Control method, device, controller and reflective point reference target array device

Abstract

The present application relates to a control method, device, controller and reflective point reference target array device of a reflective point reference target array device. The method includes obtaining a target angle parameter and a current angle parameter of the reflective point reference target array device; determining the angle difference between the target angle parameter and the current angle parameter; if the angle difference is greater than a preset angle difference threshold, then determining the corresponding segmented rotation trajectory according to the angle difference and a preset segmentation rule, and controlling the reflector assembly of the reflective point reference target array device to rotate along the segmented rotation trajectory, so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein the rotation speed time curves corresponding to different segmented rotation trajectories are different. The use of this method can improve tracking accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of point light source targets, and in particular to a control method, device, controller and reflective point reference target array device. Background Art

[0002] In the field of aerospace remote sensing technology, reflective point reference target array devices are usually used for the calibration and quality evaluation of optical remote sensing satellite cameras during their on-orbit operation. In order to ensure the accuracy of calibration and quality evaluation, high-precision tracking and control of the motion trajectory of celestial bodies such as the sun is required.

[0003] Traditional reflective point reference target array devices often find it difficult to directly handle the complex nonlinear changes in the sun's trajectory, resulting in limited tracking accuracy.

[0004] Therefore, there is an urgent need to provide a new control method for a reflective point reference target array device to improve tracking accuracy. Summary of the invention

[0005] Based on this, it is necessary to provide a control method, device, controller and reflective point reference target array device for improving tracking accuracy in order to solve the above technical problems.

[0006] In a first aspect, the present application provides a control method for a reflective point reference target array device, the method comprising:

[0007] Acquiring target angle parameters and current angle parameters of the reflective point reference target array device;

[0008] Determine the angle difference between the target angle parameter and the current angle parameter;

[0009] If the angle difference is greater than a preset angle difference threshold, the corresponding segmented rotation trajectory is determined according to the angle difference and the preset segmentation rule, and the reflector assembly of the reflective point reference target array device is controlled to rotate along the segmented rotation trajectory so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein the rotation speed time curves corresponding to different segmented rotation trajectories are different.

[0010] In one embodiment, the size of the angle difference is positively correlated with the number of segmented rotation trajectories.

[0011] In one embodiment, each rotation trajectory includes a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage in sequence, and the acceleration magnitude and time corresponding to the uniform acceleration stage and the uniform deceleration stage are the same.

[0012] In one of the embodiments, when there are multiple segmented rotation trajectories, the rotation speeds of the uniform speed stages corresponding to different segmented rotation trajectories are positively correlated with the current angle difference.

[0013] In one embodiment, controlling the reflector assembly of the reflective point reference target array device to rotate along a segmented rotation trajectory includes:

[0014] According to the angle difference and the preset target rotation time, the pulse signals of the uniform acceleration stage, the uniform speed stage and the uniform deceleration stage in the current segmented rotation trajectory are determined;

[0015] A pulse signal corresponding to each stage is provided to the motor of the reflective point reference target array device, so that the reflector assembly completes the rotation on the current segmented rotation trajectory within the preset operation target time.

[0016] In one of the embodiments, when the reflective point reference target array device includes a pitch servo motor, the target angle parameter includes a sun altitude angle, the current angle parameter of the reflective point reference target array device includes a current pitch angle of the reflective point reference target array device, and the angle difference between the target angle parameter and the current angle parameter includes a pitch angle difference between the sun altitude angle and the current pitch angle; and / or,

[0017] In the case where the reflective point reference target array device includes an azimuth servo motor, the target angle parameter includes the solar azimuth, the current angle parameter of the reflective point reference target array device includes the current azimuth of the reflective point reference target array device, and the angle difference between the target angle parameter and the current angle parameter includes the azimuth angle difference between the solar azimuth and the current azimuth.

[0018] In one embodiment, the method further comprises:

[0019] Obtaining the latitude, longitude and altitude of the reflective point reference target array device;

[0020] Determine the solar altitude and solar azimuth according to the longitude and latitude, altitude, and solar trajectory algorithm;

[0021] The solar altitude angle and solar azimuth angle are determined as target angle parameters.

[0022] In a second aspect, the present application further provides a control device for a reflective point reference target array device, the control device comprising:

[0023] An angle parameter acquisition module, used to acquire target angle parameters and current angle parameters of the reflective point reference target array device;

[0024] An angle difference determination module, used to determine the angle difference between the target angle parameter and the current angle parameter;

[0025] A rotation control module is used to determine the corresponding segmented rotation trajectory according to the angle difference and the preset segmentation rule when the angle difference is greater than the preset angle difference threshold, and control the reflector assembly of the reflective point reference target array device to rotate along the segmented rotation trajectory so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein the rotation speed time curves corresponding to different segmented rotation trajectories are different.

[0026] In a third aspect, the present application further provides a controller including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0027] In a fourth aspect, the present application further provides a reflective point reference target array device, the reflective point reference target array device comprising:

[0028] A reflective point reference target array device body;

[0029] And a controller as in the above embodiment.

[0030] The control method, device, controller and reflective point reference target array device of the above-mentioned reflective point reference target array device have at least the following beneficial effects:

[0031] By acquiring the current angle parameters and target angle parameters of the reflective point reference target array device in real time and calculating the angle difference accordingly, it is possible to ensure that the reflective point reference target array device can accurately track space light sources such as the sun; when the angle difference exceeds the preset threshold, it is decomposed into multiple segmented rotation trajectories and adopts different rotation speed time curves to achieve smooth, precise and efficient control of the reflector assembly, thereby ensuring the accuracy and stability of the calibration and quality evaluation work of the optical remote sensing satellite camera during its on-orbit operation, effectively reducing error accumulation and improving the performance of the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] FIG1 is an application environment diagram of a control method for a reflective point reference target array device according to an embodiment;

[0034] FIG2 is a schematic flow chart of a control method of a reflective point reference target array device in one embodiment;

[0035] FIG3 is a specific segmented schematic diagram of a segmented rotation trajectory in one embodiment;

[0036] FIG4 is a specific segmented schematic diagram of a segmented rotation trajectory in another embodiment;

[0037] FIG5 is a schematic diagram of a velocity-time curve of an arbitrary section of a rotation trajectory and a schematic diagram of a corresponding acceleration-time curve in one embodiment;

[0038] FIG6 is a schematic flow chart of steps for controlling a reflector assembly of a reflective point-shaped reference target array device to rotate along a segmented rotation trajectory in one embodiment;

[0039] FIG7 is a schematic flow chart of a control method of a reflective point reference target array device in another embodiment;

[0040] FIG8 is a schematic structural diagram of a reflective point reference target array device in one embodiment;

[0041] FIG9 is a schematic structural diagram of a reflector assembly in the reflective point reference target array device in FIG8 ;

[0042] FIG10 is a front view of a partial structure of the reflective point reference target array device in FIG8;

[0043] FIG11 is a cross-sectional view of a partial structure of the reflective point reference target array device in FIG10 from a right side perspective;

[0044] FIG12 is a cross-sectional view of a portion of the structure of the reflective point-shaped reference target array device in FIG10 from a left side perspective;

[0045] FIG13 is a cross-sectional view of a partial structure of the reflective point reference target array device in FIG10 from a top view;

[0046] FIG14 is a block diagram of a reflective point reference target array device according to an embodiment;

[0047] FIG. 15 is a diagram showing the internal structure of a controller in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The control method of the reflective point reference target array device provided in the embodiment of the present application can be applied to the application environment shown in FIG1. ​​The controller 102 is used to obtain the target angle parameter and the current angle parameter of the reflective point reference target array device 104, and determine the angle difference between the target angle parameter and the current angle parameter; and when the angle difference is greater than the preset angle difference threshold, the corresponding segmented rotation trajectory is determined according to the angle difference and the preset segmentation rule, and the reflector assembly of the reflective point reference target array device 104 is controlled to rotate along the segmented rotation trajectory, so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein the rotation speed time curves corresponding to different segmented rotation trajectories are different.

[0050] In an exemplary embodiment, as shown in FIG2 , a control method for a reflective point reference target array device is provided, and the method is applied to the controller 102 in FIG1 as an example for description, and includes the following steps S202 to S206. Among them:

[0051] S202, obtaining a target angle parameter and a current angle parameter of a reflective point reference target array device.

[0052] Among them, the reflective point reference target array device refers to a device used to realize the calibration and quality evaluation of the optical remote sensing satellite camera during its on-orbit operation, and at least includes a reflector assembly and a motor. The current angle parameter of the reflective point reference target array device may refer to the actual angle position of the reflector assembly of the reflective point reference target array device relative to a certain reference coordinate system, which is used to reflect the current position state of the reflector assembly. The target angle parameter may refer to the angle position to which the reflector assembly needs to be moved in order to accurately point to or track the target. The target to be accurately pointed to or tracked may refer to a space light source such as the sun. When the sun is used as the target, the target angle parameter may refer to parameters such as the solar altitude angle and the solar azimuth angle.

[0053] Exemplarily, for obtaining the current angle parameters of the reflective point reference target array device, the angle sensor (such as an encoder, a gyroscope, etc.) equipped by the reflective point reference target array device itself can be used to monitor and obtain the angle position of the reflector assembly in the horizontal and vertical directions in real time to obtain the current angle parameters. For obtaining the target angle parameters, it is necessary to first determine the target that the reflective point reference target array device needs to point to. Assuming that the target that the reflective point reference target array device needs to point to is the sun, it is necessary to determine the coordinate position of the sun in space, for example, it can be expressed by GPS coordinates, longitude and latitude coordinates, or relative coordinates relative to the reference coordinate system of the reflective point reference target array device, and then the horizontal angle (azimuth) and vertical angle (pitch angle) of the current position of the sun relative to the reference coordinate system of the reflective point reference target array device can be calculated based on the geometric structure of the reflective point reference target array device and the coordinate system conversion formula.

[0054] S204, determining the angle difference between the target angle parameter and the current angle parameter.

[0055] Exemplarily, after the target angle parameter and the current angle parameter are determined, the angle difference between the current angle parameter and the target angle parameter can be calculated by subtraction to determine the angle that needs to be adjusted for the reflector assembly of the reflective point reference target array device in the current state.

[0056] S206, if the angle difference is greater than the preset angle difference threshold, determine the corresponding segmented rotation trajectory according to the angle difference and the preset segmentation rule, and control the reflector assembly of the reflective point reference target array device to rotate along the segmented rotation trajectory so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein, the rotation speed time curves corresponding to different segmented rotation trajectories are different.

[0057] Among them, the preset angle difference threshold is used to determine whether the difference between the current angle parameter and the target angle parameter of the reflective point reference target array device is small enough to meet the accuracy requirement. When the angle difference is less than or equal to the preset angle threshold, it is considered that the reflective point reference target array device has been successfully adjusted to the target position to avoid inaccurate or unstable tracking caused by excessive angle errors. The preset segmentation rule is used to guide the large angle adjustment process of the reflective point reference target array device from the current angle parameter to the target angle parameter, decomposing it into a series of smaller angle adjustments (i.e. forming a segmented rotation trajectory). Each segmented rotation trajectory has its own specific rotation speed time curve to ensure smooth and precise rotation.

[0058] For example, the application of the reflective point reference target array device in the calibration and quality evaluation of the optical remote sensing satellite camera during the on-orbit operation is taken as an example. From the perspective of its implementation principle, in the process of calibration and quality evaluation, it is necessary to achieve optical path matching among the sun, the reflector assembly and the optical remote sensing satellite, so as to reflect the sunlight incident on the reflector assembly to the entrance pupil of the optical remote sensing satellite camera, so that the optical remote sensing satellite camera can accurately obtain the image of the reflective point reference target array device, and then complete the on-orbit radiation calibration and image quality evaluation of the optical remote sensing satellite. In order to achieve optical path matching among the sun, the reflector assembly and the optical remote sensing satellite, it is first necessary to achieve accurate tracking of the sun to accurately determine the spatial position of the sun, so as to provide accurate data basis for the subsequent adjustment of the optical path matching among the sun, the reflector assembly and the optical remote sensing satellite. Based on this, by obtaining the target angle parameters such as the solar altitude angle and the current angle parameters of the reflective point reference target array device in real time, and determining the angle difference between the target angle parameter and the current angle parameter, it is confirmed whether the tracking accuracy requirements for the sun are met. When the angle difference is greater than the preset angle difference threshold, it means that the angle parameters of the position of the reflective point reference target array device at this time fail to meet the tracking accuracy requirements. If the optical path matching adjustment between the sun, the reflector assembly and the optical remote sensing satellite is performed at the current position of the reflective point reference target array device, it will inevitably affect the accuracy of calibration and quality evaluation. Therefore, the angle difference can be determined according to the target angle parameter and the current angle parameter to obtain the angle size that the reflective point reference target array device currently needs to adjust. When the angle difference is greater than the preset angle difference threshold, the rotation trajectory of the large angle adjustment from the current angle to the target angle can be first decomposed into a series of smaller angle adjustments according to the size of the angle difference, thereby obtaining the corresponding segmented rotation trajectory, and then the movement of the reflective point reference target array device can be more finely controlled to reduce the error accumulation caused by rapid or sudden movement. In addition, different segmented rotation trajectories correspond to different rotation speed-time curves, and the rotation process can be further optimized according to the specific conditions of each segmented rotation trajectory (trajectory length, rotation time requirements). For example, for a trajectory with a longer segmented rotation trajectory, a faster rotation speed can be used while meeting the rotation time requirements, so that the reflective point reference target array device can quickly reach the target position; and for a trajectory with a shorter segmented rotation trajectory, a slower rotation speed can be used while meeting the rotation time requirements, so that the reflective point reference target array device can accurately reach the target position, thereby achieving smoother, more precise and faster control.

[0059] The control method of the above-mentioned reflective point reference target array device can ensure that the reflective point reference target array device accurately tracks space light sources such as the sun by acquiring the current angle parameters and target angle parameters of the reflective point reference target array device in real time and calculating the angle difference accordingly; when the angle difference exceeds a preset threshold, it is decomposed into multiple segmented rotation trajectories and adopts different rotation speed time curves to achieve smooth, precise and efficient control of the reflector assembly, thereby ensuring the accuracy and stability of the calibration and quality evaluation work of the optical remote sensing satellite camera during the on-orbit operation, effectively reducing error accumulation and improving the performance of the entire system.

[0060] In an exemplary embodiment, the size of the angle difference is positively correlated with the number of segmented rotation trajectories.

[0061] For example, as shown in FIG3 , when the angle difference is greater than 20°, for example, when the angle difference is 60°, the entire rotation trajectory can be divided into four segments, namely, [60°, 20°] is one segment, (20°, 5°] is one segment, (5°, 0.1°] is one segment, and (0.1°, 0°] is one segment; as shown in FIG4 , when the angle difference is less than 20°, for example, when the angle difference is 19°, the entire rotation trajectory can be divided into three segments, namely, (19°, 5°] is one segment, (5°, 0.1°] is one segment, and (0.1°, 0°] is one segment. ] is a segment. It should be noted that the segment boundary setting of the above segmented rotation trajectory is only used as an example, and can be adaptively adjusted according to the actual rotation accuracy requirements and the rotation accuracy limit of the motor, and will not be explained one by one here. Therefore, according to the size of the angle difference and the set decomposition segmentation requirements, the number of segments of the entire rotation trajectory can be increased as much as possible, and then the rotation speed of each segmented rotation trajectory can be adjusted as much as possible, so that the reflective point reference target array device can more accurately track space light sources such as the sun.

[0062] In this embodiment, by applying the positive correlation between the angle difference and the number of segmented rotation trajectories to the control of the reflective point reference target array device, the number of segments can be increased when the angle difference is large, and then by finely adjusting the rotation speed of each trajectory, smoother and more precise control of the reflector assembly can be achieved, ensuring the high accuracy and efficiency of the calibration and quality assessment work of the optical remote sensing satellite camera during its on-orbit operation, while reducing the risk of overall system error accumulation.

[0063] In an exemplary embodiment, each rotation trajectory includes a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage in sequence, and the acceleration magnitude and time corresponding to the uniform acceleration stage and the uniform deceleration stage are the same.

[0064] Exemplarily, as shown in FIG5 , for any section of the rotation trajectory, it includes an acceleration stage, a uniform speed stage, and a uniform deceleration stage, wherein the acceleration magnitude and time corresponding to the uniform acceleration stage and the uniform deceleration stage are the same, that is, the uniform acceleration stage and the uniform deceleration stage are two opposite symmetrical processes. Taking the uniform acceleration stage as an example, the angle difference is determined according to the current position (current elevation angle and azimuth angle) of the reflective point reference target array device and the target position (target elevation angle and azimuth angle), that is, the angle magnitude and direction required for rotation are determined, and the rotation is completed within the specified time. Then, the acceleration time is certain, and the number of pulses required for acceleration is calculated according to the maximum speed of the system. By adjusting the PWM output cycle, the acceleration is controlled until the acceleration stage is completed and the uniform speed stage is entered. Then, the rotation is carried out at the maximum speed. After the uniform speed stage is completed, the uniform deceleration stage is entered. The uniform deceleration stage is a symmetrical process opposite to the uniform acceleration stage. Thus, the requirements of the reflective point reference target array device for operation accuracy and time are met, and the motor speed that meets the system accuracy and is stable and reliable is selected in combination with the maximum speed of the motor, and symmetrical acceleration and deceleration are adopted to improve the operation reliability and stability.

[0065] In this embodiment, by sequentially setting the three stages of uniform acceleration, uniform speed and uniform deceleration in each rotation trajectory and ensuring that the uniform acceleration and uniform deceleration stages have the same acceleration magnitude and time, a symmetrical acceleration and deceleration process is formed, which not only improves the operating accuracy and stability of the reflective point reference target array device when tracking space light sources such as the sun, but also effectively reduces mechanical wear, thereby ensuring the high efficiency and high quality of the calibration and quality evaluation of the optical remote sensing satellite camera during its on-orbit operation.

[0066] In an exemplary embodiment, when there are multiple segmented rotation trajectories, the rotation speeds in the uniform speed phase corresponding to different segmented rotation trajectories are positively correlated with the current angle difference.

[0067] Exemplarily, from the above embodiments, it can be seen that the larger the angle difference is, the longer the entire rotation trajectory from the position of the current angle parameter to the position of the target angle parameter is. In order to meet the accuracy requirements, the number of segmented rotation trajectories is greater. On this basis, to complete the rotation of the entire rotation trajectory within the specified time, a higher uniform stage rotation speed is required. As the angle difference decreases, the rotation speed of the uniform stage also decreases to ensure the accuracy of the final positioning. For example, when the angle difference is less than 0.1°, the speed corresponding to the uniform stage is V1; when 0.1°≤angle difference<5°, the speed corresponding to the uniform stage is V2; when 5°≤angle difference<20°, the speed corresponding to the uniform stage is V3, and when the angle difference is ≥20°, the speed corresponding to the uniform stage is V4, where V1<V2<V3<V4.

[0068] In this embodiment, by adjusting the speed in the uniform speed stage to adapt to different angular differences, it is possible to ensure rapid response while avoiding inaccurate positioning problems caused by excessive speed; at the same time, it helps to balance the response speed and positioning accuracy of the system, ensuring that during the entire rotation process, whether it is large-angle adjustment or fine-tuning, both rapid and precise control can be achieved, thereby improving the ability of the reflective point reference target array device to track space light sources such as the sun, and ensuring the accuracy and stability of the calibration and quality evaluation work of the optical remote sensing satellite camera during its on-orbit operation.

[0069] In an exemplary embodiment, as shown in FIG6 , controlling the reflector assembly of the reflective point-shaped reference target array device to rotate along a segmented rotation trajectory includes:

[0070] S602, determining pulse signals of a uniform acceleration phase, a uniform speed phase, and a uniform deceleration phase in the current segmented rotation trajectory according to the angle difference and the preset target rotation time.

[0071] S604, providing a pulse signal corresponding to each stage to the motor of the reflective point reference target array device, so that the reflector assembly completes the rotation of the current segmented rotation trajectory within a preset operation target time.

[0072] Exemplarily, according to the current angle difference and the preset target rotation time, the specific number of pulse signals required for the uniform acceleration stage, uniform speed stage and uniform deceleration stage in the current segmented rotation trajectory is calculated; then, these pulse signals are provided to the motor of the reflective point reference target array device in stages, so that the reflector assembly can complete the rotation of the current segmented rotation trajectory within a preset time according to a predetermined speed curve (including three stages of uniform acceleration, uniform speed and uniform deceleration). Specifically, according to the size of the angle difference, the time allocation of the uniform acceleration stage, uniform speed stage and uniform deceleration stage in the current segmented rotation trajectory can be determined. For example, if the angle difference is large, the uniform speed stage may occupy a longer time proportion to ensure that the rotation is completed within the specified time; conversely, if the angle difference is small, the time of the uniform speed stage will be shortened accordingly, and the uniform acceleration and uniform deceleration stages need to be more finely controlled to achieve high-precision positioning. According to the preset target rotation time, the number of pulse signals required for each stage is calculated. The number of pulse signals determines the rotation speed of the motor. In the uniform acceleration stage, the pulse signal gradually increases, causing the motor to accelerate; in the uniform speed stage, the pulse signal remains unchanged, and the motor rotates at a constant speed; and in the uniform deceleration stage, the pulse signal gradually decreases, and the motor decelerates until it stops. The above pulse signal is provided to the motor of the reflective point reference target array device in stages, and the motor drives the reflector assembly to rotate after receiving the pulse signal. In the uniform acceleration stage, the motor starts to accelerate until it reaches a predetermined maximum speed; in the uniform speed stage, the motor keeps rotating at a constant speed; finally, in the uniform deceleration stage, the motor gradually decelerates until it stops.

[0073] In this embodiment, by precisely controlling the pulse signal of the motor, it is ensured that the reflector assembly can smoothly and accurately rotate according to the preset segmented trajectory, thereby achieving accurate tracking of space light sources such as the sun. This method not only improves the tracking accuracy, but also reduces the error accumulation caused by rapid or sudden movement, further improving the accuracy and stability of calibration and quality evaluation work of optical remote sensing satellite cameras during on-orbit operation.

[0074] In an exemplary embodiment, in the case where the reflective point reference target array device includes a pitch servo motor, the target angle parameter includes a sun altitude angle, the current angle parameter of the reflective point reference target array device includes a current pitch angle of the reflective point reference target array device, and the angle difference between the target angle parameter and the current angle parameter includes a pitch angle difference between the sun altitude angle and the current pitch angle; and / or,

[0075] In the case where the reflective point reference target array device includes an azimuth servo motor, the target angle parameter includes the solar azimuth, the current angle parameter of the reflective point reference target array device includes the current azimuth of the reflective point reference target array device, and the angle difference between the target angle parameter and the current angle parameter includes the azimuth angle difference between the solar azimuth and the current azimuth.

[0076] Exemplarily, in order to achieve accurate tracking of the sun, the reflective point reference target array device generally includes a pitch servo motor and / or an azimuth servo motor to meet the adjustment requirements of the altitude angle and / or the azimuth angle. At this time, the target angle parameter includes the solar altitude angle and / or the solar azimuth angle, the current angle parameter of the reflective point reference target array device includes the current pitch angle and / or the current azimuth angle of the reflective point reference target array device, and the angle difference between the target angle parameter and the current angle parameter includes the pitch angle difference and / or the azimuth angle difference. Furthermore, when the pitch angle difference is greater than the corresponding pitch angle difference threshold, or when the azimuth angle difference is greater than the corresponding azimuth angle difference threshold, the segmented rotation adjustment method as in the above embodiment is adopted to drive the pitch servo motor and the azimuth servo motor respectively to adjust the reflector assembly of the reflective point reference target array device.

[0077] In this embodiment, by separately controlling the pitch servo motor and the azimuth servo motor in the reflective point reference target array device, according to the pitch angle difference between the solar altitude angle and the current pitch angle, as well as the azimuth angle difference between the solar azimuth angle and the current azimuth angle, when the pitch angle difference or the azimuth angle difference exceeds the corresponding threshold, the position of the reflector assembly can be accurately adjusted by means of segmented rotation adjustment, thereby ensuring high-precision tracking of space light sources such as the sun by the optical remote sensing satellite camera during its in-orbit operation, improving the accuracy and stability of calibration and quality evaluation work, and also improving the response speed and control accuracy of the entire system.

[0078] In an exemplary embodiment, as shown in FIG7 , the method further includes:

[0079] S702, obtaining the latitude, longitude and altitude of the reflective point reference target array device.

[0080] S704, determining the solar altitude angle and the solar azimuth angle according to the longitude and latitude, the altitude, and the solar trajectory algorithm.

[0081] S706, determining the solar altitude angle and the solar azimuth angle as target angle parameters.

[0082] Exemplarily, specifically, first, obtain the specific geographical location information of the reflective point reference target array device, including longitude and latitude and altitude, to determine the basis of the position of the sun relative to the reflective point reference target array device. The above data can be obtained in real time by a GPS module or other positioning technology installed on the reflective point reference target array device. For example, longitude and latitude information can help determine the exact position of the earth's surface where the reflective point reference target array device is located, while the altitude takes into account the influence of the earth's curvature, which is convenient for accurately calculating the solar altitude angle. Then, using the above geographical location information and altitude data, combined with the solar trajectory algorithm, the exact position of the sun in the sky at a specific moment is calculated. The solar trajectory algorithm is usually based on the basic principles of the earth's rotation and revolution, taking into account factors such as the elliptical shape of the earth's orbit, the tilt of the earth's axis, and the longitude and latitude of a specific location, and the altitude can calculate the altitude angle and azimuth of the sun relative to the location. For example, the altitude angle refers to the vertical angle of the sun relative to the horizon of the observation point, while the azimuth angle refers to the horizontal angle of the sun relative to the north direction. Next, the calculated solar altitude angle and solar azimuth angle are used as target angle parameters to guide the adjustment of the reflector assembly of the reflective point reference target array device. By comparing the current position of the reflector assembly (current pitch angle and current azimuth angle) with the target angle parameters (solar altitude angle and solar azimuth angle), the pitch angle difference and azimuth angle difference can be calculated. If these differences exceed the preset threshold, the position of the reflector assembly can be adjusted according to the segmented rotation trajectory method described in the above embodiment to ensure that it can accurately track the sun.

[0083] In this embodiment, by obtaining the longitude and latitude and altitude of the reflective point reference target array device, the altitude angle and azimuth of the sun at a specific moment are calculated in combination with the solar trajectory algorithm, and these angles are used as target angle parameters to guide the adjustment of the reflector assembly to ensure that it can accurately track space light sources such as the sun, thereby achieving high-precision calibration and quality evaluation of the optical remote sensing satellite camera during its on-orbit operation, improving the response speed and control accuracy of the entire system, and ensuring the accuracy and stability of the calibration and quality evaluation work.

[0084] In an exemplary embodiment, as shown in Figures 8 to 13, the present application further provides a reflective point reference target array device, including a reflective point reference target array device body and a controller (not shown in the figure). The specific structure of the reflective point reference target array device body is shown in Figures 8-13.

[0085] The reflective point reference target array device is composed of a reflector assembly consisting of a combined reflector 1 and a sun sensor 2. In addition, the reflective point reference target array device also includes an attitude control assembly 3, a display and button 4, an embedded control system 5 and a support and leveling assembly 6. The support and leveling assembly 6 mainly includes a tripod 7 and a leveling mechanism 8, and the attitude control assembly 3 is installed on the leveling mechanism 8; the attitude control assembly 3 includes an azimuth reducer mounting plate 9, and an azimuth turbine worm reducer 10 is installed on the azimuth reducer mounting plate 9, and the azimuth turbine worm reducer 10 is driven by an azimuth servo motor 12 through a synchronous pulley 11, and a U-shaped fork arm 13 is installed on the reducer mounting plate 9, and a bearing seat 14 is installed on the U-shaped fork arm, and a shaft 15 is installed on the bearing seat 14, and the end of the shaft 15 is connected to the combined reflector 1, and the shaft 15 is connected to the combined reflector 1 through a pitch turbine worm reducer 16. The pitch worm gear reducer 16 is driven by the pitch servo motor 18 through the synchronous pulley 17; the sun sensor 2 mainly includes an image sensor 19 and a sun attenuation sheet 20, which are installed on the combined reflector 1, and its optical axis is parallel to the main optical axis of the combined reflector 1; the display and button 4 mainly includes a liquid crystal display 21 and a touch button 22, which are embedded in the attitude control component 3; the embedded control system 5 is built into the attitude control component 3, and is used for adjusting and controlling the attitude of the device; the combined reflector 1 includes a frame 23, and the frame 23 is used to install the reflector 24 through a plurality of reflector support fixing devices.

[0086] The tripod 7 includes three height-adjustable and lockable tripods, and the leveling mechanism 8 includes a three-axis support adjustment and lockable mechanism, which is connected and fixed to the tripod 7 and the attitude control component 3 through the upper and lower flange surfaces; a fixed shaft is installed in the middle of the reducer mounting plate 9, and an azimuth encoder 25 is installed on the fixed shaft through an azimuth encoder bracket. The azimuth encoder bracket is installed on the reducer mounting plate 9, and an azimuth worm reducer 10 is installed on the reducer mounting plate 9. A pitch encoder 26 is installed on the fork arm on the other side of the pitch worm reducer 10, and the pitch encoder 26 is installed on the fork arm through the encoder bracket. A pitch servo motor 18, a synchronous pulley 11 and a worm reducer 10 are installed on one side of the U-shaped fork arm 13, and a rechargeable lithium battery 27 and a GPS module 28 for the operation of the device are installed on the fork arm on the other side, which can automatically obtain and analyze the geographical location information of the device installation point. The reflector support and fixing device includes a transition plate 29 connected to the pitch axis and a reflector mounting and fixing structure 30. The reflector mounting structure is used for mounting and fixing the reflector 24 and increasing or decreasing different numbers of reflectors 24. The mirror reflectivity has high reflectivity and good spectral flatness in the solar reflection band, medium-wave infrared and thermal infrared bands. On the one hand, it can realize a point reference target array with different reflection energy gradient levels. On the other hand, it can also match its reflection energy with the light flux that can be received by optical remote sensing satellite cameras with different spatial resolutions, thereby realizing the full dynamic range radiation calibration and image quality evaluation of multi-resolution optical remote sensing satellites.

[0087] Among them, the controller is used to execute the steps of the control method of the reflective point reference target array device in the above embodiment. Its specific implementation process refers to the description in the above embodiment and will not be repeated here.

[0088] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0089] Based on the same inventive concept, the embodiment of the present application also provides a control device for a reflective point-shaped reference target array device for implementing the control method for the reflective point-shaped reference target array device involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in the embodiments of the control device for one or more reflective point-shaped reference target array devices provided below can refer to the limitations of the control method for the reflective point-shaped reference target array device above, and will not be repeated here.

[0090] In an exemplary embodiment, as shown in FIG. 14 , a control device for a reflective point reference target array device is provided, comprising: an angle parameter acquisition module 1402, an angle difference determination module 1404 and a rotation control module 1406, wherein:

[0091] Angle parameter acquisition module 1402, used to acquire target angle parameters and current angle parameters of the reflective point reference target array device;

[0092] An angle difference determination module 1404, used to determine the angle difference between the target angle parameter and the current angle parameter;

[0093] The rotation control module 1406 is used to determine the corresponding segmented rotation trajectory according to the angle difference and the preset segmentation rule when the angle difference is greater than the preset angle difference threshold, and control the reflector assembly of the reflective point reference target array device to rotate along the segmented rotation trajectory so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein the rotation speed time curves corresponding to different segmented rotation trajectories are different.

[0094] In an exemplary embodiment, the rotation control module 1406 includes:

[0095] The pulse signal determination unit is used to determine the pulse signals of the uniform acceleration stage, the uniform speed stage and the uniform deceleration stage in the current segmented rotation trajectory according to the angle difference and the preset target rotation time.

[0096] The pulse signal output unit is used to provide a pulse signal corresponding to each stage to the motor of the reflective point reference target array device, so that the reflector assembly can complete the rotation of the current segmented rotation trajectory within the preset operation target time.

[0097] In an exemplary embodiment, the control device of the reflective point reference target array device further includes:

[0098] The position information acquisition module is used to obtain the longitude, latitude and altitude of the reflective point reference target array device.

[0099] The angle determination module is used to determine the solar altitude angle and solar azimuth angle according to the longitude and latitude, the altitude, and the solar track algorithm.

[0100] The target angle parameter determination module is used to determine the solar altitude angle and the solar azimuth angle as target angle parameters.

[0101] Each module in the control device of the above-mentioned reflective point reference target array device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0102] In an exemplary embodiment, a computer device is provided, which may be a controller, and its internal structure diagram may be shown in FIG15. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store target angle parameters and current angle parameters, longitude and latitude, and altitude of a reflective point reference target array device. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method for a reflective point reference target array device is implemented.

[0103] Those skilled in the art will understand that the structure shown in FIG. 15 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0104] In an exemplary embodiment, a controller is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0105] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0106] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0107] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0108] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0109] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for a reflective point reference target array device, characterized in that: The method comprises: Acquiring target angle parameters and current angle parameters of the reflective point reference target array device; Determine an angle difference between the target angle parameter and the current angle parameter; If the angle difference is greater than a preset angle difference threshold, a corresponding segmented rotation trajectory is determined according to the angle difference and a preset segmentation rule, and the reflector assembly of the reflective point reference target array device is controlled to rotate along the segmented rotation trajectory, so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein the rotation speed time curves corresponding to different segmented rotation trajectories are different; Among them, the size of the angle difference is positively correlated with the number of the segmented rotation trajectories; each segment of the rotation trajectory includes a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage in sequence, and the acceleration size and time corresponding to the uniform acceleration stage and the uniform deceleration stage are the same; when there are multiple segmented rotation trajectories, the rotation speed of the uniform speed stage corresponding to different segmented rotation trajectories is positively correlated with the current angle difference.

2. The control method of the reflective point reference target array device according to claim 1, characterized in that: The control of the reflector assembly of the reflective point-shaped reference target array device to rotate along the segmented rotation trajectory comprises: Determine the pulse signals of the uniform acceleration stage, the uniform speed stage and the uniform deceleration stage in the current segmented rotation trajectory according to the angle difference and the preset target rotation time; A pulse signal corresponding to each stage is provided to the motor of the reflective point reference target array device, so that the reflector assembly completes the rotation on the current segmented rotation trajectory within a preset operation target time.

3. The control method of the reflective point reference target array device according to any one of claims 1 to 2, characterized in that: In the case where the reflective point reference target array device includes a pitch servo motor, the target angle parameter includes a sun altitude angle, the current angle parameter of the reflective point reference target array device includes a current pitch angle of the reflective point reference target array device, and the angle difference between the target angle parameter and the current angle parameter includes a pitch angle difference between the sun altitude angle and the current pitch angle; and / or, In the case where the reflective point reference target array device includes an azimuth servo motor, the target angle parameter includes the solar azimuth, the current angle parameter of the reflective point reference target array device includes the current azimuth of the reflective point reference target array device, and the angle difference between the target angle parameter and the current angle parameter includes the azimuth angle difference between the solar azimuth and the current azimuth.

4. The control method of the reflective point reference target array device according to claim 3, characterized in that: The method further comprises: Obtaining the latitude, longitude and altitude of the reflective point reference target array device; Determine the solar altitude angle and the solar azimuth angle according to the longitude and latitude, the altitude, and a solar trajectory algorithm; The solar altitude angle and the solar azimuth angle are determined as the target angle parameters.

5. A control device for a reflective point reference target array device, characterized in that: The control device comprises: An angle parameter acquisition module, used to acquire target angle parameters and current angle parameters of the reflective point reference target array device; An angle difference determination module, used to determine the angle difference between the target angle parameter and the current angle parameter; A rotation control module, used for determining a corresponding segmented rotation trajectory according to the angle difference and a preset segmentation rule when the angle difference is greater than a preset angle difference threshold, and controlling the reflector assembly of the reflective point reference target array device to rotate along the segmented rotation trajectory so that the angle difference corresponding to the current angle parameter is less than or equal to the preset angle difference threshold; wherein the rotation speed time curves corresponding to different segmented rotation trajectories are different; Among them, the size of the angle difference is positively correlated with the number of the segmented rotation trajectories; each segment of the rotation trajectory includes a uniform acceleration stage, a uniform speed stage and a uniform deceleration stage in sequence, and the acceleration size and time corresponding to the uniform acceleration stage and the uniform deceleration stage are the same; when there are multiple segmented rotation trajectories, the rotation speed of the uniform speed stage corresponding to different segmented rotation trajectories is positively correlated with the current angle difference.

6. A controller, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A reflective point reference target array device, characterized in that: The reflective point reference target array device comprises: A reflective point reference target array device body; And the controller as claimed in claim 6.

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