CN111708034B - Dynamic distance threshold setting system of satellite-borne laser ranging system - Google Patents
Dynamic distance threshold setting system of satellite-borne laser ranging system Download PDFInfo
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- CN111708034B CN111708034B CN202010568173.9A CN202010568173A CN111708034B CN 111708034 B CN111708034 B CN 111708034B CN 202010568173 A CN202010568173 A CN 202010568173A CN 111708034 B CN111708034 B CN 111708034B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
The invention relates to a dynamic distance threshold setting system of a satellite-borne laser ranging system, belonging to the field of satellite overall design; the system comprises an information input module, a data bus, a distance threshold calculation module and a distance threshold execution module; the information input module comprises a satellite navigation receiver and a satellite control subsystem; the distance threshold calculation module comprises a calculation unit, a terrain database and a laser pointing angle storage unit; the distance threshold execution module comprises a satellite-borne laser ranging unit and a threshold setting unit; the on-orbit dynamic adjustment of the measuring distance threshold is realized by dynamically setting the distance threshold for the laser altimeter to work in a reasonable distance measuring interval. The method provided by the invention can enable the laser ranging system to adapt to the fluctuation characteristics of different terrains on orbit, dynamically adjust the distance threshold in real time, improve the validity of data and save the resources of the system.
Description
Technical Field
The invention belongs to the field of satellite overall design, and relates to a dynamic distance threshold setting system of a satellite-borne laser ranging system.
Background
The satellite-borne laser ranging system needs to set a measurement time threshold according to the distance from a satellite to the ground surface along the laser ranging direction, so that echo information can be reliably received. However, the satellite does not completely work at the sub-satellite point during the in-orbit work period, and the satellite attitude can be changed along with the measurement task, and the in-orbit work period is generally realized by measuring the pendulum; meanwhile, the shape of the earth surface changes along with the flight of the satellite. It is due to the above factors that the distance of the satellite to the ground surface in the laser ranging direction changes. If the satellite-borne laser ranging system works at a fixed distance threshold, the distance threshold needs to be set to be wider to reliably receive echo information, so that the downloaded laser data volume is larger, and the hardware scale of the ranging system is increased.
The current setting mode of the distance threshold is a fixed distance door. The method takes the factors of the satellite orbit height, the surface fluctuation, the satellite side-sway capacity and the like into consideration, and uniformly sets the factors as a wider distance threshold, so that the satellite-borne laser ranging system can work normally.
However, the existing method for setting the distance threshold of the laser ranging system has the following problems: 1) The requirement on the hardware storage and operation capacity of the distance measurement system is relatively high-because the fixed distance threshold is generally set to be wider, the requirement on the hardware storage capacity is higher, and particularly the distance measurement systems of the full waveform measurement system and the single photon measurement system need higher requirements on the operation capacity of the hardware; 2) The invalid laser measurement data is more-because the distance threshold is wider, under the condition that original measurement information is kept on a satellite, all data in the distance threshold needs to be downloaded to ensure that the data is not lost. Especially for a satellite-borne laser ranging system of a full waveform ranging system and a single photon measuring system, the relatively wide distance threshold can cause more invalid measuring data; 3) The measurement is easily interfered by cloud layers, and the measurement is easily downloaded together with cloud layer information when the distance threshold is set to be wide, and particularly, misjudgment can be formed on real distance measurement data of the earth surface when the cloud layer is thick, so that the workload of resolving and discriminating effective information by a user is increased.
Disclosure of Invention
The technical problem solved by the invention is as follows: the dynamic distance threshold setting system of the satellite-borne laser ranging system overcomes the defects of the prior art, achieves dynamic adjustment of the measured distance threshold along with fluctuation of the earth's surface and change of satellite attitude, and can reduce the data downloading amount, reduce the hardware resource consumption of the ranging system and improve the effectiveness of measured data.
The technical scheme of the invention is as follows:
a dynamic distance threshold setting system of a satellite-borne laser ranging system comprises an information input module, a data bus, a distance threshold calculation module and a distance threshold execution module; the information input module comprises a satellite navigation receiver and a satellite control subsystem; the distance threshold calculation module comprises a calculation unit, a terrain database and a laser pointing angle storage unit; the distance threshold execution module comprises a satellite-borne laser ranging unit and a threshold setting unit;
the satellite navigation receiver comprises: receiving a navigation signal, resolving the navigation signal, and resolving the position, the speed and the time of a satellite in a WGS84 coordinate system; the position, the speed and the time of the satellite in the WGS84 coordinate system are sent to a computing unit through a data bus;
satellite control subsystem: measuring the attitude information of the satellite under the inertial system, and sending the attitude information of the satellite under the inertial system to the computing unit through a data bus;
a terrain database: pre-storing global high-precision topographic data; sending global high-precision topographic data to a computing unit;
laser pointing angle storage unit: pre-storing the pointing angle of the satellite-borne laser beam; and sending the laser beam pointing angle to a computing unit;
a calculation unit: receiving the position, the speed and the time of a satellite in a WGS84 coordinate system, wherein the satellite is transmitted by a satellite navigation receiver; receiving attitude information of a satellite under an inertial system, which is transmitted by a satellite control subsystem; receiving global high-precision topographic data transmitted from a topographic database; receiving a laser beam pointing angle transmitted from a laser pointing angle storage unit; calculating the distance L from the satellite to the earth surface along the laser direction; the distance L from the satellite to the ground surface along the laser direction is sent to the satellite-borne laser ranging unit through a data bus;
a threshold setting unit: setting a lower distance limit L1 and an upper distance limit L2; sending the lower distance limit L1 and the upper distance limit L2 to a satellite-borne laser ranging unit;
satellite-borne laser ranging unit: receiving the distance L from the satellite transmitted by the computing unit to the earth surface along the laser direction; receiving a lower distance limit L1 and an upper distance limit L2 transmitted by a threshold setting unit; a distance range B from the satellite to the ground surface along the laser direction is formulated according to the distance L from the satellite to the ground surface along the laser direction, the distance lower limit L1 and the distance upper limit L2; and in the process that the satellite orbits, the satellite is ensured to be within the range B in real time, and the high-precision distance measurement of the satellite on the earth surface terrain is realized.
In the dynamic distance threshold setting system of the satellite-borne laser ranging system, when the satellite navigation receiver is in a single-mode receiving mode, the satellite navigation receiver receives one of a GPS navigation signal, a GLONASS navigation signal or a beidou navigation signal according to a requirement; when the satellite navigation receiver is in a multimode receiving mode, the satellite navigation receiver receives various GPS navigation signals, GLONASS navigation signals or Beidou navigation signals according to requirements.
In the dynamic distance threshold setting system of the satellite-borne laser ranging system, the data bus is a 1553B bus or a CAN bus; the data bus is a bidirectional data bus; and the transmission of satellite time data, timing data and UTC whole-second time data is realized.
In the dynamic distance threshold setting system of the satellite-borne laser ranging system, the attitude information of the satellite in the inertial system comprises the pitch angle
Yaw angle θ, roll angle ψ.
In the dynamic distance threshold setting system of the satellite-borne laser ranging system, the terrain information corresponding to each earth surface grid in the high-precision terrain data corresponds to the longitude and latitude of the earth, and is used for the satellite to be called in orbit according to the laser pointing position.
In the above system for setting a dynamic distance threshold of a space-borne laser ranging system, the specific method for calculating the distance L from the satellite to the earth surface along the laser direction by the calculation unit is as follows:
s1, obtaining a position vector of a satellite according to the position, the speed and the time of the satellite in a WGS84 coordinate system
S2, solving a pointing conversion matrix A of the laser under the inertial system according to attitude information of the satellite under the inertial system and the pointing angle of the laser beam;
s3, calculating the earth surface laser spot vector according to the global high-precision topographic data
According to the surface laser spot vector
Position vector of satellite
And establishing a satellite-ground geometric relational expression by using the pointing conversion matrix A, and calculating the distance L from the satellite to the ground surface along the laser pointing direction.
In the above dynamic distance threshold setting system for a space-borne laser ranging system, in S3, the geometric relationship between the satellite and the ground is as follows:
in the dynamic distance threshold setting system of the satellite-borne laser ranging system, the value range of the L1 is less than or equal to 15km; the value range of L2 is less than or equal to 15km.
In the dynamic distance threshold setting system of the satellite-borne laser ranging system, the range of B is [ L-L1, L + L2].
Compared with the prior art, the invention has the beneficial effects that:
(1) The satellite-borne ranging system can adapt to the fluctuation characteristics of different terrains in flight, and can adapt to the change of the position of a surface laser spot caused by the change of the satellite attitude (pitching or rolling); the dynamic distance threshold setting method of the laser ranging system based on the orbit and attitude information can dynamically and accurately calculate the distance information of the satellite from the laser direction to the ground surface;
(2) Compared with the traditional fixed distance threshold setting method, the distance information is used as the distance threshold reference of the distance measuring system, the threshold width of the distance measuring system can be greatly reduced, and the requirements on the hardware storage and the calculation capacity of the distance measuring system are relatively low. The method is particularly suitable for a satellite-borne laser ranging system with multiple angles and multiple beams;
(3) The invention can accurately set the upper limit value and the lower limit value of the distance threshold of the satellite-borne distance measurement system, and the threshold setting method adopted by the invention can accurately set the upper limit value and the lower limit value of the distance threshold according to the use scene, reduce invalid measurement data, reduce the resolving pressure of ground data processing on one hand, and reduce misjudgment of the cloud layer on the real distance measurement data of the ground surface on the other hand.
Drawings
FIG. 1 is a schematic diagram of a distance threshold system of the present invention;
FIG. 2 is a schematic diagram of the star-ground geometry of the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a dynamic distance threshold setting system of a satellite-borne laser ranging system, which enables a laser altimeter to work in a reasonable ranging interval by dynamically setting a distance threshold on the orbit of the laser altimeter, and realizes dynamic adjustment of the measured distance threshold on the orbit. The method provided by the invention can enable the laser ranging system to adapt to the fluctuation characteristics of different terrains on orbit, dynamically adjust the distance threshold in real time, improve the validity of data and save the resources of the system.
In the process of in-orbit flight of the satellite, the earth surface terrain corresponding to the laser pointing direction changes along with the change of the longitude and the latitude, so that the actual distance measured by the satellite-borne laser ranging system also changes along with the change. Generally, a space-borne laser ranging system generally adopts a 'time-of-flight method' to measure the distance, so that a receiving unit of the laser ranging system must enable a sampling interval to contain a possible return time interval of an echo to reliably receive echo information. If the interval setting is too large, higher requirements are put forward on the hardware scale of the ranging system and on-satellite processing resources; if the setting is too short, the echo data cannot be reliably received. The invention mainly solves the problem of how to dynamically set a possible sampling interval of a laser echo in an orbit according to information such as the position and the attitude of a satellite orbit, the installation direction of laser and the like.
Compared with the existing fixed distance threshold setting technology, the dynamic distance threshold setting method of the satellite-borne laser ranging system based on the track and attitude information is provided, and the dynamic adjustment of the measured distance threshold on-track along with the fluctuation of the ground and the change of the satellite attitude is realized. The usage scenario of the present invention is shown in fig. 2. The method can reduce the data downloading amount, reduce the hardware resource consumption of the ranging system and improve the effectiveness of the measured data.
A distance threshold setting system, as shown in fig. 1, specifically includes an information input module, a data bus, a distance threshold calculation module, and a distance threshold execution module; the data bus is a main information transmission part of the whole distance threshold setting system. The data bus is a 1553B bus or a CAN bus; the data bus is a bidirectional data bus; and the transmission of satellite time data, timing data and UTC whole-second time data is realized. The information input module comprises a satellite navigation receiver and a satellite control subsystem; the distance threshold calculation module comprises a calculation unit, a terrain database and a laser pointing angle storage unit; the distance threshold execution module comprises a satellite-borne laser ranging unit and a threshold setting unit; .
A satellite navigation receiver: receiving a navigation signal, resolving the navigation signal, and resolving the position, the speed and the time of the satellite in a WGS84 coordinate system; transmitting the PVT (position, speed and time) of the satellite in the WGS84 coordinate system to a computing unit through a data bus; when the satellite navigation receiver is in a single-mode receiving mode, the satellite navigation receiver receives one of a GPS navigation signal, a GLONASS navigation signal or a Beidou (BD-2) navigation signal according to requirements; when the satellite navigation receiver is in a multimode receiving mode, the satellite navigation receiver receives various GPS navigation signals, GLONASS navigation signals or Beidou navigation signals according to requirements.
Satellite control subsystem: measuring the attitude information of the satellite in the inertial system, wherein the attitude information of the satellite in the inertial system comprises a pitch angle
Yaw angle θ, roll angle ψ. And the attitude information of the satellite under the inertial system is sent to the computing unit through a data bus.
A terrain database: pre-storing global high-precision topographic data; sending global high-precision topographic data to a computing unit; and the terrain information corresponding to each earth surface grid in the high-precision terrain data corresponds to the longitude and latitude of the earth and is used for calling the satellite in orbit according to the laser pointing position.
Laser pointing angle storage unit: pre-storing the pointing angle of the satellite-borne laser beam; and sending the laser beam pointing angle to a computing unit;
a calculation unit: receiving the position, the speed and the time of a satellite in a WGS84 coordinate system, wherein the satellite is transmitted by a satellite navigation receiver; receiving attitude information of a satellite under an inertial system, which is transmitted by a satellite control subsystem; receiving global high-precision topographic data transmitted from a topographic database; receiving a laser beam pointing angle transmitted from a laser pointing angle storage unit; calculating the distance L from the satellite to the earth surface along the laser direction; the distance L from the satellite to the ground along the laser direction is sent to a satellite-borne laser ranging unit through a data bus; the specific method for calculating the distance L from the satellite to the earth surface along the laser direction comprises the following steps:
s1, obtaining a position vector of the satellite according to the position, the speed and the time of the satellite in a WGS84 coordinate system
S2, solving a pointing conversion matrix A of the laser under the inertial system according to attitude information of the satellite under the inertial system and the pointing angle of the laser beam;
s3, calculating the earth surface laser spot vector according to the global high-precision topographic data
According to the surface laser spot vector
Position vector of satellite
And a direction conversion matrix A, establishing a satellite-ground geometric relation, and calculating the distance L from the satellite to the ground along the laser direction as shown in FIG. 2. The geometric relationship between the star and the ground is as follows:
a threshold setting unit: setting a lower distance limit L1 and an upper distance limit L2; sending the lower distance limit L1 and the upper distance limit L2 to a satellite-borne laser ranging unit; the value range of L1 is less than or equal to 15km; the value range of L2 is less than or equal to 15km.
Satellite-borne laser ranging unit: receiving the distance L from the satellite transmitted by the computing unit to the earth surface along the laser direction; receiving a lower distance limit L1 and an upper distance limit L2 transmitted by a threshold setting unit; formulating a distance range B of the satellite pointing to the earth surface along the laser according to the distance L, the lower distance limit L1 and the upper distance limit L2 of the satellite pointing to the earth surface along the laser; b ranges from [ L-L1, L + L2]. And in the process that the satellite orbits, the satellite is ensured to be within the range B in real time, and the high-precision distance measurement of the satellite on the earth surface terrain is realized. And the lower distance limit L1 and the upper distance limit L2 are transmitted to the satellite-borne laser ranging unit in a data bus transmission mode. The values of the upper limit and the lower limit can be adjusted on the track according to needs, and the upper limit and the lower limit are kept unchanged in each measurement period. And finally, the satellite-borne laser ranging unit takes [ L-L1-L + L2] as a distance threshold and digitally acquires laser echo signals in the range. The lower limit L1 and the upper limit L2 of the range gate are transmitted to the satellite-borne laser ranging unit through a data bus, and can be annotated and modified through a satellite command before starting up according to needs during in-orbit use.
The main functions of each part are as follows:
a terrain database: the satellite tracking system is stored in a solid-state memory in a pre-stored mode, the database is a global elevation database or a high-precision terrain database, terrain information corresponding to each earth surface grid corresponds to the longitude and latitude of the earth, and the satellite can be conveniently called in orbit according to the laser pointing position.
Laser pointing angle storage unit: and the data are stored in the corresponding solid-state memory in a pre-stored mode. If the laser of the satellite-borne laser ranging system is a plurality of beams, the pointing angle of each beam can be stored or stored in a plurality of groups according to the use requirement.
A calculation unit: the distance L from the satellite to the ground along the laser pointing direction is comprehensively calculated through PVT (position, speed, time) information of the satellite in a WGS84 coordinate system, attitude information (phi, theta and phi) of the satellite in an inertial system, high-precision terrain data, pointing angle of the laser in the system and the like which are provided by a data bus. The number of the distances L is related to the number of laser beams and the grouping condition.
The method can enable the satellite-borne ranging system to adapt to the fluctuation characteristics of different terrains in flight, and can also adapt to the change of the position of the laser spot on the earth surface caused by the change of the satellite attitude (pitching or rolling). The method for setting the dynamic distance threshold of the laser ranging system based on the track and the attitude information, which is adopted by the invention, can dynamically and accurately calculate the distance information of the satellite from the laser pointing to the earth surface. Compared with the traditional fixed distance threshold setting method, the distance information is used as the distance threshold reference of the distance measuring system, the threshold width of the distance measuring system can be greatly reduced, and the requirements on the hardware storage and the computing capability of the distance measuring system are relatively low. The method is particularly suitable for a multi-angle and multi-beam satellite-borne laser ranging system. In addition, the upper limit value and the lower limit value of the distance threshold of the satellite-borne distance measuring system can be accurately set, namely the threshold setting method adopted by the invention can accurately set the upper limit value and the lower limit value of the distance threshold according to a use scene, invalid measuring data can be reduced, on one hand, the resolving pressure of ground data processing can be reduced, and on the other hand, misjudgment of a cloud layer on real distance measuring data of the ground surface can be reduced.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make possible variations and modifications of the present invention using the method and the technical contents disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are all within the scope of the present invention.
Claims (9)
1. The utility model provides a dynamic distance threshold of satellite-borne laser ranging system sets up system which characterized in that: the system comprises an information input module, a data bus, a distance threshold calculation module and a distance threshold execution module; the information input module comprises a satellite navigation receiver and a satellite control subsystem; the distance threshold calculation module comprises a calculation unit, a terrain database and a laser pointing angle storage unit; the distance threshold execution module comprises a satellite-borne laser ranging unit and a threshold setting unit;
a satellite navigation receiver: receiving a navigation signal, resolving the navigation signal, and resolving the position, the speed and the time of a satellite in a WGS84 coordinate system; the position, the speed and the time of the satellite in the WGS84 coordinate system are sent to a computing unit through a data bus;
satellite control subsystem: measuring the attitude information of the satellite under the inertial system, and sending the attitude information of the satellite under the inertial system to the computing unit through a data bus;
a terrain database: pre-storing global high-precision topographic data; sending global high-precision terrain data to a computing unit;
laser pointing angle storage unit: pre-storing the pointing angle of the satellite-borne laser beam; and sending the laser beam pointing angle to a computing unit;
a calculation unit: receiving the position, the speed and the time of a satellite in a WGS84 coordinate system, wherein the satellite is transmitted by a satellite navigation receiver; receiving attitude information of a satellite under an inertial system, which is transmitted by a satellite control subsystem; receiving global high-precision topographic data transmitted from a topographic database; receiving a laser beam pointing angle transmitted from a laser pointing angle storage unit; calculating the distance L from the satellite to the earth surface along the laser direction; the distance L from the satellite to the ground along the laser direction is sent to a satellite-borne laser ranging unit through a data bus;
a threshold setting unit: setting a lower distance limit L1 and an upper distance limit L2; sending the lower distance limit L1 and the upper distance limit L2 to a satellite-borne laser ranging unit;
satellite-borne laser ranging unit: receiving the distance L from the satellite transmitted by the computing unit to the earth surface along the laser direction; receiving a lower distance limit L1 and an upper distance limit L2 transmitted by a threshold setting unit; formulating a distance range B of the satellite pointing to the earth surface along the laser according to the distance L, the lower distance limit L1 and the upper distance limit L2 of the satellite pointing to the earth surface along the laser; and in the process that the satellite orbits, the satellite is ensured to be within the range B in real time, and the high-precision distance measurement of the satellite on the earth surface terrain is realized.
2. The dynamic distance threshold setting system of the satellite-borne laser ranging system according to claim 1, characterized in that: when the satellite navigation receiver is in a single-mode receiving mode, the satellite navigation receiver receives one of a GPS navigation signal, a GLONASS navigation signal or a Beidou navigation signal according to requirements; when the satellite navigation receiver is in a multimode receiving mode, the satellite navigation receiver receives various GPS navigation signals, GLONASS navigation signals or Beidou navigation signals according to requirements.
3. The dynamic distance threshold setting system of the satellite-borne laser ranging system according to claim 2, characterized in that: the data bus is a 1553B bus or a CAN bus; the data bus is a bidirectional data bus; and the transmission of satellite time data, timing data and UTC whole-second time data is realized.
4. The dynamic distance threshold setting system of the satellite-borne laser ranging system according to claim 3, wherein: attitude information of the satellite under the inertial system comprises a pitch angle
Yaw angle θ, roll angle ψ.
5. The dynamic distance threshold setting system of the satellite-borne laser ranging system according to claim 4, wherein: and the terrain information corresponding to each earth surface grid in the high-precision terrain data corresponds to the longitude and latitude of the earth and is used for calling the satellite in orbit according to the laser pointing position.
6. The dynamic distance threshold setting system of the satellite-borne laser ranging system according to one of claims 1 to 5, wherein: the specific method for calculating the distance L from the satellite to the earth surface along the laser direction by the calculation unit comprises the following steps:
s1, obtaining a position vector of a satellite according to the position, the speed and the time of the satellite in a WGS84 coordinate system
S2, solving a pointing conversion matrix A of the laser under the inertial system according to attitude information of the satellite under the inertial system and the pointing angle of the laser beam;
s3, calculating the earth surface laser spot vector according to the global high-precision topographic data
According to the surface laser spot vector
Position vector of satellite
And establishing a satellite-ground geometric relational expression by using the pointing conversion matrix A, and calculating the distance L from the satellite to the ground surface along the laser pointing direction.
7. The dynamic distance threshold setting system of the satellite-borne laser ranging system according to claim 6, wherein: in S3, the geometric relation between the star and the ground is as follows:
8. the dynamic distance threshold setting system of the satellite-borne laser ranging system according to claim 1, characterized in that: the value range of the L1 is less than or equal to 15km; the value range of L2 is less than or equal to 15km.
9. The dynamic distance threshold setting system of the satellite-borne laser ranging system according to claim 8, wherein: the range of B is [ L-L1, L + L2].
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|---|---|---|---|---|
| CN104535992A (en) * | 2014-12-16 | 2015-04-22 | 中国测绘科学研究院 | Artificial satellite laser ranging system |
| CN106871932A (en) * | 2017-04-20 | 2017-06-20 | 国家测绘地理信息局卫星测绘应用中心 | The in-orbit sensing calibration method of satellite borne laser based on Pyramidal search terrain match |
| CN110006448A (en) * | 2019-04-09 | 2019-07-12 | 武汉大学 | The appraisal procedure of spaceborne laser altimeter system instrument direction angle systematic error on-orbit calibration precision |
| CN110031881A (en) * | 2019-05-06 | 2019-07-19 | 中国人民解放军61540部队 | The method of laser ranging auxiliary Static Precise Point Positioning between high precision star |
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2020
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535992A (en) * | 2014-12-16 | 2015-04-22 | 中国测绘科学研究院 | Artificial satellite laser ranging system |
| CN106871932A (en) * | 2017-04-20 | 2017-06-20 | 国家测绘地理信息局卫星测绘应用中心 | The in-orbit sensing calibration method of satellite borne laser based on Pyramidal search terrain match |
| CN110006448A (en) * | 2019-04-09 | 2019-07-12 | 武汉大学 | The appraisal procedure of spaceborne laser altimeter system instrument direction angle systematic error on-orbit calibration precision |
| CN110031881A (en) * | 2019-05-06 | 2019-07-19 | 中国人民解放军61540部队 | The method of laser ranging auxiliary Static Precise Point Positioning between high precision star |
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