Method, device, equipment and medium for calculating right ascension and declination based on Euler angles

Abstract

The present disclosure provides a method, device, equipment and medium for calculating right ascension and declination based on Euler angles, which relates to the field of aerospace technology. The method includes: obtaining the initial observation pointing parameters of a satellite camera, the first rotation Euler angle of the coordinate system unit basis vector corresponding to the initial observation pointing to the body coordinate system unit basis vector corresponding to the satellite platform, and the second rotation Euler angle of the coordinate system unit basis vector corresponding to the satellite platform to the coordinate system unit basis vector corresponding to the final observation pointing; calculating the final observation pointing parameters of the satellite camera according to the initial observation pointing parameters, the first rotation Euler angle and the second rotation Euler angle; calculating the right ascension and declination of the satellite camera according to the final observation pointing parameters. The method can quickly and accurately solve the celestial right ascension and declination from the initial pointing of the camera, and can fully consider various rotation sequences of aerospace engineering, with a wide range of applications and strong applicability.

Description

Technical Field

[0001] The present disclosure relates to the field of aerospace technology, and in particular to a method, device, equipment and medium for calculating right ascension and declination based on Euler angles. Background Art

[0002] A space-based telescope refers to a telescope device installed on a space-based platform to observe the space. Compared with ground-based telescopes, space-based telescopes have the following main advantages: space-based observations are not affected by sunlight and can be observed all day long; space-based observations are not affected by clouds and weather and can be observed all day long; the sky light background of space-based observations is very dark and is not affected by atmospheric extinction. However, when conducting demonstrations, simulations, mission planning, etc. of space-based telescopes, it is often necessary to solve the celestial right ascension and declination of the satellite running in the inertial orientation mode from the initial pointing of the camera. However, due to the completely different results of different rotation orders and rotation angles, there is currently no effective solution for calculating the right ascension and declination of the camera field of view center from the rotation order and rotation angle. Therefore, how to quickly and accurately solve the celestial right ascension and declination of the satellite running in the inertial orientation mode from the initial pointing of the camera is a problem that technicians in this field need to solve urgently. Summary of the invention

[0003] In view of the above technical problems, the first aspect of the present disclosure provides a method for calculating right ascension and declination based on Euler angles, including: obtaining the initial observation pointing parameters of the satellite camera, the first rotation Euler angles of the unit basis vector of the coordinate system corresponding to the initial observation pointing to the unit basis vector of the body coordinate system corresponding to the satellite platform, and the second rotation Euler angles of the unit basis vector of the body coordinate system corresponding to the satellite platform to the unit basis vector of the coordinate system corresponding to the final observation pointing; calculating the final observation pointing parameters of the satellite camera according to the initial observation pointing parameters, the first rotation Euler angles and the second rotation Euler angles; calculating the right ascension and declination of the satellite camera according to the final observation pointing parameters.

[0004] According to an embodiment of the present disclosure, calculating the final observation pointing parameters of a satellite camera based on the initial observation pointing parameters, the first rotation Euler angles and the second rotation Euler angles includes: calculating a first rotation matrix from the unit basis vector of the coordinate system corresponding to the initial observation pointing to the unit basis vector of the body coordinate system corresponding to the satellite platform according to the first rotation Euler angles; calculating a second rotation matrix from the unit basis vector of the body coordinate system corresponding to the satellite platform to the unit basis vector of the coordinate system corresponding to the final observation pointing according to the second rotation Euler angles; and performing two rotation calculations in sequence using the first rotation matrix and the second rotation matrix and the initial observation pointing parameters to obtain the final observation pointing parameters.

[0005] According to an embodiment of the present disclosure, two rotation calculations are performed in sequence using the first rotation matrix and the second rotation matrix with the initial observation pointing parameters, including: performing matrix multiplication operations on the first rotation matrix and the initial observation pointing parameters to obtain intermediate observation pointing parameters; performing matrix multiplication operations on the second rotation matrix and the intermediate observation pointing parameters to obtain final observation pointing parameters.

[0006] According to an embodiment of the present disclosure, before calculating the first rotation matrix and the second rotation matrix, the method further includes: determining a rotation order of the first rotation Euler angle or the second rotation Euler angle.

[0007] According to an embodiment of the present disclosure, the rotation sequence includes 27 rotation sequences suitable for aerospace engineering.

[0008] According to the embodiment of the present disclosure, the final observation pointing parameters include a pitch angle, a yaw angle, and a roll angle; calculating the right ascension of the satellite camera according to the final observation pointing parameters includes:

[0009] Dec=arcsin(φ z )

[0010] Calculate the right ascension Dec, where arcsin(·) represents solving the inverse sine, φ z is the roll angle.

[0011] According to an embodiment of the present disclosure, calculating the declination of a satellite camera according to the final observation pointing parameter includes:

[0012] RA=arccos(θ y / cos(Dec))

[0013] Calculate the declination RA, where arccos(·) means solving for the arccosine, cos(·) means solving for the cosine, θ y , is the yaw angle.

[0014] A second aspect of the present disclosure provides a right ascension and declination calculation device based on Euler angles, including: an acquisition module, used to acquire the initial observation pointing parameters of a satellite camera, the first rotation Euler angles of the coordinate system unit basis vector corresponding to the initial observation pointing to the body coordinate system unit basis vector corresponding to the satellite platform, and the second rotation Euler angles of the body coordinate system unit basis vector corresponding to the satellite platform to the coordinate system unit basis vector corresponding to the final observation pointing; a first calculation module, used to calculate the final observation pointing parameters of the satellite camera according to the initial observation pointing parameters, the first rotation Euler angles and the second rotation Euler angles; and a second calculation module, used to calculate the right ascension and declination of the satellite camera according to the final observation pointing parameters.

[0015] A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0016] A fourth aspect of the present disclosure provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the above method.

[0017] The right ascension and declination calculation method, device, and medium based on Euler angles provided by the embodiments of the present disclosure can achieve the following technical effects:

[0018] Based on the rotation Euler angles corresponding to the observation pointing parameters, the initial observation pointing parameters are rotated twice, and the celestial right ascension and declination can be quickly and accurately solved from the initial pointing of the camera. In addition, the calculation method can determine different rotation matrices to calculate the observation pointing parameters by rotating the Euler angles in different rotation orders, which can fully consider the various rotation orders of aerospace engineering, has a wide range of applications, and is highly applicable. In addition, it has good compatibility, low computational complexity, fast running speed, simple algorithm, and is easy to implement in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0020] Figure 1 The flowchart of the method for calculating right ascension and declination based on Euler angles according to an embodiment of the present disclosure is schematically shown.

[0021] Figure 2 A block diagram of a device for calculating right ascension and declination based on Euler angles according to an embodiment of the present disclosure is schematically shown.

[0022] Figure 3 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present disclosure.

[0024] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0025] In the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0026] In the description of the present disclosure, it is necessary to understand that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the subsystem or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0027] Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure. The shapes, sizes, and positional relationships of the components in the drawings do not reflect the actual size, proportion, and actual positional relationship. In addition, in the present disclosure, any reference symbol between brackets should not be constructed as a limitation to the present disclosure.

[0028] Similarly, in order to simplify the present disclosure and help understand one or more of the various disclosed aspects, in the above description of the exemplary embodiments of the present disclosure, the various features of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. The description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of the present disclosure, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In view of the technical problem in the prior art of how to calculate the right ascension and declination of the camera field of view center from the rotation sequence and rotation angle when the satellite is in an inertial orientation state, the disclosed embodiment provides a right ascension and declination calculation method based on Euler angles, including: obtaining the initial observation pointing parameters of the satellite camera, the first rotation Euler angle of the coordinate system unit basis vector corresponding to the initial observation pointing to the body coordinate system unit basis vector corresponding to the satellite platform, and the second rotation Euler angle of the coordinate system unit basis vector corresponding to the satellite platform to the coordinate system unit basis vector corresponding to the final observation pointing. The final observation pointing parameters of the satellite camera are calculated based on the initial observation pointing parameters, the first rotation Euler angle, and the second rotation Euler angle. The right ascension and declination of the satellite camera are calculated based on the final observation pointing parameters. This is described in detail below in conjunction with specific embodiments.

[0031] Figure 1 The flowchart of the method for calculating right ascension and declination based on Euler angles according to an embodiment of the present disclosure is schematically shown.

[0032] like Figure 1 As shown, the method for calculating right ascension and declination based on Euler angles may include, for example, operations S101 to S103.

[0033] In operation S101, the initial observation pointing parameters of the satellite camera, the first rotation Euler angles of the unit basis vectors of the coordinate system corresponding to the initial observation pointing to the unit basis vectors of the body coordinate system corresponding to the satellite platform, and the second rotation Euler angles of the unit basis vectors of the body coordinate system corresponding to the satellite platform to the unit basis vectors of the coordinate system corresponding to the final observation pointing are obtained.

[0034] In an embodiment of the present disclosure, the initial observation pointing parameters may include, for example, a pitch angle, a yaw angle, and a roll angle.

[0035] In one embodiment of the present disclosure, the coordinate system unit basis vector of the camera's initial observation direction is defined as A=[a x , α y , a z ] T , the unit basis vector of the satellite platform's coordinate system is B = [b x , b y , b z ] TThe coordinate system unit basis vector of the camera's final observation direction is C = [c x , c y , c z ] T Then the first rotation Euler angle from the coordinate system unit basis vector A corresponding to the initial observation point to the body coordinate system unit basis vector B corresponding to the satellite platform can be recorded as in, is the angle of rotation around the x-axis, θ B / A is the angle of rotation around the y-axis, φ B / A is the angle of rotation around the z-axis. The second rotation Euler angle from the unit basis vector of the body coordinate system corresponding to the satellite platform to the unit basis vector of the coordinate system corresponding to the final observation direction can be recorded as is the angle of rotation around the x-axis, θ C / B is the angle of rotation around the y-axis, φ C / B is the angle of rotation around the z-axis.

[0036] In operation S102 , final observation pointing parameters of the satellite camera are calculated according to the initial observation pointing parameters, the first rotation Euler angles, and the second rotation Euler angles.

[0037] In one embodiment of the present disclosure, calculating the final observation pointing parameters of the satellite camera according to the initial observation pointing parameters, the first rotation Euler angles, and the second rotation Euler angles includes: calculating a first rotation matrix from the unit basis vector of the coordinate system corresponding to the initial observation pointing to the unit basis vector of the body coordinate system corresponding to the satellite platform according to the first rotation Euler angles. Calculating a second rotation matrix from the unit basis vector of the body coordinate system corresponding to the satellite platform to the unit basis vector of the coordinate system corresponding to the final observation pointing according to the second rotation Euler angles. Performing two rotation calculations with the initial observation pointing parameters in sequence using the first rotation matrix and the second rotation matrix to obtain the final observation pointing parameters.

[0038] For example, is the angle of rotation around the x-axis, θ is the angle of rotation around the y-axis, and φ is the angle of rotation around the z-axis. There are three cases of primitive rotation, rotation around the x-axis:

[0039]

[0040] Rotation around the y-axis:

[0041]

[0042] Rotation around the z-axis:

[0043]

[0044] Since each Euler angle rotation can be performed around a different coordinate system, there are many rotation orders corresponding to each Euler angle rotation. For example, there are 12 common rotation orders, including: x->y->z, x->z->y, y->x->z, y->z->x, z->x->y, z->y->x, x->y->x, x->z->x, x->z->x, x->z->x, y->x->z->x, y->x->z->y, y->z->x, z->x->z, z->x->z, z->x->z, z->y->z. Each rotation order corresponds to a different rotation matrix. Therefore, the first rotation matrices corresponding to the 12 rotation orders can be:

[0045]

[0046]

[0047]

[0048]

[0049]

[0050]

[0051]

[0052]

[0053]

[0054] R B / A =R y (θ B / A )R z (φ B / A )R y (θ B / A ),

[0055]

[0056] R B / A =R z (φ B / A )R y (θ B / A )R z (φ B / A ).

[0057] In addition, there are 15 other rotation orders: x->x->x, y->y->y, z->z->z, x->x->y, x->x->z, y->y->x, y->y->z, z->z->x, y->y->z, z->z->x, z->z->y, x->y->y, x->z->z, y->x->x, y->z->z, z->x->y, x->z->z, y->x->x, y->z->z, z->x->x, z->y->y. The first rotation matrices corresponding to the other 15 rotation orders can be:

[0058]

[0059] R B / A =R y (θ B / A )R y (θ B / A )R y (θ B / A ),

[0060]

[0061]

[0062]

[0063]

[0064] R B / A =R y (θ B / A )R y (θ B / A )R z (φ B / A ),

[0065]

[0066] R B / A =R z (φ B / A )R z (φ B / A )R y (θ B / A ),

[0067]

[0068]

[0069]

[0070] R B / A =R y (θ B / A )R z (φB / A )R z (φ B / A ),

[0071]

[0072] R B / A =R z (φ B / A )R y (θ B / A )R y (θ B / A ).

[0073] Similarly, the second rotation matrices corresponding to the 12 rotation orders can be:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082]

[0083] R C / B =R y (θ C / B )R z (φ C / B )R y (θ C / B ),

[0084]

[0085] R C / B =R z (φ C / B )R y (θ C / B )R z (φ C / B ).

[0086] Similarly, the second rotation matrices corresponding to the 15 rotation orders can be:

[0087]

[0088] R C / B =R y (i C / B )R y (i C / B )R y (i C / B ),

[0089] R C / B =R z (f C / B )R z (f C / B )R z (f C / B ),

[0090]

[0091]

[0092]

[0093] R C / B =R y (i C / B )R y (i C / B )R z (f C / B ),

[0094]

[0095] R C / B =R z (f C / B )R z (f C / B )R y (i C / B ),

[0096]

[0097]

[0098]

[0099] R C / B =R y (i C / B )R z (f C / B )R z (f C / B ),

[0100]

[0101] R C / B =R z (φ C / B )R y (θ C / B )R y (θ C / B ).

[0102] Since different rotation orders correspond to different rotation matrices, the results of different rotation orders and rotation angles can be completely different.

[0103] Furthermore, before calculating a specific rotation matrix, the rotation order may be predetermined according to actual application requirements.

[0104] In one embodiment of the present disclosure, performing two rotation calculations using the first rotation matrix and the second rotation matrix and the initial observation pointing parameter in sequence includes: performing a matrix multiplication operation on the first rotation matrix and the initial observation pointing parameter to obtain an intermediate observation pointing parameter. Performing a matrix multiplication operation on the second rotation matrix and the intermediate observation pointing parameter to obtain a final observation pointing parameter.

[0105] For example, the installation relationship between the satellite camera and the satellite platform may be determined according to the position information of the satellite camera and the satellite platform, for example, it may be:

[0106] B=R B / A A+T B / A

[0107] Among them, R B / A represents the rotation matrix from the coordinate system unit basis vector A pointed by the satellite camera to the coordinate system unit basis vector B of the satellite platform body, T B / A represents the translation matrix from the coordinate system unit basis vector A pointed by the satellite camera to the coordinate system unit basis vector B of the satellite platform. Since it is generally believed that stars are located at infinity, the distance is much greater than the installation translation distance of the satellite camera on the satellite platform, so T B / A can be ignored. Therefore, the installation relationship can be transformed into:

[0108] B=R B / A A

[0109] Based on the installation relationship, the first rotation matrix and the initial observation pointing parameter are substituted into the above formula, and the first rotation matrix and the initial observation pointing parameter are multiplied to obtain the intermediate observation pointing parameter. When the second rotation matrix and the intermediate observation pointing parameter are substituted into the above formula, the second rotation matrix and the intermediate observation pointing parameter are multiplied again, and after two multiplication operations, the final observation pointing parameter is obtained. Among them, the final observation pointing parameter includes, for example, the pitch angle, the yaw angle, and the roll angle.

[0110] In operation S103, the right ascension and declination of the satellite camera are calculated according to the final observed pointing parameters.

[0111] In one embodiment of the present disclosure, according to

[0112] Dec=arcsin(φ z )

[0113] Calculate the right ascension Dec, where arcsin(·) means solving the inverse sine, φ z is the roll angle in the final observation pointing parameter.

[0114] In one embodiment of the present disclosure, according to

[0115] RA=arccos(θ y / cos(Dec))

[0116] Calculate the declination RA, where arccos(·) means solving for the inverse cosine, cos(·) means solving for the cosine, and θ y is the yaw angle in the final observation pointing parameter.

[0117] It should be noted that the rotation Euler angles obtained in the embodiments of the present disclosure may be, for example, in the Earth's inertial coordinate system or the J2000 coordinate system, and the corresponding calculated right ascension and declination may also be, for example, in the Earth's inertial coordinate system or the J2000 coordinate system.

[0118] Figure 2 A block diagram of a device for calculating right ascension and declination based on Euler angles according to an embodiment of the present disclosure is schematically shown.

[0119] like Figure 2 As shown, the right ascension and declination calculation device 200 based on Euler angles may include an acquisition module 210 , a first calculation module 220 and a second calculation module 230 .

[0120] The acquisition module 210 is used to obtain the initial observation pointing parameters of the satellite camera, the first rotation Euler angle of the unit basis vector of the coordinate system corresponding to the initial observation pointing to the unit basis vector of the body coordinate system corresponding to the satellite platform, and the second rotation Euler angle of the unit basis vector of the body coordinate system corresponding to the satellite platform to the unit basis vector of the coordinate system corresponding to the final observation pointing.

[0121] The first calculation module 220 is used to calculate the final observation pointing parameter of the satellite camera according to the initial observation pointing parameter, the first rotation Euler angle and the second rotation Euler angle.

[0122] The second calculation module 230 is used to calculate the right ascension and declination of the satellite camera according to the final observation pointing parameters.

[0123] According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be performed.

[0124] For example, any multiple of the acquisition module 210, the first calculation module 220, and the second calculation module 230 can be combined in one module / unit / subunit for implementation, or any one of the modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least part of the functions of one or more of these modules / units / subunits can be combined with at least part of the functions of other modules / units / subunits and implemented in one module / unit / subunit. According to an embodiment of the present disclosure, at least one of the acquisition module 210, the first calculation module 220, and the second calculation module 230 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or by any one of the three implementation methods of software, hardware, and firmware, or by a suitable combination of any of them. Alternatively, at least one of the acquisition module 210 , the first calculation module 220 , and the second calculation module 230 may be at least partially implemented as a computer program module, and when the computer program module is executed, a corresponding function may be executed.

[0125] It should be noted that the right ascension and declination calculation device part based on Euler angles in the embodiment of the present disclosure corresponds to the right ascension and declination calculation method part based on Euler angles in the embodiment of the present disclosure, and their specific implementation details and the technical effects brought about are also the same, which will not be repeated here.

[0126] Figure 3A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present invention is schematically shown. Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0127] like Figure 3 As shown, the electronic device 300 according to an embodiment of the present invention includes a processor 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage part 308 into a random access memory (RAM) 303. The processor 301 may, for example, include a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 301 may also include an onboard memory for caching purposes. The processor 301 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0128] In RAM 303, various programs and data required for the operation of electronic device 300 are stored. Processor 301, ROM 302 and RAM 303 are connected to each other via bus 304. Processor 301 performs various operations of the method flow according to an embodiment of the present invention by executing the programs in ROM 302 and / or RAM 303. It should be noted that the program can also be stored in one or more memories other than ROM 302 and RAM 303. Processor 301 can also perform various operations of the method flow according to an embodiment of the present invention by executing the programs stored in the one or more memories.

[0129] According to an embodiment of the present invention, the electronic device 300 may further include an input / output (I / O) interface 305, which is also connected to the bus 304. The electronic device 300 may further include one or more of the following components connected to the I / O interface 305: an input portion 306 including a keyboard, a mouse, etc.; an output portion 307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 308 including a hard disk, etc.; and a communication portion 309 including a network interface card such as a LAN card, a modem, etc. The communication portion 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage portion 308 as needed.

[0130] According to an embodiment of the present invention, the method flow according to an embodiment of the present invention can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 309, and / or installed from the removable medium 311. When the computer program is executed by the processor 301, the above-mentioned functions defined in the system of the embodiment of the present invention are executed. According to an embodiment of the present invention, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0131] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0132] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device.

[0133] For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 302 and / or the RAM 303 described above and / or one or more memories other than the ROM 302 and the RAM 303 .

[0134] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present invention can be combined and / or combined in various ways, even if such a combination or combination is not explicitly recorded in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features recorded in the various embodiments of the present invention can be combined and / or combined in various ways. All these combinations and / or combinations fall within the scope of the present invention.

Claims

1. A method for calculating right ascension and declination based on Euler angles, characterized in that: include: Obtaining the initial observation pointing parameters of the satellite camera, the first rotation Euler angle of the coordinate system unit basis vector corresponding to the initial observation pointing to the body coordinate system unit basis vector corresponding to the satellite platform, and the second rotation Euler angle of the coordinate system unit basis vector corresponding to the satellite platform to the coordinate system unit basis vector corresponding to the final observation pointing; The final observation pointing parameters of the satellite camera are calculated according to the initial observation pointing parameters, the first rotation Euler angles and the second rotation Euler angles, including: calculating a first rotation matrix from the unit basis vector of the coordinate system corresponding to the initial observation pointing to the unit basis vector of the body coordinate system corresponding to the satellite platform according to the first rotation Euler angles; calculating a second rotation matrix from the unit basis vector of the body coordinate system corresponding to the satellite platform to the unit basis vector of the coordinate system corresponding to the final observation pointing according to the second rotation Euler angles; performing two rotation calculations on the initial observation pointing parameters using the first rotation matrix and the second rotation matrix in sequence to obtain the final observation pointing parameters; wherein, performing two rotation calculations on the initial observation pointing parameters using the first rotation matrix and the second rotation matrix in sequence includes: performing matrix multiplication operation on the first rotation matrix and the initial observation pointing parameters to obtain intermediate observation pointing parameters; performing matrix multiplication operation on the second rotation matrix and the intermediate observation pointing parameters to obtain the final observation pointing parameters; Calculate the right ascension and declination of the satellite camera according to the final observation pointing parameters; The final observation pointing parameters include a pitch angle, a yaw angle, and a roll angle; and calculating the right ascension of the satellite camera according to the final observation pointing parameters includes: according to Calculate the right ascension Dec, where arcsin(•) means solving the inverse sine, is the roll angle; Calculating the declination of the satellite camera according to the final observation pointing parameter includes: according to Calculate the declination RA, where arccos(•) means solving for the inverse cosine, and cos(•) means solving for the cosine, is the yaw angle.

2. The method for calculating right ascension and declination based on Euler angles according to claim 1, characterized in that: Before calculating the first rotation matrix and the second rotation matrix, the method further includes: A rotation order of the first rotation Euler angle or the second rotation Euler angle is determined.

3. The method for calculating right ascension and declination based on Euler angles according to claim 2, characterized in that: The rotation sequences include 27 rotation sequences suitable for aerospace engineering.

4. A device for calculating right ascension and declination based on Euler angles, used to execute the method according to any one of claims 1 to 3, characterized in that: include: An acquisition module is used to acquire the initial observation pointing parameters of the satellite camera, the first rotation Euler angle of the coordinate system unit basis vector corresponding to the initial observation pointing to the body coordinate system unit basis vector corresponding to the satellite platform, and the second rotation Euler angle of the coordinate system unit basis vector corresponding to the satellite platform to the coordinate system unit basis vector corresponding to the final observation pointing; A first calculation module, used for calculating a final observation pointing parameter of the satellite camera according to the initial observation pointing parameter, the first rotation Euler angle and the second rotation Euler angle; The second calculation module is used to calculate the right ascension and declination of the satellite camera according to the final observation pointing parameters.

5. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 3.

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