Load-to-moon scanning calibration method and device, electronic equipment and storage medium

Abstract

The application provides a load-to-moon scanning calibration method and device, electronic equipment and storage medium, wherein the method comprises the following steps: determining the scanning angular velocity, the scanning axis and the total scanning time at the calibration time; determining the starting inertial attitude quaternion and the starting scanning time of the moon scanning according to the satellite orbit, the sun ephemeris and the moon ephemeris, so that the satellite is in a sunlight avoidance state during the process of rotating the load around the scanning axis for the total scanning time; determining the starting time of the satellite attitude maneuver according to the starting inertial attitude quaternion and the starting scanning time, so that the satellite starts the damping attitude angular velocity at the starting time of the attitude maneuver, then maneuvers to the starting inertial attitude quaternion, and finally performs the moon scanning. According to the scheme, the moon scanning of the load can be realized in the sunlight avoidance state.

Description

Technical Field

[0001] The present invention relates to the field of satellite attitude control technology, and in particular to a payload lunar scanning calibration method, apparatus, electronic device and storage medium. Background Technology

[0002] Currently, satellite payloads have a need for lunar scanning calibration. Existing methods generally involve ground-based lunar scanning path planning. However, the scanning process is easily affected by sunlight, resulting in poor effectiveness of the scanning results. Summary of the Invention

[0003] This invention provides a method, apparatus, electronic device, and storage medium for lunar scanning calibration of a payload, which enables lunar scanning of a payload under conditions of sunlight avoidance.

[0004] In a first aspect, embodiments of the present invention provide a method for calibrating a payload for lunar scanning, comprising:

[0005] Determine the scanning angular velocity, scanning axis, and total scanning time during calibration;

[0006] Based on the satellite orbit, solar ephemeris, and lunar ephemeris, the inertial attitude quaternion for the start of the lunar scan and the start time of the scan are determined so that the satellite is in a state of sunlight avoidance during the total scan duration when the payload rotates around the scan axis to scan the moon.

[0007] Based on the initial inertial attitude quaternion and the initial scan time, the satellite attitude maneuver start time is determined so that the satellite starts with damped attitude angular velocity at the initial attitude maneuver start time, then maneuvers to the initial inertial attitude quaternion, then establishes the scan angular velocity, and finally performs a lunar scan.

[0008] Secondly, embodiments of the present invention also provide a payload lunar scanning calibration device, comprising:

[0009] The scanning requirement determination unit is used to determine the scanning angular velocity, scanning axis, and total scanning duration during calibration.

[0010] The initial scan determination unit is used to determine the initial inertial attitude quaternion and the initial scan time of the lunar scan based on the satellite orbit, solar ephemeris and lunar ephemeris, so that the satellite is in a sun-avoiding state during the total scan time of the lunar scan while the payload rotates around the scan axis.

[0011] The maneuver initiation determination unit is used to determine the satellite attitude maneuver initiation time based on the initial inertial attitude quaternion and the initial scan time, so that the satellite starts with damped attitude angular velocity at the attitude maneuver initiation time, then maneuvers to the initial inertial attitude quaternion, then establishes the scan angular velocity, and finally performs a lunar scan.

[0012] Thirdly, embodiments of the present invention also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.

[0013] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.

[0014] This invention provides a payload lunar scanning calibration method, apparatus, electronic device, and storage medium. By combining satellite orbit, solar ephemeris, and lunar ephemeris information, the starting scanning time is determined, and then the starting time of satellite attitude maneuver is determined. This allows the satellite to perform maneuvers at the starting time of attitude maneuver, so that it can reach the scanning conditions for lunar scanning at the starting scanning time. This ensures that the lunar scanning process is in a sunlight-avoidance state, thereby reducing the impact of sunlight on the scanning process and improving the effectiveness of the scanning results. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of a payload lunar scanning calibration method according to an embodiment of the present invention;

[0017] Figure 2 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention;

[0018] Figure 3 This is a structural diagram of a load-to-moon scanning calibration device provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] Please refer to Figure 1 This invention provides a method for calibrating a payload for lunar scanning, the method comprising:

[0021] Step 100: Determine the scanning angular velocity, scanning axis, and total scanning time during calibration;

[0022] Step 102: Based on the satellite orbit, solar ephemeris and lunar ephemeris, determine the initial inertial attitude quaternion and the initial scanning time for the lunar scan, so that the satellite is in a sun-avoiding state during the total scanning time of the lunar scan while the payload rotates around the scanning axis.

[0023] Step 104: Determine the satellite attitude maneuver start time based on the initial inertial attitude quaternion and the initial scan time, so that the satellite starts damped attitude angular velocity at the attitude maneuver start time, then maneuvers to the initial inertial attitude quaternion, then establishes the scan angular velocity, and finally performs a lunar scan.

[0024] In this embodiment of the invention, the starting scanning time is determined by combining satellite orbit, solar ephemeris and lunar ephemeris information, and then the starting time of satellite attitude maneuver is determined. This allows the satellite to perform maneuvers at the starting time of attitude maneuver, so that it can reach the scanning conditions for lunar scanning at the starting scanning time. This ensures that the lunar scanning process is in a state of sunlight avoidance, thereby reducing the impact of sunlight on the scanning process and improving the effectiveness of the scanning results.

[0025] The following description Figure 1 The execution method for each step is shown.

[0026] First, for step 100, determine the scanning angular velocity, scanning axis, and total scanning time during calibration.

[0027] In this embodiment of the invention, when the payload installed on the satellite scans the moon, it needs to scan according to the set scanning angular velocity, and the scanning axis and the total scanning time need to be determined in advance. The total scanning time is sufficient for the payload to scan from one side of the moon to the other side (180 degrees).

[0028] For example, the payload installed on the satellite is a camera with an angle of 38 degrees. Considering that the camera's common integration time with the ground is 0.5ms for panchromatic images, the scanning angular velocity wscan can be determined to be 0.7deg / s, the total scanning time t is 54s, the image is distortion-free, and the scanning axis is assumed to be the Y-axis in the body coordinate system.

[0029] Then, for step 102, based on the satellite orbit, solar ephemeris and lunar ephemeris, the inertial attitude quaternion for the start of the lunar scan and the start of the scan time are determined, so that the satellite is in a sun-avoiding state during the total scan time of the lunar scan while the payload rotates around the scan axis.

[0030] In this embodiment of the invention, the initial scan time is determined to ensure that the satellite is in a state of sunlight avoidance throughout the entire lunar scan process. In this embodiment of the invention, sunlight avoidance can be achieved through at least two scenarios, and the initial scan time can be determined based on these two scenarios:

[0031] The first scenario: The satellite is in the Earth's shadow region throughout the entire lunar scanning process;

[0032] The second scenario: If the moon is not in the Earth's shadow, it is necessary to ensure that the direction in which the payload scans the moon forms an angle with the sunlight to avoid direct sunlight.

[0033] Based on the two scenarios described above, determining the start scan time can include:

[0034] Based on the total scan duration, satellite orbit, solar ephemeris, and lunar ephemeris, it is determined whether there exists a shadow region capable of completing the lunar scan process. If it exists, it falls under the first scenario, and the starting scan time is determined based on the total scan duration and the time range of the shadow region. If it does not exist, it falls under the second scenario, and the arc time range within the set range of the target vector angle is determined, and the starting scan time is determined based on the total scan duration and the arc time range. The target vector angle is the angle between the satellite pointing to the moon and the satellite pointing to the sun.

[0035] In this embodiment of the invention, during the satellite's orbit around the Earth, there may be a shadow region, which is the arc segment of the satellite's orbit in a dark state. This shadow region can be determined based on the satellite's orbit and the solar ephemeris. It is understood that when the satellite is within the shadow region for lunar scanning, the scanning process is unaffected by sunlight due to the darkness, thus achieving sunlight avoidance. Furthermore, while being within the shadow region allows for sunlight avoidance, it is still necessary to ensure that lunar scanning can be completed. Therefore, in this embodiment of the invention, it is necessary to determine whether a shadow region exists that allows for the completion of the lunar scanning process.

[0036] Specifically, when determining whether there is a shadow region that can complete the lunar scanning process, we can first determine whether there is a shadow region. If there is a shadow region, we can determine whether the lunar scanning can be carried out within the shadow region based on the satellite orbit and the lunar ephemeris. If the lunar scanning can be carried out, we can further determine whether the lunar scanning process can be completed within the shadow region based on the total scanning time. If so, we can determine that there is a shadow region that can complete the lunar scanning process.

[0037] When there is a shadow region that can complete the lunar scanning process, the starting scanning time is determined to be any point between the beginning endpoint and the middle value of the shadow region's time range, based on the shadow region's time range and the total scanning time. The middle value is the difference between the ending endpoint of the shadow region's time range and the total scanning time.

[0038] When no shadow region exists to complete the lunar scanning process, to avoid direct sunlight during the lunar scanning process, the payload's lunar scanning calibration is performed within a set range, specifically the vector angle between the satellite pointing towards the moon and the satellite pointing towards the sun. The starting scanning time for calibration can be any time that meets the above-mentioned set range.

[0039] Preferably, the setting range is 30-150 degrees.

[0040] In this embodiment of the invention, in order to ensure that the entire lunar scanning process can avoid sunlight, it is also necessary to determine the initial inertial attitude quaternion qStart so that the load can rotate around the scanning axis to achieve a sunlight-avoiding state during the lunar scanning process.

[0041] For example, the determined initial inertial attitude quaternion qStart = [-0.652661347479918, -0.255529742147, 0.310708162310108, 0.642026599338268] and the initial scan time tStart = 15000.

[0042] Finally, for step 104, the satellite attitude maneuver start time is determined based on the initial inertial attitude quaternion and the initial scanning time, so that the satellite starts with damped attitude angular velocity at the attitude maneuver start time, then maneuvers to the initial inertial attitude quaternion, then establishes the scanning angular velocity, and finally performs a lunar scan.

[0043] To ensure that the calibrated scanning angular velocity and initial inertial attitude quaternion are achieved at the start of the scan, satellite attitude maneuvers need to be performed in advance. Therefore, the start time of the satellite attitude maneuver needs to be determined. Specifically, before scanning, the satellite needs to complete a damping process (damping down the attitude angular velocity), a maneuvering process (maneuvering the satellite to the initial inertial attitude quaternion), and a scanning angular velocity establishment process (setting the load to reach the scanning angular velocity). Therefore, the above processes can be completed between the start time of the satellite attitude maneuver and the start time of the scan.

[0044] In this embodiment of the invention, due to differences in satellite maneuverability, the time required to complete the above process varies. Specifically, based on the satellite's maneuverability, the damping duration for the satellite's damped attitude angular velocity, the maneuvering duration to reach the initial inertial attitude quaternion, and the establishment duration for establishing the scan angular velocity can be determined. The attitude maneuver start time is determined based on the sum of the damping duration, the maneuvering duration, and the establishment duration, as well as the initial scan time. For example, the attitude maneuver start time is tm = 9700.

[0045] Based on the calibrated attitude maneuver initiation time, initial inertial attitude quaternion, scan angular velocity, and initial scan time, when time tm is reached, the satellite begins to dampen its attitude angular velocity, then maneuvers to the initial inertial attitude quaternion, next establishes the scan angular velocity, and finally performs a lunar scan. It can be seen that the lunar scan mission is achieved in four steps: damping, maneuvering, acceleration, and scanning.

[0046] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a payload lunar scan calibration device. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of an electronic device for a payload lunar scanning calibration device provided in an embodiment of the present invention. (Except for...) Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a device in a logical sense is formed by the CPU of its electronic device reading the corresponding computer program from the non-volatile memory into memory and running it. This embodiment provides a payload-to-moon scan calibration device, comprising:

[0047] The scanning requirement determination unit 301 is used to determine the scanning angular velocity, scanning axis, and total scanning time during calibration.

[0048] The initial scan determination unit 302 is used to determine the initial inertial attitude quaternion and the initial scan time of the lunar scan based on the satellite orbit, solar ephemeris and lunar ephemeris, so that the satellite is in a sun-avoiding state during the total scan time of the lunar scan while the payload rotates around the scan axis.

[0049] The maneuver initiation determination unit 303 is used to determine the satellite attitude maneuver initiation time based on the initial inertial attitude quaternion and the initial scanning time, so that the satellite starts with damped attitude angular velocity at the attitude maneuver initiation time, then maneuvers to the initial inertial attitude quaternion, then establishes the scanning angular velocity, and finally performs a lunar scan.

[0050] In one embodiment of the present invention, the starting scan determination unit, when determining the starting scan time, specifically includes: determining whether there is a shadow region capable of completing the lunar scan process based on the total scan duration, satellite orbit, solar ephemeris, and lunar ephemeris; if it exists, determining the starting scan time based on the total scan duration and the time range of the shadow region; if it does not exist, determining the arc time range within a set range for the target vector angle, and determining the starting scan time based on the total scan duration and the arc time range; the target vector angle is the angle between the satellite pointing to the moon and the satellite pointing to the sun.

[0051] In one embodiment of the present invention, the set range is 30-150 degrees.

[0052] In one embodiment of the present invention, the maneuver initiation determination unit, when determining the initiation time of the satellite attitude maneuver, specifically includes:

[0053] Based on the satellite's maneuverability, determine the damping duration of the satellite's damped attitude angular velocity, the maneuvering duration to the initial inertial attitude quaternion, and the establishment duration of the scan angular velocity; based on the sum of the damping duration, the maneuvering duration, and the establishment duration, as well as the initial scan time, determine the attitude maneuver start time.

[0054] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a payload-to-lunar scan calibration device. In other embodiments of the present invention, a payload-to-lunar scan calibration device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0055] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0056] This invention also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a payload-to-moon scanning calibration method according to any embodiment of this invention.

[0057] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform a payload-to-moon scan calibration method according to any embodiment of this invention.

[0058] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0059] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0060] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0061] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0062] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0063] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0064] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating a payload for lunar scanning, characterized in that, The method comprises the following steps: determining the scanning angular velocity, the scanning axis and the total scanning time at the calibration time; determining the starting inertial attitude quaternion and the starting scanning time for the moon scanning according to the satellite orbit, the sun ephemeris and the moon ephemeris, so that the satellite is in a sunlight-avoiding state during the moon scanning process of rotating around the scanning axis for the total scanning time; determining the starting time of the satellite attitude maneuver according to the starting inertial attitude quaternion and the starting scanning time, so that the satellite starts to damp the attitude angular velocity at the starting time of the attitude maneuver, then maneuvers to the starting inertial attitude quaternion, next establishes the scanning angular velocity, and finally performs the moon scanning; the starting scanning time is determined in the following manner: according to the total scanning time, the satellite orbit, the sun ephemeris and the moon ephemeris, it is determined whether there is a moon shadow area that can complete the moon scanning process; if there is, the starting scanning time is determined as any one of the time points between the starting endpoint and the middle value of the moon shadow area time range, the middle value being the difference between the ending endpoint of the moon shadow area time range and the total scanning time; if there is not, the arc segment time range in which the target vector included angle is within a set range is determined, and the starting scanning time is determined according to the total scanning time and the arc segment time range; the target vector included angle is the included angle between the satellite pointing to the moon and the satellite pointing to the sun.

2. The method of claim 1, wherein, The set range is 30-150 degrees.

3. The method according to any one of claims 1-2, characterized in that, The determination of the starting time of the satellite attitude maneuver comprises the following steps: determining the damping time of the satellite damping attitude angular velocity, the maneuvering time of maneuvering to the starting inertial attitude quaternion and the establishing time of establishing the scanning angular velocity according to the maneuvering capability of the satellite; determining the starting time of the attitude maneuver according to the sum of the damping time, the maneuvering time and the establishing time and the starting scanning time.

4. A load-to-moon calibration device, comprising: The method comprises the following steps: a scanning requirement determination unit is configured to determine the scanning angular velocity, the scanning axis and the total scanning time at the calibration time; a starting scanning determination unit is configured to determine the starting inertial attitude quaternion and the starting scanning time for the moon scanning according to the satellite orbit, the sun ephemeris and the moon ephemeris, so that the satellite is in a sunlight-avoiding state during the moon scanning process of rotating around the scanning axis for the total scanning time; a maneuver starting determination unit is configured to determine the starting time of the satellite attitude maneuver according to the starting inertial attitude quaternion and the starting scanning time, so that the satellite starts to damp the attitude angular velocity at the starting time of the attitude maneuver, then maneuvers to the starting inertial attitude quaternion, next establishes the scanning angular velocity, and finally performs the moon scanning; when determining the starting scanning time, the starting scanning determination unit specifically comprises the following steps: according to the total scanning time, the satellite orbit, the sun ephemeris and the moon ephemeris, it is determined whether there is a moon shadow area that can complete the moon scanning process; If the scan total duration and the earth shadow time range exist, the starting scan time is determined as any one of the time points between the starting endpoint of the earth shadow time range and the intermediate value, the intermediate value being the difference between the ending endpoint of the earth shadow time range and the scan total duration; if the scan total duration and the earth shadow time range do not exist, the arc segment time range in which the target vector angle is within a set range is determined, and the starting scan time is determined according to the scan total duration and the arc segment time range; the target vector angle is the angle between the satellite pointing to the moon and the satellite pointing to the sun.

5. The apparatus of claim 4, wherein, The set range is 30-150 degrees.

6. The apparatus of any one of claims 4-5, wherein, The maneuver starting determination unit, when determining the satellite attitude maneuver starting time, specifically includes: According to the maneuvering capability of the satellite, a damping duration of the satellite damping attitude angular velocity, a maneuvering duration to the starting inertial attitude quaternion, and a establishing duration of the scan angular velocity are determined; and according to the sum of the damping duration, the maneuvering duration and the establishing duration and the starting scan time, the attitude maneuver starting time is determined. 7.An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method of any one of claims 1-3. 8.A computer readable storage medium, having a computer program stored thereon, wherein when the computer program is executed in a computer, the computer is caused to perform the method of any one of claims 1-3.

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