A mission planning method and system for active push-sweep satellites

Abstract

This invention provides an active pushbroom on-board mission planning method and system, comprising: calculating the satellite's initial stable pushbroom roll angle and final stable pushbroom roll angle based on the spatial geometric relationship between the satellite, the ground target point, and the Earth; calculating the satellite's active pushbroom roll angular velocity based on the initial and final stable pushbroom roll angles, and determining the initial stable pushbroom yaw angle; calculating the satellite's active pushbroom start time and desired attitude Euler angles using the active pushbroom start time and desired attitude Euler angles; and calculating the satellite's desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity during the active pushbroom process using the active pushbroom start time and desired attitude Euler angles. This invention, by utilizing the control algorithm of the active pushbroom mode, can accurately calculate the satellite's desired attitude and desired attitude angular velocity, thereby ensuring that the satellite executes the mission according to the predetermined pushbroom path, guaranteeing high precision and efficiency in the pushbroom process.

Description

Technical Field

[0001] This invention relates to the field of satellite mission planning technology, and in particular to an active pushbroom on-board mission planning method and system. Background Technology

[0002] With the development of satellite technology, active pushbroom imaging technology, as an advanced remote sensing imaging mode, has received widespread attention and research both domestically and internationally.

[0003] In traditional pushbroom imaging, satellites typically rely on orbital movement combined with lateral scanning by instruments to image the Earth's surface. However, with increasingly complex mission requirements, traditional imaging methods are no longer sufficient to meet the demands for high-resolution, rapid imaging of specific areas. To address this challenge, agile remote sensing optical satellites, with their highly flexible attitude control capabilities, can actively change the imaging area by rapidly adjusting their attitude, thereby achieving high-precision imaging of specific target areas. Accurately controlling the satellite's attitude and angular velocity is crucial in this process. While existing technologies have made some progress in pushbroom imaging algorithms, a complete solution remains lacking in how to leverage the high maneuverability of agile remote sensing satellites to rapidly calculate and adjust their attitude and angular velocity to ensure the efficiency and accuracy of the imaging process. Summary of the Invention

[0004] This invention provides an active push-broom satellite mission planning method and system to address the shortcomings of existing active push-broom satellite technologies.

[0005] In a first aspect, the present invention provides an active push-broom satellite mission planning method, comprising:

[0006] Based on the spatial geometric relationship between the satellite, the ground target point, and the Earth, calculate the satellite's initial stable push-broom roll angle and the final stable push-broom roll angle;

[0007] The active push-broom roll velocity of the satellite is calculated based on the start-to-stabilize push-broom roll angle and the end-to-stabilize push-broom roll angle, and the start-to-stabilize push-broom yaw angle is determined.

[0008] The active pushbroom start time and desired attitude Euler angle of the satellite are calculated using the active pushbroom roll angular velocity.

[0009] The desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity of the satellite during the active push-broom process are calculated using the active push-broom start time and the desired attitude Euler angles.

[0010] According to the active pushbroom on-board mission planning method provided by the present invention, the method calculates the initial stable pushbroom roll angle and the final stable pushbroom roll angle of the satellite based on the spatial geometric relationship between the satellite, the ground target point, and the Earth, including:

[0011] Obtain the geographic longitude of the ground point where the satellite begins push-brooming. Geographical latitude and the height of the earth By combining the ground target point, the Earth's center, the subsatellite point, and any offset point between the push sweep trajectory, the ground point to start push sweeping is determined. ;

[0012] Obtain the geographic longitude of the ground point where the satellite finishes push-brooming. Geographical latitude and the height of the earth By combining the ground target point, the Earth's center, the subsatellite point, and any offset point between the push sweep trajectory, the ground point where the push sweep ends is determined. ;

[0013] Starting from the ground sweeping point Determine the point where the push sweep reaches the ground. corresponding time and the beginning of a stable push-purge roll angle From the end of the sweeping ground point Determine the point where the push sweep reaches the ground. corresponding time and the final stable push-purge roll angle .

[0014] According to the active pushbroom on-board mission planning method provided by the present invention, the active pushbroom roll velocity of the satellite is calculated based on the start stabilization pushbroom roll angle and the end stabilization pushbroom roll angle, and the start stabilization pushbroom yaw angle is determined, including:

[0015] Based on the point of sweeping to the ground corresponding time Start stabilizing the push-purge roll angle Push sweep to ground point corresponding time and the final stable push-purge roll angle The active push-pump rolling angular velocity was calculated. ;

[0016] By using a method for calculating the drift angle based on orbital mechanics and satellite attitude dynamics, and utilizing the azimuth vector projection of the target point in the orbital coordinate system, the point of impact with the ground during the push-broom operation is calculated. The corresponding starting stable push-purge deflection angle .

[0017] According to the present invention, an active pushbroom on-board mission planning method calculates the active pushbroom start time and the desired attitude Euler angles of the satellite using the active pushbroom roll angular velocity, including:

[0018] For active push sweep rolling angular velocity Interpolation is performed to obtain the maneuver time at the start of active push-brooming. ;

[0019] From push sweep to ground point corresponding time Subtract the maneuver time at the start of active push-broom Obtain the active push-broom start time ;

[0020] Determine the desired attitude Euler angles For 321 sequence, where , , .

[0021] According to the present invention, an active pushbroom on-board mission planning method is provided, which calculates the desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity of the satellite during the active pushbroom process using the active pushbroom start time and the desired attitude Euler angles, including:

[0022] Calculation of active push-broom process The desired attitude of the satellite at any given time;

[0023] Determining the active push-broom process based on the desired attitude Current attitude quaternion of the satellite ;

[0024] Calculation of active push-broom process The desired attitude angular velocity of the satellite at any given time;

[0025] Determining the active push-broom process based on the desired attitude Current attitude angular velocity of the satellite .

[0026] According to the present invention, an on-board mission planning method for active pushbrooming is provided, which calculates the active pushbrooming process. The desired attitude of the time-of-flight satellite includes:

[0027] The current working camera is determined by ground remote control commands, and the second camera coordinate system of the current working camera is obtained. The transformation relationship from the satellite body coordinate system to the second camera coordinate system is determined, and the attitude quaternions from the satellite body coordinate system to the second camera coordinate system are obtained based on the transformation relationship. ;

[0028] Confirm 321 sequence change The expected attitude Euler angles at time t is ,in , , For the planned rolling angular velocity, For planning purposes The roll angle at time t is used to obtain the corresponding expected attitude quaternion from the orbital system to the camera coordinate system without yaw angle correction. ;

[0029] Obtained using the deflection angle calculation dynamic link library For the desired pose quaternion Make corrections:

[0030]

[0031] Let be a unit vector, representing the direction of the rotation axis. This is the rotational quaternion after correction for the deflection angle;

[0032] The desired attitude quaternion from the orbital system to the camera coordinate system after applying the yaw angle correction is:

[0033]

[0034] The desired attitude quaternion from the inertial frame to the second camera coordinate system is obtained as follows: The attitude quaternion from the satellite's own coordinate system to the second camera's coordinate system is: The desired attitude quaternion of the inertial frame to the satellite body is obtained as follows: .

[0035] According to the present invention, an on-board mission planning method for active pushbrooming is provided, which calculates the active pushbrooming process. The desired attitude angular velocity of the satellite at any given time includes:

[0036] The rotation sequence of attitude angles, including yaw angle correction, is determined to be 3213, with the c-axis representing the orbital coordinate system and the b-axis representing the satellite body coordinate system.

[0037] Yaw angle of the first rotation around the Zc axis yaw rate The second rotation around the Yc axis, pitch angle pitch angular velocity The third rotation around the Xc axis, roll angle The process involves pushing and sweeping, followed by a fourth rotation around the Zb axis to correct the flow angle. ;

[0038] Sure For rotation about the Zc axis Given the rotation matrix, the projection of the satellite's angular velocity relative to the orbital system onto the camera coordinate system is:

[0039]

[0040] The satellite's angular velocity relative to its orbital system projected onto its body coordinate system is ;

[0041] The entrainment angular velocity of the orbital system is Projecting onto the satellite's body coordinate system yields:

[0042]

[0043] This represents the satellite's average orbital angular velocity;

[0044] The desired total angular velocity of the satellite is obtained as follows:

[0045] .

[0046] Secondly, the present invention also provides an active push-broom satellite mission planning system, comprising:

[0047] The first calculation module is used to calculate the satellite's initial stable push-broom roll angle and the final stable push-broom roll angle based on the spatial geometric relationship between the satellite, the ground target point, and the Earth.

[0048] The second calculation module is used to calculate the active push-broom roll velocity of the satellite based on the start stabilization push-broom roll angle and the end stabilization push-broom roll angle, and to determine the start stabilization push-broom drift angle.

[0049] The third calculation module is used to calculate the satellite's active push-broom start time and desired attitude Euler angles using the active push-broom roll angular velocity.

[0050] The fourth calculation module is used to calculate the satellite's desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity during the active push-broom process using the active push-broom start time and the desired attitude Euler angles.

[0051] 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 active pushbroom satellite mission planning method as described above.

[0052] 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 active pushbroom satellite mission planning method as described above.

[0053] The active push-broom on-board mission planning method and system provided by this invention can accurately calculate the satellite's desired attitude and desired attitude angular velocity by utilizing the control algorithm of the active push-broom mode, thereby ensuring that the satellite performs its mission according to the predetermined push-broom path and guaranteeing the high precision and efficiency of the push-broom process. Attached Figure Description

[0054] 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.

[0055] Figure 1 This is a flowchart illustrating the active push-broom on-board mission planning method provided by the present invention;

[0056] Figure 2 This is the active push-broom spatial geometry diagram provided by the present invention;

[0057] Figure 3 This is a schematic diagram of the total pointing deviation during active pushbroom testing of an on-orbit satellite provided by the present invention;

[0058] Figure 4 This is a schematic diagram of the elevation angle deviation of the satellite orbit system during active push-broom testing of an on-orbit satellite, provided by the present invention.

[0059] Figure 5 This is a schematic diagram of the roll angle deviation of the satellite orbit system during active push-broom testing of an on-orbit satellite, provided by the present invention.

[0060] Figure 6 This is a schematic diagram of the yaw angle deviation of the satellite orbital system during active push-broom testing of an on-orbit satellite, provided by the present invention.

[0061] Figure 7 This is an example image captured during the active pushbroom test of an on-orbit satellite provided by the present invention;

[0062] Figure 8 This is a schematic diagram of the structure of the active push-broom on-board mission planning system provided by the present invention;

[0063] Figure 9 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0064] 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.

[0065] Figure 1 This is a flowchart illustrating the active push-broom on-board task planning method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, it includes:

[0066] Step 100: Based on the spatial geometric relationship between the satellite, the ground target point, and the Earth, calculate the initial stable push-broom roll angle and the final stable push-broom roll angle of the satellite;

[0067] Step 200: Calculate the satellite's active push-broom roll velocity based on the start stabilization push-broom roll angle and the end stabilization push-broom roll angle, and determine the start stabilization push-broom yaw angle;

[0068] Step 300: Calculate the satellite's active pushbroom start time and desired attitude Euler angles using the active pushbroom roll angular velocity;

[0069] Step 400: Calculate the desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity of the satellite during the active push-broom process using the active push-broom start time and the desired attitude Euler angles.

[0070] The objective of this invention is to enable the satellite to efficiently complete pushbroom tasks in the non-track direction of the high-resolution camera by precisely controlling the desired attitude and angular velocity. The pushbroom mode involves the high-resolution camera performing pushbroom in a non-track direction. First, starting from the roll angles at the beginning and end of the pushbroom, the corresponding roll angular velocities are determined, and the yaw angle and Euler angle at the start of the pushbroom are calculated. Subsequently, the maneuver time for active pushbroom is obtained through interpolation, and dynamic attitude correction is performed. Attitude determination relies on quaternion calculations, particularly the transformation between the satellite camera coordinate system and the inertial and orbital frames. Simultaneously, the roll angle and yaw angle need to be corrected during the pushbroom process. The attitude angular velocity after yaw angle correction is calculated using a dynamic link library, ultimately obtaining the desired attitude quaternion from the inertial frame to the satellite.

[0071] Specifically, the first step is to calculate the roll angle corresponding to the start of stable sweeping. The roll angle corresponding to the end of stable push-broom is .

[0072] like Figure 2As shown, T is the ground target point, OE is the Earth's center, and P is an offset point between the nadir point and the push-broom trajectory. The push-broom begins at the ground target point. Latitude and longitude information, derived from its position relative to the Earth's solid system and its geographical longitude. Geographical latitude and the height of the earth Uniquely confirmed; End of sweeping ground point Latitude and longitude information, derived from its position relative to the Earth's solid system and its geographical longitude. Geographical latitude and the height of the earth The only certainty is the point at which the broom reaches the ground. corresponding time The corresponding roll angle is (45° amplitude limit); Push sweep to ground point corresponding time The corresponding roll angle is .

[0073] The second step is to calculate the active push-purge rolling angular velocity. And calculate the deflection angle corresponding to the start of stable sweeping. ;

[0074] Among them, the active push rolling angular velocity The point at which the pusher reaches the ground is calculated using a dynamic link library based on the deflection angle. The corresponding deflection angle .

[0075] The third step is to calculate the active push-broom start time. Desired attitude Euler angle The specific steps include:

[0076] Step 3.1, using the rolling angular velocity Interpolation to obtain the maneuver time at the start of active push-broom ;

[0077] Step 3.2, Solve for the active push-broom start time. And calculate the Euler angles of the desired orientation at the start of active sweeping. The solution process is as follows:

[0078] Active push-broom start time Desired attitude Euler angle For 321, the sequence is changed and , , The deflection angle needs to be corrected.

[0079] The fourth step is to calculate the desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity during the active push-broom process. Specific steps include:

[0080] Step 4.1, obtaining the results during the active push-broom process The desired attitude of the satellite at any given time;

[0081] The camera currently in operation is determined by ground remote control commands. When the high-resolution linear array is working, the coordinate system is from the local system to the second camera coordinate system of the high-resolution camera. The attitude quaternions from the satellite's own coordinate system to the corresponding camera coordinate system can be obtained. .

[0082] Order 321 to the next sequence The expected attitude Euler angles at time t is ,in, , , For the planned rolling angular velocity, For planning purposes The roll angle at time t. Therefore, the expected attitude quaternion from the orbital system to the camera coordinate system without yaw angle correction can be obtained as follows: This attitude requires correction of the drift angle, which is obtained from the dynamic link library based on the drift angle calculation. .

[0083]

[0084] Let be a unit vector, representing the direction of the rotation axis. This is the rotational quaternion after correction for the deflection angle;

[0085] The desired attitude quaternion from the orbital system to the camera coordinate system after adding the yaw angle correction is:

[0086]

[0087] The desired attitude quaternion from the inertial frame to the camera coordinate system is: Since the attitude quaternions from the satellite's intrinsic coordinate system to the corresponding camera coordinate system are... Then the desired attitude quaternion of the inertial frame to the satellite body is: .

[0088] Step 4.2, during active push-broom process Current attitude quaternion of the satellite Acquired by attitude determination;

[0089] Step 4.3, obtaining the results during the active push-broom process The desired attitude angular velocity of the satellite at any given time;

[0090] First, calculate the relative angular velocity with respect to the orbital frame. Since the attitude angle rotation sequence, including yaw correction, is 3213, the yaw angle of the first rotation about the Zc axis is... yaw rate The second rotation around the Yc axis, pitch angle pitch angular velocity The third rotation around the Xc axis, roll angle Perform push-sweep; perform fourth rotation around the Zb axis for yaw angle correction, yaw rate... This can be obtained from a dynamic link library for calculating the eccentricity angle, where the c-axis belongs to the orbital coordinate system and the b-axis belongs to the satellite body coordinate system. It is a rotation about the Zc axis Given the rotation matrix, the projection of the satellite's angular velocity relative to the orbital system onto the camera coordinate system is:

[0091]

[0092] The satellite's angular velocity relative to its orbital system projected onto its body coordinate system is .

[0093] The entrainment angular velocity of the orbital system is Projecting it onto the satellite's body coordinate system yields

[0094]

[0095] This represents the satellite's average orbital angular velocity;

[0096] The expected total angular velocity of the satellite is

[0097] .

[0098] Step 4.4, during active push-broom process Current attitude angular velocity of the satellite Acquired by attitude determination.

[0099] Based on the above embodiments, in order to verify the effectiveness of the present invention in mission planning on the active pushbroom satellite of the agile remote sensing optical satellite, the parameters for on-orbit testing of the satellite are as follows:

[0100] I. Target Parameters

[0101] Objective 1:

[0102] Longitude: 66.96°

[0103] Latitude: 39.65°

[0104] Height: 690.813m

[0105] Solar altitude angle: 63°

[0106] Objective 2:

[0107] Longitude 65.75°

[0108] Latitude 31.63°

[0109] Height 988.837m

[0110] Solar altitude angle: 63°

[0111] Maximum roll angle for active push-broom: 25°

[0112] II. Command Parameters

[0113] The first active push-broom mode started at 487578967s.

[0114] Start of imaging: 487578982s

[0115] Push-broom duration: 126.285988s

[0116] Earth-oriented Euler angles:

[0117] Yaw angle: -9.459176178951°

[0118] Pitch angle: 1.708801515839°

[0119] Roll angle: 10.147320069541°

[0120] Active push-broom initial Euler angles:

[0121] Yaw angle: 0°

[0122] Pitch angle: 0°

[0123] Roll angle: 10.288707980212°

[0124] Rolling angular velocity: 0.078141° / s

[0125] Based on the above parameters, on-orbit testing of the satellite was conducted, and the data from the active pushbroom mode was analyzed. The test results are as follows:

[0126] like Figures 3 to 6 As shown, the total pointing deviation during active push-broom 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 extracted from a strip created by active sweeping.

[0127] The active push-broom on-board mission planning system provided by the present invention is described below. The active push-broom on-board mission planning system described below can be referred to in correspondence with the active push-broom on-board mission planning method described above.

[0128] Figure 8 This is a schematic diagram of the structure of the active pushbroom satellite mission planning system provided in an embodiment of the present invention, as shown below. Figure 8 As 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:

[0129] The first calculation module 81 is used to calculate the satellite's initial stable pushbroom roll angle and the final stable pushbroom roll angle based on 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 pushbroom roll angular velocity based on the initial stable pushbroom roll angle and the final stable pushbroom roll angle, and to determine the initial stable pushbroom yaw angle. The third calculation module 83 is used to calculate the satellite's active pushbroom start time and desired attitude Euler angle using the active pushbroom roll angular velocity. The fourth calculation module 84 is used to calculate the satellite's desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity during the active pushbroom process using the active pushbroom start time and the desired attitude Euler angle.

[0130] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9 As shown, the electronic device may include: a processor 910, a communications interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communications interface 920, and the memory 930 communicate with each other through the communication bus 940. The processor 910 can call logical instructions in the memory 930 to execute an active pushbroom on-board mission planning method. This method includes: calculating the satellite's initial stable pushbroom roll angle and the final stable pushbroom roll angle based on the spatial geometric relationship between the satellite, the ground target point, and the Earth; calculating the satellite's active pushbroom roll angular velocity based on the initial stable pushbroom roll angle and the final stable pushbroom roll angle, and determining the initial stable pushbroom yaw angle; calculating the satellite's active pushbroom start time and desired attitude Euler angle using the active pushbroom roll angular velocity; and calculating the satellite's desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity during the active pushbroom process using the active pushbroom start time and the desired attitude Euler angle.

[0131] Furthermore, the logical instructions in the aforementioned memory 930 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, 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 described in 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.

[0132] On the other hand, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the active pushbroom on-board mission planning method provided by the above methods. This method includes: calculating the initial stable pushbroom roll angle and the final stable pushbroom roll angle of the satellite based on the spatial geometric relationship between the satellite, the ground target point, and the Earth; calculating the active pushbroom roll angular velocity of the satellite based on the initial stable pushbroom roll angle and the final stable pushbroom roll angle, and determining the initial stable pushbroom yaw angle; calculating the active pushbroom start time and the desired attitude Euler angle of the satellite using the active pushbroom roll angular velocity; and calculating the desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity of the satellite during the active pushbroom process using the active pushbroom start time and the desired attitude Euler angle.

[0133] 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.

[0134] 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.

[0135] 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 on-board tasks on an active push-broom satellite, characterized in that, include: Based on the spatial geometric relationship between the satellite, the ground target point, and the Earth, calculate the satellite's initial stable push-broom roll angle and the final stable push-broom roll angle; The active push-broom roll velocity of the satellite is calculated based on the start-to-stabilize push-broom roll angle and the end-to-stabilize push-broom roll angle, and the start-to-stabilize push-broom yaw angle is determined. The active pushbroom start time and desired attitude Euler angle of the satellite are calculated using the active pushbroom roll angular velocity. The desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity of the satellite during the active push-broom process are calculated using the active push-broom start time and the desired attitude Euler angles. Calculation of active push-broom process The desired attitude of the time-of-flight satellite includes: The current working camera is determined by ground remote control commands, and the second camera coordinate system of the current working camera is obtained. The transformation relationship from the satellite body coordinate system to the second camera coordinate system is determined, and the attitude quaternions from the satellite body coordinate system to the second camera coordinate system are obtained based on the transformation relationship. ; Confirm 321 sequence change The expected attitude Euler angles at time t is ,in , , For the planned rolling angular velocity, For planning purposes The roll angle at time t is used to obtain the corresponding expected attitude quaternion from the orbital system to the camera coordinate system without yaw angle correction. ; Use deflection angle Calculate the dynamic link library for the desired pose quaternion. Make corrections: Let be a unit vector, representing the direction of the rotation axis. This is the rotational quaternion after correction for the deflection angle; The desired attitude quaternion from the orbital system to the camera coordinate system after applying the yaw angle correction is: The desired attitude quaternion from the inertial frame to the second camera coordinate system is obtained as follows: The attitude quaternion from the satellite's own coordinate system to the second camera's coordinate system is: The desired attitude quaternion of the inertial frame to the satellite body is obtained as follows: ; Calculation of active push-broom process The desired attitude angular velocity of the satellite at any given time includes: The rotation sequence of attitude angles, including yaw angle correction, is determined to be 3213, with the c-axis representing the orbital coordinate system and the b-axis representing the satellite body coordinate system. Yaw angle of the first rotation around the Zc axis yaw rate The second rotation around the Yc axis, pitch angle pitch angular velocity The third rotation around the Xc axis, roll angle The process involves pushing and sweeping, followed by a fourth rotation around the Zb axis to correct the flow angle. ; Sure For rotation about the Zc axis Given the rotation matrix, the projection of the satellite's angular velocity relative to the orbital system onto the camera coordinate system is: The satellite's angular velocity relative to its orbital system projected onto its body coordinate system is ; The entrainment angular velocity of the orbital system is Projecting onto the satellite's body coordinate system yields: This represents the satellite's average orbital angular velocity; The desired total angular velocity of the satellite is obtained as follows: 。 2. The active push-broom satellite mission planning method according to claim 1, characterized in that, Based on the spatial geometric relationships between the satellite, the ground target point, and the Earth, calculate the satellite's initial and final stable push-broom roll angles, including: Obtain the geographic longitude of the ground point where the satellite begins push-brooming. Geographical latitude and the height of the earth By combining the ground target point, the Earth's center, the subsatellite point, and any offset point between the push sweep trajectory, the ground point to start push sweeping is determined. ; Obtain the geographic longitude of the ground point where the satellite finishes push-brooming. Geographical latitude and the height of the earth By combining the ground target point, the Earth's center, the subsatellite point, and any offset point between the push sweep trajectory, the ground point where the push sweep ends is determined. ; Starting from the ground sweeping point Determine the point where the push sweep reaches the ground. corresponding time and the beginning of a stable push-purge roll angle From the end of the sweeping ground point Determine the point where the push sweep reaches the ground. corresponding time and the final stable push-purge roll angle .

3. The active push-broom satellite mission planning method according to claim 2, characterized in that, The active push-broom roll velocity of the satellite is calculated based on the start-stabilized push-broom roll angle and the end-stabilized push-broom roll angle, and the start-stabilized push-broom yaw angle is determined, including: Based on the point of sweeping to the ground corresponding time Start stabilizing the push-purge roll angle Push sweep to ground point corresponding time and the final stable push-purge roll angle The active push-pump rolling angular velocity was calculated. ; By using a method for calculating the drift angle based on orbital mechanics and satellite attitude dynamics, and utilizing the azimuth vector projection of the target point in the orbital coordinate system, the point of impact with the ground during the push-broom operation is calculated. The corresponding starting stable push-purge deflection angle .

4. The active push-broom satellite mission planning method according to claim 1, characterized in that, The calculation of the satellite's active pushbroom start time and desired attitude Euler angles using the active pushbroom roll angular velocity includes: For active push sweep rolling angular velocity Interpolation is performed to obtain the maneuver time at the start of active push-brooming. ; From push sweep to ground point corresponding time Subtract the maneuver time at the start of active push-broom Obtain the active push-broom start time ; Determine the desired attitude Euler angles For 321 sequence, where , , .

5. The active push-broom satellite mission planning method according to claim 1, characterized in that, The desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity of the satellite during the active pushbroom process are calculated using the active pushbroom start time and the desired attitude Euler angles, including: Calculation of active push-broom process The desired attitude of the satellite at any given time; Determining the active push-broom process based on the desired attitude Current attitude quaternion of the satellite ; Calculation of active push-broom process The desired attitude angular velocity of the satellite at any given time; Determining the active push-broom process based on the desired attitude Current attitude angular velocity of the satellite .

6. An active pushbroom on-board mission planning system, based on the active pushbroom on-board mission planning method according to any one of claims 1 to 5, characterized in that, include: The first calculation module is used to calculate the satellite's initial stable push-broom roll angle and the final stable push-broom roll angle based on the spatial geometric relationship between the satellite, the ground target point, and the Earth. The second calculation module is used to calculate the active push-broom roll velocity of the satellite based on the start stabilization push-broom roll angle and the end stabilization push-broom roll angle, and to determine the start stabilization push-broom drift angle. The third calculation module is used to calculate the satellite's active push-broom start time and desired attitude Euler angles using the active push-broom roll angular velocity. The fourth calculation module is used to calculate the satellite's desired attitude, current attitude, desired attitude angular velocity, and current attitude angular velocity during the active push-broom process using the active push-broom start time and the desired attitude Euler angles.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the active pushbroom on-board mission planning method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the active pushbroom satellite mission planning method as described in any one of claims 1 to 5.

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