A Two-Dimensional Turntable Pointing Guidance Method for Sinusoidal Dynamic Observation of Point Targets

Abstract

The application provides a two-dimensional turntable pointing guide method for point target sinusoidal dynamic observation, a star-target vector under a turntable coordinate system is calculated through externally input target guide information, a dynamic observation coordinate system is constructed with the star-target vector and an X axis of the turntable coordinate system, and a conversion matrix from the dynamic observation coordinate system to the two-dimensional turntable coordinate system is calculated; according to two parts of a two-dimensional turntable pointing angular velocity control error and a sinusoidal dynamic observation motion angular velocity, observation stability index requirements are decomposed, a sinusoidal observation motion radius and period are designed in combination with a two-dimensional turntable control bandwidth and a load field of view constraint; a sinusoidal motion target vector under the dynamic observation coordinate system is calculated in real time as an observation pointing of the two-dimensional turntable; the observation pointing of the two-dimensional turntable under the dynamic observation coordinate system is converted to the turntable coordinate system, and a pitching target angle and a rotating target angle used for guide control are calculated. The application is convenient for on-orbit autonomous detection and long-term stable tracking, and improves the stable tracking pointing capability of the on-orbit two-dimensional turntable.

Description

Technical Field

[0001] This invention relates to a two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets, belonging to the field of two-dimensional turntable pointing control for spacecraft. Background Technology

[0002] Based on the functional requirement of spacecraft using a two-dimensional turntable to control payload pointing for continuous point target observation, and considering the complex lighting conditions and rapid background changes during payload imaging, a static staring turntable pointing method that always tracks the target to 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 hindering long-term stable target pointing and tracking. Therefore, a dynamic observation mechanism is introduced based on the static staring turntable pointing method. While ensuring observation stability, to adapt to different dynamic observation needs and turntable control capabilities, the dynamic observation method is designed as 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 and improving the reliability of onboard target detection.

[0003] Currently, when spacecraft use a two-dimensional turntable to control the payload to point at the target for observation, the main method employed is staring observation. This involves controlling the target near the center of the payload's field of view and minimizing the target's movement 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, which are typically within 1.5 pixels in the payload's field of view, staring observation can effectively detect point targets if the background is simple, such as a deep-space background. However, in scenarios with complex and changing backgrounds, such as ground, cloud, and edge backgrounds, and where the satellite's inertial pointing changes rapidly, various stray lights and noise within the payload's field of view create numerous and highly variable noise points. If staring observation continues, the point target pixel size will not exceed 1.5 pixels, which is comparable to the pixel level of noise, making it extremely difficult to distinguish between the target and noise for target detection, thus hindering stable and effective target detection. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets. This method can adapt to the image shift requirements of dynamic observation of various targets. The angular velocity and angular acceleration of the two axes of the turntable 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.

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

[0006] Based on the target guidance information input from the outside, the star-eye vector in the turntable coordinate system is calculated, and the dynamic observation coordinate system is constructed using this vector and the X-axis of the turntable coordinate system. 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 the load observation and the upper limit of the target image shift angular velocity of the two-dimensional turntable, the stability requirements are decomposed into two parts: the control error of the two-dimensional turntable pointing angular velocity and the motion angular velocity of the sinusoidal dynamic observation. Combined with the control bandwidth of the two-dimensional turntable and the load field of view constraints, the motion radius and period of the sinusoidal observation are determined.

[0008] Based on the determined sinusoidal observation radius, period, and on-board timing, the sinusoidal target vector in the dynamic observation coordinate system is calculated in real time and used as the observation direction of the two-dimensional turntable.

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

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

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

[0012]

[0013] Where, r s This represents the satellite's current position vector in the J2000 geocentric equatorial inertial frame.

[0014] Transform the star-eye vector in the J2000 geocentric equatorial inertial frame 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's own system relative to the J2000 geocentric equatorial inertial frame; rb This is the transformation matrix of the turntable coordinate system relative to the satellite's own coordinate system, i.e., the turntable installation matrix.

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

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

[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 minimized.

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

[0021] First, calculate the two-axis transformation 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 θ represents the target vector in the turntable coordinate system. x θ represents the rotation angle around the X-axis from the dynamic observation coordinate system to the turntable coordinate system. z This represents 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 of rotation around the Z-axis of the dynamic observation coordinate system, and RotX represents the transformation matrix corresponding to a fixed angle of rotation around the X-axis of the dynamic observation coordinate system.

[0028] The preferred method for calculating the radius r and period T of sinusoidal observation is as follows:

[0029] The stability requirement for load observation is Δω max The upper limit of the angular velocity of the target image being tracked by the two-dimensional turntable is Δω = 0.8Δω. max If the angular velocity control error of the two axes of the two-dimensional turntable is Δω1, then the angular velocity allocated to the sinusoidal dynamic observation motion is Δω2=Δω-Δω1;

[0030] Let T be the minimum period of sinusoidal dynamic observation motion for precise tracking control under the two-axis control bandwidth of a two-dimensional turntable. min If the reserved control margin is ΔT, then the sinusoidal dynamic observation period is: T = T min +ΔT;

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

[0032]

[0033] Where r is in radians;

[0034] Compare the sinusoidal dynamic observation motion radius r with the half-cone angle R of the observation field of view: If r / R > 0.2, then the sinusoidal dynamic observation motion radius accounts for too large a proportion of the observation field of view. Set the radius to r = 0.2R and update the corresponding sinusoidal dynamic observation motion period. If less than T min ,but

[0035] The preferred method for calculating the sinusoidal target vector V0 in the dynamic observation coordinate system is as follows:

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

[0037] Where r is the radius of the sinusoidal dynamic observation motion, and θ is the phase of the sinusoidal dynamic observation motion. Where k represents the number of iterations of the algorithm, and τ represents the cycle length of each iteration of the algorithm.

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

[0039] Transform the sinusoidal motion target vector V0 in the dynamic observation coordinate system 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 target pitch angle α for turntable drive control. c and 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) This invention addresses the problem that it is difficult to distinguish target pixels from background noise when observing point targets under complex dynamic backgrounds. By introducing sinusoidal motion into the two-dimensional turntable pointing guidance, and designing the corresponding sinusoidal motion period and radius according to the image shift angular velocity requirements of the turntable tracking and pointing for different dynamic observations of point targets, the target is continuously and smoothly positioned near the center of the observation field of view to perform circular motion, 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 method 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 inter-frame relationship, thereby improving the reliability of target detection. Attached Figure Description

[0048] Figure 1 The flowchart of the two-dimensional turntable pointing guidance method for sinusoidal dynamic observation of point targets provided by the present invention is shown. Detailed Implementation

[0049] This 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 the sinusoidal dynamic observation, and calculating the sinusoidal target vector in the dynamic coordinate system in real time, the target pointing in the turntable coordinate system is calculated through coordinate system transformation. This yields the pitch and rotation angles for turntable pointing guidance control, adapting to the image shift requirements of various target dynamic observations. The smooth angular velocities and accelerations of the turntable's two axes facilitate the distinction between the target and the short-term background, improving onboard target detection and long-term target tracking capabilities. This is achieved through the following specific technical solutions:

[0050] Step S1: Based on the target guidance information input from the outside, calculate the star-eye vector in the turntable coordinate system. Construct a dynamic observation coordinate system using the star-eye vector and the X-axis of the turntable coordinate system. The turntable coordinate system is defined as follows: the Z-axis is along the direction of the turntable outer frame rotation axis, the X-axis is along the direction of the inner frame rotation 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-eye observation vector to the two-dimensional turntable coordinate system. The transformation matrix is ​​defined as follows: the Z-axis of the dynamic observation coordinate system is along the star-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] Target guidance information may be the target's inertial position vector r. t and velocity vector v t (RV information), or on-board target miss distance information S b Under RV information guidance, the star-eye vector r in the J2000 geocentric equatorial inertial frame. st The calculation method is as follows:

[0052]

[0053] Where, r s This is the satellite's current position vector in the J2000 geocentric equatorial inertial frame.

[0054] Transform the star-eye vector in the J2000 geocentric equatorial inertial frame 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 The transformation matrix of the satellite's intrinsic system relative to the J2000 geocentric equatorial inertial frame can be obtained by determining the satellite's attitude; A rb This is the transformation matrix of the turntable coordinate system relative to the satellite's own coordinate system, i.e., the turntable installation matrix.

[0057] Define a dynamic observation coordinate system, whose Z-axis is parallel to the star-eye vector r in the turntable coordinate system. st_r When parallel, the angle between its X-axis and the X-axis of the turntable coordinate system is the smallest. Therefore, the two-axis transformation 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 This 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 of rotation around the Z-axis of the dynamic observation coordinate system, and RotX represents the transformation matrix corresponding to a fixed angle of rotation around the X-axis of the dynamic observation coordinate system.

[0064] Step S2: Based on the stability requirements of the load observation, calculate the upper limit of the target image shift angular velocity pointed to by the turntable, decompose the stability index requirements into two parts: the turntable pointing angular velocity control error and the sinusoidal dynamic observation, and design the motion radius and period of the sinusoidal observation by combining the turntable control bandwidth and the load field of view constraint.

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

[0066] Assuming the turntable has a two-axis control bandwidth, the minimum period of the sinusoidal dynamic observation motion that can be accurately tracked and controlled is T. min If a control margin of ΔT is reserved, then the sinusoidal dynamic observation period is: T = T min +ΔT.

[0067] Calculate the radius of the sinusoidal dynamic observation motion from the angular velocity and period assigned to it: The unit is radians. The sinusoidal dynamic observation motion radius r is compared with the half-cone angle R of the observation field of view. If r / R > 0.2, the sinusoidal dynamic observation motion radius accounts for too large a proportion of the observation field of view. The radius is then set to r = 0.2R, and the corresponding sinusoidal dynamic observation motion period is updated. If less than T min ,but

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

[0069] The sinusoidal target vector in the dynamic observation coordinate system is calculated in real time based on the current onboard clock cycle k and the software cycle τ.

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

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

[0072] Step S4: Transform 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 and 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 rotation target angle β c :

[0075] α c =asin(V r (3))

[0076] β c =atan2(V r (2),V r (1))

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

[0078] This invention combines the characteristics of noise discreteness and rapid time-varying in complex background high dynamic observation. Based on the static staring turntable pointing method, it introduces a dynamic observation mechanism. While ensuring observation stability, in order to facilitate adaptation to different dynamic observation requirements and turntable control capabilities, the dynamic observation mode is designed as sinusoidal motion. The point target forms a dynamic circular trajectory within the payload observation field of view. Since the randomness of noise points will not form a circular trajectory with the turntable's circular motion, it can effectively distinguish target pixels from short-term background noise points within the field of view, significantly improving the reliability of on-board target detection.

[0079] Example:

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

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

[0082] Guided by the target's RV information, the target's position vector (in meters) is used:

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

[0084] Local star position vector (in meters):

[0085] r s =[928518.27550 6966233.980 1405197.619]

[0086] Calculate the star-eye vector:

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

[0088] The angle of the turntable matrix is ​​then calculated as follows:

[0089] θ x = 2.29319159354912 rad

[0090] θ z = -1.32682673988454 rad

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

[0092]

[0093] Given a target dynamic observation image angular velocity requirement of 0.025° / s and a turntable two-axis angular velocity control accuracy of 0.003° / s, the allocated angular velocity for sinusoidal motion is 0.022° / s. Assuming a minimum attitude control bandwidth of 10s and a control margin of 2s, the initial sinusoidal motion period is designed to be 12s. With a sinusoidal motion image angular velocity of 0.022° / s and a period of 12s, the corresponding sinusoidal motion radius is 0.000733rad, corresponding to 0.0420°. This corresponds to a field-of-view half-cone angle of 0.7°, which is 0.06, less than 0.2. Therefore, the impact on the observation acquisition field of view meets the requirements, and iteration is not necessary. Thus, the final designed sinusoidal motion period is 12s, and the radius is 0.000733rad.

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

[0095] V0=[0.000366499967180598 0.000634796564129121 0.999999731355512] T

[0096] At the 10th beat, the angles of the two-dimensional turntable pointing to the guided target using RV guidance information are as follows:

[0097] α c = -0.723030004137756

[0098] β c =2.89713427252226

[0099] In summary, this invention introduces sinusoidal motion into the pointing guidance of a two-dimensional turntable. Based on the image shift angular velocity requirements of different point targets for dynamic observation, the corresponding sinusoidal motion period and radius are designed to achieve continuous and smooth positioning of the target near the center of the observation field of view in a circular motion. This effectively distinguishes the target from the short-term observation background, facilitates onboard autonomous detection and long-term stable tracking, and improves the stable tracking and pointing capability of the onboard two-dimensional turntable.

[0100] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A method for guiding the pointing of a two-dimensional turntable for the observation of a point target with sinusoidal dynamics, characterized in that The method comprises the following steps: According to the target guide information inputted from outside, a star-target vector in the turntable coordinate system is calculated, and a dynamic observation coordinate system is constructed by using the vector and the X axis of the turntable coordinate system, and then a conversion matrix from the dynamic observation coordinate system to the two-dimensional turntable coordinate system is calculated; According to the stability requirement of the load observation and the upper limit of the target image motion angular velocity of the two-dimensional turntable tracking direction, the stability requirement is decomposed into two parts of the two-dimensional turntable pointing angular velocity control error and the sine dynamic observation motion angular velocity, and the motion radius and period of the sine observation are determined in combination with the two-dimensional turntable control bandwidth and the load field of view constraint; According to the determined motion radius and period of the sine observation and the on-board time sequence, a sine 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 direction of the two-dimensional turntable in the dynamic observation coordinate system is converted to the turntable coordinate system, and the pitch target angle and the rotation target angle for guide control are calculated.

2. The method of claim 1, wherein the method is a two-dimensional turntable pointing guidance method for a point target sinusoidal dynamic observation. The target guidance information inputted from outside is specifically: the inertial position vector r of the target t and the velocity vector v t , i.e. RV information.

3. The method of claim 2, wherein the method is a two-dimensional turntable pointing guidance method for a point target sinusoidal dynamic observation. According to the target guide information inputted from outside, the star-gaze vector r in the coordinate system of the rotating platform is calculated st_r The method is based on the RV information, and the star-gaze vector r in the J2000 geocentric equatorial inertial system is calculated st : where r s is the current position vector of the satellite in the J2000 Earth-Centered-Equatorial-Inertial frame; The star-sight vector under the J2000 geocentric equatorial inertial system is converted to the rotating table coordinate system, denoted as r st_r : r st_r = A rb A bi r st where A bi is the transformation matrix of the satellite body frame with respect to the J2000 Earth-Centered-Equatorial-Inertial frame; A rb is the transformation matrix of the turret coordinate frame with respect to the satellite body frame, i.e., the turret installation matrix.

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

5. The method of claim 4, wherein: the two-dimensional turntable is a two-dimensional turntable for a point target sinusoidal dynamic observation. The establishment process of the dynamic observation coordinate system is as follows: The Z axis of the dynamic observation coordinate system is parallel to the star-target vector in the turntable coordinate system, and the X axis of the dynamic observation coordinate system is at the smallest angle with the X axis of the turntable coordinate system.

6. The method of claim 1, wherein: the method is a two-dimensional turntable pointing guidance method for a point target sinusoidal dynamic observation. The method for calculating the conversion matrix A from the dynamic observation coordinate system to the two-dimensional turntable coordinate system is as follows: First, the two-axis conversion angles of the dynamic observation coordinate system and the turntable coordinate system are calculated: θ x = a cos(V zt (3)) θ z = atan2(V zt (1),V zt (2)) wherein V zt represents the target vector in the turntable coordinate system, θ x represents the rotation angle of the dynamic observation coordinate system to the turntable coordinate system around the X axis, θ z represents the rotation angle of the dynamic observation coordinate system to the turntable coordinate system around the Z axis; According to the two-axis conversion angles, the conversion matrix A from the dynamic observation coordinate system to the turntable coordinate system is calculated: A = RotZ(θ z ) RotX(θ x ) Wherein, RotZ represents the conversion matrix corresponding to the rotation of the Z axis of the dynamic observation coordinate system by a fixed angle, and RotX represents the conversion matrix corresponding to the rotation of the X axis of the dynamic observation coordinate system by a fixed angle.

7. The method of claim 1, wherein: the method is a two-dimensional turntable pointing guidance method for a point target sinusoidal dynamic observation. The calculation method of the motion radius r and the period T of the sine observation is as follows: The index requirement of the load observation to the stability is Δω max The upper limit of the target image motion angular velocity of the designed two-dimensional turntable tracking and pointing is Δω = 0.8Δω max The two-axis angular velocity control error of the two-dimensional turntable is Δω1, and the angular velocity allocated to the sinusoidal dynamic observation motion is Δω2 = Δω - Δω1. The minimum period of the sinusoidal dynamic observation motion for the accurate tracking control of the two-axis control bandwidth of the two-dimensional turntable is T min , and the reserved control margin is ΔT, so the period of the sinusoidal dynamic observation motion is T=T min +ΔT Based on the angular velocity and the motion period allocated to the sine dynamic observation motion, the sine dynamic observation motion radius is calculated: Wherein, the unit of r is radian; The sine dynamic observation motion radius r is compared with the observation field half-cone angle R: if r / R>0.2, the sine dynamic observation motion radius is too large relative to the observation field, and the radius is taken as r=0.2R, and the corresponding sine dynamic observation motion period is updated: If less than T min , then 8. The method of claim 7, wherein the method is a two-dimensional turntable pointing guidance method for a point target sinusoidal dynamic observation. The calculation method of the sine motion target vector V0 in the dynamic observation coordinate system is as follows: V0 = [cos θ sin r sin θ sin r cos r] T where r is the radius of the sinusoidal dynamic observation motion and θ is the phase of the sinusoidal dynamic observation motion, where k represents the number of beats the algorithm runs, and τ represents the length of the period of each beat of the algorithm.

9. The method of claim 8, wherein the method is a two-dimensional turntable pointing guidance method for a point target sinusoidal dynamic observation. The calculation method of the pitch target angle and the rotation target angle for guide control is as follows: Convert the vector V0 of the sinusoidal motion target in the dynamic observation coordinate system to the coordinate system of the turntable to obtain the vector V of the sinusoidal motion target in the coordinate system of the turntable r : V r = AV0 Wherein, A represents the conversion matrix from the dynamic observation coordinate system to the turntable coordinate system; By V r The tilt target angle a of the turntable driving control is calculated c And the rotation target angle β c : a c = asin(V r (3)) β c = atan2(V r (2),V r (1)).

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