An agile earth observation satellite attitude transition time calculation method

Abstract

The application discloses a method for calculating the attitude conversion time of an agile earth observation satellite. The relative position of the satellite and the task in the orbit coordinate system is used to calculate the attitude conversion time of each degree of freedom. If the satellite has two degrees of freedom of attitude conversion capability, when the satellite simultaneously performs two degrees of freedom of attitude conversion, the attitude conversion time is the maximum value of the attitude conversion time of the two degrees of freedom, and when the satellite respectively performs two degrees of freedom of attitude conversion, the attitude conversion time is the sum of the attitude conversion time of the two degrees of freedom. If the satellite has three degrees of freedom of attitude conversion capability, when the satellite simultaneously performs two degrees of freedom of attitude conversion, the attitude conversion time is the sum of the maximum value of the attitude conversion time of the two degrees of freedom and the attitude conversion time of the other degree of freedom. The embodiment of the application provides a more accurate calculation scheme for the attitude conversion time of the agile earth observation satellite.

Description

Technical Field

[0001] This application relates to the field of satellite Earth observation technology, and in particular to a method for calculating the attitude transition time of an agile Earth observation satellite. Background Technology

[0002] The attitude transition time for an agile Earth observation satellite performing two consecutive missions refers to the duration during which the satellite transitions from its orbital position for the previous mission to the earliest possible orbital position for the next mission. Agile Earth observation satellites typically possess a maximum of three degrees of freedom for attitude transitions: pitch, roll, and yaw. Existing methods for calculating attitude transition time typically consider only two degrees of freedom and only the change in pitch angle over time, resulting in a piecewise linear function that deviates significantly from actual conditions. Summary of the Invention

[0003] This application provides a method for calculating the attitude transition time of an agile Earth observation satellite, and proposes an accurate scheme for calculating the attitude transition time of an agile Earth observation satellite.

[0004] This application provides a method for calculating the attitude transition time of an agile Earth observation satellite, including the following steps:

[0005] Transform the geographical coordinates of mission j from the latitude and longitude coordinate system to the satellite orbit coordinate system, and calculate the attitude angle of the agile Earth observation satellite relative to mission j at time t;

[0006] Transform the geographical coordinates of mission k from latitude and longitude coordinates to the satellite orbit coordinate system, and calculate the agile Earth observation satellite at time k. The attitude angle for task k;

[0007] By calculating the attitude transition time of each degree of freedom through the relative positional relationship between the agile Earth observation satellite and the mission in the orbital coordinate system, and calculating the attitude transition time between missions j and k of the agile Earth observation satellite;

[0008] When an agile Earth observation satellite has only one degree of freedom for attitude transition, the transition time of that degree of freedom is taken as the attitude transition time of the agile Earth observation satellite.

[0009] When an agile Earth observation satellite has the ability to change attitudes in two degrees of freedom, if the agile Earth observation satellite performs attitude changes in two degrees of freedom simultaneously, the maximum value of the attitude change time of the two degrees of freedom is taken as the attitude change time of the agile Earth observation satellite; if the agile Earth observation satellite performs attitude changes in two degrees of freedom separately, the sum of the attitude change times of the two degrees of freedom is taken as the attitude change time of the agile Earth observation satellite.

[0010] When an agile Earth observation satellite has a three-degree-of-freedom attitude transition capability, if the agile Earth observation satellite performs attitude transitions in two degrees of freedom simultaneously, the sum of the maximum value of the attitude transition time of the two degrees of freedom and the attitude transition time of the other degree of freedom is taken as the attitude transition time of the agile Earth observation satellite; if the agile Earth observation satellite performs attitude transitions in three degrees of freedom simultaneously, the maximum value of the attitude transition time of the three degrees of freedom is taken as the attitude transition time of the agile Earth observation satellite; if the agile Earth observation satellite performs attitude transitions in three degrees of freedom separately, the sum of the attitude transition times of the three degrees of freedom is taken as the attitude transition time of the agile Earth observation satellite.

[0011] Optionally, the agile Earth observation satellite performs attitude transitions in a yaw-roll-pitch sequence and executes mission j and mission k sequentially. The attitude transition time function of the agile Earth observation satellite is calculated in the following manner.

[0012] Calculate the conversion time of the yaw angle of the agile Earth observation satellite.

[0013] If an agile Earth observation satellite can achieve observation of the next task by only changing its yaw angle during attitude transition, then the attitude transition time is:

[0014] Calculate the conversion time of the side-swing angle of the agile Earth observation satellite.

[0015] If the agile Earth observation satellite only changes its yaw and roll angles during attitude transition, and changes them in the order of yaw-roll, then the attitude transition time is:

[0016]

[0017] If an agile Earth observation satellite simultaneously changes its yaw and roll angles during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom:

[0018]

[0019] Calculate the conversion time of elevation angle for agile Earth observation satellites.

[0020] If the agile Earth observation satellite changes attitude in the order of yaw, roll, and pitch during the attitude transition process, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom:

[0021]

[0022] If an agile Earth observation satellite simultaneously converts its yaw and roll angles before its pitch angle during attitude transition, then the attitude transition time is the sum of the maximum value of the yaw and roll angle conversion times and the pitch angle conversion time.

[0023]

[0024] If an agile Earth observation satellite first converts its yaw angle during attitude transition, and then simultaneously converts its roll and pitch angles, the attitude transition time is the sum of the yaw angle conversion time and the maximum values ​​of the roll and pitch angle conversion times:

[0025]

[0026] If an agile Earth observation satellite simultaneously changes its yaw, roll, and pitch angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom:

[0027]

[0028] Optionally, the agile Earth observation satellite performs attitude transitions in a yaw-pitch-yaw sequence and executes mission j and mission k sequentially. The attitude transition time function of the agile Earth observation satellite is calculated in the following manner.

[0029] Calculate the conversion time of the yaw angle of the agile Earth observation satellite.

[0030] If an agile Earth observation satellite can achieve observation of the next task by only changing its yaw angle during attitude transition, then the attitude transition time is:

[0031] Calculate the conversion time of elevation angle for agile Earth observation satellites.

[0032] If the agile Earth observation satellite only changes its yaw and pitch angles during attitude transition, and changes them in the yaw-pitch sequence, then the attitude transition time is:

[0033]

[0034] If an agile Earth observation satellite rotates both its yaw and pitch angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom:

[0035]

[0036] Calculate the conversion time of the side-swing angle of the agile Earth observation satellite.

[0037] If the agile Earth observation satellite changes attitude in the order of yaw, pitch, and roll during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom:

[0038]

[0039] If an agile Earth observation satellite first changes its yaw angle during attitude transition, and then simultaneously changes its pitch and roll angles, the attitude transition time is the sum of the yaw angle transition time and the maximum values ​​of the pitch and roll angle transition times:

[0040]

[0041] If an agile Earth observation satellite simultaneously changes its yaw, pitch, and roll angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom:

[0042] Optionally, the agile Earth observation satellite performs attitude transitions in a pitch-yaw-roll sequence, executing tasks j and k sequentially. The attitude transition time function of the agile Earth observation satellite is calculated in the following manner.

[0043] Calculate the conversion time of elevation angle for agile Earth observation satellites:

[0044]

[0045] If an agile Earth observation satellite can achieve observation of the next task by only changing its pitch angle during attitude transition, then the attitude transition time is:

[0046] Calculate the conversion time of the yaw angle of the agile Earth observation satellite:

[0047] If the agile Earth observation satellite only changes its pitch and yaw angles during attitude transition and changes them in the pitch-yaw sequence, then the attitude transition time is:

[0048]

[0049] If an agile Earth observation satellite rotates both its pitch and yaw angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom:

[0050]

[0051] Calculate the conversion time of the side-swing angle of the agile Earth observation satellite.

[0052] If the agile Earth observation satellite changes attitude in the order of pitch, yaw, and roll during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom:

[0053]

[0054] If an agile Earth observation satellite simultaneously converts its pitch and yaw angles before converting its roll angle during attitude transition, the attitude transition time is the sum of the maximum pitch and yaw angle conversion times and the roll angle conversion time.

[0055]

[0056] If an agile Earth observation satellite first changes its pitch angle during attitude transition, and then simultaneously changes its yaw and roll angles, the attitude transition time is the sum of the pitch angle transition time and the maximum values ​​of the yaw and roll angle transition times:

[0057]

[0058] If an agile Earth observation satellite simultaneously changes its pitch, yaw, and roll angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom:

[0059]

[0060] Optionally, the agile Earth observation satellite performs attitude transitions in a pitch-yaw-side sequence, executing tasks j and k sequentially. The attitude transition time function of the agile Earth observation satellite is calculated as follows.

[0061] Calculate the conversion time of elevation angle for agile Earth observation satellites:

[0062]

[0063] If an agile Earth observation satellite can achieve observation of the next task by only changing its pitch angle during attitude transition, then the attitude transition time is:

[0064] Calculate the conversion time of the side-swing angle of the agile Earth observation satellite:

[0065]

[0066] If the agile Earth observation satellite only changes its pitch and yaw angles during attitude transition and changes them in the order of pitch-yaw, then the attitude transition time is:

[0067]

[0068] If an agile Earth observation satellite rotates both its pitch and yaw angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom:

[0069]

[0070] If an agile Earth observation satellite rotates both its pitch and yaw angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom:

[0071]

[0072] If an agile Earth observation satellite simultaneously converts its pitch and roll angles before converting its yaw angle during attitude transition, the attitude transition time is the sum of the maximum pitch and roll angle transition times and the yaw angle transition time.

[0073]

[0074] If an agile Earth observation satellite first changes its pitch angle during attitude transition, and then simultaneously changes its roll and yaw angles, the attitude transition time is the sum of the pitch angle transition time and the maximum values ​​of the roll and yaw angle transition times:

[0075]

[0076] If an agile Earth observation satellite simultaneously changes its pitch, roll, and yaw angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom:

[0077]

[0078] Optionally, the agile Earth observation satellite performs attitude transitions in the order of side-pitch-yaw, executing tasks j and k sequentially. The attitude transition time function of the agile Earth observation satellite is calculated in the following manner.

[0079] Calculate the conversion time of the side-swing angle of the agile Earth observation satellite:

[0080]

[0081] If an agile Earth observation satellite can achieve observation of the next task by only changing its side yaw angle during attitude transition, then the attitude transition time is:

[0082] Calculate the conversion time of elevation angle for agile Earth observation satellites:

[0083]

[0084] If the agile Earth observation satellite only changes its yaw and pitch angles during attitude transition and changes them in the yaw-pitch sequence, then the attitude transition time is:

[0085]

[0086] If an agile Earth observation satellite rotates both its yaw and pitch angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom:

[0087]

[0088] Calculate the conversion time of the yaw angle of the agile Earth observation satellite.

[0089] If the agile Earth observation satellite changes attitude in the order of side roll, pitch, and yaw during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom:

[0090]

[0091] If an agile Earth observation satellite simultaneously converts its roll and pitch angles before converting its yaw angle during attitude transition, the attitude transition time is the sum of the maximum roll and pitch angle conversion times and the yaw angle conversion time.

[0092]

[0093] If an agile Earth observation satellite first converts its roll angle during attitude transition, and then simultaneously converts its pitch and yaw angles, the attitude transition time is the sum of the roll angle transition time and the maximum values ​​of the pitch and yaw angle transition times:

[0094]

[0095] If an agile Earth observation satellite simultaneously changes its roll, pitch, and yaw angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom:

[0096]

[0097] Optionally, the agile Earth observation satellite performs attitude transitions in a yaw-pitch sequence, executing tasks j and k sequentially. The attitude transition time function of the agile Earth observation satellite is calculated as follows.

[0098] Calculate the conversion time of the side-swing angle of the agile Earth observation satellite:

[0099]

[0100] If an agile Earth observation satellite can achieve observation of the next task by only changing its side angle during attitude transition, then the attitude transition time is:

[0101] Calculate the conversion time of the yaw angle of the agile Earth observation satellite.

[0102] If the agile Earth observation satellite only changes its roll and yaw angles during attitude transition and changes them in the roll-yaw sequence, then the attitude transition time is:

[0103]

[0104] If an agile Earth observation satellite rotates both its side angle and yaw angle simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom:

[0105]

[0106] Calculate the conversion time of elevation angle for agile Earth observation satellites.

[0107] If the agile Earth observation satellite changes attitude in the order of side roll, yaw, and pitch during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom:

[0108]

[0109] If an agile Earth observation satellite simultaneously converts its roll and yaw angles before its pitch angle during attitude transition, the attitude transition time is the sum of the maximum roll and yaw angle transition times and the pitch angle transition time.

[0110]

[0111] If an agile Earth observation satellite first converts its roll angle during attitude transition, and then simultaneously converts its yaw and pitch angles, the attitude transition time is the sum of the roll angle conversion time and the maximum values ​​of the yaw and pitch angle conversion times:

[0112]

[0113] If an agile Earth observation satellite simultaneously changes its roll, yaw, and pitch angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom:

[0114]

[0115] This application also proposes an attitude transition time calculation terminal for an agile Earth observation satellite, including a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the steps of the aforementioned agile Earth observation satellite attitude transition time calculation method.

[0116] This application also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the aforementioned method for calculating the attitude transition time of an agile Earth observation satellite.

[0117] The attitude transition time of an agile Earth observation satellite performing two consecutive missions depends on the satellite's departure time from its orbital position after completing the previous mission and the geographical locations of the two consecutive missions. This application's embodiments calculate the attitude transition time for each degree of freedom using the relative position of the satellite and the mission in the orbital coordinate system. If the satellite has only one degree of freedom for attitude transition, the attitude transition time is the transition time for that degree of freedom. If the satellite has two degrees of freedom for attitude transition, when the satellite performs attitude transitions in both degrees of freedom simultaneously, the attitude transition time is the maximum of the attitude transition times for those two degrees of freedom; when the satellite performs attitude transitions in two degrees of freedom separately, the attitude transition time is the sum of the attitude transition times for those two degrees of freedom. If the satellite has three degrees of freedom for attitude transition, when the satellite performs attitude transitions in two degrees of freedom simultaneously, the attitude transition time is the sum of the maximum of the attitude transition times for those two degrees of freedom and the attitude transition time for the other degree of freedom; when the satellite performs attitude transitions in all three degrees of freedom simultaneously, the attitude transition time is the maximum of the attitude transition times for all three degrees of freedom; when the satellite performs attitude transitions in three degrees of freedom separately, the attitude transition time is the sum of the attitude transition times for each of the three degrees of freedom. Therefore, this application proposes a more accurate scheme for calculating the attitude transition time of agile Earth observation satellites.

[0118] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0119] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0120] Figure 1This is a schematic diagram of the attitude transition time calculation process for the agile Earth observation satellite in an embodiment of this application;

[0121] Figure 2 This is a schematic diagram of the reference coordinate system and satellite orbital elements for embodiments of this application;

[0122] Figure 3 This is a schematic diagram illustrating how the agile Earth observation satellite in this application transitions from performing a mission to performing a mission in the sequence of yaw-side-pitch.

[0123] Figure 4 These are four scenarios for the projection of the agile Earth observation satellite into the orbital coordinate system after yaw angle conversion, as described in the embodiments of this application.

[0124] Figure 5 This is the projection of the agile Earth observation satellite in the orbital coordinate system after transforming its side yaw angle, as described in the embodiments of this application.

[0125] Figure 6 This is the projection of the agile Earth observation satellite in the orbital coordinate system after the elevation angle is converted, according to an embodiment of this application.

[0126] Figure 7 This is a schematic diagram illustrating how the agile Earth observation satellite, according to an embodiment of this application, transitions from performing a mission to performing a mission in the sequence of yaw-pitch-yaw.

[0127] Figure 8 This is a schematic diagram illustrating how the agile Earth observation satellite, according to an embodiment of this application, transitions from performing a mission to performing a mission in a sequence of pitch, yaw, and roll.

[0128] Figure 9 This is a schematic diagram illustrating how the agile Earth observation satellite in this application transitions from performing a mission to performing a mission in the order of pitch-yaw-yaw.

[0129] Figure 10 This is a schematic diagram illustrating how the agile Earth observation satellite in this application transitions from performing a mission to performing a mission in the sequence of side-pitch-yaw.

[0130] Figure 11 This illustration shows the agile Earth observation satellite in this application changing its attitude from performing a mission to performing a mission in the sequence of side-yaw-pitch. Detailed Implementation

[0131] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0132] The purpose of this application is to provide a novel method for calculating the attitude transition time of an agile Earth observation satellite. It is assumed that the attitude transition time of an agile Earth observation satellite performing two consecutive tasks is the sum of the attitude transition times for each of the satellite's three degrees of freedom. The attitude transition process between two consecutive tasks can be divided into three stages, each corresponding to one or two degrees of freedom attitude transitions. Changes in the start time of the agile Earth observation satellite's observation will result in different field-of-view angles, which depend on the relative positional relationship between the satellite and the target task. Therefore, the attitude transition time of an agile Earth observation satellite performing two consecutive tasks depends on the departure time of the satellite from its orbital position after completing the previous task and the geographical locations of the two consecutive tasks. The attitude transition time for each degree of freedom is calculated using the relative position of the satellite and the task in the orbital coordinate system. If a satellite has only one degree of freedom for attitude transition, the attitude transition time is the time for that degree of freedom. If a satellite has two degrees of freedom for attitude transition, when the satellite performs attitude transitions in both degrees of freedom simultaneously, the attitude transition time is the maximum of the two attitude transition times. When the satellite performs attitude transitions in two degrees of freedom separately, the attitude transition time is the sum of the two attitude transition times. If a satellite has three degrees of freedom for attitude transition, when the satellite performs attitude transitions in two degrees of freedom simultaneously, the attitude transition time is the sum of the maximum of the two attitude transition times and the attitude transition time of the third degree of freedom. When the satellite performs attitude transitions in all three degrees of freedom simultaneously, the attitude transition time is the maximum of the three attitude transition times. When the satellite performs attitude transitions in all three degrees of freedom separately, the attitude transition time is the sum of the individual attitude transition times for each of the three degrees of freedom.

[0133] The technical solution of this invention: Assuming that the satellite and the Earth conform to a two-body model, using Δt γ , and Δt ψ These represent the yaw, side-slip, and pitch transition times for the agile Earth observation satellite from mission j to mission k, respectively. and These represent the yaw angles of the agile Earth observation satellite at time t when performing missions j and k, respectively. and These represent the yaw angles of the agile Earth observation satellite during missions j and k at time t, respectively. and ω represents the elevation angle of the agile Earth observation satellite performing mission j and mission k at time t, respectively. γ , and ω ψ The angular velocities representing yaw, roll, and pitch are approximated by a constant H during attitude transitions, while the altitude of the agile Earth observation satellite is approximately constant.p Assuming satellite orbital offset is not considered, the geographical location of task j is The geographical location of task k is like Figure 1 As shown, the specific calculation method for the attitude transition time between satellite missions j and k proposed in this application embodiment includes the following steps:

[0134] In step S1, the geographical coordinates of task j are transformed from the latitude and longitude coordinate system to the satellite orbit coordinate system;

[0135] Specifically, in step S101, the geographical coordinates of task j are transformed from the latitude and longitude coordinate system to the geocentric rectangular coordinate system;

[0136] like Figure 2 As shown, the origin of the geocentric rectangular coordinate system is the geocenter O. e ;O e x R The axis coincides with the intersection of the meridian plane and the equatorial plane, with eastward being positive; O e z R The axis coincides with the Earth's axis of rotation, with north being positive; O e y R The axis and the two axes together form a right-handed coordinate system; let the Earth's radius be R. e , where int(·) represents the floor function, t is the time converted to seconds, then the geocentric rectangular coordinates of task j are:

[0137]

[0138] In step S102, the geographical coordinates of task j are transformed from the rectangular coordinate system to the geocentric equatorial inertial coordinate system;

[0139] The origin of the geocentric equatorial inertial coordinate system is the geocenter O. e ;O e x I The axis lies on the equatorial plane and points to the J2000 vernal equinox.

[0140] O e z I The axis is perpendicular to the equatorial plane, points towards the Earth's North Pole, and coincides with the Earth's angular velocity vector; O e y I The axis and the two axes together form a right-handed coordinate system; then the geocentric equatorial inertial coordinate system coordinates of task j at time t are:

[0141]

[0142] in, Ω is the Greenwich Mean Time corresponding to time t. G0 The Greenwich Mean Time corresponding to time t0. It is the average angular velocity of the Earth's rotation;

[0143] The origin of the geocentric equatorial inertial coordinate system is the geocenter O. e ;O e x I The axis lies on the equatorial plane, pointing towards the J2000 vernal equinox; O e z I The axis is perpendicular to the equatorial plane, points towards the Earth's North Pole, and coincides with the Earth's angular velocity vector; O e y I The axis and the two axes together form a right-handed coordinate system; then the geocentric equatorial inertial coordinate system coordinates of task j at time t are:

[0144]

[0145] in, Ω is the Greenwich Mean Time corresponding to time t. G0 The Greenwich Mean Time corresponding to time t0. It is the average angular velocity of the Earth's rotation;

[0146] In step S103, the geographical location of task j is transformed from the inertial coordinate system to the satellite orbit coordinate system;

[0147] The origin of the satellite orbital coordinate system is the satellite's center of mass O. s ;O s x o The axis lies on the satellite's orbital plane and points in the direction of the satellite's motion; O s z o In the geocentric equatorial inertial coordinate system, the axis points towards the Earth's center O. e The satellite position vectors are collinear; O s y o The axis is perpendicular to O s x o The axis, together with the two axes, forms a right-handed coordinate system; transformation matrix A es =C0C z (u)C x (i)C z (Ω), then the coordinates of mission j in the satellite orbit coordinate system at time t are: Where C v (·) represents surrounding v Rotation matrix of the axis:

[0148]

[0149]

[0150] Ω represents the right ascension of the ascending node of the agile Earth observation satellite's orbit; i represents the orbital inclination of the agile Earth observation satellite; u t=u0+n·(t-t0) is the orbital argument of the agile Earth observation satellite, such as Figure 2 As shown, u0 is the angle between the Earth's center of mass and the ascending node and the Agile Earth Observation Satellite at the initial time t0, n is the average angular velocity of the Agile Earth Observation Satellite, and R... oe It is the distance from the Earth's center to the agile Earth observation satellite.

[0151] In step S104, the attitude angle of the agile Earth observation satellite relative to mission j at time t is calculated;

[0152] The coordinates of the satellite in the orbital coordinate system at a certain moment can be calculated by adjusting the satellite's attitude angles, that is: Among them, C v (·) represents surrounding v The rotation matrix of the axis. Calculations can be performed to obtain the attitude angle of the agile Earth observation satellite relative to mission j at time t.

[0153] In step S2, the geographical coordinates of task k are transformed from the latitude and longitude coordinate system to the satellite orbit coordinate system.

[0154] In step S201, the geographical coordinates of task k are transformed from latitude and longitude coordinates to geocentric rectangular coordinates.

[0155] The transformation principle is the same as step S101. The geocentric rectangular coordinates of task k are:

[0156]

[0157] In step S202, the geographical coordinates of task k are transformed from the rectangular coordinate system to the geocentric equatorial inertial coordinate system;

[0158] The conversion principle is the same as step S102. The geocentric equatorial inertial coordinates of task k at time k are:

[0159]

[0160] In step S203, the geographical location of task k is transformed from the inertial coordinate system to the satellite orbit coordinate system;

[0161] The transformation principle is the same as step S103, and the transformation matrix is ​​the same. The coordinates of mission k in the satellite orbit coordinate system are as follows:

[0162] In step S204, the agile Earth observation satellite is calculated at time... The attitude angle for task k;

[0163] The conversion principle is the same as step S104, obtaining the agile Earth observation satellite at time... attitude angle for task k

[0164] In step S3, the attitude transition time between satellite missions j and k is calculated;

[0165] When performing mission j, the satellite's initial orbital position is position 1, and the imaging equipment's focus is directly facing the projection point j, represented by the coordinates as follows: After the first attitude angle conversion, the satellite's orbital position is position 2, and the imaging device's focus is directly facing the projection point j', represented by the coordinates as follows: After the second attitude angle conversion, the satellite's orbital position is position 3, and the imaging device's focus is directly facing the projection point j", with coordinates represented as follows: After the third attitude angle conversion, the satellite's orbital position is position 4, and the imaging device's focus is directly facing the projection point k, with coordinates represented as follows: The rotation of the yaw angle of an agile Earth observation satellite will cause changes in the pitch and yaw angles, resulting in...

[0166] Agile Earth observation satellites involve various transition sequences and methods during attitude transitions, resulting in different attitude transition times depending on the sequence and method.

[0167] In step S301, as Figure 3 As shown, assuming the agile Earth observation satellite performs attitude transitions in the order of yaw-roll-pitch, executing tasks j and k sequentially, calculate the attitude transition time function of the agile Earth observation satellite.

[0168] (1) Calculate the conversion time of the yaw angle of the agile Earth observation satellite:

[0169] Satellite yaw angle conversion, i.e., orbiting z b The shaft rotates, as Figure 4 As shown, after conversion, the Agile Earth Observation Satellite is positioned at location 2, with the imaging device directly facing j', at coordinates... At this time, the change in yaw angle is... Change in yaw angle caused by yaw angle conversion Pitch angle change value

[0170] If an agile Earth observation satellite can achieve observation of the next task by only changing its yaw angle during attitude transition, that is... At this point, it is not necessary to perform the calculations in (2) and (3), that is, let

[0171] (2) Calculate the conversion time of the side-swing angle of the agile Earth observation satellite: Satellite conversion side yaw angle, i.e., orbital x b The shaft rotates, as Figure 5 As shown, after conversion, the Agile Earth Observation Satellite is positioned at location 3, with the imaging device directly facing j″, and the coordinates... At this time, the change value of the lateral sway angle

[0172] If the agile Earth observation satellite only changes its yaw and roll angles during attitude transitions and does so in the order of yaw-roll, then... At this point, the calculation in (3) does not need to be performed, that is, let Δt ψ =0.

[0173] If an agile Earth observation satellite simultaneously changes its yaw and roll angles during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom.

[0174] (3) Calculate the conversion time of the elevation angle of the agile Earth observation satellite: Satellite pitch angle conversion, i.e., orbital y b The shaft rotates, as Figure 6 As shown, after conversion, the Agile Earth Observation Satellite is positioned at location 4, with the imaging device directly facing j″′, at coordinates... At this time, the pitch angle change value

[0175] If the agile Earth observation satellite changes attitude in the order of yaw angle, roll angle and pitch angle during the attitude transition process, the attitude transition time is the sum of the attitude transition times of the three degrees of freedom.

[0176] If an agile Earth observation satellite simultaneously converts its yaw and roll angles before converting its pitch angle during attitude transition, the attitude transition time is the sum of the maximum value of the yaw and roll angle conversion times and the pitch angle conversion time.

[0177] If the agile Earth observation satellite simultaneously changes its yaw, roll, and pitch angles during attitude transition, the attitude transition time is the maximum value of the attitude transition time for the three degrees of freedom.

[0178] (4) Calculate the attitude transition time of the agile Earth observation satellite:

[0179] From (1), (2), and (3), we can obtain that Where, ω γ , ω ψ and H p Let A be a constant. A function of t for The attitude transition time function is calculated for different cases as shown in the table below:

[0180]

[0181]

[0182] In step S302, as Figure 7 As shown, assuming the agile Earth observation satellite performs attitude transitions in the order of yaw-pitch-yaw, executing tasks j and k sequentially, calculate the attitude transition time function of the agile Earth observation satellite.

[0183] (1) Calculate the conversion time of the yaw angle of the agile Earth observation satellite: Satellite yaw angle conversion, i.e., orbiting z b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 2 with its imaging device facing j', coordinates... At this time, the change in yaw angle is... Change in yaw angle caused by yaw angle conversion Pitch angle change value

[0184] If an agile Earth observation satellite can achieve observation of the next task by only changing its yaw angle during attitude transition, that is... At this point, it is not necessary to perform the calculations in (2) and (3), that is, let

[0185] (2) Calculate the conversion time of the elevation angle of the agile Earth observation satellite: Satellite pitch angle conversion, i.e., orbital y b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 3, with the imaging equipment facing j″, at coordinates... At this time, the pitch angle change value

[0186] If an agile Earth observation satellite only changes its yaw and pitch angles during attitude transitions and does so in the yaw-pitch sequence, that is... At this point, the calculation in (3) does not need to be performed, that is, let

[0187] If an agile Earth observation satellite rotates both its yaw and pitch angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom.

[0188] (3) Calculate the conversion time of the side swing angle of the agile Earth observation satellite: Satellite conversion side yaw angle, i.e., orbital x b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 4 with its imaging equipment facing j″′, coordinates At this time, the change value of the lateral sway angle

[0189] If the agile Earth observation satellite changes attitude in the order of yaw, pitch, and roll during the attitude transition process, the attitude transition time is the sum of the attitude transition times of the three degrees of freedom.

[0190] If an agile Earth observation satellite simultaneously converts its yaw and pitch angles before converting its roll angle during attitude transition, the attitude transition time is the sum of the maximum value of the yaw and pitch angle conversion times and the roll angle conversion time.

[0191] If an agile Earth observation satellite first changes its yaw angle during attitude transition, and then simultaneously changes its pitch and roll angles, the attitude transition time is the sum of the maximum values ​​of the yaw angle transition time and the pitch and roll angle transition times.

[0192] If an agile Earth observation satellite simultaneously changes its yaw, pitch, and roll angles during attitude transition, the attitude transition time will be the maximum of the attitude transition times for the three degrees of freedom.

[0193] (4) Calculate the attitude transition time of the agile Earth observation satellite: From (1), (2), and (3), we can obtain that Where, ω γ , ω ψ and H p Let A be a constant. A function of t for The attitude transition time function is calculated for different cases as shown in the table below:

[0194]

[0195] In step S303, as Figure 8 As shown, assuming the agile Earth observation satellite performs attitude transitions in the order of pitch-yaw-yaw, executing tasks j and k sequentially, calculate the attitude transition time function of the agile Earth observation satellite.

[0196] (1) Calculate the conversion time of the elevation angle of the agile Earth observation satellite: Satellite pitch angle conversion, i.e., orbital y b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 2 with its imaging device facing j', coordinates... At this time, the pitch angle change value

[0197] If an agile Earth observation satellite can achieve observation of the next task by only changing its pitch angle during attitude transition, that is... At this point, it is not necessary to perform the calculations in (2) and (3), that is, let

[0198] (2) Calculate the conversion time of the yaw angle of the agile Earth observation satellite: Satellite yaw angle conversion, i.e., orbiting z b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 3, with the imaging equipment facing j″, at coordinates... but At this time, the change in yaw angle is... Change in yaw angle caused by yaw angle conversion

[0199] If an agile Earth observation satellite only changes its pitch and yaw angles during attitude transitions and does so in a pitch-yaw sequence, that is... At this point, the calculation in (3) does not need to be performed, that is, let

[0200] If an agile Earth observation satellite rotates both pitch and yaw angles simultaneously during attitude transition, the attitude transition time is the maximum value of the attitude transition time for both degrees of freedom.

[0201] (3) Calculate the conversion time of the side swing angle of the agile Earth observation satellite: Satellite conversion side yaw angle, i.e., orbital x b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 4 with its imaging equipment facing j″′, coordinates At this time, the change value of the lateral sway angle

[0202] If the Agile Earth Observation Satellite changes attitude in the order of pitch, yaw, and roll during the attitude transition process, the attitude transition time is the sum of the attitude transition times of the three degrees of freedom.

[0203] If an agile Earth observation satellite simultaneously converts its pitch and yaw angles before converting its roll angle during attitude transition, the attitude transition time is the sum of the maximum pitch and yaw angle conversion times and the roll angle conversion time.

[0204] If an agile Earth observation satellite first changes its pitch angle and then simultaneously changes its yaw and roll angles during the attitude transition process, the attitude transition time is the sum of the pitch angle transition time and the maximum values ​​of the yaw and roll angle transition times.

[0205] If an agile Earth observation satellite simultaneously changes its pitch, yaw, and roll angles during attitude transition, the attitude transition time will be the maximum of the attitude transition times for the three degrees of freedom.

[0206] (4) Calculate the attitude transition time of the agile Earth observation satellite: From (1), (2), and (3), we can obtain that Where, ωψ ω γ , and H p It is a constant. A function of t for The attitude transition time function is calculated for different cases as shown in the table below:

[0207]

[0208]

[0209] In step S304, as Figure 9 As shown, assuming the agile Earth observation satellite performs attitude transitions in the order of pitch-yaw-side transitions, executing tasks j and k sequentially, calculate the attitude transition time function of the agile Earth observation satellite.

[0210] (1) Calculate the conversion time of the elevation angle of the agile Earth observation satellite: Satellite pitch angle conversion, i.e., orbital y b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 2 with its imaging device facing j', coordinates... At this time, the pitch angle change value

[0211] If an agile Earth observation satellite can achieve observation of the next task by only changing its pitch angle during attitude transition, that is... At this point, it is not necessary to perform the calculations in (2) and (3), that is, let

[0212] (2) Calculate the conversion time of the side-swing angle of the agile Earth observation satellite: Satellite conversion side yaw angle, i.e., orbital x b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 3, with the imaging equipment facing j″, at coordinates... At this time, the change value of the lateral sway angle

[0213] If an agile Earth observation satellite only changes its pitch and yaw angles during attitude transitions and does so in a pitch-yaw sequence, that is... At this point, the calculation in (3) does not need to be performed, that is, let Δt γ =0.

[0214] If an agile Earth observation satellite rotates both its pitch and yaw angles during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom.

[0215] (3) Calculate the conversion time of the yaw angle of the agile Earth observation satellite: Satellite yaw angle conversion, i.e., orbiting z b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 4 with its imaging equipment facing j″′, coordinates At this time, the change in yaw angle is... Change in yaw angle caused by yaw angle conversion Pitch angle change value

[0216] If the agile Earth observation satellite changes attitude in the order of pitch angle, roll angle and yaw angle during the attitude transition process, the attitude transition time is the sum of the attitude transition times of the three degrees of freedom.

[0217] If an agile Earth observation satellite simultaneously converts its pitch and roll angles before converting its yaw angle during attitude transition, the attitude transition time is the sum of the maximum values ​​of the pitch and roll angle conversion times and the yaw angle conversion time.

[0218] If an agile Earth observation satellite first changes its pitch angle during attitude transition, and then simultaneously changes its roll and yaw angles, the attitude transition time is the sum of the pitch angle transition time and the maximum values ​​of the roll and yaw angle transition times.

[0219] If an agile Earth observation satellite simultaneously changes its pitch, roll, and yaw angles during attitude transition, the attitude transition time will be the maximum of the attitude transition times for the three degrees of freedom.

[0220] (4) Calculate the attitude transition time of the agile Earth observation satellite: From (1), (2), and (3), we can obtain that Where, ω γ , ω ψ and H p It is a constant. Let be a function of t; then the attitude transition time function for different cases is calculated as shown in the table below:

[0221]

[0222]

[0223] In step S305, as Figure 10 As shown, assuming the agile Earth observation satellite performs attitude transitions in the order of side-pitch-yaw, executing tasks j and k sequentially, calculate the attitude transition time function of the agile Earth observation satellite.

[0224] (1) Calculate the conversion time of the side-swing angle of the agile Earth observation satellite: Satellite conversion side yaw angle, i.e., orbital x bAfter axis rotation and conversion, the agile Earth observation satellite is positioned at position 2 with its imaging device facing j', coordinates... At this time, the change value of the lateral sway angle

[0225] If an agile Earth observation satellite can achieve observation of the next task by only changing its side yaw angle during attitude transition, that is... At this point, it is not necessary to perform the calculations in (2) and (3), that is, let Δt γ =Δt ψ =0.

[0226] (2) Calculate the conversion time of the elevation angle of the agile Earth observation satellite: Satellite pitch angle conversion, i.e., orbital y b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 3, with the imaging equipment facing j″, at coordinates... The change in pitch angle at this time

[0227] If the agile Earth observation satellite only changes its yaw and pitch angles during attitude transitions and does so in the order of yaw-pitch, then... At this point, the calculation in (3) does not need to be performed, that is, let Δt γ =0.

[0228] If the agile Earth observation satellite only changes its yaw and pitch angles during attitude transitions and does so in the order of yaw-pitch, then... At this point, the calculation in (3) does not need to be performed, that is, let Δt γ =0.

[0229] If an agile Earth observation satellite rotates both its yaw and pitch angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom.

[0230] (3) Calculate the conversion time of the yaw angle of the agile Earth observation satellite: Satellite yaw angle conversion, i.e., orbiting z b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 4 with its imaging equipment facing j″′, coordinates At this time, the change in yaw angle is... Change in yaw angle caused by yaw angle conversion Pitch angle change value

[0231] If the Agile Earth Observation Satellite changes attitude in the order of side angle, pitch angle and yaw angle during the attitude transition process, the attitude transition time is the sum of the attitude transition times of the three degrees of freedom.

[0232] If an agile Earth observation satellite simultaneously converts its roll and pitch angles before converting its yaw angle during attitude transition, the attitude transition time is the sum of the maximum value of the roll and pitch angle conversion times and the yaw angle conversion time.

[0233] If an agile Earth observation satellite first converts its roll angle during attitude transition, and then simultaneously converts its pitch and yaw angles, the attitude transition time is the sum of the roll angle conversion time and the maximum values ​​of the pitch and yaw angle conversion times.

[0234] If an agile Earth observation satellite simultaneously changes its side angle, pitch angle, and yaw angle during attitude transition, the attitude transition time is the maximum value of the attitude transition time for the three degrees of freedom.

[0235] (4) Calculate the attitude transition time of the agile Earth observation satellite: From (1), (2), and (3), we can obtain that Where, ω γ , ω ψ and H p It is a constant. A function of t for The attitude transition time function is calculated for different cases as shown in the table below:

[0236]

[0237]

[0238] In step S306, as Figure 11 As shown, assuming the agile Earth observation satellite performs attitude transitions in the order of side-yaw-pitch, executing tasks j and k sequentially, calculate the attitude transition time function of the agile Earth observation satellite.

[0239] (1) Calculate the conversion time of the side-swing angle of the agile Earth observation satellite: Satellite conversion side yaw angle, i.e., orbital x b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 2 with its imaging device facing j', coordinates... At this time, the change value of the lateral sway angle

[0240] If an agile Earth observation satellite can achieve observation of the next task by only changing its side yaw angle during attitude transition, that is... At this point, it is not necessary to perform the calculations in (2) and (3), that is, let Δt ψ =Δt γ =0.

[0241] (2) Calculate the conversion time of the yaw angle of the agile Earth observation satellite: Satellite yaw angle conversion, i.e., orbiting z b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 3, with the imaging equipment facing j″, at coordinates... but At this time, the change in yaw angle is... Change in pitch angle caused by yaw angle conversion

[0242] If the agile Earth observation satellite only changes its roll and yaw angles during attitude transitions and does so in the roll-yaw sequence, that is... At this point, the calculation in (3) does not need to be performed, that is, let Δt ψ =0.

[0243] If the Agile Earth Observation Satellite rotates its side angle and yaw angle simultaneously during attitude transition, the attitude transition time is the maximum value of the attitude transition time for the two degrees of freedom.

[0244] (3) Calculate the conversion time of the elevation angle of the agile Earth observation satellite: Satellite conversion side y-angle, i.e., orbital y b After axis rotation and conversion, the agile Earth observation satellite is positioned at position 4 with its imaging equipment facing j″′, coordinates At this time, the pitch angle change value

[0245] If the Agile Earth Observation Satellite changes attitude in the order of side angle, yaw angle, and pitch angle during the attitude transition process, the attitude transition time is the sum of the attitude transition times of the three degrees of freedom.

[0246] If an agile Earth observation satellite simultaneously converts its roll and yaw angles before converting its pitch angle during attitude transition, the attitude transition time is the sum of the maximum value of the roll and yaw angle conversion times and the pitch angle conversion time.

[0247] If an agile Earth observation satellite first converts its roll angle during attitude transition, and then simultaneously converts its yaw and pitch angles, the attitude transition time is the sum of the roll angle conversion time and the maximum values ​​of the yaw and pitch angle conversion times.

[0248] If an agile Earth observation satellite simultaneously changes its side angle, yaw angle, and pitch angle during attitude transition, the attitude transition time is the maximum value of the attitude transition time for the three degrees of freedom.

[0249] (4) Calculate the attitude transition time of the agile Earth observation satellite: From (1), (2), and (3), we can obtain that Where, ω γ , ωψ and H p It is a constant. A function of t for The attitude transition time function is calculated for different cases as shown in the table below:

[0250]

[0251]

[0252] This application's embodiments calculate the attitude transition time for each degree of freedom by using the relative positions of the satellite and the mission in the orbital coordinate system. If the satellite has only one degree of freedom for attitude transition, the attitude transition time is the transition time for that degree of freedom. If the satellite has two degrees of freedom for attitude transition, when the satellite performs attitude transitions in both degrees of freedom simultaneously, the attitude transition time is the maximum of the attitude transition times for those two degrees of freedom. When the satellite performs attitude transitions in two degrees of freedom separately, the attitude transition time is the sum of the attitude transition times for those two degrees of freedom. If the satellite has three degrees of freedom for attitude transition, when the satellite performs attitude transitions in two degrees of freedom simultaneously, the attitude transition time is the sum of the maximum of the attitude transition times for those two degrees of freedom and the attitude transition time for the third degree of freedom. When the satellite performs attitude transitions in all three degrees of freedom simultaneously, the attitude transition time is the maximum of the attitude transition times for all three degrees of freedom. When the satellite performs attitude transitions in three degrees of freedom separately, the attitude transition time is the sum of the attitude transition times for each of the three degrees of freedom. Therefore, this application's embodiments propose a more accurate scheme for calculating the attitude transition time of agile Earth observation satellites.

[0253] This application also proposes an attitude transition time calculation terminal for an agile Earth observation satellite, including a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the steps of the aforementioned agile Earth observation satellite attitude transition time calculation method.

[0254] This application also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the aforementioned method for calculating the attitude transition time of an agile Earth observation satellite.

[0255] It should be noted that, in this document, 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. Unless otherwise specified, 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 that element.

[0256] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0257] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0258] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.

Claims

1. A method for calculating the attitude transition time of an agile Earth observation satellite, characterized in that, Includes the following steps: Transform the geographical coordinates of mission j from the latitude and longitude coordinate system to the satellite orbit coordinate system, and calculate the attitude angle of the agile Earth observation satellite relative to mission j at time t; The task The geographical coordinates of the satellite are transformed from latitude and longitude coordinates to satellite orbit coordinates to calculate the time of the agile Earth observation satellite. For the task k attitude angle; By calculating the relative positions of the agile Earth observation satellite and the mission in the orbital coordinate system, the attitude transition time for each degree of freedom is calculated, and the mission execution time of the agile Earth observation satellite is also calculated. j , k The time between attitude transitions; When an agile Earth observation satellite has only one degree of freedom for attitude transition, the transition time of that degree of freedom is taken as the attitude transition time of the agile Earth observation satellite. When an agile Earth observation satellite has the ability to change attitudes in two degrees of freedom, if the agile Earth observation satellite performs attitude changes in two degrees of freedom simultaneously, the maximum value of the attitude change time of the two degrees of freedom is taken as the attitude change time of the agile Earth observation satellite; if the agile Earth observation satellite performs attitude changes in two degrees of freedom separately, the sum of the attitude change times of the two degrees of freedom is taken as the attitude change time of the agile Earth observation satellite. When an agile Earth observation satellite has a three-degree-of-freedom attitude transition capability, if the agile Earth observation satellite performs attitude transitions in two degrees of freedom simultaneously, the sum of the maximum attitude transition time of the two degrees of freedom and the attitude transition time of the other degree of freedom is taken as the attitude transition time of the agile Earth observation satellite; if the agile Earth observation satellite performs attitude transitions in all three degrees of freedom simultaneously, the maximum attitude transition time of the three degrees of freedom is taken as the attitude transition time of the agile Earth observation satellite; if the agile Earth observation satellite performs attitude transitions in each of the three degrees of freedom separately, the sum of the attitude transition times of the three degrees of freedom is taken as the attitude transition time of the agile Earth observation satellite. The agile Earth observation satellite performs attitude transitions in a yaw-roll-pitch sequence and executes its missions sequentially. and tasks The attitude transition time function of the agile Earth observation satellite is calculated using the following method. : Calculate the conversion time of the yaw angle of the agile Earth observation satellite. ; If an agile Earth observation satellite can achieve observation of the next task by only changing its yaw angle during attitude transition, then the attitude transition time is: ; Calculate the conversion time of the side-swing angle of the agile Earth observation satellite. ; If the agile Earth observation satellite only changes its yaw and roll angles during attitude transition, and changes them in the order of yaw-roll, then the attitude transition time is: ； If an agile Earth observation satellite simultaneously changes its yaw and roll angles during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom: Calculate the conversion time of elevation angle for agile Earth observation satellites. ; If the agile Earth observation satellite changes attitude in the order of yaw, roll, and pitch during the attitude transition process, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom: ； If an agile Earth observation satellite simultaneously converts its yaw and roll angles before its pitch angle during attitude transition, then the attitude transition time is the sum of the maximum value of the yaw and roll angle conversion times and the pitch angle conversion time. ； If an agile Earth observation satellite first converts its yaw angle during attitude transition, and then simultaneously converts its roll and pitch angles, the attitude transition time is the sum of the yaw angle conversion time and the maximum values ​​of the roll and pitch angle conversion times: ； If an agile Earth observation satellite simultaneously changes its yaw, roll, and pitch angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom: 。 2. The method for calculating the attitude transition time of an agile Earth observation satellite as described in claim 1, characterized in that, The agile Earth observation satellite performs attitude transitions in a yaw-pitch-yaw sequence and executes its missions sequentially. and tasks The attitude transition time function of the agile Earth observation satellite is calculated using the following method. : Calculate the conversion time of the yaw angle of the agile Earth observation satellite. ; If an agile Earth observation satellite can achieve observation of the next task by only changing its yaw angle during attitude transition, then the attitude transition time is: ; Calculate the conversion time of elevation angle for agile Earth observation satellites. ; If the agile Earth observation satellite only changes its yaw and pitch angles during attitude transition, and changes them in the yaw-pitch sequence, then the attitude transition time is: ； If an agile Earth observation satellite rotates both its yaw and pitch angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom: ； Calculate the conversion time of the side-swing angle of the agile Earth observation satellite. ; If the agile Earth observation satellite changes attitude in the order of yaw, pitch, and roll during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom: ； If an agile Earth observation satellite first changes its yaw angle during attitude transition, and then simultaneously changes its pitch and roll angles, the attitude transition time is the sum of the yaw angle transition time and the maximum values ​​of the pitch and roll angle transition times: ； If an agile Earth observation satellite simultaneously changes its yaw, pitch, and roll angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom:

3. The method for calculating the attitude transition time of an agile Earth observation satellite as described in claim 1, characterized in that, The agile Earth observation satellite performs attitude transitions in a pitch-yaw-yaw sequence, executing tasks j and k sequentially. The attitude transition time function of the agile Earth observation satellite is calculated using the following method. : Calculate the conversion time of elevation angle for agile Earth observation satellites: ； If an agile Earth observation satellite can achieve observation of the next task by only changing its pitch angle during attitude transition, then the attitude transition time is: ; Calculate the conversion time of the yaw angle of the agile Earth observation satellite: ; If the agile Earth observation satellite only changes its pitch and yaw angles during attitude transition and changes them in the pitch-yaw sequence, then the attitude transition time is: ； If an agile Earth observation satellite rotates both its pitch and yaw angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom: ； Calculate the conversion time of the side-swing angle of the agile Earth observation satellite. ; If the agile Earth observation satellite changes attitude in the order of pitch, yaw, and roll during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom: ； If an agile Earth observation satellite simultaneously converts its pitch and yaw angles before converting its roll angle during attitude transition, the attitude transition time is the sum of the maximum pitch and yaw angle conversion times and the roll angle conversion time. ； If an agile Earth observation satellite first changes its pitch angle during attitude transition, and then simultaneously changes its yaw and roll angles, the attitude transition time is the sum of the pitch angle transition time and the maximum values ​​of the yaw and roll angle transition times: ； If an agile Earth observation satellite simultaneously changes its pitch, yaw, and roll angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom: 。 4. The method for calculating the attitude transition time of an agile Earth observation satellite as described in claim 1, characterized in that, The agile Earth observation satellite performs its mission sequentially by performing attitude transitions in a pitch-yaw-pant sequence. and tasks The attitude transition time function of the agile Earth observation satellite is calculated using the following method. : Calculate the conversion time of elevation angle for agile Earth observation satellites: ； If an agile Earth observation satellite can achieve observation of the next task by only changing its pitch angle during attitude transition, then the attitude transition time is: ; Calculate the conversion time of the side-swing angle of the agile Earth observation satellite: ； If the agile Earth observation satellite only changes its pitch and yaw angles during attitude transition and changes them in the order of pitch-yaw, then the attitude transition time is: ； If an agile Earth observation satellite rotates both its pitch and yaw angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom: ； If an agile Earth observation satellite rotates both its pitch and yaw angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom: ； If an agile Earth observation satellite simultaneously converts its pitch and roll angles before converting its yaw angle during attitude transition, the attitude transition time is the sum of the maximum pitch and roll angle transition times and the yaw angle transition time. ； If an agile Earth observation satellite first changes its pitch angle during attitude transition, and then simultaneously changes its roll and yaw angles, the attitude transition time is the sum of the pitch angle transition time and the maximum values ​​of the roll and yaw angle transition times: ； If an agile Earth observation satellite simultaneously changes its pitch, roll, and yaw angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom: 。 5. The method for calculating the attitude transition time of an agile Earth observation satellite as described in claim 1, characterized in that, The agile Earth observation satellite performs its mission sequentially by alternating attitudes in a yaw-tilt-side-pitch sequence. and tasks The attitude transition time function of the agile Earth observation satellite is calculated using the following method. : Calculate the conversion time of the side-swing angle of the agile Earth observation satellite: ； If an agile Earth observation satellite can achieve observation of the next task by only changing its side yaw angle during attitude transition, then the attitude transition time is: ; Calculate the conversion time of elevation angle for agile Earth observation satellites: ； If the agile Earth observation satellite only changes its yaw and pitch angles during attitude transition and changes them in the yaw-pitch sequence, then the attitude transition time is: ； If an agile Earth observation satellite rotates both its yaw and pitch angles simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for both degrees of freedom: ； Calculate the conversion time of the yaw angle of the agile Earth observation satellite. ; If the agile Earth observation satellite changes attitude in the order of side roll, pitch, and yaw during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom: ； If an agile Earth observation satellite simultaneously converts its roll and pitch angles before converting its yaw angle during attitude transition, the attitude transition time is the sum of the maximum roll and pitch angle conversion times and the yaw angle conversion time. ； If an agile Earth observation satellite first converts its roll angle during attitude transition, and then simultaneously converts its pitch and yaw angles, the attitude transition time is the sum of the roll angle transition time and the maximum values ​​of the pitch and yaw angle transition times: ； If an agile Earth observation satellite simultaneously changes its roll, pitch, and yaw angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom: 。 6. The method for calculating the attitude transition time of an agile Earth observation satellite as described in claim 1, characterized in that, The agile Earth observation satellite performs its mission sequentially by alternating attitudes in a yaw-pitch sequence. and tasks The attitude transition time function of the agile Earth observation satellite is calculated using the following method. : Calculate the conversion time of the side-swing angle of the agile Earth observation satellite: ； If an agile Earth observation satellite can achieve observation of the next task by only changing its side angle during attitude transition, then the attitude transition time is: ; Calculate the conversion time of the yaw angle of the agile Earth observation satellite. ; If the agile Earth observation satellite only changes its roll and yaw angles during attitude transition and changes them in the roll-yaw sequence, then the attitude transition time is: ； If an agile Earth observation satellite rotates both its side angle and yaw angle simultaneously during attitude transition, the attitude transition time is the maximum of the attitude transition times for the two degrees of freedom: ； Calculate the conversion time of elevation angle for agile Earth observation satellites. ; If the agile Earth observation satellite changes attitude in the order of side roll, yaw, and pitch during attitude transition, the attitude transition time is the sum of the attitude transition times for the three degrees of freedom: ； If an agile Earth observation satellite simultaneously converts its roll and yaw angles before its pitch angle during attitude transition, the attitude transition time is the sum of the maximum roll and yaw angle transition times and the pitch angle transition time. ； If an agile Earth observation satellite first converts its roll angle during attitude transition, and then simultaneously converts its yaw and pitch angles, the attitude transition time is the sum of the roll angle conversion time and the maximum values ​​of the yaw and pitch angle conversion times: ； If an agile Earth observation satellite simultaneously changes its roll, yaw, and pitch angles during attitude transition, the attitude transition time is the maximum value of the attitude transition times for the three degrees of freedom: 。 7. A terminal for calculating the attitude transition time of an agile Earth observation satellite, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, implements the steps of the attitude transition time calculation method for an agile Earth observation satellite as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the attitude transition time calculation method for agile Earth observation satellites as described in any one of claims 1 to 6.

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