Geometric calibration method and device for satellite-borne fire point sensor mounting matrix

Abstract

The application provides a geometric calibration method and device for a satellite-borne fire point sensor installation matrix, and the method comprises the following steps: based on actual latitude and longitude information of a plurality of known targets, orbit information of a satellite, and a theoretical installation matrix of the fire point sensor on the satellite, generating a calibration task of each known target in sequence; acquiring a measured direction vector of each known target in a field of view of the fire point sensor; based on the actual latitude and longitude information of each known target, the theoretical installation matrix, and the orbit position and real-time attitude of the satellite when the fire point sensor calculates the measured direction vector, calculating a theoretical vector of each known target in a fire point sensor coordinate system; based on the measured direction vectors and the theoretical vectors of any three known targets, calculating a system deviation matrix; and compensating the theoretical installation matrix by using the system deviation matrix to obtain an actual installation matrix of the fire point sensor. The method can correct the installation matrix of the fire point sensor and improve the detection accuracy of the fire point position.

Description

Technical Field

[0001] This invention relates to the field of remote sensing satellite technology, and in particular to a geometric calibration method and apparatus for a satellite-borne fire point sensor mounting matrix. Background Technology

[0002] The fire detection system is a new type of spaceborne fire detection and fire location calculation system. It can calculate the location of the fire and send the location to ground equipment so that firefighters can quickly reach the fire site and extinguish the fire, thereby protecting people's lives and property.

[0003] Typically, fire sensors are mounted on satellites. Calculating the location of a fire point requires the relative positional relationship between the fire sensor and the satellite, i.e., the installation matrix of the fire sensor on the satellite. However, as satellites operate in space, they inevitably undergo structural deformation due to factors such as strong sunlight, rain, and snow. This causes changes in the relative positional relationship between the fire sensor and the satellite, resulting in a deviation between the actual and theoretical installation matrices, leading to inaccurate calculated fire point locations. Since the accuracy of fire point location directly affects the rescue efficiency of firefighters, there is an urgent need for a geometric calibration method and device for the installation matrix of spaceborne fire sensors to solve the aforementioned technical problems. Summary of the Invention

[0004] This invention provides a geometric calibration method and apparatus for the mounting matrix of a spaceborne fire point sensor, which can correct the mounting matrix of the fire point sensor in orbit and improve the detection accuracy of the fire point position.

[0005] In a first aspect, embodiments of the present invention provide a geometric calibration method for a spaceborne fire point sensor mounting matrix, comprising:

[0006] Based on the actual latitude and longitude information of multiple known targets, the satellite's orbital information, and the theoretical installation matrix of the fire sensor on the satellite, a calibration task for each known target is generated sequentially. Each known target is an infrared target with a temperature higher than a preset temperature.

[0007] The measured azimuth vector of each known target in the field of view of the fire sensor is obtained, and each measured azimuth vector is calculated by the fire sensor based on the calibration task corresponding to the known target.

[0008] Based on the actual latitude and longitude information of each known target, the theoretical installation matrix, and the orbital position and real-time attitude of the satellite when the measured azimuth vector is calculated by the fire sensor, the theoretical vector of each known target in the coordinate system of the fire sensor is calculated.

[0009] Calculate the system deviation matrix based on the measured azimuth vectors and theoretical vectors corresponding to any three known targets;

[0010] The theoretical installation matrix is ​​compensated using the system deviation matrix to obtain the actual installation matrix of the fire sensor on the satellite.

[0011] In one possible design, the calibration task includes a calibration attitude, a calibration start time, and a calibration end time corresponding to each of the known targets; wherein, when the satellite reaches the calibration start time and calibration attitude corresponding to the current known target, the known target is within the field of view of the fire sensor.

[0012] In one possible design, when the satellite reaches the calibration start time and calibration attitude corresponding to the currently known target, the field of view center of the fire sensor points to the center of the calibration area of ​​the known target, and the calibration area is determined based on the actual latitude and longitude information of the known target.

[0013] One possible design also includes:

[0014] Every preset period, the longitude and latitude of the center of the field of view of the fire sensor are calculated, and the calculation results of each preset period are sent to the fire sensor.

[0015] The fire sensor calculates the measured azimuth vector of each known target in the field of view of the fire sensor in the following manner:

[0016] Receive the calculation results for each preset period, and determine whether the field of view center of the fire sensor at the current moment points to the calibration area corresponding to any known target based on the calculation results;

[0017] If not, then no calculation is performed; if yes, determine whether the calibration area is obscured by clouds.

[0018] If the target is obstructed, the calibration ends; otherwise, the azimuth vector of the known target in the field of view of the fire sensor is calculated at the current moment.

[0019] In one possible design, the calculation of the theoretical vector of each known target in the coordinate system of the fire sensor, based on the actual latitude and longitude information of each known target, the theoretical installation matrix, and the orbital position and real-time attitude of the satellite when calculating the measured azimuth vector using the fire sensor, includes:

[0020] For each of the known targets, perform the following:

[0021] Based on the actual latitude and longitude information of the currently known target, and the transformation relationship between the Earth fixed coordinate system and the Earth equatorial inertial coordinate system, calculate the first vector u of the currently known target in the inertial coordinate system. I =[x I y I z I ] T ;

[0022] The satellite's orbital position u is calculated based on the measured azimuth vector using the fire sensor. ISAT Calculate the second vector, u, of the satellite pointing towards the currently known target. SH =u I -u ISAT ; wherein, the u ISAT The position of the satellite in the inertial coordinate system;

[0023] The real-time attitude C of the satellite when calculating the measured azimuth vector based on the fire sensor. BI Calculate the third vector, u, of the second vector in the satellite body coordinate system. SH_B =C BI ·u SH ;

[0024] Based on the theoretical installation matrix C HB Calculate the fourth vector pointing from the satellite to the currently known target in the coordinate system of the fire sensor.

[0025] Normalize the known target vector in the fire sensor coordinate system to obtain the theoretical vector of the known target.

[0026] In one possible design, the formula for calculating the system deviation matrix based on the measured azimuth vectors and theoretical vectors corresponding to any three known targets is as follows:

[0027]

[0028] In the formula, C is the system deviation matrix, and u1, u2, and u3 are the measured azimuth vectors corresponding to the three known targets, respectively. and These are the theoretical vectors corresponding to the three known targets.

[0029] In one possible design, the step of compensating the theoretical installation matrix using the system deviation matrix to obtain the actual installation matrix of the fire sensor on the satellite includes:

[0030] C HB 0 =CCHB ;

[0031] In the formula, C HB 0 C is the actual installation matrix, and C is the system deviation matrix. HB Install the matrix for the theory.

[0032] Secondly, embodiments of the present invention also provide a geometric calibration device for a spaceborne fire point sensor mounting matrix, comprising:

[0033] The generation module is used to generate a calibration task for each of the known targets in sequence based on the actual latitude and longitude information of multiple known targets, the satellite's orbital information, and the theoretical installation matrix of the fire sensor on the satellite. Each of the known targets is an infrared target with a temperature higher than a preset temperature.

[0034] The acquisition module is used to acquire the measured azimuth vector of each known target in the field of view of the fire sensor. Each measured azimuth vector is calculated by the fire sensor based on the calibration task corresponding to the known target.

[0035] The first calculation module is used to calculate the orbital position and real-time attitude of the satellite when calculating the measured azimuth vector based on the actual latitude and longitude information of each known target, the theoretical installation matrix, and the fire sensor, and to calculate the theoretical vector of each known target in the coordinate system of the fire sensor.

[0036] The second calculation module is used to calculate the system deviation matrix based on the measured azimuth vectors and theoretical vectors corresponding to any three known targets.

[0037] The compensation module is used to compensate the theoretical installation matrix using the system deviation matrix to obtain the actual installation matrix of the fire sensor on the satellite.

[0038] 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.

[0039] 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.

[0040] This invention provides a geometric calibration method and apparatus for the installation matrix of a spaceborne fire point sensor. The method first calculates the theoretical vectors of multiple known targets. Then, based on these theoretical vectors and the measured azimuth vectors obtained by the fire point sensor, a system deviation matrix is ​​calculated. This deviation matrix characterizes the relative displacement deviation between the actual and theoretical positions of the fire point sensor on the satellite. Finally, the theoretical installation matrix is ​​compensated using this deviation matrix to calculate the actual installation matrix of the fire point sensor on the satellite. Because this actual installation matrix eliminates system errors, the fire point position calculated using the corrected installation matrix is ​​more accurate. Using this fire point position to guide rescue efforts can improve rescue efficiency and thus reduce personnel and property losses. Attached Figure Description

[0041] 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.

[0042] Figure 1 This is a flowchart of a geometric calibration method for a spaceborne fire point sensor mounting matrix provided in an embodiment of the present invention;

[0043] Figure 2 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention;

[0044] Figure 3 This is a structural diagram of a geometric calibration device for a spaceborne fire point sensor mounting matrix provided in an embodiment of the present invention. Detailed Implementation

[0045] 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.

[0046] Please refer to Figure 1 This invention provides a geometric calibration method for the mounting matrix of a spaceborne fire point sensor, comprising:

[0047] Step 100: Based on the actual latitude and longitude information of multiple known targets, the satellite's orbital information, and the theoretical installation matrix of the fire sensor on the satellite, the calibration task for each known target is generated sequentially. Each known target is an infrared target with a temperature higher than the preset temperature.

[0048] Step 102: Obtain the measured azimuth vector of each known target in the field of view of the fire sensor. Each measured azimuth vector is calculated by the fire sensor based on the calibration task corresponding to the known target.

[0049] Step 104: Based on the actual latitude and longitude information of each known target, the theoretical installation matrix, and the orbital position and real-time attitude of the satellite when calculating the measured azimuth vector of the fire sensor, calculate the theoretical vector of each known target in the coordinate system of the fire sensor.

[0050] Step 106: Calculate the system deviation matrix based on the measured azimuth vectors and theoretical vectors corresponding to any three known targets;

[0051] Step 108: Compensate the theoretical installation matrix using the system deviation matrix to obtain the actual installation matrix of the fire sensor on the satellite.

[0052] This embodiment first calculates the theoretical vectors of multiple known targets. Then, based on these theoretical vectors and the measured azimuth vectors obtained by the fire sensor, a system deviation matrix is ​​calculated. This deviation matrix characterizes the relative displacement deviation between the actual and theoretical positions of the fire sensor on the satellite. Finally, the theoretical installation matrix is ​​compensated using this deviation matrix to calculate the actual installation matrix of the fire sensor on the satellite. Because this actual installation matrix eliminates system errors, the fire point location calculated using the corrected installation matrix is ​​more accurate. Using this fire point location to guide rescue efforts can improve rescue efficiency and thus reduce personnel and property losses.

[0053] The following is a detailed description Figure 1 The execution method for each step is shown.

[0054] First, for step 100, based on the actual latitude and longitude information of multiple known targets, the satellite's orbital information, and the theoretical installation matrix of the fire sensor on the satellite, a calibration task for each known target is generated in sequence. Each known target is an infrared target with a temperature higher than a preset temperature.

[0055] In this step, at least three targets are known, and the actual temperature and latitude / longitude information of each target are known. High-temperature infrared targets, such as volcanoes, are preferred, as this facilitates the fire sensor's temperature-based target detection. Multiple targets are located in different regions below the satellite's orbital datum. The satellite's orbital information includes its flight path and its speed at different times along that path. The theoretical mounting matrix of the fire sensor on the satellite is known and is used to characterize the relative positional relationship between the fire sensor and the satellite.

[0056] Different known targets require different calibration tasks. During calibration, a calibration task is generated for each known target based on its actual latitude and longitude, the satellite's real-time orbital information, and the theoretical installation matrix of the fire sensor on the satellite. For example, when there are five known targets, there are also five calibration tasks.

[0057] In some implementations, the calibration task includes a calibration attitude, a calibration start time, and a calibration end time corresponding to each known target; wherein, when the satellite reaches the calibration start time and calibration attitude corresponding to the current known target, the known target is within the field of view of the fire sensor.

[0058] In this embodiment, when the satellite does not require calibration, it operates in a three-axis ground-stabilized mode, and the fire sensor is powered on. When the satellite reaches a certain position, and the field of view of the fire sensor is about to cover any one of the multiple known targets, the satellite's attitude can be adjusted to the calibration attitude. In this calibration attitude, the fire sensor can detect the azimuth vector of the known target.

[0059] It should be noted that the calibration attitude refers to the satellite's calibration roll angle, calibration pitch angle, and calibration yaw angle. Generally, the calibration pitch angle and calibration yaw angle are set to 0, while the roll angle is not 0. Under this calibration attitude, the satellite no longer operates in a three-axis Earth-oriented mode, but in a calibration mode. After completing the detection of the currently known target, it can resume the three-axis Earth-oriented operation mode until it encounters the next known target.

[0060] In some implementations, in order to detect targets more accurately, it is preferable that when the satellite reaches the calibration start time and calibration attitude corresponding to the currently known target, the field of view center of the fire sensor points to the center of the calibration area of ​​the known target, and the calibration area is determined based on the actual latitude and longitude information of the known target.

[0061] In this embodiment, the latitude and longitude range of the calibration area is greater than that of the known target, which allows the satellite to enter the calibration mode in advance, preventing missed targets or inaccurate detection.

[0062] Then, for step 102, the measured azimuth vector of each known target in the field of view of the fire sensor is obtained. Each measured azimuth vector is calculated by the fire sensor based on the calibration task corresponding to the known target.

[0063] In some implementations, the longitude and latitude of the center of the field of view of the fire sensor are calculated every preset period, and the calculation results of each preset period are sent to the fire sensor.

[0064] In this step, the preset period duration can be 125ms or other values. Since the satellite operates at a relatively high speed, the preset period duration cannot be too long to prevent missing targets.

[0065] In some implementations, the fire sensor calculates the measured azimuth vector of each known target in the field of view of the fire sensor in the following manner:

[0066] Receive the calculation results for each preset period, and determine whether the field of view center of the fire sensor at the current moment points to the calibration area corresponding to any known target based on the calculation results;

[0067] If not, do not calculate; if yes, determine whether the calibration area is obscured by clouds.

[0068] If the target is obstructed, the calibration ends; otherwise, the azimuth vector of the known target in the field of view of the fire sensor at the current moment is calculated.

[0069] In this embodiment, target detection is only performed when the center of the fire sensor's field of view points to a known target and the target is not obscured by clouds. Once the target is obscured by clouds or detection is complete, the satellite is adjusted to a three-axis Earth-focused mode to await detection of the next target.

[0070] Next, for step 104, based on the actual latitude and longitude information of each known target, the theoretical installation matrix, and the orbital position and real-time attitude of the satellite when the measured azimuth vector is calculated by the fire sensor, the theoretical vector of each known target in the coordinate system of the fire sensor is calculated.

[0071] In this step, the theoretical vector of each known target in the fire sensor coordinate system is achieved through the following steps:

[0072] For each known target, perform the following steps:

[0073] Step A1: Based on the actual latitude and longitude information of the currently known target, and the transformation relationship between the Earth-fixed coordinate system and the Earth's equatorial inertial coordinate system, calculate the first vector u of the currently known target in the inertial coordinate system. I =[x I y I zI ] T , where x I y I , and z I These are the coordinates of the known target in the x, y, and z directions in the inertial coordinate system.

[0074] Step A2: Calculate the satellite's orbital position u based on the measured azimuth vector using the fire sensor. ISAT Calculate the second vector, u, of the satellite pointing towards the currently known target. SH =u I -u ISAT ; where u ISAT This represents the satellite's position in the inertial coordinate system.

[0075] Step A3, calculate the satellite's real-time attitude C based on the measured azimuth vector using the fire sensor. BI Calculate the third vector of the second vector in the satellite body coordinate system, u SH_B =C BI ·u SH ;

[0076] Step A4, based on the theoretical installation matrix C HB Calculate the fourth vector pointing from the satellite to the currently known target in the fire sensor coordinate system. Among them, the theoretical installation matrix C HB This is the transformation matrix from the satellite body coordinate system to the fire sensor coordinate system.

[0077] Step A5: Normalize the known target vector in the fire sensor coordinate system to obtain the theoretical vector of the known target.

[0078] Next, for step 106, based on the measured azimuth vectors and theoretical vectors corresponding to any three known targets, the formula for calculating the system deviation matrix is ​​as follows:

[0079]

[0080] In the formula, C is the system deviation matrix, and u1, u2, and u3 are the measured azimuth vectors corresponding to the three known targets, respectively. and These are the theoretical vectors corresponding to the three known targets.

[0081] Finally, for step 108, the theoretical installation matrix is ​​compensated using the system deviation matrix to obtain the actual installation matrix of the fire sensor on the satellite, including:

[0082] C HB 0 =CC HB ;

[0083] In the formula, C HB 0 C is the actual installation matrix, and C is the system deviation matrix. HB Install the matrix for theory.

[0084] Because the actual installation matrix eliminates systematic errors, the fire location calculated using the corrected installation matrix is ​​more accurate. Using this fire location to guide rescue efforts can improve rescue efficiency and thus reduce casualties and property damage.

[0085] It is understandable that the actual installation matrix can be calculated based on the system deviation matrix of a known target. In other embodiments, to improve calculation accuracy, multiple known targets can be detected to obtain multiple system deviation matrices. Then, an average system deviation matrix can be obtained using the least squares method. This average system deviation matrix is ​​then used to compensate for the theoretical installation matrix to obtain the actual installation matrix.

[0086] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a geometric calibration device for a spaceborne fire point sensor mounting matrix. 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 containing a geometric calibration device for a spaceborne fire point sensor mounting matrix, 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, as a logical device, it is formed by the CPU of its host electronic device reading the corresponding computer program from the non-volatile memory into memory and running it. This embodiment provides a geometric calibration device for a spaceborne fire point sensor mounting matrix, comprising:

[0087] The generation module 300 is used to generate calibration tasks for each known target in sequence based on the actual latitude and longitude information of multiple known targets, the satellite's orbital information, and the theoretical installation matrix of the fire sensor on the satellite. Each known target is an infrared target with a temperature higher than a preset temperature.

[0088] The acquisition module 302 is used to acquire the measured azimuth vector of each known target in the field of view of the fire sensor. Each measured azimuth vector is calculated by the fire sensor based on the calibration task corresponding to the known target.

[0089] The first calculation module 304 is used to calculate the satellite's orbital position and real-time attitude when calculating the measured azimuth vector based on the actual latitude and longitude information of each known target, the theoretical installation matrix, and the fire sensor, and to calculate the theoretical vector of each known target in the fire sensor coordinate system.

[0090] The second calculation module 306 is used to calculate the system deviation matrix based on the measured azimuth vectors and theoretical vectors corresponding to any three known targets.

[0091] The compensation module 308 is used to compensate the theoretical installation matrix using the system deviation matrix to obtain the actual installation matrix of the fire sensor on the satellite.

[0092] In this embodiment of the invention, the generation module 300 can be used to execute step 100 in the above method embodiment, the acquisition module 302 can be used to execute step 102 in the above method embodiment, the first calculation module 304 can be used to execute step 104 in the above method embodiment, the second calculation module 306 can be used to execute step 106 in the above method embodiment, and the compensation module 308 can be used to execute step 108 in the above method embodiment.

[0093] In some implementations, the calibration task includes a calibration attitude, a calibration start time, and a calibration end time corresponding to each known target; wherein, when the satellite reaches the calibration start time and calibration attitude corresponding to the current known target, the known target is within the field of view of the fire sensor.

[0094] In some implementations, when the satellite reaches the calibration start time and calibration attitude corresponding to the currently known target, the field of view center of the fire sensor points to the center of the calibration area of ​​the known target, and the calibration area is determined based on the actual latitude and longitude information of the known target.

[0095] In some implementations, the longitude and latitude of the center of the field of view of the fire sensor are calculated every preset period, and the calculation results of each preset period are sent to the fire sensor.

[0096] The fire sensor calculates the measured azimuth vector of each known target within its field of view as follows:

[0097] Receive the calculation results for each preset period, and determine whether the field of view center of the fire sensor at the current moment points to the calibration area corresponding to any known target based on the calculation results;

[0098] If not, do not calculate; if yes, determine whether the calibration area is obscured by clouds.

[0099] If the target is obstructed, the calibration ends; otherwise, the azimuth vector of the known target in the field of view of the fire sensor at the current moment is calculated.

[0100] In some implementations, the first calculation module 304 is used to perform the following operations:

[0101] For each known target, execute:

[0102] Based on the actual latitude and longitude information of the currently known target, and the transformation relationship between the Earth fixed coordinate system and the Earth equatorial inertial coordinate system, calculate the first vector of the currently known target in the inertial coordinate system, u. I =[x I y I z I ] T ;

[0103] When calculating the measured azimuth vector based on the fire sensor, the satellite's orbital position u ISAT Calculate the second vector, u, of the satellite pointing towards the currently known target. SH =u I -u ISAT ; where u ISAT This represents the satellite's position in the inertial coordinate system.

[0104] Real-time attitude C of the satellite when calculating the measured azimuth vector based on the fire sensor BI Calculate the third vector of the second vector in the satellite body coordinate system, u SH_B =C BI ·u SH ;

[0105] Based on the theoretical installation matrix C HB Calculate the fourth vector pointing from the satellite to the currently known target in the fire sensor coordinate system.

[0106] Normalize the known target vector in the fire sensor coordinate system to obtain the theoretical vector of the known target.

[0107] In some implementations, the formula for the second calculation module 306 to calculate the system deviation matrix is:

[0108]

[0109] In the formula, C is the system deviation matrix, and u1, u2, and u3 are the measured azimuth vectors corresponding to the three known targets, respectively. and These are the theoretical vectors corresponding to the three known targets.

[0110] In some implementations, the compensation module 308 is used to perform the following operations:

[0111] C HB0 =CC HB ;

[0112] In the formula, C HB 0 C is the actual installation matrix, and C is the system deviation matrix. HB Install the matrix for theory.

[0113] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the geometric calibration device for a spaceborne fire sensor mounting matrix. In other embodiments of the present invention, a geometric calibration device for a spaceborne fire sensor mounting matrix 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.

[0114] 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 in the method embodiment of the present invention, and will not be repeated here.

[0115] 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 geometric calibration method for a spaceborne fire point sensor mounting matrix according to any embodiment of this invention.

[0116] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a geometric calibration method for a spaceborne fire point sensor mounting matrix according to any embodiment of this invention.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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 of geometric calibration of a space-borne fire point sensor mounting matrix, characterized in that, The method comprises the following steps: Based on the actual latitude and longitude information of a plurality of known targets, the running track information of a satellite, and the theoretical installation matrix of a fire point sensor on the satellite, a calibration task for each of the known targets is generated in sequence, each of the known targets being an infrared target with a temperature higher than a preset temperature; A measured bearing vector of each of the known targets in the field of view of the fire point sensor is obtained, each of the measured bearing vectors being calculated by the fire point sensor based on the corresponding calibration task of the known target; Based on the actual latitude and longitude information of each of the known targets, the theoretical installation matrix, and the orbit position and real-time attitude of the satellite when the fire point sensor calculates the measured bearing vector, a theoretical vector of each of the known targets in the coordinate system of the fire point sensor is calculated; Based on the measured bearing vectors and the theoretical vectors of any three of the known targets, a system deviation matrix is calculated; The theoretical installation matrix is compensated by using the system deviation matrix to obtain an actual installation matrix of the fire point sensor on the satellite.

2. The method of claim 1, wherein the calibration task comprises a calibration attitude, a calibration start time and a calibration end time corresponding to each of the known targets respectively; and when the satellite reaches the calibration start time and the calibration attitude corresponding to the current known target, the known target is within the field of view of the fire point sensor.

3. The method of claim 2, wherein when the satellite reaches the calibration start time and the calibration attitude corresponding to the current known target, the center of the field of view of the fire point sensor points to the center of the calibration region of the known target, and the calibration region is determined based on the actual latitude and longitude information of the known target. Further comprising: Every preset period, the longitude and latitude of the center of the field of view of the fire point sensor are calculated, and the calculation results of each preset period are sent to the fire point sensor; 4. The method of claim 3, wherein, The fire point sensor calculates the measured bearing vector of each of the known targets in the field of view of the fire point sensor by: Receiving the calculation results of each preset period, and judging whether the center of the field of view of the fire point sensor at the current time points to the calibration region corresponding to any known target based on the calculation results; If not, no calculation is performed; if yes, it is judged whether the calibration region is blocked by clouds; If blocked, the current calibration is ended; otherwise, the bearing vector of the known target in the field of view of the fire point sensor at the current time is calculated. The calculation of the theoretical vector of each of the known targets in the coordinate system of the fire point sensor based on the actual latitude and longitude information of each of the known targets, the theoretical installation matrix, and the orbit position and real-time attitude of the satellite when the fire point sensor calculates the measured bearing vector comprises: For each of the known targets, the following steps are performed:

5. The method of claim 1, wherein, The formula for calculating the system deviation matrix based on the measured bearing vectors and the theoretical vectors of any three of the known targets is: The compensation of the theoretical installation matrix by using the system deviation matrix to obtain the actual installation matrix of the fire point sensor on the satellite comprises: Based on the actual latitude and longitude information of the current known target, and the conversion relationship between the earth-fixed coordinate system and the earth equatorial inertial coordinate system, a first vector of the current known target in the inertial coordinate system is calculated, u I = [x I y I z I ] T ; u, the orbital position of the satellite at the time of calculating the measured orientation vector based on the hot-spot sensor ISAT , calculating a second vector of the satellite pointing at a currently known target, u SH = u I - u ISAT ; wherein u ISAT is the position of the satellite in the inertial coordinate system; calculating a real-time attitude C of the satellite at the time of calculating the measured orientation vector based on the fire point sensor BI , calculating a third vector of the second vector in the satellite body coordinate system, u SH_B = C BI ·u SH ; based on said theoretical installation matrix C HB a fourth vector of said satellite pointing to a currently known target in said fire point sensor coordinate system is calculated, vector unitizing the current known target vector in the fire point sensor coordinate system to obtain a theoretical vector of the current known target 6. The method of claim 5, wherein, ​ where C is the system bias matrix, ui, u2, and u3 are the measured bearing vectors of the three known targets, respectively, and are the theoretical vectors of the three known targets, respectively.

7. The method of claim 6, wherein, ​ C HB 0 = CC HB ; where C HB 0 is the actual installation matrix, C is the system bias matrix, C HB is the theoretical installation matrix.

8. A geometric calibration device for a space-borne fire point sensor mounting matrix, characterized in that ​ The generating module is configured to generate a calibration task for each of the known targets in sequence based on actual latitude and longitude information of the known targets, orbit information of a satellite, and a theoretical installation matrix of a fire point sensor on the satellite, each of the known targets being an infrared target with a temperature higher than a preset temperature. The acquiring module is configured to acquire a measured bearing vector of each of the known targets in a field of view of the fire point sensor, each of the measured bearing vectors being calculated by the fire point sensor based on a corresponding calibration task of the respective known target. The first calculating module is configured to calculate a theoretical vector of each of the known targets in a coordinate system of the fire point sensor based on actual latitude and longitude information of each of the known targets, the theoretical installation matrix, and an orbit position and real-time attitude of the satellite when the fire point sensor calculates the measured bearing vector. The second calculating module is configured to calculate a system deviation matrix based on the measured bearing vectors and the theoretical vectors of any three of the known targets. The compensating module is configured to compensate the theoretical installation matrix by using the system deviation matrix to obtain an actual installation matrix of the fire point sensor on the satellite.

9. An electronic device comprising a memory and a processor, said memory having stored therein a computer program, characterized in that, The processor executes the computer program to implement the method of any one of claims 1-7.

10. A storage medium having stored thereon a computer program, characterized in that When the computer program is executed in the computer, the computer is caused to execute the method of any one of claims 1-7. When the computer program is executed in the computer, the computer is caused to execute the method of any one of claims 1-7.

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