A ground evaluation device and method for scanning effect of a long-term airborne platform

Abstract

An embodiment of the present invention provides a ground-based evaluation device and method for the scanning effect of a long-duration aerospace platform. The device comprises: a data processor, a servo control processor, a three-axis test turntable, and an optoelectronic payload. The optoelectronic payload is mounted on the three-axis test turntable, the servo control processor is electrically connected to the three-axis test turntable and the optoelectronic payload, and the servo control processor is electrically connected to the data processor. The servo control processor is used to collect physical data and transmit it to the servo control processor. The data processor is used to evaluate the scanning effect of the long-duration aerospace platform using physical data, design data, and virtual test scenario data. The optoelectronic payload is used to receive operating instructions from the servo control processor to control the scanning operation of the optoelectronic payload. The three-axis test turntable is used to simulate the posture changes of the long-duration aerospace platform in the air. This solution uses a ground-based evaluation device to evaluate the scanning effect of the long-duration aerospace platform on the ground, has good versatility, and is easy to implement in engineering.

Description

Technical Field

[0001] The present invention relates to the field of ground imaging technology, and in particular to a ground evaluation device and method for the scanning effect of a long-term airborne platform. Background Art

[0002] Compared with space-based and airborne Earth observation systems, Earth observation systems operating in near-space have a wide coverage range, relatively high resolution, and can be deployed in specific areas according to needs, realizing all-weather and all-day Earth observation. They have been widely used in land and resources observation, ocean monitoring, disaster prevention and mitigation, and emergency response.

[0003] In near-space environments, where altitudes generally exceed 20 km, a stratospheric airship typically tows an electro-optical payload to a designated altitude to conduct ground scanning missions and evaluate their effectiveness. If design adjustments are necessary, the electro-optical payload must be recovered and debugged, and then re-launched with the stratospheric airship after modifications. This experiment consumes significant time, manpower, and resources.

[0004] The above problems are limited by working conditions. Traditional design and evaluation methods are difficult to meet the needs of system scanning effect evaluation. There is an urgent need for a scanning effect evaluation method that is versatile and easy to implement in engineering practice. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a ground-based evaluation device and method for the scanning effect of a long-duration airborne platform to address the technical problem that existing scanning effect evaluation methods are difficult to meet the requirements of system scanning effect evaluation. The method includes:

[0006] A ground evaluation device for scanning effects of a long-duration airborne platform, comprising:

[0007] Data processor, servo control processor, three-axis test turntable and optoelectronic load;

[0008] The photoelectric load is installed on a three-axis test turntable, the servo control processor is electrically connected to the three-axis test turntable and the photoelectric load respectively, and the servo control processor is electrically connected to the data processor;

[0009] The servo control processor is used to collect entity data and transmit it to the servo control processor, wherein the entity data includes the measured posture data of the carrier and the two-axis angle information data;

[0010] The data processor is used to receive entity data and generate data calculation results through entity data, design data and virtual test scene data, and evaluate the scanning effect of the long-term airborne platform through the data calculation results;

[0011] The photoelectric payload is used to receive the working instructions sent by the servo control processor, control the scanning work of the photoelectric payload through the working instructions, and synchronously collect the axial motion information of the roll and pitch of the photoelectric payload;

[0012] The three-axis test turntable is used to simulate the product's posture changes in the air.

[0013] Furthermore, the servo control processor includes:

[0014] Sensor information acquisition module and work instruction scheduling module;

[0015] The sensor information acquisition module is used to collect the axial motion parameters of the photoelectric load, wherein the axial motion parameters include the roll angle and the pitch angle;

[0016] The work instruction scheduling module is used to send scanning instructions to the optoelectronic payload, wherein the scanning instructions include rolling motion instructions and pitching motion instructions.

[0017] Furthermore, the data processing machine includes:

[0018] Design data and virtual test scene injection module, physical data injection module, data measurement module and digital map matching and effect evaluation module. The data processing machine is used to evaluate the scanning effect of the airborne platform through design data, virtual test scene and physical data;

[0019] The design data and virtual test scenario injection module is used to inject the design data and virtual test scenario into the data measurement module;

[0020] The entity data injection module is used to inject entity data into the data calculation module;

[0021] The data calculation module is used to calculate and generate ground scanning coordinate points;

[0022] The digital map matching and effect evaluation module is used to match the ground scanning coordinate points with the digital map scene and simulate the scanning effect.

[0023] Furthermore, the photovoltaic load includes:

[0024] Two-axis four-frame optoelectronic platform and optoelectronic payload sight axis;

[0025] The two-axis four-frame optoelectronic platform includes a roll axis and a pitch axis orthogonal to the roll axis.

[0026] A ground evaluation method for a scanning effect of a long-term airborne platform is provided. The ground evaluation method uses a ground evaluation device for the scanning effect of the long-term airborne platform to evaluate the scanning effect of the long-term airborne platform, comprising:

[0027] The following processing is performed until the scanning imaging of the planned area is completed:

[0028] Design ground scanning function algorithm;

[0029] Generate platform working data based on ground imaging requirements, execute the platform working data on the long-duration airborne platform, generate design data, use the design data as the data to be evaluated, and use the ground scanning function algorithm to evaluate the data to be evaluated. If the evaluation requirements are not met, optimize and modify the ground scanning function algorithm;

[0030] The ground scanning work of the long-duration airborne platform is simulated on the ground, and the entity data generated by the scanning is used as the data to be evaluated. The ground scanning function algorithm is used to evaluate the data to be evaluated. If the evaluation requirements are not met, the ground scanning function algorithm is optimized and corrected.

[0031] Furthermore, the data to be evaluated is evaluated using the ground scanning function algorithm, including:

[0032] Construct a virtual test scenario, which includes the working scenario parameters of the long-term airborne platform;

[0033] According to the data to be evaluated and the virtual test scene, the real-time coordinates of the geocentric coordinate system of the photoelectric payload are calculated, and the real-time ground imaging position coordinates of the photoelectric payload are calculated through the real-time coordinates of the geocentric coordinate system;

[0034] The real-time ground imaging position coordinates are matched with the digital map scene to generate a target scanning area map, and the ground imaging effect is evaluated through the target scanning area map. If the evaluation requirements are not met, the ground scanning function algorithm is optimized and corrected.

[0035] Furthermore, the real-time coordinates of the geocentric coordinate system of the photoelectric payload are calculated based on the data to be evaluated and the virtual test scene. The real-time coordinates of the geocentric coordinate system are used to calculate the real-time ground imaging position coordinates of the photoelectric payload, including:

[0036] Calculate the real-time coordinates of the geocentric coordinate system of the optoelectronic payload Among them, real-time coordinates is the transformation matrix from geographic coordinate system to geocentric coordinate system, is the initial coordinate of the geographic coordinate system of the photoelectric payload, is the speed parameter, t is the time;

[0037] The real-time coordinates of the geocentric coordinate system are used to calculate the real-time earth imaging position coordinates, where the real-time earth imaging position coordinates are is the unit vector of the platform’s visual axis, r is the length of the observation vector, is the transformation matrix from the platform coordinate system to the geocentric coordinate system.

[0038] Furthermore, the ground imaging effect is evaluated through the target scanning area map, including:

[0039] Set the scanning imaging range required by the task and determine whether the coverage of the target scanning area map meets the scanning imaging range required by the task;

[0040] Set the overlap ratio of the mosaic images to determine whether the overlap ratio between the target scanning area images is greater than the mosaic image overlap ratio;

[0041] If the scanning imaging range does not meet the task requirements and / or the overlap rate of the mosaic image is less than or equal to that of the mosaic image, the evaluation requirements will not be met.

[0042] Furthermore, the overlap rate of the mosaic images is 15%.

[0043] Furthermore, the mission requires a scanning imaging range of an area of ​​48km×48km.

[0044] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0045] By using the ground evaluation device of the embodiment of the present invention, the scanning effect of the long-term airborne platform can be evaluated on the ground, which has good versatility and is easy to implement in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 This is an overall structural diagram of a ground-based evaluation device for a scanning effect of a long-duration airborne platform according to an embodiment of the present invention;

[0048] Figure 2 It is a flow chart of a ground evaluation method for a scanning effect of a long-duration airborne platform according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0050] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0051] In an embodiment of the present invention, a ground evaluation device for the scanning effect of a long-term airborne platform is provided, such as Figure 1 As shown, the device includes:

[0052] Data processor, servo control processor, three-axis test turntable and optoelectronic load;

[0053] The photoelectric load is installed on a three-axis test turntable, the servo control processor is electrically connected to the three-axis test turntable and the photoelectric load respectively, and the servo control processor is electrically connected to the data processor;

[0054] The servo control processor is used to collect entity data and transmit it to the servo control processor, wherein the entity data includes the measured posture data of the carrier and the two-axis angle information data;

[0055] The data processor is used to receive entity data and generate data calculation results through entity data, design data and virtual test scene data, and evaluate the scanning effect of the long-term airborne platform through the data calculation results;

[0056] The photoelectric payload is used to receive the working instructions sent by the servo control processor, control the scanning work of the photoelectric payload through the working instructions, and synchronously collect the axial motion information of the photoelectric payload in roll and pitch (two axial motion information);

[0057] The three-axis test turntable is used to simulate the posture changes of a long-term airborne platform in the air.

[0058] The servo control processor includes:

[0059] Sensor information acquisition module and work instruction scheduling module;

[0060] The sensor information acquisition module is used to collect the axial motion parameters of the photoelectric load, wherein the axial motion parameters include the roll angle and the pitch angle;

[0061] The work instruction scheduling module is used to send scanning instructions to the optoelectronic payload, wherein the scanning instructions include rolling motion instructions and pitching motion instructions.

[0062] The data processing unit includes:

[0063] Design data and virtual test scene injection module, physical data injection module, data measurement module and digital map matching and effect evaluation module. The data processing machine is used to evaluate the scanning effect of the airborne platform through design data, virtual test scene and physical data;

[0064] The design data and virtual test scenario injection module is used to inject the design data and virtual test scenario into the data measurement module;

[0065] The entity data injection module is used to inject entity data into the data calculation module;

[0066] The data calculation module is used to calculate and generate the coordinate points of the ground scan. The data calculation solves the position parameters (longitude, latitude, altitude) of the intersection of the visual axis on the ground through the position parameters, speed parameters, attitude parameters and motion parameters of the photoelectric payload.

[0067] The digital map matching and effect evaluation module is used to match ground scanning coordinates with digital map scenes and simulate the scanning effect. Digital map matching uses the position parameters (longitude, latitude, and altitude) of the intersection of the line of sight and the ground to query and match the ground scene image, ultimately obtaining an image of the electro-optical payload scanning the ground scene.

[0068] Among them, the photoelectric load includes:

[0069] Two-axis four-frame configuration optoelectronic platform and optoelectronic payload visual axis; the two-axis four-frame configuration optoelectronic platform includes a roll axis and a pitch axis orthogonal to the roll axis.

[0070] Specifically, the optoelectronic payload adopts a two-axis four-frame optoelectronic platform, in which one axis is the roll axis and the other axis is the pitch axis orthogonal to it.

[0071] The scanning effect of the long-term airborne platform is evaluated using a ground-based evaluation device for the scanning effect of the long-term airborne platform, such as Figure 2 As shown in the figure, after receiving the scanning effect evaluation task, the system first enters the design evaluation phase, where it designs the functional algorithm, plans the scanning path, and generates design data. The data processor then combines the design data with the virtual scene settings to obtain evaluation data for the data measurement module. This data calculates the ground scanning coordinates and matches the coordinate points with the digital map scene, ultimately achieving a simulated scanning imaging effect. Design indicators (ground scanning imaging range and mosaic overlap ratio) are compared. If the requirements are not met, the system returns to the functional algorithm (scanning path) design iteration. If the requirements are met, the system enters the physical evaluation phase.

[0072] During the physical evaluation phase, the servo control processor first controls the electro-optical payload and collects data. The data processor receives the physical data from the servo control processor (roll and pitch angles during electro-optical imaging) and injects it into the data calculation module as evaluation input. The data calculation module calculates and predicts the coordinates of the ground scanning imaging points and matches them with the digital map scene to ultimately obtain a simulated scanning imaging effect. If the requirements (ground scanning imaging range and mosaic overlap) are not met, the algorithm returns to the functional algorithm design step for iterative optimization until they are met.

[0073] Ground assessment methods include:

[0074] The following processing is performed until the scanning imaging of the planned area is completed:

[0075] Design a ground scanning function algorithm based on specific tasks; evaluate the ground scanning function algorithm in the design evaluation phase; and evaluate the ground scanning function algorithm in the physical evaluation phase.

[0076] Specifically, after receiving a mission from the mission aircraft, the design and evaluation phase begins. This involves designing the ground scanning algorithm, planning the scanning path, and generating design data. The data processor then combines this design data with the virtual scene settings to generate evaluation data for the data measurement module. This data then calculates the ground scanning coordinates and matches them with the digital map scene, ultimately achieving a simulated scanning imaging effect. Design indicators are compared. If they do not meet the requirements, the design iteration of the ground scanning algorithm is returned to. If they do, the physical evaluation phase begins.

[0077] The design review phase includes:

[0078] Plan the platform scanning trajectory according to the specific ground imaging requirements and generate platform working data. The specific data is the platform working instruction, that is, the platform scanning angle instruction. (Roll motion instruction roll cmd , pitch motion command pitch cmd );

[0079] According to the measured working environment characteristics, a virtual test scene is constructed, including the working scene parameters of the platform, including the coordinate parameters of the optoelectronic payload geographic coordinate system (longitude lon0, latitude lat0, altitude alt0), speed parameters (Eastward speed v E , northward speed v N , celestial velocity v U ), attitude (roll angle φ, pitch angle θ, azimuth angle ψ);

[0080] Based on the design data and the virtual test scenario, the real-time ground imaging position coordinates of the optoelectronic payload are calculated. The main steps are as follows:

[0081] 1) Obtain the real-time coordinates of the geocentric coordinate system of the photoelectric payload in, is the transformation matrix from geographic coordinate system to geocentric coordinate system, is the initial coordinate of the geographic coordinate system of the photoelectric payload, and t is the time.

[0082] 2) Calculate the observation vector of the photoelectric payload pointing to the surface of the earth's ellipsoid model (using the WGS84 ellipsoid model), and then obtain the real-time earth imaging position coordinates in, is the unit vector of the platform’s visual axis, r is the length of the observation vector, is the transformation matrix from the platform coordinate system to the geocentric coordinate system.

[0083] Combined with the earth ellipsoid equation, the length of the observation vector can be calculated and the real-time earth imaging position coordinates can be obtained.

[0084] Based on the real-time ground imaging position coordinates and the digital map scene, the coordinate data is mapped to the digital map, the corresponding scene is extracted, and an imaging picture is obtained during the scanning process; this process is repeated, and the images obtained during the entire scanning process are spliced ​​into a target scanning area map of the airborne platform.

[0085] On this basis, an evaluation of the ground imaging effect is conducted. Specific evaluation items include: whether the coverage of the target scanning area map meets the scanning imaging range required by the mission, and whether there is sufficient overlap between the mosaic images.

[0086] If the design index requirements are not met, return to the ground scanning function algorithm design for optimization and correction.

[0087] During the physical evaluation phase, the servo control processor first controls the electro-optical payload and collects data. The data processor receives the physical data from the servo control processor and feeds it into the data calculation module as evaluation input. The data calculation module calculates and predicts the ground scanning coordinates and matches these coordinates with the digital map scene to ultimately simulate the scanning imaging effect. If the requirements are not met, the algorithm returns to the design steps of the ground scanning function and iterates and optimizes until the requirements are met.

[0088] The ground scanning algorithm is evaluated during the design evaluation phase, including:

[0089] Generate design data and virtual test scenarios; calculate ground imaging coordinate points based on the design data and virtual test scenarios; match the ground imaging coordinate points with the digital map scenario, and evaluate the ground imaging effect. If it does not meet the evaluation requirements, optimize and correct the ground scanning function algorithm.

[0090] The design data includes axial motion instructions for the roll axis and the pitch axis.

[0091] The virtual test scenario includes the position parameters (longitude, latitude, altitude), speed parameters (eastward speed, northward speed, celestial speed) and attitude (roll angle, pitch angle, azimuth angle) of the optoelectronic payload.

[0092] The physical evaluation phase of the ground scanning algorithm includes:

[0093] The optoelectronic payload is controlled by a three-axis test turntable to collect data and obtain physical data; the physical data is injected into the data measurement module for re-evaluation; the ground imaging coordinate points are calculated based on the physical data and the virtual experimental scene; the ground imaging coordinate points are matched with the digital map scene, and the ground imaging effect is evaluated. If it does not meet the evaluation requirements, the ground scanning function algorithm is optimized and corrected.

[0094] Among them, the entity data includes the optoelectronic payload attitude parameters (roll angle, pitch angle, azimuth angle) and two axial motion parameters (roll angle, pitch angle).

[0095] The entity assessment phase includes:

[0096] The actual working posture changes of the stationary platform at high altitude are simulated by manipulating the three-axis test turntable, and working data is collected simultaneously;

[0097] Input the data conditions designed in the design evaluation phase (including the scanning work instructions of the optoelectronic payload and the position and posture information of the stationary platform, etc.) into the stationary platform for evaluation;

[0098] The coordinates of the ground imaging points are calculated during the scanning process based on the physical data, and then matched with the digital map scene based on the coordinate points;

[0099] Evaluate the ground imaging effect. If the scanning imaging range and mosaic overlap rate do not meet the requirements, return to the ground scanning function algorithm design for optimization and correction.

[0100] This process is repeated repeatedly to determine whether the scanning and imaging algorithm has completed the scanning and imaging of the planned area and whether there is sufficient overlap between the scanned mosaics. If not, the platform scanning trajectory is adjusted for further testing. If it is completed, the evaluation is complete. The evaluation items include the ground scanning imaging range and the mosaic overlap rate. The ground scanning imaging range is a 48km×48km area below the stationed platform. The mosaic overlap rate must be above 15% to ensure that the mosaic images can be stably stitched by the image algorithm.

[0101] The embodiments of the present invention achieve the following technical effects:

[0102] Through the ground evaluation device, the scanning effect of the long-term airborne platform can be evaluated on the ground, which has good versatility and is easy to practice in engineering. The ground evaluation method of the embodiment of the present invention adopts a method that combines virtuality and reality, integrates virtual scenes and actual working parameters of optoelectronic payloads, so that the evaluation effect is closer to reality. The ground evaluation method of the embodiment of the present invention takes into account the simulation processing in the design stage, and can evaluate the effect in the design stage and correct the design in advance. The ground evaluation method of the embodiment of the present invention uses a digital map matching method to display the scanning effect, which is more intuitive to evaluate the scanning effect of the system. Compared with the traditional method, the ground evaluation device and method for the scanning effect of the long-term airborne platform of the embodiment of the present invention have the advantages of taking into account both design and entity evaluation, and the evaluation effect is close to the real working scene.

[0103] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A ground evaluation device for the scanning effect of a long-term airborne platform, characterized in that: include: Data processor, servo control processor, three-axis test turntable and optoelectronic load; The photoelectric load is mounted on the three-axis test turntable, the servo control processor is electrically connected to the three-axis test turntable and the photoelectric load, and the servo control processor is electrically connected to the data processor; The servo control processor is used to collect entity data and transmit it to the servo control processor, wherein the entity data includes carrier measured posture data and two-axis angle information data; The data processing machine is used to receive the entity data, and generate data calculation results based on the entity data, design data and virtual test scene data, and evaluate the scanning effect of the long-term airborne platform based on the data calculation results; The data processing machine includes: Design data and virtual test scene injection module, physical data injection module, data calculation module and digital map matching and effect evaluation module, the data processing machine is used to evaluate the scanning effect of the airborne platform through the design data, virtual test scene and physical data; The design data and virtual test scenario injection module is used to inject the design data and the virtual test scenario into the data calculation module; The entity data injection module is used to inject the entity data into the data calculation module; The data calculation module is used to calculate and generate ground scanning coordinate points; The digital map matching and effect evaluation module is used to match the ground scanning coordinate points with the digital map scene and simulate the scanning effect; The photoelectric payload is used to receive a working instruction sent by the servo control processor, control the scanning operation of the photoelectric payload according to the working instruction, and synchronously collect the axial motion information of the roll and pitch of the photoelectric payload; The three-axis test turntable is used to simulate the posture changes of the long-term airborne platform in the air.

2. The ground evaluation device for scanning effect of a long-term airborne platform according to claim 1, characterized in that: The servo control processor includes: Sensor information acquisition module and work instruction scheduling module; The sensor information acquisition module is used to acquire axial motion parameters of the photoelectric load, wherein the axial motion parameters include a roll angle and a pitch angle; The work instruction scheduling module is used to send a scanning instruction to the optoelectronic payload, wherein the scanning instruction includes a rolling motion instruction and a pitching motion instruction.

3. The ground evaluation device for scanning effect of a long-term airborne platform according to claim 1, characterized in that: The photoelectric load includes: Two-axis four-frame optoelectronic platform and optoelectronic payload sight axis; The two-axis four-frame optoelectronic platform includes a roll axis and a pitch axis orthogonal to the roll axis.

4. A ground evaluation method for a scanning effect of a long-term airborne platform, wherein the ground evaluation method uses the ground evaluation device for the scanning effect of a long-term airborne platform according to any one of claims 1 to 3 to evaluate the scanning effect of the long-term airborne platform, characterized in that: include: The following processing is performed until the scanning imaging of the planned area is completed: Design ground scanning function algorithm; generating platform working data according to ground imaging requirements, executing the platform working data on the long-duration airborne platform to generate design data, using the design data as data to be evaluated, and evaluating the data to be evaluated using the ground scanning function algorithm; if the evaluation requirements are not met, optimizing and revising the ground scanning function algorithm; The ground scanning work of the long-duration airborne platform is simulated on the ground, and the entity data generated by the scanning is used as the data to be evaluated. The ground scanning function algorithm is used to evaluate the data to be evaluated. If the evaluation requirements are not met, the ground scanning function algorithm is optimized and corrected.

5. The ground evaluation method for the scanning effect of a long-term airborne platform according to claim 4, characterized in that: Evaluating the data to be evaluated using the ground scanning function algorithm includes: Constructing a virtual test scenario, wherein the virtual test scenario includes working scenario parameters of the long-term airborne platform; Calculating the real-time coordinates of the photoelectric payload in a geocentric coordinate system according to the data to be evaluated and the virtual test scene, and calculating the real-time coordinates of the photoelectric payload's ground imaging position coordinates through the real-time coordinates of the geocentric coordinate system; The real-time ground imaging position coordinates are matched with the digital map scene to generate a target scanning area map, and the ground imaging effect is evaluated using the target scanning area map. If the evaluation requirements are not met, the ground scanning function algorithm is optimized and corrected.

6. The ground evaluation method for the scanning effect of a long-term airborne platform according to claim 5, characterized in that: Calculating the real-time coordinates of the photoelectric payload in a geocentric coordinate system according to the data to be evaluated and the virtual test scene, and calculating the real-time ground imaging position coordinates of the photoelectric payload using the real-time coordinates of the geocentric coordinate system, including: Calculate the real-time coordinates of the geocentric coordinate system of the optoelectronic payload , where the real-time coordinates , is the transformation matrix from geographic coordinate system to geocentric coordinate system, is the initial coordinate of the geographic coordinate system of the photoelectric payload, is the speed parameter, For time; Real-time coordinates based on the geocentric coordinate system Calculate the real-time ground imaging position coordinates , where the real-time ground imaging position coordinates , is the unit vector of the platform’s viewing axis, is the length of the observation vector, is the transformation matrix from the platform coordinate system to the geocentric coordinate system.

7. The ground evaluation method for the scanning effect of a long-term airborne platform according to claim 5, characterized in that: The ground imaging effect is evaluated using the target scanning area map, including: Setting the scanning imaging range required by the task, and determining whether the coverage of the target scanning area map meets the scanning imaging range required by the task; Setting a mosaic overlap rate, and judging whether the overlap between the target scanning area images is greater than the mosaic overlap rate; If the scanning imaging range does not meet the task requirements and / or is less than or equal to the mosaic overlap rate, the evaluation requirements are not met.

8. The ground evaluation method for the scanning effect of a long-term airborne platform according to claim 7, characterized in that: The overlap rate of the mosaic images is 15%.

9. The ground evaluation method for the scanning effect of a long-term airborne platform according to claim 7, characterized in that: The scanning imaging range required by the task is area.

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