Two-dimensional turntable pointing guide method for point target sine dynamic observation

Abstract

The invention provides a two-dimensional turntable pointing guide method for point target sine dynamic observation, which comprises the following steps of: calculating a star-eye vector under a turntable coordinate system through externally input target guide information, and constructing a dynamic observation coordinate system by using the star-eye vector and an X axis of the turntable coordinate system; calculating a conversion matrix from the dynamic observation coordinate system to the two-dimensional turntable coordinate system; the observation stability index requirement is decomposed according to the two parts of the two-dimensional rotary table directional angular velocity control error and the sine dynamic observation motion angular velocity, and the motion radius and period of sine observation are designed in combination with the two-dimensional rotary table control bandwidth and the load view field constraint; a sinusoidal motion target vector under the dynamic observation coordinate system is calculated in real time to serve as the observation direction of the two-dimensional rotary table; and turning the observation direction of the two-dimensional turntable under the dynamic observation coordinate system to the turntable coordinate system, and calculating a pitching target angle and a rotation target angle for guide control. According to the invention, on-satellite autonomous detection and long-term stable tracking are facilitated, and the stable tracking and pointing capability of the on-satellite two-dimensional turntable is improved.

Description

Technical Field

[0001] The invention relates to a two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of a point target, and belongs to the field of two-dimensional turntable pointing control of spacecraft. Background Art

[0002] Based on the spacecraft's functional requirement of using a two-dimensional turntable to control payload pointing for continuous observation of point targets, and considering the complex lighting conditions and rapidly changing background during observation, a static staring turntable pointing method that always tracks the target at the center of the observation field of view may confuse the point target with short-term background noise within the observation field of view, making detection difficult and detrimental to long-term stable target tracking. Based on the static staring turntable pointing method, a dynamic observation mechanism is introduced. While ensuring observation stability, in order to adapt to different dynamic observation requirements and turntable control capabilities, the dynamic observation method is designed as a sinusoidal motion. The point target forms a dynamic circular trajectory within the payload's observation field of view, effectively distinguishing it from short-term background noise in the field of view, thereby improving the reliability of onboard target detection.

[0003] Currently, when spacecraft use a two-dimensional turntable to control the payload's pointing at a target for observation, the primary method used is staring observation. This method controls the target near the center of the payload's field of view and minimizes target motion within the field of view. This method enables stable staring observation of the target and is widely used in Earth observation satellites. For point targets, the target is typically within 1.5 pixels within the payload's field of view. Staring observation can effectively detect point targets when the target observation background is simple, such as deep space. However, when the target observation background is complex and changing, such as the ground, clouds, and limbs, and when the satellite's inertial pointing changes rapidly, the payload's field of view is filled with numerous and highly variable noise points caused by various stray light and noise. If staring observation is continued, the pixel size of the point target is no larger than 1.5 pixels, which is comparable to the pixel size of the noise point. This makes it extremely difficult to distinguish between the target and the noise, making stable and effective target detection difficult. Summary of the Invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the existing technology and provide a two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets, which can adapt to the image motion requirements of dynamic observation of various targets. The two-axis guidance angular velocity and angular acceleration of the turntable are smooth, which is conducive to the distinction between the target and the short-term background, and improves the on-board target detection capability and long-term target tracking capability.

[0005] The technical solution of the present invention is: a two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets, wherein:

[0006] Based on the external input target guidance information, the star-to-target vector in the turntable coordinate system is calculated, and the vector and the X-axis of the turntable coordinate system are used to construct the dynamic observation coordinate system, and then the transformation matrix from the dynamic observation coordinate system to the two-dimensional turntable coordinate system is calculated;

[0007] Based on the stability requirements of payload observation and the upper limit of the target image angular velocity of the 2D turntable tracking and pointing, the stability requirements are decomposed into two parts: the 2D turntable pointing angular velocity control error and the sinusoidal dynamic observation angular velocity. Combined with the 2D turntable control bandwidth and the payload field of view constraints, the motion radius and period of the sinusoidal observation are determined.

[0008] According to the determined sinusoidal observation motion radius, period and on-board time sequence, the sinusoidal motion target vector in the dynamic observation coordinate system is calculated in real time as the observation direction of the two-dimensional turntable;

[0009] The observation orientation of the two-dimensional turntable in the dynamic observation coordinate system is converted to the turntable coordinate system, and the pitch target angle and rotation target angle used for guidance control are calculated.

[0010] Preferably, the externally input target guidance information is specifically: the target's inertial position vector r t and velocity vector v t , that is, RV information.

[0011] Preferably, the star-to-target vector r in the turntable coordinate system is calculated based on the target guidance information input externally. st_r The method is to calculate the star-to-eye vector r in the J2000 geocentric equatorial inertial system based on RV information. st :

[0012]

[0013] Among them, r s is the satellite's current position vector in the J2000 geocentric equatorial inertial system;

[0014] Convert the star-to-eye vector in the J2000 geocentric equatorial inertial system to the turntable coordinate system, denoted as r st_r :

[0015] r st_r =A rb A bi r st

[0016] Among them, A bi A is the transformation matrix of the satellite system relative to the J2000 geocentric equatorial inertial system; rb It is the transformation matrix of the turntable coordinate system relative to the satellite system, that is, the turntable installation matrix.

[0017] Preferably, the turntable coordinate system is defined as follows: its Z axis is along the direction of positive rotation of the turntable outer frame axis, the X axis is along the direction of positive rotation of the inner frame axis when the turntable outer frame is at zero position, and the Y axis is determined by the right-hand rule.

[0018] Preferably, the process of establishing the dynamic observation coordinate system is:

[0019] The Z axis of the dynamic observation coordinate system is defined to be parallel to the star-eye vector in the turntable coordinate system, and the angle between the X axis of the dynamic observation coordinate system and the X axis of the turntable coordinate system is the smallest.

[0020] Preferably, the method for calculating the transformation matrix A from the dynamic observation coordinate system to the two-dimensional turntable coordinate system is:

[0021] First, calculate the two-axis conversion angle between the dynamic observation coordinate system and the turntable coordinate system:

[0022] θ x =acos(V zt (3)

[0023] θ z =atan2(V zt (1),V zt (2)

[0024] Among them, V zt represents the target vector in the turntable coordinate system, θ x Indicates the rotation angle around the X axis from the dynamic observation coordinate system to the turntable coordinate system, θ z Indicates the rotation angle around the Z axis from the dynamic observation coordinate system to the turntable coordinate system;

[0025] Calculate the transformation matrix A from the dynamic observation coordinate system to the turntable coordinate system based on the two-axis transformation angle:

[0026] A=RotZ(θ z )RotX(θ x )

[0027] Where RotZ represents the transformation matrix corresponding to a fixed angle rotation around the Z axis of the dynamic observation coordinate system, and RotX represents the transformation matrix corresponding to a fixed angle rotation around the X axis of the dynamic observation coordinate system.

[0028] Preferably, the calculation method of the motion radius r and period T of the sinusoidal observation is:

[0029] The load observation requirement for stability is Δω max The upper limit of the target image angular velocity of the two-dimensional turntable tracking is Δω=0.8Δω max , the angular velocity control error of the two-axis of the two-dimensional turntable is Δω1, then the angular velocity assigned to the sinusoidal dynamic observation motion is Δω2=Δω-Δω1;

[0030] Assume that the minimum period of sinusoidal dynamic observation motion for precise tracking control of two-axis two-dimensional turntable is T min , the reserved control margin is ΔT, then the sinusoidal dynamic observation motion period is: T = T min +ΔT;

[0031] Calculate the radius of the sinusoidal kinematic observation motion based on the angular velocity and motion period assigned to the sinusoidal kinematic observation motion:

[0032]

[0033] Where r is in radians;

[0034] Compare the sinusoidal dynamic observation motion radius r with the observation field semi-cone angle R: If r / R>0.2, the sinusoidal dynamic observation motion radius is too large relative to the observation field. Set the radius to r=0.2R and update the corresponding sinusoidal dynamic observation motion period: If it is less than T min ,but

[0035] Preferably, the calculation method of the sinusoidal motion target vector V0 in the dynamic observation coordinate system is:

[0036] V0=[cosθsin r sinθsin r cos r] T

[0037] Among them, r is the radius of sinusoidal dynamic observation motion, θ is the phase of sinusoidal dynamic observation motion, Where k represents the number of beats the algorithm runs, and τ represents the cycle length of each beat of the algorithm.

[0038] Preferably, the method for calculating the pitch target angle and the rotation target angle for guidance control is:

[0039] The sinusoidal motion target vector V0 in the dynamic observation coordinate system is converted to the turntable coordinate system to obtain the sinusoidal motion target vector V in the turntable coordinate system. r :

[0040] V r =AV0

[0041] Where A represents the transformation matrix from the dynamic observation coordinate system to the turntable coordinate system;

[0042] By V r Calculate the pitch target angle α of the turntable drive control c and the rotation target angle β c :

[0043] α c =asin(Vr (3)

[0044] β c =atan2(V r (2),V r (1)).

[0045] Compared with the prior art, the present invention has the following advantages:

[0046] (1) The present invention addresses the problem of difficulty in distinguishing target pixels from background noise when observing point targets under complex dynamic backgrounds. By introducing sinusoidal motion into the two-dimensional turntable pointing guidance, the corresponding sinusoidal motion period and radius are designed according to the image shift angular velocity requirements of the turntable tracking and pointing for different point target dynamic observations, so as to achieve continuous and smooth configuration of the target in a circular motion near the center of the observation field of view, effectively distinguishing the target from the short-term observation background, facilitating on-board autonomous detection and long-term stable tracking, and improving the stable tracking and pointing capability of the satellite two-dimensional turntable;

[0047] (2) Under the sinusoidal dynamic observation mode of the present invention, the target pixels of multiple frames will form a circular trajectory, while the background noise will not form a circular trajectory due to its random characteristics. The target pixels and background noise can be effectively distinguished through the relationship between frames, thereby improving the reliability of target detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flow chart of the two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets provided by the present invention. DETAILED DESCRIPTION

[0049] The present invention provides a two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets. By constructing a dynamic observation coordinate system, designing the radius and period of sinusoidal dynamic observation, and calculating the sinusoidal motion target vector in the dynamic coordinate system in real time, the target pointing in the turntable coordinate system is calculated through coordinate system transformation, and the turntable pointing guidance control pitch target angle and rotation target angle are obtained. This method can meet the image motion requirements of various target dynamic observations. The turntable's two-axis guidance angular velocity and angular acceleration are smooth, which is conducive to distinguishing the target from the short-term background, and improving the on-board target detection capability and long-term target tracking capability. This is achieved through the following specific technical solutions:

[0050] Step S1. Calculate the star-to-eye vector in the turntable coordinate system based on the externally input target guidance information, and construct a dynamic observation coordinate system using the star-to-eye vector and the X-axis of the turntable coordinate system. The turntable coordinate system is defined as the Z-axis along the direction of positive rotation of the turntable outer frame axis, the X-axis along the direction of positive rotation of the inner frame axis when the turntable outer frame is at zero position, and the Y-axis is determined by the right-hand rule. Then calculate the transformation matrix from the dynamic observation coordinate system constructed with the star-to-eye observation vector to the two-dimensional turntable coordinate system; it is defined as the Z-axis of the dynamic observation coordinate system along the star-to-eye vector in the turntable coordinate system, and the angle between the X-axis and the X-axis of the turntable coordinate system is the smallest.

[0051] The target guidance information may be the target's inertial position vector r t and velocity vector v t (RV information), or the target miss distance information S detected on the satellite b Under the guidance of RV information, the star-to-eye vector r in the J2000 geocentric equatorial inertial system is st The calculation method is:

[0052]

[0053] Among them, r s is the satellite’s current position vector in the J2000 geocentric equatorial inertial system.

[0054] Convert the star-to-eye vector in the J2000 geocentric equatorial inertial system to the turntable coordinate system, denoted as r st_r :

[0055] r st_r =A rb A bi r st

[0056] Among them, A bi A is the transformation matrix of the satellite system relative to the J2000 geocentric equatorial inertial system, which can be obtained by determining the satellite attitude; rb It is the transformation matrix of the turntable coordinate system relative to the satellite system, that is, the turntable installation matrix.

[0057] Define the dynamic observation coordinate system, whose Z axis and the star eye vector r in the turntable coordinate system st_r The X-axis of the turntable coordinate system is parallel, and the angle between its X-axis and the X-axis of the turntable coordinate system is the smallest. Then the two-axis conversion angle between the dynamic observation coordinate system and the turntable coordinate system is:

[0058] θ x =acos(V zt (3)

[0059] θ z =atan2(V zt (1),V zt (2)

[0060] Among them, V zt represents the target vector in the turntable coordinate system;

[0061] Calculate the transformation matrix A from the dynamic observation coordinate system to the turntable coordinate system based on the two-axis transformation angle:

[0062] A=RotZ(θ z )RotX(θ x )

[0063] Where RotZ represents the transformation matrix corresponding to a fixed angle rotation around the Z axis of the dynamic observation coordinate system, and RotX represents the transformation matrix corresponding to a fixed angle rotation around the X axis of the dynamic observation coordinate system.

[0064] Step S2: Based on the stability requirements of the payload observation, the upper limit of the target image angular velocity of the turntable tracking is calculated. The stability index requirements are decomposed into two parts: the turntable pointing angular velocity control error and the sinusoidal dynamic observation. The motion radius and period of the sinusoidal observation are designed in combination with the turntable control bandwidth and the payload field of view constraints.

[0065] The stability requirement of load observation is Δω max The upper limit of the angular velocity of the target image pointed by the turntable is Δω=0.8Δω max , the angular velocity control error of the two axes of the turntable is Δω1, then the angular velocity assigned to the sinusoidal dynamic observation motion is Δω2=Δω-Δω1.

[0066] Assuming that the minimum period of the sinusoidal dynamic observation motion that can be accurately tracked and controlled under the control bandwidth of the two axes of the turntable is T min , leaving a ΔT control margin, the sinusoidal dynamic observation motion period is: T = T min +ΔT.

[0067] The radius of the sinusoidal dynamic observation motion is calculated from the angular velocity and motion period assigned to the sinusoidal dynamic observation motion: The unit is radians. Compare the sinusoidal dynamic observation motion radius r with the observation field semi-cone angle R. If r / R>0.2, the sinusoidal dynamic observation motion radius is too large relative to the observation field. Set the radius to r=0.2R and update the corresponding sinusoidal dynamic observation motion period: If it is less than T min ,but

[0068] Step S3: Calculate the sinusoidal motion target vector V0 in the dynamic observation coordinate system in real time based on the designed sinusoidal observation motion parameters and the onboard timing, which serves as the observation direction of the two-dimensional turntable. The motion parameters here refer to the motion radius and period of the sinusoidal observation.

[0069] The sinusoidal moving target vector in the dynamic observation coordinate system is calculated in real time based on the current running beat number k on the satellite and the software running cycle τ:

[0070] V0=[cosθsin r sinθsin r cos r] T

[0071] Among them, r is the radius of sinusoidal dynamic observation motion, θ is the phase of sinusoidal dynamic observation motion, and the formula is: Where k represents the number of beats the algorithm runs, and τ represents the cycle length of each beat of the algorithm.

[0072] Step S4: Convert the two-dimensional turntable observation direction (sinusoidal motion target vector V0) in the dynamic observation coordinate system to the turntable coordinate system, and calculate the azimuth axis target angle and rotation axis target angle used for guidance control. The target vector in the turntable coordinate system is:

[0073] V r =AV0

[0074] The pitch target angle α of the turntable drive control is calculated from the target vector in the turntable coordinate system c and the rotation target angle β c :

[0075] α c =asin(V r (3)

[0076] β c =atan2(V r (2),V r (1)

[0077] Set the pitch target angle α c and the rotation target angle β c The two-dimensional turntable pointing guidance used for point target observation can make the target perform periodic circular motion within the field of view at a specified image motion speed, thereby realizing dynamic imaging of the target within the observation field of view.

[0078] The present invention combines the characteristics of discrete and rapidly time-varying noise in highly dynamic observations with complex backgrounds, and introduces a dynamic observation mechanism based on the static staring turntable pointing method. While meeting the observation stability, in order to adapt to different dynamic observation requirements and turntable control capabilities, the dynamic observation mode is designed as sinusoidal motion. Point targets form dynamic circular trajectories in the payload observation field of view. Since the randomness of noise points will not form circular trajectories with the circular motion of the turntable, it is possible to effectively distinguish target pixels from short-term background noise points in the field of view, thereby significantly improving the reliability of on-board target detection.

[0079] Example:

[0080] The present invention will be further described below by describing a specific embodiment in detail with reference to the accompanying drawings.

[0081] like Figure 1 As shown, this embodiment provides a two-dimensional turntable pointing guidance algorithm for sinusoidal dynamic observation of point targets, which includes the following processes:

[0082] Under the guidance of the target RV information, the target position vector (in meters) is used:

[0083] r t =[-418740.471982 7301604.576 181604.159]

[0084] Position vector of local satellite (in meters):

[0085] r s =[928518.27550 6966233.980 1405197.619]

[0086] Calculate the star-to-eye vector:

[0087] r st =[-0.728007590682194 0.181221565667543 -0.661183553974319]

[0088] Then the angle of the turntable matrix is ​​calculated as:

[0089] θ x =2.29319159354912rad

[0090] θ z =-1.32682673988454rad

[0091] The corresponding transformation matrix from the dynamic observation coordinate system to the turntable coordinate system is:

[0092]

[0093] When the angular velocity requirement for dynamic observation of point targets is 0.025° / s, and considering the angular velocity control accuracy of the turntable's two axes of 0.003° / s, the angular velocity allocated to the sinusoidal motion is 0.022° / s. Assuming the minimum supported attitude control bandwidth is 10s and the control margin is 2s, the initial design sinusoidal motion period is 12s. With a sinusoidal motion angular velocity of 0.022° / s and a period of 12s, the corresponding sinusoidal motion radius is 0.000733 rad, which corresponds to 0.0420°. This accounts for 0.06 of the 0.7° field of view semi-cone angle, less than 0.2, and the impact on the observation and capture field of view meets the requirements, requiring no iteration. Therefore, the final designed sinusoidal motion period is 12s, with a radius of 0.000733 rad.

[0094] The control period is 0.2s, and a 12s period corresponds to 60 beats. The sinusoidal motion target vector in the dynamic observation coordinate system at the 10th beat is:

[0095] V0=[0.000366499967180598 0.000634796564129121 0.999999731355512] T

[0096] At the 10th beat, the two-dimensional turntable pointing to the guidance target angle using the RV guidance information is:

[0097] α c =-0.723030004137756

[0098] β c =2.89713427252226

[0099] In summary, the present invention introduces sinusoidal motion into the pointing guidance of the two-dimensional turntable, designs the corresponding sinusoidal motion period and radius according to the image shift angular velocity requirements of different point target dynamic observations, and realizes the continuous and smooth configuration of the target to perform circular motion near the center of the observation field of view, effectively distinguishing the target from the short-term observation background, facilitating on-board autonomous detection and long-term stable tracking, and improving the stable tracking and pointing capability of the on-board two-dimensional turntable.

[0100] The contents not described in detail in the specification of the present invention belong to the prior art known to those skilled in the art.

Claims

1. A two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets, characterized in that include: According to the target guidance information input externally, the star-to-target vector in the turntable coordinate system is calculated, and the dynamic observation coordinate system is constructed using the vector and the X-axis of the turntable coordinate system, and then the transformation matrix from the dynamic observation coordinate system to the two-dimensional turntable coordinate system is calculated; According to the stability requirements of payload observation and the upper limit of the target image angular velocity of the two-dimensional turntable tracking and pointing, the stability requirements are decomposed into two parts: the angular velocity control error of the two-dimensional turntable pointing and the angular velocity of the sinusoidal dynamic observation. Combined with the control bandwidth of the two-dimensional turntable and the field of view constraint of the payload, the movement radius and period of the sinusoidal observation are determined. According to the determined motion radius, period and on-board timing of the sinusoidal observation, the sinusoidal motion target vector in the dynamic observation coordinate system is calculated in real time as the observation direction of the two-dimensional turntable; The observation orientation of the two-dimensional turntable in the dynamic observation coordinate system is converted to the turntable coordinate system, and the pitch target angle and rotation target angle used for guidance control are calculated.

2. A two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 1, characterized in that: The external input target guidance information is specifically: the target's inertial position vector r t and the velocity vector v t , that is, RV information.

3. A two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 2, characterized in that: According to the external input target guidance information, the star-to-target vector r in the turntable coordinate system is calculated. st_r The method is to calculate the star-to-eye vector r in the J2000 geocentric equatorial inertial system based on RV information. st : Among them, r s is the satellite's current position vector in the J2000 geocentric equatorial inertial system; Convert the star-to-eye vector in the J2000 geocentric equatorial inertial system to the turntable coordinate system, denoted by r st_r : r st_r =A rb A bi r st Among them, A bi A is the transformation matrix of the satellite system relative to the J2000 geocentric equatorial inertial system; rb It is the transformation matrix of the turntable coordinate system relative to the satellite system, that is, the turntable installation matrix.

4. The two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 1 is characterized by: The turntable coordinate system is defined as follows: its Z axis is along the positive rotation direction of the turntable outer frame axis, the X axis is along the positive rotation direction of the inner frame axis when the turntable outer frame is at zero position, and the Y axis is determined by the right-hand rule.

5. A two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 4, characterized in that: The process of establishing the dynamic observation coordinate system is as follows: It is defined that the Z axis of the dynamic observation coordinate system is parallel to the star-eye vector in the turntable coordinate system, and the angle between the X axis of the dynamic observation coordinate system and the X axis of the turntable coordinate system is the smallest.

6. The two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 1 is characterized by: The method for calculating the transformation matrix A from the dynamic observation coordinate system to the two-dimensional turntable coordinate system is: First, calculate the two-axis conversion angle between the dynamic observation coordinate system and the turntable coordinate system: i x =acos(V zt (3)) θ z =atan2(V zt (1),V zt (2)) Among them, V zt represents the target vector in the turntable coordinate system, θ x Indicates the rotation angle around the X-axis from the dynamic observation coordinate system to the turntable coordinate system, θ z Indicates the rotation angle around the Z axis from the dynamic observation coordinate system to the turntable coordinate system; Calculate the transformation matrix A from the dynamic observation coordinate system to the turntable coordinate system based on the two-axis transformation angle: A=RotZ(θ z )RotX(θ x ) Among them, RotZ represents the transformation matrix corresponding to the fixed angle rotation around the Z axis of the dynamic observation coordinate system, and RotX represents the transformation matrix corresponding to the fixed angle rotation around the X axis of the dynamic observation coordinate system.

7. The two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 1 is characterized by: The calculation method of the motion radius r and period T of sinusoidal observation is: The load observation requirement for stability is Δω max The upper limit of the target image angular velocity of the two-dimensional turntable tracking is Δω=0.8Δω max , the angular velocity control error of the two-axis of the two-dimensional turntable is Δω1, then the angular velocity assigned to the sinusoidal dynamic observation motion is Δω2=Δω-Δω1; Assume that the minimum period of the sinusoidal dynamic observation motion of the two-dimensional turntable under the control bandwidth of the two axes is T min , the reserved control margin is ΔT, then the sinusoidal dynamic observation motion period is: T = T min +ΔT; Calculate the radius of the sinusoidal kinematic observation motion based on the angular velocity and motion period assigned to the sinusoidal kinematic observation motion: Where r is in radians; Compare the sinusoidal dynamic observation motion radius r with the observation field semi-cone angle R: If r / R>0.2, the sinusoidal dynamic observation motion radius is too large relative to the observation field. Take the radius as r=0.2R and update the corresponding sinusoidal dynamic observation motion period: If less than T min ,but 8. The two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 7 is characterized by: The calculation method of the sinusoidal moving target vector V0 in the dynamic observation coordinate system is: V0=[cosθsinr sinθsinr cosr] T Among them, r is the radius of the sinusoidal dynamic observation motion, θ is the phase of the sinusoidal dynamic observation motion, Where k represents the number of beats the algorithm runs, and τ represents the cycle length of each beat of the algorithm.

9. A two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets according to claim 8, characterized in that: The method for calculating the pitch target angle and the rotation target angle used for guidance control is: The sinusoidal moving target vector V0 in the dynamic observation coordinate system is converted to the turntable coordinate system to obtain the sinusoidal moving target vector V in the turntable coordinate system. r : V r =AV0 Where A represents the transformation matrix from the dynamic observation coordinate system to the turntable coordinate system; By V r Calculate the pitch target angle α of the turntable drive control c and the rotation target angle β c : α c =and(V r (3)) β c =atan2(V r (2),V r (1)).

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