Blind-filling observation method, device, electronic equipment and medium based on blind-filling sensor

Abstract

The present invention provides a blind spot observation method, device, electronic equipment and medium based on a blind spot sensor, and relates to the field of satellite remote sensing technology. The method comprises: determining the coordinates of a blind spot point in an inertial coordinate system; obtaining a first direction vector initially pointed by the blind spot sensor, and determining a second direction vector pointed by the blind spot sensor 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 blind spot sensor; constructing an objective function based on the rotation matrix, the second direction vector and the coordinates of the blind spot point; determining the Euler angle pointed by the blind spot sensor based on the objective function; and pointing the blind spot sensor to a geostationary orbit position on a line connecting the earth and the sun for blind spot observation based on the determined Euler angle pointed by the blind spot sensor.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite remote sensing technology, and in particular to a blind spot observation method, device, electronic equipment and medium based on a blind spot sensor. Background Art

[0002] Satellites in geostationary orbit are stationary relative to the surface of the Earth and always remain in the same position above the Earth's equator. This allows observers on the ground to continuously and stably observe the satellite without complex tracking and pointing adjustments. Therefore, satellites in geostationary orbit are widely used in communication broadcasting, navigation and positioning, meteorological observation, scientific research, emergency disaster reduction and other fields. However, since direct sunlight hits the lens of the optical blind spot sensor, it will cause damage to the optical device. Therefore, the optical equipment will shut down or adjust the blind spot sensor before the sunlight enters the field of view, which will cause observation interruption. Therefore, it is necessary to design a satellite with a special orbit and use blind spot sensors (including optical sensors and radar sensors) to observe geostationary orbit targets on the line connecting the Earth and the Sun. Summary of the invention

[0003] In view of this, the present disclosure provides a blind spot observation method, device, electronic device and medium based on a blind spot sensor, which are used to at least partially solve the above technical problems.

[0004] A first aspect of the present disclosure provides a blind spot observation method based on a blind spot sensor, comprising: determining the coordinates of a blind spot point in an inertial coordinate system; obtaining a first direction vector initially pointed by the blind spot sensor, and determining a second direction vector pointed by the blind spot sensor 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 blind spot sensor; constructing an objective function based on the rotation matrix, the second direction vector and the coordinates of the blind spot point; determining the Euler angle pointed by the blind spot sensor based on the objective function; and pointing the blind spot sensor to a geostationary orbit position on a line connecting the earth and the sun for blind spot observation based on the determined Euler angle pointed by the blind spot sensor.

[0005] According to an embodiment of the present disclosure, determining the coordinates of the blind spot in the inertial coordinate system includes: determining a third direction vector at a specified time of the sun in the inertial coordinate system; and determining the coordinates of the blind spot in the inertial coordinate system based on the third direction vector.

[0006] According to an embodiment of the present disclosure, determining a third direction vector of the sun at a specified time in an inertial coordinate system includes: determining the ecliptic longitude of the sun and a linear model of the solar ecliptic, the ecliptic longitude of the sun representing the longitude value of the sun in the ecliptic coordinate system, and the linear model of the solar ecliptic is used to describe the position or movement of the sun; determining the third direction vector based on the ecliptic longitude of the sun and the linear model of the solar ecliptic.

[0007] According to an embodiment of the present disclosure, based on the ecliptic longitude of the sun and the linear model of the sun's ecliptic, determining the third direction vector includes:

[0008]

[0009] Determine the third direction vector, represents the coordinate of the sun in the X-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Y-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Z-axis direction in the inertial coordinate system, represents the ecliptic longitude of the sun at a given moment, A linear model representing the sun at a specified time.

[0010] According to an embodiment of the present disclosure, the coordinates of the blind spot in the inertial coordinate system are determined based on the third direction vector, including: determining the projection of the sun on the geostationary orbit belt at a specified time based on the third direction vector; and determining the coordinates of the blind spot in the inertial coordinate system based on the projection and the geostationary orbit altitude.

[0011] According to an embodiment of the present disclosure, determining the projection of the sun on the geostationary orbit belt at a specified time based on the third direction vector includes:

[0012]

[0013] Determine the projection of the sun on the geostationary orbital zone at a given moment, represents the coordinate of the sun in the X-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Y-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Z-axis direction in the inertial coordinate system, It represents the projection coordinate of the sun vector in the X-axis direction on the geostationary orbit. It represents the projection coordinate of the sun vector in the Y-axis direction on the geostationary orbit. Represents the projection coordinate of the sun vector in the Z-axis direction on the geostationary orbit;

[0014] Based on the projection and the geostationary orbit altitude, determine the coordinates of the blind spot in the inertial coordinate system, including:

[0015]

[0016] Determine the coordinates of the blind spot in the inertial coordinate system, Indicates the coordinates of the blind spot in the X-axis direction in the inertial coordinate system. Indicates the coordinate of the blind spot in the Y-axis direction in the inertial coordinate system. It represents the coordinate of the blind spot in the Z-axis direction in the inertial coordinate system, and Geo represents the altitude of the geostationary orbit.

[0017] According to an embodiment of the present disclosure, the objective function is:

[0018]

[0019] 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 coordinates of the blind spot.

[0020] The second aspect of the present disclosure provides a blind spot observation device based on a blind spot sensor, including: a first determination module, used to determine the coordinates of a blind spot point in an inertial coordinate system; a second determination module, used to obtain a first direction vector initially pointed by the blind spot sensor, and determine a second direction vector pointed by the blind spot sensor 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 blind spot sensor; a construction module, used to construct an objective function based on the rotation matrix, the second direction vector and the coordinates of the blind spot point; a third determination module, used to determine the Euler angle pointed by the blind spot sensor based on the objective function; and an observation module, used to point the blind spot sensor to a geostationary orbit position on the line connecting the earth and the sun for blind spot observation based on the determined Euler angle pointed by the blind spot sensor.

[0021] 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.

[0022] 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.

[0023] The blind spot observation method, device, and medium based on the blind spot sensor provided by the embodiments of the present disclosure can achieve the following technical effects:

[0024] By calculating the coordinates of the blind spot in the inertial coordinate system and constructing the objective function between the coordinates of the blind spot and the rotating Euler angle, the Euler angle of the blind spot sensor pointing to the geostationary orbit position on the line connecting the earth and the sun can be quickly and accurately determined, thereby enabling fast and accurate blind spot observations.

[0025] Since the x-axis, y-axis and z-axis can rotate in both positive and negative directions, a single rotation matrix can only give a set of solutions under a specified rotation order. By constructing the objective function for solution and traversing the entire feasible domain of parameters, multiple feasible rotation solutions can be given.

[0026] In addition, 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

[0027] 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:

[0028] Figure 1 The flowchart of the blind spot observation method based on the blind spot sensor according to the embodiment of the present disclosure is schematically shown.

[0029] Figure 2 A schematic diagram of the position of blind spots on the geostationary orbit according to an embodiment of the present disclosure is schematically shown.

[0030] Figure 3 A block diagram of a blind spot filling observation device based on a blind spot filling sensor according to an embodiment of the present disclosure is schematically shown.

[0031] 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

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.).

[0036] Figure 1 The flowchart of the blind spot observation method based on the blind spot sensor according to the embodiment of the present disclosure is schematically shown.

[0037] like Figure 1 As shown, the blind spot observation method based on the blind spot sensor may include, for example, operations S101 to S105.

[0038] In operation S101 , the coordinates of the blind spot in the inertial coordinate system are determined.

[0039] In operation S102, a first direction vector initially pointed by the blind spot sensor is obtained, and a second direction vector pointed by the blind spot sensor 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 blind spot sensor.

[0040] In operation S103, an objective function is constructed based on the rotation matrix, the second direction vector, and the coordinates of the blind point.

[0041] In operation S104, the Euler angle of the blind spot sensor observation direction is determined based on the objective function.

[0042] In operation S105, based on the determined Euler angle of the blind spot sensor observation direction, the blind spot sensor is directed to the geostationary orbit position on the line connecting the earth and the sun to perform blind spot observation.

[0043] In a possible implementation of the present disclosure, the blind spot compensation sensor may be a space-based blind spot compensation sensor, which may include an optical sensor and a radar sensor.

[0044] In a possible implementation of the present disclosure, an inertial coordinate system (Earth Centered Inertial, ECI) is defined: the origin is located at the center of the earth; the X-axis is located in the equatorial plane of the earth, pointing 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 the direction is determined according to the right-hand rule. Quasi-inertial coordinate system: the origin is located at the center of the earth; the positive direction of the Y-axis is the negative normal direction of the orbital plane; the positive direction of the X-axis is from the ascending node to the descending node; the positive direction of the Z-axis is determined according to the right-hand rule with the X-axis and the Y-axis.

[0045] According to the blind spot observation method based on the blind spot sensor of this embodiment, by calculating the coordinates of the blind spot point in the inertial coordinate system and constructing the objective function between the coordinates of the blind spot point and the rotating Euler angle, the Euler angle of the geostationary orbit position of the blind spot sensor pointing to the line connecting the earth and the sun can be quickly and accurately determined, thereby enabling fast and accurate blind spot observation.

[0046] Figure 2 A schematic diagram of the position of blind spots on the geostationary orbit according to an embodiment of the present disclosure is schematically shown.

[0047] like Figure 2 As shown, based on the above-mentioned embodiment, in a possible implementation of the present disclosure, determining the coordinates of the blind spot in the inertial coordinate system in operation S101 may include:

[0048] Determine the third direction vector of the sun at a given time in the inertial coordinate system;

[0049] Based on the third direction vector, the coordinates of the blind spot in the inertial coordinate system are determined.

[0050] It can be understood that the blind spot on the geostationary orbit is the intersection of the line between the sun and the earth and the geostationary orbit. Therefore, the blind spot can be determined by obtaining the direction vector of the sun.

[0051] Based on the above embodiment, determining the third direction vector of the sun at a specified time in the inertial coordinate system may include:

[0052] The ecliptic longitude of the sun and the linear model of the solar ecliptic are determined. The ecliptic longitude of the sun represents the longitude value of the sun in the ecliptic coordinate system. The linear model of the solar ecliptic is used to describe the position or movement of the sun.

[0053] Based on the ecliptic longitude of the sun and the linear model of the solar ecliptic, a third direction vector is determined.

[0054] In a possible implementation of the present disclosure, the Julian date may be calculated as follows:

[0055]

[0056] Among them, year, month, day, hour, min, and second represent year, month, day, hour, minute, and second. Indicates rounding towards 0.

[0057] Calculate the mean anomaly of the sun:

[0058]

[0059] The ecliptic longitude of the sun:

[0060] ,

[0061] The linear model of the ecliptic of the sun:

[0062]

[0063] Then, according to

[0064]

[0065] Determine the third direction vector, represents the coordinate of the sun in the X-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Y-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Z-axis direction in the inertial coordinate system, represents the ecliptic longitude of the sun at a given moment, A linear model representing the sun at a specified time.

[0066] On the basis of the above embodiment, based on the third direction vector, determining the coordinates of the blind spot in the inertial coordinate system includes:

[0067] Based on the third direction vector, determine the projection of the sun on the geostationary orbital zone at the specified time.

[0068] Based on the projection and the geostationary orbit altitude, the coordinates of the blind spots in the inertial coordinate system are determined.

[0069] In a possible implementation of the present disclosure, determining the projection of the sun on the geostationary orbit belt at a specified time based on the third direction vector may include:

[0070] according to

[0071]

[0072] Determine the projection of the sun on the geostationary orbital zone at a given moment, represents the coordinate of the sun in the X-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Y-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Z-axis direction in the inertial coordinate system, It represents the projection coordinate of the sun vector in the X-axis direction on the geostationary orbit. It represents the projection coordinate of the sun vector in the Y-axis direction on the geostationary orbit. Represents the projection coordinate of the sun vector in the Z-axis direction on the geostationary orbit;

[0073] In a possible implementation of the present disclosure, determining the coordinates of the blind spot in the inertial coordinate system based on the projection and the geostationary orbit altitude may include:

[0074] according to

[0075]

[0076] Determine the coordinates of the blind spot in the inertial coordinate system, Indicates the coordinates of the blind spot in the X-axis direction in the inertial coordinate system. Indicates the coordinate of the blind spot in the Y-axis direction in the inertial coordinate system. It represents the coordinate of the blind spot in the Z-axis direction in the inertial coordinate system. Geo (Geosynchronous) represents the altitude of the geostationary orbit, which is approximately 35,786 kilometers.

[0077] On the basis of the above embodiment, in the quasi-inertial coordinate system, the second direction vector of the observation direction of the blind spot compensation sensor is determined based on the rotation matrix and the first direction vector after absolute rotation and relative rotation.

[0078] In a possible implementation, according to the rotation order, the vector equation after absolute rotation (static rotation) is:

[0079]

[0080] In a possible implementation, according to the rotation order, the vector equation after relative rotation is:

[0081]

[0082] 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 input is three Euler angles and the 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->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->z->z, y->x->z, y->x->z, 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:

[0083] ,

[0084] ,

[0085] ,

[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] in:

[0111]

[0112] Indicates rotation around the X axis.

[0113]

[0114] Indicates rotation around the Y axis.

[0115]

[0116] Indicates rotation around the Z axis.

[0117] Based on the above embodiment, the constructed objective function may be:

[0118]

[0119] 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 coordinates of the blind spot, represents the four-quadrant inverse tangent, Represents inverse tangent.

[0120] Using the optimization method, based on the above objective function, the rotation Euler angles can be determined.

[0121] Based on the above-mentioned blind spot observation method based on blind spot sensor, the present disclosure also provides a blind spot observation device based on blind spot sensor. Figure 3 The device is described in detail.

[0122] Figure 3 The structural block diagram of a blind spot observation device based on a blind spot sensor according to an embodiment of the present disclosure is schematically shown.

[0123] like Figure 3 As shown, the blind spot filling observation device 300 based on the blind spot filling sensor of this embodiment includes a first determination module 310, a second determination module 320, a construction module 330, a third determination module 340 and an observation module 350.

[0124] The first determination module 310 is used to determine the coordinates of the blind spot in the inertial coordinate system.

[0125] The second determination module 320 is used to obtain the first direction vector of the initial pointing of the blind spot sensor, and determine the second direction vector of the observation pointing of the blind spot sensor based on the rotation matrix and the first direction vector in the quasi-inertial coordinate system, wherein the rotation matrix is ​​determined by the Euler angle of the observation pointing of the blind spot sensor.

[0126] The construction module 330 is used to construct an objective function based on the rotation matrix, the second direction vector and the coordinates of the blind spot.

[0127] The third determination module 340 is used to determine the Euler angle of the blind spot sensor observation direction based on the objective function.

[0128] The observation module 350 is used to make the blind spot sensor point to the geostationary orbit position on the line between the earth and the sun to perform blind spot observation based on the determined Euler angle of the blind spot sensor observation direction.

[0129] 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.

[0130] For example, any multiple of the first determination module 310, the second determination module 320, the construction module 330, the third determination module 340 and the observation 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 construction module 330, the third determination module 340 and the observation 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 a suitable combination of any of them. Alternatively, at least one of the first determination module 310, the second determination module 320, the construction module 330, the third determination module 340 and the observation module 350 may be at least partially implemented as a computer program module, which may perform a corresponding function when executed.

[0131] It should be noted that the blind spot observation device based on the blind spot sensor in the embodiment of the present disclosure corresponds to the blind spot observation method based on the blind spot sensor in the embodiment of the present disclosure, and their specific implementation details are also the same, which will not be repeated here.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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 .

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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).

[0144] 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.

[0145] 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 blind spot observation method based on a blind spot sensor, characterized in that: include: Determining the coordinates of the blind spot in the inertial coordinate system includes: determining a third direction vector at a specified time of the sun in the inertial coordinate system; determining the coordinates of the blind spot in the inertial coordinate system based on the third direction vector; Obtain a first direction vector of the initial pointing direction of the blind spot sensor, and determine a second direction vector of the observation direction of the blind spot sensor 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 of the observation direction of the blind spot sensor; Constructing an objective function based on the rotation matrix, the second direction vector and the coordinates of the blind spot; Based on the objective function, determining the Euler angle of the blind spot sensor observation direction; Based on the determined Euler angle of the observation direction of the blind spot sensor, the blind spot sensor is pointed to the geostationary orbit position on the line connecting the earth and the sun to perform blind spot observation.

2. The blind spot observation method according to claim 1, characterized in that: The step of determining the third direction vector of the sun at a specified time in the inertial coordinate system includes: Determine the ecliptic longitude of the sun and a linear model of the sun ecliptic, wherein the ecliptic longitude of the sun represents the longitude value of the sun in the ecliptic coordinate system, and the linear model of the sun ecliptic is used to describe the position or movement of the sun; The third direction vector is determined based on the solar ecliptic longitude and a linear model of the solar ecliptic.

3. The blind spot observation method according to claim 2, characterized in that: The determining the third direction vector based on the solar ecliptic longitude and the linear model of the solar ecliptic comprises: according to Determine the third direction vector, represents the coordinate of the sun in the X-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Y-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Z-axis direction in the inertial coordinate system, represents the ecliptic longitude of the sun at a given moment, A linear model representing the sun at a specified time.

4. The blind spot observation method according to claim 1, characterized in that: The step of determining the coordinates of the blind spot in the inertial coordinate system based on the third direction vector includes: Determining a projection of the sun on the geostationary orbital zone at a specified time based on the third direction vector; Based on the projection and the geostationary orbit altitude, the coordinates of the blind spot in the inertial coordinate system are determined.

5. The blind spot observation method according to claim 4, characterized in that: Determining the projection of the sun on the geostationary orbit belt at a specified time based on the third direction vector comprises: according to determining the projection of the sun on the geostationary orbital zone at a specified time, represents the coordinate of the sun in the X-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Y-axis direction in the inertial coordinate system, represents the coordinate of the sun in the Z-axis direction in the inertial coordinate system, It represents the projection coordinate of the sun vector in the X-axis direction on the geostationary orbit. It represents the projection coordinate of the sun vector in the Y-axis direction on the geostationary orbit. Represents the projection coordinate of the sun vector in the Z-axis direction on the geostationary orbit; The step of determining the coordinates of the blind spot in the inertial coordinate system based on the projection and the geostationary orbit altitude includes: according to Determine the coordinates of the blind spot in the inertial coordinate system, Indicates the coordinate of the blind spot in the X-axis direction in the inertial coordinate system, Indicates the coordinate of the blind spot in the Y-axis direction in the inertial coordinate system, It represents the coordinate of the blind spot in the Z-axis direction in the inertial coordinate system, and Geo represents the altitude of the geostationary orbit.

6. The blind spot observation method according to claim 1, characterized in that: 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 coordinates of the blind spot.

7. A blind spot observation device based on a blind spot sensor, characterized in that: include: The first determination module is used to determine the coordinates of the blind spot in the inertial coordinate system, including: determining a third direction vector at a specified time of the sun in the inertial coordinate system; and determining the coordinates of the blind spot in the inertial coordinate system based on the third direction vector; A second determination module is used to obtain a first direction vector of the initial pointing of the blind spot sensor, and determine a second direction vector of the observation pointing of the blind spot sensor 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 observation pointing of the blind spot sensor; A construction module, used to construct an objective function based on the rotation matrix, the second direction vector and the coordinates of the blind spot; A third determination module is used to determine the Euler angle of the observation direction of the blind spot sensor based on the objective function; The observation module is used to make the blind spot sensor point to the geostationary orbit position on the line connecting the earth and the sun for blind spot observation based on the determined Euler angle of the blind spot sensor observation direction.

8. 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 6.

9. 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 6.

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