Multi-angle observation platform and method for laboratory remote sensing

Abstract

The invention discloses a multi-angle observation platform and method for laboratory remote sensing. The limitation of flexibility and observation dimension in the prior art is broken through through a multi-degree-of-freedom cooperative adjustment system. The platform adopts a modularized double-sub-system framework; a load pose adjusting subsystem is integrated with a reversing frame, a linear guide rail, an observation zenith angle adjusting frame, a side swing adjusting frame and other components, so that multi-degree-of-freedom compound motion of load observation azimuth angle adjustment, position adjustment, observation zenith angle adjustment and side swing angle adjustment is realized; the ground object scene adjusting subsystem is provided with an X-axis guide rail, a Y-axis guide rail, an inclined table and a rotating table, and supports ground object scene three-dimensional displacement, azimuth angle rotation and accurate adjustment and control of an inclined angle. The system creatively integrates multiple working modes of sub-satellite point observation, fixed-point observation, linear array scanning observation, motion compensation observation, agile observation and the like, and can adapt to various loads such as area arrays / linear arrays and the like. A controllable experiment environment is provided for remote sensing satellite multi-angle observation mechanism research and quantitative inversion algorithm verification, and the dimension precision and scene adaptability of laboratory simulation observation are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of remote sensing physical simulation, and more particularly, to a multi-angle observation platform and method for laboratory remote sensing. Background Art

[0002] Remote sensing technology is widely used in fields such as earth science, agricultural monitoring, and environmental protection. Among them, multi-angle observation technology helps to improve the recognition accuracy of ground object features, improve atmospheric correction algorithms, and play an important role in quantitative remote sensing research by obtaining the spectral, radiation, and geometric characteristics of target objects from different perspectives. Although satellites, drones, and ground platforms have been widely used in multi-angle observations, each type of platform still has significant limitations. Limited by orbital design, satellite platforms have limited mobility and revisit cycles, making it difficult to meet the observation requirements of high temporal resolution, and the quality of remote sensing data is vulnerable to atmospheric interference. In contrast, drones have higher flexibility, but their equipment costs are high, their flight durations are limited, and it is difficult to maintain the consistency and stability of observations in complex environments. To achieve more stable and detailed near-earth observations, ground platforms are widely used for multi-angle data collection. However, existing systems mostly rely on turntables or arc-shaped sliding rails to achieve angle adjustment, have low load capacities, lack translation capabilities, and are difficult to support multi-angle observations of pushbroom imagers. At the same time, they are also easily disturbed by changes in lighting conditions and external environments during the measurement process.

[0003] Laboratory multi-angle observation technology provides an effective solution to the above problems. By designing a dedicated multi-angle observation platform in the laboratory, it is possible to precisely adjust remote sensing payloads and observation targets in a controllable environment, achieving the effect of multi-angle observations in a simulated real scenario. However, the existing technology still has the following deficiencies:

[0004] Currently, most multi-angle observation platforms in laboratories adopt a frame structure. Usually, the observation platform is placed on a cuboid gantry, and the angle adjustment is achieved through translation and pitching. For example, the space remote sensing imaging semi-physical simulation platform based on the equal ratio scaling mode proposed by Zhao Junbao, Wu Zhensheng, etc. (CN109064842A) is mainly used to simulate the sub-satellite point observation of satellites. Its observation platform is fixed on the top of the outer gantry, and the distance between the load and the sand table is adjusted through orbital movement, but it lacks the ability to adjust the observation azimuth angle and the roll angle. Another representative device is the agricultural spectral remote sensing observation platform developed by Zhu Junsheng, etc. (CN116413220A). This platform also adopts a similar structure and is mounted on a shed. Although it introduces the function of adjusting the observation azimuth angle, it can only achieve translation in the X and Y axis directions, resulting in complex azimuth angle calculation, long displacement path, and increased time consumption. It adds a central rotating shaft to the structure to achieve the rotation of the load. However, since the weight of all loads is supported by a single point of the rotating shaft, the bearing capacity is limited and it is not suitable for heavier equipment. Generally speaking, most existing systems only have the functions of translation in the X and Y axes, platform plane rotation, and zenith angle adjustment, and generally lack the adjustment of the roll angle. In the simulation of the agile observation mode, the adjustment of the roll angle is crucial and directly affects the imaging path and geometric accuracy. Therefore, there is an urgent need to develop a laboratory remote sensing multi-angle observation platform with higher flexibility and degrees of freedom, stronger bearing capacity, and capable of adapting to multiple imaging modes to meet the requirements of complex experimental conditions and high-precision measurement. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-angle observation platform and method for laboratory remote sensing, which can carry loads of different imaging modes and realize the comprehensive reproduction and precise control of the remote sensing multi-angle observation process under laboratory conditions through flexible, high-precision, and multi-degree-of-freedom pose adjustment and ground object scene adjustment. This platform overcomes the disadvantages of poor flexibility and insufficient degrees of freedom in the prior art, can adapt to the needs of various remote sensing loads and ground object scenes, provides new experimental support for the acquisition, calibration, analysis, and verification of remote sensing data, and provides important technical support for studying the mechanism of remote sensing imaging.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] The present invention provides a multi-angle observation platform for laboratory remote sensing, mainly including a remote sensing load pose adjustment sub-platform 1 and a ground object scene azimuth multi-angle adjustment sub-platform 2. Specifically:

[0008] The remote sensing payload posture adjustment sub-platform 1 includes a slewing frame 4 for realizing the payload azimuth rotation function, a linear guide rail 5 for realizing the payload translation function, an observation zenith angle adjustment frame 6 for realizing the payload observation zenith angle adjustment, and a side swing adjustment frame 7 for realizing the payload side swing adjustment. The slewing frame 4 drives the linear guide rail 5 to rotate in the horizontal plane through a rigid connection, and the linear guide rail 5 drives the observation zenith angle adjustment frame 6 to translate linearly through a rigid connection. The observation zenith angle adjustment frame 6 and the side swing adjustment frame 7 combine to drive the payload to perform observation zenith angle adjustment and side swing adjustment.

[0009] The multi-angle adjustment sub-platform 2 for the orientation of the object scene includes an x-axis guide rail 12 for realizing translation of the object scene along the x-axis direction, an x-axis stepper motor 13, a y-axis guide rail 10 for translation along the y-axis direction, a y-axis stepper motor 11, a tilting platform 17 for assisting in adjusting the observation zenith angle, and a rotating platform 14 for adjusting the azimuth angle of the object scene relative to the light source. The rotating platform 14 and the tilting platform 17 are rigidly connected to drive the object scene to synchronously realize rotation and tilt adjustment. The x-axis guide rail 12 and the y-axis guide rail 10 are cascaded in a vertical structure, and can jointly drive the tilting platform 17, the rotating platform 14 and the object scene thereon to realize two-dimensional translation movement in the horizontal plane, thereby supporting the precise position and attitude adjustment of the object relative to the light source direction;

[0010] The remote sensing payload posture adjustment sub-platform 1 and the ground object scene azimuth multi-angle adjustment sub-platform 2 are combined to realize the azimuth adjustment of the ground object scene relative to the light source, as well as the adjustment of the remote sensing payload relative to the ground object scene at different positions on the x-axis and y-axis, different observation azimuths, different observation zenith angles, and different roll angles for static imaging and in-flight imaging.

[0011] Furthermore, the slewing frame 4 of the remote sensing payload posture adjustment sub-platform 1 is mounted on the slide rails 9 of the slewing support frame 3. The entire remote sensing payload posture adjustment sub-platform is driven by a numerically controlled drive motor 18 to rotate 360 degrees. A multi-turn encoder 20 is mounted on the outside of the slewing support frame 3 to measure the rotation amount of the slewing frame 4 and control the angle. The slewing support frame 3 is also equipped with a rotation limiter 19 to prevent the slewing frame 4 from rotating beyond a predetermined range.

[0012] Furthermore, the linear guide rail 5 takes the center of the slewing support frame 3 as the origin, and realizes the forward and backward translation of the observation platform through the linear drive device 21; after the remote sensing load posture adjustment sub-platform moves to a predetermined position, its position can be fixed by a position locking device 23; translation limit devices 22 are installed at both ends of the linear drive device 21 to limit its translation range.

[0013] Further, the observation zenith angle adjustment frame 6 and the side swing adjustment frame 7 are connected to the load frame 8. Angle sensors are respectively installed on the observation zenith angle adjustment frame 6 and the side swing adjustment frame 7 to measure the angles of the observation zenith angle and the side swing, and precisely control the rotation angle of the load frame 8 based on the measured angles, so as to achieve precise adjustment of different observation zenith angles and side swing angles.

[0014] Beneficial effects achieved by the present invention:

[0015] (1) The present invention realizes flexible adjustment of the remote sensing load during the observation process by changing the observation azimuth angle of the load, adjusting the observation zenith angle, side swing angle, etc. in multiple degrees of freedom. At the same time, the ground object scene adjustment platform simulates the characteristics of the observation scene at different positions, different azimuth angles, and different tilt angles through functions such as translation, rotation, and tilt of the x and y axes, and has flexible and multifunctional adjustment capabilities to meet the requirements of complex experimental scenarios.

[0016] (2) The present invention can be combined with satellite orbit simulation technology to reproduce the perspective distribution, time series, and trajectory change characteristics of the actual satellite orbit in orbit, and at the same time can simulate the observation characteristics of different attitudes during the flight of the aircraft.

[0017] (3) The present invention adopts motor drive and modular design, combined with a slewing bearing structure, which improves the stability and angle adjustment ability of the platform, can quickly adapt to various imaging methods and large-weight remote sensing loads, and enhances the versatility of the system.

[0018] (4) The present invention combines the remote sensing load pose adjustment sub-platform and the ground object scene azimuth multi-angle adjustment sub-platform, and through coordinated control, realizes independent adjustment and precise control of the observation azimuth angle and the ground object azimuth angle, and can comprehensively simulate multi-angle and multi-azimuth imaging scenes in remote sensing observations. Compared with satellite and unmanned aerial vehicle platforms, this experimental system has low operating costs, strong operation controllability, and is suitable for long-term observations and repetitive experiments in laboratory environments. Its multi-dimensional adjustment ability provides key technical support for remote sensing observation mechanism research, model verification, and algorithm development, and significantly improves the experimental efficiency and system adaptability. Description of the Drawings

[0019] Figure 1 It is a schematic structural diagram of the remote sensing load pose adjustment sub-platform in the present invention;

[0020] Figure 2 It is a schematic structural diagram of the ground object scene azimuth multi-angle adjustment sub-platform in the present invention;

[0021] Figure 3 It is a schematic structural diagram of the slewing support frame;

[0022] Figure 4 It is a schematic structural diagram of the linear guide rail;

[0023] Figure 5 It is the sub-satellite point imaging mode;

[0024] Figure 6 It is the fixed-point observation mode;

[0025] Figure 7 It is the linear array camera observation mode;

[0026] Figure 8 It is the payload motion compensation observation mode;

[0027] Figure 9 It is the agile observation mode. Specific implementation manners

[0028] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. In the technical solution, features such as component models, material names, connection structures, control methods, algorithms, etc. that are not clearly described are regarded as common technical features disclosed in the prior art.

[0029] A specific embodiment structure of the present invention is as shown in Figure 1 、 2 and includes a remote sensing payload pose adjustment sub-platform 1 and a ground object scene azimuth multi-angle adjustment sub-platform 2.

[0030] During specific implementation, the remote sensing payload pose adjustment sub-platform 1 includes a slewing frame 4 for realizing the payload azimuth rotation function, a linear guide rail 5 for realizing the payload translation function, an observation zenith angle adjustment frame 6 for realizing the payload observation zenith angle adjustment, and a roll adjustment frame 7 for realizing the payload roll adjustment. Among them, the slewing frame 4 drives the linear guide rail 5 to rotate in the horizontal plane through a rigid connection, the linear guide rail 5 drives the observation zenith angle adjustment frame 6 to linearly translate through a rigid connection, and the combination of the observation zenith angle adjustment frame 6 and the roll adjustment frame 7 drives the remote sensing payload to perform observation zenith angle adjustment and roll adjustment;

[0031] During specific implementation, as shown in Figure 1 , the slewing frame 4 in the remote sensing payload pose adjustment sub-platform 1 is installed on the slide rail 9 of the slewing support frame 3. As shown in Figure 3 , a numerical control drive motor 18 is provided on the slewing support frame 3 to drive the entire payload pose adjustment sub-platform to realize 360° rotation in the horizontal plane. A multi-turn encoder 20 is installed outside the slewing support frame 3 to measure the rotation amount of the slewing frame 4; at the same time, a rotation limit device 19 is provided on the slewing support frame 3 to prevent the slewing frame 4 from rotating beyond the predetermined range and ensure the position stability and safety of the platform during the observation process.

[0032] During specific implementation, as shown in Figure 4As shown in the figure, the linear guide rail 5 takes the center of the rotary support frame 3 as the origin, and realizes the forward and backward translation of the observation platform through the linear driving device 21 arranged thereon. After the remote sensing payload pose adjustment sub-platform moves to a predetermined position, its position can be fixed by the position locking device 23. Translation limit devices 22 are arranged at both ends of the linear driving device 21 to limit its translation range and ensure that the equipment operates within a safe range.

[0033] During specific implementation, as Figure 1 shown in the figure, the observation zenith angle adjustment frame 6 and the side swing adjustment frame 7 are connected to the payload frame 8. Angle sensors are respectively installed on the observation zenith angle adjustment frame 6 and the side swing adjustment frame 7 to measure the angles of the observation zenith angle and the side swing, and based on the measured angles, precise control of the attitude of the payload frame 8 is realized, so as to achieve precise adjustment of different observation zenith angles and side swing angles.

[0034] During specific implementation, as Figure 2 shown in the figure, the multi-angle adjustment sub-platform 2 for the ground object scene orientation includes: an x-axis guide rail 12 for realizing the translation of the ground object scene along the x-axis direction, an x-axis stepper motor 13, a y-axis guide rail 10 for translating along the y-axis direction, a y-axis stepper motor 11, a tilt table 17 for assisting in realizing the adjustment of the observation zenith angle, and a rotary table 14 for adjusting the azimuth angle of the ground object scene relative to the light source. Among them, the rotary table 14 and the tilt table 17 are rigidly connected to drive the ground object scene to realize synchronous rotation and tilt adjustment. The x-axis guide rail 12 and the y-axis guide rail 10 are vertically cascaded and can jointly drive the tilt table 17, the rotary table 14 and the ground object scene thereon to realize two-dimensional translation motion in the horizontal plane, so as to support the precise position and attitude adjustment of the ground object relative to the light source direction.

[0035] During specific implementation, the remote sensing payload pose adjustment sub-platform 1 and the multi-angle adjustment sub-platform 2 for the ground object scene orientation work together to realize the adjustment of the azimuth angle of the ground object scene relative to the light source, and the adjustment of the multi-angle observation parameters of the ground object scene by the remote sensing payload at different spatial positions on the x-axis and y-axis, including the observation azimuth angle, the observation zenith angle, the side swing angle, etc. This platform can support both the imaging observation of the remote sensing payload in a stationary state and the imaging observation in a simulated flight state, meeting the experimental requirements of various remote sensing imaging modes.

[0036] When the multi-angle observation platform for laboratory remote sensing in this embodiment is used for ground multi-angle measurement in actual application, 5 imaging modes are given, which are mainly realized through the following steps:

[0037] 1. Implement the nadir observation mode. In this mode, the payload is stationary and observes vertically downward, as Figure 5 shown in the figure. The specific operation is as follows:

[0038] Step 1: Place the payload on the payload rack 8 in the remote sensing payload pose adjustment sub-platform 1. At this time, the linear guide rail 5 faces the north-south direction, the center position is the zero point, moving south is positive, and moving north is negative; reset the side swing angle, observation zenith angle, rotation angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the payload is directly below the center of the rotary support frame 3; place the ground object scene on the scene placement rack 16 in the ground object scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points to the east-west direction, and the y-axis guide rail points to the north-south direction. Reset the x-axis, y-axis positions, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the rotary support frame 3;

[0039] Step 2: Adjust the x-axis stepper motor 13, y-axis stepper motor 11, and rotary table motor 15 in the ground object scene azimuth multi-angle adjustment sub-platform 2 to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements;

[0040] Step 3: The payload performs data acquisition to complete the observation of the sub-satellite point.

[0041] 2. Implement the fixed-point observation mode. In this mode, the payload observes statically at the set observation azimuth angle, observation zenith angle, and observation position. As Figure 6 shown, the specific operations are as follows:

[0042] Step 1: Place the payload on the payload rack 8 in the remote sensing payload pose adjustment sub-platform 1. At this time, the linear guide rail 5 faces the north-south direction, the center position is the zero point, moving south is positive, and moving north is negative; reset the side swing angle, observation zenith angle, rotation angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the payload is directly below the center of the rotary support frame 3; place the ground object scene on the scene placement rack 16 in the ground object scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points to the east-west direction, and the y-axis guide rail points to the north-south direction. Reset the x-axis, y-axis positions, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the rotary support frame 3;

[0043] Step 2: Adjust the x-axis stepper motor 13, y-axis stepper motor 11, rotary table motor 15, and tilt table 17 in the ground object scene azimuth multi-angle adjustment sub-platform 2 to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements;

[0044] Step 3: Set the observation azimuth angle, observation zenith angle, linear motion position, and linear motion speed; the rotary frame 4 rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle; the observation zenith angle adjustment frame 6 moves to adjust the observation zenith angle, stops and locks after reaching the specified angle; the linear guide rail 5 moves from the zero position to the specified position, stops and locks;

[0045] Step 4: The payload performs data acquisition; complete the observation of the fixed-point observation mode.

[0046] 3. Implement the observation mode of the linear array push-broom imager. In this mode, the payload uses a linear array push-broom imager to perform translational observation at a set observation azimuth angle, observation zenith angle, and side-sway angle. As shown in Figure 7 the following, the specific operations are as follows

[0047] Step 1: Place the payload on the payload rack 8 in the remote sensing payload pose adjustment sub-platform 1. At this time, the linear guide rail 5 faces the north-south direction, the center position is the zero point, moving south is positive, and moving north is negative; reset the side-sway angle, observation zenith angle, rotation angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the payload is directly below the center of the rotary support frame 3; place the ground object scene on the scene placement rack 16 in the ground object scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points to the east-west direction, the y-axis guide rail points to the north-south direction, and reset the positions of the x-axis, y-axis, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the rotary support frame 3;

[0048] Step 2: Adjust the x-axis stepper motor 13, y-axis stepper motor 11, rotary table motor 15, and tilt table 17 in the ground object scene azimuth multi-angle adjustment sub-platform 2 to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements;

[0049] Step 3: Set the observation azimuth angle, observation zenith angle, side-sway angle, starting and ending positions of the linear motion, and the linear motion speed as needed. The linear motion speed matches the line frequency of the payload; the rotary frame 4 rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle. The observation zenith angle adjustment frame 6 moves to adjust the observation zenith angle and stops and locks after reaching the specified angle; the side-sway adjustment frame 7 moves to adjust the side-sway angle and stops and locks after reaching the specified angle. The linear guide rail 5 moves the payload to the starting position and then stops;

[0050] Step 4: The linear guide rail 5 moves from the starting position to the ending position at the corresponding speed, stops and locks. During the linear motion, the linear array push-broom imager collects data to complete the observation mode of the linear array push-broom imager.

[0051] 4. Implement the motion compensation imaging mode. In this mode, the observation zenith angle rotates backward synchronously while the payload is moving forward. As shown in Figure 8 the following, the specific operations are as follows:

[0052] Step 1: Calculate the motion relationship between the linear speed and the observation zenith angle during synchronous motion according to the following formula:

[0053]

[0054] where is the pre-set distance that the payload moves on the linear guide rail 5, is the linear motion speed, is the angle changed by the preset observation zenith angle adjusting frame, is the observation zenith angle adjusting angular velocity;

[0055] Step 2: Place the payload on the payload rack 8 in the remote sensing payload pose adjustment sub-platform 1. At this time, the linear guide rail 5 faces the north-south direction, the center position is the zero point, moving south is positive, and moving north is negative; zero the side swing angle, observation zenith angle, slewing angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the payload is directly below the center of the slewing support frame 3; place the ground object scene on the scene placement rack 16 in the ground object scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points to the east-west direction, the y-axis guide rail points to the north-south direction, and zero the x-axis, y-axis positions, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the slewing support frame 3;

[0056] Step 3: Adjust the x-axis stepper motor 13, y-axis stepper motor 11, rotary table motor 15, and tilt table 17 in the ground object scene azimuth multi-angle adjustment sub-platform 2 to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements;

[0057] Step 4: Set the starting and ending angles of the observation azimuth angle and observation zenith angle rotation, the observation zenith angle rotation angular velocity, the side swing angle, the starting and ending positions of the linear motion, and the linear motion speed as needed; the slewing frame 4 rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle, the observation zenith angle adjusting frame 6 adjusts the observation zenith angle to the starting angle, the side swing adjusting frame 7 moves to adjust the side swing angle to the specified angle and then stops and locks, and the linear guide rail 5 moves the payload to the starting position and then stops;

[0058] Step 5: The linear guide rail 5 moves the payload from the starting position to the ending position at the set speed and stops. During the linear motion, the observation zenith angle adjusting frame 6 simultaneously rotates from the starting angle to the ending angle at the preset observation zenith angle adjusting angular velocity, and the payload collects data synchronously during this process to complete the payload motion compensation imaging.

[0059] 5. Implement the agile observation mode. In this mode, the payload can not only perform attitude maneuvers along the three axes, but also scan and image while maneuvering, such as Figure 9 , and the specific operation is as follows:

[0060] Step 1: Place the payload on the payload rack 8 in the remote sensing payload pose adjustment sub-platform 1. At this time, the linear guide rail 5 faces the north-south direction, the center position is the zero point, moving south is positive, and moving north is negative; reset the side swing angle, observation zenith angle, rotation angle, and the position of the linear guide rail to zero to ensure that the field of view is vertically downward. At this time, the payload is directly below the center of the rotary support frame 3; place the ground object scene on the scene placement rack 16 in the ground object scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points to the east-west direction, and the y-axis guide rail points to the north-south direction. Reset the x-axis, y-axis positions, azimuth angle, and tilt angle to zero. At this time, the ground object scene is directly below the center of the rotary support frame 3.

[0061] Step 2: Adjust the x-axis stepper motor 13, y-axis stepper motor 11, rotary table motor 15, and tilt table 17 in the ground object scene azimuth multi-angle adjustment sub-platform 2 to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements.

[0062] Step 3: Set the starting angle , intermediate angle , , and ending angle of the observation azimuth angle and observation zenith angle rotation, the angular velocity of the observation zenith angle rotation, the starting angle , intermediate angle , , and ending angle of the side swing angle rotation, the angular velocity of the side swing angle rotation, the starting position , intermediate position , , , and ending position of the linear motion, and the linear motion speed; the rotary frame 4 rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle, the observation zenith angle adjustment frame 6 adjusts the observation zenith angle to the starting angle , the side swing adjustment frame 7 moves to adjust the side swing angle to the starting angle , and the linear guide rail 5 moves the payload to the starting position and then stops.

[0063] Step 4: The linear guide rail 5 moves the payload from the starting position to the intermediate position at the set speed. During this process, the payload synchronously collects data; after the collection is completed, the observation zenith angle adjustment frame 6 moves at the preset observation zenith angle adjustment angular velocity to change the observation zenith angle to the intermediate angle , and at the same time, the side swing adjustment frame 7 adjusts the side swing angle to the intermediate angle at the preset side swing angle adjustment angular velocity. After the angle adjustment is completed, the linear guide rail 5 continues to move from the intermediate position to the intermediate position , during this process, the payload synchronously acquires data. After the acquisition is completed, the observation zenith angle adjuster 6 moves at a preset observation zenith angle adjustment angular velocity to change the observation zenith angle to the intermediate angle , and at the same time, the side swing adjuster 7 adjusts the side swing angle to the intermediate angle at a preset side swing angle adjustment angular velocity , after the angle adjustment is completed, the linear guide rail 5 continues to move from the intermediate position to the intermediate position , during this process, the payload synchronously acquires data. After the acquisition is completed, the observation zenith angle adjuster 6 moves at a preset observation zenith angle adjustment angular velocity to change the observation zenith angle to the termination angle , and at the same time, the side swing adjuster 7 adjusts the side swing angle to the termination angle at a preset side swing angle adjustment angular velocity , after the angle adjustment is completed, the linear guide rail 5 continues to move from the intermediate position to the termination position , during this process, the payload synchronously acquires data to complete agile observation.

Claims

1. A multi-angle observation platform for laboratory remote sensing, characterized in that, The multi-angle observation platform of the laboratory remote sensing includes a remote sensing payload posture adjustment sub-platform (1) and a ground object scene orientation multi-angle adjustment sub-platform (2); in, The remote sensing payload posture adjustment sub-platform (1) comprises a slewing frame (4) for realizing a payload azimuth rotation function, a linear guide rail (5) for realizing a payload translation function, an observation zenith angle adjustment frame (6) for realizing payload observation zenith angle adjustment, and a side-swing adjustment frame (7) for realizing payload side-swing adjustment, wherein the slewing frame (4) drives the linear guide rail (5) to rotate in a horizontal plane through a rigid connection, the linear guide rail (5) drives the observation zenith angle adjustment frame (6) to translate linearly through a rigid connection, and the observation zenith angle adjustment frame (6) and the side-swing adjustment frame (7) are combined to drive the payload to perform observation zenith angle adjustment and side-swing adjustment; The multi-angle adjustment sub-platform (2) for the orientation of the object scene includes an x-axis guide rail (12) for realizing the translation of the object scene along the x-axis direction, an x-axis stepper motor (13), a y-axis guide rail (10) for translation along the y-axis direction, a y-axis stepper motor (11), a tilting platform (17) for assisting in the adjustment of the observation zenith angle, and a rotating platform (14) for adjusting the azimuth angle of the object scene relative to the light source. The rotating platform (14) and the tilting platform (17) are rigidly connected to drive the object scene to synchronously realize rotation and tilt adjustment. The x-axis guide rail (12) and the y-axis guide rail (10) are cascaded in a vertical structure and can be linked to drive the tilting platform (17), the rotating platform (14) and the object scene thereon to realize two-dimensional translation movement in the horizontal plane, thereby supporting the position and attitude adjustment of the object relative to the light source direction; The remote sensing payload posture adjustment sub-platform (1) and the ground object scene azimuth multi-angle adjustment sub-platform (2) are combined to achieve azimuth adjustment of the ground object scene relative to the light source, as well as adjustment of the remote sensing payload relative to the ground object scene at different positions on the x-axis and y-axis, different observation azimuths, different observation zenith angles, and different side swing angles for static imaging and in-flight imaging.

2. The multi-angle observation platform for laboratory remote sensing according to claim 1, wherein, The slewing frame (4) in the remote sensing payload posture adjustment sub-platform (1) is mounted on a slide rail (9) of a slewing support frame (3), and the entire remote sensing payload posture adjustment sub-platform is driven by a numerical control drive motor (18) to rotate 360 degrees; a multi-turn encoder (20) is mounted on the outer side of the slewing support frame (3) to measure the rotation amount of the slewing frame (4) so as to control the angle; and a rotation limiting device (19) is provided on the slewing support frame (3) to prevent the slewing frame (4) from rotating beyond a predetermined range.

3. The multi-angle observation platform for laboratory remote sensing according to claim 1, characterized in that, The linear guide rail (5) takes the center of the slewing support frame (3) as its origin, and realizes the forward and backward translation of the observation platform through the linear drive device (21); after the remote sensing load posture adjustment sub-platform moves to a predetermined position, its position can be fixed by a position locking device (23); and translation limit devices (22) are installed at both ends of the linear drive device (21) to limit its translation range.

4. The multi-angle observation platform for laboratory remote sensing according to claim 1, characterized in that, The observation zenith angle adjustment frame (6) and the side swing adjustment frame (7) are connected to the load frame (8). Angle sensors are respectively installed on the observation zenith angle adjustment frame (6) and the side swing adjustment frame (7) to measure the angles of the observation zenith angle and the side swing, and precisely control the attitude of the load frame (8) based on the measured angles, so as to achieve precise adjustment of different observation zenith angles and side swing angles.

5. A multi-angle observation method using the platform according to any one of claims 1-4, characterized in that, Implement the sub-satellite point observation mode, in which the load is stationary and observes vertically downward. The specific operations are as follows: Step 1: Place the load on the load frame (8) in the remote sensing load pose adjustment sub-platform (1). At this time, the linear guide rail (5) faces the north-south direction, the central position is the zero point, moving south is positive, and moving north is negative; zero the side swing angle, observation zenith angle, rotation angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the load is directly below the center of the rotary support frame (3); place the ground object scene on the scene placement rack (16) in the ground object scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points to the east-west direction, and the y-axis guide rail points to the north-south direction. Zero the positions of the x-axis and y-axis, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the rotary support frame (3); Step 2: Adjust the x-axis stepper motor (13), y-axis stepper motor (11), rotary table motor (15), and tilt table (17) in the ground object scene azimuth multi-angle adjustment sub-platform (2) to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements; Step 3: The load performs data acquisition to complete the sub-satellite point observation.

6. A multi-angle observation method using the platform according to any one of claims 1-4, characterized in that, Implement the fixed-point observation mode, in which the load observes statically at a set observation azimuth angle, observation zenith angle, and observation position. The specific operations are as follows: Step 1: Place the load on the load frame (8) in the remote sensing load pose adjustment sub-platform (1). At this time, the linear guide rail (5) faces the north-south direction, the central position is the zero point, moving south is positive, and moving north is negative; zero the side swing angle, observation zenith angle, rotation angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the load is directly below the center of the rotary support frame (3); place the ground object scene on the scene placement rack (16) in the ground object scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points to the east-west direction, and the y-axis guide rail points to the north-south direction. Zero the positions of the x-axis and y-axis, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the rotary support frame (3); Step 2: Adjust the x-axis stepper motor (13), y-axis stepper motor (11), rotary table motor (15), and tilt table (17) in the ground object scene azimuth multi-angle adjustment sub-platform (2) to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements; Step 3: Set the observation azimuth angle, observation zenith angle, linear movement position, and linear movement speed; the rotary frame (4) rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle; the observation zenith angle adjustment frame (6) moves to adjust the observation zenith angle, stops and locks after reaching the specified angle; the linear guide rail (5) moves from the zero position to the specified position, stops and locks; Step 4: The payload performs data acquisition; the fixed-point observation mode observation is completed.

7. A multi-angle observation method using the platform according to any one of claims 1-4, characterized in that, Implement the linear array push-broom imager observation mode. In this mode, the payload uses a linear array push-broom imager and performs translation observation at the set observation azimuth angle, observation zenith angle, and slew angle. The specific operations are as follows Step 1: Place the payload on the payload rack (8) in the remote sensing payload pose adjustment sub-platform (1). At this time, the linear guide rail (5) faces the north-south direction, the center position is the zero point, moving south is positive, and moving north is negative; zero the slew angle, observation zenith angle, rotation angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the payload is directly below the center of the rotary support frame (3); place the ground object scene on the scene placement rack (16) in the ground object scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points to the east-west direction, and the y-axis guide rail points to the north-south direction. Zero the x-axis, y-axis positions, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the rotary support frame (3); Step 2: Adjust the x-axis stepper motor (13), y-axis stepper motor (11), rotary table motor (15), and tilt table (17) in the ground object scene azimuth multi-angle adjustment sub-platform (2) to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements; Step 3: Set the observation azimuth angle, observation zenith angle, slew angle, start and end positions of the linear motion, and linear motion speed as needed. The linear motion speed matches the payload line frequency; the rotary frame (4) rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle, the observation zenith angle adjustment frame (6) moves to adjust the observation zenith angle, stops and locks after reaching the specified angle; the slew adjustment frame (7) moves to adjust the slew angle, stops and locks after reaching the specified angle, and the linear guide rail (5) moves the payload to the starting position and then stops; Step 4: The linear guide rail (5) moves from the starting position to the ending position at the set speed, stops and locks. During the linear motion, the linear array push-broom imager collects data, and the linear array push-broom imager observation mode is completed.

8. A multi-angle observation method using the platform according to any one of claims 1-4, characterized in that Implement the motion compensation imaging mode. In this mode, the observation zenith angle rotates backward synchronously while the payload is moving forward. The specific operations are as follows: Step 1: Calculate the relationship between the forward translation linear velocity and the backward rotation angular velocity according to the following formula: ； Among them, is the distance that the preset load moves on the linear guide (5), is the linear motion speed, is the angle changed by the preset observation zenith angle adjusting frame, is the observation zenith angle adjustment angular velocity; Step 2: Place the payload on the payload rack (8) in the remote sensing payload pose adjustment sub-platform (1). At this time, the linear guide rail (5) faces the north-south direction, the center position is the zero point, moving south is positive, and moving north is negative; zero the slew angle, observation zenith angle, rotation angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the payload is directly below the center of the rotary support frame (3); place the ground object scene on the scene placement rack (16) in the ground object scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points to the east-west direction, and the y-axis guide rail points to the north-south direction. Zero the x-axis, y-axis positions, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the rotary support frame (3); Step 3: Adjust the x-axis stepper motor (13), y-axis stepper motor (11), rotary table motor (15), and tilt table (17) in the multi-angle adjustment sub-platform (2) of the ground object scene orientation to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements; Step 4: Set the start and end angles of rotation of the observation azimuth angle and observation zenith angle, the rotation angular velocity of the observation zenith angle, the side swing angle, the start and end positions of the linear motion, and the linear motion speed as needed; the slewing frame (4) rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle, the observation zenith angle adjustment frame (6) adjusts the observation zenith angle to the start angle, the side swing adjustment frame (7) moves to adjust the side swing angle to the specified angle and then stops and locks, and the linear guide rail (5) moves the load to the start position and then stops; Step 5: The linear guide rail (5) moves the load from the start position to the end position at the set speed and stops. During the linear motion, the observation zenith angle adjustment frame (6) simultaneously rotates from the start angle to the end angle at the preset observation zenith angle adjustment angular velocity, and the load collects data synchronously during this process to complete the load motion compensation imaging.

9. A multi-angle observation method using the platform according to any one of claims 1-4, characterized in that, Implement the agile observation mode. In this mode, the load can not only perform attitude maneuvers along three axes but also scan and image while maneuvering. The specific operations are as follows: Step 1: Place the load on the load rack (8) in the remote sensing load pose adjustment sub-platform (1). At this time, the orientation of the linear guide rail (5) is north-south, the center position is zero, moving south is positive, and moving north is negative; zero the side swing angle, observation zenith angle, slewing angle, and the position of the linear guide rail to ensure that the field of view is vertically downward. At this time, the load is directly below the center of the slewing support frame (3); place the ground object scene on the scene placement rack (16) in the multi-angle adjustment sub-platform (2) of the ground object scene orientation. The x-axis guide rail points east-west, the y-axis guide rail points north-south, and zero the x-axis, y-axis positions, azimuth angle, and tilt angle. At this time, the ground object scene is directly below the center of the slewing support frame (3); Step 2: Adjust the x-axis stepper motor (13), y-axis stepper motor (11), rotary table motor (15), and tilt table (17) in the multi-angle adjustment sub-platform (2) of the ground object scene orientation to change the position, illumination azimuth angle, and tilt angle of the ground object scene according to requirements; Step 3: Set the starting angles of the rotation of the observation azimuth angle and the observation zenith angle as required , intermediate angles , and the ending angles , the rotational angular velocity of the observation zenith angle, the starting angle of the rotation of the side-sway angle , intermediate angles , and the ending angles , the rotational angular velocity of the side-sway angle, the starting position of the linear motion , intermediate positions , , and the ending positions , the linear motion speed; the slewing frame (4) rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle, and the observation zenith angle adjusting frame (6) adjusts the observation zenith angle to the starting angle , the side-sway adjusting frame (7) moves to adjust the side-sway angle to the starting angle , and the linear guide rail (5) moves the load to the starting position and then stops; Step 4: The linear guide rail (5) moves the load from the starting position at a set speed to the intermediate position , during which the load synchronously collects data; after the collection is completed, the observation zenith angle adjustment frame (6) moves at a preset observation zenith angle adjustment angular velocity to change the observation zenith angle to the intermediate angle , and at the same time, the side swing adjustment frame (7) adjusts the side swing angle to the intermediate angle at a preset side swing angle adjustment angular velocity . After the angle adjustment is completed, the linear guide rail (5) continues to move from the intermediate position to the intermediate position , during which the load synchronously collects data; after the collection is completed, the observation zenith angle adjustment frame (6) moves at a preset observation zenith angle adjustment angular velocity to change the observation zenith angle to the intermediate angle , and at the same time, the side swing adjustment frame (7) adjusts the side swing angle to the intermediate angle at a preset side swing angle adjustment angular velocity . After the angle adjustment is completed, the linear guide rail (5) continues to move from the intermediate position to the intermediate position , during which the load synchronously collects data; after the collection is completed, the observation zenith angle adjustment frame (6) moves at a preset observation zenith angle adjustment angular velocity to change the observation zenith angle to the termination angle , and at the same time, the side swing adjustment frame (7) adjusts the side swing angle to the termination angle at a preset side swing angle adjustment angular velocity . After the angle adjustment is completed, the linear guide rail (5) continues to move from the intermediate position to the termination position , during which the load synchronously collects data to complete agile observation.

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