Posture adjusting method and device

Abstract

The embodiment of the invention provides an attitude adjustment method and device, and the attitude adjustment method is applied to a satellite, and comprises the steps: obtaining region space information and region time information corresponding to at least two to-be-imaged regions, and obtaining a current time point and the current attitude information of the satellite at the current time point; determining a posture adjustment time period and a staring starting time point corresponding to each to-be-imaged region according to the region time information corresponding to each to-be-imaged region; determining staring starting attitude information corresponding to each staring starting time point of the satellite based on the area space information of the to-be-imaged area corresponding to each staring starting time point; and under the condition that the current time point is in the target attitude adjustment time period, adjusting the attitude of the satellite according to the current attitude information and the target staring starting attitude information, so that the attitude information of the satellite at the target staring starting time point is the target staring starting attitude information. The continuous staring of a plurality of imaging targets is realized, and the imaging task efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present specification relate to the field of computer technology, and in particular to a posture adjustment method. Background Art

[0002] With the continuous development of satellite technology, especially the ability of satellites to maneuver rapidly in any direction, this enables them to flexibly respond to imaging needs in different directions during observation missions, and greatly improves the satellite's adaptability in complex mission scenarios.

[0003] Currently, the satellite's rapid side-swing maneuvering capability can be used to perform staring imaging observations on a single imaging target along the flight direction, effectively solving the problem of maintaining a stable attitude during the camera exposure cycle. However, the staring method for a single target in the prior art not only increases the complexity of task planning when it is necessary to handle simultaneous imaging tasks for multiple targets, but also limits the execution efficiency of the imaging task. Therefore, in order to solve the above problems, a posture adjustment method that can efficiently cope with staring imaging tasks for multiple targets is needed. Summary of the invention

[0004] In view of this, an embodiment of this specification provides a posture adjustment method. One or more embodiments of this specification also relate to a posture adjustment device, a computing device, a computer-readable storage medium and a computer program product to solve the technical defects existing in the prior art.

[0005] According to a first aspect of an embodiment of this specification, a method for attitude adjustment is provided, which is applied to a satellite, and the method includes: Acquire regional spatial information and regional time information corresponding to at least two areas to be imaged, and acquire the current time point and the current attitude information of the satellite at the current time point; Determine the posture adjustment time period and the gaze starting time point corresponding to each area to be imaged according to the area time information corresponding to each area to be imaged; Determining gaze starting attitude information corresponding to each gaze starting time point of the satellite; When the current time point is in a target posture adjustment time period, the posture of the satellite is adjusted according to the current posture information and the target gaze starting posture information, so that the posture information of the satellite at the target gaze starting time point is the target gaze starting posture information, wherein the target gaze starting posture information is the gaze starting posture information corresponding to the target gaze starting time point, the target gaze starting time point is the gaze starting time point of the area to be imaged corresponding to the target posture adjustment time period, and the target posture adjustment time period is any one of the posture adjustment time periods.

[0006] According to a second aspect of an embodiment of this specification, there is provided an attitude adjustment device, which is applied to a satellite, and the device includes: An acquisition module is configured to acquire regional spatial information and regional time information corresponding to at least two areas to be imaged, and acquire a current time point and current attitude information of the satellite at the current time point; A time determination module is configured to determine a posture adjustment time period and a gaze starting time point corresponding to each area to be imaged according to area time information corresponding to each area to be imaged; An attitude determination module is configured to determine gaze start attitude information corresponding to each gaze start time point of the satellite; The adjustment module is configured to adjust the attitude of the satellite according to the current attitude information and the target gaze starting attitude information when the current time point is in the target attitude adjustment time period, so that the attitude information of the satellite at the target gaze starting time point is the target gaze starting attitude information, wherein the target gaze starting attitude information is the gaze starting attitude information corresponding to the target gaze starting time point, the target gaze starting time point is the gaze starting time point of the area to be imaged corresponding to the target attitude adjustment time period, and the target attitude adjustment time period is any one of the attitude adjustment time periods.

[0007] According to a third aspect of an embodiment of this specification, a computing device is provided, including: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned posture adjustment method are implemented.

[0008] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the above-mentioned posture adjustment method are implemented.

[0009] According to a fifth aspect of the embodiments of this specification, a computer program product is provided, including a computer program / instruction, which implements the steps of the above-mentioned posture adjustment method when executed by a processor.

[0010] An embodiment of the present specification realizes the following steps: obtaining regional spatial information and regional time information corresponding to at least two areas to be imaged, and obtaining the current time point and the current posture information of the satellite at the current time point; determining the posture adjustment time period and the gaze starting time point corresponding to each area to be imaged according to the regional time information corresponding to each area to be imaged; determining the gaze starting posture information corresponding to the satellite at each gaze starting time point; and when the current time point is in the target posture adjustment time period, adjusting the posture of the satellite according to the current posture information and the target gaze starting posture information, so that the posture information of the satellite at the target gaze starting time point is the target gaze starting posture information, wherein the target gaze starting posture information is the gaze starting posture information corresponding to the target gaze starting time point, the target gaze starting time point is the gaze starting time point of the area to be imaged corresponding to the target posture adjustment time period, and the target posture adjustment time period is any one of the posture adjustment time periods.

[0011] By applying the solution of the embodiments of this specification, the satellite can use its rapid maneuverability in any direction to achieve continuous staring imaging observation of multiple imaging targets. Compared with the staring method of only targeting a single target in the prior art, this method significantly simplifies the task planning process, and achieves efficient imaging tasks for multiple targets by maintaining a staring posture for each target during the camera exposure cycle. This not only improves the execution efficiency of the imaging task, but also ensures that when dealing with multiple targets, the satellite can accurately adjust its posture at each staring start time point and maintain stability within the imaging cycle of each target, solving the problem of limited complexity and efficiency of traditional methods in multi-target imaging tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a flow chart of an attitude adjustment method applied to a satellite provided by an embodiment of this specification; Figure 2 is a processing flow chart of a multi-target continuous gaze method provided by an embodiment of this specification; Figure 3 It is a structural schematic diagram of an attitude adjustment device applied to a satellite provided by an embodiment of this specification; Figure 4 It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0013] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0014] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0015] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0016] In addition, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0017] First, the terms involved in one or more embodiments of this specification are explained.

[0018] Target staring: It is a satellite imaging observation technology that aims to adjust the satellite's attitude so that it can be steadily observed at the target area during the camera exposure period. This technology relies on rapid side-swing maneuvering capabilities to ensure continuous transition between different targets and maintain staring at each target, thereby improving imaging quality and mission execution efficiency.

[0019] Quaternion: A mathematical tool for representing rotations in three-dimensional space. It consists of a scalar part and a three-dimensional vector part, and can describe any rotation without singularity. Quaternions avoid the universal joint lock problem when traditional Euler angles are used to describe rotations. They have the characteristics of high computational efficiency and small memory usage, so they are widely used in computer graphics, aerospace attitude control and other fields.

[0020] Exposure cycle: refers to the entire time process from the camera starting to receive light to the completion of image exposure. During this period of time, the camera shutter remains open, and light enters the camera sensor and gradually forms an image. The length of the exposure cycle directly affects the brightness and clarity of the image. A longer exposure cycle helps to obtain more details in a low-light environment, but it may also cause blurring of the image. For satellite imaging, the exposure cycle needs to be precisely controlled according to the characteristics and lighting conditions of the target area to ensure high-quality images.

[0021] In this specification, a posture adjustment method is provided. This specification also relates to a posture adjustment device, a computing device, a computer-readable storage medium, and a computer program product, which are described in detail one by one in the following embodiments.

[0022] See also Figure 1 , Figure 1 A flow chart of a method for attitude adjustment applied to a satellite provided according to an embodiment of the present specification is shown, which specifically includes the following steps.

[0023] Step 102: Acquire regional spatial information and regional time information corresponding to at least two areas to be imaged, and acquire the current time point and the current attitude information of the satellite at the current time point.

[0024] In practical applications, a satellite is an artificial satellite orbiting a specific planet, used to observe and acquire images of a target area; the area to be imaged is a specific surface area that the satellite needs to observe; the regional spatial information is data describing the specific location, range, and shape of these areas on the surface of the planet; the regional time information is the appropriate time period for the satellite to perform staring imaging of the area to be imaged during its orbital motion; the current time point is the current moment when the satellite is orbiting; and the current attitude information is the attitude of the satellite at the current time.

[0025] Satellites can be understood as artificial celestial bodies orbiting around a specific planet, mainly used to perform observation, communication, navigation and other tasks. Satellites orbit and can automatically adjust their attitude and position to observe and image specific areas on the surface of the earth. For example, when performing earth observation tasks, the satellite will automatically adjust its attitude according to the current time point so that it can obtain high-resolution image data when entering the area to be imaged.

[0026] The area to be imaged can be understood as a specific surface area that the satellite needs to observe. These areas are usually geographical locations with specific value. For example, these areas may be a city, a forested area, or important infrastructure. When the satellite passes through these areas, it needs to adjust its attitude to ensure that the target area is stared at and imaged to obtain a clear image. The selection and planning of the area to be imaged is completed by the ground control center and sent to the satellite system according to the mission requirements.

[0027] Regional spatial information can be understood as data describing the specific location, range, and shape of the area to be imaged on the planet's surface. It includes the latitude and longitude, altitude, area, and projection shape of the area in the satellite's field of view. For example, for a city, regional spatial information would include its geographic coordinate range and the city's boundary outline. The satellite uses this information to adjust its attitude when passing through the area so that the camera lens can accurately align and cover the entire area to be imaged, ensuring that complete observation data is obtained.

[0028] Regional time information can be understood as the appropriate time period for the satellite to perform gaze imaging on the target area when it is in orbit. It determines when the satellite observes the target area to obtain the best imaging effect. For example, for a meteorological satellite orbiting along the equator, regional time information will indicate when the satellite can image a tropical storm under the best observation angle and lighting conditions. By mastering regional time information, the satellite can flexibly adjust its attitude within the orbital cycle to ensure that the observation mission of each target area is completed within the specified time period.

[0029] The current time point can be understood as the current moment when the satellite is orbiting. This time point is used to determine whether the satellite is in the best attitude adjustment stage and whether it needs to be aligned with the next area to be imaged. For example, when a satellite orbits the earth, it will pass through multiple different target areas. Each time it passes through an area, the system will calculate the current time point to determine whether an attitude adjustment is needed. By judging the current time point in real time, the satellite can align and observe the target area at the best time, improving imaging efficiency and accuracy.

[0030] The current attitude information can be understood as the attitude of the satellite at the current moment, which can include the current quaternion, angular velocity, rotation state and other information. These data reflect the orientation and motion state of the satellite in space, such as the roll angle, pitch angle and yaw angle of the satellite, as well as the rate of change of these angles. When performing imaging tasks, the satellite uses the current attitude information to adjust its own direction so that its camera can be aimed at the area to be imaged, thereby maintaining a stable gaze during the exposure period and obtaining clear image data.

[0031] By obtaining the current attitude information of the satellite, the subsequent automatic adjustment of the satellite attitude can be made more accurate and efficient.

[0032] Step 104: determining the posture adjustment time period and the gaze starting time point corresponding to each area to be imaged according to the area time information corresponding to each area to be imaged.

[0033] In practical applications, the attitude adjustment period is the time range in which the satellite needs to adjust its attitude in order to align with the area to be imaged, and the gaze start time point is the precise moment when the satellite starts to perform gaze imaging on a certain area to be imaged.

[0034] The attitude adjustment time period can be understood as the time range required for the satellite to gradually adjust from the current attitude to the target attitude. The determination of this time period needs to consider the time information of the two adjacent areas to be imaged, including their imaging start and end time, to determine how much time to reserve for attitude adjustment between the two imaging tasks. For example, if the time interval between the two areas to be imaged is long, the satellite can make attitude adjustments in a more relaxed time period; if the time interval is short, the satellite needs to complete the attitude adjustment in a shorter time to ensure that the adjustment is completed before the imaging of the next target area begins.

[0035] The gaze start time point can be understood as the moment when the satellite starts to observe the target area after the attitude adjustment is completed. At this time, the satellite begins to turn to the target area and gradually enters the imaging attitude. Although the attitude adjustment has just been completed, the satellite is still in the process of further stabilization. Since there may be slight instability factors in the adjusted attitude, the satellite needs to continue to adjust to a stable observation state after this time point. Therefore, the attitude adjustment time period and gaze start time point corresponding to each area to be imaged are determined according to the regional time information corresponding to each area to be imaged, including: Analyze the regional time information corresponding to each area to be imaged, and obtain the imaging start time point and imaging end time point corresponding to each area to be imaged; Obtaining the stable reserved time duration corresponding to each area to be imaged, and determining the gaze starting time point corresponding to each area to be imaged according to the imaging starting time point corresponding to each area to be imaged and the stable reserved time duration; The posture adjustment time period is obtained according to the gaze start time point and the imaging end time point corresponding to each area to be imaged.

[0036] In practical applications, the imaging start time point is the precise moment when the satellite begins imaging observation of the target area, the imaging end time point is the termination moment of the observation process, and the stable reserved time is the stabilization time reserved before starting to stare at the area to be imaged, which is used to ensure that the satellite has a stable attitude when staring at the target.

[0037] The imaging start time point can be understood as the exact moment when the satellite begins to observe the area to be imaged. At this point in time, the satellite's camera begins to expose and acquire image data of the target area. The selection of the imaging start time point needs to comprehensively consider factors such as the satellite's orbital position, the location of the target area, and lighting conditions. For example, when a satellite flies over a city, the imaging start time point may be set to the moment when the satellite reaches the best observation angle and lighting conditions, thereby ensuring that a clear image is obtained.

[0038] The imaging end time point can be understood as the moment when the satellite imaging observation of the target area ends. This time point marks the end of the camera's exposure cycle and the satellite stops observing the area. The determination of the imaging end time point usually depends on the size of the target area, the resolution of the camera, and the length of the exposure time. For example, for a larger area, the imaging end time point may be slightly delayed to ensure complete coverage of the entire area; for a smaller target, the imaging end time point may be earlier to reserve more time for subsequent tasks.

[0039] The stabilization reserve time can be understood as the time period reserved before the target gaze is performed to ensure that the satellite reaches a stable state after attitude adjustment. Since the satellite may produce an instantaneous unstable state when adjusting its attitude, if the appropriate stabilization reserve time is not performed, directly entering the target gaze may cause the satellite to fail to aim at the target in time, thereby affecting the imaging quality. For example, after completing the imaging of a target area, the satellite needs to quickly adjust its attitude to aim at the next target area. At this time, the stabilization reserve time will ensure that the satellite's attitude has stabilized before entering the new target area for gaze, avoiding blurred or inaccurate images.

[0040] By determining the start time of the gaze by presetting the stable reserved time, it can be ensured that after the attitude adjustment, the satellite has sufficient time to make fine adjustments to gradually enter a stable observation state, thereby minimizing image blur or deviation caused by attitude instability during the initial imaging process. This approach optimizes the satellite's gaze process on the target area, enabling it to reach a stable attitude as quickly as possible within the exposure cycle, improving image clarity and the overall efficiency of the imaging mission.

[0041] Furthermore, the stable reserved time corresponding to each area to be imaged is obtained, including: Determine a first area to be imaged, wherein the first area to be imaged is any one of the areas to be imaged; Based on the imaging start time point corresponding to the first area to be imaged and the imaging end time point corresponding to the area to be imaged before the first area to be imaged, a posture adjustment duration corresponding to the first area to be imaged is generated.

[0042] In practical applications, based on the imaging start time point corresponding to a certain area to be imaged and the imaging end time point corresponding to the area to be imaged before the area to be imaged, the attitude adjustment duration corresponding to the first area to be imaged is generated. This can be understood as determining the time length for the satellite to adjust its attitude by analyzing the time interval between the two areas. The specific method can be to directly set the adjustment duration in proportion to the distance between the two areas; different attitude adjustment modes can also be pre-set according to the positional relationship between the two areas, and the adjustment duration can be determined according to the mode, etc. This manual does not impose any restrictions on this.

[0043] It is particularly important to note that since the first area to be imaged does not have the previous area to be imaged, its corresponding posture adjustment duration is the preset initial posture adjustment duration. Accordingly, its corresponding posture adjustment time period is also determined according to the preset duration and its corresponding imaging start time point.

[0044] In one embodiment provided in this specification, there are three areas to be imaged, which correspond to plant area A, plant area B, and plant area C respectively. Plant area A corresponds to the imaging start time point T of the imaging area A to be imaged. A0 The 450th second, the end time of imaging, T Af is the 480th second; the imaging start time point T of the imaging area B corresponding to the imaging area B in the plant area B B0 The 560th second, the end time of imaging, T Bf The imaging start time point T of the plant area C corresponding to the imaging area C to be imaged C0 The 615th second, the end time of imaging, T Cf is the 650th second. And there is a preset rule: the first area to be imaged reserves a stable time t res0 10s, 200s for posture adjustment; if the imaging time interval between two adjacent imaging areas is greater than 20s, a stabilization time t is reserved. res1 If it is less than or equal to 20s, reserve stabilization time t res2 5s.

[0045] Then the gaze start time point of the imaged area A is determined as T A0 -t res0 = 440s, the posture adjustment period is from 240s to 440s; the gaze start time point of the imaging area B is T B0 -t res1 =550s, the posture adjustment time period is from the gaze start time point to the gaze start time point of the imaging area A (T Af To T B0 -t res1 ), that is, from 480s to 550s; the gaze start time point of the imaging area C is T C0 -tres2 = 610s, the posture adjustment time period is from the gaze start time point to the gaze start time point of the imaging area B (T Bf To T C0 -t res2 ), that is, the 600th to 610th seconds.

[0046] By determining the stable reserved time length by the start and end time points corresponding to each imaging area, it is possible to ensure that sufficient time is reserved for the satellite to adjust its attitude between imaging tasks, thus avoiding imaging quality problems caused by unstable attitude. This method ensures that there is enough buffer time before each observation, allowing the satellite to gradually approach and accurately aim at the next target area, improving the overall continuity of the mission and the accuracy of imaging, thereby optimizing the execution efficiency of multi-target continuous imaging tasks.

[0047] Step 106: Determine the gaze starting posture information corresponding to each gaze starting time point of the satellite.

[0048] In practical applications, the gaze start attitude information is the attitude that the satellite needs to achieve at the gaze start time point, including information such as the satellite's quaternion, angular velocity, and angular acceleration.

[0049] Exemplarily, the gaze start attitude information can be understood as the attitude state that the satellite needs to reach when it starts observing the target area. It includes the satellite's pointing direction, rotation speed, and angular acceleration of the attitude, ensuring that the satellite can maintain a stable gaze attitude when it is aimed at the target area. Determining the gaze start attitude information requires combining the orbital position, spatial information of the target area, and the current attitude of the satellite. For example, when imaging an urban area, the gaze start attitude information ensures that the satellite's camera lens is facing the center of the city, and the angular velocity and angular acceleration are also adjusted to a suitable state so that it remains stable during camera exposure to avoid image blur. Through precise calculation and adjustment, the satellite can reach this attitude at the gaze start time point, ensuring the accuracy of the observation mission and high-quality imaging.

[0050] It should be noted that the method for determining the gaze start posture information corresponding to each gaze start time point of the satellite can be, first, according to the gaze start time point corresponding to the area to be imaged, the orbit recursion algorithm is used to calculate the precise orbit position and velocity information of the satellite at that moment. The orbit recursion algorithm predicts the position and velocity of the satellite at a certain moment in the future by extrapolating the previous orbit data. Through this calculation, the position vector and velocity vector of the satellite in the inertial reference system at the gaze start time point are determined. The position vector indicates the specific position of the satellite in orbit, and the velocity vector describes the direction and speed of the satellite at that position.

[0051] Subsequently, these orbital data are used to calculate the inertial system conversion quaternion of the satellite at that moment. By calculating the inertial system conversion quaternion, the initial attitude of the satellite at this orbital position can be determined, including its orientation and rotation state. The main purpose of this step is to convert the attitude description of the satellite in the inertial reference frame into a description in the earth-fixed system (earth-fixed reference frame), because the earth-fixed system is the reference frame we use more commonly when observing the earth. Afterwards, the quaternion is converted to the earth-fixed system so that the attitude information of the satellite can be used for further calculations. The earth-fixed system is a reference frame fixed relative to the earth, which is used to describe the position and attitude of the satellite on the earth. In this system, the attitude state of the satellite relative to a fixed point on the surface of the earth can be determined.

[0052] Next, the gaze nominal quaternion of the target point at that moment is further calculated. This step involves determining the attitude of the satellite towards the target point at the start time of the gaze based on the current attitude of the satellite and the position of the target point. The gaze nominal quaternion obtained by this calculation describes the direction that the satellite should maintain at that moment to ensure that the camera is aimed at the target area for imaging. At the same time, the corresponding angular velocity is calculated to ensure that the satellite can maintain a stable gaze during imaging.

[0053] By obtaining the gaze starting posture information corresponding to each gaze starting time point of the satellite, it is ensured that the satellite can be accurately aligned and stably focused when passing through each area to be imaged, thereby obtaining high-quality image data.

[0054] Step 108: When the current time point is in the target posture adjustment time period, the posture of the satellite is adjusted according to the current posture information and the target gaze starting posture information, so that the posture information of the satellite at the target gaze starting time point is the target gaze starting posture information, wherein the target gaze starting posture information is the gaze starting posture information corresponding to the target gaze starting time point, the target gaze starting time point is the gaze starting time point of the area to be imaged corresponding to the target posture adjustment time period, and the target posture adjustment time period is any one of the posture adjustment time periods.

[0055] In practical applications, satellites need to image multiple target areas during orbital operation. The position, direction and observation time of each area are different, so the attitude needs to be adjusted at different time points to aim at each target area. When the current time point is in the target attitude adjustment period, the satellite needs to adjust according to the current attitude information and the target gaze start attitude information so that it can accurately aim at the target at the gaze start time point. This process ensures that the satellite can stably aim at the target area within the optimal imaging time period to avoid imaging deviation or blur caused by improper attitude.

[0056] It should be noted that the specific method of adjusting the satellite attitude according to the current attitude information and the target gaze starting attitude information can be to use a path planning algorithm to calculate an optimal adjustment path based on the difference between the current attitude and the target gaze starting attitude, including the required quaternion, angular velocity and angular acceleration; or to use a three-axis path planning algorithm to calculate the required adjustment parameters according to the current attitude and target attitude information, and to achieve alignment with the target area through gradual adjustment in a short time; or to dynamically adjust the attitude parameters while monitoring the satellite attitude changes in real time, so that it gradually approaches the target gaze starting attitude. In this way, it can be ensured that the satellite gradually adjusts to the target attitude before reaching the gaze starting time point, and maintains accurate alignment with the target. This manual does not impose any restrictions on this.

[0057] By adjusting the attitude when the current time point is in the target attitude adjustment period, it can ensure that the satellite is accurately aligned with the target area when entering the gaze start time point, avoiding imaging quality problems caused by unstable attitude. This adjustment method improves the satellite's imaging efficiency of multiple target areas and ensures effective observation within a limited time window. At the same time, by precisely controlling the attitude adjustment process, unnecessary maneuvers can be reduced, making the satellite's energy consumption more reasonable and improving the stability and reliability of the overall mission execution.

[0058] Further, adjusting the attitude of the satellite according to the current attitude information and the target gaze starting attitude information includes: Based on the current posture information and the target gaze starting posture information, generating posture adjustment planning information; The attitude of the satellite is adjusted according to the attitude adjustment planning information.

[0059] In practical applications, the attitude adjustment planning information is the adjustment parameters calculated based on the difference between the current attitude and the target gaze starting attitude, including the required quaternion, angular velocity and angular acceleration to guide the adjustment of the satellite attitude.

[0060] Exemplarily, the attitude adjustment planning information can be understood as a detailed plan to guide the satellite to adjust from the current attitude to the target gaze starting attitude, which includes the attitude state that the satellite should reach at each moment during the adjustment process. For example, when the satellite needs to rotate from the current attitude to the attitude aimed at a certain target area, the path planning algorithm will calculate the speed and acceleration at which the satellite should rotate at each moment during this period to ensure that it is accurately aimed at the target area at the target time point. These calculation results are the attitude adjustment planning information, which provides an optimal adjustment path from the initial attitude to the target attitude, so that the satellite can smoothly complete the attitude adjustment.

[0061] By generating attitude adjustment planning information, the satellite can rotate strictly according to the pre-calculated path during the attitude adjustment process, so as to achieve the required attitude state at the target time point. This method not only improves the accuracy of the adjustment, but also reduces the errors and jitters that may occur during the adjustment process, ensuring the success of the imaging mission.

[0062] Further, based on the current posture information and the target gaze starting posture information, posture adjustment planning information is generated, including: Based on the current posture information and the target gaze starting posture information, target posture adjustment information corresponding to at least one target posture adjustment time point is obtained, wherein the target posture adjustment information includes a target quaternion, a target angular velocity, and a target angular acceleration, and the target posture adjustment time point is a time point in the target posture adjustment time period.

[0063] In practical applications, the target attitude adjustment time points are the time points at which the satellite needs to reach a specific attitude state during the attitude adjustment process, and the target attitude adjustment information is the attitude parameters describing the satellite at these time points, including the target quaternion, target angular velocity, and target angular acceleration.

[0064] The target attitude adjustment time points can be understood as a series of time points set during the satellite attitude adjustment process, at which the satellite needs to reach a pre-calculated specific attitude state. These time points are distributed throughout the adjustment period and are used to guide the satellite to gradually adjust from the current attitude to the target attitude. For example, when the satellite rotates from one attitude to another, a series of target attitude adjustment time points will be set at different time points to ensure that the satellite moves according to the planned path at each time point, thereby achieving a smooth attitude transition.

[0065] The target attitude adjustment information can be understood as describing the attitude state that the satellite needs to achieve at each target attitude adjustment time point, including rotation direction, speed, and acceleration, etc. This information includes parameters such as target quaternion, target angular velocity, and target angular acceleration, which are used to accurately guide the attitude changes of the satellite during the adjustment process.

[0066] The target quaternion can be understood as a mathematical tool used to describe the rotation state of the satellite in three-dimensional space at the time point of the target attitude adjustment. It provides the direction information of the satellite at that time point to ensure that the satellite can accurately adjust its attitude according to the planned path. The target angular velocity can be understood as a parameter that describes the rotation speed of the satellite at the time point of the target attitude adjustment. It indicates the speed at which the satellite should rotate during the adjustment process to ensure the smooth and stable adjustment process. For example, in the initial stage of the attitude adjustment, the target angular velocity can be set to a small value to ensure that the satellite can start to rotate smoothly; in the middle stage of the adjustment, the angular velocity can be gradually increased to speed up the adjustment process.

[0067] The target angular acceleration can be understood as a parameter that describes the change in the satellite's rotation rate at the time point of the target attitude adjustment. It is used to control the acceleration and deceleration process of the satellite's rotation speed to prevent the satellite from rotating too fast or too slow during the adjustment process, making the adjustment process smoother. For example, when the satellite is about to end its rotation, the target angular acceleration can be set to a negative value to slow down the rotation speed and ensure that it is accurately aligned with the target attitude at the end of the adjustment.

[0068] By planning the target quaternion, target angular velocity and target angular acceleration at each time point during the attitude adjustment period, the satellite can be gradually adjusted according to the predetermined trajectory during the attitude adjustment process, ensuring that it can accurately reach the target attitude at each key time point, thereby achieving a smooth transition. This not only effectively reduces the attitude deviation that may occur during the adjustment process and improves the accuracy of attitude adjustment, but also reduces the time and energy consumption required for attitude adjustment, improves the efficiency and reliability of the overall mission, and ensures that the satellite can accurately align with the target area in imaging tasks involving multiple imaging objects and obtain high-quality imaging data.

[0069] Further, based on the current posture information and the target gaze starting posture information, posture adjustment planning information is acquired, including: Based on the current posture information and the target gaze starting posture information, acquiring the posture adjustment planning initial quaternion and the posture adjustment planning initial angular velocity, as well as the posture adjustment planning target quaternion and the posture adjustment planning target angular velocity; According to the initial quaternion of the attitude adjustment plan and the initial angular velocity of the attitude adjustment plan, the initial quaternion, initial angular velocity and initial angle corresponding to each target attitude adjustment time point are obtained; Based on the attitude adjustment planning initial angular velocity and the attitude adjustment planning target angular velocity, acquiring an attitude adjustment angular velocity difference; Determine the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point according to the attitude adjustment angular velocity difference, and the initial quaternion, the initial angular velocity and the initial angle corresponding to each target attitude adjustment time point, wherein the first reference quaternion is used to describe the rotation direction of the satellite from the current attitude to the intermediate reference attitude during the attitude adjustment process, the first reference angular velocity is used to represent the rotation rate of the satellite in the attitude adjustment transition phase, and the first reference angular acceleration is used to describe the rate of change of the satellite's rotation rate in the transition phase; Attitude adjustment planning information is obtained based on the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point.

[0070] In practical applications, the initial quaternion is used to describe the rotation state of the satellite at the beginning of attitude adjustment, the initial angular velocity is used to describe the rotation rate of the satellite at the beginning of attitude adjustment, and the initial angle is the rotation angle of the satellite relative to the reference axis during the attitude adjustment process. The initial quaternion can be understood as a mathematical expression used to describe the current rotation state of the satellite at the beginning of attitude adjustment. It contains the rotation information of the satellite in three-dimensional space and is used to guide subsequent attitude adjustments. For example, when the satellite starts to rotate from the current attitude, the initial quaternion provides a reference point that describes the specific rotation direction and attitude of the satellite at this moment. The initial angular velocity can be understood as a parameter that describes the rotation speed of the satellite at the beginning of attitude adjustment. It represents the rotation rate of the satellite at the beginning of adjustment and is used to guide subsequent attitude changes. For example, at the beginning of attitude adjustment, the satellite may need to perform an initial rotation at a certain angular velocity in order to enter the adjustment trajectory. The initial angle can be understood as the rotation angle of the satellite relative to the reference axis during the attitude adjustment process. It describes the degree of rotation of the satellite relative to the starting attitude during the adjustment process. For example, during the adjustment process, the initial angle can be used to calculate how much the satellite has rotated at a certain moment in order to determine its current position and direction.

[0071] In one embodiment provided in this specification, the method of obtaining the initial quaternion, initial angular velocity and initial angle corresponding to each target posture adjustment time point is as shown in Formula 1: ...Formula 1 in, is the angle included in the current posture information, is the rotation axis corresponding to the current posture information, The initial angular velocity means that the angular velocity of the satellite remains unchanged at the beginning of the adjustment. Integrate time to get the initial angle , initial quaternion Used to describe the rotation state at each point in time, represents the component of the rotation axis on the 𝑥-axis, The component of the rotation axis on the y-axis and the component of the rotation axis on the z-axis.

[0072] Exemplarily, the attitude adjustment angular velocity difference is the difference between the target angular velocity and the initial angular velocity of the satellite during the adjustment process, the first reference quaternion is used to describe the rotation direction of the satellite in the intermediate stage of the attitude adjustment, the first reference angular velocity is used to represent the rotation rate of the satellite in the transition stage of the attitude adjustment, and the first reference angular acceleration is used to describe the rate of change of the satellite's rotation rate in the transition stage. The attitude adjustment angular velocity difference can be understood as the difference between the target angular velocity and the initial angular velocity of the satellite during the adjustment process. It represents the rotation rate that the satellite needs to change during the adjustment process and is used to determine the adjustment trajectory. For example, when the satellite needs to gradually accelerate from the initial angular velocity to the target angular velocity, the attitude adjustment angular velocity difference can be used to guide the acceleration process and ensure the smoothness of the adjustment.

[0073] The first reference quaternion can be understood as a mathematical expression used to describe the rotation direction of the satellite in the intermediate stage during the attitude adjustment process. It provides an intermediate reference point in the adjustment process to guide the satellite to gradually approach the target attitude. For example, in the adjustment process, the first reference quaternion can describe the rotation state that the satellite needs to reach in a certain intermediate stage to ensure the continuity of the adjustment process. The first reference angular velocity can be understood as a parameter that describes the satellite's rotation rate in the attitude adjustment transition stage. It represents the rotation speed of the satellite in the intermediate stage of adjustment and is used to guide the smooth progress of the adjustment. For example, in the adjustment process, the first reference angular velocity can be set to an appropriate value so that the satellite can smoothly pass through the adjustment process without rotating too fast or too slow. The first reference angular acceleration can be understood as a parameter that describes the change in the satellite's rotation rate in the attitude adjustment transition stage. It is used to control the acceleration and deceleration process of the satellite in the intermediate stage of adjustment to ensure the smoothness and stability of the adjustment process. For example, in the adjustment process, the first reference angular acceleration can be used to adjust the satellite's rotation rate so that it gradually accelerates or decelerates so as to smoothly transition to the target attitude.

[0074] Using the above example, the method of calculating the attitude adjustment angular velocity difference and determining the first reference quaternion, first reference angular velocity and first reference angular acceleration corresponding to each target attitude adjustment time point is shown in Formula 2: ...Formula 2 in, Adjust the angular velocity difference for attitude, The initial quaternion representing the starting time of gaze, Plan target angular velocity for attitude adjustment, Plan initial angular velocity for attitude adjustment; is the first reference angular velocity, The length of the posture adjustment time period, t 0is the starting time point of the posture adjustment time period (that is, when the area to be imaged is not the first area, it is the imaging end time point of the previous area to be imaged), is the first reference angular acceleration, As the first reference angle, It is the first reference quaternion; the whole process of calculating the first reference data uses sine and cosine functions for smooth transition to ensure that the satellite's attitude adjustment is smooth and accurate.

[0075] It should be noted that, based on the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point, the attitude adjustment planning information is obtained. It can be that the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point are directly determined as the attitude adjustment planning information (that is, the first reference quaternion, the first reference angular velocity and the first reference angular acceleration are determined to be the target reference quaternion, the target reference angular velocity and the target reference angular acceleration, respectively); it can also be that the above-mentioned data are further processed to make the attitude adjustment of the satellite in the attitude adjustment transition stage smoother, it can also be that the initial angular acceleration and other data, the first reference angular acceleration and other data and the data obtained by subsequent processing are combined to generate the final attitude adjustment planning information, etc. This manual does not impose any restrictions on this.

[0076] By processing the initial quaternion information to obtain reference information with a smoother transition, the satellite can perform multiple target staring tasks more smoothly, thereby improving the efficiency of the imaging task.

[0077] Further, based on the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point, attitude adjustment planning information is obtained, including: Get the angular acceleration adjustment threshold; Based on the angular acceleration adjustment threshold, the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point, the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target attitude adjustment time point are obtained, wherein the second reference quaternion is used to further describe the rotation direction of the satellite from the intermediate reference attitude to the final target gaze starting attitude information transition, the second reference angular velocity is used to represent the rotation rate of the satellite in the stage of approaching the target gaze starting attitude information, and the second reference angular acceleration is used to describe the rate of change of the rotation rate of the satellite in the stage of adjusting the approaching target gaze starting attitude information; Attitude adjustment planning information is generated according to the first reference quaternion, the first reference angular velocity, the first reference angular acceleration and the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target attitude adjustment time point.

[0078] In practical applications, the angular acceleration adjustment threshold is a limit value that limits the change of satellite angular acceleration during the attitude adjustment process; the second reference quaternion describes the rotation direction of the satellite when it transitions from the intermediate reference attitude to the target attitude; the second reference angular velocity represents the rotation rate of the satellite when approaching the target attitude; the second reference angular acceleration is a description of the change in the satellite's rotation rate when approaching the target attitude.

[0079] The angular acceleration adjustment threshold can be understood as a safety limit in the attitude adjustment process, which is used to control the satellite to not exceed the designed maximum angular acceleration during adjustment. During the adjustment process, it ensures that the satellite's attitude adjustment is not too drastic to avoid adverse effects on the satellite's structure and equipment. For example, when the satellite needs to make a rapid attitude adjustment, the angular acceleration adjustment threshold can ensure the smoothness and safety of the adjustment process.

[0080] The second reference quaternion can be understood as describing the rotation direction of the satellite during the attitude adjustment process, from the intermediate reference attitude to the target attitude. Unlike the first reference quaternion, which is mainly used to describe the transition from the current attitude to the intermediate reference attitude, the second reference quaternion is responsible for the further transition from the intermediate reference attitude to the target attitude, ensuring the continuity and accuracy of the entire adjustment process. For example, in a multi-target observation mission, the first reference quaternion helps the satellite adjust from the current target to the intermediate reference attitude, and then the second reference quaternion guides the satellite to continue adjusting until it accurately transitions to the attitude of the next observation target.

[0081] The second reference angular velocity can be understood as the rotation rate when approaching the target attitude in the final stage of attitude adjustment. Unlike the first reference angular velocity, which is mainly used to gradually adjust the satellite from the current attitude to the intermediate reference attitude in the initial adjustment stage, the second reference angular velocity plays a role in the final stage to ensure that the satellite rotates at an appropriate rate when approaching the target attitude to achieve precise alignment. For example, when the satellite approaches the target attitude for fine observation, the second reference angular velocity helps to gradually decelerate, ensuring that the satellite is robustly adjusted to the desired attitude without causing observation errors.

[0082] The second reference angular acceleration can be understood as a parameter that describes the change in the satellite's rotation rate when approaching the target attitude. Compared with the first reference angular acceleration, the first reference angular acceleration is used to control the change in the satellite's rotation rate from the current attitude to the intermediate reference attitude, ensuring the smoothness of the satellite's initial adjustment; while the second reference angular acceleration takes effect in the second half of the adjustment, ensuring that the satellite's adjustment rate changes more accurately and smoothly in the process from the intermediate reference attitude to the final target attitude. For example, during the attitude adjustment process, the second reference angular acceleration makes the satellite's rate adjustment more detailed when approaching the target, avoiding overshoot or undershoot when finally aligning with the target.

[0083] In one embodiment provided in the present specification, the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target posture adjustment time point are obtained by first determining the second reference quaternion and the second reference angle at the gaze starting time point by formula 3, then calculating the acceleration / deceleration time and the uniform speed time of the rotation corresponding to the second reference quaternion by formula 4, then calculating the second reference angular velocity at each target posture adjustment time point by formula 5, calculating the second reference quaternion at each target posture adjustment time point by formula 6, and then calculating the second reference angular acceleration at each target posture adjustment time point according to formula 7.

[0084] ...Formula 3 ...Formula 4 ...Formula 5 ...Formula 6 ...Formula 7 Among them, in formula 3 is the second reference quaternion at the start time of gaze, is the quaternion corresponding to the current posture information, is the quaternion corresponding to the gaze start posture information, is the inverse (conjugate) quaternion corresponding to the current posture information. By analogy, this manual will not repeat similar formulas. is the second reference angle at the start time of gaze, is the first component (i.e., real part) of the second reference quaternion at the start time of gaze, is the rotation axis corresponding to the gaze starting posture information, The second component of the second reference quaternion at the gaze start time point, is the third component of the second reference quaternion at the gaze start time point, It is the fourth component of the second reference quaternion at the gaze starting time point.

[0085] In formula 4, is the acceleration / deceleration time of the rotation corresponding to the second reference quaternion, is the uniform time corresponding to the second reference quaternion. In formula 5, The second reference angular velocity at each target posture adjustment time point, is the angular acceleration adjustment threshold. In formula 6, Adjust the second reference angle at each target pose time point, The second reference quaternion for each target posture adjustment time point. In formula 7, The second reference angular acceleration at each target pose adjustment time point.

[0086] It should be noted that, according to the first reference quaternion, the first reference angular velocity, the first reference angular acceleration and the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target posture adjustment time point, the method of generating the posture adjustment planning information can be to directly determine the second reference quaternion, the second reference angular velocity and the second reference angular acceleration as the posture adjustment planning information; it can also be to determine the posture adjustment planning information based on the initial quaternion, the initial angular velocity, the first reference quaternion, the first reference angular velocity, the first reference angular acceleration and the second reference quaternion, the second reference angular velocity and the second reference quaternion, the second reference angular velocity and the second reference angular acceleration, and so on. This manual does not impose any limitation on this.

[0087] Using the above example, the method of calculating the target quaternion, target angular velocity and target angular acceleration at each target attitude adjustment time point in the attitude adjustment planning information is shown in Formula 8: ...Formula 8 Among them, in formula 8, Adjust the target quaternion at each target pose, Adjust the target angular velocity at each time point for each target pose, Adjust the target angular acceleration at each target pose.

[0088] By setting the angular acceleration adjustment threshold, the satellite's motion can be kept within a controllable range during attitude adjustment, preventing the risk of over-adjustment. At the same time, using the description of the second reference quaternion, the second reference angular velocity, and the second reference angular acceleration, the satellite can achieve an accurate transition from the intermediate reference attitude to the target attitude, ensuring adjustment efficiency and observation accuracy in multi-target observation missions.

[0089] Considering that the target to be imaged needs to be stared at, before determining the staring start posture information corresponding to each staring start time point of the satellite, the method further includes: Obtaining entity position information corresponding to each area to be imaged; The entity gaze time period corresponding to each to-be-imaged area is determined according to the area time information corresponding to each to-be-imaged area.

[0090] In practical applications, entity location information is data describing the specific location of the target to be imaged on the surface of the earth; and the entity gaze time period refers to the time range in which the satellite observes a specific target.

[0091] The physical location information can be understood as describing the precise geographic coordinates of the target to be imaged on the earth's surface, including longitude, latitude and altitude. For example, for a city, the physical location information will include the longitude and latitude coordinates of the city center, as well as the height relative to sea level. This information is very important for the satellite to determine the location of the target, so that the satellite can locate and track the target in orbit for imaging.

[0092] The entity gaze time period can be understood as the time range in which a satellite observes a target in orbit. When a satellite passes through a target area, it can only keep its gaze on and photograph the target during this time period.

[0093] In one embodiment provided in this specification, there are three areas to be imaged, which correspond to plant area A, plant area B, and plant area C respectively. Plant area A corresponds to the imaging start time point T of the imaging area A to be imaged. A0 The 450th second, the end time of imaging, T Af is the 480th second; the imaging start time point T of the imaging area B corresponding to the imaging area B in the plant area B B0 The 560th second, the end time of imaging, T Bf The imaging start time point T of the plant area C corresponding to the imaging area C to be imaged C0 The 615th second, the end time of imaging, T Cf is the 650th second. And there is a preset rule: the first area to be imaged reserves a stable time t res0 10s, 200s for posture adjustment; if the imaging time interval between two adjacent imaging areas is greater than 20s, a stabilization time t is reserved. res1 If it is less than or equal to 20s, reserve stabilization time t res2 5s.

[0094] Then the gaze start time point of the imaged area A is determined as T A0 -t res0 = 440s, the entity gaze time period is from the gaze start time point of the imaging area A to the imaging end time point (T A0 -t res1 To T Af ), that is, from 440s to 480s; the gaze start time point of the imaging area B is TB0 -t res1 =550s, the entity gaze time period is from the gaze start time point of the imaging area B to the imaging end time point (T B0 -t res1 To T Bf ), that is, from 550s to 600s; the gaze start time point of the imaging area C is T C0 -t res2 = 610s, the entity gaze time period is from the gaze start time point of the imaging area C to the imaging end time point (T C0 -t res1 To T Cf ), that is, from the 610s to the 650s.

[0095] By determining the entity gaze time period corresponding to each area to be imaged, subsequent gaze and photographing of each area to be imaged can be achieved.

[0096] Furthermore, after determining the entity gaze time period corresponding to each area to be imaged according to the area time information corresponding to each area to be imaged, the method further includes: When the current time point is in the target entity gaze time period, the satellite's posture is adjusted according to the current posture information and the target entity position information so that the satellite observes the target entity, wherein the target entity gaze time period is any one of the entity gaze time periods, the target entity position information is the entity position information corresponding to the target entity gaze time period, and the target entity is the entity corresponding to the target entity gaze time period.

[0097] In practical applications, the satellite's attitude is adjusted according to the current attitude information and the target entity's position information so that the satellite can observe the target entity. Any algorithm for staring at the target can be used. For example, the position of the target in a certain period of time in the future can be calculated based on the target entity's predetermined trajectory and current attitude information, and the satellite's attitude can be adjusted so that it is always aimed at the target. It can also be achieved by using a real-time feedback control system to timely adjust the satellite's attitude angular velocity through real-time measurement and comparison of the satellite's attitude information and the target entity's position information, so that it continuously corrects the deviation toward the target. It can also be achieved by using an adaptive adjustment algorithm to dynamically adjust the satellite's attitude change rate according to the position change of the target entity and the satellite's own attitude adjustment capability to minimize attitude adjustment time and fuel consumption, etc. This manual does not impose any restrictions on this.

[0098] In one embodiment provided in this specification, by defining the earth gaze coordinate system and the satellite orbit coordinate system, the attitude of the satellite is adjusted to align with the target entity. First, the three-axis unit vector of the gaze coordinate system is established and aligned with the vector from the satellite center of mass to the gaze point. Then, the transformation matrix from the inertial system to the gaze coordinate system is calculated, and the angular velocity and angular acceleration are solved by derivation of the axis vectors of the gaze coordinate system, and finally the satellite attitude is adjusted to achieve observation of the target entity.

[0099] In this embodiment, the satellite body coordinate system is defined as The staring mission requires the satellite's body coordinate system Pointing to the ground observation point, taking the infrared satellite constrained attitude as an example, this system Close to the Y-axis direction of the orbital system. To this end, the Earth gaze coordinate system is defined .

[0100] Ground gaze coordinate system The three-axis unit vectors are denoted as ; Satellite orbit coordinate system The three-axis unit vectors are ; The vector from the satellite centroid to the gaze point is denoted by ; The vector from the center of the earth (the origin of the inertial coordinate system) to the center of mass of the satellite is recorded as , the vector from the center of the earth to the gaze point is recorded as The relationship between these three vectors is , and then the transformation matrix from the inertial system to the gaze coordinate system is obtained as shown in Formula 9 ...Formula 9 in, The Z axis of the gaze coordinate system indicates that the Z axis of the gaze coordinate system is aligned with the vector from the satellite's center of mass to the gaze point; , is the gaze coordinate system X, indicating that the X-axis of the gaze coordinate system is obtained by cross-producting the Y-axis of the orbit system and the Z-axis of the gaze coordinate system; is the gaze coordinate system Y, indicating that the gaze coordinate system Y axis is obtained by cross-producting the gaze coordinate system Z axis and the gaze coordinate system X axis; is the transformation matrix from the inertial frame to the gaze coordinate frame.

[0101] Using the above example, when solving the angular velocity, you need to first use formula 10 to obtain the vector derivative of each axis of the gaze coordinate system, and then use formula 11 to solve the angular velocity. Formulas 10 and 11 are as follows: ...Formula 10 ...Formula 11 Among them, in formula 10, is the vector derivative of the Z axis of the gaze coordinate system, is the vector derivative of the X-axis of the gaze coordinate system, is the vector derivative of the Y axis of the gaze coordinate system, and, where ,as well as , is the component array of the Earth's rotation angular velocity in the inertial system, is the speed of the satellite in the inertial system. In formula 11, is the angular velocity of the inertial reference system N relative to the inertial system I, describing the rotation rate of the N system in the I system. is the time derivative of vector A in reference frame N, is the expression of vector A in reference frame N.

[0102] Then, the acceleration of the satellite in the inertial system is calculated using Formula 12, and then the second-order derivatives of the X, Y, and Z axis vectors of the gaze coordinate system are obtained using Formula 13, and then the angular acceleration is obtained using Formula 14.

[0103] ...Formula 12 ...Formula 13 ...Formula 14 Among them, in formula 12, is the acceleration of the satellite in the inertial system. In formula 13, is the second derivative of the Z axis of the gaze coordinate system, is the second derivative of the Y axis of the gaze coordinate system, is the second derivative of the Z axis of the gaze coordinate system, is the second derivative of the X axis of the gaze coordinate system, and, where ,as well as . In formula 14, is the angular acceleration of the inertial reference frame N relative to the inertial frame I.

[0104] By applying the scheme of the embodiments of this specification, continuous gaze observation of multiple imaging areas is realized. By planning in advance and obtaining the spatial information and time information of the area to be imaged, the satellite can accurately aim at each target area in orbit. In the attitude adjustment process, the attitude adjustment time period and the gaze starting time point of each imaging area are first determined, which enables the satellite to dynamically adjust its attitude according to the imaging requirements of different targets. On this basis, the stable attitude of each imaging target during the exposure period is calculated to ensure that the satellite can quickly adjust to the required attitude direction at each gaze starting time point.

[0105] In addition, by generating attitude adjustment planning information, including the acquired reference quaternion, angular velocity and angular acceleration, the satellite can achieve a smooth transition from the current attitude to the target attitude. The use of the first reference quaternion, the first reference angular velocity and the first reference angular acceleration ensures that the satellite's attitude adjustment in the intermediate stage can maintain continuity and stability. At the same time, by further adjusting to the second reference quaternion, the second reference angular velocity and the second reference angular acceleration, the satellite can gradually approach the target gaze starting attitude and achieve more precise attitude adjustment.

[0106] In addition, the solution of the embodiment of this specification also uses the information of the current posture and the target gaze starting posture to achieve fast and continuous imaging of multiple target areas by dynamically adjusting the planning. This multi-target continuous gaze method effectively solves the limitations of gaze imaging for a single target in the prior art and reduces the complexity of task planning.

[0107] The following combination Figure 2 Taking the application of the posture adjustment method provided in this specification in multi-target continuous gaze as an example, the posture adjustment method is further described. Figure 2 A flowchart of a processing process of a multi-target continuous gaze method provided by an embodiment of the present specification is shown, which specifically includes the following steps.

[0108] Step 202: Determine the imaging time period and position of the imaging target entities A, B, and C.

[0109] Step 204: Obtain the satellite's gaze start time point corresponding to each target entity and the target attitude adjustment time period.

[0110] Step 206: Based on the spatial information of the target entity corresponding to each gaze starting time point, determine the gaze starting posture information of the satellite corresponding to each gaze starting time point.

[0111] Step 208: When the satellite operation time is in the target attitude adjustment time period, obtain the current attitude information of the satellite.

[0112] In practical applications, since it is determined that the satellite is in the target attitude adjustment time period when it is at the initial time point of the target attitude adjustment time period (that is, the gaze termination time point of the previous gaze area), and the satellite's path planning from the current time point (the initial time point of the target attitude adjustment time period) to the gaze start time point has been calculated and planned, the current attitude information is usually the attitude information of the satellite at the initial time point of the target attitude adjustment time period.

[0113] Step 210: Generate attitude adjustment planning information based on the current attitude information and the target gaze starting attitude information, including calculating the quaternion, angular velocity and angular acceleration required for the satellite to adjust to the target gaze starting attitude information during the target attitude adjustment time period.

[0114] Step 212: Adjust the attitude of the satellite according to the attitude adjustment planning information so that it is aimed at the target entity A.

[0115] Step 214: During the entity gaze time period of the target entity A, the gaze algorithm is used to maintain the gaze posture of the satellite for imaging observation.

[0116] Step 216: After the target entity A has finished gazing, determine whether the target entity is the last target entity to be imaged. If so, return to step 210; if not, execute step 218.

[0117] Step 218: Determine that the multi-target gaze ends.

[0118] By applying the scheme of the embodiments of this specification, continuous gaze observation of multiple imaging targets along the trajectory direction is realized, overcoming the limitation of the prior art that only single target can be gaze imaged. After determining the time period and position of the imaging target entity, the satellite's gaze starting time point and attitude adjustment time period corresponding to each target are obtained in advance, so that the satellite can dynamically adjust its attitude and perform rapid and continuous imaging of multiple targets. By generating attitude adjustment planning information, including calculating the quaternion, angular velocity and angular acceleration required for the satellite to adjust to the target gaze starting attitude information in the target attitude adjustment time period, a smooth transition of attitude adjustment is ensured. This method not only maintains a stable attitude for each imaging target during the camera exposure cycle, but also effectively reduces the complexity of multi-target mission planning and improves the efficiency of the satellite in performing multi-target imaging tasks. By utilizing the satellite's rapid side-swing maneuvering capability, efficient observation of multiple targets is achieved, solving the challenges of attitude adjustment and maneuvering planning in the simultaneous imaging task of multiple targets.

[0119] Corresponding to the above method embodiment, this specification also provides an attitude adjustment device embodiment applied to a satellite, Figure 3 FIG. 1 is a schematic diagram showing a structure of an attitude adjustment device for a satellite provided by an embodiment of the present specification. Figure 3 As shown, the device comprises: The acquisition module 302 is configured to acquire regional spatial information and regional time information corresponding to at least two areas to be imaged, and acquire the current time point and the current attitude information of the satellite at the current time point; The time determination module 304 is configured to determine the posture adjustment time period and the gaze starting time point corresponding to each area to be imaged according to the area time information corresponding to each area to be imaged; The attitude determination module 306 is configured to determine the gaze start attitude information corresponding to each gaze start time point of the satellite; The adjustment module 308 is configured to adjust the attitude of the satellite according to the current attitude information and the target gaze starting attitude information when the current time point is in the target attitude adjustment time period, so that the attitude information of the satellite at the target gaze starting time point is the target gaze starting attitude information, wherein the target gaze starting attitude information is the gaze starting attitude information corresponding to the target gaze starting time point, the target gaze starting time point is the gaze starting time point of the area to be imaged corresponding to the target attitude adjustment time period, and the target attitude adjustment time period is any one of the attitude adjustment time periods.

[0120] Optionally, the time determination module 304 is further configured to: Analyze the regional time information corresponding to each area to be imaged, and obtain the imaging start time point and imaging end time point corresponding to each area to be imaged; Obtaining the stable reserved time duration corresponding to each area to be imaged, and determining the gaze starting time point corresponding to each area to be imaged according to the imaging starting time point corresponding to each area to be imaged and the stable reserved time duration; The posture adjustment time period is obtained according to the gaze start time point and the imaging end time point corresponding to each area to be imaged.

[0121] Optionally, the time determination module 304 is further configured to: Determine a first area to be imaged, wherein the first area to be imaged is any one of the areas to be imaged; Based on the imaging start time point corresponding to the first area to be imaged and the imaging end time point corresponding to the area to be imaged before the first area to be imaged, a posture adjustment duration corresponding to the first area to be imaged is generated.

[0122] Optionally, the adjustment module 308 is further configured to: Based on the current posture information and the target gaze starting posture information, generating posture adjustment planning information; The attitude of the satellite is adjusted according to the attitude adjustment planning information.

[0123] Optionally, the adjustment module 308 is further configured to: Based on the current posture information and the target gaze starting posture information, target posture adjustment information corresponding to at least one target posture adjustment time point is obtained, wherein the target posture adjustment information includes a target quaternion, a target angular velocity, and a target angular acceleration, and the target posture adjustment time point is a time point in the target posture adjustment time period.

[0124] Optionally, the adjustment module 308 is further configured to: Based on the current posture information and the target gaze starting posture information, acquiring the posture adjustment planning initial quaternion and the posture adjustment planning initial angular velocity, as well as the posture adjustment planning target quaternion and the posture adjustment planning target angular velocity; According to the initial quaternion of the attitude adjustment plan and the initial angular velocity of the attitude adjustment plan, the initial quaternion, initial angular velocity and initial angle corresponding to each target attitude adjustment time point are obtained; Based on the attitude adjustment planning initial angular velocity and the attitude adjustment planning target angular velocity, acquiring an attitude adjustment angular velocity difference; Determine the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point according to the attitude adjustment angular velocity difference, and the initial quaternion, the initial angular velocity and the initial angle corresponding to each target attitude adjustment time point, wherein the first reference quaternion is used to describe the rotation direction of the satellite from the current attitude to the intermediate reference attitude during the attitude adjustment process, the first reference angular velocity is used to represent the rotation rate of the satellite in the attitude adjustment transition phase, and the first reference angular acceleration is used to describe the rate of change of the satellite's rotation rate in the transition phase; Attitude adjustment planning information is obtained based on the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point.

[0125] Optionally, the adjustment module 308 is further configured to: Get the angular acceleration adjustment threshold; Based on the angular acceleration adjustment threshold, the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point, the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target attitude adjustment time point are obtained, wherein the second reference quaternion is used to further describe the rotation direction of the satellite from the intermediate reference attitude to the final target gaze starting attitude information transition, the second reference angular velocity is used to represent the rotation rate of the satellite in the stage of approaching the target gaze starting attitude information, and the second reference angular acceleration is used to describe the rate of change of the rotation rate of the satellite in the stage of adjusting the approaching target gaze starting attitude information; Attitude adjustment planning information is generated according to the first reference quaternion, the first reference angular velocity, the first reference angular acceleration and the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target attitude adjustment time point.

[0126] Optionally, the attitude adjustment device applied to a satellite further includes a gaze position determination module, and the gaze position determination module is configured as follows: Obtaining entity position information corresponding to each area to be imaged; The entity gaze time period corresponding to each to-be-imaged area is determined according to the area time information corresponding to each to-be-imaged area.

[0127] Optionally, the attitude adjustment device applied to a satellite further includes a staring module, and the staring module is configured as follows: When the current time point is in the target entity gaze time period, the satellite's posture is adjusted according to the current posture information and the target entity position information so that the satellite observes the target entity, wherein the target entity gaze time period is any one of the entity gaze time periods, the target entity position information is the entity position information corresponding to the target entity gaze time period, and the target entity is the entity corresponding to the target entity gaze time period.

[0128] The solution of the embodiment of this specification is applied to solve the problem of the satellite's gaze on each target area in a multi-target imaging mission. The device uses an acquisition module to obtain the spatial and temporal information of at least two areas to be imaged in advance, and dynamically determines the attitude adjustment time period and the gaze starting time point of each target based on this information, so that the satellite can be accurately adjusted according to the imaging requirements of different targets. Through the analysis of the time determination module, the imaging start and end time points are obtained, and a stable reserved time is set for each imaging area, thereby ensuring that the satellite can smoothly adjust to the corresponding attitude at each gaze starting time point. The attitude determination module further uses the spatial information of each time point to determine the satellite's gaze starting attitude information at these moments, providing an accurate reference for adjustment.

[0129] Moreover, through the adjustment module, the satellite can dynamically adjust its attitude in the actual mission, smoothly transition from the current attitude to the target gaze starting attitude, and ensure that the attitude adjustment at the target gaze starting time point meets the mission requirements. This process generates attitude adjustment planning information, including reference quaternions, angular velocity and angular acceleration, so that the satellite remains stable and accurate in the adjustment from the current attitude to the target attitude. In particular, the device ensures a smooth transition from the intermediate reference attitude to the final target gaze attitude in the multi-target imaging mission by utilizing the first and second reference quaternions, angular velocity and angular acceleration.

[0130] In addition, it also effectively solves the limitation of the existing technology that only a single target can be stared at and imaged. By maintaining a stable posture for each imaging target in each exposure cycle, the flexibility of mission planning is improved and the complexity of planning is reduced. At the same time, by using the satellite's rapid side-swing maneuverability, rapid and continuous imaging of multiple target areas is achieved, greatly improving the execution efficiency of imaging tasks and enabling the satellite to complete the observation of more targets in a single orbital flight.

[0131] The above is a schematic scheme of a posture adjustment device of this embodiment. It should be noted that the technical scheme of the posture adjustment device and the technical scheme of the posture adjustment method described above are of the same concept, and the details not described in detail in the technical scheme of the posture adjustment device can be referred to the description of the technical scheme of the posture adjustment method described above.

[0132] Figure 4 The block diagram of a computing device 400 according to one embodiment of the present specification is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0133] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0134] In one embodiment of the present specification, the above components of the computing device 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0135] The computing device 400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 400 may also be a mobile or stationary server.

[0136] The processor 420 is used to execute the following computer executable instructions, which implement the steps of the above-mentioned posture adjustment method when executed by the processor.

[0137] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above posture adjustment method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above posture adjustment method.

[0138] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which can implement the steps of the above-mentioned posture adjustment method when executed by a processor.

[0139] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned posture adjustment method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned posture adjustment method.

[0140] An embodiment of the present specification also provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned posture adjustment method when executed by a processor.

[0141] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the above posture adjustment method belong to the same concept, and the details not described in detail in the technical scheme of the computer program can be referred to the description of the technical scheme of the above posture adjustment method.

[0142] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0143] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0144] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0145] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0146] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A posture adjustment method, characterized in that: Applied to a satellite, the method comprises: Acquire regional spatial information and regional time information corresponding to at least two areas to be imaged, and acquire the current time point and the current attitude information of the satellite at the current time point; Determine the posture adjustment time period and the gaze starting time point corresponding to each area to be imaged according to the area time information corresponding to each area to be imaged; Determining gaze starting attitude information corresponding to each gaze starting time point of the satellite; When the current time point is in a target posture adjustment time period, the posture of the satellite is adjusted according to the current posture information and the target gaze starting posture information, so that the posture information of the satellite at the target gaze starting time point is the target gaze starting posture information, wherein the target gaze starting posture information is the gaze starting posture information corresponding to the target gaze starting time point, the target gaze starting time point is the gaze starting time point of the area to be imaged corresponding to the target posture adjustment time period, and the target posture adjustment time period is any one of the posture adjustment time periods.

2. The method according to claim 1, characterized in that Determining the posture adjustment time period and the gaze starting time point corresponding to each area to be imaged according to the area time information corresponding to each area to be imaged includes: Analyze the regional time information corresponding to each area to be imaged, and obtain the imaging start time point and imaging end time point corresponding to each area to be imaged; Obtaining the stable reserved time duration corresponding to each area to be imaged, and determining the gaze starting time point corresponding to each area to be imaged according to the imaging starting time point corresponding to each area to be imaged and the stable reserved time duration; According to the gaze start time point and imaging end time point corresponding to each area to be imaged, the posture adjustment time period is obtained.

3. The method according to claim 2, characterized in that Obtain the stable reserved time corresponding to each area to be imaged, including: Determine a first area to be imaged, wherein the first area to be imaged is any one of the areas to be imaged; Based on the imaging start time point corresponding to the first area to be imaged and the imaging end time point corresponding to the area to be imaged before the first area to be imaged, a posture adjustment duration corresponding to the first area to be imaged is generated.

4. The method according to claim 1, characterized in that Adjusting the attitude of the satellite according to the current attitude information and the target gaze starting attitude information includes: Based on the current posture information and the target gaze starting posture information, generating posture adjustment planning information; The attitude of the satellite is adjusted according to the attitude adjustment planning information.

5. The method according to claim 4, characterized in that Based on the current posture information and the target gaze starting posture information, posture adjustment planning information is generated, including: Based on the current posture information and the target gaze starting posture information, target posture adjustment information corresponding to at least one target posture adjustment time point is obtained, wherein the target posture adjustment information includes a target quaternion, a target angular velocity, and a target angular acceleration, and the target posture adjustment time point is a time point in the target posture adjustment time period.

6. The method according to claim 5, characterized in that Based on the current posture information and the target gaze starting posture information, obtaining target posture adjustment information corresponding to at least one target posture adjustment time point includes: Based on the current posture information and the target gaze starting posture information, acquiring the posture adjustment planning initial quaternion and the posture adjustment planning initial angular velocity, as well as the posture adjustment planning target quaternion and the posture adjustment planning target angular velocity; According to the initial quaternion of the attitude adjustment plan and the initial angular velocity of the attitude adjustment plan, the initial quaternion, initial angular velocity and initial angle corresponding to each target attitude adjustment time point are obtained; Based on the attitude adjustment planning initial angular velocity and the attitude adjustment planning target angular velocity, acquiring an attitude adjustment angular velocity difference; Determine the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point according to the attitude adjustment angular velocity difference, and the initial quaternion, the initial angular velocity and the initial angle corresponding to each target attitude adjustment time point, wherein the first reference quaternion is used to describe the rotation direction of the satellite from the current attitude to the intermediate reference attitude during the attitude adjustment process, the first reference angular velocity is used to represent the rotation rate of the satellite in the attitude adjustment transition phase, and the first reference angular acceleration is used to describe the rate of change of the satellite's rotation rate in the transition phase; Based on the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point, the target attitude adjustment information corresponding to each target attitude adjustment time point is obtained.

7. The method according to claim 6, characterized in that Based on the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point, attitude adjustment planning information is obtained, including: Get the angular acceleration adjustment threshold; Based on the angular acceleration adjustment threshold, the first reference quaternion, the first reference angular velocity and the first reference angular acceleration corresponding to each target attitude adjustment time point, the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target attitude adjustment time point are obtained, wherein the second reference quaternion is used to further describe the rotation direction of the satellite from the intermediate reference attitude to the final target gaze starting attitude information transition, the second reference angular velocity is used to represent the rotation rate of the satellite in the stage of approaching the target gaze starting attitude information, and the second reference angular acceleration is used to describe the rate of change of the rotation rate of the satellite in the stage of adjusting the approaching target gaze starting attitude information; Attitude adjustment planning information is generated according to the first reference quaternion, the first reference angular velocity, the first reference angular acceleration and the second reference quaternion, the second reference angular velocity and the second reference angular acceleration corresponding to each target attitude adjustment time point.

8. The method according to claim 1, characterized in that Before determining the gaze starting posture information corresponding to each gaze starting time point of the satellite, the method further includes: Obtaining entity position information corresponding to each area to be imaged; The entity gaze time period corresponding to each to-be-imaged area is determined according to the area time information corresponding to each to-be-imaged area.

9. The method according to claim 8, characterized in that After determining the entity gaze time period corresponding to each area to be imaged according to the area time information corresponding to each area to be imaged, the method further includes: When the current time point is in the target entity gaze time period, the satellite's posture is adjusted according to the current posture information and the target entity position information so that the satellite observes the target entity, wherein the target entity gaze time period is any one of the entity gaze time periods, the target entity position information is the entity position information corresponding to the target entity gaze time period, and the target entity is the entity corresponding to the target entity gaze time period.

10. A posture adjustment device, characterized in that: Applied to a satellite, the device comprises: An acquisition module is configured to acquire regional spatial information and regional time information corresponding to at least two areas to be imaged, and acquire a current time point and current attitude information of the satellite at the current time point; A time determination module is configured to determine a posture adjustment time period and a gaze starting time point corresponding to each area to be imaged according to area time information corresponding to each area to be imaged; An attitude determination module is configured to determine gaze start attitude information corresponding to each gaze start time point of the satellite; The adjustment module is configured to adjust the attitude of the satellite according to the current attitude information and the target gaze starting attitude information when the current time point is in the target attitude adjustment time period, so that the attitude information of the satellite at the target gaze starting time point is the target gaze starting attitude information, wherein the target gaze starting attitude information is the gaze starting attitude information corresponding to the target gaze starting time point, the target gaze starting time point is the gaze starting time point of the area to be imaged corresponding to the target attitude adjustment time period, and the target attitude adjustment time period is any one of the attitude adjustment time periods.

11. A computing device, characterized in that: include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer program / instructions are executed by the processor, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium storing a computer program / instruction, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

Images