broom trajectory, which represents the projection of the satellite’s path onto the imaged surface, is calculated using the minimum strip width and the boundaries of the targeted region. The push-broom trajectory and the minimum strip width are then substituted into a model, which uses a conjugate quaternion-based coordinate transformation, to calculate coordinates of the four vertices of the strip. To ensure coverage of the entire region by overlapping strips, the planes containing the push-broom trajectories may be generated recursively. The final strip may be corrected, by shortening it and/or moving it inwards, to avoid redundancies in detection. Strips to cover linear targets may be obtained by fitting using forward matching.
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FIG. 1
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FIG. 6
5/Q
FIG. 8
FIG. 9
X
6/6
FIG. 10
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11013
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FIG. 11
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1109
AGILE SATELLITE TARGET DECOMPOSITION METHOD AND SYSTEM BASED ON PUSH-BROOM TRAJECTORY
This application claims priority to Chinese application number 201611063401.7, filed 28 November 2016, with a title of AGILE SATELLITE TARGET DECOMPOSITION METHOD AND SYSTEM BASED ON PUSH-BROOM TRAJECTORY. The above-mentioned patent application is incorporated herein by reference in its entirety.
TECHNICAL FIELD
The present invention relates to the field of satellite imaging technologies, and in particular, to an agile satellite target decomposition method and system based on a push-broom trajectory.
BACKGROUND
The core of agile satellite imaging target planning lies in reasonably scheduling observation tasks and arranging satellite actions to maximize the benefits of satellite resources. For the planning, diversified observation requirements must be transformed into a standard input of a planning model regardless of using an exact solution method or an intelligent optimization method. This process is usually referred to as task preprocessing. Task preprocessing is used for task planning, and making task preprocessing independent of task planning can reduce the complexity of task planning and improve the solution efficiency.
Target decomposition in task preprocessing is mainly aimed at a regional target. Due to the limitation of a satellite payload width, a regional target cannot be fully covered through single imaging. The regional target needs to be decomposed into multiple single imaging strips, and then observation of the target is achieved by splicing imaging of the multiple single imaging strips. At present, there are mainly two forms of target decomposition: static decomposition and dynamic decomposition. The static decomposition is mainly based on a predefined reference system or a fixed satellite width. The dynamic decomposition is mainly based on a satellite's field of view or a dynamic satellite width.
A typical example of using the predefined reference system decomposition is that a grid reference system (Grid Reference System, GRS)-based decomposition method is used in imaging task planning for an earth observation satellite system in France. The grid reference system-based decomposition method is relatively suitable for a frame-format imaging satellite. For a satellite relying on array detector push-broom imaging, the target decomposition is generally implemented in a form of a strip. The decomposition method is based on two parameters of direction and offset, so as to decompose, in a manner of parallel strips, an irregular region into strips with non-equal lengths. However, the decomposition method does not consider a width change caused by the satellite attitude.
SUMMARY
An objective of the present invention is to provide an agile satellite target decomposition method and system based on a push-broom trajectory, which are not affected by a width change caused by a change of the satellite attitude.
To achieve the above purpose, the present invention provides the following solution:
A satellite target decomposition method based on a push-broom trajectory, including:
acquiring vertex-crossing swinging when a satellite crosses each vertex of a satellite target;
calculating a width corresponding to the minimum swinging in the vertex-crossing swinging as a strip width, where the strip width is a width of each strip after strip division is performed on the satellite; solving two end points of each push-broom trajectory by using the strip width;
calculating a boundary feature point of a corresponding strip according to the two end points of each push-broom trajectory, where the boundary feature point is used to determine a boundary location of the strip;
extending the push-broom trajectory by using the boundary feature point, to obtain a push-broom trajectory vector; and substituting the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, where the calculation model of four vertexes of the strip is a model established by using a conjugate quaternion-based coordinate transformation method and used to calculate coordinates of the four vertexes of the strip.
Optionally, when the satellite target is a regional target, the solving two end points of each push-broom trajectory by using the strip width specifically includes:
determining a normal vector of an initial trajectory plane by using a strip width central angle and a lateral width central angle, where the strip central angle is a central angle of the earth with respect to the strip width, and the lateral width central angle is a central angle of the earth with respect to a compensated width of two sides of the strip;
obtaining normal vectors of all the trajectory planes by using a recursion formula based on the known normal vector of the initial trajectory plane; and calculating a starting point and an ending point of a corresponding push-broom trajectory according to the normal vectors of all the trajectory planes.
Optionally, when the satellite target is a linear target, the solving two end points of each push-broom trajectory by using the strip width specifically includes:
determining a fitting point set by using a forward matching method;
transforming three-dimensional position information of the fitting point set into a two-dimensional plane, to obtain a fitting point set in the two-dimensional plane;
fitting the fitting point set in the two-dimensional plane by using a least square method in the two-dimensional plane, to obtain a fitting parameter of a fitting push-broom trajectory; and calculating two end points of the fitting push-broom trajectory by using the fitting parameter.
Optionally, after the substituting the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, the method further includes:
translating the last strip to obtain a trajectory plane of a corrected last strip, where the last strip is a strip corresponding to the last trajectory plane obtained by the recursion formula;
correcting a boundary feature point of the last strip by using the recursion formula; and correcting the last strip according to the trajectory plane and the boundary feature point of the corrected last strip, to obtain a non-redundant divided strip.
The present invention further discloses a satellite target decomposition system based on a push-broom trajectory, including:
a swinging acquiring module, configured to acquire vertex-crossing swinging when a satellite crosses each vertex of a satellite target;
a strip width module, configured to calculate a width corresponding to the minimum swinging in the vertex-crossing swinging as a strip width, where the strip width is a width of each strip after strip division is performed on the satellite;
an end point solving module, configured to solve two end points of each push-broom trajectory by using the strip width;
a boundary calculation module, configured to calculate a boundary feature point of a corresponding strip according to the two end points of each push-broom trajectory, where the boundary feature point is used to determine a boundary location of the strip;
a trajectory extension module, configured to extend the push-broom trajectory by using the boundary feature point, to obtain a push-broom trajectory vector; and a model calculation module, configured to substitute the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, where the calculation model of four vertexes of the strip is a model established by using a conjugate quaternion-based coordinate transformation method and used to calculate coordinates of the four vertexes of the strip.
Optionally, when the satellite target is a regional target, the end point solving module includes: an initial normal vector unit, configured to determine a normal vector of an initial trajectory plane by using a strip width central angle and a lateral width central angle, where the strip central angle is a central angle of the earth with respect to the strip width, and the lateral width central angle is a central angle of the earth with respect to a compensated width of two sides of the strip;
a trajectory plane obtaining unit, configured to obtain normal vectors of all the trajectory planes by using a recursion formula based on the known normal vector of the initial trajectory plane, to obtain all the trajectory planes; and a two-end-point solving unit, configured to calculate a starting point and an ending point of a corresponding push-broom trajectory according to the normal vectors of all the trajectory planes.
Optionally, when the satellite target is a linear target, the end point solving module includes: a fitting point set determining unit, configured to determine a fitting point set by using a forward matching method;
a two dimension transforming unit, configured to transform three-dimensional position information of the fitting point set into a two-dimensional plane, to obtain a fitting point set in the two-dimensional plane;
a fitting unit, configured to fit the fitting point set in the two-dimensional plane by using a least square method in the two-dimensional plane, to obtain a fitting parameter of a fitting push-broom trajectory; and a two-end-point calculating unit, configured to calculate two end points of the fitting push-broom trajectory by using the fitting parameter.
Optionally, the system further includes:
a strip translating module, configured to translate the last strip to obtain a trajectory plane of the corrected last strip, where the last strip is a strip corresponding to the last trajectory plane obtained by the recursion formula;
a boundary correcting module, configured to correct a boundary feature point of the last strip by using the recursion formula; and a strip correcting module, configured to correct the last strip according to the trajectory plane and the boundary feature point of the corrected last strip, to obtain a non-redundant divided strip.
According to specific embodiments provided in the present invention, the present invention discloses the following technical effects: a width corresponding to the minimum swinging in vertex-crossing swinging is selected as a strip width, so that it is ensured that the strip is completely covered and the utilization rate of a satellite width is increased.
BRIEF DESCRIPTION OF THE DRAWINGS
To describe the technical solutions in the embodiments of the present invention or in the prior art more clearly, the following briefly describes the accompanying drawings required for describing the embodiments. Apparently, the accompanying drawings in the following description show some embodiments of the present invention, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts.
FIG. 1 is a method flowchart of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 2 is a method flowchart of solving two end points of a push-broom trajectory for a regional target of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 3 is a method flowchart of solving two end points of a push-broom trajectory for a linear target of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 4 is a model structural diagram of a calculation model of four vertexes of the strip established by using a conjugate quaternion-based coordinate transformation method of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 5 is a structural diagram of a decomposed coordinate system of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 6 is a structural diagram of determining a boundary feature point in a decomposed coordinate system of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 7 is a structural diagram of a determined trajectory plane corresponding to the first strip of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 8 is a strip structural diagram after strip translation during a strip correction process of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 9 is a strip structural diagram after a strip length is corrected during a strip correction process of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention;
FIG. 10 is a structural diagram of a fitted coordinate system established during a target decomposition process for a linear target of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention; and
FIG. 11 is a system structural diagram of an embodiment of a satellite target decomposition system based on a push-broom trajectory according to the present invention.
DETAILED DESCRIPTION
The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
To make objectives, features, and advantages of the present invention more comprehensible, the following describes the present invention in more detail with reference to accompanying drawings and specific implementations.
FIG. 1 is a method flowchart of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to FIG. 1, the satellite target decomposition method based on a push-broom trajectory includes:
Step 101. Acquire vertex-crossing swinging when a satellite crosses each vertex of a satellite target;
Step 102. Calculate a width corresponding to the minimum swinging in the vertex-crossing swinging as a strip width, where the strip width is a width of each strip after strip division is performed on the satellite;
Step 103. Solve two end points of each push-broom trajectory by using the strip width;
Step 104. Calculate a boundary feature point of a corresponding strip according to the two end points of each push-broom trajectory, where the boundary feature point is used to determine a boundary location of the strip;
Step 105. Extend the push-broom trajectory by using the boundary feature point, to obtain a push-broom trajectory vector; and
Step 106. Substitute the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, where the calculation model of four vertexes of the strip is a model established by using a conjugate quaternion-based coordinate transformation method and used to calculate coordinates of the four vertexes of the strip.
FIG. 2 is a method flowchart of solving two end points of a push-broom trajectory for a regional target of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to FIG. 2, when the satellite target is a regional target, the solving two end points of each push-broom trajectory by using the strip width specifically includes:
Step 201. Determine a normal vector of an initial trajectory plane by using a strip width central angle and a lateral width central angle, where the strip central angle is a central angle of the earth with respect to the strip width, and the lateral width central angle is a central angle of the earth with respect to a compensated width of two sides of the strip;
Step 202. Obtain normal vectors of all the trajectory planes by using a recursion formula based on the known normal vector of the initial trajectory plane, to obtain all the trajectory planes; and
Step 203. Calculate a starting point and an ending point of a corresponding push-broom trajectory according to the normal vectors of all the trajectory planes.
FIG. 3 is a method flowchart of solving two end points of a push-broom trajectory for a linear target of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to FIG. 3, when the satellite target is a linear target, the solving two end points of each push-broom trajectory by using the strip width specifically includes:
Step 301. Determine a fitting point set by using a forward matching method;
Step 302. Transform three-dimensional position information of the fitting point set into a two-dimensional plane, to obtain a fitting point set in the two-dimensional plane;
Step 303. Fit the fitting point set in the two-dimensional plane by using a least square method in the two-dimensional plane, to obtain a fitting parameter of a fitting push-broom trajectory; and
Step 304. Calculate two end points of the fitting push-broom trajectory by using the fitting parameter.
Optionally, after the substituting the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, the method further includes:
translating the last strip to obtain a trajectory plane of a corrected last strip, where the last strip is a strip corresponding to the last trajectory plane obtained by the recursion formula;
correcting a boundary feature point of the last strip by using the recursion formula; and correcting the last strip according to the trajectory plane and the boundary feature point of the corrected last strip, to obtain a non-redundant divided strip.
In this embodiment of the present invention, the spatial geometry calculation is used, that is, the earth is approximately spherical, and the geodesic latitude and longitude coordinates are transformed into spatial rectangular coordinates. It is defined that axis x in the spatial rectangular coordinate system points to the intersection point of 0° longitude and 0° latitude, axis z points to the north pole, and the axis y is determined from the right-hand system. Therefore, a transformation relationship between geodesic latitude and longitude coordinates (α, β, y) and spatial rectangular coordinates (x, y, z) is:
wherein, a is the latitude, β is the longitude, y is the height and usually is 0, and Re is the mean radius of the earth. When y>0, the following is obtained:
a = arcsin (z/(/ + P,)) < β = arccos
When y<0, the following is obtained:
a = arcsin (ζ/(Ζ + 7ζ)) f .. A β = - arccos (/+¾) γ = y/x2 + y2 +z2 - Re cos a
A process of establishing a calculation model of four vertexes of the strip in the present invention is specifically described below.
FIG. 4 is a model structural diagram of a calculation model of four vertexes of the strip established by using a conjugate quaternion-based coordinate transformation method of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to FIG. 4, it is assumed that a geodesic latitude and longitude coordinate of a starting point of a push-broom trajectory is Vs (as,Ps,fy, a geodesic latitude and longitude coordinates of an ending point is Ve{ae,fie,Q) , and spatial rectangular coordinates after transformation are vs{xs,ys,zs} and v(, (xe,ye,ze) respectively, so that a plane where the push-broom trajectory is located during imaging can be uniquely determined according to the starting point and ending point of the push-broom trajectory and the center of earth, namely, a trajectory plane, and a normal vector of the trajectory plane is n = '( /!’, .
When a satellite has a fixed field of view, the width of the satellite relative to the earth is constantly changing due to constant change of an optical axis relative to the earth during the imaging process. The model fixes a width of a single strip to be a width d corresponding to the minimum swinging in the vertex-crossing swinging, to ensure that the strip is completely covered. Both sides Vs Ve and Vs +Ve + of a strip are respectively inferior arcs of a spherical small circle formed after a plane parallel to the trajectory plane intersects with a spherical plane. A distance between a plane in which both sides fy fy ar|d of the strip are located and parallel to the trajectory plane and the trajectory plane is:
d = R sin p e 2Re
Sides Vs Vs + and Ve Ve + of two ends of the strip are respectively inferior arcs of a spherical great circle formed after a plane that crosses the starting point of the push-broom trajectory and parallel to the trajectory plane intersects with a spherical plane. Accordingly, four vertexes of the strip can be determined according to four-element transformation, and the method is as follows.
A central angle of the spherical great circle with respect to the strip width is δ = d/R, and spatial rectangular coordinates of the strip vertex at a Vs end are obtained by using a quaternion-based coordinate transformation method:
< =as°L°a where Qi=qQ+q = qQ+qii + q2.i + q3k and Q/=q0—q are conjugate quaternions of Qi, i , ? δ j , and k are three imaginary units, and q0 , qlt q2,and q3 are real numbers, and q0 = COS— and q =7γτγ-rysin—. Similarly, the strip vertex at a V end is as follows:
||(ζχίϊ|| 4 < u =22°uo22
X = 02 °l°22 &
where Q2=q'„+q' and Q2 =q’o —q’ are conjugate quaternions, and q'o = COS— and q'=n=—guSin —. Accordingly, geodesic latitude and longitude coordinates of four vertexes of the strip Rxfi 4
UXX+X can βθ obtained by using coordinate system transformation. Using this model, the coordinates of the four vertexes of the strip can be obtained according to coordinates of the starting point and ending point of the push-broom trajectory, and a vector A = (Ps,Pe) is called a vector of the push-broom trajectory.
When the satellite target is a regional target, a decomposed coordinate system needs to be established first, then a boundary feature point is determined under the decomposed coordinate system, and the strip is divided after the boundary feature point is determined.
FIG. 5 is a structural diagram of a decomposed coordinate system of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to FIG. 5, the following method is used to establish a decomposed coordinate system:
First, geodesic latitude and longitude coordinates of a regional target are transformed into spatial rectangular coordinates to obtain a coordinate set of vertexes of the regional target:
{(uuX|z'=l,2, ... ,«}
Then, a geometric center Ctarget of the regional target is:
f-Συ -Συ ^-Σ-Ί
V7 ,=1 n ,=1 n ,=1 )
A direction of a sub-satellite point ground speed v is a direction of a sub-satellite point ground speed at a central time. The central time is referred to as a central time point of the earliest vertex-crossing time and the latest vertex-crossing time when the satellite crosses a target vertex. According to a decomposition angle Θ, a decomposition direction can be obtained by performing rotation transformation on the sub-satellite point ground speed vm . The rotation may be performed by using a quaternion-based coordinate transformation or coordinate system transformation method. A coordinate system transformation method is used as an example for illustration below.
vm is rotated by an angle of Θ, and then a unit vector of a direction of a rotation axis is r(Y3,j3,z3).
-> r x vm , ,
A new coordinate system is established by using r as axis z , the direction 773—ΣΣΊϊ= (^2^2^2) as axis lr xv™|| fxv xf , λ y , and the direction 773———— = (x^y^zA as axis x . Then, a basis matrix of the coordinate system is: rxv xr X1 x2 x3
Λ Λ y3
->T-t
The coordinate of v in the new coordinate system is V = B lV = B1V .That v is rotated around m · n m m m r by an angle of Θ is equivalent to that vn is rotated around axis z by an angle of Θ. The coordinate after rotation is vr = BRz^—6^vn = BRz(M)}BTvm, where Rz (—θ') is a basis rotation matrix around axis z,and
A (¢) = cos Θ sin Θ 0 -sin# cos# 0
0 1
If axis x or axis y is used, a corresponding rotation matrix is:
| 1 | 0 | 0 | cos# | 0 | -sin# | ||
| A (¢) = | 0 | cos# | sin# | and fy,(#) = | 0 | 1 | 0 |
| 0 | -sin# | cos# | sin# | 0 | cos# |
As shown in FIG. 5, axis z is established in a direction of iargei,axis is established in a direction of
C x v 'ars<'' r, anc| axjs x js determined according to a right-hand relationship, so that a decomposed 20 coordinate system is obtained, and a trajectory plane of each strip is parallel to axis x when a target is decomposed.
FIG. 6 is a structural diagram of determining a boundary feature point in a decomposed coordinate system of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to FIG. 6, a boundary feature point is determined mainly for convenience of calculating the number of strips and calculating boundary positions of the strips. The determination process is performed based on the decomposed coordinate system. Since the push broom is based on a trajectory, the trajectory plane of the strip is parallel to axis x . The largest included angle formed by a spherical great circle that crosses a target vertex and parallel to axis X can be transformed into an included angle of a plane normal vector of the spherical great circle and axis z . Normal vectors w and n+ form the smallest included angle and the largest included angle with axis z respectively, corresponding trajectory planes P and P+ are formed, and corresponding target vertexes v_ and v+ are boundary feature points. If p represents a vertex vector, ex and ez are a unit vector of axis x and a unit vector of axis z respectively, and a normal vector is determined by using the following formula:
n = pzex
An included angle calculation formula is determined as follows:
h-e <p = (n,ez} = arccos11/7II
FIG. 7 is a structural diagram of a determined trajectory plane corresponding to the first strip of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to FIG. 7, if a strip width central angle is 77 = d/Re , and a lateral width central angle is τ , so that a normal vector of an initial trajectory plane is , =^, \nConsidering an attitude control error during imaging and possible gaps between the strips, a coincidence ratio λ of the strips is introduced. In this case, the number of strips is (1-2)/7
After the normal vector of the initial trajectory plane is obtained, a recursion formula for obtaining normal vectors of other trajectory planes is
P =^(0-2)//)^4
After normal vectors of all the trajectory planes are determined, the starting and ending points of each push-broom trajectory can be solved, that is, the two end points ofthe push-broom trajectory.
After the two end points of each push-broom trajectory are obtained, coordinates of four vertexes of each strip can be solved, so as to divide the strips.
The present invention further discloses a method for correcting a strip. Generally, after the strips are divided, unilateral large redundancy may exist in the last strip, that is, a width of the last strip is too large and exceeds a width of a region that the target is not covered. The present invention realizes the correction of the unilateral large redundant phenomenon by using the method for correcting the last strip.
FIG. 8 is a strip structural diagram after strip translation during a strip correction process of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
FIG. 9 is a strip structural diagram after a strip length is corrected during a strip correction process of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention
Referring to FIG. 8, the last strip is translated inward first. The translation is equivalent to correcting the trajectory plane of the last strip, so that a formula for deriving the normal vector of a divided trajectory plane of the target strip is obtained as follows:
R.,\ Ft-τ \n ((1 “A) 77) ft,.,
V τ--ft = 1 < i < N -1,, i is an integer
7= N
The correction of the trajectory plane can solve the problem of large unilateral redundancy and avoid the observation for an invalid region. However, observation redundancy still exists mainly in the length of a strip, so that the second step is to correct the solution of a boundary feature point. Referring to FIG. 9, a correction strategy is to correct a boundary feature point of the last strip according to the recursion formula Error! Reference source not found., that is nN = 7ζ((ΐ-λ)η^ηΝ Ι . Observation and redundant observation for an invalid region can be avoided through the correction of the trajectory plane and the boundary feature point of the last strip.
When the satellite target is a linear target, the specific explanation of the linear target decomposition is as follows.
Linear targets are newly emerging targets that are specifically targeted at non-trajectory imaging of satellite with an active push-broom capability. Since the described linear object has a larger number of vertexes, to reduce the time window calculation for many vertexes and improve the efficiency of the target visibility calculation, a boundary feature point is mainly extracted by extracting a linear feature so as to reduce the number of points that describe the shape features. The extraction of the boundary feature point mainly aims at the least division of strips. The starting and ending points of the push-broom trajectory that divide a strip can be regarded as the boundary feature point of the linear target. The following two points are considered for the reason why the least division of strips is an optimization objective.
(1) Covering a target with a minimum number of strips can reduce a number of attitude maneuvers between strips.
(2) Covering a target with a minimum number of strips can reduce the increase in time of attitude transformation between strips that is caused by excessive changes in the direction of the strips.
For the decomposition of the linear target, the present invention adopts a trajectory fitting algorithm under a forward matching method to optimize. The trajectory fitting means that the push-broom trajectory of the strip is fitted through a multi-vertex linear fitting by using a least square method, and the vertexes are continuously selected according to an original order. The forward matching means that when the trajectory fitting is performed, a subsequent vertex is preferentially included in a sequence of fitting points of a previous strip under the premise of ensuring coverage.
Points of a fitting point set are provided with three-dimensional position information. The basic idea of fitting is that after transformed to a two-dimensional plane, the three-dimensional position information is linearly fitted by using the least squares method; after a fitting parameter is obtained, the end points are calculated and transformed to three-dimensional coordinates; and then appropriate extension is made according to the fitting point set to obtain a push-broom trajectory vector.
FIG. 10 is a structural diagram of a fitted coordinate system established during a target decomposition process for a linear target of an embodiment of a satellite target decomposition method based on a push-broom trajectory according to the present invention.
Referring to Figure 10, the establishment of a two-dimensional plane requires to select a suitable transformation coordinate system, to avoid undue distortion of the target shape information. After the fitted coordinate system is established, the target position is transformed into the coordinate system and the principal component information of the two dimensions is retained, so as to realize the transformation of the two-dimensional plane. Geodesic latitude and longitude coordinates of the fitting point set are transformed into the spatial rectangular coordinate system, so that the fitting point set can be expressed as M = |z = 1,2, the intersection of a geometric center vector and the earth's surface is expressed as the origin of the fitted coordinate system, and a calculating formula is:
The fitted coordinate system is established by using o as a direction of axis z, using as a direction of axis y , and determining axis x according to a right-handed system.
The fitting point set is transformed to the fitted coordinate system, the coordinate z is removed, and two-dimension coordinates of the fitting point set in the plane oxy af659ter transformation are obtained. Then, a least squares method is used to fit a sequence of fitting points into a model y = ax + b, and a parameter calculation formula is as follows:
V xy-rix-y a = ^~2-— < x -nx b = y - ax
Further, the solved ends Vs and Ve are transformed to the original spatial rectangular coordinate system, and a trajectory plane is established based on the two ends. A boundary feature point is determined according to the fitting point set, and appropriate extension is made so as to obtain a push-broom trajectory vector.
Whether the fitting point set is covered by the strip is judged based on whether a distance from the point to the trajectory plane is less than a limit distance dp . If a unit normal vector of the push-broom trajectory plane is n, a divided strip covering point v. must satisfy the following conditions:
vi-n<dp
FIG. 11 is a system structural diagram of an embodiment of a satellite target decomposition system based on a push-broom trajectory according to the present invention.
Referring to FIG. 11, the satellite target decomposition system based on a push-broom trajectory includes:
a swinging acquiring module 1101, configured to acquire vertex-crossing swinging when a satellite crosses each vertex of a satellite target;
a strip width module 1102, configured to calculate a width corresponding to the minimum swinging in the vertex-crossing swinging as a strip width, where the strip width is a width of each strip after strip division is performed on the satellite;
an end point solving module 1103, configured to solve two end points of each push-broom trajectory by using the strip width;
a boundary calculation module 1104, configured to calculate a boundary feature point of a corresponding strip according to the two end points of each push-broom trajectory, where the boundary feature point is used to determine a boundary location of the strip;
a trajectory extension module 1105, configured to extend the push-broom trajectory by using the boundary feature point, to obtain a push-broom trajectory vector; and a model calculation module 1106, configured to substitute the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, where the calculation model of four vertexes of the strip is a model established by using a conjugate quaternion-based coordinate transformation method and used to calculate coordinates of the four vertexes of the strip.
Optionally, when the satellite target is a regional target, the end point solving module 1103 includes: an initial normal vector unit, configured to determine a normal vector of an initial trajectory plane by using a strip width central angle and a lateral width central angle, where the strip central angle is a central angle of the earth with respect to the strip width, and the lateral width central angle is a central angle of the earth with respect to a compensated width of two sides of the strip;
a trajectory plane obtaining unit, configured to obtain normal vectors of all the trajectory planes by using a recursion formula based on the known normal vector of the initial trajectory plane, to obtain all the trajectory planes; and a two-end-point solving unit, configured to calculate a starting point and an ending point of a corresponding push-broom trajectory according to the normal vectors of all the trajectory planes.
Optionally, when the satellite target is a linear target, the end point solving module 1103 includes: a fitting point set determining unit, configured to determine a fitting point set by using a forward matching method;
a two dimension transforming unit, configured to transform three-dimensional position information of the fitting point set into a two-dimensional plane, to obtain a fitting point set in the two-dimensional plane;
a fitting unit, configured to fit the fitting point set in the two-dimensional plane by using a least square method in the two-dimensional plane, to obtain a fitting parameter of a fitting push-broom trajectory; and a two-end-point calculating unit, configured to calculate two end points of the fitting push-broom trajectory by using the fitting parameter.
Optionally, the system further includes:
a strip translating module 1107, configured to translate the last strip to obtain a trajectory plane of the corrected last strip, where the last strip is a strip corresponding to the last trajectory plane obtained by the recursion formula;
a boundary correcting module 1108, configured to correct a boundary feature point of the last strip by using the recursion formula; and a strip correcting module 1109, configured to correct the last strip according to the trajectory plane and the boundary feature point of the corrected last strip, to obtain a non-redundant divided strip.
Each embodiment of the present specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts between the embodiments may refer to each other. For a system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and reference can be made to the method description.
Several examples are used for illustration of the principles and implementation methods of the present invention. The description of the embodiments is used to help illustrate the method and its core principles of the present invention. In addition, those skilled in the art can make various modifications in terms of specific embodiments and scope of application in accordance with the teachings of the present invention. In conclusion, the contents of this specification shall not be construed as a limitation to the invention.
Claims (8)
1. A satellite target decomposition method based on a push-broom trajectory, comprising: acquiring vertex-crossing swinging when a satellite crosses each vertex of a satellite target; calculating a width corresponding to the minimum swinging in the vertex-crossing swinging as a strip width, wherein the strip width is a width of each strip after strip division is performed on the satellite; solving two end points of each push-broom trajectory by using the strip width;
calculating a boundary feature point of a corresponding strip according to the two end points of each push-broom trajectory, wherein the boundary feature point is used to determine a boundary location of the strip;
extending the push-broom trajectory by using the boundary feature point, to obtain a push-broom trajectory vector; and substituting the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, wherein the calculation model of four vertexes of the strip is a model established by using a conjugate quaternion-based coordinate transformation method and used to calculate coordinates of the four vertexes of the strip.
2. The method according to claim 1, wherein when the satellite target is a regional target, the solving two end points of each push-broom trajectory by using the strip width specifically comprises:
determining a normal vector of an initial trajectory plane by using a strip width central angle and a lateral width central angle, wherein the strip central angle is a central angle of the earth with respect to the strip width, and the lateral width central angle is a central angle of the earth with respect to a compensated width of two sides of the strip;
obtaining normal vectors of all the trajectory planes by using a recursion formula based on the known normal vector of the initial trajectory plane; and calculating a starting point and an ending point of a corresponding push-broom trajectory according to the normal vectors of all the trajectory planes.
3. The method according to claim 1, wherein when the satellite target is a linear target, the solving two end points of each push-broom trajectory by using the strip width specifically comprises:
determining a fitting point set by using a forward matching method;
transforming three-dimensional position information of the fitting point set into a two-dimensional plane, to obtain a fitting point set in the two-dimensional plane;
fitting the fitting point set in the two-dimensional plane by using a least square method in the two-dimensional plane, to obtain a fitting parameter of a fitting push-broom trajectory; and calculating two end points of the fitting push-broom trajectory by using the fitting parameter.
4. The method according to claim 2, wherein after the substituting the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, the method further comprises:
translating the last strip to obtain a trajectory plane of a corrected last strip, wherein the last strip is a strip corresponding to the last trajectory plane obtained by the recursion formula;
correcting a boundary feature point of the last strip by using the recursion formula; and correcting the last strip according to the trajectory plane and the boundary feature point of the corrected last strip, to obtain a non-redundant divided strip.
5. A satellite target decomposition system based on a push-broom trajectory, comprising:
a swinging acquiring module, configured to acquire vertex-crossing swinging when a satellite crosses each vertex of a satellite target;
a strip width module, configured to calculate a width corresponding to the minimum swinging in the vertex-crossing swinging as a strip width, wherein the strip width is a width of each strip after strip division is performed on the satellite;
an end point solving module, configured to solve two end points of each push-broom trajectory by using the strip width;
a boundary calculation module, configured to calculate a boundary feature point of a corresponding strip according to the two end points of each push-broom trajectory, wherein the boundary feature point is used to determine a boundary location of the strip;
a trajectory extension module, configured to extend the push-broom trajectory by using the boundary feature point, to obtain a push-broom trajectory vector; and a model calculation module, configured to substitute the push-broom trajectory vector and the strip width into a calculation model of four vertexes of the strip, to obtain coordinates of the four vertexes of the strip, wherein the calculation model of four vertexes of the strip is a model established by using a conjugate quaternion-based coordinate transformation method and used to calculate coordinates of the four vertexes of the strip.
6. The system according to claim 5, wherein when the satellite target is a regional target, the end point solving module comprises:
an initial normal vector unit, configured to determine a normal vector of an initial trajectory plane by using a strip width central angle and a lateral width central angle, wherein the strip central angle is a central angle of the earth with respect to the strip width, and the lateral width central angle is a central angle of the earth with respect to a compensated width of two sides of the strip;
a trajectory plane obtaining unit, configured to obtain normal vectors of all the trajectory planes by using a recursion formula based on the known normal vector of the initial trajectory plane; and a two-end-point solving unit, configured to calculate a starting point and an ending point of a corresponding push-broom trajectory according to the normal vectors of all the trajectory planes.
7. The system according to claim 5, wherein when the satellite target is a linear target, the end point solving module comprises:
a fitting point set determining unit, configured to determine a fitting point set by using a forward 5 matching method;
a two dimension transforming unit, configured to transform three-dimensional position information of the fitting point set into a two-dimensional plane, to obtain a fitting point set in the two-dimensional plane;
a fitting unit, configured to fit the fitting point set in the two-dimensional plane by using a least square method in the two-dimensional plane, to obtain a fitting parameter of a fitting push-broom trajectory; and
10 a two-end-point calculating unit, configured to calculate two end points of the fitting push-broom trajectory by using the fitting parameter.
8. The system according to claim 6, further comprising:
a strip translating module, configured to translate the last strip to obtain a trajectory plane of the corrected last strip, wherein the last strip is a strip corresponding to the last trajectory plane obtained by the
15 recursion formula;
a boundary correcting module, configured to correct a boundary feature point of the last strip by using the recursion formula; and a strip correcting module, configured to correct the last strip according to the trajectory plane and the boundary feature point of the corrected last strip, to obtain a non-redundant divided strip.
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Application No: GB1719609.8 Examiner: Dr Maurice Blount
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