Methods, apparatus, equipment, and media for mission planning to observe designated locations.

Abstract

The present invention provides a task planning method, device, equipment and medium for observing a designated position, which relates to the field of aerospace technology, including: determining a first position of a space target at a designated time in an inertial coordinate system through two lines of orbital data of the space target; obtaining a second position of a satellite platform at a designated time in an inertial coordinate system; obtaining a first direction vector of an initial camera pointing, and determining a second direction vector of the camera observation pointing based on a rotation matrix and the first direction vector in a quasi-inertial coordinate system, wherein the rotation matrix is ​​determined by the Euler angle of the camera observation pointing; constructing an objective function based on the first position, the second position, the rotation matrix and the second direction vector; determining the Euler angle of the camera observation pointing based on the objective function; and planning a task for observing the designated position based on the determined Euler angle of the camera observation pointing.

Description

Technical Field

[0001] The present disclosure relates to the field of aerospace technology, and in particular to a mission planning method, device, equipment and medium for observing a designated location. Background Art

[0002] In recent years, with the advancement of science and technology and the development of the global aerospace industry, more and more spacecraft have been sent into space. The increasing number of spacecraft and space debris has made the Earth's orbital resources overcrowded, posing a threat to the safe operation of spacecraft in orbit, and problems such as space debris and space collisions have become increasingly prominent. The space-based space target observation system can detect, track and identify space targets without being restricted by geographical conditions, territories and meteorological conditions. This all-day, all-weather monitoring capability enables space situational awareness data to be acquired in real time and accurately, providing important support for space activities. However, when conducting space-based space target observation equipment demonstration, simulation, mission planning, etc., it is necessary to carry out mission planning based on the specified target position and calculate the angle of rotation around the three coordinate axes when the camera points to the target position. Therefore, how to quickly and accurately calculate the angle of rotation of the camera around the three coordinate axes based on information such as time, satellite platform orbit, and target position is a problem that technicians in this field urgently need to solve. Summary of the invention

[0003] In view of this, the present disclosure provides a task planning method, apparatus, device and medium based on observation of a specified location, which are used to at least partially solve the above-mentioned technical problems.

[0004] A first aspect of the present disclosure provides a mission planning method for a satellite to observe a specified position, including: determining a first position of a space target at a specified time in an inertial coordinate system through two lines of orbital data of the space target; obtaining a second position of a satellite platform at a specified time in an inertial coordinate system; obtaining a first direction vector of an initial camera pointing, and determining a second direction vector of the camera observation pointing based on a rotation matrix and the first direction vector in a quasi-inertial coordinate system, wherein the rotation matrix is ​​determined by the Euler angle of the camera observation pointing; constructing an objective function based on the first position, the second position, the rotation matrix, and the second direction vector; determining the Euler angle of the camera observation pointing based on the objective function; and planning a mission to observe the specified position based on the determined Euler angle of the camera observation pointing.

[0005] According to an embodiment of the present disclosure, the first position of the space target at a specified time in an inertial coordinate system is determined through two lines of orbital data of the space target, including: performing orbital extrapolation on the position and speed of the space target in the inertial coordinate system through the two lines of orbital data of the space target to obtain the first position of the space target at the specified time in the inertial coordinate system.

[0006] According to an embodiment of the present disclosure, obtaining a first direction vector at which the camera is initially pointed includes: performing orbital extrapolation on the position and velocity of the space target in an inertial coordinate system through two lines of orbital data of the space target to obtain a first position and a first velocity of the space target at a specified time in the inertial coordinate system; calculating the orbital parameters of the space target based on the first position and the first velocity; and determining the first direction vector at which the camera is initially pointed based on the orbital parameters.

[0007] According to an embodiment of the present disclosure, the objective function is:

[0008]

[0009]

[0010] φ is the angle of rotation around the X axis in Euler angles, θ is the angle of rotation around the Y axis in Euler angles, and ϕ is the angle of rotation around the Z axis in Euler angles. , , ) represents the second direction vector, Indicates the first position of the space target at a specified time in the inertial coordinate system. Indicates the second position of the satellite platform at a specified time in the inertial coordinate system.

[0011] According to an embodiment of the present disclosure, the orbital parameters include eccentricity, mechanical energy, semi-major axis, semi-diameter, orbital inclination, right ascension of ascending node, argument of perigee, and true anomaly.

[0012] According to an embodiment of the present disclosure, the origin of the inertial coordinate system is the center of the earth, the X-axis is located in the equatorial plane of the earth, and points from the center of the earth to the vernal equinox; the Z-axis points from the center of the earth to the North Pole of the earth; the Y-axis is located in the equatorial plane of the earth, and its direction is determined according to the right-hand rule; the origin of the quasi-inertial coordinate system is the center of the earth, the positive square of the X-axis is the ascending node pointing to the descending node, the positive direction of the Y-axis is the negative normal direction of the orbital plane, the Z-axis is on the orbital plane, and the positive direction of the Z-axis satisfies the right-hand rule with the positive directions of the X-axis and the Y-axis.

[0013] The second aspect of the present disclosure provides a task planning device for a satellite to observe a specified position, including: a first determination module, used to determine the first position of a space target at a specified time in an inertial coordinate system through two lines of orbital data of the space target; an acquisition module, used to obtain the second position of the satellite platform at a specified time in the inertial coordinate system; a second determination module, used to obtain the first direction vector of the initial pointing of the camera, and determine the second direction vector of the camera observation pointing based on the rotation matrix and the first direction vector in a quasi-inertial coordinate system, wherein the rotation matrix is ​​determined by the Euler angle of the camera observation pointing; a construction module, used to construct an objective function based on the first position, the second position, the rotation matrix and the second direction vector; a third determination module, used to determine the Euler angle of the camera observation pointing based on the objective function; and a task planning module, used to plan the task of observing the specified position based on the determined Euler angle of the camera observation pointing.

[0014] A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0015] A fourth aspect of the present disclosure provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the above method.

[0016] The mission planning method, device, and medium based on satellite observation of a specified location provided by the embodiments of the present disclosure can achieve the following technical effects:

[0017] Since the pointing rotation is observed from the initial pointing item, the three axes of X, Y and Z can rotate in both positive and negative directions, so a single rotation matrix can only give a set of solutions under the specified rotation order. By constructing the objective function based on the position of the space target and the position of the satellite platform for solution, and traversing the entire feasible domain of parameters, multiple feasible rotation schemes for any target position can be given, and the rotation angle of the camera around the three coordinate axes can be calculated quickly and accurately, so that the observation of any target position can be planned quickly and accurately.

[0018] The method and device have good compatibility, low computational complexity, fast running speed, simple algorithm and are easy to implement in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0020] Figure 1A flowchart of a mission planning method for a satellite to observe a specified location according to an embodiment of the present disclosure is schematically shown.

[0021] Figure 2 The diagram schematically shows the definition of an inertial coordinate system and a sun-synchronous orbit satellite coordinate system operating in a quasi-inertial orientation mode provided according to an embodiment of the present disclosure.

[0022] Figure 3 A block diagram schematically shows a mission planning device for a satellite to observe a specified location according to an embodiment of the present disclosure.

[0023] Figure 4 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0025] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0026] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0027] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0028] Figure 1 A flowchart of a mission planning method for a satellite to observe a specified location according to an embodiment of the present disclosure is schematically shown.

[0029] like Figure 1 As shown, the mission planning method for the satellite to observe the specified location may include, for example, operations S101 to S106.

[0030] In operation S101, a first position of the space target at a specified time in an inertial coordinate system is determined using two lines of orbital data of the space target.

[0031] In operation S102, a second position of the satellite platform at a specified time in an inertial coordinate system is obtained.

[0032] In operation S103, a first direction vector initially pointed by the camera is obtained, and a second direction vector pointed by the camera is determined in a quasi-inertial coordinate system based on a rotation matrix and the first direction vector, wherein the rotation matrix is ​​determined by the Euler angle pointed by the camera.

[0033] In operation S104, a target function is constructed based on the first position, the second position, the rotation matrix, and the second direction vector.

[0034] In operation S105 , the Euler angle of the camera observation direction is determined based on the objective function.

[0035] In operation S106 , a task of observing a designated position is planned based on the determined Euler angle of the camera observation direction.

[0036] Through the task planning method of this embodiment, by constructing an objective function based on the position of the space target and the position of the satellite platform for solving, by traversing the entire feasible domain of parameters, multiple feasible rotation schemes for any target position can be given, and the rotation angle of the camera around the three coordinate axes can be calculated quickly and accurately, thereby enabling fast and accurate task planning for observations of any target position.

[0037] Based on the above embodiment, determining the first position of the space target at a specified time in the inertial coordinate system by using two lines of orbital data of the space target in operation S101 may include:

[0038] Through the two-line orbital data (Two-Line Element, TLE) of the space target, the position and velocity of the space target in the inertial coordinate system are extrapolated to obtain the first position of the space target at a specified time in the inertial coordinate system.

[0039] Based on the above embodiment, obtaining the first direction vector that the camera initially points to may include:

[0040] Through the two lines of orbital data of the space target, the position and velocity of the space target in the inertial coordinate system are extrapolated to obtain the first position and first velocity of the space target at a specified time in the inertial coordinate system. The orbital parameters of the space target are calculated based on the first position and first velocity. The first direction vector of the initial pointing of the camera is determined based on the orbital parameters.

[0041] Figure 2 The diagram schematically shows the definition of an inertial coordinate system and a sun-synchronous orbit satellite coordinate system operating in a quasi-inertial orientation mode provided according to an embodiment of the present disclosure.

[0042] In a possible implementation of the embodiment of the present disclosure, as Figure 2 As shown in the figure, X0, Y0, and Z0 represent the coordinate axes in the earth's inertial coordinate system, and X, Y, and Z represent the coordinate axes in the quasi-inertial coordinate system. The origin of the inertial coordinate system is the center of the earth. The X-axis is located in the equatorial plane of the earth and points from the center of the earth to the vernal equinox; the Z-axis points from the center of the earth to the North Pole of the earth; the Y-axis is located in the equatorial plane of the earth, and its direction is determined according to the right-hand rule. The origin of the quasi-inertial coordinate system is the center of the earth, the positive direction of the X-axis is from the ascending node to the descending node, the positive direction of the Y-axis is the negative normal direction of the orbital plane, and the Z-axis is on the orbital plane, and the positive direction of the Z-axis satisfies the right-hand rule with the positive directions of the X-axis and the Y-axis.

[0043] In a possible implementation of the embodiment of the present disclosure, the orbit parameters include eccentricity, mechanical energy, semi-major axis, semi-diameter, orbit inclination, right ascension of ascending node, argument of perigee, and true anomaly.

[0044] The orbital parameters of the space target are calculated based on the position and velocity of the space target at a specified time in the geocentric inertial coordinate system.

[0045] For example, suppose the position vector of the space target is , the velocity vector is , then the angular momentum

[0046]

[0047] The norm of angular momentum

[0048]

[0049] Represents the modulus of a vector.

[0050]

[0051] in, represents the unit vector in the X-axis direction, and Respectively Projection onto the X and Y axes.

[0052]

[0053] in, is the Earth's gravitational parameter, and its value is 398600.4418 , then the eccentricity:

[0054]

[0055] Mechanical energy

[0056]

[0057] Semimajor axis:

[0058]

[0059] Semi-latus rectum:

[0060]

[0061] Inclination:

[0062]

[0063] in, represents the arccosine,

[0064] Longitude of ascending node:

[0065]

[0066] Argument of perigee

[0067]

[0068] True anomaly:

[0069]

[0070] Based on the above calculations, the orbital parameters can be determined.

[0071] In a possible implementation of the embodiment of the present disclosure, it is assumed that in an earth-centered inertial coordinate system, the first vector of the initial pointing direction of the camera is determined to be E.

[0072] According to the rotation order, the vector equation after absolute rotation (Static rotation) is:

[0073]

[0074] Similarly, the vector equation after relative rotation is:

[0075]

[0076] Among them, the rotation matrix Indicates the direction from the first direction vector (initial direction) To the second direction vector after rotation (observation direction) The rotation matrix of .

[0077] The input is three Euler angles and rotation order, including: X->Y->Z, X->Z->Y, Y->X->Z, Y->Z->X, Z->X->Y, Z->Y->X, X->Y->X, X->Z->X, Y->X->Y, Y->Z->Y, Z->X->Z, Z->Y->Z, X->X->X, Y->Y->Y, Z->Z->Z, X->X->Y, X->X->Z, Y->Y->X, Y->Y->Z, Z->Z->X, Z->Z->Y, X->Y->Y, X->X->Z, Y->Y->X, Y->Y->Z, Z->Z->X, Z->Z->Y, X->Y->Y, X->Z->Z, Y->X->X, Y->Z->Z, Z->X->X, Z->Y->Y. The rotation matrices corresponding to the rotation order are:

[0078] ,

[0079] ,

[0080] ,

[0081] ,

[0082] ,

[0083] ,

[0084] ,

[0085] ,

[0086] ,

[0087] ,

[0088] ,

[0089] ,

[0090] ,

[0091] ,

[0092] ,

[0093] ,

[0094] ,

[0095] ,

[0096] ,

[0097] ,

[0098] ,

[0099] ,

[0100] ,

[0101] ,

[0102] ,

[0103] ,

[0104] .

[0105] in,

[0106]

[0107] Indicates rotation around the X axis,

[0108]

[0109] Indicates rotation around the Y axis,

[0110]

[0111] Indicates rotation around the Z axis.

[0112] In a possible implementation of the embodiment of the present disclosure, the objective function may be:

[0113]

[0114]

[0115] Where φ is the angle of rotation around the X axis in Euler angles, θ is the angle of rotation around the Y axis in Euler angles, and ϕ is the angle of rotation around the Z axis in Euler angles. , , ) represents the second direction vector, Indicates the first position of the space target at a specified time in the inertial coordinate system. Indicates the second position of the satellite platform at a specified time in the inertial coordinate system.

[0116] By establishing the objective function and using the optimization method, the optimal Euler angle for the camera to point to the target position is calculated.

[0117] Based on the above-mentioned mission planning method for satellites to observe a specified location, the present disclosure also provides a mission planning device for satellites to observe a specified location. Figure 3 The device is described in detail.

[0118] Figure 3 The structural block diagram of a mission planning device for a satellite to observe a specified location according to an embodiment of the present disclosure is schematically shown.

[0119] like Figure 3 As shown, the mission planning device 300 for a satellite to observe a designated location in this embodiment includes a first determination module 310 , an acquisition module 320 , a second determination module 330 , a construction module 340 , a third determination module 350 and a mission planning module 360 ​​.

[0120] The first determination module 310 is used to determine the first position of the space target at a specified time in the inertial coordinate system through two lines of orbital data of the space target.

[0121] The obtaining module 320 is used to obtain a second position of the satellite platform at a specified time in the inertial coordinate system.

[0122] The second determination module 330 is used to obtain a first direction vector of the initial camera pointing, and determine a second direction vector of the camera observation pointing based on a rotation matrix and the first direction vector in a quasi-inertial coordinate system, wherein the rotation matrix is ​​determined by the Euler angle of the camera observation pointing.

[0123] The construction module 340 is used to construct the target function based on the first position, the second position, the rotation matrix and the second direction vector.

[0124] The third determination module 350 is used to determine the Euler angle of the camera observation direction based on the objective function.

[0125] The task planning module 360 ​​is used to plan the task of observing a specified position based on the determined Euler angle of the camera observation direction.

[0126] According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging circuits, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be performed.

[0127] For example, any of the first determination module 310, the acquisition module 320, the second determination module 330, the construction module 340, the third determination module 350, and the mission planning module 360 ​​can be combined in one module / unit / subunit for implementation, or any of the modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least part of the functions of one or more of these modules / units / subunits can be combined with at least part of the functions of other modules / units / subunits and implemented in one module / unit / subunit. According to an embodiment of the present disclosure, at least one of the first determination module 310, the acquisition module 320, the second determination module 330, the construction module 340, the third determination module 350 and the mission planning module 360 ​​can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in an appropriate combination of any of them. Alternatively, at least one of the first determination module 310, the acquisition module 320, the second determination module 330, the construction module 340, the third determination module 350 and the mission planning module 360 ​​can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be performed.

[0128] It should be noted that the mission planning device part of the satellite observing the specified location in the embodiment of the present disclosure corresponds to the mission planning method part of the satellite observing the specified location in the embodiment of the present disclosure, and their specific implementation details are also the same, which will not be repeated here.

[0129] Figure 4 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present disclosure is schematically shown. Figure 4 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0130] like Figure 4 As shown, the electronic device 400 according to an embodiment of the present disclosure includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage part 408 to a random access memory (RAM) 403. The processor 401 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include an onboard memory configured for cache purposes. The processor 401 may include a single processing unit or multiple processing units configured to perform different actions of the method flow according to an embodiment of the present disclosure.

[0131] In RAM 403, various programs and data required for the operation of electronic device 400 are stored. Processor 401, ROM 402 and RAM 403 are connected to each other via bus 404. Processor 401 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 402 and / or RAM 403. It should be noted that the program can also be stored in one or more memories other than ROM 402 and RAM 403. Processor 401 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0132] According to an embodiment of the present disclosure, the electronic device 400 may further include an input / output (I / O) interface 405, which is also connected to the bus 404. The electronic device 400 may further include one or more of the following components connected to the input / output (I / O) interface 405: an input portion 406 including a keyboard, a mouse, etc.; an output portion 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 408 including a hard disk, etc.; and a communication portion 409 including a network interface card such as a LAN card, a modem, etc. The communication portion 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the input / output (I / O) interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage portion 408 as needed.

[0133] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code configured to execute the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the processor 401, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0134] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0135] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0136] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 402 and / or the RAM 403 described above and / or one or more memories other than the ROM 402 and the RAM 403 .

[0137] An embodiment of the present disclosure also includes a computer program product, which includes a computer program, which contains program code configured to execute the method provided by the embodiment of the present disclosure. When the computer program product runs on an electronic device, the program code is configured to enable the electronic device to implement the processing method for high-orbit satellite orbit determination provided by the embodiment of the present disclosure.

[0138] When the computer program is executed by the processor 401, the above functions defined in the system / device of the embodiment of the present disclosure are executed. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0139] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 409, and / or installed from the removable medium 411. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0140] According to an embodiment of the present disclosure, the program code configured to execute the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0141] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions configured to implement the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not clearly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0142] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A mission planning method for a satellite to observe a specified location, characterized in that: include: Determine the first position of the space target at a specified time in an inertial coordinate system by using two lines of orbital data of the space target; Obtaining a second position of the satellite platform at a specified time in an inertial coordinate system; Obtain a first direction vector of the initial pointing direction of the camera, and determine a second direction vector of the camera observation direction based on a rotation matrix and the first direction vector in a quasi-inertial coordinate system, wherein the rotation matrix is ​​determined by the Euler angle of the camera observation direction; constructing an objective function based on the first position, the second position, the rotation matrix, and the second direction vector; Based on the objective function, determining the Euler angle of the camera observation direction; Based on the determined Euler angles of the camera observation direction, a task planning for observing a specified position; Wherein, the objective function is: φ is the angle of rotation around the X axis in Euler angles, θ is the angle of rotation around the Y axis in Euler angles, and ϕ is the angle of rotation around the Z axis in Euler angles. , , ) represents the second direction vector, represents the first position of the space target at a specified time in the inertial coordinate system, The second position of the satellite platform at a specified time in the inertial coordinate system.

2. The task planning method according to claim 1, characterized in that: Determining the first position of the space target at a specified time in an inertial coordinate system by using two lines of orbital data of the space target includes: Through two lines of orbital data of the space target, orbital extrapolation is performed on the position and velocity of the space target in the inertial coordinate system to obtain the first position of the space target at a specified time in the inertial coordinate system.

3. The task planning method according to claim 1 or 2, characterized in that: The step of obtaining a first direction vector that the camera initially points to includes: Using two lines of orbital data of the space target, orbital extrapolation is performed on the position and velocity of the space target in the inertial coordinate system to obtain a first position and a first velocity of the space target at a specified time in the inertial coordinate system; Calculating orbital parameters of the space object based on the first position and the first velocity; A first direction vector in which the camera is initially pointed is determined based on the orbital parameters.

4. The task planning method according to claim 3, characterized in that: The orbital parameters include eccentricity, mechanical energy, semi-major axis, semi-diameter, orbital inclination, right ascension of ascending node, argument of perigee, and true anomaly.

5. The task planning method according to claim 1, characterized in that: The origin of the inertial coordinate system is the center of the earth, the X-axis is located in the equatorial plane of the earth, and points from the center of the earth to the vernal equinox; the Z-axis points from the center of the earth to the North Pole of the earth; the Y-axis is located in the equatorial plane of the earth, and its direction is determined according to the right-hand rule; The origin of the quasi-inertial coordinate system is the center of the earth, the positive direction of the X-axis is from the ascending node to the descending node, the positive direction of the Y-axis is the negative normal direction of the orbital plane, and the Z-axis is on the orbital plane and the positive direction of the Z-axis satisfies the right-hand rule with the positive directions of the X-axis and the Y-axis.

6. A mission planning device for a satellite to observe a specified location, characterized in that: include: A first determination module is used to determine a first position of the space target at a specified time in an inertial coordinate system through two lines of orbital data of the space target; An acquisition module, used for acquiring a second position of the satellite platform at a specified time in an inertial coordinate system; A second determination module is used to obtain a first direction vector of the initial pointing of the camera, and determine a second direction vector of the camera observation pointing based on a rotation matrix and the first direction vector in a quasi-inertial coordinate system, wherein the rotation matrix is ​​determined by the Euler angle of the camera observation pointing; A construction module, configured to construct an objective function based on the first position, the second position, the rotation matrix and the second direction vector; A third determination module is used to determine the Euler angle of the camera observation direction based on the objective function; A task planning module, used for planning a task of observing a specified position based on the determined Euler angle of the camera observation direction; Wherein, the objective function is: φ is the angle of rotation around the X axis in Euler angles, θ is the angle of rotation around the Y axis in Euler angles, and ϕ is the angle of rotation around the Z axis in Euler angles. , , ) represents the second direction vector, represents the first position of the space target at a specified time in the inertial coordinate system, The second position of the satellite platform at a specified time in the inertial coordinate system.

7. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, and when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 5.

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