Method, device, electronic device and medium for determining visibility of space targets

Abstract

The present disclosure provides a method, device, electronic device and medium for determining the visibility of a space target. The method comprises: determining a first position and a first speed of the space target at a specified time and a second position of a sensor at a specified time in an inertial coordinate system; determining a first direction vector initially pointed by the sensor based on the second position and the second speed of the sensor at the specified time; rotating the first direction vector based on a rotation matrix in a quasi-inertial coordinate system to obtain a second direction vector pointed by the sensor; calculating the distance, azimuth and pitch angle between the space target and the center of the field of view of the sensor at the specified time based on the first position and the second position; and determining the visibility of the space target based on the second direction vector, the distance, the azimuth and the pitch angle.

Description

Technical Field

[0001] The present disclosure relates to the field of aerospace technology, and in particular to a method, device, electronic equipment and medium for determining visibility of a space target. Background Art

[0002] At present, ground-based detection equipment is one of the main means of cataloging space targets. Its core tasks are to observe, identify and track cataloged space targets, update the cataloging information of targets, extract and identify target characteristic data, and conduct threat assessment and collision warning for dangerous targets. If the detection equipment conducts a "blind search" of the detectable airspace, it will waste the detection resources of the detection equipment on the one hand, and "missed" or "wrongly followed" the targets on the other hand. To maintain and update the cataloged space targets, the visibility of the space targets should be determined first, that is, the time when the space targets enter and exit the detectable range of the detection equipment. Then, within the time and space range that the ground-based detection equipment can detect the space targets, the ground-based detection equipment can be pointed at the space targets and detected. Therefore, how to quickly and accurately calculate the visibility of space targets, so as to more reasonably use the time and space resources of the detection equipment to efficiently detect space targets, is a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0003] In view of this, the present disclosure provides a method, device, electronic device and medium for determining visibility of a space target, which are used to at least partially solve the above-mentioned technical problems.

[0004] A first aspect of the present disclosure provides a method for determining the visibility of a space target, including: determining a first position and a first speed of the space target at a specified time and a second position of a sensor at a specified time in an inertial coordinate system; determining a first direction vector initially pointed by the sensor based on the second position and the second speed of the sensor at the specified time; in a quasi-inertial coordinate system, rotating the first direction vector based on a rotation matrix to obtain a second direction vector pointed by the sensor; calculating the distance, azimuth and pitch angle between the space target and the center of the field of view of the sensor at the specified time based on the first position and the second position; and determining the visibility of the space target based on the second direction vector, the distance, the azimuth and the pitch angle.

[0005] According to an embodiment of the present disclosure, the visibility of the space target is determined based on the second direction vector, the distance, the azimuth and the pitch angle, including: obtaining the first half field of view angle of the sensor in the horizontal direction and the second half field of view angle in the vertical direction; determining the angular visibility range based on the second direction vector, the first half field of view angle and the second half field of view angle; determining the distance range observed by the sensor; and determining the visibility of the space target based on the distance, the azimuth and the pitch angle, the distance range and the angle range.

[0006] According to an embodiment of the present disclosure, the angular visibility range is determined based on the second direction vector, the first half field of view angle and the second half field of view angle, including: determining the first angular visibility range based on the first pointing angle and the first half field of view angle, and determining the second angular visibility range based on the second pointing angle and the second half field of view angle.

[0007] According to an embodiment of the present disclosure, the visibility of a space target is determined based on distance, azimuth and elevation, within a distance range and within an angle range, including: when the distance is within a distance range, the azimuth is within a first angle visibility range, and the elevation is within a second angle range, determining that the space target is visible.

[0008] According to an embodiment of the present disclosure, when the distance is within a distance range and the azimuth and elevation angles are within an angle range, determining that the space target is visible includes: when the distance, azimuth and elevation angles satisfy:

[0009]

[0010] In the case of , it is determined that the space target is visible, For distance, is the azimuth, is the pitch angle, is the closest distance observed by the sensor, is the maximum distance observed by the sensor, is the first pointing angle, is the second pointing angle, is the first half field of view, It is the second half field of view.

[0011] According to an embodiment of the present disclosure, determining a first position and a first speed of a space target at a specified time and a second position and a second speed of a sensor at a specified time in an inertial coordinate system includes: determining the first position of the space target at the specified time in the inertial coordinate system through two lines of orbital data of the space target, and determining the second position of the sensor at the specified time in the inertial coordinate system through two lines of orbital data of the sensor.

[0012] According to an embodiment of the present disclosure, based on the first position and the second position, calculating the distance, azimuth and elevation angle between the space target and the center of the field of view of the sensor at a specified time includes:

[0013] according to

[0014]

[0015] Calculating distance ;

[0016] according to

[0017]

[0018] Calculate the azimuth ;

[0019] according to

[0020]

[0021] Calculate the pitch angle ;

[0022] The coordinates corresponding to the first position are , the coordinates corresponding to the second position are , Indicates the remainder. represents the four-quadrant inverse tangent, Represents inverse tangent.

[0023] According to a second aspect of the present disclosure, there is provided a device for determining the visibility of a space target, comprising: a first determination module for determining a first position and a first speed of the space target at a specified time and a second position of a sensor at a specified time in an inertial coordinate system; a second determination module for determining a first direction vector initially pointed to by the sensor based on the second position and the second speed of the sensor at the specified time; a rotation module for rotating the first direction vector based on a rotation matrix in a quasi-inertial coordinate system to obtain a second direction vector pointed to by the sensor; a calculation module for calculating the distance, azimuth and pitch angle between the space target and the center of the field of view of the sensor at a specified time based on the first position and the second position; and a third determination module for determining the visibility of the space target based on the second direction vector, the distance, the azimuth and the pitch angle.

[0024] 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.

[0025] 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.

[0026] The method, device, electronic device, and medium for determining visibility of a space target provided by the embodiments of the present disclosure can achieve the following technical effects:

[0027] By calculating the distance, azimuth and elevation angle between the space target and the center of the sensor's field of view, and combining the initial pointing of the sensor with the observed pointing in azimuth and elevation after rotation, the visibility of the space target can be determined accurately and quickly.

[0028] 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

[0029] 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:

[0030] Figure 1 A flowchart of a method for determining visibility of a space target according to an embodiment of the present disclosure is schematically shown.

[0031] 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.

[0032] Figure 3 A block diagram of a device for determining visibility of a space target according to an embodiment of the present disclosure is schematically shown.

[0033] 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

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.).

[0038] Figure 1 A flowchart of a method for determining visibility of a space target according to an embodiment of the present disclosure is schematically shown.

[0039] like Figure 1 As shown, the method for determining the visibility of the space target may include, for example, operations S101 to S105.

[0040] In operation S101 , a first position and a first speed of a space target at a specified time and a second position of a sensor at a specified time are determined in an inertial coordinate system.

[0041] In operation S102 , a first direction vector to which the sensor initially points is determined based on a second position and a second speed of the sensor at a specified time.

[0042] In operation S103, in a quasi-inertial coordinate system, the first direction vector is rotated based on a rotation matrix to obtain a second direction vector pointed by the sensor.

[0043] In operation S104, based on the first position and the second position, the distance, azimuth, and elevation angle between the space target and the center of the field of view of the sensor at a specified time are calculated.

[0044] In operation S105 , visibility of the space target is determined based on the second direction vector, the distance, the azimuth angle, and the elevation angle.

[0045] Based on the above embodiment, determining the first position and first speed of the space target at a specified time and the second position and second speed of the sensor at a specified time in the inertial coordinate system in operation S101 may include:

[0046] The first position of the space target at a specified time in the inertial coordinate system is determined through the two-line orbital data (Two-Line Element, TLE) of the space target, and the second position of the sensor at a specified time in the inertial coordinate system is determined through the two-line orbital data of the sensor.

[0047] Based on the above embodiment, determining the first direction vector that the sensor initially points to based on the second position and the second speed of the sensor at the specified time in operation S201 may include:

[0048] Through the two lines of orbital data of the space target, the position and velocity of the sensor in the inertial coordinate system are extrapolated to obtain the first and second positions and second velocities of the space target at the specified time in the inertial coordinate system. The orbital parameters of the sensor are calculated based on the second position and the second velocity. The first direction vector of the initial pointing of the sensor is determined based on the orbital parameters.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] The orbital parameters of the space target are calculated based on the position and velocity of the sensor at a specified time in the Earth-centered inertial coordinate system.

[0053] For example, suppose the position vector of the space target is , the velocity vector is , then the angular momentum

[0054]

[0055] The norm of angular momentum

[0056]

[0057] Represents the modulus of a vector.

[0058]

[0059] in, represents the unit vector in the X-axis direction, and Respectively Projection onto the X and Y axes.

[0060]

[0061] in, is the Earth's gravitational parameter, and its value is 398600.4418 , then the eccentricity:

[0062]

[0063] Mechanical energy

[0064]

[0065] Semimajor axis:

[0066]

[0067] Semi-latus rectum:

[0068]

[0069] Inclination:

[0070]

[0071] in, represents the arccosine,

[0072] Longitude of ascending node:

[0073]

[0074] Argument of perigee

[0075]

[0076] True anomaly:

[0077]

[0078] Based on the above calculations, the orbital parameters can be determined.

[0079] 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 sensor is determined to be E.

[0080] According to the rotation order, the vector equation after absolute rotation (Static rotation) is:

[0081]

[0082] Similarly, the vector equation after relative rotation is:

[0083]

[0084] Among them, the rotation matrix Indicates the direction vector from the first direction (initial direction) To the second direction vector after rotation (observation direction) The rotation matrix of .

[0085] 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:

[0086] ,

[0087] ,

[0088] ,

[0089] ,

[0090] ,

[0091] ,

[0092] ,

[0093] ,

[0094] ,

[0095] ,

[0096] ,

[0097] ,

[0098] ,

[0099] ,

[0100] ,

[0101] ,

[0102] ,

[0103] ,

[0104] ,

[0105] ,

[0106] ,

[0107] ,

[0108] ,

[0109] ,

[0110] ,

[0111] ,

[0112] .

[0113] in,

[0114]

[0115] Indicates rotation around the X axis,

[0116]

[0117] Indicates rotation around the Y axis,

[0118]

[0119] Indicates rotation around the Z axis.

[0120] Based on the above embodiment, in operation S104, calculating the distance, azimuth and elevation angle between the space target and the center of the field of view of the sensor at a specified time based on the first position and the second position may include:

[0121] according to

[0122]

[0123] Calculating distance ;

[0124] according to

[0125]

[0126] Calculate the azimuth ;

[0127] according to

[0128]

[0129] Calculate the pitch angle ;

[0130] The coordinates corresponding to the first position are , the coordinates corresponding to the second position are , Indicates the remainder. represents the four-quadrant inverse tangent, Represents inverse tangent.

[0131] On the basis of the above embodiments, determining the visibility of the space target based on the second direction vector, distance, azimuth and pitch angle in operation S105 may include: acquiring the first half field of view angle of the sensor in the horizontal direction and the second half field of view angle in the vertical direction; determining the angular visibility range based on the second direction vector, the first half field of view angle and the second half field of view angle; determining the distance range observed by the sensor; and determining the visibility of the space target based on the distance, azimuth and pitch angle, within the distance range and within the angle range.

[0132] In a possible implementation of the embodiment of the present disclosure, it is possible to determine whether a space target is within the visible range of a space-based sensor by comparing the distance, azimuth, and elevation angle. Assume that the visible range of the space-based sensor in the three dimensions of distance, azimuth, and elevation angle are respectively , and ,in, is the center vector of the sensor field of view (second direction vector) Pointing upward in azimuth, is the center vector of the sensor field of view In the pitch-up direction, is the horizontal half angle of the sensor. is the vertical half angle of the sensor.

[0133] ,

[0134] Then the space target visibility flag is:

[0135] ,

[0136] Otherwise, the space object visibility flag:

[0137] .

[0138] According to an embodiment of the present disclosure, by calculating the distance, azimuth and pitch angle between the space target and the center of the sensor's field of view, and combining the azimuth and pitch directions of the initial pointing of the sensor obtained after rotation, the visibility of the space target can be accurately and quickly determined.

[0139] Based on the above-mentioned method for determining the visibility of a space target, the present disclosure also provides a device for determining the visibility of a space target. Figure 3 The device is described in detail.

[0140] Figure 3 The structural block diagram of the device for determining visibility of a space target according to an embodiment of the present disclosure is schematically shown.

[0141] like Figure 3 As shown, the visibility determination device 300 of a space target in this embodiment includes a first determination module 310 , a second determination module 320 , a rotation module 330 , a calculation module 340 and a third determination module 350 .

[0142] The first determination module 310 is used to determine the first position and first speed of the space target at a specified time and the second position of the sensor at a specified time in an inertial coordinate system.

[0143] The second determination module 320 is configured to determine a first direction vector that the sensor initially points to based on a second position and a second speed of the sensor at a specified time.

[0144] The rotation module 330 is used to rotate the first direction vector based on the rotation matrix in the quasi-inertial coordinate system to obtain the second direction vector pointed by the sensor observation.

[0145] The calculation module 340 is used to calculate the distance, azimuth and elevation angle between the space target and the center of the field of view of the sensor at a specified time based on the first position and the second position.

[0146] The third determination module 350 is used to determine the visibility of the space target based on the second direction vector, the distance, the azimuth angle and the pitch angle.

[0147] 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.

[0148] For example, any multiple of the first determination module 310, the second determination module 320, the rotation module 330, the calculation module 340, and the third determination module 350 can be combined in one module / unit / sub-unit for implementation, or any one of the modules / units / sub-units can be split into multiple modules / units / sub-units. Alternatively, at least part of the functions of one or more of these modules / units / sub-units can be combined with at least part of the functions of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to an embodiment of the present disclosure, at least one of the first determination module 310, the second determination module 320, the rotation module 330, the calculation module 340, and the third determination module 350 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 any appropriate combination of any of them. Alternatively, at least one of the first determination module 310 , the second determination module 320 , the rotation module 330 , the calculation module 340 , and the third determination module 350 may be at least partially implemented as a computer program module, which may perform a corresponding function when executed.

[0149] It should be noted that the visibility determination device of the space target in the embodiment of the present disclosure corresponds to the visibility determination method of the space target in the embodiment of the present disclosure, and their specific implementation details are also the same, which will not be repeated here.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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 .

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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).

[0162] 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.

[0163] 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 method for determining visibility of a space target, characterized in that: include: Determining a first position and a first velocity of the space target at a specified time and a second position of the sensor at a specified time in an inertial coordinate system; determining a first direction vector in which the sensor is initially pointed based on a second position and a second velocity of the sensor at a specified time; In a quasi-inertial coordinate system, the first direction vector is rotated based on a rotation matrix to obtain a second direction vector pointed by the sensor; Based on the first position and the second position, calculating the distance, azimuth and elevation angle between the space target and the center of the field of view of the sensor at a specified time; Acquire a first half field of view angle in the horizontal direction and a second half field of view angle in the vertical direction of the sensor; Determine a first angular visible range based on the first pointing angle and the first half field of view angle, and determine a second angular visible range based on the second pointing angle and the second half field of view angle; Determining a distance range observed by the sensor; Determining visibility of the space target based on the distance, the azimuth angle and the elevation angle, the distance range and the first angular visibility range, and the second angular visibility range; Wherein, the distance, the azimuth angle and the elevation angle satisfy: In the case of is the distance, the is the azimuth, the is the pitch angle, the is the shortest distance observed by the sensor, is the farthest distance observed by the sensor, is the first pointing angle, the first pointing angle is the direction of the second direction vector in azimuth, is the second pointing angle, the second pointing angle is the direction of the second direction vector in the pitch direction, is the first half field of view, is the second half field of view.

2. The visibility determination method according to claim 1, characterized in that: Determining the first position and first velocity of the space target at a specified time and the second position and second velocity of the sensor at a specified time in the inertial coordinate system includes: The first position of the space target at a specified time in the inertial coordinate system is determined by two lines of orbital data of the space target, and the second position of the sensor at a specified time in the inertial coordinate system is determined by two lines of orbital data of the sensor.

3. The visibility determination method according to claim 1, characterized in that: The step of calculating the distance, azimuth and elevation angle between the space target and the center of the field of view of the sensor at a specified time based on the first position and the second position includes: According to the Calculate the distance ; according to Calculate the azimuth ; according to Calculate the pitch angle ; The coordinates corresponding to the first position are , the coordinates corresponding to the second position are , Indicates the remainder. represents the four-quadrant inverse tangent, Represents the inverse tangent.

4. A device for determining visibility of a space target, used to implement the method according to any one of claims 1 to 3, characterized in that: include: A first determination module is used to determine a first position and a first speed of the space target at a specified time and a second position of the sensor at a specified time in an inertial coordinate system; A second determination module, configured to determine a first direction vector that the sensor initially points to based on a second position and a second speed of the sensor at a specified time; A rotation module, used for rotating the first direction vector based on a rotation matrix in a quasi-inertial coordinate system to obtain a second direction vector pointed by the sensor; a calculation module, configured to calculate, based on the first position and the second position, a distance, an azimuth angle, and a pitch angle between the space target and the center of the field of view of the sensor at a specified time; The third determination module is used to determine the visibility of the space target based on the second direction vector, the distance, the azimuth angle and the pitch angle.

5. 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 3.

6. 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 3.

Images