Satellite stitching imaging attitude maneuver angle error correction method and related device

Abstract

The application provides a satellite splicing imaging posture maneuver angle error correction method and related device, and relates to the technical field of satellites. A plurality of ground imaging points are acquired, and then actual posture angles of the satellite pointing to each ground imaging point are obtained respectively; and simulation posture angles of the satellite pointing to each ground imaging point obtained by using a satellite simulation tool are obtained respectively. Finally, based on the actual posture angles and the simulation posture angles of each ground imaging point, a posture angle deviation mean value is obtained. In this way, the posture angle error of the collected remote sensing image can be corrected based on the real-time flight state of the satellite using the posture angle deviation mean value, so that deviation of the collected remote sensing image is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellites, in particular to a satellite splicing imaging attitude maneuver angle error correction method and related device. BACKGROUND

[0002] Satellite remote sensing technology, as a major means for humans to monitor important data on Earth in space, has been widely used in land resource monitoring, carbon neutralization and disaster monitoring. Satellites can collect remote sensing images of a target point to be observed, as long as the satellite payload field of view directly covers the target point to be photographed. Alternatively, a satellite can also collect remote sensing images of a target area to be observed, but since the satellite payload field of view width cannot completely cover the target area, it is necessary to use the payload to take multiple strips of the target area to obtain multiple strip-shaped remote sensing images, and then splice them to obtain a complete image of the target area.

[0003] To collect remote sensing images, the satellite camera needs to first calculate the attitude angle (roll angle, pitch angle and yaw angle) of the satellite camera maneuvering to the point to be photographed, and then the satellite camera maneuvers to the point to be photographed for direct shooting or strip scanning.

[0004] However, the existing technology for calculating the attitude angle is prone to errors, which can cause the subsequent remote sensing images to deviate from the target point, or cause the multiple strip-shaped remote sensing images of the target area to deviate from each other and be unable to be spliced. Therefore, how to correct the error of the attitude angle is a problem that needs to be solved urgently. SUMMARY

[0005] The present application aims to provide a satellite splicing imaging attitude maneuver angle error correction method and related device, which can obtain the mean attitude angle deviation based on the actual attitude angle and the simulated attitude angle of each ground imaging point. In this way, the mean attitude angle deviation can be used to correct the attitude angle error of the collected remote sensing images based on the real-time flight state of the satellite, avoiding the deviation of the collected remote sensing images.

[0006] Embodiments of the present application can be implemented as follows:

[0007] In a first aspect, the present application provides a satellite splicing imaging attitude maneuver angle error correction method, comprising:

[0008] Obtaining a plurality of ground imaging points;

[0009] Respectively obtaining the actual attitude angle of the satellite pointing to each ground imaging point;

[0010] Respectively obtaining the simulated attitude angle of the satellite pointing to each ground imaging point; the simulated attitude angle is obtained by using a satellite simulation tool;

[0011] obtaining an attitude angle deviation mean value based on the actual attitude angle and the simulation attitude angle of each of the ground imaging points; the attitude angle deviation mean value is used to correct the attitude angle error of the collected remote sensing image based on the real-time flight state of the satellite.

[0012] In an optional embodiment, the ground imaging point is an imaging point of a historical remote sensing image; the actual attitude angle includes an actual roll angle and an actual pitch angle.

[0013] The step of obtaining the actual attitude angle of the satellite pointing to each ground imaging point includes:

[0014] For any of the ground imaging points, a historical position of the satellite collecting the historical remote sensing image is obtained; the historical position is located in a geocentric coordinate system.

[0015] A historical subsatellite point of the satellite at the historical position is calculated.

[0016] A position vector from the historical subsatellite point to the ground imaging point in the geocentric coordinate system is determined.

[0017] Based on the historical position, the position vector, a geocenter, a satellite orbit of the satellite, a reference intersection point of the ground imaging point is determined.

[0018] Based on the reference intersection point, the historical position, the geocenter, an earth radius and a satellite altitude of the satellite, an actual roll angle of the ground imaging point is determined.

[0019] Based on the reference intersection point, the historical position and the ground imaging point, an actual pitch angle of the ground imaging point is determined.

[0020] Each of the ground imaging points is traversed to obtain the actual roll angle and the actual pitch angle of each of the ground imaging points.

[0021] In an optional embodiment, the actual attitude angle includes an actual roll angle and an actual pitch angle; the simulation attitude angle includes a simulation roll angle and a simulation pitch angle; the attitude angle deviation mean value includes a roll angle deviation mean value and a pitch angle deviation mean value.

[0022] The step of obtaining the attitude angle deviation mean value based on the actual attitude angle and the simulation attitude angle of each of the ground imaging points includes:

[0023] For each of the ground imaging points, a roll angle deviation between the simulation roll angle and the actual roll angle of the ground imaging point, and a pitch angle deviation between the simulation pitch angle and the actual pitch angle of the ground imaging point are calculated to obtain the roll angle deviation and the pitch angle deviation of each of the ground imaging points.

[0024] calculating a mean of the roll angle deviation based on the roll angle deviations of all the ground imaging points;

[0025] calculating a mean of the pitch angle deviation based on the pitch angle deviations of all the ground imaging points.

[0026] In an optional embodiment, the method further comprises:

[0027] obtaining a current position of an imaging observation point and a target satellite in a geocentric coordinate system;

[0028] calculating a target subsatellite point of the target satellite at the current position;

[0029] determining a real-time flight state of the target satellite based on the imaging observation point and the target subsatellite point; the real-time flight state is an ascending orbit state or a descending orbit state;

[0030] calculating a standard attitude angle of the target satellite at the current position pointing to the imaging observation point based on the real-time flight state and the mean of the attitude angle deviation, to assist in collecting a remote sensing image of the imaging observation point.

[0031] In an optional embodiment, the actual attitude angle comprises an actual roll angle and an actual pitch angle; the standard attitude angle comprises a standard roll angle and a standard pitch angle; and the mean of the attitude angle deviation comprises a mean of a roll angle deviation and a mean of a pitch angle deviation;

[0032] The step of calculating a standard attitude angle of the target satellite at the current position pointing to the imaging observation point based on the real-time flight state and the mean of the attitude angle deviation comprises:

[0033] determining a target position vector of the target subsatellite point to the imaging observation point in the geocentric coordinate system;

[0034] determining a target reference intersection of the imaging observation point based on the current position, the target position vector, the geocenter and a satellite orbit of the target satellite;

[0035] determining an actual roll angle of the imaging observation point based on the target reference intersection, the current position, the geocenter, an earth radius and a satellite altitude of the target satellite;

[0036] determining an actual pitch angle of the imaging observation point based on the target reference intersection, the satellite position and the imaging observation point;

[0037] correcting the actual roll angle and the actual pitch angle of the imaging observation point based on the real-time flight state, respectively using the mean of the roll angle deviation and the mean of the pitch angle deviation, to obtain a standard roll angle and a standard pitch angle of the imaging observation point.

[0038] In an optional embodiment, the step of correcting the actual roll angle and the actual pitch angle of the imaging observation point based on the real-time flight state respectively by using the mean value of the roll angle deviation and the mean value of the pitch angle deviation to obtain the standard roll angle and the standard pitch angle of the imaging observation point comprises:

[0039] In the case that the real-time flight state is in the ascending orbit state, the difference between the actual roll angle of the imaging observation point and the mean value of the roll angle deviation is taken as the standard roll angle, and the difference between the actual pitch angle of the imaging observation point and the mean value of the pitch angle deviation is taken as the standard pitch angle.

[0040] In the case that the real-time flight state is in the descending orbit state, the sum of the actual roll angle of the imaging observation point and the mean value of the roll angle deviation is taken as the standard roll angle, and the sum of the actual pitch angle of the imaging observation point and the mean value of the pitch angle deviation is taken as the standard pitch angle.

[0041] In a second aspect, the present application provides a satellite mosaic imaging attitude maneuver angle error correction device, comprising:

[0042] A data acquisition module is configured to:

[0043] Acquire a plurality of ground imaging points;

[0044] Obtain actual attitude angles of a satellite pointing to each of the ground imaging points respectively;

[0045] Obtain simulated attitude angles of the satellite pointing to each of the ground imaging points respectively; the simulated attitude angles are obtained by using a satellite simulation tool for analysis;

[0046] An error calculation module is configured to obtain mean values of attitude angle deviations based on the actual attitude angles and the simulated attitude angles of each of the ground imaging points; the mean values of the attitude angle deviations are used to correct attitude angle errors of collected remote sensing images based on real-time flight states of the satellite.

[0047] In an optional embodiment, the device further comprises an error correction module configured to:

[0048] Obtain a current position of an imaging observation point and a target satellite in an earth-centered coordinate system;

[0049] Calculate a target subsatellite point of the target satellite at the current position;

[0050] Determine a real-time flight state of the target satellite based on the imaging observation point and the target subsatellite point;

[0051] Based on the real-time flight state and the mean attitude angle deviation, a standard attitude angle of the target satellite pointing to the imaging observation point at the current position is calculated to assist in collecting remote sensing images of the imaging observation point.

[0052] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores machine readable instructions executable by the processor, and the processor executes the machine readable instructions to implement the satellite stitching imaging attitude maneuver angle error correction method according to any one of the preceding embodiments.

[0053] In a fourth aspect, the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the satellite stitching imaging attitude maneuver angle error correction method according to any one of the preceding embodiments.

[0054] Compared with the prior art, the satellite stitching imaging attitude maneuver angle error correction method and related device provided by the embodiments of the present application can obtain a plurality of ground imaging points, and then obtain actual attitude angles of the satellite pointing to each ground imaging point, respectively, and obtain simulation attitude angles of the satellite pointing to each ground imaging point obtained by using a satellite simulation tool, respectively. Finally, based on the actual attitude angle and the simulation attitude angle of each ground imaging point, a mean attitude angle deviation is obtained. In this way, the mean attitude angle deviation can be used to correct the attitude angle error of the collected remote sensing images based on the real-time flight state of the satellite, so as to avoid the deviation of the collected remote sensing images and ensure the accuracy of the ground position photographed by the satellite in the stitching imaging mode. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0056] Figure 1 A structural schematic diagram of an electronic device provided by the embodiments of the present application.

[0057] Figure 2 A flowchart of a satellite stitching imaging attitude maneuver angle error correction method provided by the embodiments of the present application.

[0058] Figure 3 An attitude angle analysis schematic diagram of a satellite pointing to a ground imaging point provided by the embodiments of the present application.

[0059] Figure 4Figure 02 is a flowchart of a method for correcting attitude maneuver angle error of satellite mosaic imaging according to an embodiment of the present application.

[0060] Figure 5 Figure 03 is a structural diagram of a device for correcting attitude maneuver angle error of satellite mosaic imaging according to an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0062] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0063] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0064] It should be noted that: the features in the embodiments of the present application can be combined with each other without conflict.

[0065] The embodiments of the present application provide a method for correcting attitude maneuver angle error of satellite mosaic imaging, which can obtain attitude angle deviation mean based on actual attitude angle and simulated attitude angle of each ground imaging point. In this way, the attitude angle error of collected remote sensing image can be corrected based on real-time flight state of the satellite using the attitude angle deviation mean, so as to avoid deviation of the collected remote sensing image. The following will be described in detail through embodiments and in cooperation with the accompanying drawings.

[0066] Please refer to Figure 1 , Figure 1 Figure 01 is a structural diagram of an electronic device according to an embodiment of the present application. The electronic device 100 includes a processor 110, a memory 120 and a bus 130, and the processor 110 is connected with the memory 120 through the bus 130.

[0067] The memory 120 can be configured to store software programs and modules, for example, the program instructions / modules corresponding to the satellite mosaic imaging attitude maneuver angle error correction device 200 provided in the embodiments of the present application. The processor 110 can execute various function applications and data processing by running the software programs and modules stored in the memory 120, for example, the satellite mosaic imaging attitude maneuver angle error correction method provided in the embodiments of the present application.

[0068] The memory 120 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a flash memory, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0069] The processor 110 can be an integrated circuit chip with signal processing capability. The processor 110 can be a general purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; or can be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component.

[0070] Optionally, the electronic device 100 can be, but is not limited to, a personal computer, a server, a remote sensing satellite, etc.

[0071] It can be understood that, Figure 1 The structure shown is only schematic, and the electronic device 100 can further include more or less components than those shown in the figures, or have a different configuration of components than those shown in the figures. Figure 1 The components shown in the figures can be implemented in hardware, software or a combination thereof. Figure 1 The components shown in the figures can be implemented in hardware, software or a combination thereof. Figure 1 The components shown in the figures can be implemented in hardware, software or a combination thereof.

[0072] Reference can be made to Figure 2 , Figure 2A flowchart of a satellite splicing imaging attitude maneuver angle error correction method provided by an embodiment of the present application is shown in FIG. 1. The method can be executed by the electronic device described above. The method includes the following steps.

[0073] S100, obtaining a plurality of ground imaging points.

[0074] In this embodiment, the ground imaging points can be imaging points of historical remote sensing images. The historical remote sensing images can be remote sensing images directly captured by a remote sensing satellite or strip remote sensing images captured by a remote sensing satellite in a push-broom manner.

[0075] S200, obtaining actual attitude angles of the satellite pointing to each ground imaging point, respectively.

[0076] In this embodiment, the actual attitude angles can include actual rolling angles and actual pitching angles.

[0077] It can be understood that the satellite attitude angles include rolling angles, pitching angles, and yawing angles, which are defined as follows: taking the center of mass of the satellite as the coordinate origin, the tangent direction of the forward movement of the satellite orbit as the x-axis, the direction perpendicular to the plane of the satellite orbit as the y-axis, and the direction perpendicular to the xy-plane as the z-axis. Then, the attitude of the satellite has three cases: the attitude angle of rotation around the x-axis, referred to as the rolling angle; the attitude angle of rotation around the y-axis, referred to as the pitching angle; and the attitude angle of rotation around the z-axis, referred to as the yawing angle.

[0078] S300, obtaining simulation attitude angles of the satellite pointing to each ground imaging point, respectively.

[0079] In this embodiment, the simulation attitude angles can include simulation rolling angles and simulation pitching angles. The simulation attitude angles are obtained by using a satellite simulation tool. In an optional example, the satellite simulation tool can be STK (Satellite ToolKit).

[0080] Taking one ground imaging point as an example, in the simulation, the satellite time when the historical remote sensing image corresponding to the ground imaging point is imaged can be input. The satellite time can determine the satellite position of the satellite. Then, the satellite attitude type is set to the direction of the celestial equator and the direction of the velocity vector under the ECF (Earth-centered Fixed), that is, the remote sensing camera of the satellite is simulated to point to the geocenter. Thus, the simulation report of the ground imaging point can be obtained. The simulation report can include the satellite time (UTC time) and the simulation attitude angles of the satellite pointing to the ground imaging point.

[0081] S400, obtaining an attitude angle deviation mean value based on the actual attitude angles and the simulation attitude angles of each ground imaging point.

[0082] In this embodiment, the attitude angle deviation mean value is used to correct the attitude angle error of the collected remote sensing image based on the real-time flight state of the satellite.

[0083] When the satellite flies around the earth according to the satellite orbit, the earth also rotates, so the direction is changed when the satellite flies through the same area: when the satellite flies from south to north, it is called "ascending orbit"; when the satellite flies from north to south, it is called "descending orbit". Therefore, the real-time flight state can represent the direction state of the satellite flight, and the real-time flight state of the satellite is the ascending orbit state or the descending orbit state.

[0084] The satellite stitching imaging attitude maneuver angle error correction method provided by the embodiment of the application can obtain a plurality of ground imaging points, and then obtain actual attitude angles of the satellite pointing to each ground imaging point respectively, and obtain simulation attitude angles of the satellite pointing to each ground imaging point respectively by using a satellite simulation tool. Finally, the attitude angle deviation mean value can be obtained based on the actual attitude angle and the simulation attitude angle of each ground imaging point. In this way, the attitude angle deviation mean value can be used to correct the attitude angle error of the collected remote sensing image based on the real-time flight state of the satellite, so that the deviation of the collected remote sensing image is avoided.

[0085] The process of calculating the actual attitude angle of the ground imaging point is introduced below.

[0086] In the optional implementation, the sub-step of the step S200 can include:

[0087] S210, for any ground imaging point, the historical position of the satellite collecting the historical remote sensing image is obtained.

[0088] In the embodiment, the satellite imaging time of the historical remote sensing image of the imaging point can be obtained first, and the historical position of the satellite can be determined based on the satellite imaging time. In order to unify the calculation data, the historical position needs to be converted to the geocentric coordinate system. In the optional example, the geocentric coordinate system can adopt the WGS-84 coordinate system, the CGCS2000 coordinate system, the inertial coordinate system such as the J2000 coordinate system, etc., which is not limited here.

[0089] S220, the historical subsatellite point of the satellite at the historical position is calculated.

[0090] It can be understood that the subsatellite point is the intersection of the connecting line of the earth center (i.e. the geocenter) and the satellite on the earth's surface, which can be expressed by geographical longitude and latitude. That is, the ground point directly below the satellite is called the subsatellite point, and the satellite moves along the satellite orbit, and correspondingly, the set of subsatellite points is called the subsatellite point track.

[0091] The formula for calculating the longitude and latitude (, γ) of the historical subsatellite point can be as follows:

[0092]

[0093] y(t) = arcsin(sini*sin0)

[0094] wherein λ0 is the longitude of the ascending node at time 0, i is the orbit inclination, θ is the true anomaly (the angular distance between the satellite and the ascending node at time t, measured from the ascending node, positive in the prograde direction and negative in the retrograde direction), w is the angular velocity of the Earth rotation, t is the time duration from time 0 to the historical position, and ± correspond to the prograde orbit and the retrograde orbit, respectively. Both i and θ belong to the six elements of the satellite orbit, which can be used to determine the position of the satellite. e wherein λ0 is the longitude of the ascending node at time 0, i is the orbit inclination, θ is the true anomaly (the angular distance between the satellite and the ascending node at time t, measured from the ascending node, positive in the prograde direction and negative in the retrograde direction), w is the angular velocity of the Earth rotation, t is the time duration from time 0 to the historical position, and ± correspond to the prograde orbit and the retrograde orbit, respectively. Both i and θ belong to the six elements of the satellite orbit, which can be used to determine the position of the satellite.

[0095] S230, determining the position vector from the historical subsatellite point to the ground imaging point in the geocentric coordinate system.

[0096] In this embodiment, the longitude and latitude of the historical subsatellite point and the ground imaging point can be converted to the geocentric coordinate system, and then the position vector from the historical subsatellite point to the ground imaging point in the geocentric coordinate system can be obtained.

[0097] Assuming that the geocentric coordinate system is the WGS-84 coordinate system, the Earth radius a in the WGS-84 coordinate system is 6378.137, and the Earth eccentricity e is 0.08181919. For a point S on the ground, the longitude and latitude (λ, γ) of S can be converted to the position coordinates (x, y) in the WGS-84 coordinate system by using the following formula:

[0098]

[0099] S240, determining the reference intersection point of the ground imaging point based on the historical position, the position vector, the geocenter, and the satellite orbit of the satellite.

[0100] Please refer to Figure 3 Taking the ground imaging point F1 of the historical remote sensing image in the rectangular strip shape as an example in the geocentric coordinate system using the WGS-84 coordinate system, the historical position of the corresponding satellite is point A, K1 is the historical subsatellite point of the satellite at this time, and O is the geocenter. The WGS-84 coordinate system takes the geocenter O as the coordinate origin, and the position vector can be represented as

[0101] wherein the determination process of the reference intersection point is as follows:

[0102] 1. A tangent line l0 of the subsatellite point trajectory can be determined through the historical subsatellite point K1;

[0103] 2. A straight line l1 parallel to the tangent line l0 can be drawn through the ground imaging point F1;

[0104] 3. A straight line l2 perpendicular to both the tangent line l0 and the line segment AO can be determined through the historical subsatellite point K1;

[0105] 4. The intersection of the straight line l1 and the straight line l2 is the reference intersection point L.

[0106] Thus, the position coordinates of the reference intersection point L in the WGS-84 coordinate system can be calculated.

[0107] S250, determining the actual roll angle of the ground imaging point based on the reference intersection point, the historical position, the geocenter point, the earth radius and the satellite height of the satellite.

[0108] In combination with Figure 3 , assuming that the earth radius is R e , the satellite height is H, the calculation formula of the actual roll angle can be as follows:

[0109]

[0110]

[0111] Wherein, the position coordinates of the historical position A of the satellite in the WGS-84 coordinate system are (x A , y A , z A ), and the position coordinates of the reference intersection point L in the WGS-84 coordinate system are (x L , y L , z L ). That is, ∠OAL represents the actual roll angle of the satellite to the ground imaging point F1.

[0112] S260, determining the actual pitch angle of the ground imaging point based on the reference intersection point, the historical position and the ground imaging point.

[0113] In combination with Figure 3 , the calculation formula of the actual pitch angle can be as follows:

[0114]

[0115]

[0116]

[0117] Wherein, the position coordinates of the ground imaging point F1 in the WGS-84 coordinate system are (x F1 , y F1 , z F1 ), and θ is ∠F1AL, which represents the actual pitch angle of the satellite to the ground imaging point F1.

[0118] It can be understood that the above process of calculating the actual roll angle and the actual pitch angle of the ground imaging point is based on the assumption that the satellite is in a stable orbit. Figure 3The actual roll angle and the actual pitch angle of each ground imaging point can be calculated in the same way as the ground imaging point F1, and thus the description is omitted here.

[0119] S270, the actual roll angle and the actual pitch angle of each ground imaging point are obtained by traversing each ground imaging point.

[0120] Thus, the actual roll angle and the actual pitch angle of each ground imaging point can be obtained by traversing each ground imaging point through the above steps S210-S260.

[0121] In an optional embodiment, the attitude angle deviation mean value can include a roll angle deviation mean value and a pitch angle deviation mean value, and the sub-step of step S400 can include:

[0122] S410, for each ground imaging point, the roll angle deviation between the simulation roll angle and the actual roll angle of the ground imaging point, and the pitch angle deviation between the simulation pitch angle and the actual pitch angle of the ground imaging point are calculated to obtain the roll angle deviation and the pitch angle deviation of each ground imaging point.

[0123] S420, based on the roll angle deviations of all ground imaging points, the roll angle deviation mean value is calculated.

[0124] S430, based on the pitch angle deviations of all ground imaging points, the pitch angle deviation mean value is calculated.

[0125] In this embodiment, the roll angle deviation mean value can be used to correct the roll angle error of the collected remote sensing image based on the real-time flight state of the satellite, and the pitch angle deviation mean value can be used to correct the pitch angle error of the collected remote sensing image based on the real-time flight state of the satellite.

[0126] The process of error correction using the roll angle deviation mean value and the pitch angle deviation mean value is described below.

[0127] In an optional embodiment, when a target satellite needs to collect remote sensing images of an imaging observation point, the satellite attitude angle of the target satellite to the imaging observation point needs to be calculated first, and then the remote sensing camera of the target satellite can be turned to point to the imaging observation point for shooting according to the satellite attitude angle.

[0128] Correspondingly, in combination with Figure 4 The method can further include:

[0129] S500, the current positions of the imaging observation point and the target satellite in the geocentric coordinate system are obtained.

[0130] S600, the target nadir point of the target satellite at the current position is calculated.

[0131] In the embodiment, the imaging observation point can be specified by a user. After determining the current position of the target satellite in the geocentric coordinate system, the nadir point of the target satellite at the current position in the geocentric coordinate system can be calculated.

[0132] S700, determining the real-time flight state of the target satellite based on the imaging observation point and the nadir point.

[0133] It can be understood that the real-time flight state can be determined by comparing the latitudes of the imaging observation point and the nadir point, assuming that the longitude and latitude of the imaging observation point are (λ1, γ1) and the longitude and latitude of the nadir point are (λ2, γ2):

[0134] When γ1< γ2, the real-time flight state of the target satellite is a de-orbiting state. Meanwhile, if λ1< λ2, the imaging observation point is on the right side of the nadir point, and the roll angle should be positive; if λ1> λ2, the imaging observation point is on the left side of the nadir point, and the roll angle should be negative.

[0135] When γ1> γ2, the real-time flight state of the target satellite is an ascending orbit state. Meanwhile, if λ1< λ2, the imaging observation point is on the left side of the nadir point, and the roll angle is positive; if λ1> λ2, the imaging observation point is on the right side of the nadir point, and the roll angle is negative.

[0136] S800, calculating a standard attitude angle of the target satellite pointing to the imaging observation point at the current position based on the real-time flight state and the mean attitude angle deviation, to assist in collecting the remote sensing image of the imaging observation point.

[0137] In an optional example, the sub-step of step S800 can include:

[0138] S810, determining a target position vector from the nadir point to the imaging observation point in the geocentric coordinate system.

[0139] S820, determining a target reference intersection point of the imaging observation point based on the current position, the target position vector, the geocenter, and the satellite orbit of the target satellite.

[0140] S830, determining an actual roll angle of the imaging observation point based on the target reference intersection point, the current position, the geocenter, the Earth radius, and the satellite altitude of the target satellite.

[0141] S840, determining an actual pitch angle of the imaging observation point based on the target reference intersection point, the satellite position, and the imaging observation point.

[0142] It can be understood that the specific implementation of steps S810-S840 is similar to that of steps S230-S260 described above, and will not be repeated here.

[0143] S850, based on the real-time flight state, respectively using the roll angle deviation mean and the pitch angle deviation mean, the actual roll angle and the actual pitch angle of the imaging observation point are corrected, and the standard roll angle and the standard pitch angle of the imaging observation point are obtained.

[0144] In this embodiment, since there are two cases of the real-time flight state of the target satellite, the error correction using the roll angle deviation mean and the pitch angle deviation mean also has two cases:

[0145] The first kind: in the case of the real-time flight state in the ascending orbit state, the difference between the actual roll angle of the imaging observation point and the roll angle deviation mean is taken as the standard roll angle, and the difference between the actual pitch angle of the imaging observation point and the pitch angle deviation mean is taken as the standard pitch angle.

[0146] The second kind: in the case of the real-time flight state in the descending orbit state, the sum of the actual roll angle of the imaging observation point and the roll angle deviation mean is taken as the standard roll angle, and the sum of the actual pitch angle of the imaging observation point and the pitch angle deviation mean is taken as the standard pitch angle.

[0147] It should be noted that the satellite mentioned above and the target satellite can be a remote sensing satellite. The execution order of each step in the above method embodiment is not limited by the drawing, and the execution order of each step is subject to the actual application situation.

[0148] Compared with the prior art, the embodiment of the present application has the following beneficial effects:

[0149] The satellite simulation tool is used to obtain the relatively accurate simulation attitude angle of the satellite for each ground observation point, so as to calculate the attitude angle deviation mean representing the error with the actual attitude angle;

[0150] By comparing the longitude and latitude of the imaging observation point and the target star foot point, the real-time flight state of the target satellite can be determined, and based on the real-time flight state, the calculated actual attitude angle is corrected by using the attitude angle deviation mean, so as to ensure the accuracy of the ground position photographed by the satellite in the image stitching working mode, and further ensure that the remote sensing image photographed by the imaging observation point can be correctly stitched with the remote sensing image of the adjacent imaging observation point without deviation.

[0151] In order to execute the corresponding steps in the above method embodiment and each possible implementation manner, an implementation manner of a satellite image stitching attitude maneuver angle error correction device is given below.

[0152] Please refer to Figure 5 , Figure 5A structure diagram of a satellite stitching imaging attitude maneuver angle error correction device is shown. The satellite stitching imaging attitude maneuver angle error correction device 200 comprises a data acquisition module 210 and an error calculation module 220.

[0153] The data acquisition module 210 is configured to acquire a plurality of ground imaging points, obtain actual attitude angles of the satellite pointing to each ground imaging point respectively, and obtain simulation attitude angles of the satellite pointing to each ground imaging point respectively. The simulation attitude angles are obtained by using a satellite simulation tool.

[0154] The error calculation module 220 is configured to obtain an attitude angle deviation mean value based on the actual attitude angles and the simulation attitude angles of each ground imaging point. The attitude angle deviation mean value is used to correct the attitude angle error of the collected remote sensing image based on a real-time flight state of the satellite.

[0155] In an optional embodiment, the ground imaging points are imaging points of historical remote sensing images, and the actual attitude angles include actual rolling angles and actual pitching angles. When the data acquisition module 210 is configured to obtain the attitude angles of the satellite pointing to each ground imaging point respectively, the data acquisition module 210 can be specifically configured to: for any ground imaging point, acquire a historical position of the satellite collecting a historical remote sensing image; the historical position is located in a geocentric coordinate system; calculate a historical subsatellite point of the satellite at the historical position; determine a position vector from the historical subsatellite point to the ground imaging point in the geocentric coordinate system; determine a reference intersection point of the ground imaging point based on the historical position, the position vector, a geocenter, and a satellite orbit of the satellite; determine the actual rolling angle of the ground imaging point based on the reference intersection point, the historical position, the geocenter, and a satellite altitude of the satellite; determine the actual pitching angle of the ground imaging point based on the reference intersection point, the historical position, and the ground imaging point; and obtain the actual rolling angle and the actual pitching angle of each ground imaging point by traversing each ground imaging point.

[0156] In an optional embodiment, the actual attitude angles include actual rolling angles and actual pitching angles, the simulation attitude angles include simulation rolling angles and simulation pitching angles, and the attitude angle deviation mean value includes a rolling angle deviation mean value and a pitching angle deviation mean value. When the error calculation module 220 is configured to obtain the attitude angle deviation mean value based on the actual attitude angles and the simulation attitude angles of each ground imaging point, the error calculation module 220 can be specifically configured to: for each ground imaging point, calculate a rolling angle deviation between the simulation rolling angle and the actual rolling angle of the ground imaging point, and a pitching angle deviation between the simulation pitching angle and the actual pitching angle of the ground imaging point, to obtain the rolling angle deviation and the pitching angle deviation of each ground imaging point; calculate the rolling angle deviation mean value based on the rolling angle deviations of all the ground imaging points; and calculate the pitching angle deviation mean value based on the pitching angle deviations of all the ground imaging points.

[0157] In an optional embodiment, the satellite stitching imaging attitude maneuver angle error correction device 200 can further include an error correction module 230, configured to: acquire the imaging observation point and the current position of the target satellite in the Earth-centered coordinate system; calculate the target subsatellite point of the target satellite at the current position; determine the real-time flight state of the target satellite based on the imaging observation point and the target subsatellite point, the real-time flight state being an ascending orbit state or a descending orbit state; and calculate the standard attitude angle of the target satellite pointing to the imaging observation point at the current position based on the real-time flight state and the mean attitude angle deviation, to assist in collecting the remote sensing image of the imaging observation point.

[0158] In an optional embodiment, the actual attitude angle includes an actual roll angle and an actual pitch angle; the standard attitude angle includes a standard roll angle and a standard pitch angle; and the mean attitude angle deviation includes a mean roll angle deviation and a mean pitch angle deviation. When the error correction module 230 is configured to calculate the standard attitude angle of the target satellite pointing to the imaging observation point at the current position based on the real-time flight state and the mean attitude angle deviation, it can be specifically configured to: determine the target position vector from the target subsatellite point to the imaging observation point in the Earth-centered coordinate system; determine the target reference intersection of the imaging observation point based on the current position, the target position vector, the Earth-centered point and the satellite orbit of the target satellite; determine the actual roll angle of the imaging observation point based on the target reference intersection, the current position, the Earth-centered point, the Earth radius and the satellite altitude of the target satellite; determine the actual pitch angle of the imaging observation point based on the target reference intersection, the satellite position and the imaging observation point; and correct the actual roll angle and the actual pitch angle of the imaging observation point by using the mean roll angle deviation and the mean pitch angle deviation, respectively, based on the real-time flight state, to obtain the standard roll angle and the standard pitch angle of the imaging observation point.

[0159] In an optional embodiment, when the error correction module 230 is configured to correct the actual roll angle and the actual pitch angle of the imaging observation point by using the mean roll angle deviation and the mean pitch angle deviation, respectively, based on the real-time flight state, to obtain the standard roll angle and the standard pitch angle of the imaging observation point, it can be specifically configured to: in the case that the real-time flight state is in the ascending orbit state, take the difference between the actual roll angle of the imaging observation point and the mean roll angle deviation as the standard roll angle, and take the difference between the actual pitch angle of the imaging observation point and the mean pitch angle deviation as the standard pitch angle; and in the case that the real-time flight state is in the descending orbit state, take the sum of the actual roll angle of the imaging observation point and the mean roll angle deviation as the standard roll angle, and take the sum of the actual pitch angle of the imaging observation point and the mean pitch angle deviation as the standard pitch angle.

[0160] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the satellite stitching imaging attitude maneuver angle error correction device 200 described above can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0161] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is run by a processor to implement the satellite stitching imaging attitude maneuver angle error correction method disclosed in the above embodiments. The computer readable storage medium can be, but is not limited to, a U disk, a mobile hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a FLASH disk or an optical disk and various storage program code mediums.

[0162] To sum up, the embodiments of the application provide a satellite stitching imaging attitude maneuver angle error correction method and related devices, the actual attitude angle of a satellite pointing to each ground imaging point is obtained by acquiring a plurality of ground imaging points, and the simulation attitude angle of the satellite pointing to each ground imaging point is obtained by using a satellite simulation tool. Finally, the attitude angle deviation mean is obtained based on the actual attitude angle and the simulation attitude angle of each ground imaging point. In this way, the attitude angle error of the collected remote sensing image can be corrected based on the real-time flight state of the satellite using the attitude angle deviation mean, and deviation of the collected remote sensing image is avoided.

[0163] The above is only a specific embodiment of the application, but the protection scope of the application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the application, which should be covered in the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. A method for correcting attitude maneuver angle errors in satellite stitching imaging, characterized in that, include: Acquire multiple ground imaging points; The actual attitude angle of the satellite pointing to each of the ground imaging points is obtained respectively; The simulated attitude angle of the satellite pointing to each of the ground imaging points is obtained respectively; The simulated attitude angles were obtained using satellite simulation tools. Based on the actual attitude angle and the simulated attitude angle of each ground imaging point, the average attitude angle deviation is obtained; Obtain the current position of the imaging observation point and the target satellite in the geocentric coordinate system; Calculate the target satellite's sub-satellite point at its current location; Based on the imaging observation point and the target satellite nadir point, the real-time flight status of the target satellite is determined; The real-time flight status is either ascending or descending orbit. Based on the real-time flight status and the average attitude angle deviation, the standard attitude angle of the target satellite pointing to the imaging observation point at the current position is calculated to assist in the acquisition of remote sensing images of the imaging observation point; the average attitude angle deviation is used to correct the attitude angle error of the acquired remote sensing images based on the real-time flight status of the satellite. Wherein, the ground imaging point is the imaging point of historical remote sensing imagery; the actual attitude angle includes the actual roll angle and the actual pitch angle; the step of obtaining the actual attitude angle of the satellite pointing to each ground imaging point includes: For any of the aforementioned ground imaging points, the historical location of the historical remote sensing image acquired by the satellite is obtained; the historical location is located in the geocentric coordinate system; Calculate the historical sub-satellite point of the satellite at the historical location; Determine the position vector from the historical nadir point to the ground imaging point in the geocentric coordinate system; Based on the historical location, the location vector, the geocentric point, and the satellite orbit, determine the reference intersection point of the ground imaging point; Based on the reference intersection point, the historical location, the geocentric point, the Earth's radius, and the satellite's altitude, the actual roll angle of the ground imaging point is determined; Based on the reference intersection point, the historical location, and the ground imaging point, determine the actual pitch angle of the ground imaging point; By iterating through each of the ground imaging points, the actual roll angle and actual pitch angle of each ground imaging point are obtained.

2. The satellite stitching imaging attitude maneuver angle error correction method according to claim 1, characterized in that, The simulated attitude angles include the simulated roll angle and the simulated pitch angle; the average attitude angle deviation includes the average roll angle deviation and the average pitch angle deviation. The step of obtaining the average attitude angle deviation based on the actual attitude angle and the simulated attitude angle of each ground imaging point includes: For each ground imaging point, the roll angle deviation between the simulated roll angle and the actual roll angle of the ground imaging point, and the pitch angle deviation between the simulated pitch angle and the actual pitch angle of the ground imaging point are calculated to obtain the roll angle deviation and pitch angle deviation of each ground imaging point; Calculate the average roll angle deviation based on the roll angle deviation of all the ground imaging points; The average pitch angle deviation is calculated based on the pitch angle deviation of all the ground imaging points.

3. The satellite stitching imaging attitude maneuver angle error correction method according to claim 1, characterized in that, The standard attitude angles include the standard roll angle and the standard pitch angle; the average attitude angle deviation includes the average roll angle deviation and the average pitch angle deviation. The step of calculating the standard attitude angle of the target satellite pointing to the imaging observation point at the current position based on the real-time flight state and the average attitude angle deviation includes: Determine the target position vector from the target nadir point to the imaging observation point in the geocentric coordinate system; Based on the current location, the target location vector, the geocentric point, and the satellite orbit of the target satellite, determine the target reference intersection point of the imaging observation point; Based on the target reference intersection point, the current position, the geocentric point, the Earth's radius, and the satellite altitude of the target satellite, the actual roll angle of the imaging observation point is determined; Based on the target reference intersection point, the satellite position, and the imaging observation point, determine the actual elevation angle of the imaging observation point; Based on the real-time flight status, the actual roll angle and actual pitch angle of the imaging observation point are corrected using the average roll angle deviation and the average pitch angle deviation, respectively, to obtain the standard roll angle and standard pitch angle of the imaging observation point.

4. The satellite stitching imaging attitude maneuver angle error correction method according to claim 3, characterized in that, The step of correcting the actual roll angle and actual pitch angle of the imaging observation point based on the real-time flight state using the average roll angle deviation and the average pitch angle deviation, respectively, to obtain the standard roll angle and standard pitch angle of the imaging observation point, includes: When the real-time flight state is in the ascending state, the difference between the actual roll angle of the imaging observation point and the average roll angle deviation is taken as the standard roll angle, and the difference between the actual pitch angle of the imaging observation point and the average pitch angle deviation is taken as the standard pitch angle. When the real-time flight state is in the descent state, the sum of the actual roll angle of the imaging observation point and the average deviation of the roll angle is taken as the standard roll angle, and the sum of the actual pitch angle of the imaging observation point and the average deviation of the pitch angle is taken as the standard pitch angle.

5. A satellite stitching imaging attitude maneuver angle error correction device, characterized in that, include: The data acquisition module is used for: Acquire multiple ground imaging points; The actual attitude angle of the satellite pointing to each of the ground imaging points is obtained respectively; The simulated attitude angle of the satellite pointing to each of the ground imaging points is obtained respectively; The simulated attitude angles were obtained using satellite simulation tools. The error calculation module is used to obtain the average attitude angle deviation based on the actual attitude angle and the simulated attitude angle of each ground imaging point; The error correction module is used to: obtain the current position of the imaging observation point and the target satellite in the geocentric coordinate system; and calculate the target satellite's sub-satellite point at the current position. Based on the imaging observation point and the target satellite nadir point, the real-time flight status of the target satellite is determined; Based on the real-time flight status and the average attitude angle deviation, the standard attitude angle of the target satellite pointing to the imaging observation point at the current position is calculated to assist in the acquisition of remote sensing images of the imaging observation point; the average attitude angle deviation is used to correct the attitude angle error of the acquired remote sensing images based on the real-time flight status of the satellite. Wherein, the ground imaging point is the imaging point of historical remote sensing imagery; the actual attitude angle includes the actual roll angle and the actual pitch angle; the data acquisition module is used to obtain the actual attitude angle of the satellite pointing to each of the ground imaging points, specifically for: For any of the aforementioned ground imaging points, the historical location of the historical remote sensing image acquired by the satellite is obtained; the historical location is located in the geocentric coordinate system; Calculate the historical sub-satellite point of the satellite at the historical location; Determine the position vector from the historical nadir point to the ground imaging point in the geocentric coordinate system; Based on the historical location, the location vector, the geocentric point, and the satellite orbit, determine the reference intersection point of the ground imaging point; Based on the reference intersection point, the historical location, the geocentric point, the Earth's radius, and the satellite's altitude, the actual roll angle of the ground imaging point is determined; Based on the reference intersection point, the historical location, and the ground imaging point, determine the actual pitch angle of the ground imaging point; By iterating through each of the ground imaging points, the actual roll angle and actual pitch angle of each ground imaging point are obtained.

6. An electronic device, characterized in that, include: The electronic device includes a memory and a processor, wherein the memory stores machine-readable instructions executable by the processor, and the processor executes the machine-readable instructions to implement the satellite stitching imaging attitude maneuver angle error correction method as described in any one of claims 1-4 when the electronic device is running.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the satellite stitching imaging attitude maneuver angle error correction method according to any one of claims 1-4.

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