Task planning method and system on active push-broom satellite

Abstract

The invention provides an active push-broom on-satellite task planning method and system, and the method comprises the steps: calculating a start stable push-broom rolling angle and an end stable push-broom rolling angle of a satellite according to the spatial geometrical relationship among the satellite, a ground target point and the earth; calculating an active push-broom rolling angular velocity of the satellite based on the starting stable push-broom rolling angle and the ending stable push-broom rolling angle, determining a starting stable push-broom drift angle, and calculating active push-broom starting time and an expected attitude Euler angle of the satellite through the active push-broom rolling angular velocity; and calculating the expected attitude, the current attitude, the expected attitude angular velocity and the current attitude angular velocity of the satellite in the active push-broom process by using the active push-broom starting time and the expected attitude Euler angle. According to the method, the expected attitude and the expected attitude angular velocity of the satellite can be accurately calculated by using the control algorithm of the active push-broom mode, so that the satellite is ensured to execute tasks according to the preset push-broom path, and high precision and high efficiency of the push-broom process are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite mission planning, and in particular to a mission planning method and system on an active push-scan satellite. Background Art

[0002] With the development of satellite technology, active push-broom imaging technology, as an advanced remote sensing imaging mode, has received extensive attention and research at home and abroad.

[0003] In the traditional push-broom imaging process, satellites usually rely on orbital motion combined with lateral scanning of instruments to achieve imaging of the surface. However, with the complexity of mission requirements, traditional imaging methods have been unable to meet the requirements of high-resolution and fast imaging of specific areas. To meet this challenge, agile remote sensing optical satellites, with their highly flexible attitude control capabilities, can actively change the imaging area by quickly adjusting their attitudes, thereby achieving high-precision imaging of specific target areas. In this process, accurately grasping the satellite's attitude and attitude angular velocity becomes the key. Although certain progress has been made in the push-broom imaging algorithm in the existing technology, there is still a lack of a complete solution on how to use the high maneuverability of agile remote sensing satellites to quickly calculate and adjust their attitudes and angular velocities to ensure the efficiency and accuracy of the imaging process. Summary of the invention

[0004] The present invention provides a method and system for planning missions on an active push-scan satellite, which are used to solve the defects of active push-scan satellites in the prior art.

[0005] In a first aspect, the present invention provides a method for planning a mission on an active push-sweep satellite, comprising: Calculate the satellite's start stable push-broom roll angle and end stable push-broom roll angle based on the spatial geometric relationship between the satellite, the ground target point and the earth; Calculating the active push-broom roll angular velocity of the satellite based on the start stable push-broom roll angle and the end stable push-broom roll angle, and determining the start stable push-broom drift angle; Calculate the satellite's active push-broom start time and expected attitude Euler angles through the active push-broom rolling angular velocity; The active push-scan start time and the expected attitude Euler angle are used to calculate the expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-scan process.

[0006] According to a task planning method on an active push-sweep satellite provided by the present invention, a satellite start stable push-sweep roll angle and a satellite end stable push-sweep roll angle are calculated according to the spatial geometric relationship between the satellite, the ground target point and the earth, including: Get the geographic longitude corresponding to the starting point of the satellite push-scan , geographic latitude and earth height , combined with the ground target point, the center of the earth, the sub-satellite point and any offset point between the push-sweep trajectory, determine the starting point of the push-sweep ground ; Get the geographic longitude corresponding to the satellite's end push-scan ground point , geographic latitude and earth height , combined with the ground target point, the center of the earth, the sub-satellite point and any offset point between the push-sweep trajectory, determine the end point of the push-sweep ground ; Start by sweeping the ground point Determine the push sweep to the ground point The corresponding time and start stable push sweep roll angle , by ending the push-sweep ground point Confirm push sweep to ground point The corresponding time and end stable push sweep roll angle .

[0007] According to an active push-broom satellite mission planning method provided by the present invention, the active push-broom roll angular velocity of the satellite is calculated based on the start stable push-broom roll angle and the end stable push-broom roll angle, and the start stable push-broom drift angle is determined, including: According to the push sweep to the ground point The corresponding time , start to push and sweep the roll angle steadily , push sweep to ground point The corresponding time and end stable push sweep roll angle , calculate the active push-sweep rolling angular velocity ; The drift angle calculation method based on orbital mechanics and satellite attitude dynamics is used to calculate the position of the target point on the ground using the azimuth vector projection of the target point in the orbital coordinate system. The corresponding start stable push sweep drift angle .

[0008] According to a method for planning a mission on an active push-sweep satellite provided by the present invention, the active push-sweep start time and the expected attitude Euler angle of the satellite are calculated by using the active push-sweep rolling angular velocity, comprising: Active push-sweep roll angular velocity Interpolate to obtain the maneuvering time when active push-sweep starts ; From push broom to ground point The corresponding time Subtract the maneuvering time at the start of active push sweep , get the active push-sweep start time ; Determine the desired pose Euler angles It is 321 transfer sequence, among which , , .

[0009] According to an active push-scanning satellite mission planning method provided by the present invention, the expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-scanning process are calculated using the active push-scanning start time and the expected attitude Euler angle, including: Calculate active push sweep process The expected attitude of the satellite at any moment; Determining the desired attitude during active push sweep The current attitude quaternion of the satellite at this moment ; Calculate active push sweep process The expected attitude angular velocity of the satellite at this moment; Determining the desired attitude during active push sweep The current attitude angular velocity of the satellite at this moment .

[0010] According to a task planning method on an active push-sweep satellite provided by the present invention, the calculation process of the active push-sweep The expected attitude of the satellite at any given moment, including: The current working camera is determined by the ground remote control command, and the second camera coordinate system of the current working camera is obtained. , determine the transformation relationship from the satellite body coordinate system to the second camera coordinate system, and obtain the attitude quaternion from the satellite body coordinate system to the second camera coordinate system according to the transformation relationship ; Confirm 321 transfer order The expected posture Euler angle at time is ,in , , is the planned rolling angular velocity, For planning The rolling angle at the moment, the corresponding expected attitude quaternion from the orbit system to the camera coordinate system without the drift angle correction is ; The deviation angle calculation dynamic link library is used to obtain Quaternion for desired attitude To make corrections:

[0011] is a unit vector, indicating the direction of the rotation axis, is the rotation quaternion corrected by the drift angle; The expected attitude quaternion from the orbit system to the camera coordinate system after the drift angle correction is:

[0012] The desired attitude quaternion from the inertial system to the second camera coordinate system is obtained as , the attitude quaternion from the satellite's own system to the second camera coordinate system is , the expected attitude quaternion from the inertial system to the satellite system is .

[0013] According to a task planning method on an active push-sweep satellite provided by the present invention, the calculation process of the active push-sweep The expected angular velocity of the satellite at this moment, including: Determine that the attitude angle rotation sequence including the drift angle correction is 3213, the c-axis is the orbital coordinate system, and the b-axis is the satellite body coordinate system; The yaw angle of the first rotation around the Zc axis , yaw angular velocity , the second rotation around the Yc axis, the pitch angle , pitch angular velocity , the third rotation around the Xc axis, the roll angle Push sweep, rotate around the Zb axis for the fourth time to correct the drift angle ; Sure Rotation around the Zc axis The rotation matrix of the satellite, the angular velocity of the satellite relative to the orbital system is projected in the camera coordinate system as:

[0014] The projection of the satellite's angular velocity relative to the orbital system in the body coordinate system is: ; The angular velocity of the orbital system is Projected to the satellite coordinate system:

[0015] is the satellite’s average orbital angular velocity; The expected total angular velocity of the satellite is obtained as: .

[0016] In a second aspect, the present invention further provides a mission planning system on an active push-sweep satellite, comprising: A first calculation module is used to calculate the satellite's start stable push-broom roll angle and end stable push-broom roll angle according to the spatial geometric relationship between the satellite, the ground target point and the earth; A second calculation module is used to calculate the active push-broom roll angular velocity of the satellite based on the start stable push-broom roll angle and the end stable push-broom roll angle, and determine the start stable push-broom drift angle; A third calculation module is used to calculate the active push-broom start time and the expected attitude Euler angle of the satellite through the active push-broom rolling angular velocity; The fourth calculation module is used to calculate the expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-scan process by using the active push-scan start time and the expected attitude Euler angle.

[0017] 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 a mission on an active push-sweep satellite as described in any one of the above is implemented.

[0018] 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 any of the above-described methods for planning a mission on an active push-sweep satellite.

[0019] The active push-broom satellite mission planning method and system provided by the present invention can accurately calculate the expected attitude and expected attitude angular velocity of the satellite by utilizing the control algorithm of the active push-broom mode, thereby ensuring that the satellite performs the mission according to the predetermined push-broom path and ensuring the high accuracy and efficiency of the push-broom process. 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 task planning method on an active push-sweep satellite provided by the present invention; Figure 2 It is a geometric relationship diagram of the active push-sweep space provided by the present invention; Figure 3 It is a schematic diagram of the total pointing deviation during the active push-sweep test of an on-orbit satellite provided by the present invention; Figure 4 It is a schematic diagram of the pitch angle deviation of the satellite orbit system during the active push-scanning period of the on-orbit satellite test provided by the present invention; Figure 5 It is a schematic diagram of the roll angle deviation of the satellite orbit system during the active push-sweep test of the on-orbit satellite provided by the present invention; Figure 6 It is a schematic diagram of the yaw angle deviation of the satellite orbit system during the active push-scanning period of the on-orbit satellite test provided by the present invention; Figure 7 This is an example of an image captured during the active push-scanning period of the on-orbit satellite test provided by the present invention; Figure 8 It is a structural schematic diagram of a mission planning system on an active push-sweep satellite provided by the present invention; Fig. 9 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] Figure 1 FIG. 1 is a flow chart of a method for planning a mission on an active push-sweep satellite provided by an embodiment of the present invention. Figure 1 As shown, including: Step 100: Calculate the satellite's start stable push-broom roll angle and end stable push-broom roll angle according to the spatial geometric relationship between the satellite, the ground target point and the earth; Step 200: Calculating the active push-broom roll angular velocity of the satellite based on the start stable push-broom roll angle and the end stable push-broom roll angle, and determining the start stable push-broom drift angle; Step 300: Calculating the active push-broom start time and the expected attitude Euler angle of the satellite through the active push-broom rolling angular velocity; Step 400: Calculate the expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-scan process using the active push-scan start time and the expected attitude Euler angles.

[0024] The objective of the present invention is to precisely control the desired attitude and angular velocity of the satellite so that it can efficiently complete the push-broom task in the non-track direction of the high-resolution camera. The push-broom mode is for the high-resolution camera to push-broom in the non-track direction. First, starting from the roll angle at the beginning and end of the push-broom, the corresponding roll angular velocity is determined, and the drift angle and Euler angle at the beginning of the push-broom are calculated. Subsequently, the maneuvering time of the active push-broom is obtained by the interpolation method, and the attitude is dynamically corrected. The determination of the attitude depends on the calculation of quaternions, especially the conversion between the satellite camera coordinate system and the inertial system and orbital system. At the same time, the roll angle and the drift angle need to be corrected during the push-broom process, and the attitude angular velocity after the drift angle correction is calculated using a dynamic link library, and finally the desired attitude quaternion from the inertial system to the satellite is obtained.

[0025] Specifically, the first step is to calculate the corresponding roll angle when starting stable push sweeping: , the corresponding rolling angle at the end of stable push sweep is .

[0026] like Figure 2 As shown in the figure, T is the ground target point, OE is the center of the earth, P is an offset point between the sub-satellite point and the push-sweep track, and the push-sweep ground point is started. Longitude and latitude information, based on its position relative to the Earth's fixed system and its geographic longitude , geographic latitude and earth height The only confirmed point; end of push sweeping ground point Longitude and latitude information, based on its position relative to the Earth's fixed system and its geographic longitude , geographic latitude and earth height The only sure thing. Push sweep to the ground point The corresponding time , the corresponding rolling angle is (45° limit); push sweep to ground point The corresponding time , the corresponding rolling angle is .

[0027] The second step is to calculate the active push-sweep rolling angular velocity , and find the corresponding drift angle when stable push sweep begins ; The active push-sweep rolling angular velocity , according to the drift angle calculation dynamic link library, the push-scan to ground point is obtained The corresponding deviation angle .

[0028] Step 3: Calculate the start time of active push sweep , expected attitude Euler angle , the specific steps include: Step 3.1, by rolling angular velocity Interpolation to obtain the maneuvering time when active push-sweep starts ; Step 3.2, solve the active push-sweep start time , and find the expected attitude Euler angle at the beginning of active push sweep , the solution process is as follows: Active push sweep start time , expected attitude Euler angle 321 conversion sequence and , , , the deviation angle correction is also required.

[0029] The fourth step is to calculate the expected attitude, current attitude, expected attitude angular velocity, and current attitude angular velocity during active push sweeping. The specific steps include: Step 4.1, calculate the active push sweep process The expected attitude of the satellite at any moment; The current working camera is determined by the ground remote control command. When the high-resolution linear array is working, the coordinate system of the current system to the second camera of the high-resolution camera is The attitude quaternion from the satellite system to the corresponding camera coordinate system can be obtained .

[0030] Order 321 to transfer to the next The expected posture Euler angle at time is ,in, , , is the planned rolling angular velocity, For planning The roll angle at the moment. Therefore, the corresponding expected attitude quaternion from the orbit system to the camera coordinate system without the drift angle correction can be obtained as This posture needs to be corrected by the drift angle, which can be obtained by using the drift angle calculation dynamic link library .

[0031]

[0032] is a unit vector, indicating the direction of the rotation axis, is the rotation quaternion corrected by the drift angle; The expected attitude quaternion from the orbit system to the camera coordinate system after the drift angle correction is:

[0033] Then the desired attitude quaternion from the inertial system to the camera coordinate system is Since the attitude quaternion from the satellite system to the corresponding camera coordinate system is , then the expected attitude quaternion from the inertial system to the satellite system is .

[0034] Step 4.2, Active push sweep process The current attitude quaternion of the satellite at this moment Acquisition determined by posture; Step 4.3, calculate the active push sweep process The expected attitude angular velocity of the satellite at this moment; First, solve the relative angular velocity with respect to the orbital system. Since the attitude angle rotation order including the drift angle correction is 3213. The yaw angle of the first rotation around the Zc axis is , yaw angular velocity ; The second rotation around the Yc axis, the pitch angle , pitch angular velocity ; The third rotation around the Xc axis, the roll angle Push sweep; the fourth rotation around the Zb axis to correct the drift angle, the yaw angular velocity It can be obtained from the drift angle calculation dynamic link library, where the c-axis belongs to the orbital coordinate system and the b-axis belongs to the satellite body coordinate system. is a rotation around the Zc axis The rotation matrix of the satellite relative to the orbital system is projected in the camera coordinate system as

[0035] The projection of the satellite's angular velocity relative to the orbital system in the body coordinate system is: .

[0036] The angular velocity of the orbital system is , projecting it to the satellite coordinate system

[0037] is the satellite’s average orbital angular velocity; The expected total angular velocity of the satellite is .

[0038] Step 4.4, Active push sweep process The current attitude angular velocity of the satellite at this moment Obtained by posture determination.

[0039] Based on the above embodiment, in order to verify the effectiveness of the present invention in the mission planning of the active push-sweep satellite of the agile remote sensing optical satellite, the parameters of the satellite on-orbit test are: 1. Target parameters Goal 1: Longitude: 66.96° Latitude: 39.65° Height: 690.813m Sun altitude angle: 63° Goal 2: Longitude 65.75° Latitude 31.63° Height: 988.837m Sun altitude angle: 63° Active push sweep maximum rolling angle: 25° 2. Instruction parameters The first active push-sweep mode starts at 487578967s Imaging start time: 487578982s Push sweep duration: 126.285988s Euler angles for ground orientation: Yaw angle: -9.459176178951° Pitch angle: 1.708801515839° Roll angle: 10.147320069541° Active push-sweep initial Euler angle: Yaw angle: 0° Pitch angle: 0° Roll angle: 10.288707980212° Roll angular velocity: 0.078141° / s Based on the above parameters, the satellite was tested on-orbit and the data in the active push-broom mode was analyzed. The test results are as follows: like Figures 3 to 6 As shown, the total pointing deviation during active push-scanning is 0.02730° (3σ), the X-axis attitude stability is 0.00096° / s (3σ), the Y-axis attitude stability is 0.00081° / s (3σ), and the Z-axis attitude stability is 0.00097° / s (3σ). Figure 7 This is an example of a high-quality, clear image captured from the strip scanned actively.

[0040] The following is a description of the active push-sweep satellite mission planning system provided by the present invention. The active push-sweep satellite mission planning system described below and the active push-sweep satellite mission planning method described above can be referenced to each other.

[0041] Figure 8 FIG. 1 is a schematic diagram of a mission planning system on an active push-sweep satellite provided by an embodiment of the present invention. Figure 8As shown, it includes: a first calculation module 81, a second calculation module 82, a third calculation module 83 and a fourth calculation module 84, wherein: The first calculation module 81 is used to calculate the satellite's starting stable push-broom roll angle and ending stable push-broom roll angle according to the spatial geometric relationship between the satellite, the ground target point and the earth; the second calculation module 82 is used to calculate the satellite's active push-broom roll angular velocity based on the starting stable push-broom roll angle and the ending stable push-broom roll angle, and determine the starting stable push-broom drift angle; the third calculation module 83 is used to calculate the satellite's active push-broom start time and the expected attitude Euler angle by the active push-broom roll angular velocity; the fourth calculation module 84 is used to use the active push-broom start time and the expected attitude Euler angle to calculate the expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-broom process.

[0042] Fig. 9 An example of a physical structure diagram of an electronic device is shown in FIG. Fig. 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930 and a communication bus 940, wherein the processor 910, the communication interface 920 and the memory 930 communicate with each other through the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute the active push-broom satellite mission planning method, which includes: calculating the satellite's start stable push-broom roll angle and the end stable push-broom roll angle according to the spatial geometric relationship between the satellite, the ground target point and the earth; calculating the satellite's active push-broom roll angular velocity based on the start stable push-broom roll angle and the end stable push-broom roll angle, and determining the start stable push-broom drift angle; calculating the satellite's active push-broom start time and the expected attitude Euler angle through the active push-broom roll angular velocity; and calculating the satellite's expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity during the active push-broom process using the active push-broom start time and the expected attitude Euler angle.

[0043] In addition, the logic instructions in the above-mentioned memory 930 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 this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of 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 method described in each embodiment 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 and other media that can store program codes.

[0044] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the active push-broom satellite mission planning method provided by the above-mentioned methods, the method comprising: calculating the satellite's starting stable push-broom roll angle and ending stable push-broom roll angle according to the spatial geometric relationship between the satellite, the ground target point and the earth; calculating the satellite's active push-broom roll angular velocity based on the starting stable push-broom roll angle and the ending stable push-broom roll angle, and determining the starting stable push-broom drift angle; calculating the satellite's active push-broom start time and the expected attitude Euler angle through the active push-broom roll angular velocity; and using the active push-broom start time and the expected attitude Euler angle to calculate the satellite's expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity during the active push-broom process.

[0045] 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.

[0046] 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.

[0047] 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 a mission on an active push-sweep satellite, characterized in that: include: Calculate the satellite's start stable push-broom roll angle and end stable push-broom roll angle based on the spatial geometric relationship between the satellite, the ground target point and the earth; Calculating the active push-broom roll angular velocity of the satellite based on the start stable push-broom roll angle and the end stable push-broom roll angle, and determining the start stable push-broom drift angle; Calculate the satellite's active push-broom start time and expected attitude Euler angles through the active push-broom rolling angular velocity; The active push-scan start time and the expected attitude Euler angle are used to calculate the expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-scan process.

2. The method for planning a mission on an active push-sweep satellite according to claim 1, characterized in that: According to the spatial geometric relationship between the satellite, the ground target point and the earth, the satellite's start stable push-broom roll angle and end stable push-broom roll angle are calculated, including: Get the geographic longitude corresponding to the starting point of the satellite push-scan , geographic latitude and earth height , combined with the ground target point, the center of the earth, the sub-satellite point and any offset point between the push-sweep trajectory, determine the starting point of the push-sweep ground ; Get the geographic longitude corresponding to the satellite's end push-scan ground point , geographic latitude and earth height , combined with the ground target point, the center of the earth, the sub-satellite point and any offset point between the push-sweep trajectory, determine the end point of the push-sweep ground ; Start by sweeping the ground point Confirm push sweep to ground point The corresponding time and start stable push sweep roll angle , by ending the push-sweep ground point Determine the push sweep to the ground point The corresponding time and end stable push sweep roll angle .

3. The method for planning a mission on an active push-sweep satellite according to claim 2, characterized in that: The active push-broom roll angular velocity of the satellite is calculated based on the start stable push-broom roll angle and the end stable push-broom roll angle, and a start stable push-broom drift angle is determined, including: According to the push sweep to the ground point The corresponding time , start to push and sweep the roll angle steadily , push sweep to ground point The corresponding time and end stable push sweep roll angle , calculate the active push-sweep rolling angular velocity ; The drift angle calculation method based on orbital mechanics and satellite attitude dynamics is used to calculate the position of the target point on the ground using the azimuth vector projection of the target point in the orbital coordinate system. The corresponding start stable push sweep drift angle .

4. The method for planning a mission on an active push-sweep satellite according to claim 1, characterized in that: Calculating the active push-broom start time and the expected attitude Euler angle of the satellite through the active push-broom rolling angular velocity includes: Active push-sweep roll angular velocity Interpolate to obtain the maneuvering time when active push-sweep starts ; From push broom to ground point The corresponding time Subtract the maneuvering time at the start of active push sweep , get the active push-sweep start time ; Determine the desired pose Euler angles It is 321 transfer sequence, among which , , .

5. The method for planning a mission on an active push-sweep satellite according to claim 1, characterized in that: The expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-scan process are calculated using the active push-scan start time and the expected attitude Euler angle, including: Calculate active push sweep process The expected attitude of the satellite at any moment; Determining the desired attitude during active push sweep The current attitude quaternion of the satellite at this moment ; Calculate active push sweep process The expected attitude angular velocity of the satellite at this moment; Determining the desired attitude during active push sweep The current attitude angular velocity of the satellite at this moment .

6. The method for planning a mission on an active push-sweep satellite according to claim 5, characterized in that: Calculate active push sweep process The expected attitude of the satellite at any given moment, including: The current working camera is determined by the ground remote control command, and the second camera coordinate system of the current working camera is obtained. , determine the transformation relationship from the satellite body coordinate system to the second camera coordinate system, and obtain the attitude quaternion from the satellite body coordinate system to the second camera coordinate system according to the transformation relationship ; Confirm 321 transfer order The expected posture Euler angle at time is ,in , , is the planned rolling angular velocity, For planning The rolling angle at the moment, the corresponding expected attitude quaternion from the orbit system to the camera coordinate system without the drift angle correction is ; The deviation angle calculation dynamic link library is used to obtain Quaternion for desired attitude To make corrections: is a unit vector, indicating the direction of the rotation axis, is the rotation quaternion corrected by the drift angle; The expected attitude quaternion from the orbit system to the camera coordinate system after the drift angle correction is: The desired attitude quaternion from the inertial system to the second camera coordinate system is obtained as , the attitude quaternion from the satellite's own system to the second camera coordinate system is , the expected attitude quaternion from the inertial system to the satellite system is .

7. The method for planning a mission on an active push-sweep satellite according to claim 6, characterized in that: Calculate active push sweep process The expected angular velocity of the satellite at this moment, including: Determine that the attitude angle rotation sequence including the drift angle correction is 3213, the c-axis is the orbital coordinate system, and the b-axis is the satellite body coordinate system; The yaw angle of the first rotation around the Zc axis , yaw angular velocity , the second rotation around the Yc axis, the pitch angle , pitch angular velocity , the third rotation around the Xc axis, the roll angle Push sweep, rotate around the Zb axis for the fourth time to correct the drift angle ; Sure Rotation around the Zc axis The rotation matrix of the satellite, the angular velocity of the satellite relative to the orbital system is projected in the camera coordinate system as: The projection of the satellite's angular velocity relative to the orbital system in the body coordinate system is: ; The angular velocity of the orbital system is Projected to the satellite coordinate system: is the satellite’s average orbital angular velocity; The expected total angular velocity of the satellite is obtained as: 。 8. A mission planning system on an active push-sweep satellite, characterized in that: include: A first calculation module is used to calculate the satellite's start stable push-broom roll angle and end stable push-broom roll angle according to the spatial geometric relationship between the satellite, the ground target point and the earth; A second calculation module is used to calculate the active push-broom roll angular velocity of the satellite based on the start stable push-broom roll angle and the end stable push-broom roll angle, and determine the start stable push-broom drift angle; A third calculation module is used to calculate the active push-broom start time and the expected attitude Euler angle of the satellite through the active push-broom rolling angular velocity; The fourth calculation module is used to calculate the expected attitude, current attitude, expected attitude angular velocity and current attitude angular velocity of the satellite during the active push-scan process by using the active push-scan start time and the expected attitude Euler angle.

9. 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 a mission on an active push-sweep satellite as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for planning a mission on an active push-sweep satellite as claimed in any one of claims 1 to 7 is implemented.

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