A method and apparatus for planning and controlling the pointing attitude of a remote sensing satellite towards a space target.

Abstract

This invention provides a method and apparatus for planning and controlling the pointing attitude of a remote sensing satellite towards a space target. The method includes: acquiring the attitude quaternions of the remote sensing satellite from its own coordinate system to the payload coordinate system, and acquiring the current orbital state of the satellite and the orbital state of the space target; determining the rendezvous time of the remote sensing satellite and the space target using an orbital prediction model; determining the shooting time of the line array camera based on the rendezvous time of the remote sensing satellite and the space target, and acquiring the spatial unit vector of the three axes of the satellite payload coordinate system corresponding to the desired attitude of the remote sensing satellite at the shooting time. This invention enables more accurate imaging by the line array camera, improves the control precision of the pointing attitude of the remote sensing satellite, and solves the problem of poor control performance of remote sensing satellites in existing related technologies.

Description

Technical Field

[0001] This invention relates to the field of satellite control technology, and in particular to a method and apparatus for planning and controlling the attitude of a remote sensing satellite toward a space target. Background Technology

[0002] In the aerospace field, precise attitude control of satellites is a key factor in ensuring their effective alignment with space targets and the acquisition of high-quality data. Remote sensing satellites are mainly used for monitoring and imaging the Earth's surface from high altitudes, relying on optical sensors and line-scan cameras for imaging. These devices need to be aligned with the target at specific moments of convergence to ensure the accuracy and clarity of the image data.

[0003] Traditional attitude control methods typically rely on multiple sensors to monitor satellite attitude in real time and use algorithms such as PID (Proportional Integral Derivative) control or Kalman filtering for attitude adjustment. Under rapidly changing target and complex orbital conditions, this method often fails to meet the requirements in terms of real-time performance, response speed, and control accuracy. In addition, although intelligent control algorithms have the potential to handle complex dynamic environments, they consume a lot of resources.

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

[0005] This invention provides a method and apparatus for planning and controlling the pointing attitude of a remote sensing satellite toward a space target, in order to solve the defects of poor control effect of remote sensing satellite in the prior art.

[0006] In a first aspect, the present invention provides a method for planning and controlling the pointing attitude of a remote sensing satellite toward a space target, comprising:

[0007] Obtain the attitude quaternions of the remote sensing satellite from the satellite body system to the payload coordinate system, and obtain the current satellite orbit state and space target orbit state;

[0008] The rendezvous time between the remote sensing satellite and the space target is determined using an orbit prediction model;

[0009] The shooting time of the linear array camera is determined based on the intersection time of the remote sensing satellite and the space target, and 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 is obtained.

[0010] The remote sensing satellite is instructed to perform a push-broom operation in the elevation direction at a desired push-broom angle to obtain the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins to capture images.

[0011] The attitude of the remote sensing satellite toward the space target is determined based on the desired attitude quaternion of the remote sensing satellite.

[0012] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target is provided, which obtains the attitude quaternions of the remote sensing satellite from the satellite's own coordinate system to the payload coordinate system, including:

[0013] The attitude quaternions of the remote sensing satellite from the satellite body coordinate system to the payload coordinate system are obtained through the installation matrix of the linear array camera.

[0014] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target is provided, which determines the rendezvous time of the remote sensing satellite and the space target through an orbit prediction model, including:

[0015] Obtain the position vector of the space target relative to the remote sensing satellite at the current moment;

[0016] The moment when the position vector is minimized is determined by the orbit prediction model and used as the rendezvous moment of the remote sensing satellite and the space target.

[0017] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target, which determines the shooting time of a linear array camera based on the intersection time of the remote sensing satellite and the space target, includes:

[0018] Based on the desired push-broom angular velocity and the relative angular velocity between the remote sensing satellite and the space target, determine whether the line frequency requirement of the linear array camera is met.

[0019] The shooting time of the line scan camera is determined based on the judgment result.

[0020] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target, based on the desired push-broom angular velocity and the relative angular velocity between the remote sensing satellite and the space target, determines whether the line frequency requirement of the linear array camera is met, including:

[0021] Obtain the velocity vector of the space target relative to the remote sensing satellite at the current moment;

[0022] The relative angular velocity of the remote sensing satellite is determined 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.

[0023] Based on the expected angular velocity and relative angular velocity of the remote sensing satellite, the line frequency result is determined, and it is determined whether the line frequency result is within the line frequency range of the line array camera.

[0024] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target, wherein the shooting time of the linear array camera is determined based on a judgment result, includes:

[0025] If the line frequency result is within the line frequency range of the linear array camera, then the intersection time of the remote sensing satellite and the space target is determined as the shooting time;

[0026] 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.

[0027] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target includes obtaining the spatial unit vector of the three axes of the satellite payload coordinate system corresponding to the desired attitude of the remote sensing satellite at the time of image capture, comprising:

[0028] Obtain the position and velocity vectors of the spatial target relative to the remote sensing satellite at the time of shooting, and determine the satellite payload coordinate system corresponding to the desired attitude at the time of shooting;

[0029] Based on the satellite payload coordinate system, the attitude matrix from the inertial frame to the satellite payload coordinate system and the corresponding desired attitude quaternion are obtained.

[0030] Based on the desired attitude quaternion of the attitude matrix and the attitude quaternion from the satellite body frame of the remote sensing satellite to the payload coordinate system, the desired attitude quaternion from the inertial frame to the satellite body frame of the remote sensing satellite is determined.

[0031] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target is provided, wherein the remote sensing satellite performs push-broom operations in the elevation direction at a desired push-broom angle, and obtains the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins to capture images, including:

[0032] The remote sensing satellite is pushed and scanned in the pitch direction at a desired angle to determine the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system.

[0033] The desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins to capture images is determined based on the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system.

[0034] According to the present invention, a method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target is provided. This method determines the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins capturing images, based on the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system. The method includes:

[0035] Based on the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system, the representation of the desired angular velocity of the remote sensing satellite in the satellite's own frame is determined;

[0036] Obtain the pitch maneuver angle of the remote sensing satellite and determine the desired attitude quaternion of the remote sensing satellite from the time of image capture to the target time.

[0037] Secondly, the present invention also provides a planning and control device for the pointing attitude of a remote sensing satellite toward a space target, comprising:

[0038] The acquisition module is used to acquire the attitude quaternions of the remote sensing satellite from the satellite body coordinate system to the payload coordinate system, as well as the current satellite orbital state and space target orbital state.

[0039] The processing module is used to determine the rendezvous time between the remote sensing satellite and the space target through an orbit prediction model;

[0040] The determination module 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 to obtain the spatial unit vector of the three axes of the satellite payload coordinate system corresponding to the desired attitude of the remote sensing satellite at the shooting time.

[0041] The push-broom module is used to enable the remote sensing satellite to perform push-broom in the pitch direction at a desired push-broom angle, and to obtain the desired attitude quaternion of the remote sensing satellite at any time after the line array camera starts shooting.

[0042] The control module is used to determine the attitude of the remote sensing satellite toward the space target based on the desired attitude quaternion of the remote sensing satellite.

[0043] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the planning and control method for the pointing attitude of a remote sensing satellite toward a space target as described in the first aspect above.

[0044] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the planning and control method for the pointing attitude of a remote sensing satellite toward a space target as described in the first aspect above.

[0045] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the planning and control method for the pointing attitude of a remote sensing satellite toward a space target as described in the first aspect above.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] The method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target provided by this invention can accurately predict and calculate the rendezvous time between the satellite and the space target through an orbit prediction model. This allows the line array camera to align with the space target at a precise moment, resulting in more accurate imaging and improved control precision for the pointing attitude of the remote sensing satellite. Furthermore, after the line array camera begins capturing images, the desired attitude quaternion at any given time can be obtained, facilitating adjustments to the pointing attitude of the remote sensing satellite at any time. This provides better real-time performance and response speed, solving the problem of poor control effects for remote sensing satellites in existing related technologies. In addition, compared to existing technologies, the calculation process described above is simpler, more efficient, and easier to implement, reducing control costs. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a flowchart of the remote sensing satellite's planning and control method for pointing attitude towards space targets, provided by the present invention.

[0050] Figure 2 This is a schematic diagram of the spatial geometric relationship between a remote sensing satellite and a space target in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the total pointing deviation of the remote sensing satellite towards the space target in an embodiment of the present invention;

[0052] Figure 4 This 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;

[0053] Figure 5 This is a schematic diagram of the rolling Euler angle deviation of the remote sensing satellite for the space target in an embodiment of the present invention;

[0054] Figure 6 This is a schematic diagram of the yaw Euler angle deviation of the remote sensing satellite towards the space target in an embodiment of the present invention;

[0055] Figure 7 This is a time response curve of the X-axis attitude angular velocity of a remote sensing satellite in an embodiment of the present invention;

[0056] Figure 8 This is a time response curve of the Y-axis attitude angular velocity of a remote sensing satellite in an embodiment of the present invention;

[0057] Figure 9This is a time response curve of the Z-axis attitude angular velocity of a remote sensing satellite in an embodiment of the present invention;

[0058] Figure 10 This is a time response curve of the deviation between the X-axis angular velocity of the remote sensing satellite and the desired angular velocity in an embodiment of the present invention;

[0059] Figure 11 This is a time response curve of the deviation between the Y-axis angular velocity of the remote sensing satellite and the desired angular velocity in an embodiment of the present invention;

[0060] Figure 12 This is a time response curve of the deviation between the Z-axis angular velocity of the remote sensing satellite and the desired angular velocity in an embodiment of the present invention;

[0061] Figure 13 This is a time response curve of the deviation between the actual angular velocity and the expected angular velocity on the X-axis after the attitude convergence of the remote sensing satellite pointing to the space target in this embodiment of the invention;

[0062] Figure 14 This is a time response curve of the deviation between the actual angular velocity and the expected angular velocity of the Y-axis after the attitude convergence of the remote sensing satellite pointing to the space target in this embodiment of the invention;

[0063] Figure 15 This is a time response curve of the deviation between the actual angular velocity and the expected angular velocity of the Z-axis after the attitude convergence of the remote sensing satellite pointing to the space target in this embodiment of the invention;

[0064] Figure 16 This is a structural block diagram of the remote sensing satellite's attitude planning and control device for pointing towards a space target, provided by the present invention.

[0065] Figure 17 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0067] This invention provides a method for planning and controlling the pointing attitude of remote sensing satellites towards space targets. Figure 1 This is a flowchart of the remote sensing satellite's planning and control method for pointing attitude of space targets, as provided in this invention. Figure 1 As shown, the method includes the following steps:

[0068] Step S101: Obtain the attitude quaternion from the satellite body system to the payload coordinate system of the remote sensing satellite, and obtain the current satellite orbit state and space target orbit state.

[0069] Step S102: Determine the rendezvous time of the remote sensing satellite and the space target using the orbit prediction model.

[0070] Step S103: 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 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.

[0071] Step S104: The remote sensing satellite performs a push-broom operation in the elevation direction at the desired push-broom angle to obtain the desired attitude quaternion of the remote sensing satellite at any time after the online array camera starts shooting.

[0072] Step S105: Determine the attitude of the remote sensing satellite toward the space target based on the desired attitude quaternion of the remote sensing satellite.

[0073] In this method, firstly, the attitude quaternions of the remote sensing satellite from its own coordinate system to the payload coordinate system are obtained. These attitude quaternions represent the satellite's rotational angular velocity and rotation axis. Additionally, the current orbital state of the satellite and the target spacecraft are obtained to facilitate better positioning of both. Then, the rendezvous time between the remote sensing satellite and the target spacecraft is calculated using an orbit prediction model, ensuring the linear array camera is precisely aligned with the target spacecraft for accurate and reliable imaging. Next, 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 desired attitude of the remote sensing satellite at that shooting time are obtained. The remote sensing satellite then performs a push-broom operation in the elevation direction at the desired angle, obtaining the desired attitude quaternions of the remote sensing satellite at any given time after the linear array camera begins shooting. Finally, the attitude of the remote sensing satellite pointing towards the target spacecraft is calculated based on the desired attitude quaternions, enabling the planning and control of the satellite's attitude towards the target spacecraft. In the aforementioned process, the orbit prediction model can accurately predict and calculate the rendezvous time between the satellite and the space target, enabling the line array camera to align with the target at a precise moment. This results in more accurate imaging by the line array camera and improved control precision over the pointing attitude of the remote sensing satellite. Furthermore, after the line array camera begins capturing images, the desired attitude quaternion at any given time can be obtained, facilitating adjustments to the pointing attitude of the remote sensing satellite at any time. This provides better real-time performance and response speed, resolving the problem of poor control effects on remote sensing satellites in existing related technologies. In addition, compared to existing technologies, the calculation process described above is simpler, more efficient, and easier to implement, reducing control costs.

[0074] In some embodiments, step S101, obtaining the attitude quaternion from the satellite body system to the payload coordinate system of the remote sensing satellite, includes: obtaining the attitude quaternion from the satellite body system to the payload coordinate system of the remote sensing satellite through the installation matrix of the linear array camera.

[0075] For example, the attitude quaternions from the satellite's intrinsic coordinate system to the corresponding payload coordinate system are: This is obtained from the mounting matrix of the linear array camera. The satellite orbital state is... ,in, This is the satellite's geocentric position vector. The satellite's geocentric velocity vector; the orbital state of the space target is... ,in, The geocentric position vector of the space target. For the velocity vector of the spatial target, such as Figure 2 As shown, Figure 2 This is a schematic diagram of the spatial geometric relationship between a remote sensing satellite and a space target in an embodiment of the present invention.

[0076] In some embodiments, step S102, determining the rendezvous time of the remote sensing satellite and the space target using an orbit prediction model, includes: obtaining the position vector of the space target relative to the remote sensing satellite at the current moment; and determining the moment with the minimum position vector using the orbit prediction model as the rendezvous time of the remote sensing satellite and the space target.

[0077] For example, the formula for calculating the position vector of a space target relative to a remote sensing satellite at the current moment is as follows:

[0078]

[0079] in, R TS Represents a relative position vector. The geocentric position vector of the space target. This represents the satellite's geocentric position vector. The moment when the position vector is minimized, calculated from the orbital prediction model, is the moment of intersection between the remote sensing satellite and the space target. t .

[0080] Based on this, step S103 determines the shooting time of the line 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 line array camera is met based on the expected push-broom angular velocity and the relative angular velocity between the remote sensing satellite and the space target; and determining the shooting time of the line array camera based on the judgment result.

[0081] Furthermore, based on the expected push-broom angular velocity and the relative angular velocity between the remote sensing satellite and the space target, it is determined whether the line frequency requirements of the linear array camera are met. This includes: 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 and position vector of the space target relative to the remote sensing satellite; determining the line frequency result based on the expected angular velocity and relative angular velocity of the remote sensing satellite, and determining whether the line frequency result is within the line frequency range of the linear array camera.

[0082] Furthermore, the shooting time of the line array camera is determined based on the judgment result, including: if the line frequency result is within the line frequency range of the line 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 time until the line frequency requirement of the line array camera is met.

[0083] For example, the formula for calculating the velocity vector of a spatial target relative to a remote sensing satellite at the current moment is as follows:

[0084]

[0085] in, V TS Represents the relative velocity vector. The velocity vector of the target in space. Let be the satellite's geocentric velocity vector. The component of the relative velocity vector parallel to the radius vector pointing from the satellite's center of mass to the target's center of mass is:

[0086]

[0087] in, V TS / / Represents parallel vector components, V TS This represents the relative velocity vector. The component of the relative velocity vector perpendicular to the radius vector pointing from the centroid of the remote sensing satellite to the centroid of the space target is:

[0088]

[0089] in, V TS⊥ Represents the vertical vector component. V TS This represents the relative velocity vector. Based on this, the formula for calculating the relative angular velocity between a remote sensing satellite and a space target is as follows:

[0090]

[0091] in, Represents relative angular velocity. VTS⊥ Represents the vertical vector component. R TS Represents a relative position vector. The magnitude represents the vector. The superposition of the desired push-broom angular velocity and the relative angular velocity of the remote sensing satellite is the composite angular velocity. If the remote sensing satellite pushes only in the elevation direction at the desired push-broom angular velocity, then the directions of the desired push-broom angular velocity and the relative angular velocity are parallel to the payload coordinate system. Based on the composite angular velocity and angular resolution, the line frequency result can be obtained from the line frequency calculation formula, determining whether it falls within the line frequency range of the linear array camera. If the line frequency requirement is met, the intersection time is the shooting time. If the line frequency requirement of the linear array camera is not met, the relative angular velocity is iterated from the intersection time until the line frequency meets the requirement, at which point the iteration stops, and the shooting time is obtained.

[0092] In some embodiments, step S103, obtaining the spatial unit vector of the three axes of the satellite payload coordinate system corresponding to the desired attitude of the remote sensing satellite at the time of shooting, includes: obtaining the position vector and velocity vector of the spatial target relative to the remote sensing satellite at the time of shooting, and determining the satellite payload coordinate system corresponding to the desired attitude at the time of shooting; based on the satellite payload coordinate system, obtaining the attitude matrix from the inertial frame to the satellite payload coordinate system and the corresponding desired attitude quaternion; based on the desired attitude quaternion of the attitude matrix and the attitude quaternion from the satellite body frame of the remote sensing satellite to the payload coordinate system, determining the desired attitude quaternion from the inertial frame to the satellite body frame of the remote sensing satellite.

[0093] For example, the shooting time can be found based on the intersection time or the results of iteration. Calculate the position vector of the spatial target relative to the remote sensing satellite at the time of the image capture. and velocity vector And calculate the component of the relative velocity vector perpendicular to the direction from the centroid of the remote sensing satellite to the centroid of the space target. 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:

[0094]

[0095] in, x c , y c , z c This represents the unit vector of each axis in the payload coordinate system, i.e., at the moment of image capture, the optical axis of the linear array camera on the remote sensing satellite + z c Pointing towards the spatial target along the radius vector direction, the attitude matrix from the inertial frame to the load coordinate system is:

[0096]

[0097] in, M I2C This represents the attitude matrix. The desired attitude quaternion corresponding to the attitude matrix is... Since the attitude quaternions from the satellite's own coordinate system to the corresponding payload coordinate system are Therefore, the desired attitude quaternion of the inertial frame to the satellite body can be obtained as follows:

[0098]

[0099] in, The expected pose quaternion corresponding to the pose matrix. This represents the attitude quaternion from the satellite's own coordinate system to the corresponding payload coordinate system.

[0100] In this embodiment, the desired attitude quaternion The values ​​are: (0.603542242, -0.127745220, 0.779697854, 0.107187581).

[0101] If the remote sensing satellite performs push-broom operations only in the pitch direction, the desired angular velocity of the satellite body relative to the inertial frame in the payload coordinate system is expressed as:

[0102]

[0103] in, This represents the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system. for The component along the y-axis of the payload coordinate system is a given value. Therefore, in the remote sensing satellite's own system, the desired angular velocity is expressed as:

[0104]

[0105] in, This represents the desired angular velocity of the remote sensing satellite within its own coordinate system. Since the payload coordinate system and the satellite's body coordinate system almost coincide, it can be assumed that:

[0106]

[0107] Then the remote sensing satellite will next be in The attitude calculation process at time t is as follows: The pitch maneuver angle of the real-time remote sensing satellite is ,make Then by Time rotates to The rotation quaternion of the attitude at any given time can be represented as:

[0108]

[0109] in, q s Represents a rotation quaternion. for The component along the y-axis in the load coordinate system is a given value. Then... The expected posture at any moment is .

[0110] To verify the effectiveness of the above method in controlling remote sensing satellites, the following simulation experiments were conducted, such as... Figure 3-6 As shown, Figure 3 This is a schematic diagram illustrating the total pointing deviation of the remote sensing satellite towards a space target in an embodiment of the present invention. Figure 4 This is a schematic diagram of the pitch Euler angle deviation of a remote sensing satellite for a space target in an embodiment of the present invention. Figure 5 This is a schematic diagram of the rolling Euler angle deviation of the remote sensing satellite for a space target in an embodiment of the present invention. Figure 6 This is a schematic diagram illustrating the yaw Euler angle deviation of a remote sensing satellite relative to a space target in an embodiment of the present invention. Figures 3-6 It can be seen that the remote sensing satellite achieved attitude control of the space target within 80 seconds. For example... Figure 7-9 As shown, Figure 7 This is a time response curve of the X-axis attitude angular velocity of a remote sensing satellite in an embodiment of the present invention. Figure 8 This is a time response curve of the Y-axis attitude angular velocity of a remote sensing satellite in an embodiment of the present invention. Figure 9 This is a time response curve of the Z-axis attitude angular velocity of a remote sensing satellite in an embodiment of the present invention. Figure 7-9 It can be seen that the attitude angular velocity of the remote sensing satellite pointing to the space target converges after 80 seconds. During the process of adjusting the remote sensing satellite's attitude to point at the space target and performing push-broom operations, the deviation between the remote sensing satellite's three-axis angular velocities and the desired angular velocities is as follows: Figure 10-12 As shown, Figure 10 This is a time response curve of the deviation between the X-axis angular velocity of the remote sensing satellite and the desired angular velocity in an embodiment of the present invention. Figure 11 This is a time response curve of the deviation between the Y-axis angular velocity and the desired angular velocity of the remote sensing satellite in an embodiment of the present invention. Figure 12 This is a time response curve of the deviation between the Z-axis angular velocity and the desired angular velocity of the remote sensing satellite in an embodiment of the present invention. After the remote sensing satellite points to the space target, a suitable shooting time is selected to start push-broom, and the satellite moves along the payload coordinate system. The axis pushes and sweeps the space target at an angular velocity of -0.06° / s for 20 seconds. Figure 13 This is a time response curve of the deviation between the actual angular velocity and the expected angular velocity on the X-axis after the attitude convergence of the remote sensing satellite pointing at the space target in this embodiment of the invention. Figure 14This is a time response curve of the deviation between the actual angular velocity and the expected angular velocity along the Y-axis after the attitude convergence of the remote sensing satellite pointing at the space target in this embodiment of the invention. Figure 15 This is a time response curve of the deviation between the actual angular velocity and the expected angular velocity along the Z-axis after the attitude convergence of the remote sensing satellite pointing at the space target in this embodiment of the invention. Figure 13-15 As shown, the total pointing deviation during the space target push-broom period 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).

[0111] The simulation results above verify the planning and control method for the attitude of a remote sensing satellite pointing to a space target proposed in this invention. It realizes the control of the attitude of the remote sensing satellite to point to the space target and perform push-broom imaging with a linear array camera, which fully demonstrates the effectiveness and reliability of the method provided by this invention.

[0112] The present invention also provides a planning and control device for the pointing attitude of a remote sensing satellite toward a space target. The planning and control device for the pointing attitude of a remote sensing satellite toward a space target provided by the present invention will be described below. The planning and control device for the pointing attitude of a remote sensing satellite toward a space target described below can be referred to in correspondence with the planning and control method for the pointing attitude of a remote sensing satellite toward a space target described above. Figure 16 This is a structural block diagram of the remote sensing satellite's attitude planning and control device for pointing at space targets, provided by the present invention. Figure 16 As shown, the device includes:

[0113] The acquisition module 1601 is used to acquire the attitude quaternions of the remote sensing satellite from the satellite body system to the payload coordinate system, as well as to acquire the current satellite orbit state and space target orbit state.

[0114] Processing module 1602 is used to determine the rendezvous time between remote sensing satellites and space targets through orbit prediction models;

[0115] 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 to obtain 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.

[0116] The push-broom module 1604 is used to enable the remote sensing satellite to perform push-broom in the elevation direction at the desired push-broom angle, and to obtain the desired attitude quaternion of the remote sensing satellite at any time after the online array camera starts shooting.

[0117] The control module 1605 is used to determine the attitude of the remote sensing satellite toward the space target based on the desired attitude quaternion of the remote sensing satellite.

[0118] In operation, this device first acquires the attitude quaternions of the remote sensing satellite from its own coordinate system to the payload coordinate system. These attitude quaternions represent the satellite's rotational angular velocity and rotation axis. Additionally, it acquires the current satellite orbital state and the target space orbital state to facilitate better positioning of both. Next, the processing module 1602 calculates the rendezvous time between the remote sensing satellite and the target space using an orbital prediction model, ensuring the line array camera is precisely aligned with the target space for accurate and reliable imaging. Then, the determination module 1603 determines the shooting time of the line array camera and acquires the spatial unit vectors of the three axes of the satellite payload coordinate system corresponding to the desired attitude of the remote sensing satellite at that time. The pushbroom module 1604 then instructs the remote sensing satellite to pushbroom at the desired angle in the pitch direction, acquiring the desired attitude quaternions of the remote sensing satellite at any given time after the line array camera begins shooting. Finally, the control module 1605 calculates the remote sensing satellite's attitude toward the target space based on the desired attitude quaternions, thereby enabling the planning and control of the satellite's attitude toward the target space. In the aforementioned process, the orbit prediction model can accurately predict and calculate the rendezvous time between the satellite and the space target, enabling the line array camera to align with the target at a precise moment. This results in more accurate imaging by the line array camera and improved control precision over the pointing attitude of the remote sensing satellite. Furthermore, after the line array camera begins capturing images, the desired attitude quaternion at any given time can be obtained, facilitating adjustments to the pointing attitude of the remote sensing satellite at any time. This provides better real-time performance and response speed, resolving the problem of poor control effects on remote sensing satellites in existing related technologies. In addition, compared to existing technologies, the calculation process described above is simpler, more efficient, and easier to implement, reducing control costs.

[0119] Figure 17 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 17 As shown, the electronic device may include: a processor 1701, a communication interface 1702, a memory 1703, and a communication bus 1704. The processor 1701, communication interface 1702, and memory 1703 communicate with each other via the communication bus 1704. The processor 1701 can call logical instructions from the memory 1703 to execute a planning and control method for the attitude of a remote sensing satellite towards a space target. This method includes:

[0120] Obtain the attitude quaternions of the remote sensing satellite from the satellite body system to the payload coordinate system, and obtain the current satellite orbit state and space target orbit state;

[0121] The rendezvous time between remote sensing satellites and space targets is determined using orbit prediction models;

[0122] The shooting time of the linear array camera is determined based on the intersection time of the remote sensing satellite and the space target, and 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 is obtained.

[0123] The remote sensing satellite is instructed to perform a push-broom operation in the elevation direction at the desired push-broom angle to obtain the desired attitude quaternion of the remote sensing satellite at any time after the online array camera begins to capture images.

[0124] The attitude of the remote sensing satellite toward the space target is determined based on the desired attitude quaternion of the remote sensing satellite.

[0125] Furthermore, the logical instructions in the aforementioned memory 1703 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0126] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the remote sensing satellite's attitude control method for pointing at a space target provided by the above methods. The method includes:

[0127] Obtain the attitude quaternions of the remote sensing satellite from the satellite body system to the payload coordinate system, and obtain the current satellite orbit state and space target orbit state;

[0128] The rendezvous time between remote sensing satellites and space targets is determined using orbit prediction models;

[0129] The shooting time of the linear array camera is determined based on the intersection time of the remote sensing satellite and the space target, and 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 is obtained.

[0130] The remote sensing satellite is instructed to perform a push-broom operation in the elevation direction at the desired push-broom angle to obtain the desired attitude quaternion of the remote sensing satellite at any time after the online array camera begins to capture images.

[0131] The attitude of the remote sensing satellite toward the space target is determined based on the desired attitude quaternion of the remote sensing satellite.

[0132] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the planning and control method for the attitude pointing of a remote sensing satellite toward a space target provided by the methods described above, the method comprising:

[0133] Obtain the attitude quaternions of the remote sensing satellite from the satellite body system to the payload coordinate system, and obtain the current satellite orbit state and space target orbit state;

[0134] The rendezvous time between remote sensing satellites and space targets is determined using orbit prediction models;

[0135] The shooting time of the linear array camera is determined based on the intersection time of the remote sensing satellite and the space target, and 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 is obtained.

[0136] The remote sensing satellite is instructed to perform a push-broom operation in the elevation direction at the desired push-broom angle to obtain the desired attitude quaternion of the remote sensing satellite at any time after the online array camera begins to capture images.

[0137] The attitude of the remote sensing satellite toward the space target is determined based on the desired attitude quaternion of the remote sensing satellite.

[0138] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0139] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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 towards a space target, characterized in that, include: Obtain the attitude quaternions of the remote sensing satellite from the satellite body system to the payload coordinate system, and obtain the current satellite orbit state and space target orbit state; The rendezvous time between the remote sensing satellite and the space target is determined using an orbit prediction model; The shooting time of the linear array camera is determined based on the intersection time of the remote sensing satellite and the space target, and 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 is obtained. The remote sensing satellite is instructed to perform a push-broom operation in the elevation direction at a desired push-broom angle to obtain the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins to capture images. The attitude of the remote sensing satellite toward the space target is determined based on the desired attitude quaternion of the remote sensing satellite; Determining the shooting time of the linear array camera based on the intersection time of the remote sensing satellite and the space target includes: Based on the expected push-broom angular velocity and the relative angular velocity between the remote sensing satellite and the space target, determine whether the line frequency requirement of the linear array camera is met; The shooting time of the line scan camera is determined based on the judgment result; Based on the desired push-broom angular velocity and the relative angular velocity between the remote sensing satellite and the space target, determine whether the line frequency requirement of the linear array camera is met, including: Obtain the velocity vector of the space target relative to the remote sensing satellite at the current moment; The relative angular velocity of the remote sensing satellite is determined 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. Based on the expected angular velocity and relative angular velocity of the remote sensing satellite, determine the line frequency result and determine whether the line frequency result is within the line frequency range of the line array camera; Determining the shooting time of the line scan camera based on the judgment result includes: If the line frequency result is within the line frequency range of the linear array camera, then 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.

2. The method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target according to claim 1, characterized in that, Obtain the attitude quaternions of the remote sensing satellite from its own coordinate system to the payload coordinate system, including: The attitude quaternions of the remote sensing satellite from the satellite body coordinate system to the payload coordinate system are 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 towards a space target according to claim 1, characterized in that, The rendezvous time between the remote sensing satellite and the space target is determined using an orbit prediction model, including: Obtain the position vector of the space target relative to the remote sensing satellite at the current moment; The moment when the position vector is minimized is determined by the orbit prediction model and used as the rendezvous moment of the remote sensing satellite and the space target.

4. The method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target according to claim 1, characterized in that, Obtaining the spatial unit vector of the three axes of the satellite payload coordinate system corresponding to the desired attitude of the remote sensing satellite at the time of image capture includes: Obtain the position and velocity vectors of the spatial target relative to the remote sensing satellite at the time of shooting, and determine the satellite payload coordinate system corresponding to the desired attitude at the time of shooting; Based on the satellite payload coordinate system, the attitude matrix from the inertial frame to the satellite payload coordinate system and the corresponding desired attitude quaternion are obtained. Based on the desired attitude quaternion of the attitude matrix and the attitude quaternion from the satellite body frame of the remote sensing satellite to the payload coordinate system, the desired attitude quaternion from the inertial frame to the satellite body frame of the remote sensing satellite is determined.

5. The method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target according to claim 1, characterized in that, The remote sensing satellite performs a push-broom operation in the elevation direction at a desired push-broom angle to obtain the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins capturing images, including: The remote sensing satellite is pushed and scanned in the pitch direction at a desired angle to determine the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system. The desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins to capture images is determined based on the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system.

6. The method for planning and controlling the pointing attitude of a remote sensing satellite towards a space target according to claim 5, characterized in that, Based on the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system, the desired attitude quaternion of the remote sensing satellite at any time after the linear array camera begins capturing images is determined, including: Based on the representation of the desired angular velocity of the remote sensing satellite relative to the inertial frame in the payload coordinate system, the representation of the desired angular velocity of the remote sensing satellite in the satellite's own frame is determined; Obtain the pitch maneuver angle of the remote sensing satellite and determine the desired attitude quaternion of the remote sensing satellite from the time of image capture to the target time.

7. A planning and control device for the pointing attitude of a remote sensing satellite toward a space target, used to implement the planning and control method for the pointing attitude of a remote sensing satellite toward a space target as described in any one of claims 1-6, characterized in that, include: The acquisition module is used to acquire the attitude quaternions of the remote sensing satellite from the satellite body coordinate system to the payload coordinate system, as well as the current satellite orbital state and space target orbital state. The processing module is used to determine the rendezvous time between the remote sensing satellite and the space target through an orbit prediction model; The determination module 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 to obtain the spatial unit vector of the three axes of the satellite payload coordinate system corresponding to the desired attitude of the remote sensing satellite at the shooting time. The push-broom module is used to enable the remote sensing satellite to perform push-broom in the pitch direction at a desired push-broom angle, and to obtain the desired attitude quaternion of the remote sensing satellite at any time after the line array camera starts shooting. The control module is used to determine the attitude of the remote sensing satellite toward the space target based on the desired attitude quaternion of the remote sensing satellite.

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