Maneuvering method and device for avoiding lightweight calculation based on flare interference

Abstract

The invention discloses a maneuvering method and device for avoiding lightweight calculation based on flare interference, and belongs to the field of load maneuvering planning. The method comprises the following steps: establishing a first spherical triangle taking a satellite centroid as a sphere center under a satellite body coordinate system based on a sun vector, an observation direction of a satellite and a vector of a target point pointing to the earth surface by the earth center; in a plane formed by the sun vector and the earth core pointing earth surface target point vector, by taking the earth core pointing earth surface target point vector as a bisector, constructing a light reflection vector symmetrical to the sun vector so as to establish a second spherical triangle under the satellite body coordinate system; based on the first spherical triangle, the second spherical triangle and the Brewster angle of water, judging whether the satellite photographing is in a flare interference area or not; and based on the judgment result, calculating a yaw offset angle which is superposed to the original yaw angle so as to avoid flare interference. According to the scheme, the calculation process can be greatly simplified, and the calculation amount and memory occupation are less than 1 / 10 of those of an original method.

Description

Technical Field

[0001] This invention relates to the field of load maneuver planning technology, and in particular to a maneuvering method and apparatus based on glare interference avoidance lightweight calculation. Background Technology

[0002] When high-orbit surveillance satellites observe targets in specific areas at specific times, they may experience glare. Glare is a strong radiation signal formed by sunlight reflecting off the mirror-like elements of the sea surface. Its amplitude is much greater than that of the target signal and it can easily cause optical imaging information saturation and distortion, thus limiting optical imaging capabilities.

[0003] Previous methods for determining solar flare angles required calculating the solar zenith angle, solar azimuth angle, observed zenith angle, observed azimuth angle, solar ephemeris, and Greenwich Mean Time (GMT) angle. Calculating the solar azimuth angle and solar zenith angle required calculating the solar ephemeris and converting to the Earth-fixed coordinate system. Each angle calculation required relatively complex formulas. Calculating the observed zenith angle and observed azimuth angle required calculating and converting multiple quantities such as the inertial frame, orbital frame, Earth-fixed frame, precession nutation array, and GMT angle based on orbital parameters. The computational workload was enormous and complex, greatly consuming onboard memory and time resources.

[0004] Therefore, there is an urgent need to provide a maneuvering method and device based on glare interference avoidance and lightweight computation. Summary of the Invention

[0005] To address the problem of the extremely large computational load and complexity of traditional glare detection, embodiments of the present invention provide a mobile method and apparatus for lightweight computation based on glare interference avoidance.

[0006] On the one hand, a maneuvering method based on glare interference avoidance and lightweight computation is provided, the method comprising:

[0007] Based on the solar vector, the satellite's observation direction, and the geocentric vector pointing to the target point on the Earth's surface, a first spherical triangle is established in the satellite's body coordinate system with the satellite's center of mass as the center.

[0008] In the plane formed by the solar vector and the geocentric vector pointing to the target point on the Earth's surface, a light reflection vector symmetrical to the solar vector is constructed with the geocentric vector pointing to the target point on the Earth's surface as the bisector. Based on the light reflection vector, the observation direction of the satellite, and the geocentric vector pointing to the target point on the Earth's surface, a second spherical triangle with the satellite's center of mass is established in the satellite's body coordinate system.

[0009] Based on the first spherical triangle, the second spherical triangle, and Brewster's angle of the water, determine whether the satellite is taking a picture in the glare interference zone at this time.

[0010] Based on the judgment results, the yaw offset angle to be superimposed on the original yaw angle is calculated to avoid glare interference.

[0011] On the other hand, a mobile device based on glare interference avoidance lightweight calculation is provided, which is based on the steps described in any embodiment of the method specification. The device includes:

[0012] The first establishment unit is used to establish the first spherical triangle with the satellite's center of mass as the center in the satellite body coordinate system based on the solar vector, the satellite's observation direction, and the geocentric vector pointing to the target point on the Earth's surface.

[0013] The second establishing unit is used to construct a light reflection vector symmetrical to the solar vector in the plane formed by the solar vector and the geocentric vector pointing to the target point on the Earth's surface, with the geocentric vector pointing to the target point on the Earth's surface as the bisector. Based on the light reflection vector, the observation direction of the satellite and the geocentric vector pointing to the target point on the Earth's surface, a second spherical triangle with the satellite's center of mass is established in the satellite body coordinate system.

[0014] The judgment unit is used to determine whether the satellite is taking a picture in the glare interference zone based on the first spherical triangle, the second spherical triangle and the Brewster angle of the water.

[0015] The avoidance unit is used to calculate the yaw offset angle to be superimposed on the original yaw angle based on the judgment result, so as to avoid glare interference.

[0016] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for executing the computer program stored in the memory to implement the steps of the method described above.

[0017] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the method described above.

[0018] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0019] The technical solution provided by this invention can bring at least the following beneficial effects:

[0020] By utilizing the existing solar vector, satellite observation direction, and geocentric vector pointing to the target point on the Earth's surface from the control subsystem, two spherical triangles with the satellite's center of mass as the center are established in the satellite's body coordinate system. By resolving the simple spherical triangle calculation formula, the glare interference criterion can be obtained, and a yaw maneuver strategy is given to avoid the influence of glare. With a simple, fast, and lightweight calculation method and maneuver strategy, the interference of glare on the detection target is prevented. Compared with the original method, which requires a large amount of basic calculations, this scheme can greatly simplify the calculation process, and the amount of calculation and memory usage is less than 1 / 10 of the original method. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a maneuvering method based on glare interference avoidance lightweight calculation provided by an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a first spherical triangle and a second spherical triangle provided in an embodiment of the present invention;

[0024] Figure 3 This is a structural diagram of a mobile device based on glare interference avoidance and lightweight calculation provided in an embodiment of the present invention;

[0025] Figure 4 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] The following describes the specific implementation of the above concept.

[0028] Please refer to Figure 1 The present invention provides a maneuvering method based on glare interference avoidance and lightweight computation, the method comprising:

[0029] Step 100: Based on the solar vector, the satellite's observation direction, and the geocentric vector pointing to the target point on the Earth's surface, establish the first spherical triangle with the satellite's center of mass as the center in the satellite's body coordinate system;

[0030] Step 102: In the plane formed by the solar vector and the geocentric vector pointing to the target point on the Earth's surface, construct a light reflection vector symmetrical to the solar vector, with the geocentric vector pointing to the target point on the Earth's surface as the bisector. Based on the light reflection vector, the satellite's observation direction, and the geocentric vector pointing to the target point on the Earth's surface, establish a second spherical triangle with the satellite's center of mass as the center in the satellite's body coordinate system.

[0031] Step 104: Based on the first spherical triangle, the second spherical triangle, and the Brewster angle of the water, determine whether the satellite is taking a picture in the glare interference zone at this time;

[0032] Step 106: Based on the judgment result, calculate the yaw offset angle to be superimposed on the original yaw angle in order to avoid glare interference.

[0033] In this embodiment of the invention, by utilizing the existing solar vector, satellite observation direction, and geocentric vector pointing to the target point on the Earth's surface in the control subsystem, two spherical triangles with the satellite's center of mass as the center are established in the satellite's body coordinate system. By simplifying the spherical triangle calculation formula, the glare interference criterion can be obtained, and a yaw maneuver strategy is given to avoid the influence of glare. With a simple and fast lightweight calculation method and maneuver strategy, the interference of glare on the detection target is prevented. Compared with the original method, which requires a large amount of basic calculation as support, this scheme can greatly simplify the calculation process, and the amount of calculation and memory usage is less than 1 / 10 of the original method.

[0034] The following description Figure 1 The execution method for each step is shown.

[0035] For step 100:

[0036] like Figure 2 As shown, the satellite's coordinate system is ox. b y b z b o is the satellite's center of mass; os is the direction in which the solar vector points within the satellite's body, and the component of the solar vector in the satellite's body coordinate system is s. b ;ob represents the satellite body -z b The direction is the observation direction of the satellite camera, and the components of the observation direction in the satellite's coordinate system are: op represents the direction of the vector pointing from the Earth's center to the target point on the Earth's surface within the body, and its components in the body's coordinate system. As you can see, the first spherical triangle is OBPS, o is the center of the sphere, and b, p, and s are three points on the sphere.

[0037] Regarding step 102:

[0038] Continue to refer to Figure 2 In the plane formed by the solar vector and the vector pointing from the Earth's center to the target point on the Earth's surface, i.e., plane ops, the vector symmetrical to ops is obtained by taking op as the bisector, which is the light reflection vector os1. The second spherical triangle obps1 is obtained, where o is the center of the sphere, and b, p, and s1 are three points on the sphere.

[0039] Regarding step 104:

[0040] In some implementations, step 104 may include S1-S4:

[0041] S1, based on the real-time pointing latitude and longitude and the elevation of the surface target point, calculates the components of the geocentric vector pointing to the surface target point in the satellite body coordinate system.

[0042] In this step, the calculation is performed as follows:

[0043]

[0044] In the formula, r pb C represents the component of the vector pointing from the Earth's center to the target point on the Earth's surface in the satellite's body coordinate system. be Let N be the direction cosine matrix of this system relative to the Earth-fixed system, N be the distance between the intersection of the local horizontal perpendicular with the meridian of the geodetic ellipsoid and the intersection with the z-axis of the geodetic ellipsoid, H be the elevation of the target point on the ground, and L be the distance between the two points. t and δ t The sum represents the real-time latitude and longitude, and e represents the Earth's eccentricity, e = 0.08182. This represents the unit component of the vector pointing from the Earth's center to the target point on the Earth's surface in the satellite's body coordinate system. and These are the unit components of the vector from the Earth's center to the target point on the Earth's surface along the three axes of the body.

[0045] S2, determine three points on the spherical surface in the first spherical triangle, calculate the first angle between the geocentric vector pointing to the target point on the Earth's surface and the solar vector, the second angle between the geocentric vector pointing to the target point on the Earth's surface and the observation direction of the satellite, the third angle between the observation direction of the satellite and the solar vector, and the dihedral angle between the plane formed by the geocentric vector pointing to the target point on the Earth's surface and the solar vector and the plane formed by the geocentric vector pointing to the target point on the Earth's surface and the light reflection vector.

[0046] In this embodiment, the first included angle is calculated using the following formula:

[0047]

[0048] The second included angle is calculated using the following formula:

[0049]

[0050] In the formula, and They represent the first included angle and the second included angle, respectively. Let s be the unit component of the vector pointing from the Earth's center to the target point on the Earth's surface in the satellite's body coordinate system. b Let be the components of the solar vector in the body coordinate system. This is the unit component of the vector from the Earth's center to the target point on the Earth's surface along the z-axis of the satellite's body coordinate system.

[0051] It should be noted that, Let ps and bp be arcs, used to reflect the first included angle ∠pos and the second included angle ∠bop, respectively.

[0052] In addition, the included angle ∠bos and the dihedral angle ∠bps were also calculated:

[0053]

[0054] In the formula, Let 'bs' be the arc, used to represent the third included angle ∠bos.

[0055] S3. Determine three points on the sphere in the second spherical triangle. Based on the third included angle, the first included angle, the second included angle, and the dihedral angle, calculate the fourth included angle between the satellite's observation direction and the light reflection vector.

[0056] In this embodiment, the fourth included angle is calculated using the following formula:

[0057]

[0058] In the formula, Represents the fourth included angle, s bz Let be the component of the solar vector along the z-axis of the body. and These represent the first included angle and the second included angle, respectively.

[0059] It should be noted that the formula for calculating the fourth included angle is derived as follows:

[0060] From the spherical trigonometric formula, we can obtain:

[0061]

[0062] Substituting the formula for the dihedral angle ∠bps into the above equation, we get:

[0063]

[0064] Make the third angle Substituting the formula into the above equation, we get:

[0065]

[0066] Actually the third angle The formulas for the dihedral angle ∠bps are all intermediate steps and can be omitted in actual star calculations. Instead, the first and second included angles can be calculated directly in step S2, and then substituted into the derived fourth included angle. The calculation formula is straightforward, requiring minimal computation and is very simple.

[0067] S4, based on the first included angle, the fourth included angle and the Brewster angle of the water, determines whether the satellite is taking pictures in the glare interference zone at this time.

[0068] In some implementations, step S4 may include:

[0069] Determine whether the first included angle and the fourth included angle simultaneously satisfy the following conditions:

[0070] and

[0071] In the formula, and They represent the first and fourth included angles, respectively; α1 is the Brewster angle of water; Δ1 and Δ2 are the margin ranges.

[0072] If both the first and fourth included angles are satisfied, then the satellite's photograph is in the glare interference zone at this time;

[0073] If the first and fourth included angles are not satisfied simultaneously, then the satellite will not be in the glare interference zone when taking pictures.

[0074] In summary, this scheme uses the satellite's body coordinate system as a reference system and utilizes the existing solar vector, satellite observation direction, and geocentric vector pointing to the target point on the Earth's surface from the control subsystem. It establishes two spherical triangles with the satellite's center of mass as the sphere in the satellite's body coordinate system. By resolving the simple spherical triangle calculation formula, the glare interference criterion can be obtained. The concept is clear, the computational load is extremely small, and it is more accurate than the calculations of existing patents, which require a large amount of basic computation as support. The computational load and memory usage are less than 1 / 10 of the original algorithm.

[0075] Regarding step 106:

[0076] In some implementations, step 106 may include:

[0077] If the satellite is taking pictures in the glare interference zone at this time, the yaw offset angle is calculated based on the components of the solar vector on the x-axis and y-axis of the body to be superimposed on the original yaw angle, so that the solar vector rotates into the xoz plane of the body to avoid glare interference.

[0078] If the satellite is not in the glare interference zone at this time, the yaw offset angle will be set to 0, and the satellite will continue to maneuver according to the original yaw angle.

[0079] In this embodiment, if the satellite is taking pictures in the glare interference zone, since the camera polarizer is generally placed in the x-direction of the main body, the yaw offset angle is calculated so that the satellite maneuvers to turn the sunlight into the xoz plane of the main body. Since the reflected light is perpendicular to the xoz plane, and the polarizer is also on the xoz plane, the reflected light cannot enter, thus suppressing the glare interference.

[0080] Therefore, the yaw offset angle can be calculated as follows:

[0081] Determine if the component of the solar vector on the y-axis of the body is less than 0;

[0082] If so, the yaw offset angle is calculated using the following formula:

[0083]

[0084] In the formula, ψ s For the yaw offset angle, s bx Let s be the component of the solar vector along the x-axis of the body. by This represents the component of the solar vector along the y-axis of the body.

[0085] If not, calculate the yaw offset angle using the following formula:

[0086]

[0087] Therefore, by determining whether the component of the solar vector on the y-axis of the satellite is less than 0, we can see whether the rotation direction is clockwise or counterclockwise. If it is less than 0, it is clockwise, i.e., the right-hand screw rotates clockwise. If it is greater than 0, it is counterclockwise. By superimposing this yaw offset angle onto the original yaw offset angle, the satellite can maneuver to make the sunlight turn into the xoz plane of the satellite. Since the reflected light is perpendicular to the xoz plane, and the polarizer is also on the xoz plane, the reflected light cannot enter, thus suppressing glare interference.

[0088] Therefore, this scheme utilizes the existing solar vector, satellite observation direction, and geocentric vector pointing to the target point on the Earth's surface in the control subsystem to establish two spherical triangles with the satellite's center of mass as the center in the satellite's body coordinate system. By resolving the simple spherical triangle calculation formula, the glare interference criterion can be obtained, and a yaw maneuver strategy is given to avoid the influence of glare. With a simple, fast, and lightweight calculation method and maneuver strategy, the interference of glare on the detection target is prevented. Compared with the original method, which requires a large amount of basic calculations, this scheme can greatly simplify the calculation process, and the amount of calculation and memory usage is less than 1 / 10 of the original method.

[0089] This solution was used in the glare detection algorithm of a high-orbit remote sensing satellite control subsystem with ultra-high precision pointing. It achieved the goal of avoiding glare interference with payload operation at a relatively low cost.

[0090] Please refer to Figure 3 This invention provides a maneuvering device based on glare interference avoidance lightweight computation, used to implement the steps of any method embodiment in the specification. The device includes:

[0091] The first establishment unit 301 is used to establish a first spherical triangle with the satellite's center of mass as the center in the satellite body coordinate system based on the solar vector, the satellite's observation direction, and the geocentric vector pointing to the target point on the Earth's surface.

[0092] The second establishing unit 302 is used to construct a light reflection vector symmetrical to the solar vector in the plane formed by the solar vector and the geocentric vector pointing to the target point on the Earth's surface, with the geocentric vector pointing to the target point on the Earth's surface as the bisector. Based on the light reflection vector, the observation direction of the satellite and the geocentric vector pointing to the target point on the Earth's surface, a second spherical triangle with the satellite's center of mass is established in the satellite body coordinate system.

[0093] The judgment unit 303 is used to determine whether the satellite is taking a picture in the glare interference zone based on the first spherical triangle, the second spherical triangle and the Brewster angle of the water.

[0094] The avoidance unit 304 is used to calculate the yaw offset angle to be superimposed on the original yaw angle based on the judgment result in order to avoid glare interference.

[0095] It should be noted that the above device embodiments and method embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0096] Embodiments of this application also provide a computer device, please refer to... Figure 4 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set, or instruction set, the at least one instruction, at least one program, code set, or instruction set being loaded and executed by the processor to implement the lightweight computing maneuvering method based on glare interference avoidance provided in the above-described method embodiments.

[0097] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the lightweight computing maneuvering method based on glare interference avoidance provided in the above-described method embodiments.

[0098] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform any of the above embodiments of a maneuvering method based on glare interference avoidance lightweight computing.

[0099] For ease of description, the above devices or apparatuses are described separately according to their functions, divided into various modules or units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0100] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0101] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0102] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A maneuvering method based on glare interference avoidance and lightweight computation, characterized in that, include: Based on the solar vector, the satellite's observation direction, and the geocentric vector pointing to the target point on the Earth's surface, a first spherical triangle is established in the satellite's body coordinate system with the satellite's center of mass as the center. In the plane formed by the solar vector and the geocentric vector pointing to the target point on the Earth's surface, a light reflection vector symmetrical to the solar vector is constructed with the geocentric vector pointing to the target point on the Earth's surface as the bisector. Based on the light reflection vector, the observation direction of the satellite, and the geocentric vector pointing to the target point on the Earth's surface, a second spherical triangle with the satellite's center of mass is established in the satellite's body coordinate system. Based on the first spherical triangle, the second spherical triangle, and Brewster's angle of the water, determine whether the satellite is taking a picture in the glare interference zone at this time. Based on the judgment results, the yaw offset angle to be superimposed on the original yaw angle is calculated to avoid glare interference.

2. The method as described in claim 1, characterized in that, The determination of whether the satellite is currently photographing within a glare interference zone based on the first spherical triangle, the second spherical triangle, and the Brewster angle of water includes: Based on the real-time pointing latitude and longitude and the elevation of the surface target point, calculate the components of the geocentric pointing target point vector in the satellite body coordinate system; In the first spherical triangle, determine three points on the spherical surface, and calculate the first angle between the geocentric vector pointing to the target point on the Earth's surface and the solar vector, the second angle between the geocentric vector pointing to the target point on the Earth's surface and the observation direction of the satellite, the third angle between the observation direction of the satellite and the solar vector, and the dihedral angle between the plane formed by the geocentric vector pointing to the target point on the Earth's surface and the solar vector and the plane formed by the geocentric vector pointing to the target point on the Earth's surface and the light reflection vector. In the second spherical triangle, three points on the sphere are determined. Based on the third included angle, the first included angle, the second included angle, and the dihedral angle, the fourth included angle between the satellite's observation direction and the light reflection vector is calculated. Based on the first included angle, the fourth included angle, and Brewster's angle of water, it is determined whether the satellite is taking pictures in the glare interference zone at this time.

3. The method as described in claim 2, characterized in that, The first included angle is calculated using the following formula: The second included angle is calculated using the following formula: In the formula, and These represent the first included angle and the second included angle, respectively. Let s be the unit component of the geocentric vector pointing to the target point on the Earth's surface in the satellite's body coordinate system. b Let be the components of the solar vector in the satellite's body coordinate system. The unit component of the vector pointing from the Earth's center to the target point on the Earth's surface in the satellite's body coordinate system along the z-axis.

4. The method as described in claim 2, characterized in that, The fourth included angle is calculated using the following formula: In the formula, Represents the fourth included angle, s bz Let be the component of the solar vector along the z-axis of the body. and These represent the first included angle and the second included angle, respectively.

5. The method according to any one of claims 2-4, characterized in that, The determination of whether the satellite is currently taking a photograph within a glare interference zone based on the first included angle, the fourth included angle, and the Brewster angle of the water surface includes: Determine whether the first included angle and the fourth included angle simultaneously satisfy the following conditions: and In the formula, and These represent the first included angle and the fourth included angle, respectively. α1 is the Brewster angle of water, and Δ1 and Δ2 are the margin ranges. If both the first included angle and the fourth included angle are satisfied, then the satellite is in the glare interference zone at this time. If the first included angle and the fourth included angle are not satisfied simultaneously, then the satellite is not in the glare interference zone when taking pictures.

6. The method as described in claim 1, characterized in that, The calculation of the yaw offset angle, which is superimposed on the original yaw angle based on the judgment result, to avoid glare interference includes: If the satellite is taking a picture in the glare interference zone at this time, a yaw offset angle is calculated based on the components of the solar vector on the x-axis and y-axis of the body to be superimposed on the original yaw angle, so that the solar vector rotates into the xoz plane of the body to avoid glare interference. If the satellite is not in the glare interference zone at this time, the yaw offset angle will be set to 0, and the satellite will continue to maneuver according to the original yaw angle.

7. A mobile device based on glare interference avoidance lightweight calculation, used to implement the steps of the method according to any one of claims 1-6, characterized in that, include: The first establishment unit is used to establish the first spherical triangle with the satellite's center of mass as the center in the satellite body coordinate system based on the solar vector, the satellite's observation direction, and the geocentric vector pointing to the target point on the Earth's surface. The second establishing unit is used to construct a light reflection vector symmetrical to the solar vector in the plane formed by the solar vector and the geocentric vector pointing to the target point on the Earth's surface, with the geocentric vector pointing to the target point on the Earth's surface as the bisector. Based on the light reflection vector, the observation direction of the satellite and the geocentric vector pointing to the target point on the Earth's surface, a second spherical triangle with the satellite's center of mass is established in the satellite body coordinate system. The judgment unit is used to determine whether the satellite is taking a picture in the glare interference zone based on the first spherical triangle, the second spherical triangle and the Brewster angle of the water. The avoidance unit is used to calculate the yaw offset angle to be superimposed on the original yaw angle based on the judgment result, so as to avoid glare interference.

8. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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