Remote sensing shooting window planning method, device, equipment, medium and product

Abstract

The invention discloses a remote sensing shooting window planning method and device, equipment, a medium and a product, and relates to the field of satellite shooting, and the method comprises the steps: obtaining six orbit elements of a satellite and coordinates of an expected shooting point; calculating an instantaneous three-dimensional position and a satellite speed of the satellite according to the six orbit elements; coordinate system conversion is carried out on the instantaneous three-dimensional position and the satellite speed, and satellite longitude and latitude height coordinates are determined; determining real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position, the converted coordinates of the expected shooting point and the satellite longitude and latitude height coordinates; according to the coordinates of the expected shooting point, the longitude and latitude coordinates of the satellite and the real-time attitude angle parameters, determining the rotation angle of a pan-tilt; the rotation angle of the holder is used for adjusting a remote sensing shooting window. According to the invention, the autonomy of the shooting window can be improved, and the time matching precision and the imaging positioning precision of earth observation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite shooting, in particular to a remote sensing shooting window planning method, device, equipment, medium and product. BACKGROUND

[0002] Agile satellite is a kind of high-performance satellite that has developed rapidly in recent years, which is characterized in that the satellite platform has the ability to make large-scale rapid attitude maneuver around any Euler axis and quickly stabilize, thereby supporting the imaging or other types of remote sensors to quickly acquire target information. The shooting window based on the satellite cannot be planned autonomously at present, resulting in low time matching accuracy and imaging positioning accuracy of earth observation. SUMMARY

[0003] The purpose of the present application is to provide a remote sensing shooting window planning method, device, equipment, medium and product, which can improve the autonomy of the shooting window and improve the time matching accuracy and imaging positioning accuracy of earth observation.

[0004] To achieve the above purpose, the present application provides the following solutions: In a first aspect, the present application provides a remote sensing shooting window planning method, comprising: obtaining orbital elements of a satellite and coordinates of a desired shooting point; calculating an instantaneous three-dimensional position of the satellite and a satellite speed according to the orbital elements; performing coordinate system conversion on the instantaneous three-dimensional position and the satellite speed and determining satellite longitude-latitude-height coordinates; determining real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point and the satellite longitude-latitude-height coordinates; determining a gimbal rotation angle according to the coordinates of the desired shooting point, the satellite longitude-latitude-height coordinates and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust a remote sensing shooting window.

[0005] In an embodiment, determining real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point and the satellite longitude-latitude-height coordinates specifically comprises: calculating a maximum observation range of the satellite on the ground according to the satellite longitude-latitude-height coordinates; judging whether the converted coordinates of the desired shooting point are within the maximum observation range; if not, determining that the shooting cannot be completed; if yes, determining real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position.

[0006] In an embodiment, determining real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position specifically comprises: determining an angle between the x-axis of the satellite attitude coordinate system and the equatorial plane according to the converted instantaneous three-dimensional position; determining a real-time attitude angle parameter of the satellite according to the angle between the x-axis of the satellite attitude coordinate system and the equatorial plane.

[0007] In an embodiment, the gimbal rotation angle is determined according to the coordinates of the desired shooting point, the satellite latitude-longitude-height coordinates and the real-time attitude angle parameter, specifically including: determining a latitude offset angle and a longitude offset angle according to the coordinates of the desired shooting point and the satellite latitude-longitude-height coordinates; determining an angle between the satellite coordinate system and the coordinate plane according to the latitude offset angle and the longitude offset angle; determining the gimbal rotation angle according to the angle between the satellite coordinate system and the coordinate plane and the angle between the x-axis of the satellite attitude coordinate system and the equatorial plane.

[0008] In an embodiment, the expression of the gimbal rotation angle is: ; wherein, is the rotation angle of the gimbal joint close to the base, is the rotation angle of the gimbal joint away from the base, and δ is the angle between the x-axis of the satellite attitude coordinate system and the equatorial plane, is the angle between the normal vector and the satellite coordinate system and the coordinate plane, xz is the angle between the normal vector and the satellite coordinate system and the coordinate plane. is the angle between the normal vector and the satellite coordinate system and the coordinate plane. xy is the angle between the normal vector and the satellite coordinate system and the coordinate plane.

[0009] In a second aspect, the application provides a remote sensing shooting window planning device, including: an acquisition module configured to acquire orbit elements of a satellite and coordinates of a desired shooting point; an orbit calculation module configured to calculate an instantaneous three-dimensional position and a satellite speed according to the orbit elements; a coordinate line conversion module configured to perform coordinate system conversion on the instantaneous three-dimensional position and the satellite speed and determine satellite latitude-longitude-height coordinates; an attitude angle calculation module configured to determine a real-time attitude angle parameter of the satellite according to the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point and the satellite latitude-longitude-height coordinates; a shooting window calculation module configured to determine a gimbal rotation angle according to the coordinates of the desired shooting point, the satellite latitude-longitude-height coordinates and the real-time attitude angle parameter; the gimbal rotation angle is used to adjust a remote sensing shooting window.

[0010] In a third aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the remote sensing shooting window planning method.

[0011] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the remote sensing shooting window planning method.

[0012] In a fifth aspect, the present application provides a computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the remote sensing shooting window planning method.

[0013] According to the embodiments of the present application, the following technical effects are disclosed: The present application provides a remote sensing shooting window planning method, device, equipment, medium and product, the instantaneous three-dimensional position and the satellite speed are calculated according to the six orbital elements of the satellite; the coordinate system conversion is carried out on the instantaneous three-dimensional position and the satellite speed, and the satellite longitude, latitude and height coordinates are determined; the real-time attitude angle parameters of the satellite are determined according to the converted instantaneous three-dimensional position, the coordinates of the converted expected shooting point and the satellite longitude, latitude and height coordinates; the gimbal rotation angle is determined according to the coordinates of the expected shooting point, the satellite longitude, latitude and height coordinates and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window. The gimbal rotation angle is determined by the six orbital elements of the satellite and the real-time attitude angle parameters, so as to realize the real-time adjustment of the gimbal, thereby improving the autonomous adjustment of the remote sensing shooting window, and improving the time matching accuracy and imaging positioning accuracy of the earth observation. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0015] Figure 1 The flowchart of the remote sensing shooting window planning method.

[0016] Figure 2 The remote sensing schematic diagram.

[0017] Figure 3 The hardware architecture diagram of the computer device.

[0018] Figure 4 The schematic diagram of the remote sensing shooting window planning method.

[0019] Figure 5 A functional module schematic diagram of a remote sensing shooting window planning device provided for an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0021] The above purposes, features and advantages of the present application will be more apparent and understandable. The present application will be further described in detail below with reference to the drawings and specific embodiments.

[0022] In an exemplary embodiment, as shown in Figure 1 , Figure 3 and Figure 4 , a remote sensing shooting window planning method is provided, which is executed by a computer device, specifically, can be executed by a terminal or a server, or can be executed by a terminal and a server together. In the embodiments of the present application, the method comprises the following steps.

[0023] Step 101: obtaining orbital elements of a satellite and coordinates of a desired shooting point.

[0024] Step 102: calculating an instantaneous three-dimensional position of the satellite and a satellite speed according to the orbital elements.

[0025] Step 103: performing coordinate system conversion on the instantaneous three-dimensional position and the satellite speed and determining satellite longitude-latitude-height coordinates.

[0026] Step 104: determining real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point and the satellite longitude-latitude-height coordinates.

[0027] Step 105: determining a gimbal rotation angle according to the coordinates of the desired shooting point, the satellite longitude-latitude-height coordinates and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust a remote sensing shooting window.

[0028] The above steps are implemented, the gimbal rotation angle is determined through the orbital elements of the satellite and the real-time attitude angle parameters, so as to realize real-time adjustment of the gimbal, thereby improving autonomous adjustment of the remote sensing shooting window, and improving time matching accuracy and imaging positioning accuracy of earth observation.

[0029] The coordinate system conversion is used to realize the coordinate conversion operation between the satellite in the geodetic coordinate system (longitude, latitude, height), the J2000 geocentric celestial coordinate system and the WGS84 inertial reference system; taking the WGS84 coordinate system into the longitude-latitude-height coordinate system as an example, in the WGS84 coordinate system, the longitude-latitude-height coordinate system can be converted into the Cartesian coordinate through the following mapping relationship: (1) wherein, X , Y and Z is the three-dimensional coordinate of the satellite in the WGS84 inertial reference system, is the radius of curvature of the prime vertical, is the long semi-axis of the reference ellipsoid, e is the first eccentricity, is the latitude in the WGS-84 coordinate system, is the longitude in the WGS-84 coordinate system, is the ellipsoidal height in the WGS-84 coordinate system. According to formula (1), the formula of the WGS84 coordinate system into longitude-latitude-height can also be obtained: (2) The instantaneous three-dimensional position vector and the velocity vector of the satellite in the geodetic coordinate system are calculated based on the Keplerian orbital elements; the Keplerian orbital elements are defined as the long semi-axis of the reference ellipsoid , the first eccentricity e , the orbital inclination i , the argument of perigee ω , the longitude of the ascending node Ω and the true anomaly , so the instantaneous three-dimensional position of the satellite and the satellite velocity vector are respectively: (3) (4) wherein, p is the semi-major axis of the central celestial body, μ is the gravitational constant of the central celestial body.

[0030] In an exemplary embodiment, the real-time attitude angle parameters of the satellite are determined according to the converted instantaneous three-dimensional position, the converted coordinate of the expected shooting point and the longitude-latitude-height coordinate of the satellite, specifically including: calculating the maximum observation range of the satellite to the earth according to the longitude-latitude-height coordinate of the satellite; judging whether the converted coordinate of the expected shooting point is within the maximum observation range; if not, it is determined that the shooting cannot be completed; if yes, the real-time attitude angle parameters of the satellite are determined according to the converted instantaneous three-dimensional position. Wherein, the maximum observation range includes the maximum latitude observation range and the maximum longitude observation range.

[0031] The real-time attitude angle parameters of the satellite are determined based on the transformed instantaneous three-dimensional position, specifically including: determining the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system using a rotation matrix based on the transformed instantaneous three-dimensional position; and determining the real-time attitude angle parameters of the satellite using the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system.

[0032] Based on the satellite's real-time geodetic coordinates, its Earth coverage characteristics are calculated to determine whether the satellite possesses the conditions for observing the target area at that spatial location; for a given spacecraft coordinate ( That is, the instantaneous latitude, longitude, and altitude coordinates and the coordinates of the desired shooting point. First, it is necessary to determine whether the maximum remote sensing range that the spacecraft can cover at that location includes the remote sensing point. In this application, "spacecraft" refers to a satellite; therefore, it is possible to... Figure 2 The triangle shown In the middle, calculate the maximum observation angle. To determine whether the target point is within the effective field of view of the satellite: (5) (6) β is the limited field of view angle of the satellite, therefore, it can be solved first from formula (6). Then, the latitude offset angle is solved using formula (5). : (7) Therefore, the maximum latitudinal observation range of the spacecraft above the Earth can be calculated. Similarly, the maximum longitude observation range of the spacecraft above the Earth can also be calculated. , This represents the longitude offset. If the observation point is outside this range, then no matter how the gimbal moves its load, it will be impossible to complete the Earth observation mission. R For the Earth's radius, H The satellite's altitude above the ground. E 1 for Figure 2 The satellite coverage boundary is shown. S for Figure 2 Given the target and the latitude and longitude of the satellite point, its maximum observation range is determined by formulas (5) and (6), which is the sum of the satellite latitude and longitude and the offset angle. If the target point is not within this range, the shooting cannot be completed.

[0033] By solving the satellite's position and velocity vectors or attitude quaternions, the real-time attitude angle parameters consisting of pitch, yaw, and roll angles are output. These parameters are used to drive the pointing correction of the remote sensing payload gimbal.

[0034] For a satellite, its attitude is described by quaternions and then transformed into a set of Euler angles, where x The axis is along the direction of spacecraft motion (i.e., the velocity direction). z The axis always points towards the Earth's center (in the direction relative to the Earth). This set of Euler angles characterizes the rotational relationship from the inertial frame to the spacecraft's body coordinate system and can be obtained through attitude feedback data provided by the spacecraft. Assuming the rotation sequence is 3-2-1, let the Euler angles be the yaw angles. ψ Pitch angle θ Roll angle That is, around in sequence z , y , x The axis rotates: (8) Therefore, it is necessary to calculate the extraction x The direction vector of the axis in the J2000 system. Due to the rotation matrix. This is a transformation from an inertial frame of reference to our own system. Therefore: (9) Therefore, specifically: (10) The angle of rotation of the gimbal motor is used to calculate the vector of the x-axis in the star attitude coordinate system. v The angle between the plane and the equatorial plane is determined by... z The amount determines the quantity.

[0035] (11) Since the orbit is circular, we can assume that the x-axis points in the same direction as the velocity. However, this does not hold true if the orbit is elliptical.

[0036] Therefore, the spacecraft is in an ideal attitude ( x The axis is parallel to the equator. z The homogeneous transformation matrix for converting axis-to-ground coordinates to actual attitude. for: (12) In an exemplary embodiment, determining the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite's latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters specifically includes: determining the latitude offset angle and the longitude offset angle based on the coordinates of the desired shooting point and the satellite's latitude, longitude, and altitude coordinates; determining the angle between the satellite coordinate system and the coordinate plane based on the latitude offset angle and the longitude offset angle; and determining the gimbal rotation angle based on the angle between the satellite coordinate system and the coordinate plane, as well as the angle between the x-axis in the satellite attitude coordinate system and the equatorial plane.

[0037] According to the desired remote sensing point, the satellite longitude, latitude and altitude position and the satellite attitude, the rotation angle of the gimbal is calculated to realize the shooting of the desired remote sensing point. The desired remote sensing point is directly obtained, and the satellite longitude, latitude and altitude position is calculated through coordinate conversion. The desired remote sensing point is the desired shooting point.

[0038] In actual deployment, in order to minimize the influence of external shielding on the installation position of the load on the spacecraft platform, the load is usually arranged in the xz plane of the spacecraft. Based on this engineering consideration, the is set, so that the corresponding coordinate transformation relationship can be defined as follows: (19) is the position of the load in the spacecraft attitude coordinate system, T is the coordinate system conversion matrix, δ is the angle of the spacecraft attitude coordinate system relative to the equatorial plane. is the homogeneous transformation matrix from the load center coordinate system to the spacecraft coordinate system, is the homogeneous transformation matrix from the base coordinate system to the camera coordinate system, is the distance along the z-axis of the base coordinate system to the first motor, is the distance along the z-axis of the first motor coordinate system to the second motor, is the distance along the z-axis of the second motor coordinate system to the camera, is the distance along the x-axis of the base coordinate system to the first motor, is the distance along the x-axis of the second motor coordinate system to the camera.

[0039] Therefore, according to the properties of the homogeneous transformation matrix, the normal vector from the origin of the spacecraft coordinate system to the camera plane can be determined by the first three elements of the third column of the homogeneous transformation matrix, i.e. the first three rows of the column vector represent the normal direction of the camera plane in the spacecraft coordinate system n : (20) wherein are the first three elements of the third column of formula (20), respectively.

[0040] Relying on formula (19), the angles of the normal vector relative to the yz plane in the spacecraft coordinate system, the plane in the spacecraft coordinate system and the xz plane in the spacecraft coordinate system can be calculated, respectively defined as: xy (21) (22)​​​ (23) If it has been determined that the spacecraft coordinates (x, y, z) and remote sensing point coordinates (x', y', z') can complete the task of remote sensing of the earth, then the latitude offset angle and the longitude offset angle are calculated: (24) (25) (26) The angle between the plane and the spacecraft coordinate system can be calculated by the latitude offset angle: xz (27) (28) F 1 and 2 are the intersection points of the satellite and the earth under the latitude offset angle F S 0 is the intersection point of the satellite and the earth's center.

[0041] The solution is: (29) Similarly, the angle between the plane and the satellite coordinate system can be calculated: yz (30) Therefore, the gimbal motion planning problem can be converted into a constrained equation system solving problem: (31) The constraint is that the angle of the camera relative to the plane is negative, which cannot complete the task of remote sensing of the earth, so this constraint is added. For the equation system (30), the expression for the gimbal rotation angle can be directly solved as: xy (32) where is the rotation angle of the gimbal joint close to the base, is the rotation angle of the gimbal joint away from the base, and δ is the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system. In the aforementioned formula (11), δ has been obtained, so θ 1 and 2 can be calculated, corresponding to the rotation angles of the gimbal joint close to the base and the gimbal joint away from the base, respectively. θ

[0042] ​​​​​​​The application obtains the satellite three-dimensional position, obtains the longitude, latitude and height coordinates, performs orbit calculation first, because the orbit six numbers are obtained by ground tracking station, in order to perform subsequent calculation, and then performs coordinate system conversion. The application obtains the satellite orbit root number, performs calculation and processing, obtains the satellite instantaneous three-dimensional position and velocity, judges whether the shooting can be completed according to the longitude, latitude and height coordinates of the satellite and the expected remote sensing point, if not, the calculation process is terminated, the satellite coordinates are obtained, calculation and processing are performed, the satellite attitude angle relative to the xy plane in the WGS84 coordinate system is obtained, the Euler angle can be calculated through the satellite velocity (vx, vy and vz) and the satellite attitude definition (for example, the satellite attitude definition in the application is that the z axis always points to the earth center and the x axis points to the velocity direction), and the attitude angle relative to the xy plane is calculated according to the Euler angle. The satellite longitude, latitude and height are obtained, calculation and processing are performed, the satellite perturbation acceleration is obtained (the acceleration is not very relevant, the intention is to consider that after the satellite fuel is exhausted, the orbit begins to descend, at this time the orbit root number has changed, the real-time orbit root number can be obtained and the calculation is continued), the pan-tilt rotation angle is obtained according to the satellite longitude, latitude and height coordinates, the satellite attitude angle relative to the xy plane in the WGS84 coordinate system and the longitude, latitude and height coordinates of the expected remote sensing point.

[0043] The application realizes the coordinate conversion operation of the satellite between different reference systems, calculates the instantaneous three-dimensional position vector and velocity vector of the satellite based on the Kepler orbit root number, calculates the real-time coordinates of the satellite to solve the coverage characteristics thereof on the ground, judges whether the satellite at the space position has the observation condition of the target area, solves the position and velocity vector of the satellite in the J2000 coordinate system, and is used for correcting the pointing of the multi-axis pan-tilt, uses the LSTM to perform time sequence modeling and high-precision prediction on the orbit perturbation error, thereby improving the orbit extrapolation precision, calculates the pan-tilt rotation angle according to the expected remote sensing point, the satellite position and the attitude, and realizes the shooting of the expected remote sensing point. The LSTM neural network is introduced to model and predict the orbit uncertainty perturbation, realizes the autonomous planning and calculation of the agile remote sensing satellite on the remote sensing window, thereby improving the time matching precision and imaging positioning precision of the ground observation, and enhancing the autonomy and overall performance of the remote sensing task.

[0044] Based on the same inventive concept, the embodiment of the application also provides a remote sensing shooting window planning device for realizing the remote sensing shooting window planning method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more remote sensing shooting window planning device embodiments provided below can be referred to the limitations of the remote sensing shooting window planning method in the above, which will not be described here.

[0045] In one exemplary embodiment, as shown in Figure 5 a remote sensing shooting window planning device is provided. An acquisition module is configured to acquire orbital elements of a satellite and coordinates of a desired shooting point.

[0046] An orbit calculation module is configured to calculate an instantaneous three-dimensional position and a satellite speed of the satellite according to the orbital elements.

[0047] A coordinate line conversion module is configured to perform coordinate system conversion on the instantaneous three-dimensional position and the satellite speed and determine satellite geodetic coordinates.

[0048] An attitude angle calculation module is configured to determine real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point and the satellite geodetic coordinates.

[0049] A shooting window calculation module is configured to determine a gimbal rotation angle according to the coordinates of the desired shooting point, the satellite geodetic coordinates and the real-time attitude angle parameters, and the gimbal rotation angle is used to adjust a remote sensing shooting window.

[0050] In an exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor implementing the above-mentioned method embodiments when executing the computer program.

[0051] In an exemplary embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program implements the above-mentioned method embodiments when executed by a processor.

[0052] In an exemplary embodiment, a computer program product is provided, including a computer program, and the computer program implements the above-mentioned method embodiments when executed by a processor.

[0053] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0054] In the present application, all actions of acquiring signals, information or data are carried out in compliance with the corresponding data protection regulations and policies of the country where the device is located, and with the authorization given by the owner of the corresponding device.

[0055] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to a memory, a database or other medium used in the embodiments provided in the present application can include at least one of a non-volatile and a volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage, a high-density embedded non-volatile memory, a resistive random access memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc.

[0056] The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0057] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0058] The principles and implementation modes of the present application are described by using specific examples in the present application. The above embodiments are only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A method for planning a remote sensing shooting window, characterized in that, The remote sensing image window planning method includes: Obtain the six orbital elements of the satellite and the coordinates of the desired image capture point; The instantaneous three-dimensional position and velocity of the satellite are calculated based on the six orbital elements. Perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity, and determine the satellite's latitude, longitude, and altitude coordinates; The real-time attitude angle parameters of the satellite are determined based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates. The gimbal rotation angle is determined based on the coordinates of the desired shooting point, the satellite latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window.

2. The method of claim 1, wherein, The satellite's real-time attitude angle parameters are determined based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates. Specifically, this includes: The maximum observation range of the satellite over the Earth is calculated based on the satellite's latitude, longitude, and altitude coordinates. Determine whether the coordinates of the desired shooting point after the transformation are within the maximum observation range; If not, then the filming cannot be completed; If so, the satellite's real-time attitude angle parameters are determined based on the converted instantaneous three-dimensional position.

3. The method of claim 2, wherein, The real-time attitude angle parameters of the satellite are determined based on the converted instantaneous three-dimensional position, specifically including: Based on the transformed instantaneous three-dimensional position, the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system is determined using a rotation matrix; The real-time attitude angle parameters of the satellite are determined by using the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system. 4.The method of claim 1, wherein, The gimbal rotation angle is determined based on the coordinates of the desired shooting point, the satellite's latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters. Specifically, this includes: The latitude offset angle and longitude offset angle are determined based on the coordinates of the desired shooting point and the satellite's latitude, longitude, and altitude coordinates. The angle between the satellite coordinate system and the coordinate plane is determined based on the latitude offset angle and the longitude offset angle; The gimbal rotation angle is determined based on the angle between the satellite coordinate system and the coordinate plane, and the angle between the x-axis in the satellite attitude coordinate system and the equatorial plane.

5. The remote sensing imaging window planning method according to claim 1, characterized in that, The expression for the gimbal rotation angle is: ； in, This refers to the rotation angle of the gimbal joint near the base. For the rotation of the gimbal joints away from the base, δ is the coordinate system of the satellite attitude coordinate system. x The angle between the axis and the equatorial plane, The normal vector is relative to the coordinate system of the satellite. xz Angle between planes The normal vector is relative to the coordinate system of the satellite. xy Angle between two planes.

6. A remote sensing imaging window planning device, characterized in that, The remote sensing imaging window planning device includes: The acquisition module is used to obtain the six orbital elements of the satellite and the coordinates of the desired shooting point; The orbit calculation module is used to calculate the instantaneous three-dimensional position and velocity of the satellite based on the orbital six-factors. The coordinate transformation module is used to perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity, and to determine the satellite's latitude, longitude and altitude coordinates. The attitude angle calculation module is used to determine the real-time attitude angle parameters of the satellite based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates. The shooting window calculation module is used to determine the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite latitude, longitude and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window.

7. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the remote sensing imaging window planning method according to any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the remote sensing imaging window planning method as described in any one of claims 1-5.

9. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the remote sensing imaging window planning method as described in any one of claims 1-5.

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