WO2018014433A1 - 一种快速旋转超大幅宽摆扫成像方法和装置 - Google Patents

一种快速旋转超大幅宽摆扫成像方法和装置 Download PDF

Info

Publication number
WO2018014433A1
WO2018014433A1 PCT/CN2016/097809 CN2016097809W WO2018014433A1 WO 2018014433 A1 WO2018014433 A1 WO 2018014433A1 CN 2016097809 W CN2016097809 W CN 2016097809W WO 2018014433 A1 WO2018014433 A1 WO 2018014433A1
Authority
WO
WIPO (PCT)
Prior art keywords
satellite
imaging
detector
width
orbit
Prior art date
Application number
PCT/CN2016/097809
Other languages
English (en)
French (fr)
Inventor
曹喜滨
金光
王峰
徐伟
Original Assignee
哈尔滨工业大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 哈尔滨工业大学 filed Critical 哈尔滨工业大学
Priority to US15/542,207 priority Critical patent/US10598488B2/en
Publication of WO2018014433A1 publication Critical patent/WO2018014433A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
    • B64G1/1021—Earth observation satellites
    • 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
    • B64G1/242—Orbits and trajectories
    • 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
    • B64G1/242—Orbits and trajectories
    • B64G1/2423—Sun-synchronous orbits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • 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

Definitions

  • the present invention relates to the field of imaging technology, and in particular, to a method and apparatus for rapidly rotating ultra-large-width wide sweep imaging.
  • Push-broom imaging for, for example, civilian satellites typically collects a line of images at a time by placing the detector for imaging in a direction perpendicular to the direction of flight of the satellite.
  • the range of the image depends on the field of view of the Charge-coupled Device (CCD) in the detector.
  • CCD Charge-coupled Device
  • multiple CCD stitching or simultaneous camera tilting capability can be used to achieve a wider field of view.
  • the satellite's sweep imaging uses a mirror to reflect light into the detector, and uses the mirror's reciprocating swing to collect measurements on one pixel. This type of imaging moving part is very expensive and easily damaged, and the field of view is limited.
  • Chinese Patent Application No. CN201410151609.9 A method for attitude control of moving medium imaging satellite based on incremental drift angle" relates to a moving medium imaging The satellite attitude control method selects the current target pose of the satellite as the reference datum, solves the increment of the drift angle, and uses the updated reference pose matrix as the target pose matrix during the attitude control, so that the satellite attitude can track the upper target pose.
  • Chinese Patent Application No. CN201410163903.1 A New Agile Satellite Maneuvering Imaging Method", which establishes a CCD image plane in a satellite model, obtains an image motion velocity vector and a drift angle through projection calculation, and controls the satellite's yaw angle for bias current.
  • the object of the present invention is to solve the method that can only perform static push-scan imaging, large-angle dynamic push-scan imaging or satellite static mirror swing imaging for satellites, and cannot satisfy the ultra-wide-width imaging of the ground area, and cannot solve the problem of two satellites adjacent to each other.
  • a seamless mosaic imaging problem between orbital imaging regions, and a satellite rapid rotation ultra-wide-width sweep imaging method is proposed.
  • the present invention proposes a method for realizing ultra-widewidth wide sweep imaging by using satellite rapid rotation.
  • the linear array CCD is parallel to the flight direction of the satellite, and the 360° continuous spin of the detector enables the sweep and push sweep to achieve maximum satellite-to-ground imaging coverage.
  • a fast rotation ultra-wide-width sweep imaging method comprising:
  • Step 1 Calculate the field of view L 1 of the detector according to the angle of view ⁇ of the detector of the satellite and the height h of the satellite orbit, indicating the width L 1 of the flight direction;
  • Step 2 Set the distance L 2 of the optical axis center of the detector on the trajectory of the sub-satellite point of the surface when the imaging is performed twice is less than or equal to the width L 1 of the flight direction, wherein the critical value of L 2 is the amplitude of the flight direction. Width L 1 ;
  • ⁇ is the angular velocity of the satellite in orbit
  • h is the altitude of the satellite orbit
  • R is the radius of the Earth.
  • the spin velocity of the detector in the orbital direction by setting the spin velocity of the detector in the orbital direction to be greater than or equal to the spin speed threshold vz , there is no gap between the two adjacent imaging regions of the detector. If the spin speed of the detector in the direction of the track is set to be lower than v Z , there may be a gap between the two imaged areas.
  • an apparatus for rapidly rotating an ultra-large-width sweep image comprising:
  • a processor for imaging processing, coupled to the memory;
  • a memory coupled to the processor and storing computer executable instructions for performing a method comprising the steps of: when executed by the processor:
  • Step 1 Calculate the field of view L 1 of the detector according to the angle of view ⁇ of the detector and the height h of the satellite orbit, indicating the width L 1 of the flight direction;
  • Step 2 Set the distance L 2 of the optical axis center of the detector on the trajectory of the sub-satellite point of the surface when the imaging is performed twice is less than or equal to the width L 1 of the flight direction, wherein the critical value of L 2 is the amplitude of the flight direction. Width L 1 ;
  • ⁇ is the angular velocity of the satellite in orbit
  • h is the altitude of the satellite orbit
  • R is the radius of the Earth.
  • the present invention proposes a method for realizing ultra-widewidth wide sweep imaging by using satellite rapid rotation.
  • the linear array CCD is parallel to the flight direction of the satellite. It rotates 360° continuously through the detector, and the rapid rotation speed is 1 ⁇ 10°/s.
  • the sweep and push sweep are realized to maximize the coverage of satellite-to-ground imaging and achieve low-to-medium Orbiting satellites are thousands of kilometers of ultra-wide-width sweeping imaging.
  • the invention comprehensively considers the maneuverability and imaging capability of the satellite.
  • the optical axis of the detector is designed along with the satellite during the satellite flight.
  • the forward direction of rotation is imaged in the orbital direction or non-tracking direction, thereby achieving a one-time wide coverage imaging method.
  • the invention discloses a method and a device for rapidly rotating a super-large-width wide sweeping image of a satellite.
  • the method is directed to the problem of limited width in a push-sweep and sweep-scan imaging method adopted on a conventional remote sensing satellite, and during the satellite flight process,
  • the optical axis of the detector moves slowly forward as the satellite advances; as the detector rotates 360° at a constant speed, it moves to the left or right.
  • Make along The imaging width is increased in the track direction or non-track direction to achieve a wide range of coverage imaging purposes.
  • the method of the invention is simple, reliable and easy to implement, expands the imaging range of the push-pull scan, and expands the application field of the push-sweep satellite.
  • the invention is the first reliable method for the rapid rotation of the satellite and the large-width wide sweep imaging and large coverage area proposed for expanding the imaging range.
  • the rotation of the detector can be achieved by the rotation of the detector relative to the satellite platform or by the overall rotation of the entire star structure.
  • the satellite attitude control system can ensure 360° continuous and uniform rotation of the detector.
  • the satellite attitude control system can map the satellite ontology coordinate system to the orbital coordinate system.
  • Axial attitude angle The pitch angle ⁇ and the yaw angle ⁇ are controlled in real time to ensure the uniform spin of the detector.
  • the spin speed is selected to ensure that there is no gap between adjacent imaging regions during the sweeping process, that is, the imaging region 1 and the imaging region are ensured. There is no gap between 2, as shown in Figure 2.
  • FIG. 1 is a schematic diagram of a satellite spin flight according to a first embodiment
  • FIG. 2 is a schematic diagram of a detector coverage area according to a first embodiment.
  • FIG. 3 is a schematic diagram of calculation of the width of the vertical rail according to the first embodiment.
  • FIG. 4 is a schematic diagram of calculation of the width along the rail according to the first embodiment.
  • FIG. 5 is a schematic diagram showing the resolution reduction corresponding to a certain side swing angle imaging according to the first embodiment.
  • FIG. 6 is a corresponding relationship between the satellite side swing angle and the ground imaging resolution according to the first embodiment.
  • FIG. 7 is a schematic diagram of two-track splicing proposed by the embodiment.
  • FIG. 8 is a flow chart of a fast-rotating ultra-wide-width sweep image method in accordance with an embodiment of the present invention.
  • FIG. 9 is a block diagram of an apparatus in accordance with an embodiment of the present invention.
  • One embodiment of the present invention provides a method for rapidly rotating a super-large-width push-scan image of a satellite, which can be specifically performed according to the following steps:
  • Step 1 Calculate the field of view L 1 of the detector according to the angle of view ⁇ of the detector of the satellite and the height of the satellite orbit, and indicate the width L 1 of the flight direction, as shown in FIG. 4;
  • Step 2 Only the gap between the two adjacent imaging areas of the detector can achieve super wide width.
  • the schematic diagram of the imaging area is shown in Fig. 2, that is, the optical axis center of the detector should be set at the subsurface point of the surface when the imaging is performed twice.
  • the upper distance L 2 is less than or equal to the width L 1 of the flight direction, and therefore, the critical value of L 2 can be considered to be the width L 1 of the flight direction;
  • ⁇ is the angular velocity of the satellite in orbit
  • h is the altitude of the satellite orbit
  • R is the radius of the Earth.
  • v Z when the spin speed of the detector in the orbital direction is greater than or equal to the threshold value v Z , there is no gap between two adjacent imaging regions of the detector, and the spin speed of the detector in the orbital direction is low. At v Z , there may be gaps between the two imaging areas, and ultra-wide-width imaging cannot be achieved.
  • the surface resolution of the detector is closely related to the angle of the side sway.
  • a method of fast-rotating ultra-wide-width sweep imaging of a satellite can provide a wide range of side-swing angles by 360° rotation of the detector, but Not with the increase of the side swing angle, the resolution of the detector is higher, only within a certain range of side swing angles. Under the same orbital condition, the larger the side swing angle, the higher the resolution of the detector; Both the high resolution and the seamless splicing of the ground strips may require both the imaging width and the resolution A c to be mutually constrained.
  • the method can also include:
  • Step 4 Combine the inherent characteristic parameters of the detector to select different side swing angles to calculate the resolution A c of the detector under the various orbital conditions to achieve super wide wide imaging; the corresponding relationship between the satellite side swing angle and the resolution is as shown in the figure 6; wherein the inherent characteristic parameters of the detector include pixel size and focal length;
  • Step 5 Since the spin speed threshold v Z and the resolution A c of the detector also determine the magnitude of the CCD horizontal frequency F p , the CCD device has its own limit horizontal frequency, and the detector cannot be normal beyond the limit horizontal frequency. imaging, therefore, in the six step, according to the spin speed threshold detector v Z and A c may be calculated resolution CCD line frequency F p;
  • Step 6 Calculate the curve distance between the two points of the AB on the curve of the satellite orbit corresponding to the central angle 2 ⁇ according to the satellite orbit height h and the earth radius R. Curve distance Representing a width L 5 perpendicular to the satellite orbit;
  • Step 7 As shown in Fig. 2, when the detector is self-rotating, the deformation of both sides of the imaging area is large. Considering the distance between the two tracks, that is, the distance between the two imaging areas, the imaging area can be reduced in the vertical direction.
  • the distance L 6 that is, the overlapping area between the two tracks, uses the method of two-track data splicing; as shown in FIG. 7;
  • step 7 in the sun-synchronous orbit with satellite orbital height h, the time of the satellite orbiting the earth is T, one day the satellite orbits the earth about Q, and the circumference of the equator is l, at the equator, the phase
  • Step 8 If the deformation of both sides of the imaging area is large (for example, exceeding a predetermined range), the value of L 6 may be reduced during image processing, that is, in the case of ensuring seamless splicing between the two tracks, The overlapping area between the two rails can be further reduced to ensure an ultra-large width while avoiding image distortion caused by deformation at both side edges of the imaging area.
  • the present embodiment proposes a method for realizing ultra-large wide sweep image by using satellite fast rotation.
  • the linear array CCD is parallel to the flight direction of the satellite. It rotates 360° continuously through the detector, and the rapid rotation speed is 1 ⁇ 10°/s.
  • the sweep and push sweep are realized to maximize the coverage of satellite-to-ground imaging and achieve low-to-medium Orbital satellite Wide swing scan imaging.
  • the present embodiment comprehensively considers the maneuverability and imaging capability of the satellite.
  • a light axis of the detector is designed during the satellite flight.
  • the satellite rotates in the forward direction and is imaged in the orbital direction or non-tracking direction, thereby achieving a one-time large-scale coverage imaging method.
  • the embodiment discloses a method for rapidly rotating a satellite with a large-width wide swept scanning image. The method is directed to the problem of limited width in the push-sweep and swept-scan imaging methods used in the conventional remote sensing satellite, and the detection is performed during the satellite flight.
  • the optical axis of the instrument slowly moves forward as the satellite advances; as the detector rotates 360° at a constant speed, it moves to the left or right.
  • the imaging width is increased in the orbital direction or in the non-orbital direction to achieve a wide coverage imaging.
  • the method of the present embodiment is simple, reliable, and easy to implement, and expands the imaging range of the push-pull scan, and expands the application field of the push-pull satellite.
  • This embodiment is the first reliable method for the rapid rotation of the satellite and the large-width sweep imaging and large coverage area proposed for expanding the imaging range.
  • the rotation of the detector can be achieved by the rotation of the detector relative to the satellite platform or by the overall rotation of the entire star structure.
  • the satellite attitude control system can ensure 360° continuous rotation of the detector.
  • the satellite attitude control system can map the satellite ontology coordinate system relative to the orbital coordinate system.
  • Axial attitude angle The pitch angle ⁇ and the yaw angle ⁇ are controlled in real time to ensure the uniform spin of the detector.
  • the spin speed is selected to ensure that there is no gap between adjacent imaging regions during the sweeping process, that is, the imaging region 1 and the imaging region are ensured. There is no gap between 2, as shown in Figure 2.
  • Embodiment 2 The width L 5 perpendicular to the track described in step 6 is calculated as follows:
  • Embodiment 3 The width L 1 of the flight direction in the first step is specifically:
  • Embodiment 4 In step 2, L 2 is calculated as follows:
  • Embodiment 5 The resolution A c corresponding to different side swing angle imaging described in step 4 is calculated as follows, as shown in FIG. 6 :
  • ⁇ is the angle between the line of sight and the radius of the earth, L c is the object distance, f is the focal length; a is the pixel size; It is the angle of the satellite side; ⁇ is the projection angle; ⁇ is the angle of the center of the earth.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • a method for rapidly rotating a satellite with a large-width wide sweep is specifically performed according to the following steps:
  • Step 2 Only the gap between the two adjacent imaging areas of the detector can achieve super wide width.
  • the schematic diagram of the imaging area is shown in Fig. 2, that is, the distance L of the center of the detector's optical axis at the subsurface point of the surface during the two imaging. 2 must be less than or equal to the width L 1 of the flight direction. Therefore, the critical value of L 2 can be considered to be the width L 1 of the flight direction; L 2 is calculated as follows:
  • the spin speed of the detector in the orbital direction is greater than or equal to v Z , it can satisfy the gap between two adjacent imaging regions of the detector to achieve ultra-wide-width imaging. If it is lower than v Z , the imaging is twice. There may be gaps between the areas, and super wide and wide imaging cannot be achieved;
  • the spin speed of the detector around the rail By setting the spin speed of the detector around the rail to be less than 9.2 ° / s, it can meet the gap between two adjacent imaging areas of the detector to achieve ultra-wide-width imaging, if less than 9.2 ° / s two There may be gaps between the secondary imaging areas.
  • the surface resolution of the detector is closely related to the angle of the side sway.
  • a method of fast-rotating ultra-wide-width sweep imaging of a satellite can provide a wide range of side-swing angles by 360° rotation of the detector, but It is not that the resolution of the detector is higher with the increase of the side swing angle, but only within a certain range of side swing angles. Under the same orbital condition, the larger the side swing angle is, the higher the resolution of the detector is; Both the resolution and the seamless splicing of the ground strips may require the imaging width and the resolution A c to be mutually constrained;
  • step 4 in order to reduce or eliminate the geometric resolution deformation of the corresponding imaging, in step 4, different side swayes are selected in combination with the characteristic parameters inherent to the detector.
  • the angle is calculated to calculate the corresponding resolution A c when the detector achieves ultra-wide-width imaging under various orbital conditions; the corresponding relationship between the satellite side-swing angle and the resolution is shown in Fig. 6; wherein the inherent characteristic parameters of the detector include the pixel size and focal length;
  • the resolution calculation method corresponding to the different side slant angle imaging is as follows:
  • ⁇ is the angle between the line of sight and the radius of the earth, L c is the object distance, f is the focal length; a is the pixel size; Angle for the satellite side; ⁇ is the projection angle; ⁇ is the angle of the center of the earth
  • Step 5 the speed of the detector v Z and the resolution A c also determine the size of the CCD line frequency F p , and the CCD device has its own limit line frequency, beyond which the detector can not normally image; according to the detection
  • the spin speed threshold v Z and the resolution A c calculate the CCD horizontal frequency F p :
  • a c 1.5m
  • Step 7 As shown in Fig. 2, when the detector is self-rotating, the deformation of both sides of the imaging area is large. Considering the distance between the two tracks, that is, the distance between two adjacent imaging areas, the imaging area can be reduced in the vertical direction.
  • the distance L 6 of the direction that is, the overlapping area between the two tracks, uses the method of two-track data splicing; as shown in FIG. 7;
  • Step 8 If the deformation of both sides of the imaging area is large, the value of L 6 can be reduced by the image processing process, that is, the overlap between the two tracks is reduced in the case of ensuring seamless splicing between the two tracks. Areas to ensure ultra-large width while avoiding image distortion caused by deformation at the edges of both sides of the imaged area.
  • FIG. 8 is a flow diagram of a fast-rotating ultra-wide-width sweep image method 800 in accordance with an embodiment of the present invention.
  • ⁇ is the angular velocity of the satellite in orbit
  • h is the altitude of the satellite orbit
  • R is the radius of the Earth.
  • the method 800 may further include:
  • Step 804 Combining the inherent characteristic parameters of the detector to select different side swing angles to calculate a resolution A c corresponding to the detector in achieving ultra-wide-width imaging under various orbital conditions, wherein the inherent characteristic parameters of the detector include images Meta size and focal length;
  • Step 805 the calculated charge-coupled device CCD detector probe according to the spin speed v Z and the threshold resolution A c line frequency F p:
  • Step 806 Calculate a curve distance between two points of the AB on the curve of the satellite orbit corresponding to the central angle 2 ⁇ according to the satellite orbit height h and the earth radius R. Curve distance Representing a width L 5 perpendicular to the satellite orbit;
  • Step 807 in a sun-synchronous orbit with a satellite orbital height h, a time T around the earth around the earth, a day when the satellite orbits the earth about Q, and the circumference of the equator is l, at the equator, between the adjacent two tracks.
  • the orbital inclination is ⁇
  • the phase is calculated by calculating the width L 5 which is known to be perpendicular to the orbit.
  • Step 808 When the deformation at both side edges of the imaging area exceeds a predetermined range, the value of L 6 is decreased.
  • the vertical width L 5 of the track in step 806 is calculated by the following formula:
  • the width L 1 of the flight direction in step 801 is calculated by the following formula:
  • the distance of L 2 in step 802 is calculated by the following formula:
  • the angular velocity of the satellite in orbit is The linear velocity is ⁇ ⁇ (R + h), and ⁇ is the gravity constant of the Earth.
  • the corresponding resolution A c in step 804 is calculated by the following formula:
  • ⁇ is the angle between the line of sight and the radius of the earth
  • L c is the object distance
  • f is the focal length
  • a is the pixel size
  • It is the angle of the satellite side
  • ⁇ is the projection angle
  • ⁇ is the angle of the center of the earth.
  • FIG. 9 is a block diagram of an apparatus 900 in accordance with an embodiment of the present invention.
  • the apparatus shown in FIG. 9 includes: a detector 901 for imaging; a processor 902; a memory 903 coupled to the processor, and storing a method for performing the following steps when executed by the processor Computer executable instructions:
  • Step 1 Calculate the field of view L 1 of the detector according to the angle of view ⁇ of the detector and the height h of the satellite orbit, indicating the width L 1 of the flight direction;
  • Step 2 Set the distance L 2 of the optical axis center of the detector on the trajectory of the sub-satellite point of the surface when the imaging is performed twice is less than or equal to the width L 1 of the flight direction, wherein the critical value of L 2 is the amplitude of the flight direction. Width L 1 ;
  • ⁇ is the angular velocity of the satellite in orbit
  • h is the altitude of the satellite orbit
  • R is the radius of the Earth.
  • the memory-stored computer-executable instructions are still processed by the processor Execute the method including the following steps when the device is running:
  • Step 4 Combining the inherent characteristic parameters of the detector to select different side swing angles to calculate the corresponding resolution A c of the detector under the various orbital conditions to achieve ultra-wide-width imaging, wherein the inherent characteristic parameters of the detector include images Meta size and focal length;
  • Step 5 Calculate the horizontal frequency F p of the charge coupled device CCD of the detector according to the spin speed threshold v Z and the resolution A c of the detector:
  • Step 6 Calculate the curve distance between the two points of the AB on the curve of the satellite orbit corresponding to the central angle 2 ⁇ according to the satellite orbit height h and the earth radius R. Curve distance Representing a width L 5 perpendicular to the satellite orbit;
  • Step 7 In the sun-synchronous orbit with satellite orbital height h, the time T of the satellite orbiting the earth, one day the satellite orbits the Earth about Q, and the circumference of the equator is l, at the equator, between the adjacent two rails.
  • the orbital inclination is ⁇
  • the phase is calculated by calculating the width L 5 which is known to be perpendicular to the orbit.
  • Step 8 When the deformation at both side edges of the imaging area exceeds a predetermined range, the value of L 6 is decreased.
  • the width L 5 perpendicular to the track in step six is calculated by the following formula:
  • the width L 1 of the flight direction in step one is calculated by the following formula:
  • the distance of L 2 in step two is calculated by the following formula:
  • the angular velocity of the satellite in orbit is The linear velocity is ⁇ ⁇ (R + h), and ⁇ is the gravity constant of the Earth.
  • the corresponding resolution A c in step four is calculated by the following formula:
  • ⁇ is the angle between the line of sight and the radius of the earth
  • L c is the object distance
  • f is the focal length
  • a is the pixel size
  • It is the angle of the satellite side
  • ⁇ is the projection angle
  • ⁇ is the angle of the center of the earth.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Astronomy & Astrophysics (AREA)
  • Signal Processing (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Navigation (AREA)

Abstract

提供一种快速旋转超大幅宽摆扫成像方法和装置。本发明是要解决常规成像方法无法满足地面区域超大幅宽成像，解决单个卫星相邻两轨成像区域之间的无缝拼接成像的问题，而提出的一种可用于卫星的快速旋转超大幅宽摆扫成像方法和装置。该方法可包括：一、计算飞行方向的幅宽L1；二、确定探测器的光轴中心在地表的星下点轨迹上的距离L2的临界值是飞行方向的幅宽L1；三、计算探测器的沿轨方向的自旋速度阈值并设置探测器沿轨方向的自旋速度大于或等于该阈值；进一步地，四、计算各种轨道条件下探测器的实现超大幅宽成像时对应的分辨率Ac；五、计算CCD行频Fp；六、计算垂直于轨道的幅宽L5；七、计算两轨的成像区域之间叠加距离为L6；八、在成像区域两侧边缘处的变形超过预定范围时，减少L6的取值等步骤实现的。本发明应用于超大幅宽摆扫成像领域。

Description

一种快速旋转超大幅宽摆扫成像方法和装置 技术领域
本发明涉及成像技术领域，特别涉及一种快速旋转超大幅宽摆扫成像方法和装置。
背景技术
用于例如民用卫星的推扫成像一般是通过将用于成像的探测器安置在垂直于卫星的飞行方向上，卫星向前飞行的时候，一次收集一行图像。图像的范围大小依据探测器中电荷耦合元件(Charge-coupled Device，CCD)的视场范围而定，一般采用多个CCD拼接或者同时增大相机侧摆能力可实现更大范围的视场。这是目前较通用的光学遥感卫星成像方式。卫星的摆扫成像是使用反射镜将光线反射到探测器内，利用反射镜的往返摆动收集一个像素上的测量值。这种成像方式移动部件非常昂贵且容易损坏，视场范围有限。
现阶段常规卫星均为静态推扫成像或大角度动态推扫成像，中国专利申请号CN201410151609.9“一种基于增量式偏流角的动中成像卫星姿态控制方法”，涉及一种动中成像卫星姿态控制方法，选取卫星当前目标姿态为参考基准，求解偏流角的增量，并将更新后的参考姿态矩阵作为姿态控制时的目标姿态矩阵，使得卫星姿态能够跟踪上目标姿态。中国专利申请号CN201410163903.1“一种新型敏捷卫星机动中成像方法”，该方法在卫星模型中建立CCD像平面，通过投影计算得到像移速度矢量和偏流角，控制卫星的偏航角进行偏流角的修正，满足机动中的成像要求，实现卫星在三轴姿态机动过程中开启光学有效载荷进行成像的动态成像。中国专利申请号CN201510466057.5“反射镜摆动宽幅成像系统及成像方法”，提供了一种反射镜摆动宽幅成像系统，通过摆动反射镜的转动扩大可见光面阵成像相机的成像视场，实现可见光面阵成像相机对星下点的宽度方向进行多角度拍照。
上述技术方案只能针对卫星均为静态推扫成像、大角度动态推扫成像或卫星静态反射镜摆动成像，无法满足地面区域超大幅宽成像，不能解决单个卫星相邻两轨成像区域之间的无缝拼接成像问题。
发明内容
本发明的目的是为了解决只能针对卫星均为静态推扫成像、大角度动态推扫成像或卫星静态反射镜摆动成像的方法，无法满足地面区域超大幅宽成像，不能解决单个卫星相邻两轨成像区域之间的无缝拼接成像问题，而提出的一种卫星快速旋转超大幅宽摆扫成像方法。
本发明在常规卫星推扫和摆扫成像的基础上，提出一种利用卫星快速旋转实现超大幅宽摆扫成像的方法。线阵CCD与卫星飞行方向平行，通过探测器360°连续自旋，同时实现摆扫和推扫，从而实现卫星对地成像覆盖范围的最大化。
根据本发明的一个方面，提供一种快速旋转超大幅宽摆扫成像方法，其特征在于，该方法包括：
步骤一、根据卫星的探测器的视场角η和所述卫星轨道的高度h计算探测器的视场范围L1，表示飞行方向的幅宽L1；
步骤二、设置两次成像时探测器的光轴中心在地表的星下点轨迹上的距离L2为小于或等于飞行方向的幅宽L1，其中，L2的临界值是飞行方向的幅宽L1；
步骤三、取L2的临界值＝L1，根据如下公式计算出探测器的沿轨方向的自旋速度阈值：
Figure PCTCN2016097809-appb-000001
其中，Ω为卫星在轨道上的角速度，h为卫星轨道高度，R为地球半径，
并且设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ。
如此，根据本发明的实施例，通过设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ，满足探测器的两次相邻成像区域之间没有缝隙。如果设置探测器的绕沿轨方向的自旋速度为低于vZ，则两次成像区域之间可能会有缝隙。
根据本发明的另一方面，提供一种用于快速旋转超大幅宽摆扫成像的装置，其特征在于，包括：
探测器，用于成像；
处理器；用于成像处理，耦接于所述存储器；
存储器，耦接于所述处理器，且存储用于在由所述处理器运行时执行包括如下步骤的方法的计算机可执行指令：
步骤一、根据探测器的视场角η和所述卫星轨道的高度h计算探测器的视场范围L1，表示飞行方向的幅宽L1；
步骤二、设置两次成像时探测器的光轴中心在地表的星下点轨迹上的距离L2为小于或等于飞行方向的幅宽L1，其中，L2的临界值是飞行方向的幅宽L1；
步骤三、取L2的临界值＝L1，根据如下公式计算出探测器的沿轨方向的自旋速度阈值：
Figure PCTCN2016097809-appb-000002
其中，Ω为卫星在轨道上的角速度，h为卫星轨道高度，R为地球半径。
并且设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ。
发明效果
本发明在常规卫星推扫和摆扫成像的基础上，提出一种利用卫星快速旋转实现超大幅宽摆扫成像的方法。线阵CCD与卫星飞行方向平行，通过探测器360°连续自旋，快速旋转速度1～10°/s；同时实现摆扫和推扫，实现卫星对地成像覆盖范围的最大化从而实现中低轨道卫星千公里级的超大幅宽摆扫成像。
传统的推扫、摆扫卫星成像，如果要对某一区域完全覆盖，需要多次对该区域重访，即多轨数据拼接；虽然加上侧摆能力可以加大对区域的覆盖能力，但是一次性采集地面数据的时间分辨率和覆盖能力都不能满足当前卫星快速响应的任务需求。
本发明综合考虑了卫星的机动能力和成像能力，依据卫星动态成像的姿态角和姿态角速度的变化及动态变化对成像的影响，设计了一种在卫星飞行过程中，探测器光轴随着卫星的前进方向旋转，在沿轨方向或非沿轨方向成像，从而实现一次性大范围覆盖成像的方法。本发明公开了一种卫星快速旋转超大幅宽摆扫成像的方法和装置，该方法针对传统遥感卫星上采用的推扫、摆扫成像方法中幅宽有限的问题，在卫星飞行过程中，使探测器光轴随着卫星的前进缓慢的向前；随着探测器的360°匀速旋转，向左或右推移。使沿 轨方向或非沿轨方向成像幅宽增大，以实现大范围覆盖成像的目的。本发明方法简单可靠、易行，扩大了推摆扫成像范围，扩展了推摆扫卫星的应用领域。本发明是国内首个针对扩大成像范围提出的卫星快速旋转超大幅宽摆扫成像及大覆盖面积的可靠方法。
探测器的旋转可以通过探测器相对于卫星平台旋转或者随整星结构整体旋转实现。
为实现卫星进动和地球自转情况下卫星对地面大区域探测，卫星姿态控制系统可保证探测器360°连续匀速旋转，成像时卫星姿态控制系统可以对卫星本体坐标系相对于轨道坐标系的三轴姿态角(横滚角
Figure PCTCN2016097809-appb-000003
俯仰角θ，偏航角ψ)进行实时控制，以保证探测器匀速自旋，自旋速度的选取要保证摆扫过程中相邻成像区域之间没有漏缝，即保证成像区域1与成像区域2之间没有缝隙，如图2所示。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为具体实施方式一提出的卫星自旋飞行示意图；
图2为具体实施方式一提出的探测器覆盖区域示意图。
图3为具体实施方式一提出的垂轨幅宽计算示意图。
图4为具体实施方式一提出的沿轨幅宽计算示意图。
图5为具体实施方式一提出的一定侧摆角成像对应的分辨率下降示意图。
图6为具体实施方式一提出的卫星侧摆角与地面成像分辨率对应关系。
图7为实施例提出的两轨拼接示意图。
图8为根据本发明的实施方式的快速旋转超大幅宽摆扫成像方法的流程图。
图9为根据本发明的实施方式的装置的方框图。
具体实施方式
具体实施方式一：本实施方式的一种卫星快速旋转超大幅宽推扫成像方法，具体可以按照以下步骤进行：
步骤一、根据卫星的探测器的视场角η和所述卫星轨道的高度计算探测器的视场范围L1，表示飞行方向的幅宽L1，如图4所示；
步骤二、只有探测器两次相邻的成像区域之间无缝隙才能实现超大幅宽，成像区域示意图见图2，即需要设置两次成像时探测器的光轴中心在地表的星下点轨迹上的距离L2为小于或等于飞行方向的幅宽L1，因此，可认为L2的临界值是飞行方向的幅宽L1；
步骤三、取L2的临界值＝L1，根据如下公式计算出探测器的沿轨方向的自旋速度阈值：
Figure PCTCN2016097809-appb-000004
其中，Ω为卫星在轨道上的角速度，h为卫星轨道高度，R为地球半径。
并且设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ。
如此，当探测器的绕沿轨方向的自旋速度大于等于阈值vZ时，可以满足探测器的两次相邻成像区域之间没有缝隙，如果测器的绕沿轨方向的自旋速度低于vZ，则两次成像区域之间可能会有缝隙，不能实现超大幅宽成像。
在此基础上，探测器的地表分辨率与其侧摆角度大小密切相关，一种卫星快速旋转超大幅宽摆扫成像的方法，通过探测器的360°旋转能够提供大范围的侧摆角，但并不是随着侧摆角的增大，探测器的分辨率越高，只是在一定的侧摆角范围内，相同的轨道条件下，侧摆角越大，探测器的分辨率越高；为兼顾高分辨率和地面条带无缝拼接两方面的要求，可能需要成像幅宽与分辨率Ac相互制约。
这是因为卫星侧摆角度很大时，卫星与地球表面相切程度增大，除了卫星分辨率随着侧摆物距的变化，卫星在地面上的投影角度也变大，对应成像的几何分辨率变形严重，会出现严重的分辨率下降，如图5所示；此时，可能需要减少或消除对应成像的几何分辨率的变形问题。
因此，本方法还可以包括：
步骤四、结合探测器的固有的特征参数选择不同的侧摆角度来计算各种 轨道条件下探测器实现超大幅宽成像时对应的分辨率Ac；卫星侧摆角与分辨率对应关系如图6所示；其中，探测器的固有的特征参数包括像元尺寸和焦距；
步骤五、由于探测器的自旋速度阈值vZ及分辨率Ac也决定了CCD行频Fp的大小，而CCD器件均具有自身的极限行频，超出该极限行频则探测器无法正常成像，因此，在步骤六中，根据探测器自旋速度阈值vZ及分辨率Ac可以计算CCD行频Fp；
Figure PCTCN2016097809-appb-000005
其中Lc为物距，
步骤六、根据卫星轨道高度h和地球半径R，计算圆心角2θ所对应的卫星轨道的曲线上的AB两点之间的曲线距离
Figure PCTCN2016097809-appb-000006
所述曲线距离
Figure PCTCN2016097809-appb-000007
表示垂直于所述卫星轨道的幅宽L5；
步骤七、如图2所示，当探测器自旋成像时，成像区域两侧变形较大，考虑两轨之间即两次成像区域之间的距离，可以减小成像区域在垂直沿轨方向的距离L6，即两轨之间重叠区域，使用两轨数据拼接的方式；如图7所示；
因此，在步骤七中，在卫星轨道高度为h的太阳同步轨道，卫星绕地球一圈的时间为T，一天卫星绕地球约Q圈，赤道周长为l的情况下，在赤道处，相邻两轨之间的距离为L3＝l/Q，在轨道倾角为σ的情况下，两轨之间的直线距离为L4＝L3×sinσ，通过计算已知垂直于轨道的幅宽L5，可计算相邻两轨的成像区域之间的叠加距离为L6＝L5-L4；
步骤八、如果成像区域两侧边缘处变形较大(例如超过预定范围)，可通过在图像处理的过程中减小L6的取值，即在保证两轨之间无缝拼接的情况下，可进一步减小两轨之间重叠区域，以保证实现超大幅宽的同时避免成像区域两侧边缘处的变形带来的图像变形。
本实施方式效果：
本实施方式在常规卫星推扫和摆扫成像的基础上，提出一种利用卫星快速旋转实现超大幅宽摆扫成像的方法。线阵CCD与卫星飞行方向平行，通过探测器360°连续自旋，快速旋转速度1～10°/s；同时实现摆扫和推扫，实现卫星对地成像覆盖范围的最大化从而实现中低轨道卫星千公里级的超大幅 宽摆扫成像。
传统的推扫、摆扫卫星成像，如果要对某一区域完全覆盖，需要多次对该区域重访，即多轨数据拼接；虽然加上侧摆能力可以加大对区域的覆盖能力，但是一次性采集地面数据的时间分辨率和覆盖能力都不能满足当前卫星快速响应的任务需求。
本实施方式综合考虑了卫星的机动能力和成像能力，依据卫星动态成像的姿态角和姿态角速度的变化及动态变化对成像的影响，设计了一种在卫星飞行过程中，探测器光轴随着卫星的前进方向旋转，在沿轨方向或非沿轨方向成像，从而实现一次性大范围覆盖成像的方法。本实施方式公开了一种卫星快速旋转超大幅宽摆扫成像的方法，该方法针对传统遥感卫星上采用的推扫、摆扫成像方法中幅宽有限的问题，在卫星飞行过程中，使探测器光轴随着卫星的前进缓慢的向前；随着探测器的360°匀速旋转，向左或右推移。使沿轨方向或非沿轨方向成像幅宽增大，以实现大范围覆盖成像的目的。本实施方式方法简单可靠、易行，扩大了推摆扫成像范围，扩展了推摆扫卫星的应用领域。本实施方式是国内首个针对扩大成像范围提出的卫星快速旋转超大幅宽摆扫成像及大覆盖面积的可靠方法。
探测器的旋转可以通过探测器相对于卫星平台旋转或者随整星结构整体旋转实现。
为实现卫星进动和地球自转情况下卫星对地面大区域探测，卫星姿态控制系统可以保证探测器360°连续匀速旋转，成像时卫星姿态控制系统可以对卫星本体坐标系相对于轨道坐标系的三轴姿态角(横滚角
Figure PCTCN2016097809-appb-000008
俯仰角θ，偏航角ψ)进行实时控制，以保证探测器匀速自旋，自旋速度的选取要保证摆扫过程中相邻成像区域之间没有漏缝，即保证成像区域1与成像区域2之间没有缝隙，如图2所示。
具体实施方式二：步骤六中所述垂直于轨道的幅宽L5计算如下：
圆心角
Figure PCTCN2016097809-appb-000009
垂直于轨道的幅宽
Figure PCTCN2016097809-appb-000010
具体实施方式三：步骤一中所述飞行方向的幅宽L1具体为：
Figure PCTCN2016097809-appb-000011
具体实施方式四：步骤二中L2计算如下：
Figure PCTCN2016097809-appb-000012
其中，卫星在轨道上的角速度为
Figure PCTCN2016097809-appb-000013
线速度为Ω×(R+h)，地球引力常数为μ＝3.986006×105km3/s2。
具体实施方式五：步骤四中所述不同侧摆角成像对应的分辨率Ac计算方法如下，如图6所示：
Figure PCTCN2016097809-appb-000014
α＝π-δ
Figure PCTCN2016097809-appb-000015
Figure PCTCN2016097809-appb-000016
则分辨率为：
Ac＝Lc×a/f/cosα
δ为视线与地心半径夹角，Lc为物距，f为焦距；a为像元尺寸；
Figure PCTCN2016097809-appb-000017
为卫星侧摆角度；α为投影角；β为地心角。
采用以下实施例验证本实施方式的有益效果：
实施例一：
本实施例一种卫星快速旋转超大幅宽摆扫成像方法，具体是按照以下步骤进行的：
步骤一、假设探测器视场角η＝33.2°，则根据视场角和轨道高度计算探测器的视场范围L1具体为：
Figure PCTCN2016097809-appb-000018
如图4所示。
步骤二、只有探测器两次相邻成像区域之间无缝隙才能实现超大幅宽，成像区域示意图见图2，即两次成像时探测器光轴中心在地表的星下点轨迹 上的距离L2必须小于等于飞行方向的幅宽L1，因此，可认为L2的临界值是飞行方向的幅宽L1；L2计算如下：
Figure PCTCN2016097809-appb-000019
其中，卫星在轨道上的角速度为
Figure PCTCN2016097809-appb-000020
线速度为Ω×(R+h)，探测器绕沿轨方向的自旋速度为vZ，其中，地球引力常数为μ＝3.986006×105km3/s2。
步骤三、取临界值L2＝L1＝298km带入如下公式则计算出探测器沿轨方向的自旋速度阈值：
Figure PCTCN2016097809-appb-000021
设置探测器的绕沿轨方向的自旋速度大于或等于vZ时，可以满足探测器的两次相邻成像区域之间没有缝隙实现超大幅宽成像，如果低于vZ，则两次成像区域之间可能会有缝隙，不能实现超大幅宽成像；
通过设置探测器绕沿轨方向的自旋速度为不能低于9.2°/s，可以满足探测器的两次相邻成像区域之间没有缝隙实现超大幅宽成像，如果低于9.2°/s两次成像区域之间可能会有缝隙。
如前所述，探测器的地表分辨率与其侧摆角度大小密切相关，一种卫星快速旋转超大幅宽摆扫成像的方法，通过探测器的360°旋转能够提供大范围的侧摆角，但并不是随着侧摆角的增大探测器的分辨率越高，只是在一定的侧摆角范围内，相同的轨道条件下，侧摆角越大探测器的分辨率越高；为兼顾高分辨率和地面条带无缝拼接两方面的要求，可能需要成像幅宽与分辨率Ac相互制约；
这是因为卫星侧摆角度很大时，卫星与地球表面相切程度增大，除了卫星分辨率随着侧摆物距的变化，卫星在地面上的投影角度也变大，对应成像的几何分辨率变形严重，会出现严重的分辨率下降，如图5所示；此时，为了减少或消除对应成像的几何分辨率变形，在步骤四中，结合探测器固有的特征参数选择不同的侧摆角度计算各种轨道条件下探测器实现超大幅宽成像时对应的分辨率Ac；卫星侧摆角与分辨率对应关系如图6所示；其中，探测 器固有的特征参数包括像元尺寸和焦距；
所述不同侧摆角成像对应的分辨率计算方法如下如图6所示：
Figure PCTCN2016097809-appb-000022
α＝π-δ
Figure PCTCN2016097809-appb-000023
Figure PCTCN2016097809-appb-000024
则分辨率为：
Ac＝Lc×a/f/cosα
δ为视线与地心半径夹角，Lc为物距，f为焦距；a为像元尺寸；
Figure PCTCN2016097809-appb-000025
为卫星侧摆角度；α为投影角；β为地心角
步骤五、探测器的转速vZ及分辨率Ac也决定了CCD行频Fp的大小，而CCD器件均具有自身的极限行频，超出该极限行频则探测器无法正常成像；根据探测器自旋速度阈值vZ及分辨率Ac计算CCD行频Fp：
Figure PCTCN2016097809-appb-000026
假设探测器的焦距f＝1.18m，像元尺寸a＝3.5μm，此时，卫星星下点对应分辨率为Ac＝500km×3.5μm/1.18m＝1.5m。当探测器侧摆角度取为
Figure PCTCN2016097809-appb-000027
时，对应分辨率为Ac＝3.4m，当卫星侧摆角度为
Figure PCTCN2016097809-appb-000028
时，对应地表分辨率为Ac＝9.6m。探测器自旋转速大于或等于vZ＝9.2°/s时可实现相邻两轨成像区域之间无缝拼接，此时取Ac＝1.5m，取h为轨道高度h＝500km，对应的CCD行频为Fp＝54K；
步骤六、假设卫星轨道高度h＝500km，取地球半径R＝6371km，计算圆心角2θ所对应的卫星轨道的曲线上的AB两点之间的曲线距离
Figure PCTCN2016097809-appb-000029
即垂直于轨道的幅宽L5计算如下：
圆心角
Figure PCTCN2016097809-appb-000030
垂直于轨道的幅宽
Figure PCTCN2016097809-appb-000031
如图3所示。
步骤七、如图2所示，探测器自旋成像时，成像区域两侧变形较大，考虑两轨之间即相邻两次成像区域之间的距离，可以减小成像区域在垂直沿轨方向的距离L6，即两轨之间重叠区域，使用两轨数据拼接的方式；如图7所示；
已知卫星轨道高度为h＝500km的太阳同步轨道，卫星绕地球一圈的时间为T＝5676.98s，则一天卫星绕地球约Q＝15.2圈，赤道周长为l＝40000km，则在赤道处，相邻两轨之间的距离为L3＝l/Q＝40000km/15.2≈2631.6km，已知轨道倾角为σ＝97.4°，则两轨之间的直线距离为L4＝L3×sinσ＝2631.6km×sin97.4°≈2609.7km，由计算的该轨道下已知垂直于轨道的幅宽L5最大为4890km，则可计算相邻两轨的成像区域之间的叠加距离为L6＝L5-L4＝4890km-2609.7km＝2280.3km；
步骤八、如果成像区域两侧边缘处变形较大，可通过图像处理的过程中减小L6的取值，即在保证两轨之间无缝拼接的情况下，减小两轨之间重叠区域，以保证实现超大幅宽的同时避免成像区域两侧边缘处的变形带来的图像变形。
图8为根据本发明的实施方式的快速旋转超大幅宽摆扫成像方法800的流程图。
如图8所示的方法800包括：步骤801、根据卫星的探测器的视场角η和所述卫星轨道的高度h计算探测器的视场范围L1，表示飞行方向的幅宽L1；步骤802、设置两次成像时探测器的光轴中心在地表的星下点轨迹上的距离L2为小于或等于飞行方向的幅宽L1，其中，L2的临界值是飞行方向的幅宽L1；步骤803、取L2的临界值＝L1，根据如下公式计算出探测器的沿轨方向的自旋速度阈值：
Figure PCTCN2016097809-appb-000032
其中，Ω为卫星在轨道上的角速度，h为卫星轨道高度，R为地球半径，
并且设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ。
在一个实施例中，该方法800还可以包括：
步骤804、结合探测器的固有的特征参数选择不同的侧摆角度来计算各 种轨道条件下探测器实现超大幅宽成像时对应的分辨率Ac，其中，探测器的固有的特征参数包括像元尺寸和焦距；
步骤805、根据探测器的自旋速度阈值vZ及分辨率Ac来计算探测器的电荷耦合元件CCD的行频Fp：
Figure PCTCN2016097809-appb-000033
其中Lc为物距，
步骤806、根据卫星轨道高度h和地球半径R，计算圆心角2θ所对应的卫星轨道的曲线上的AB两点之间的曲线距离
Figure PCTCN2016097809-appb-000034
所述曲线距离
Figure PCTCN2016097809-appb-000035
表示垂直于所述卫星轨道的幅宽L5；
步骤807、在卫星轨道高度为h的太阳同步轨道，卫星绕地球一圈的时间T，一天卫星绕地球约Q圈，赤道周长为l的情况下，在赤道处，相邻两轨之间的距离为L3＝l/Q，在轨道倾角为σ的情况下，两轨之间的直线距离为L4＝L3×sinσ，通过计算已知垂直于轨道的幅宽L5，计算相邻两轨成像区域之间的叠加距离为L6＝L5-L4；
步骤808、在成像区域两侧边缘处的变形超过预定范围时，减少L6的取值。
在一个实施例中，步骤806中的所述垂直于轨道的幅宽L5通过如下公式计算：
圆心角
Figure PCTCN2016097809-appb-000036
其中，垂直于轨道的幅宽
Figure PCTCN2016097809-appb-000037
在一个实施例中，步骤801中的所述飞行方向的幅宽L1通过如下公式计算：
Figure PCTCN2016097809-appb-000038
在一个实施例中，步骤802中的L2的距离通过如下公式计算：
Figure PCTCN2016097809-appb-000039
其中，卫星在轨道上的角速度为
Figure PCTCN2016097809-appb-000040
线速度为Ω×(R+h)，μ为地球引力常数。
在一个实施例中，步骤804中的所述对应的分辨率Ac通过如下公式计算：
Figure PCTCN2016097809-appb-000041
α＝π-δ
Figure PCTCN2016097809-appb-000042
Figure PCTCN2016097809-appb-000043
则分辨率为：
Ac＝Lc×a/f/cosα
其中，δ为视线与地心半径夹角，Lc为物距，f为焦距；a为像元尺寸；
Figure PCTCN2016097809-appb-000044
为卫星侧摆角度；α为投影角；β为地心角。
图9为根据本发明的实施方式的装置900的方框图。
如图9所示的装置包括：探测器901，用于成像；处理器902；存储器903，耦接于所述处理器，且存储用于在由所述处理器运行时执行包括如下步骤的方法的计算机可执行指令：
步骤一、根据探测器的视场角η和所述卫星轨道的高度h计算探测器的视场范围L1，表示飞行方向的幅宽L1；
步骤二、设置两次成像时探测器的光轴中心在地表的星下点轨迹上的距离L2为小于或等于飞行方向的幅宽L1，其中，L2的临界值是飞行方向的幅宽L1；
步骤三、取L2的临界值＝L1，根据如下公式计算出探测器的沿轨方向的自旋速度阈值：
Figure PCTCN2016097809-appb-000045
其中，Ω为卫星在轨道上的角速度，h为卫星轨道高度，R为地球半径，
并且设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ。
在一个实施例中，所述存储器存储的计算机可执行指令还在由所述处理 器运行时执行包括如下步骤的方法：
步骤四、结合探测器的固有的特征参数选择不同的侧摆角度来计算各种轨道条件下探测器实现超大幅宽成像时对应的分辨率Ac，其中，探测器的固有的特征参数包括像元尺寸和焦距；
步骤五、根据探测器的自旋速度阈值vZ及分辨率Ac来计算探测器的电荷耦合元件CCD的行频Fp：
Figure PCTCN2016097809-appb-000046
其中Lc为物距，
步骤六、根据卫星轨道高度h和地球半径R，计算圆心角2θ所对应的卫星轨道的曲线上的AB两点之间的曲线距离
Figure PCTCN2016097809-appb-000047
曲线距离
Figure PCTCN2016097809-appb-000048
表示垂直于所述卫星轨道的幅宽L5；
步骤七、在卫星轨道高度为h的太阳同步轨道，卫星绕地球一圈的时间T，一天卫星绕地球约Q圈，赤道周长为l的情况下，在赤道处，相邻两轨之间的距离为L3＝l/Q，在轨道倾角为σ的情况下，两轨之间的直线距离为L4＝l3×sinσ，通过计算已知垂直于轨道的幅宽L5，计算相邻两轨成像区域之间的叠加距离为L6＝L5-L4；
步骤八、在成像区域两侧边缘处的变形超过预定范围时，减少L6的取值。
在一个实施例中，步骤六中的所述垂直于轨道的幅宽L5通过如下公式计算：
圆心角
Figure PCTCN2016097809-appb-000049
其中，垂直于轨道的幅宽
Figure PCTCN2016097809-appb-000050
在一个实施例中，步骤一中的所述飞行方向的幅宽L1通过如下公式计算：
Figure PCTCN2016097809-appb-000051
在一个实施例中，步骤二中的L2的距离通过如下公式计算：
Figure PCTCN2016097809-appb-000052
其中，卫星在轨道上的角速度为
Figure PCTCN2016097809-appb-000053
线速度为Ω×(R+h)，μ为地球引力常数。
在一个实施例中，步骤四中的所述对应的分辨率Ac通过如下公式计算：
Figure PCTCN2016097809-appb-000054
α＝π-δ
Figure PCTCN2016097809-appb-000055
Figure PCTCN2016097809-appb-000056
则分辨率为：
Ac＝Lc×a/f/cosα
其中，δ为视线与地心半径夹角，Lc为物距，f为焦距；a为像元尺寸；
Figure PCTCN2016097809-appb-000057
为卫星侧摆角度；α为投影角；β为地心角。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。
本实施方式还可有其它多种实施例，在不背离本实施方式精神及其实质的情况下，本领域技术人员当可根据本实施方式作出各种相应的改变和变形，但这些相应的改变和变形都应属于本实施方式所附的权利要求的保护范围。

Claims (12)

  1. 一种快速旋转超大幅宽摆扫成像方法，其特征在于，该方法包括：
    步骤一、根据卫星的探测器的视场角η和所述卫星轨道的高度h计算探测器的视场范围L1，表示飞行方向的幅宽L1；
    步骤二、设置两次成像时探测器的光轴中心在地表的星下点轨迹上的距离L2为小于或等于飞行方向的幅宽L1，其中，L2的临界值是飞行方向的幅宽L1；
    步骤三、取L2的临界值＝L1，根据如下公式计算出探测器的沿轨方向的自旋速度阈值：
    Figure PCTCN2016097809-appb-100001
    其中，Ω为卫星在轨道上的角速度，h为卫星轨道高度，R为地球半径，
    并且在步骤三中，设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ。
  2. 根据权利要求1所述的方法，还包括：
    步骤四、结合探测器的固有的特征参数选择不同的侧摆角度来计算各种轨道条件下探测器实现超大幅宽成像时对应的分辨率Ac，其中，探测器的固有的特征参数包括像元尺寸和焦距；
    步骤五、根据探测器的自旋速度阈值vZ及分辨率Ac来计算探测器的电荷耦合元件CCD的行频Fp：
    Figure PCTCN2016097809-appb-100002
    其中Lc为物距，
    步骤六、根据卫星轨道高度h和地球半径R，计算圆心角2θ所对应的卫星轨道的曲线上的AB两点之间的曲线距离
    Figure PCTCN2016097809-appb-100003
    所述曲线距离
    Figure PCTCN2016097809-appb-100004
    表示垂直于所述卫星轨道的幅宽L5；
    步骤七、在卫星轨道高度为h的太阳同步轨道，卫星绕地球一圈的时间T，一天卫星绕地球约Q圈，赤道周长为l的情况下，在赤道处，相邻两轨之间的距离为L3＝l/Q，在轨道倾角为σ的情况下，两轨之间的直线距离为L4＝L3×sinσ，通过计算已知垂直于轨道的幅宽L5，计算相邻两轨成像区域之 间的叠加距离为L6＝L5-L4；
    步骤八、在成像区域两侧边缘处的变形超过预定范围时，减少L6的取值。
  3. 根据权利要求2所述的方法，其特征在于：步骤六中的所述垂直于轨道的幅宽L5通过如下公式计算：
    圆心角
    Figure PCTCN2016097809-appb-100005
    其中，垂直于轨道的幅宽
    Figure PCTCN2016097809-appb-100006
  4. 根据权利要求1所述的方法，其特征在于：步骤一中的所述飞行方向的幅宽L1通过如下公式计算：
    Figure PCTCN2016097809-appb-100007
  5. 根据权利要求1所述的方法，其特征在于：步骤二中的L2的距离通过如下公式计算：
    Figure PCTCN2016097809-appb-100008
    其中，卫星在轨道上的角速度为
    Figure PCTCN2016097809-appb-100009
    线速度为Ω×(R+h)，μ为地球引力常数。
  6. 根据权利要求2所述的方法，其特征在于：步骤四中的所述对应的分辨率Ac通过如下公式计算：
    Figure PCTCN2016097809-appb-100010
    α＝π-δ
    Figure PCTCN2016097809-appb-100011
    Figure PCTCN2016097809-appb-100012
    则分辨率为：
    Ac＝Lc×a/f/cosα
    其中，δ为视线与地心半径夹角，Lc为物距，f为焦距；a为像元尺寸；
    Figure PCTCN2016097809-appb-100013
    为卫星侧摆角度；α为投影角；β为地心角。
  7. 一种用于快速旋转超大幅宽摆扫成像的装置，其特征在于，包括：
    探测器，用于成像；
    处理器；用于成像处理，耦接于所述存储器；
    存储器，耦接于所述处理器，且存储用于在由所述处理器运行时执行包括如下步骤的方法的计算机可执行指令：
    步骤一、根据探测器的视场角η和所述卫星轨道的高度h计算探测器的视场范围L1，表示飞行方向的幅宽L1；
    步骤二、设置两次成像时探测器的光轴中心在地表的星下点轨迹上的距离L2为小于或等于飞行方向的幅宽L1，其中，L2的临界值是飞行方向的幅宽L1；
    步骤三、取L2的临界值＝L1，根据如下公式计算出探测器的沿轨方向的自旋速度阈值：
    Figure PCTCN2016097809-appb-100014
    其中，Ω为卫星在轨道上的角速度，h为卫星轨道高度，R为地球半径，
    并且，在步骤三中，设置探测器的绕沿轨方向的自旋速度为大于或等于自旋速度阈值vZ。
  8. 根据权利要求7所述的装置，其特征在于，所述存储器存储的计算机可执行指令还在由所述处理器运行时执行包括如下步骤的方法：
    步骤四、结合探测器的固有的特征参数选择不同的侧摆角度来计算各种轨道条件下探测器实现超大幅宽成像时对应的分辨率Ac，其中，探测器的固有的特征参数包括像元尺寸和焦距；
    步骤五、根据探测器的自旋速度阈值vZ及分辨率Ac来计算探测器的电荷耦合元件CCD的行频Fp：
    Figure PCTCN2016097809-appb-100015
    其中Lc为物距，
    步骤六、根据卫星轨道高度h和地球半径R，计算圆心角2θ所对应的卫星轨道的曲线上的AB两点之间的曲线距离
    Figure PCTCN2016097809-appb-100016
    曲线距离
    Figure PCTCN2016097809-appb-100017
    表示垂直于所述卫星轨道的幅宽L5；
    步骤七、在卫星轨道高度为h的太阳同步轨道，卫星绕地球一圈的时间T，一天卫星绕地球约Q圈，赤道周长为l的情况下，在赤道处，相邻两轨之间的距离为L3＝l/Q，在轨道倾角为σ的情况下，两轨之间的直线距离为L4＝L3×sinσ，通过计算已知垂直于轨道的幅宽L5，计算相邻两轨成像区域之间的叠加距离为L6＝L5-L4；
    步骤八、在成像区域两侧边缘处的变形超过预定范围时，减少L6的取值。
  9. 根据权利要求8所述的装置，其特征在于：步骤六中的所述垂直于轨道的幅宽L5通过如下公式计算：
    圆心角
    Figure PCTCN2016097809-appb-100018
    其中，垂直于轨道的幅宽
    Figure PCTCN2016097809-appb-100019
  10. 根据权利要求7所述的装置，其特征在于：步骤一中的所述飞行方向的幅宽L1通过如下公式计算：
    Figure PCTCN2016097809-appb-100020
  11. 根据权利要求7所述的装置，其特征在于：步骤二中的L2的距离通过如下公式计算：
    Figure PCTCN2016097809-appb-100021
    其中，卫星在轨道上的角速度为
    Figure PCTCN2016097809-appb-100022
    线速度为Ω×(R+h)，μ为地球引力常数。
  12. 根据权利要求8所述的装置，其特征在于：步骤四中的所述对应的分辨率Ac通过如下公式计算：
    Figure PCTCN2016097809-appb-100023
    α＝π-δ
    Figure PCTCN2016097809-appb-100024
    Figure PCTCN2016097809-appb-100025
    则分辨率为：
    Ac＝Lc×a/f/cosα
    其中，δ为视线与地心半径夹角，Lc为物距，f为焦距；a为像元尺寸；
    Figure PCTCN2016097809-appb-100026
    为卫星侧摆角度；α为投影角；β为地心角。
PCT/CN2016/097809 2016-07-18 2016-09-01 一种快速旋转超大幅宽摆扫成像方法和装置 WO2018014433A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US15/542,207 US10598488B2 (en) 2016-07-18 2016-09-01 Method and apparatus for rapidly rotating imaging with a super large swath width

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610565836.5 2016-07-18
CN201610565836.5A CN107152926B (zh) 2016-07-18 2016-07-18 一种卫星快速旋转超大幅宽摆扫成像方法

Publications (1)

Publication Number Publication Date
WO2018014433A1 true WO2018014433A1 (zh) 2018-01-25

Family

ID=59792394

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/097809 WO2018014433A1 (zh) 2016-07-18 2016-09-01 一种快速旋转超大幅宽摆扫成像方法和装置

Country Status (3)

Country Link
US (1) US10598488B2 (zh)
CN (1) CN107152926B (zh)
WO (1) WO2018014433A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10598488B2 (en) 2016-07-18 2020-03-24 Harbin Institute Of Technology Method and apparatus for rapidly rotating imaging with a super large swath width
CN116500779A (zh) * 2023-04-27 2023-07-28 中国科学院长春光学精密机械与物理研究所 基于天基平台与周转旋镜联动的高频宽幅成像方法

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107702697B (zh) * 2017-09-27 2019-11-29 中国科学院长春光学精密机械与物理研究所 Tdi相机垂轨旋转摆扫成像的行频计算方法
CN108873924B (zh) * 2018-07-26 2021-06-29 中国人民解放军陆军工程大学 一种机载视频对地摆扫面积计算方法
CN109828362B (zh) * 2019-01-30 2020-07-07 武汉大学 一种基于整星快摆的超大幅宽成像方法
CN110113545B (zh) * 2019-04-25 2021-05-11 中国人民解放军61646部队 一种mm-ccd的成像方法
CN110515101B (zh) * 2019-06-21 2022-11-25 成都天锐星通科技有限公司 一种卫星快速捕获方法及相控阵天线系统
CN110986886A (zh) * 2019-12-18 2020-04-10 中国科学院长春光学精密机械与物理研究所 一种双相机动态旋转扫描立体成像的模拟装置
FR3107953B1 (fr) * 2020-03-03 2022-03-11 Airbus Defence & Space Sas Procédé d’acquisition d’images d’une zone terrestre par un engin spatial
CN111399077B (zh) * 2020-04-24 2023-04-07 中国科学院微小卫星创新研究院 光学卫星成像系统及成像方法
CN111609857A (zh) * 2020-06-01 2020-09-01 中国科学院微小卫星创新研究院 一种空间碎片定轨遍历观测方法及系统
US20220329736A1 (en) * 2021-04-12 2022-10-13 Raytheon Company Payload yaw rotation for focal plane cross-track columnar scan sampling
CN113460336A (zh) * 2021-08-14 2021-10-01 苏州吉天星舟空间技术有限公司 一种卫星非沿迹曲线成像的姿态轨迹规划方法
CN113781885B (zh) * 2021-09-16 2022-04-19 中国科学院长春光学精密机械与物理研究所 一种三自由度动态两维环扫空间成像的模拟装置
CN114125431B (zh) * 2021-11-22 2023-06-23 北京市遥感信息研究所 用于静止轨道光学大面阵相机的非均匀性定标校正方法
CN114248948B (zh) * 2021-12-22 2023-07-25 中国科学院微小卫星创新研究院 一种适用于单轨多探测器的在轨对月定标姿态调整方法
CN115586305A (zh) * 2022-10-09 2023-01-10 哈尔滨工业大学 一种基于载荷垂轨旋转扫描的超宽覆盖多模式碳监测卫星、构建方法和监测方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080035797A1 (en) * 2003-11-04 2008-02-14 Eads Astrium Sas Method of Controlling the Attitude of Satellites, Particularly Agile Satellites with a Reduced Number of Gyrodynes
CN102063558A (zh) * 2010-09-10 2011-05-18 航天东方红卫星有限公司 一种敏捷卫星成像条件的确定方法
CN103886208A (zh) * 2014-03-27 2014-06-25 航天东方红卫星有限公司 一种高分辨率光学卫星机动成像偏流角修正方法
CN103983254A (zh) * 2014-04-22 2014-08-13 航天东方红卫星有限公司 一种新型敏捷卫星机动中成像方法
CN104298887A (zh) * 2014-10-20 2015-01-21 中国空间技术研究院 一种多片线阵ccd相机的相对辐射定标方法
CN104698849A (zh) * 2015-02-12 2015-06-10 中国科学院长春光学精密机械与物理研究所 敏捷卫星同轨条带无缝拼接姿态配准与成像匹配算法

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3560642A (en) * 1967-10-13 1971-02-02 Us Navy Television satellite system
US4886222A (en) * 1988-06-13 1989-12-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Atmospheric autorotating imaging device
US5420789A (en) * 1991-07-02 1995-05-30 Itt Defense & Electronics Geometrically corrected large angle whiskbroom scanner for low earth orbiting satellites
US5559334A (en) * 1995-05-22 1996-09-24 General Electric Company Epipolar reconstruction of 3D structures
US5790188A (en) * 1995-09-07 1998-08-04 Flight Landata, Inc. Computer controlled, 3-CCD camera, airborne, variable interference filter imaging spectrometer system
US5768040A (en) * 1995-10-06 1998-06-16 Orbital Sciences Corporation Wide field-of-view imaging spectrometer
US7019777B2 (en) * 2000-04-21 2006-03-28 Flight Landata, Inc. Multispectral imaging system with spatial resolution enhancement
IL149934A (en) * 2002-05-30 2007-05-15 Rafael Advanced Defense Sys Airborne intelligence photography system
US20050083412A1 (en) * 2003-10-21 2005-04-21 Murphy Scott D. Internet interactive realtime video image acquisition system based in low earth orbit
TW200733590A (en) * 2006-02-16 2007-09-01 Univ Nat Central Correction method for parameters of long-orbit satellite image
US7808635B2 (en) * 2008-08-27 2010-10-05 Lawrence Livermore National Security, Llc Wide swath imaging spectrometer utilizing a multi-modular design
US8240611B2 (en) * 2009-08-26 2012-08-14 Raytheon Company Retro-geo spinning satellite utilizing time delay integration (TDI) for geosynchronous surveillance
US20140168434A1 (en) * 2012-12-14 2014-06-19 Digitalglobe, Inc. Dual-q imaging system
EP2787319A1 (de) * 2013-04-05 2014-10-08 Leica Geosystems AG Steuerung einer Bildauslösung zur Luftbilderfassung in Nadir-Ausrichtung für ein unbemanntes Fluggerät
FR3039728B1 (fr) * 2015-07-28 2017-10-27 Airbus Defence & Space Sas Procede de planification d'acquisition d'images de zones terrestres par un engin spatial
FR3041136A1 (fr) * 2015-09-14 2017-03-17 Parrot Procede de determination d'une duree d'exposition d'une camera embarque sur un drone, et drone associe.
CN107152926B (zh) 2016-07-18 2018-08-24 哈尔滨工业大学 一种卫星快速旋转超大幅宽摆扫成像方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080035797A1 (en) * 2003-11-04 2008-02-14 Eads Astrium Sas Method of Controlling the Attitude of Satellites, Particularly Agile Satellites with a Reduced Number of Gyrodynes
CN102063558A (zh) * 2010-09-10 2011-05-18 航天东方红卫星有限公司 一种敏捷卫星成像条件的确定方法
CN103886208A (zh) * 2014-03-27 2014-06-25 航天东方红卫星有限公司 一种高分辨率光学卫星机动成像偏流角修正方法
CN103983254A (zh) * 2014-04-22 2014-08-13 航天东方红卫星有限公司 一种新型敏捷卫星机动中成像方法
CN104298887A (zh) * 2014-10-20 2015-01-21 中国空间技术研究院 一种多片线阵ccd相机的相对辐射定标方法
CN104698849A (zh) * 2015-02-12 2015-06-10 中国科学院长春光学精密机械与物理研究所 敏捷卫星同轨条带无缝拼接姿态配准与成像匹配算法

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
CHEN, JINWEI: "Research on Agile Satellite Remote Sensing Image Registration and Mosaic Technology", ELECTRONIC TECHNOLOGY & INFORMATION SCIENCE , CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE, 15 September 2014 (2014-09-15) *
WANG, YIKUN: "Research on Area Array Whiskbroom Width Imaging Technology", SCIENCE -ENGINEERING (B), CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE, 15 January 2016 (2016-01-15) *
YANG, YUHAO ET AL.: "ISAR Imaging for Rapidly Spinning Targets", 2ND ASIAN-PACIFIC CONFERENCE ON SYNTHETIC APERTURE RADAR, 2009. APSAR 2009., 8 January 2010 (2010-01-08), XP031596306 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10598488B2 (en) 2016-07-18 2020-03-24 Harbin Institute Of Technology Method and apparatus for rapidly rotating imaging with a super large swath width
CN116500779A (zh) * 2023-04-27 2023-07-28 中国科学院长春光学精密机械与物理研究所 基于天基平台与周转旋镜联动的高频宽幅成像方法
CN116500779B (zh) * 2023-04-27 2024-04-26 中国科学院长春光学精密机械与物理研究所 基于天基平台与周转旋镜联动的高频宽幅成像方法

Also Published As

Publication number Publication date
CN107152926A (zh) 2017-09-12
US10598488B2 (en) 2020-03-24
US20190383607A1 (en) 2019-12-19
CN107152926B (zh) 2018-08-24

Similar Documents

Publication Publication Date Title
WO2018014433A1 (zh) 一种快速旋转超大幅宽摆扫成像方法和装置
US11015928B2 (en) Method and apparatus for ultra-wide circular scanning imaging by optical satellite
CN108344396B (zh) 一种敏捷卫星斜条带成像模式姿态计算方法
US10392136B2 (en) Offload adjustment for satellite image diversity
CN104698849B (zh) 敏捷卫星同轨条带无缝拼接姿态配准与成像匹配方法
CN107505948B (zh) 一种用于敏捷卫星机动中沿曲线条带成像的姿态调整方法
CN113720360B (zh) 一种敏捷光学遥感卫星星/地相机夹角在轨标定方法
US10696427B2 (en) Method of controlling satellite
CN108965708B (zh) 利用小视场相机实现大视场广域搜索的成像系统及方法
CN113264201A (zh) 一种敏捷卫星主动推扫成像实现方法
CN103487032B (zh) 低轨空间相机自由指向像移矢量计算方法
CN108613655B (zh) 一种敏捷卫星机动中沿斜条带成像的姿态调整方法
CN110243345A (zh) 一种基于旋转大幅宽光学成像的像移分析计算方法
Polyansky et al. Stereo topographic mapping concept for the upcoming Luna-Resurs-1 orbiter mission
CN105005310A (zh) 一种沿斜条带成像的姿态调整方法
US6201232B1 (en) Imaging system with a two-axis-gimbal mirror scan system apparatus and method
CN111121765B (zh) 共用遥感卫星平台的对地灵巧观测与对天geo目标监视方法
CN108444446A (zh) 一种像移补偿方法及装置
CN107635096A (zh) 一种增加照相重叠率的全景航空相机倾斜成像方法
CN113781885B (zh) 一种三自由度动态两维环扫空间成像的模拟装置
CN111127319B (zh) 一种动中推扫成像的地面像元分辨率计算方法
CN110608724B (zh) 一种卫星机动成像过程中无偏流姿态的直接求解方法
CN108198166B (zh) 一种不同指向的高分四号影像地面分辨率计算方法和系统
CN111634445A (zh) 一种低轨卫星大幅宽探测垂轨摆扫方法
CN115586305A (zh) 一种基于载荷垂轨旋转扫描的超宽覆盖多模式碳监测卫星、构建方法和监测方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16909360

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16909360

Country of ref document: EP

Kind code of ref document: A1