A strip division method, system and device for a curved target

Abstract

The application provides a strip division method, system and device for a curved target, and relates to the technical field of satellite observation. The method mainly comprises the following steps: setting a plurality of discrete point set schemes on the curved target; based on each discrete point set scheme, a strip width, an initial inclination range and a preset step, a corresponding strip division scheme is obtained through a strip division algorithm containing constraint conditions, wherein the strip division scheme comprises a strip serial number, a strip start point coordinate and an end point coordinate. The curved target is discretized into a plurality of point targets, and strip division calculation is sequentially performed according to the curved trend and constraint conditions, so that the strip division scheme of the satellite observation curved target task is quickly and effectively obtained under the premise of ensuring the continuity and integrity of the curved target imaging, and the efficiency and quality of the satellite observation curved target task are improved.

Description

Technical Field

[0001] This invention relates to the field of satellite observation technology, and in particular to a method, system, and apparatus for striping curved targets. Background Technology

[0002] Imaging satellites are satellites orbiting the Earth that use onboard sensors to conduct reconnaissance and observation of targets on the Earth's surface, aiming to acquire detailed data or information about the Earth system and its components. Due to their unique advantages, such as long operating time, wide coverage, lack of airspace restrictions, and no need to consider personnel safety, imaging satellites have significant application value in national economic development, social progress, and environmental protection.

[0003] When the target area is large, and the satellite cannot cover the entire target in a single instantaneous field of view or scan strip, it is considered a regional target. For regional targets, they can be divided into multiple point targets that can be imaged by the satellite in one scan; or, based on the characteristics of satellite imaging strips, they can be divided into strips, each of which can be acquired by the satellite in a stable attitude in one scan, and finally, the complete observation of the target can be achieved by stitching together multiple images.

[0004] In practical applications, many imaging requirements involve the division of regional targets. For example, when observing large areas such as cities and forests, they can be abstracted into polygonal regions for processing. However, for long and narrow regions with large spans, such as coastlines and rivers, they are often abstracted into curved targets and then discretized into point targets for processing.

[0005] Furthermore, strip programming solutions are typically calculated using mathematical models, which include sets, variables, objective functions, and constraints.

[0006] The set may include a discrete point set A and a strip set B:

[0007] Discrete point set: A = {a1, a2, ..., a} |N|}, where |N| represents the number of discrete points;

[0008] Strip set: B = {b1, b2, ..., b} |M|}, |M| represents the total number of stripes;

[0009] The variable can be a 0-1 variable x. ij :

[0010] The 0-1 variable takes the value of 1 or 0: when a target point is located within a certain strip, the variable takes the value of 1; otherwise, the variable takes the value of 0; specifically, it can be expressed as:

[0011]

[0012] The objective function is typically to minimize the number of stripes generated, in order to reduce energy consumption and time loss caused by attitude maneuvers when switching between different stripes. The specific formula can be:

[0013] minf(x);

[0014] Where f(x) represents the index function with x as the independent variable; |M|=f(x) represents the number of strip divisions;

[0015] And x = {x ij |i∈A,j∈B} represents the case where the discrete points of the curved target are divided into different stripes;

[0016] The constraint can be a distance constraint:

[0017] The distance constraint means that the distance from the point target to the center line of the strip is less than or equal to 1 / 2 of the strip width, which is used to ensure that the point target can be covered by the divided strips. Specifically, it can be expressed as:

[0018]

[0019] Where, d ij Representing point target a i To strip b j The distance between the center lines; D represents the strip width.

[0020] Currently, most research on target segmentation methods for imaging satellites focuses on polygonal regions, with limited exploration of segmentation methods for curved targets. Even using the aforementioned mathematical models for calculations, it is impossible to further improve the observation efficiency for curved targets. The lack of a method for quickly and effectively segmenting curved targets into strips is key to overcoming this bottleneck and has become a primary issue that urgently needs to be addressed in the field. Summary of the Invention

[0021] The purpose of this invention is to provide a method, system, and apparatus for strip division of curved targets, so as to solve at least one of the above-mentioned technical problems existing in the prior art.

[0022] In a first aspect, to solve the above-mentioned technical problems, the present invention provides a strip division method for curved targets, comprising the following steps:

[0023] Step 1: Set up several discrete point sets on the curve target. The discrete point set scheme refers to the discrete point set marked based on the trend and length of the same curve, according to different spacing or density, to provide samples for subsequent screening.

[0024] Step 2: Based on each discrete point set scheme, strip width, initial tilt angle range, and preset step size, calculate the corresponding strip division scheme using a strip division algorithm with constraints. The strip division scheme includes information such as strip number, strip start coordinates, and strip end coordinates.

[0025] Through the above steps, based on the trend of the curve target, it is discretized into several point targets. Through the strip division algorithm, the strip division of the curve target is achieved quickly, effectively and completely.

[0026] In one feasible embodiment, the stripe partitioning algorithm in step 2 specifically includes the following steps:

[0027] Step 21: Based on the point targets in the discrete point set, sequentially mark the point target number and latitude and longitude coordinates on the curve;

[0028] Step 22: Using one endpoint of the curve as the initial target point for the sequential search, add the initial target point to the temporary point set;

[0029] Step 23: Perform a sequential search along the curve, iteratively determining whether there is a next target point: if yes, proceed to step 24; otherwise, proceed to step 25.

[0030] Step 24: Add the target point to the temporary point set and determine the constraints: If the temporary point set retains the target point, proceed to step 23; otherwise, mark the strip number of the current temporary point set and save it to the strip set and determine the principal inclination angle of the strip, so that the points in the temporary point set are stored on the same strip. Then, use the last target point of the temporary point set as the new initial target point and add it to the new temporary point set for planning the new strip, and then proceed to step 23.

[0031] Step 25: Based on the initial and final target points of each strip, calculate the starting and ending coordinates of the strip and output the strip division scheme, which includes data such as strip number, starting and ending coordinates of the strip.

[0032] By following the steps above, the curve can be divided quickly and effectively.

[0033] In one feasible embodiment, the constraints in step 24 include strip width constraints and unidirectional extension constraints.

[0034] In one feasible embodiment, the determination steps for the strip width constraint are as follows:

[0035] Step 2411: Based on the initial dip angle range and the preset step size, discretize the strip dip angle range into several dip angles to obtain the dip angle set;

[0036] Step 2412: Using the initial point target in the strip as the origin of the coordinate system, calculate the slope of a straight line for each inclination angle in the inclination angle set; at each inclination angle, define the maximum distance from all point targets in the strip to the straight line and initialize it;

[0037] Step 2413: When a new point target is added to the temporary point set, calculate the distance from the new point target to each straight line and then make a judgment: if the distance is less than 1 / 2 of the strip width, retain the inclination angle corresponding to the straight line in the inclination angle set and update the maximum distance from all point targets in the temporary point set to the straight line; otherwise, delete the inclination angle corresponding to the straight line from the inclination angle set.

[0038] Step 2414: If the tilt angle set is not empty, then the new point target is considered to satisfy the strip width constraint, and the program ends directly; otherwise, the new point target is considered to not satisfy the strip width constraint, the new point target is deleted from the temporary point set, and the program ends.

[0039] By following the steps above, it can be determined whether the current point target meets the strip width constraint, and the maximum distance from the line corresponding to the current inclination angle that meets the strip width constraint to all point targets in the temporary point set can be obtained.

[0040] In one feasible embodiment, the method for determining the principal dip angle in step 24 is as follows: if the dip angles in the dip angle set are not unique, compare the maximum distances from the straight lines corresponding to all dip angles to all point targets in the temporary point set, and retain the dip angle corresponding to the shortest distance as the principal dip angle of the strip; if the dip angles in the dip angle set are unique, then the dip angle is taken as the principal dip angle of the strip.

[0041] In one feasible embodiment, the line corresponding to the principal tilt angle is the principal line of the strip.

[0042] In one feasible embodiment, the determination steps for the unidirectional extension constraint are as follows:

[0043] Step 2421: When a new point target is added to the temporary point set, define the projection distance from the initial point target in the strip to the new point target onto the main line as the reference projection distance and initialize it;

[0044] Step 2422: When a new point target is added to the temporary point set, calculate the projection distance from the initial point target in the strip to the new point target onto the main line and determine: if the projection distance is greater than or equal to the reference projection distance, update the reference projection distance; otherwise, delete the new point target from the temporary point set.

[0045] The above steps are used to prevent point targets in the reversal section from being excluded from the strip coverage area during subsequent processing when the curve trend shows a reversal or turning-back trend.

[0046] In one feasible embodiment, the method for calculating the starting point coordinates of the strip in step 25 is to use the coordinates of the initial point target within the strip as the starting point coordinates.

[0047] In one feasible embodiment, the method for calculating the end coordinates of the strip in step 25 is to take the main straight line of the strip as the center line and the perpendicular coordinates of the end point in the strip to the center line as the end coordinates.

[0048] The starting and ending coordinates of the strip facilitate subsequent satellite observation and positioning.

[0049] Secondly, the present invention also provides a strip segmentation system for curved targets, including a data receiving module, a data processing module, and a result generation module:

[0050] The data receiving module is used to receive the curved target, the discrete point set scheme, and satellite information; the satellite information includes the strip width, the initial tilt angle range, and the preset step size, etc.

[0051] The data processing module includes a constraint determination unit and a strip coordinate unit;

[0052] The constraint determination unit discretizes the curve into several ordered point targets based on each discrete point set scheme and satellite information, and determines the strip set by determining the constraint conditions of the order of the point targets.

[0053] The strip coordinate unit, based on the strip set, calculates the starting point coordinates and ending point coordinates of the strip by taking the perpendicular feet of the initial point target and the last point target within the strip on the center line of the strip.

[0054] The result generation module is used to publish the strip division scheme to the public. The strip division scheme includes information such as strip number, strip start coordinates and end coordinates.

[0055] Thirdly, the present invention also provides a striping device for curved targets, including a processor, a memory, and a bus. The memory stores instructions and data that can be read by the processor. The processor is used to call the instructions and data in the memory to execute the striping method for curved targets as described above. The bus connects the functional components to transmit information.

[0056] By adopting the above technical solution, the present invention has the following beneficial effects:

[0057] This invention provides a method, system, and apparatus for striping curved targets. The method discretizes the curved target into multiple point targets and performs striping calculations according to the curve trend and constraints. This allows for the rapid and effective generation of satellite observation task partitioning schemes while ensuring the continuity and integrity of the curved target imaging, thereby improving the efficiency and quality of satellite observation tasks targeting curved targets. Attached Figure Description

[0058] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific 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 from these drawings without creative effort.

[0059] Figure 1 The diagram shows the ideal strip division effect of the curve target provided by this invention;

[0060] Figure 2 A flowchart of a strip division method for a curved target provided in an embodiment of the present invention;

[0061] Figure 3 A flowchart of the striping algorithm provided in an embodiment of the present invention;

[0062] Figure 4 This is a flowchart of the strip width constraint determination provided in an embodiment of the present invention;

[0063] Figure 5 This is a schematic diagram of strip width constraint provided in an embodiment of the present invention;

[0064] Figure 6 A schematic diagram of unidirectional extension constraint provided for an embodiment of the present invention;

[0065] Figure 7 This is a schematic diagram of the start and end points of the strip provided in an embodiment of the present invention;

[0066] Figure 8 A diagram illustrating a strip division system for a curved target, provided in an embodiment of the present invention;

[0067] Figure 9 A schematic diagram of simulation experiment results provided for an embodiment of the present invention. Detailed Implementation

[0068] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0070] To clearly illustrate the embodiments of the present invention, the main inventive concepts are now described.

[0071] Curved targets often span long distances and have irregular shapes. Due to the limitations of satellite imaging strip width, a single strip is insufficient to cover the entire area, often requiring the target to be divided into multiple strips for observation. Considering the overall integrity of curved targets, strip division is often based on the curve's trajectory to ensure imaging continuity. An ideal strip division effect is as follows... Figure 1 As shown.

[0072] While satisfying the objective function (minimizing the number of stripes), strip partitioning also considers the following to ensure task performance:

[0073] First, considering that curved targets are difficult to cover the entire image with a single strip, in order to ensure the continuity and integrity of the imaging, this application divides the strips starting from one side of the strip and following the curve trend.

[0074] Second, to ensure the imaging integrity at the strip junctions, point targets located at the strip junctions will be covered by both adjacent strips;

[0075] Third, to ensure imaging integrity and quality, point targets should be placed as close as possible to the center line of the strip when dividing the strips to prevent imaging loss at the edges of the strips.

[0076] The main idea of ​​the strip partitioning algorithm is to discretize the curve target into several point targets, take one end as the starting point, add it to a temporary point set, and then check whether the strip width constraint and unidirectional extension constraint are satisfied when adding the next point target to the current temporary point set. If they are satisfied, the addition is successful. If not, the current temporary point set is saved as a strip, and the last point target of the strip is used as the new starting point to continue searching forward. This process is repeated until the end point of the curve is found.

[0077] The present invention will be further explained below with reference to specific embodiments.

[0078] It should also be noted that the specific embodiments or implementation methods described below are a series of optimized settings listed by the present invention to further explain the specific content of the invention, and these settings can be combined or used in conjunction with each other.

[0079] Example 1:

[0080] like Figure 2 As shown, the strip division method for curved targets provided in this embodiment of the invention includes the following steps:

[0081] Step 1: Set up several discrete point set schemes on the curve target. The discrete point set scheme refers to the discrete point set marked based on the trend and length of the same curve, according to different spacing, density and discretization methods, to provide samples for subsequent screening.

[0082] Step 2: Based on each discrete point set scheme, strip width, initial tilt angle range, and preset step size, calculate the corresponding strip division scheme using a strip division algorithm with constraints. The strip division scheme includes the strip number, strip start coordinates, and strip end coordinates.

[0083] Through the above steps, based on the trend of the curve target, it is discretized into several point targets. Through the strip division algorithm, the strip division of the curve target is achieved quickly, effectively and completely.

[0084] Furthermore, such as Figure 3 As shown, the striping algorithm in step 2 specifically includes the following steps:

[0085] Step 21: Based on the point targets in the discrete point set, mark the point target number and latitude and longitude coordinates on the curve according to the order of each point target on the curve;

[0086] Step 22: Using one endpoint of the curve as the initial target point for the sequential search, add the initial target point to the temporary point set;

[0087] Step 23: Perform a sequential search along the curve, iteratively determining whether there is a next target point: if yes, proceed to step 24; otherwise, proceed to step 25.

[0088] Step 24: Add the target point to the temporary point set and determine the constraints: If the temporary point set retains the target point, proceed to step 23; otherwise, mark the current temporary point set with the strip number and save it to the strip set, and determine the principal inclination angle of the strip, so that the target points in the temporary point set are stored on the same strip. Then, add the last target point of the temporary point set as the new initial target point to the new temporary point set for planning the new strip, and then proceed to step 23.

[0089] Step 25: Based on the initial and final target points of each strip, calculate the starting and ending coordinates of the strip and output the strip division scheme, which includes the strip number, starting coordinates, and ending coordinates.

[0090] By following the steps above, the curve can be divided quickly and effectively.

[0091] Furthermore, the constraints in step 24 include strip width constraints and unidirectional extension constraints.

[0092] Furthermore, such as Figure 4 As shown, the steps for determining the strip width constraint are as follows:

[0093] Step 2411: Based on the initial tilt angle range [a0, a1] and the preset step size δ, discretize the strip tilt angle range into several tilt angles θ, and obtain the tilt angle set Θ={a0,a+δ,a0+2δ...,a1};

[0094] Step 2412: Using the initial point target in the strip as the origin of the coordinate system, calculate the slope k for each inclination angle θ in the inclination angle set. θ To draw a straight line, the specific formula is as follows:

[0095] y θ =k θ x;

[0096] Where, k θ =tan(a0+mδ), where m represents the m-th inclination angle;

[0097] If the number of candidate dip angles for the strip is denoted as O, and the maximum set of distances from all points and targets in the strip to the straight line is defined, then... Then, at each tilt angle θ, the maximum distance from all points and targets in the strip to the straight line can be expressed as:

[0098]

[0099] Where A represents the discrete point set, B represents the strip set, and x ij d represents a 0-1 variable; ij Representing point target a i To strip b j Distance from the center line;

[0100] And Perform initialization, that is

[0101] Step 2413: When a new target point is added to the temporary point set, calculate the distance from the new target point to each straight line y. θ =k θ The distance d of x θ Then make a judgment: if the distance d θ Less than 1 / 2 of the strip width D, that is If the target point is within the strip, then retain the inclination angle corresponding to the line in the inclination angle set Θ and update C; otherwise, delete the inclination angle corresponding to the line from the inclination angle set Θ.

[0102] Step 2414: If the tilt angle set Θ is not empty, then the strip width constraint is satisfied, and the program ends directly; otherwise, the strip width constraint is not satisfied, and the new point target is deleted from the temporary point set before the program ends.

[0103] By following the steps above, it can be determined whether the current target point meets the strip width constraint, such as... Figure 5 As shown, It satisfies the strip width constraint, while The strip width constraint is not satisfied. However, the maximum distance from the line corresponding to the inclination angle that currently satisfies the strip width constraint to all points in the temporary point set can be obtained.

[0104] Furthermore, the method for determining the principal dip angle in step 24 is as follows: if the dip angles in the dip angle set Θ are not unique, it means that there are multiple dip angles. Then, compare the distances from the lines corresponding to all dip angles to the target point, and retain the dip angle corresponding to the shortest distance as the principal dip angle of the strip. If the dip angle in the dip angle set Θ is unique, then that dip angle is taken as the principal dip angle of the strip; the line corresponding to the principal dip angle is the principal line of the strip. This allows the point target to be as close as possible to the principal line of the strip, thereby ensuring that it is as close as possible to the center line of the strip and as far away from the edge of the strip.

[0105] Furthermore, the determination steps for the unidirectional extension constraint are as follows:

[0106] Step 2421: When a new point target is added to the temporary point set, define the projection distance from the initial point target in the strip to the new point target onto the main line as the reference projection distance and initialize it;

[0107] Step 2422: When a new point target is added to the temporary point set, calculate the projection distance from the initial point target in the strip to the new point target onto the main line and determine: if the projection distance is greater than or equal to the reference projection distance, update the reference projection distance; otherwise, delete the new point target from the temporary point set.

[0108] The above steps are used to prevent point targets in the reversal section from being excluded from the strip coverage area during subsequent processing when the curve trend shows a tendency to turn back. Figure 6 As shown, if the unidirectional extension constraint is not considered, multiple point targets on the right side of the curve in the figure will be excluded from the range of the dashed strip coverage line calculated subsequently.

[0109] Furthermore, such as Figure 7 As shown, in step 25, the coordinates of the starting point of the strip are calculated using the coordinates of the initial point target within the strip as the starting point coordinates; the coordinates of the ending point of the strip are calculated using the coordinates of the main straight line y of the strip as the starting point coordinates. θ =k θ x is taken as the center line, and the perpendicular coordinates of the end point target within the strip to the center line are taken as the endpoint coordinates.

[0110] Example 2:

[0111] like Figure 8 As shown, this embodiment of the invention also provides a strip segmentation system for curved targets, including a data receiving module, a data processing module, and a result generation module:

[0112] The data receiving module is used to receive the curved target, the discrete point set scheme, and satellite information; the satellite information includes the strip width, the initial tilt angle range, and the preset step size, etc.

[0113] The data processing module includes a constraint determination unit and a strip coordinate unit;

[0114] The constraint determination unit discretizes the curve into several ordered point targets based on each discrete point set scheme and satellite information, and determines the strip set by determining the constraint conditions of the order of the point targets.

[0115] The strip coordinate unit, based on the strip set, calculates the starting point coordinates and ending point coordinates of the strip by taking the perpendicular feet of the initial point target and the last point target within the strip on the center line of the strip.

[0116] The result generation module is used to publish the strip division scheme to the public. The strip division scheme includes the strip number, the starting coordinates of the strip, and the ending coordinates of the strip.

[0117] Example 3:

[0118] This invention also provides a striping device for curved targets, including a processor, a memory, and a bus. The memory stores instructions and data that can be read by the processor. The processor is used to call the instructions and data in the memory to execute the striping method for curved targets as described above. The bus connects the functional components to transmit information.

[0119] In another implementation, this solution can be implemented using a device, which may include corresponding modules that perform one or more steps in the various embodiments described above. A module may be one or more hardware modules specifically configured to perform the corresponding step, or implemented by a processor configured to perform the corresponding step, or stored in a computer-readable medium for implementation by a processor, or implemented through some combination thereof.

[0120] The processor executes the various methods and processes described above. For example, the method implementations in this scheme can be implemented as software programs tangibly contained in a machine-readable medium, such as memory. In some implementations, part or all of the software program can be loaded and / or installed via memory and / or a communication interface. When the software program is loaded into memory and executed by the processor, one or more steps of the methods described above can be performed. Alternatively, in other implementations, the processor can be configured to execute one of the methods described above by any other suitable means (e.g., by means of firmware).

[0121] This device can be implemented using a bus architecture. A bus architecture can include any number of interconnect buses and bridges, depending on the specific application of the hardware and overall design constraints. The bus connects various circuits, including one or more processors, memory, and / or hardware modules. The bus can also connect various other circuits such as peripherals, voltage regulators, power management circuitry, external antennas, etc.

[0122] Buses can be Industry Standard Architecture (ISA) buses, Peripheral Component Interconnect (PCI) buses, or Extended Industry Standard Component (EISA) buses, etc. Buses can be divided into address buses, data buses, control buses, etc.

[0123] Example 4:

[0124] The simulation experiment is set up as follows:

[0125] Take the land-sea boundary line in a certain coastline satellite image as the curved target;

[0126] The number of discretized point targets is 20;

[0127] The initial number of candidate dip angles for the strips is 30;

[0128] Preset step size δ = 12°;

[0129] The strip width is 100km;

[0130] By discretizing the target curve in a relatively uniform manner, and setting the discretization method of point targets at the inflection points of the curve, the latitude and longitude of the discrete point set are determined as shown in the table below:

[0131]

[0132]

[0133] Simulation experiment visualization software: Satellite Tool Kit;

[0134] After performing the calculations using the method described in this application, the experimental results are as follows: Figure 9 As shown, 20 observation points were sequentially identified according to the coastline, and the six connected rectangles represent satellite observation strips. This demonstrates that this embodiment successfully achieved complete coverage of the coastline while ensuring the continuity and integrity of the observed targets.

[0135] 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for strip division of curved targets, characterized in that, include: Step 1: Set up several discrete point sets on the target curve; Step 2: Based on each discrete point set scheme, strip width, initial tilt angle range, and preset step size, calculate the corresponding strip division scheme using a strip division algorithm with constraints. The strip division scheme includes the strip number, strip start coordinates, and strip end coordinates. The striping algorithm includes: Step 21: Based on the point targets in the discrete point set, sequentially mark the point target number and latitude and longitude coordinates on the curve; Step 22: Using one endpoint of the curve as the initial target point for the sequential search, add the initial target point to the temporary point set; Step 23: Perform a sequential search along the curve to determine if there is a next target point: if yes, proceed to step 24; otherwise, proceed to step 25. Step 24: Add the target point to the temporary point set and determine the constraints: If the temporary point set retains the target point, proceed to step 23; otherwise, mark the current temporary point set with the strip number and save it to the strip set, determine the principal dip angle of the strip, add the last target point of the temporary point set as the new initial target point to the new temporary point set, and then proceed to step 23. The constraints include strip width constraints and unidirectional extension constraints; the determination steps for the strip width constraints include: Step 2411: Based on the initial tilt angle range and preset step size Discretize the range of strip dip angles into several dip angles. , obtain the tilt angle set ; Step 2412: Using the initial point target in the strip as the origin of the coordinate system, and using each dip angle in the dip angle set... Calculate the slope To draw a straight line, the specific formula is: ； in, , Indicates the first An angle of inclination; If the number of candidate tilt angles for the strip is denoted as And define the set of maximum distances from all points and targets in the strip to the straight line. So at each angle of inclination The maximum distance from all points and targets in the strip to the straight line is expressed as follows: ； in, Represents a discrete set of points. Represents a stripe set, Represents 0-1 variables; Representing a point target to strip Distance from the center line; And Perform initialization, that is ; Step 2413: When a new target point is added to the temporary point set, calculate the distance from the new target point to each straight line. distance Then make a judgment: if the distance Smaller than the strip width 1 / 2, that is This indicates that the target point is within the stripe area, and therefore within the tilt angle set. The tilt angle corresponding to the line is retained and updated. Otherwise, from the tilt set Delete the angle corresponding to the line; Step 2414, if the inclination angle set If the value is not empty, the strip width constraint is satisfied, and this determination step ends directly; otherwise, the strip width constraint is not satisfied, and the new point target is deleted from the temporary point set before this determination step ends. The method for determining the principal dip angle is as follows: if the dip angle in the dip angle set is not unique, compare the maximum distance from the straight line corresponding to all dip angles to all point targets in the temporary point set, and retain the dip angle corresponding to the shortest distance as the principal dip angle of the strip; if the dip angle in the dip angle set is unique, then the dip angle is taken as the principal dip angle of the strip. Step 25: Based on the initial and final target points of each strip, calculate the starting and ending coordinates of the strip to obtain the strip division scheme.

2. The method according to claim 1, characterized in that, The line corresponding to the principal inclination angle is the principal line of the strip.

3. The method according to claim 2, characterized in that, The steps for determining the unidirectional extension constraint are as follows: Step 2421: When a new point target is added to the temporary point set, define the projection distance from the initial point target in the strip to the new point target onto the main line as the reference projection distance and initialize it; Step 2422: When a new point target is added to the temporary point set, calculate the projection distance from the initial point target in the strip to the new point target onto the main line and determine: if the projection distance is greater than or equal to the reference projection distance, update the reference projection distance; otherwise, delete the new point target from the temporary point set.

4. The method according to claim 2, characterized in that, In step 25, the coordinates of the starting point of the strip are calculated by taking the coordinates of the initial point target within the strip as the starting point coordinates; the coordinates of the ending point of the strip are calculated by taking the main straight line of the strip as the center line and taking the perpendicular coordinates of the last point target within the strip to the center line as the ending point coordinates.

5. A strip division system for a curved target using the strip division method described in any one of claims 1 to 4, characterized in that, It includes a data receiving module, a data processing module, and a result generation module: The data receiving module is used to receive curved targets, discrete point set schemes, and satellite information; The data processing module includes a constraint determination unit and a strip coordinate unit: The constraint determination unit discretizes the curve into several ordered point targets based on each discrete point set scheme and satellite information, and determines the strip set by determining the constraint conditions of the order of the point targets. The strip coordinate unit, based on the strip set, calculates the starting point coordinates and ending point coordinates of the strip by taking the perpendicular feet of the initial point target and the last point target within the strip on the center line of the strip. The result generation module is used to publish the strip division scheme to the public. The strip division scheme includes the strip number, the starting coordinates of the strip, and the ending coordinates of the strip.

6. A strip division device for curved targets, characterized in that, It includes a processor, a memory, and a bus: the memory stores instructions and data that can be read by the processor; the processor is used to call the instructions and data in the memory to execute the striping method for a curve target as described in any one of claims 1 to 4; the bus connects the various functional components to transmit information.

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