Planning control method and device for space target pointing attitude by remote sensing satellite

Abstract

The invention provides a planning control method and device for a space target pointing attitude by a remote sensing satellite, and the method comprises the steps: obtaining an attitude quaternion from a satellite body system of the remote sensing satellite to a load coordinate system, acquiring a satellite orbit state and a space target orbit state at the current moment; determining the intersection moment of the remote sensing satellite and the space target through an orbit pre-pushing model; and determining the shooting time of a linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtaining the space unit vector of three axes of a satellite load coordinate system corresponding to the expected attitude of the remote sensing satellite at the shooting time. According to the invention, the imaging of the line-scan digital camera is more accurate, the control precision of the pointing attitude of the remote sensing satellite is improved, and the problem of poor control effect of the remote sensing satellite in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of satellite control technology, and in particular to a method and device for planning and controlling the pointing attitude of a remote sensing satellite to a space target. Background Art

[0002] In the aerospace field, precise attitude control of satellites is a key factor in ensuring that they are effectively aligned with space targets and obtaining high-quality data. Remote sensing satellites are mainly used to monitor and image the surface from high altitudes, relying on optical sensors and linear array cameras for imaging. These devices need to be aligned with the target at a specific intersection time to ensure the accuracy and clarity of the image data.

[0003] Traditional attitude control methods usually rely on multiple sensors to monitor the satellite attitude in real time, and use algorithms such as PID (Proportional Integral Derivative) control or Kalman filtering to adjust the attitude. Under rapidly changing targets and complex orbital conditions, the real-time performance, response speed and control accuracy of this method often cannot meet the requirements. In addition, although intelligent control algorithms are expected to handle complex dynamic environments, they occupy more resources.

[0004] There is no effective solution to the problem of poor control effect of remote sensing satellites in existing related technologies. Summary of the invention

[0005] The present invention provides a method and device for planning and controlling the pointing attitude of a remote sensing satellite to a space target, so as to solve the defect of poor control effect of the remote sensing satellite in the prior art.

[0006] In a first aspect, the present invention provides a method for planning and controlling a remote sensing satellite's pointing attitude to a space target, comprising: Obtain the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and obtain the satellite orbit state and space target orbit state at the current moment; Determining the intersection time of the remote sensing satellite and the space target through an orbit prediction model; Determining the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtaining the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected posture of the remote sensing satellite at the shooting time; The remote sensing satellite is pushed and scanned at a desired push and scan angle in a pitch direction to obtain a desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The attitude of the remote sensing satellite pointing toward the space target is determined according to the expected attitude quaternion of the remote sensing satellite.

[0007] According to a remote sensing satellite pointing attitude planning and control method provided by the present invention, the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system is obtained, including: The attitude quaternion of the remote sensing satellite from the satellite coordinate system to the payload coordinate system is obtained through the installation matrix of the linear array camera.

[0008] According to a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention, the intersection time of the remote sensing satellite and the space target is determined by an orbit prediction model, comprising: Obtaining a position vector of the space target relative to the remote sensing satellite at the current moment; The time when the position vector is minimum is determined by the orbit prediction model as the intersection time of the remote sensing satellite and the space target.

[0009] According to a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention, the shooting time of a linear array camera is determined based on the intersection time of the remote sensing satellite and the space target, comprising: Determining whether a line frequency requirement of the linear array camera is met according to the expected push-scan angular velocity and the relative angular velocity between the remote sensing satellite and the space target; The shooting time of the line array camera is determined according to the judgment result.

[0010] According to a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention, judging whether the line frequency requirement of the linear array camera is met according to the expected push-scan angular velocity and the relative angular velocity between the remote sensing satellite and the space target, comprises: Obtaining a velocity vector of the space target relative to the remote sensing satellite at a current moment; Determining the relative angular velocity of the remote sensing satellite based on the velocity vector of the space target relative to the remote sensing satellite and the position vector of the space target relative to the remote sensing satellite; A line frequency result is determined according to the expected angular velocity and the relative angular velocity of the remote sensing satellite, and it is determined whether the line frequency result is within the line frequency range of the linear array camera.

[0011] According to a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention, the shooting time of the linear array camera is determined according to the judgment result, comprising: If the line frequency result is within the line frequency range of the linear array camera, the intersection time of the remote sensing satellite and the space target is determined as the shooting time; If the line frequency result is not within the line frequency range of the line array camera, the relative angular velocity of the remote sensing satellite is iterated from the intersection moment until the line frequency requirement of the line array camera is met.

[0012] According to a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention, the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the time of shooting are obtained, including: Obtaining the position vector and velocity vector of the space target relative to the remote sensing satellite at the time of shooting, and determining the satellite payload coordinate system corresponding to the expected attitude at the time of shooting; Based on the satellite payload coordinate system, an attitude matrix from the inertial system to the satellite payload coordinate system and a corresponding expected attitude quaternion are obtained; Based on the expected attitude quaternion of the attitude matrix and the attitude quaternion from the satellite local system of the remote sensing satellite to the payload coordinate system, the expected attitude quaternion from the inertial system to the satellite local system of the remote sensing satellite is determined.

[0013] According to a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention, the remote sensing satellite is made to push-scan at an expected push-scan angle in a pitch direction, and the expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting is obtained, including: The remote sensing satellite is pushed and scanned at a desired push and scan angle in a pitch direction, and a desired angular velocity of the remote sensing satellite relative to an inertial system is determined to be expressed in a payload coordinate system; The expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting is determined based on the representation of the expected angular velocity of the remote sensing satellite relative to the inertial system in the payload coordinate system.

[0014] According to a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention, based on the representation of the expected angular velocity of the remote sensing satellite relative to the inertial system in the payload coordinate system, the expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting is determined, comprising: Based on the expected angular velocity of the remote sensing satellite relative to the inertial system being expressed in the payload coordinate system, determining the expression of the expected angular velocity of the remote sensing satellite in the satellite coordinate system; The pitch direction maneuvering angle of the remote sensing satellite is obtained, and the expected attitude quaternion of the remote sensing satellite rotating from the shooting time to the target time is determined.

[0015] In a second aspect, the present invention further provides a planning and control device for a remote sensing satellite pointing to a space target, comprising: The acquisition module is used to obtain the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and to obtain the satellite orbit state and space target orbit state at the current moment; A processing module, used for determining the intersection time of the remote sensing satellite and the space target through an orbit prediction model; A determination module, used to determine the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtain the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected posture of the remote sensing satellite at the shooting time; A push-broom module, used to make the remote sensing satellite perform push-scanning at a desired push-scanning angle in a pitch direction, and obtain a desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The control module is used to determine the attitude of the remote sensing satellite pointing to the space target according to the expected attitude quaternion of the remote sensing satellite.

[0016] In a third aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for planning and controlling the pointing attitude of a remote sensing satellite to a space target as described in the first aspect above is implemented.

[0017] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for planning and controlling the pointing attitude of a remote sensing satellite to a space target as described in the first aspect above.

[0018] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method for planning and controlling the pointing attitude of a remote sensing satellite to a space target as described in the first aspect above.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The planning and control method of the pointing attitude of a remote sensing satellite to a space target provided by the present invention can accurately predict and calculate the intersection time of the satellite and the space target through the orbit prediction model, so that the linear array camera is aimed at the space target at a precise time, making the imaging of the linear array camera more accurate, and improving the control accuracy of the pointing attitude of the remote sensing satellite. Moreover, after the linear array camera starts shooting, the desired attitude quaternion at any time can be obtained, which is convenient for adjusting the pointing attitude of the remote sensing satellite at any time, and the real-time performance and response speed are better, which solves the problem of poor control effect of remote sensing satellites in existing related technologies. In addition, compared with the existing technology, the calculation process of the above process is more concise and effective, easy to implement, and reduces the control cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a flow chart of a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention; Figure 2 is a schematic diagram of the spatial geometric relationship of a remote sensing satellite pointing to a space target in an embodiment of the present invention; Figure 3 Schematic diagram of the total pointing deviation of a remote sensing satellite to a space target in an embodiment of the present invention; Figure 4 Schematic diagram of the pitch Euler angle deviation of a remote sensing satellite to a space target in an embodiment of the present invention; Figure 5 is a schematic diagram of the rolling Euler angle deviation of a remote sensing satellite to a space target in an embodiment of the present invention; Figure 6 is a schematic diagram of the yaw Euler angle deviation of a remote sensing satellite to a space target in an embodiment of the present invention; Figure 7 is a time response curve diagram of the X-axis attitude angular velocity of the remote sensing satellite in an embodiment of the present invention; Figure 8 is a time response curve diagram of the Y-axis attitude angular velocity of the remote sensing satellite in an embodiment of the present invention; Fig. 9 is a time response curve diagram of the Z-axis attitude angular velocity of the remote sensing satellite in an embodiment of the present invention; Fig.10 is a time response curve diagram of the deviation between the X-axis angular velocity of the remote sensing satellite and the expected angular velocity in an embodiment of the present invention; Fig.11 is a time response curve diagram of the deviation between the Y-axis angular velocity of the remote sensing satellite and the expected angular velocity in an embodiment of the present invention; Fig.12 is a time response curve diagram of the deviation between the Z-axis angular velocity of the remote sensing satellite and the expected angular velocity in an embodiment of the present invention; Fig.13 is a time response curve diagram of the deviation between the actual angular velocity of the X-axis and the expected angular velocity after the attitude of the remote sensing satellite pointing to the space target converges in an embodiment of the present invention; Fig.14 is a time response curve diagram of the deviation between the actual angular velocity of the Y axis and the expected angular velocity after the attitude of the remote sensing satellite pointing to the space target converges in an embodiment of the present invention; Fig.15is a time response curve diagram of the deviation between the actual angular velocity of the Z axis and the expected angular velocity after the attitude of the remote sensing satellite pointing to the space target converges in an embodiment of the present invention; Fig.16 It is a structural block diagram of a planning and controlling device for a remote sensing satellite pointing to a space target provided by the present invention; Fig.17 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The present invention provides a method for planning and controlling the pointing attitude of a remote sensing satellite to a space target. Figure 1 The flowchart of the method for planning and controlling the pointing attitude of a remote sensing satellite to a space target provided by the present invention is as follows: Figure 1 As shown, the method comprises the following steps: Step S101, obtaining the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and obtaining the satellite orbit state and the space target orbit state at the current moment.

[0024] Step S102, determining the intersection time of the remote sensing satellite and the space target through the orbit prediction model.

[0025] Step S103, determining the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtaining the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected posture of the remote sensing satellite at the shooting time.

[0026] Step S104 , the remote sensing satellite is instructed to push-scan at a desired push-scan angle in the pitch direction, and the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting is obtained.

[0027] Step S105, determining the attitude of the remote sensing satellite pointing to the space target according to the expected attitude quaternion of the remote sensing satellite.

[0028] In this method, first, the attitude quaternion of the remote sensing satellite from the satellite body system to the payload coordinate system is obtained, and the attitude quaternion can represent the rotation angular velocity and rotation axis of the remote sensing satellite. In addition, it is also necessary to obtain the satellite orbit state and the space target orbit state at the current moment to facilitate better positioning of the remote sensing satellite and the space target. Then, the intersection time of the remote sensing satellite and the space target is calculated through the orbit prediction model, so that the linear array camera is aimed at the space target at a precise moment to perform accurate and reliable imaging. Then, the shooting time of the linear array camera is determined, and the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the shooting time are obtained. Then, the remote sensing satellite is pushed and swept at the expected push-sweep angle in the pitch direction, and the expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting is obtained. Finally, the attitude of the remote sensing satellite pointing to the space target is calculated according to the expected attitude quaternion, and the attitude of the satellite pointing to the space target is planned and controlled accordingly. In the above process, the orbit prediction model can accurately predict and calculate the intersection time of the satellite and the space target, so that the linear array camera can be aimed at the space target at a precise time, making the imaging of the linear array camera more accurate and improving the control accuracy of the remote sensing satellite's pointing attitude. Moreover, after the linear array camera starts shooting, the desired attitude quaternion at any time can be obtained, which is convenient for adjusting the pointing attitude of the remote sensing satellite at any time, with better real-time performance and response speed, solving the problem of poor control effect of remote sensing satellites in existing related technologies. In addition, compared with the existing technology, the calculation process of the above process is more concise and effective, easy to implement, and reduces the control cost.

[0029] In some of the embodiments, step S101, obtaining the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, includes: obtaining the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system through the installation matrix of the linear array camera.

[0030] For example, the attitude quaternion of the satellite coordinate system to the corresponding payload coordinate system is , obtained from the installation matrix of the linear array camera. The satellite orbit state is ,in, is the satellite geocentric position vector, is the satellite geocentric velocity vector; the orbital state of the space target is ,in, is the geocentric position vector of the space target, is the space target velocity vector, such as Figure 2 As shown, Figure 2 It is a schematic diagram of the spatial geometric relationship of the remote sensing satellite pointing to the space target in an embodiment of the present invention.

[0031] In some of the embodiments, step S102, determining the intersection time of the remote sensing satellite and the space target through an orbit prediction model, includes: obtaining the position vector of the space target relative to the remote sensing satellite at the current moment; determining the moment when the position vector is the smallest through the orbit prediction model as the intersection time of the remote sensing satellite and the space target.

[0032] Exemplarily, the calculation formula for the position vector of the space target relative to the remote sensing satellite at the current moment is as follows:

[0033] in, R TS represents the relative position vector, is the geocentric position vector of the space target, is the satellite's geocentric position vector. The moment when the position vector is minimum is calculated by the orbit prediction model, which is the intersection moment of the remote sensing satellite and the space target. t .

[0034] On this basis, step S103 determines the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, including: judging whether the line frequency requirement of the linear array camera is met according to the expected push-scan angular velocity and the relative angular velocity between the remote sensing satellite and the space target; and determining the shooting time of the linear array camera according to the judgment result.

[0035] Furthermore, judging whether the line frequency requirement of the linear array camera is met is performed according to the expected push-scan angular velocity and the relative angular velocity between the remote sensing satellite and the space target, including: obtaining the velocity vector of the space target relative to the remote sensing satellite at the current moment; determining the relative angular velocity of the remote sensing satellite based on the velocity vector of the space target relative to the remote sensing satellite and the position vector of the space target relative to the remote sensing satellite; determining the line frequency result according to the expected angular velocity and the relative angular velocity of the remote sensing satellite, and judging whether the line frequency result is within the line frequency range of the linear array camera.

[0036] Furthermore, the shooting time of the linear array camera is determined according to the judgment result, including: if the line frequency result is within the line frequency range of the linear array camera, the intersection time of the remote sensing satellite and the space target is determined as the shooting time; if the line frequency result is not within the line frequency range of the linear array camera, the relative angular velocity of the remote sensing satellite is iterated from the intersection time until the line frequency requirement of the linear array camera is met.

[0037] Exemplarily, the calculation formula of the velocity vector of the space target relative to the remote sensing satellite at the current moment is as follows:

[0038] in, V TS represents the relative velocity vector, is the space target velocity vector, is the satellite geocentric velocity vector. The component of the relative velocity vector parallel to the radial direction of the remote sensing satellite mass center pointing to the space target mass center is:

[0039] in, V TS / / represents the parallel vector component, V TS Represents the relative velocity vector. The component of the relative velocity vector perpendicular to the radial direction of the remote sensing satellite mass center pointing to the space target mass center is:

[0040] in, V TS⊥ represents the vertical vector component, V TS Represents the relative velocity vector. Based on this, the calculation formula for the relative angular velocity between the remote sensing satellite and the space target is as follows:

[0041] in, represents the relative angular velocity, V TS⊥ represents the vertical vector component, R TS represents the relative position vector, Represents the modulus of a vector. The superposition of the expected push-broom angular velocity and the relative angular velocity of the remote sensing satellite is the composite angular velocity. If the remote sensing satellite is pushed only in the pitch direction at the expected push-broom angular velocity, the direction of the expected push-broom angular velocity and the relative angular velocity are parallel to the payload coordinate system. According to the composite angular velocity and angular resolution, the line frequency result can be obtained by the line frequency calculation formula to determine whether it is within the line frequency range of the linear array camera. If the line frequency requirements are met, the intersection moment is the shooting moment. If the line frequency requirements of the linear array camera are not met, the relative angular velocity is iterated from the intersection moment until the line frequency meets the requirements, and the iteration is stopped to obtain the shooting moment.

[0042] In some of the embodiments, step S103, obtaining the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the time of shooting, includes: obtaining the position vector and velocity vector of the space target relative to the remote sensing satellite at the time of shooting, and determining the satellite payload coordinate system corresponding to the expected attitude at the time of shooting; based on the satellite payload coordinate system, obtaining the attitude matrix from the inertial system to the satellite payload coordinate system and the corresponding expected attitude quaternion; based on the expected attitude quaternion of the attitude matrix and the attitude quaternion from the satellite system of the remote sensing satellite to the payload coordinate system, determining the expected attitude quaternion from the inertial system to the satellite system of the remote sensing satellite.

[0043] Exemplarily, the shooting time is found according to the intersection time or the iteration result , calculate the position vector of the space target relative to the remote sensing satellite at the time of shooting and the velocity vector , and calculate the component of the relative velocity vector perpendicular to the radial direction of the remote sensing satellite mass center pointing to the space target mass center , then the spatial geometric relationship of each axis of the satellite payload coordinate system corresponding to the desired attitude is as follows Figure 2 As shown, the calculation method is as follows:

[0044] in, x c , y c , z c is the unit vector of each axis of the payload coordinate system, that is, at the time of shooting, the optical axis of the linear array camera on the remote sensing satellite + z c Pointing to the space target along the radial direction, the attitude matrix from the inertial system to the load coordinate system is:

[0045] in, M I2C Represents the attitude matrix. The expected attitude quaternion corresponding to the attitude matrix is , since the attitude quaternion of the satellite system to the corresponding payload coordinate system is , from which we can get the expected attitude quaternion from the inertial system to the satellite system:

[0046] in, is the expected attitude quaternion corresponding to the attitude matrix, It is the attitude quaternion from the satellite's own system to the corresponding payload coordinate system.

[0047] In this embodiment, the desired attitude quaternion is: (0.603542242, -0.127745220, 0.779697854, 0.107187581).

[0048] Assuming that the remote sensing satellite is pushed and scanned only in the pitch direction, the expected angular velocity of the remote sensing satellite body relative to the inertial system is expressed in the payload coordinate system as:

[0049] in, It represents the expected angular velocity of the remote sensing satellite body relative to the inertial system in the payload coordinate system. for The component of the y-axis in the load coordinate system is a given value. Then in the remote sensing satellite system, the expected angular velocity is expressed as:

[0050] in, It represents the expected angular velocity of the remote sensing satellite in the satellite system. Since the payload coordinate system and the satellite body coordinate system are almost coincident, it can be considered that:

[0051] Then the remote sensing satellite The posture calculation process at this moment is as follows: The pitch direction maneuvering angle of the remote sensing satellite at any moment is ,make , then Rotate to The rotation quaternion of the moment attitude can be expressed as:

[0052] in, q s represents the rotation quaternion, for The component of the y-axis of the load coordinate system is a given value. The expected attitude at the moment is .

[0053] In order to verify the control effect of the above method on remote sensing satellites, the following simulation experiments were carried out. Figure 3-6 As shown, Figure 3 is a schematic diagram of the total pointing deviation of a remote sensing satellite to a space target in an embodiment of the present invention, Figure 4 is a schematic diagram of the pitch Euler angle deviation of a remote sensing satellite to a space target in an embodiment of the present invention, Figure 5 is a schematic diagram of the rolling Euler angle deviation of a remote sensing satellite to a space target in an embodiment of the present invention, Figure 6 Schematic diagram of the yaw Euler angle deviation of the remote sensing satellite to the space target in the embodiment of the present invention. Figure 3-Figure 6 It can be seen that the remote sensing satellite achieved attitude control of the space target within 80 seconds. Figure 7-9 As shown, Figure 7 is a time response curve diagram of the X-axis attitude angular velocity of the remote sensing satellite in an embodiment of the present invention, Figure 8 is a time response curve diagram of the Y-axis attitude angular velocity of the remote sensing satellite in an embodiment of the present invention, Fig. 9 is a time response curve diagram of the Z-axis attitude angular velocity of the remote sensing satellite in the embodiment of the present invention. Figure 7-9It can be seen that the attitude angular velocity of the remote sensing satellite pointing to the space target converges after 80 seconds. In the process of adjusting the attitude of the remote sensing satellite to point to the space target and performing push scanning, the deviation of the three-axis angular velocity of the remote sensing satellite from the expected angular velocity is as follows: Figure 10-12 As shown, Fig.10 is a time response curve diagram of the deviation between the X-axis angular velocity of the remote sensing satellite and the expected angular velocity in an embodiment of the present invention, Fig.11 is a time response curve diagram of the deviation between the Y-axis angular velocity of the remote sensing satellite and the expected angular velocity in an embodiment of the present invention, Fig.12 is a time response curve diagram of the deviation between the Z-axis angular velocity of the remote sensing satellite and the expected angular velocity in the embodiment of the present invention. After the remote sensing satellite points to the space target, it selects a suitable shooting time to start the push scan. The satellite moves along the payload coordinate system. The axis push-scans the space target at an angular velocity of -0.06° / s for 20 seconds. Fig.13 is a time response curve diagram of the deviation between the actual angular velocity of the X-axis and the expected angular velocity after the attitude of the remote sensing satellite pointing to the space target converges in an embodiment of the present invention, Fig.14 is a time response curve diagram of the deviation between the actual angular velocity of the Y axis and the expected angular velocity after the attitude of the remote sensing satellite pointing to the space target converges in an embodiment of the present invention, Fig.15 is a time response curve diagram of the deviation between the actual angular velocity of the Z axis and the expected angular velocity after the attitude of the remote sensing satellite pointing to the space target converges in the embodiment of the present invention, such as Figure 13-15 As shown, the total pointing deviation during the push-scan of the space target is 0.01224° (3σ), the X-axis attitude stability is 0.00071° / s (3σ), the Y-axis attitude stability is 0.00104° / s (3σ), and the Z-axis attitude stability is 0.00080° / s (3σ).

[0054] The above simulation results verify the planning and control method of the remote sensing satellite pointing attitude towards space targets proposed in the present invention, and realize the control of the attitude of the remote sensing satellite to point to the space target and perform linear array camera push-scan imaging, which fully proves the effectiveness and reliability of the method provided by the present invention.

[0055] The present invention also provides a planning and control device for a remote sensing satellite's pointing attitude to a space target. The planning and control device for a remote sensing satellite's pointing attitude to a space target provided by the present invention is described below. The planning and control device for a remote sensing satellite's pointing attitude to a space target described below and the planning and control method for a remote sensing satellite's pointing attitude to a space target described above can be referenced to each other. Fig.16 The structure block diagram of the planning and control device for the pointing attitude of a remote sensing satellite to a space target provided by the present invention is as follows: Fig.16 As shown, the device comprises: The acquisition module 1601 is used to acquire the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and to acquire the satellite orbit state and the space target orbit state at the current moment; The processing module 1602 is used to determine the intersection time of the remote sensing satellite and the space target through the orbit prediction model; The determination module 1603 is used to determine the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtain the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected posture of the remote sensing satellite at the shooting time; The push-broom module 1604 is used to make the remote sensing satellite push-broom at a desired push-broom angle in the pitch direction, and obtain the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The control module 1605 is used to determine the attitude of the remote sensing satellite pointing to the space target according to the expected attitude quaternion of the remote sensing satellite.

[0056] When the device is in use, first, the acquisition module 1601 acquires the attitude quaternion of the satellite system of the remote sensing satellite to the payload coordinate system, and the attitude quaternion can represent the rotation angular velocity and rotation axis of the remote sensing satellite. In addition, it is also necessary to obtain the satellite orbit state and the space target orbit state at the current moment, so as to facilitate better positioning of the remote sensing satellite and the space target. Then, the processing module 1602 calculates the intersection time of the remote sensing satellite and the space target through the orbit prediction model, so that the linear array camera is aimed at the space target at a precise moment, and accurate and reliable imaging is performed. Then, the determination module 1603 determines the shooting time of the linear array camera, and obtains the spatial unit vector of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the shooting time. The push-broom module 1604 then makes the remote sensing satellite push-broom at the expected push-broom angle in the pitch direction, and obtains the expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting. Finally, the control module 1605 calculates the attitude of the remote sensing satellite pointing to the space target according to the expected attitude quaternion, and realizes the planning and control of the attitude of the satellite pointing to the space target accordingly. In the above process, the orbit prediction model can accurately predict and calculate the intersection time of the satellite and the space target, so that the linear array camera can be aimed at the space target at a precise time, making the imaging of the linear array camera more accurate and improving the control accuracy of the remote sensing satellite's pointing attitude. Moreover, after the linear array camera starts shooting, the desired attitude quaternion at any time can be obtained, which is convenient for adjusting the pointing attitude of the remote sensing satellite at any time, with better real-time performance and response speed, solving the problem of poor control effect of remote sensing satellites in existing related technologies. In addition, compared with the existing technology, the calculation process of the above process is more concise and effective, easy to implement, and reduces the control cost.

[0057] Fig.17 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.17 As shown, the electronic device may include: a processor 1701, a communications interface 1702, a memory 1703 and a communication bus 1704, wherein the processor 1701, the communications interface 1702 and the memory 1703 communicate with each other via the communication bus 1704. The processor 1701 may call the logic instructions in the memory 1703 to execute a planning and control method for a remote sensing satellite to point to a space target, the method comprising: Obtain the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and obtain the satellite orbit state and space target orbit state at the current moment; Determine the intersection moment between the remote sensing satellite and the space target through the orbit prediction model; Determine the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtain the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the shooting time; The remote sensing satellite is pushed and scanned at a desired push and scan angle in the pitch direction to obtain the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The attitude of the remote sensing satellite pointing to the space target is determined according to the expected attitude quaternion of the remote sensing satellite.

[0058] In addition, the logic instructions in the above-mentioned memory 1703 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0059] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the planning and control method of the remote sensing satellite pointing attitude to the space target provided by the above methods, the method includes: Obtain the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and obtain the satellite orbit state and space target orbit state at the current moment; Determine the intersection moment between the remote sensing satellite and the space target through the orbit prediction model; Determine the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtain the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the shooting time; The remote sensing satellite is pushed and scanned at a desired push and scan angle in the pitch direction to obtain the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The attitude of the remote sensing satellite pointing to the space target is determined according to the expected attitude quaternion of the remote sensing satellite.

[0060] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the planning and control method of the pointing attitude of a remote sensing satellite to a space target provided by the above methods, the method comprising: Obtain the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and obtain the satellite orbit state and space target orbit state at the current moment; Determine the intersection moment between the remote sensing satellite and the space target through the orbit prediction model; Determine the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtain the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the shooting time; The remote sensing satellite is pushed and scanned at a desired push and scan angle in the pitch direction to obtain the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The attitude of the remote sensing satellite pointing to the space target is determined according to the expected attitude quaternion of the remote sensing satellite.

[0061] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0062] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for planning and controlling the pointing attitude of a remote sensing satellite to a space target, characterized in that: include: Obtain the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and obtain the satellite orbit state and space target orbit state at the current moment; Determining the intersection time of the remote sensing satellite and the space target through an orbit prediction model; Determining the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtaining the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected posture of the remote sensing satellite at the shooting time; The remote sensing satellite is pushed and scanned at a desired push and scan angle in a pitch direction to obtain a desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The attitude of the remote sensing satellite pointing toward the space target is determined according to the expected attitude quaternion of the remote sensing satellite.

2. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 1, characterized in that: Get the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, including: The attitude quaternion of the remote sensing satellite from the satellite coordinate system to the payload coordinate system is obtained through the installation matrix of the linear array camera.

3. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 1, characterized in that: Determining the intersection time of the remote sensing satellite and the space target by using an orbit prediction model includes: Obtaining a position vector of the space target relative to the remote sensing satellite at the current moment; The time when the position vector is minimum is determined by the orbit prediction model as the intersection time of the remote sensing satellite and the space target.

4. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 3, characterized in that: Determining the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target includes: Determining whether the line frequency requirement of the linear array camera is met according to the expected push-scan angular velocity and the relative angular velocity between the remote sensing satellite and the space target; The shooting time of the line array camera is determined according to the judgment result.

5. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 4, characterized in that: Judging whether the line frequency requirement of the linear array camera is met according to the expected push-scan angular velocity and the relative angular velocity between the remote sensing satellite and the space target, includes: Obtaining a velocity vector of the space target relative to the remote sensing satellite at a current moment; Determining the relative angular velocity of the remote sensing satellite based on the velocity vector of the space target relative to the remote sensing satellite and the position vector of the space target relative to the remote sensing satellite; A line frequency result is determined according to the expected angular velocity and the relative angular velocity of the remote sensing satellite, and it is determined whether the line frequency result is within the line frequency range of the linear array camera.

6. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 5, characterized in that: Determining the shooting time of the line array camera according to the judgment result includes: If the line frequency result is within the line frequency range of the linear array camera, the intersection time of the remote sensing satellite and the space target is determined as the shooting time; If the line frequency result is not within the line frequency range of the line array camera, the relative angular velocity of the remote sensing satellite is iterated from the intersection moment until the line frequency requirement of the line array camera is met.

7. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 1, characterized in that: Obtaining the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected attitude of the remote sensing satellite at the time of shooting, including: Obtaining the position vector and velocity vector of the space target relative to the remote sensing satellite at the time of shooting, and determining the satellite payload coordinate system corresponding to the expected attitude at the time of shooting; Based on the satellite payload coordinate system, an attitude matrix from the inertial system to the satellite payload coordinate system and a corresponding expected attitude quaternion are obtained; Based on the expected attitude quaternion of the attitude matrix and the attitude quaternion from the satellite local system of the remote sensing satellite to the payload coordinate system, the expected attitude quaternion from the inertial system to the satellite local system of the remote sensing satellite is determined.

8. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 1, characterized in that: The remote sensing satellite is made to push-scan at an expected push-scan angle in the pitch direction, and an expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting is obtained, including: The remote sensing satellite is pushed and scanned at a desired push and scan angle in a pitch direction, and a desired angular velocity of the remote sensing satellite relative to an inertial system is determined to be expressed in a payload coordinate system; The expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting is determined based on the representation of the expected angular velocity of the remote sensing satellite relative to the inertial system in the payload coordinate system.

9. The method for planning and controlling the pointing attitude of a remote sensing satellite to a space target according to claim 8, characterized in that: Determining the expected attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting based on the expression of the expected angular velocity of the remote sensing satellite relative to the inertial system in the payload coordinate system includes: Based on the expected angular velocity of the remote sensing satellite relative to the inertial system being expressed in the payload coordinate system, determining the expression of the expected angular velocity of the remote sensing satellite in the satellite coordinate system; The pitch direction maneuvering angle of the remote sensing satellite is obtained, and the expected attitude quaternion of the remote sensing satellite rotating from the shooting time to the target time is determined.

10. A remote sensing satellite pointing attitude planning and control device for a space target, characterized in that: include: The acquisition module is used to obtain the attitude quaternion of the remote sensing satellite from the satellite system to the payload coordinate system, and to obtain the satellite orbit state and space target orbit state at the current moment; A processing module, used for determining the intersection time of the remote sensing satellite and the space target through an orbit prediction model; A determination module, used to determine the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target, and obtain the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the expected posture of the remote sensing satellite at the shooting time; A push-broom module, used to make the remote sensing satellite perform push-scanning in a pitch direction at a desired push-scanning angle, and obtain a desired attitude quaternion of the remote sensing satellite at any time after the linear array camera starts shooting; The control module is used to determine the attitude of the remote sensing satellite pointing to the space target according to the expected attitude quaternion of the remote sensing satellite.

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