CN116012444A - Dynamic image shift compensation bias current curve fitting method - Google Patents
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Abstract
The invention relates to a dynamic image shift compensation bias current curve fitting method, which belongs to the technical field of space optical remote sensing, and comprises the steps of firstly performing function fitting on a series of target points near the earth surface to construct a three-dimensional space vessel, and ensuring the maximum coverage rate of the target; secondly, defining a series of space coordinate systems, constructing a coordinate conversion matrix from an earth inertia coordinate system to an orbit coordinate system, solving an observation unit vector and an optical axis unit vector, calculating Euler quaternions, solving a pitch angle and a side swing angle through the quaternions, and adjusting the optical axis of the camera to precisely point to a target area; and finally, calculating the earth rotation speed and the satellite push-broom speed at the target point, solving a yaw angle meeting the dynamic image motion compensation, judging whether the constraint condition and the image quality requirement are met, and if not, iteratively fitting the target curve again. The invention aims at realizing dynamic image motion compensation, and realizes agile satellite imaging curve fitting with high target coverage rate and high imaging quality by utilizing the kinematics and coordinate conversion relation.
Description
Technical Field
The invention belongs to the technical field of space optical remote sensing, and particularly relates to a dynamic image shift compensation bias current curve fitting method.
Background
With the vigorous development of space optical remote sensing technology, the use requirements of the military field and the civil field on earth observation satellites are increasing. At present, the traditional earth observation satellite mostly adopts a solar synchronous orbit, and push-broom imaging can only be carried out along the advancing direction of the satellite orbit, so that the imaging efficiency is low. For curved targets, such as coastal cities, ports, traffic lines and the like, the full coverage reconnaissance of the curved targets needs multiple passthrough imaging, and the timeliness is low. In order to improve the use efficiency of the earth observation satellite, widen the earth observation capability of the satellite, complete more complex imaging tasks, and continuously enhance the attitude maneuver capability of the earth observation satellite. Related programs for agile satellites were proposed by research institutions represented by the united states and france. The agile satellite is a novel earth observation satellite, has strong attitude maneuver capability and high attitude control precision, and can maintain high-precision tracking and recognition of target observation while being maneuvered rapidly. There are five classical imaging modes for agile satellites: a large-angle side swing imaging mode, an off-track strip splicing imaging mode, an on-track three-dimensional imaging mode and an on-track multi-target imaging mode. Various imaging modes of agile satellites greatly improve imaging efficiency for different targets.
On the basis, in order to further improve the observation efficiency and the observation precision of a curved object, researchers have made a series of researches on mission planning and imaging modes of agile satellites. However, for a curved target, the distribution of the curve-shaped target has discreteness and irregularity, and the conventional imaging planning mode can not well meet the requirement, and can not meet the requirement of optimizing the number of imaging targets once passing through a target area. And in the process of adjusting the large attitude angle of the satellite, the image of the image surface is changed when moving, and the influence of the image movement on the image quality is not negligible.
Disclosure of Invention
In order to solve the problem that the earth observation satellite has lower observation efficiency and lower observation precision on a curved target, the invention provides a dynamic image motion compensation bias current curve fitting method.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a dynamic image shift compensation bias current curve fitting method comprises the following steps:
step 1, determining a strip area according to coordinates of a target point in a geocentric fixed coordinate system;
step 2, performing function fitting on each target point in the strip area by using a least square method to obtain a target distribution curve, estimating the approximate value of the function at other points by using an interpolation method, and obtaining the longitude and latitude of the satellite at each moment according to the target distribution curve;
calculating the circle center of the three-dimensional target distribution curve according to the longitude and latitude of the satellite at each moment, the satellite breadth, the field angle and the earth radius, and taking the calculated circle center of the three-dimensional target distribution curve as the center to make an envelope circle tangent to the maximum field of view of the satellite, wherein a series of envelope circles jointly form a three-dimensional space vessel;
step 4, obtaining the target coverage rate of the three-dimensional space vessel, judging whether the target coverage rate is greater than or equal to a threshold value, and if so, executing the step 5; otherwise, returning to the step 2, iteratively selecting different powers n and curved surface coefficients, and re-fitting the curve;
step 5, establishing an earth inertia coordinate system, a camera body coordinate system, a satellite body coordinate system and an orbit coordinate system, and constructing a coordinate conversion matrix from the earth inertia coordinate system to the orbit coordinate system
And 6, obtaining a unit vector in the direction of the observation vector and a unit vector in the direction of the optical axis in the orbit coordinate system, and calculating an Euler quaternion Q according to the unit vector and the unit vector of the optical axis, wherein the Euler quaternion Q has the following formula:
wherein ,
is a unit vector in the direction of the optical axis, +.>
Is a unit vector in the direction of the observation vector, +.>
Is the observation vector of the satellite in the orbital coordinate system, < >>
Is a vector of an observation target of the earth surface in the earth inertial coordinate system, +.>
A position vector for a satellite in an earth inertial coordinate system;
step 7, solving the pitch angle theta and the roll angle of the satellite when imaging the fitted target point in step 2 through the Euler quaternion Q
Wherein the formula of the side swing angle is +.>
Step 8, calculating the satellite push-broom speed by using a vector synthesis method, and calculating a yaw angle according to a calculation formula of the yaw angle, wherein the calculation formula of the yaw angle psi is as follows:
v s1 cosψ+v e cos(i 0 -ψ)＝v T
wherein ,vs1 For satellite flying speed, v e For the earth at the target pointRotation speed, v T I is the satellite push-broom speed 0 Is the track inclination angle;
step 9, judging whether the satellite attitude angular speed meets constraint conditions and whether the MTF of the satellite planning image quality meets the image quality requirement, and if so, outputting a satellite three-attitude angle; if not, returning to the step 2 to iterate the calculation again.
The beneficial effects of the invention are as follows:
the invention provides a dynamic image shift compensation bias current curve fitting method integrating a target distribution trace, image plane dynamic image shift and accurate pointing of a camera optical axis, which comprises the steps of firstly performing function fitting on a series of target points near the earth surface to construct a three-dimensional space vessel, and ensuring the maximum coverage rate of the target; secondly, defining a series of space coordinate systems, constructing a coordinate conversion matrix from an earth inertia coordinate system to an orbit coordinate system, solving an observation unit vector and an optical axis unit vector, calculating Euler quaternions, solving a pitch angle and a side swing angle through the quaternions, and adjusting the optical axis of the camera to precisely point to a target area; and finally, calculating the earth rotation speed and the satellite push-broom speed at the target point, solving a yaw angle meeting the dynamic image motion compensation, judging whether the constraint condition and the image quality requirement are met, and if not, iteratively fitting the target curve again. According to the satellite three-axis attitude calculation and camera imaging parameter configuration method, satellite three-axis attitude calculation and camera imaging parameter configuration are carried out according to the maximum number of included targets, the minimum image movement influence and the optimal attitude maneuver path, the imaging direction of the TDI camera is controlled to be consistent with the distribution trace of the targets, the rapid and accurate observation of the curved targets is realized in a range, and the imaging efficiency of the earth observation satellite is effectively improved.
Drawings
FIG. 1 is a flow chart of a method for fitting a dynamic image shift compensation bias current curve according to one embodiment of the present invention;
FIG. 2 is a schematic view of a three-dimensional curve fit of a target;
fig. 3 is a schematic view of attitude angle calculation.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In one embodiment, as shown in fig. 1, the dynamic image shift compensation bias current curve fitting method provided by the invention mainly comprises three parts, namely target three-dimensional space curve fitting, attitude angle calculation for ensuring the accurate pointing of a camera optical axis and attitude angle calculation for satisfying image shift matching, wherein the main contents of the three parts are as follows:
(1) The three-dimensional space curve fitting of the target is specifically as follows: a series of target points near the earth surface are expressed in a geocentric fixed coordinate system, a least square method is used for searching a best fitting function of the target points, and approximation values of other points are estimated through interpolation. A series of envelope circles are obtained to form a three-dimensional space vessel. And judging whether the target coverage rate meets the requirement, and if not, re-fitting the curve.
(2) The attitude angle calculation for ensuring the accurate pointing of the optical axis of the camera is specifically as follows: and establishing an earth inertial coordinate system, a camera body coordinate system, a satellite body coordinate system and an orbit coordinate system. And establishing a unit vector in the direction of the observation vector and a unit vector in the direction of the optical axis in the coordinate system. And solving the pitch angle and the roll angle of the satellite when the fitting target point is imaged through the quaternion.
(3) The attitude angle calculation meeting the image shift matching specifically comprises the following steps: and obtaining the rotation speed and the push-broom speed of the earth at the target point. The push-broom direction of the imaging satellite is guaranteed to be consistent with the target direction, image shift matching is achieved, and the yaw angle is calculated. And judging the influence of the image quality, and if the image quality of the image surface does not meet the requirement, re-fitting the curve.
Still referring to fig. 1, the dynamic image shift compensation bias current curve fitting method of the present invention specifically includes the following steps:
for targets distributed on the earth surface, the satellite detection method is mainly based on longitude alpha of target point i And latitude delta i And positioning and performing three-dimensional space curve fitting of the target.
And step 1, determining the strip area according to the coordinates of the target point in a geocentric fixed coordinate system.
A series of target points near the earth's surface are represented in the geocentric geodetic coordinate system as (x) i ＝Rcosδ i cosα i ，y i ＝Rcosδ i sinα i ，z i ＝Rsinδ i ) Wherein R is the earth radius, the target points (x) i ，y i ，z i ) Representing the entire stripe region.
And 2, performing function fitting on each target point in the strip area by using a least square method to obtain a target distribution curve, estimating the approximate value of the function at other points by using an interpolation method, and obtaining the longitude and latitude of the satellite at each moment according to the target distribution curve.
This step is directed to each target point (x i ，y i ，z i ) The best fit function for the data is found using the least squares method. Setting the coefficient of the curved surface x=x (t) as A n ,…,A 1 ,A 0 The coefficient of the curved surface y=y (t) is B n ,…,B 1 ,B 0 The method comprises the steps of carrying out a first treatment on the surface of the The coefficient of the curved surface z=z (t) is C n ,…,C 1 ,C 0 Assuming a parameter t, the space curve parameter equation obtained by the least squares method is as follows:
and (3) calculating according to the formula (1) to obtain a target distribution curve.
And (3) applying the obtained target distribution curve, and adopting a formula (2) to obtain the longitude and latitude (alpha, delta) of the satellite at the corresponding moment.
And 3, calculating the circle center of the three-dimensional target distribution curve according to the longitude and latitude of the satellite at each moment, the satellite breadth, the field angle and the earth radius, and taking the calculated circle center of the three-dimensional target distribution curve as the center to make an envelope circle tangent to the maximum field of view of the satellite, wherein a series of envelope circles jointly form a three-dimensional space vessel.
Let the longitude and latitude information of a satellite at a certain time be (alpha) s ,δ s ) The satellite breadth is L, the field angle is theta', the earth radius is R, and the expression of the circle center of the three-dimensional target distribution curve is as follows:
as shown in fig. 2, an envelope circle tangent to the maximum field of view of the satellite is made with the center of the obtained three-dimensional target distribution curve as the center and the satellite breadth L as the chord, and a series of envelope circles form a three-dimensional space vessel.
Step 4, obtaining the target coverage rate of the three-dimensional space vessel constructed in the step 3, and then judging whether the target coverage rate is greater than or equal to a threshold value, if so, executing the step 5; otherwise, returning to the step 2, iteratively selecting different powers n and curved surface coefficients, and re-fitting the curve;
in this step, the target coverage of the three-dimensional space vessel is calculated as follows: calculating the center distance r between the target point and the envelope circle j 'the radius of the envelope circle is r=l/(2 cos (θ'/2)), satisfying r j The target points' < r can be detected, the number n 1 Calculating the total number of targets as n by parameters, and obtaining the target coverage rate
Judging whether the target coverage rate P is greater than the target coverage rate P 0 If P is less than P 0 Returning to the step 2, and iteratively selecting different powers n And curve coefficients, re-fitting the curve.
Step 5, establishing an earth inertia coordinate system, a camera body coordinate system, a satellite body coordinate system and an orbit coordinate system, and constructing a coordinate conversion matrix from the earth inertia coordinate system to the orbit coordinate system
After the detectable area is determined, in order to achieve the matching of the push-broom direction and the target distribution range in the satellite orbiting process, ensuring that the camera is accurately directed to the imaging target area in the satellite orbiting process, as shown in fig. 3, the focal length f of the camera, the optical axis of the camera is initially directed to the point M under the satellite, then the optical axis is tilted by an angle theta to be directed to N, and then the camera is rolled by an angle
Pointing it at the target point T.
Establishing an earth inertial coordinate system I (x) i ,y i ,z i ) Camera body coordinate system C (x c ,y c ,z c ) Satellite body coordinate system S (x s ,y s ,z s ) And a track coordinate system O (x o ,y o ,z o ). The six orbit coefficients are (a, e, i, omega, v), and a coordinate transformation matrix from an earth inertia coordinate system to an orbit coordinate system is constructed
Wherein the rotation matrix is expressed as:
and 6, obtaining a unit vector in the track coordinate system along the direction of the observation vector and a unit vector in the direction of the optical axis, and calculating the Euler quaternion Q according to the unit vector of the observation and the unit vector of the optical axis.
The observation target T (alpha, delta) of the earth surface is expressed in the earth inertial coordinate system I as
The satellite position vector is
In the orbital coordinate system, the satellite's observation vector r ST Can be expressed as +.>
The unit vector in the direction of the observation vector is +.>
The unit vector in the optical axis direction is +.>
To achieve push-broom imaging along a target profile, optical axis u O Always with
The euler quaternion Q of the star body coordinate system relative to the orbit coordinate system can be expressed as:
step 7, solving the pitch angle theta and the roll angle of the satellite when imaging the fitted target point in step 2 through the Euler quaternion Q
In practical application, in order to maintain optimal attitude maneuver performance, the calculation formula of the yaw angle is
Side swing angular velocity is +.>
Then, the curve along-track imaging is affected by dynamic image shift change, the yaw attitude angle of the satellite needs to be accurately adjusted, and the multi-stage integration of the TDI camera needs to be kept perpendicular to the TDI along-track direction.
Step 8, assume imaging target point latitude delta T The track height is h, and the distance between the optical center of the lens of the space camera and the target point is
The earth self-rotation speed at the satellite target point is v e ＝ω e ·R·cosδ T The satellite flying speed is +.>
The side swing angular velocity is
By using a vector synthesis method, the satellite push-broom speed at the target point can be obtained as +.>
To ensure that the push-broom direction of the imaging satellite is consistent with the target direction, dynamic image shift is realized to obtain the push-broom speed v of the satellite T The yaw angle psi has a formula v s1 cosψ+v e cos(i 0 -ψ)＝v T, wherein i0 Is the track inclination angle.
Step 9, judging the satellite attitude angular velocity
Whether or not the constraint condition is satisfied, i.e.)>
Whether the MTF of the satellite planning image quality meets the image quality requirement or not, namely the MTF is less than or equal to the MTF 0 If yes, outputting a three-attitude angle of the satellite; if not, returning to the step 2 to iterate the calculation again.
The invention relates to a dynamic image motion compensation bias current curve fitting method which is mainly divided into three parts, namely, three-dimensional space curve fitting of a target, attitude angle calculation for guaranteeing accurate pointing of an optical axis of a camera and attitude angle calculation for meeting dynamic image motion compensation. Firstly, performing function fitting on a series of target points near the earth surface, constructing a three-dimensional space vessel, and ensuring the maximum coverage rate of the target; secondly, defining a series of space coordinate systems, constructing a coordinate conversion matrix from an earth inertia coordinate system to an orbit coordinate system, solving an observation unit vector and an optical axis unit vector, calculating Euler quaternions, solving a pitch angle and a side swing angle through the quaternions, and adjusting the optical axis of the camera to precisely point to a target area; and finally, calculating the earth rotation speed and the satellite push-broom speed at the target point, solving a yaw angle meeting the dynamic image motion compensation, judging whether the constraint condition and the image quality requirement are met, and if not, iteratively fitting the target curve again. According to the satellite three-axis attitude calculation and camera imaging parameter configuration method, satellite three-axis attitude calculation and camera imaging parameter configuration are carried out according to the maximum number of included targets, the minimum image movement influence and the optimal attitude maneuver path, the imaging direction of the TDI camera is controlled to be consistent with the distribution trace of the targets, the rapid and accurate observation of the curved targets is realized in a range, and the imaging efficiency of the earth observation satellite is effectively improved.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (1)
1. A dynamic image shift compensation bias current curve fitting method is characterized by comprising the following steps:
step 1, determining a strip area according to coordinates of a target point in a geocentric fixed coordinate system;
step 2, performing function fitting on each target point in the strip area by using a least square method to obtain a target distribution curve, estimating the approximate value of the function at other points by using an interpolation method, and obtaining the longitude and latitude of the satellite at each moment according to the target distribution curve;
calculating the circle center of the three-dimensional target distribution curve according to the longitude and latitude of the satellite at each moment, the satellite breadth, the field angle and the earth radius, and taking the calculated circle center of the three-dimensional target distribution curve as the center to make an envelope circle tangent to the maximum field of view of the satellite, wherein a series of envelope circles jointly form a three-dimensional space vessel;
step 4, obtaining the target coverage rate of the three-dimensional space vessel, judging whether the target coverage rate is greater than or equal to a threshold value, and if so, executing the step 5; otherwise, returning to the step 2, iteratively selecting different powers n and curved surface coefficients, and re-fitting the curve;
step 5, establishing an earth inertia coordinate system, a camera body coordinate system, a satellite body coordinate system and an orbit coordinate system, and constructing a coordinate conversion matrix from the earth inertia coordinate system to the orbit coordinate system
And 6, obtaining a unit vector in the direction of the observation vector and a unit vector in the direction of the optical axis in the orbit coordinate system, and calculating an Euler quaternion Q according to the unit vector and the unit vector of the optical axis, wherein the Euler quaternion Q has the following formula:
wherein ,
is a unit vector in the direction of the optical axis, +.>
Is a unit vector in the direction of the observation vector, +.>
Is the observation vector of the satellite in the orbit coordinate systemQuantity (S)>
Is a vector of an observation target of the earth surface in the earth inertial coordinate system, +.>
A position vector for a satellite in an earth inertial coordinate system;
step 7, solving the pitch angle theta and the roll angle of the satellite when imaging the fitted target point in step 2 through the Euler quaternion Q
Wherein the formula of the side swing angle is +.>
Step 8, calculating the satellite push-broom speed by using a vector synthesis method, and calculating a yaw angle according to a calculation formula of the yaw angle, wherein the calculation formula of the yaw angle psi is as follows:
v s1 cosψ+v e cos(i 0 -ψ)＝v T
wherein ,vs1 For satellite flying speed, v e For the earth rotation speed at the target point v T I is the satellite push-broom speed 0 Is the track inclination angle;
step 9, judging whether the satellite attitude angular speed meets constraint conditions and whether the MTF of the satellite planning image quality meets the image quality requirement, and if so, outputting a satellite three-attitude angle; if not, returning to the step 2 to iterate the calculation again.
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