A multi-angle observation platform and method for laboratory remote sensing

Abstract

The application discloses a kind of multi-angle observation platform and method for laboratory remote sensing, and the flexibility and observation dimension limit of prior art are broken through by multi-degree-of-freedom cooperative regulation system.The platform adopts modularized twin system architecture: load pose regulation subsystem integrates slewing ring, linear guide, observation zenith angle regulation frame, side swing regulation frame and other components, realizes load observation azimuth angle regulation, position regulation, observation zenith angle regulation, side swing angle regulation multi-degree-of-freedom compound motion;Ground feature scene regulation subsystem is configured X, Y axis guide, tilt table, rotary table, supports ground feature scene three-dimensional displacement, azimuth angle rotation and tilt angle accurate regulation and control.System innovatively fuses subpoint observation, fixed-point observation, linear array scanning observation, motion compensation observation, agile observation and other various working modes, and can be adapted to various loads such as area array / linear array, provides controllable experimental environment for remote sensing satellite multi-angle observation mechanism research and quantitative inversion algorithm verification, significantly improves the dimension accuracy and scene adaptability of laboratory simulation observation.

Description

Technical Field

[0001] This invention relates to the field of remote sensing physical simulation, and more specifically, to a multi-angle observation platform and method for laboratory remote sensing. Background Technology

[0002] Remote sensing technology is widely used in fields such as earth science, agricultural monitoring, and environmental protection. Among them, multi-angle observation technology, by acquiring the spectral, radiometric, and geometric characteristics of target objects from different perspectives, helps improve the accuracy of ground feature identification, improves atmospheric correction algorithms, and plays an important role in quantitative remote sensing research. Although satellites, UAVs, and ground platforms have been widely used for multi-angle observation, each platform still has significant limitations. Due to orbital design constraints, satellite platforms have limited performance in terms of maneuverability and revisit cycles, making it difficult to meet the needs of high temporal resolution observations, and the quality of remote sensing data is easily affected by atmospheric interference. In contrast, UAVs have greater flexibility, but their equipment costs are high, their endurance is 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 acquisition. However, existing systems mostly rely on rotary tables or curved rails to achieve angle adjustment, have low load capacity, lack translation capabilities, and are difficult to support multi-angle observations by pushbroom imagers. At the same time, they are also easily affected by changes in lighting conditions and the external environment during the measurement process.

[0003] Laboratory multi-angle observation technology offers an effective solution to the aforementioned problems. By designing a dedicated multi-angle observation platform in the laboratory, remote sensing payloads and observation targets can be precisely adjusted in a controlled environment, achieving the effect of simulating multi-angle observation in real-world scenarios. However, existing technologies still have the following shortcomings:

[0004] Most current laboratory multi-angle observation platforms adopt a frame structure, typically placing the observation platform on a cuboid gantry, with angle adjustment achieved through translation and pitch. For example, the space remote sensing imaging semi-physical simulation platform (CN109064842A) based on a proportional scaling mode, proposed by Zhao Junbao, Wu Zhengsheng, and others, is mainly used to simulate satellite nadir observations. Its observation platform is fixed to the top of the outer gantry, and the distance between the load and the sand table is adjusted by track movement, but it lacks the ability to adjust the observation azimuth and lateral tilt angles. Another representative device is the agricultural spectral remote sensing observation platform (CN116413220A) developed by Zhu Junsheng et al. This platform also adopts a similar structure, mounted on a scaffold. Although it introduces an observation azimuth adjustment function, it can only achieve translation in the X and Y axes, resulting in complex azimuth calculations, long displacement paths, and increased time consumption. It adds a central rotating shaft to achieve load rotation, but because all load weight is supported by a single point on the shaft, the load-bearing capacity is limited, making it unsuitable for heavier equipment. Overall, most existing systems only offer X and Y axis translation, platform plane rotation, and zenith angle adjustment, generally lacking lateral tilt angle adjustment. However, in simulated agile observation modes, lateral tilt angle adjustment is crucial, directly impacting the imaging path and geometric accuracy. Therefore, there is an urgent need to develop a laboratory remote sensing multi-angle observation platform with greater flexibility and freedom, stronger load-bearing capacity, and adaptability to various imaging modes to meet the demands of complex experimental conditions and high-precision measurements. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-angle observation platform and method for laboratory remote sensing. This platform can carry payloads with different imaging modes and, through flexible, high-precision, and multi-degree-of-freedom pose and scene adjustment, achieves comprehensive reproduction and precise control of the multi-angle remote sensing observation process under laboratory conditions. This platform overcomes the shortcomings of existing technologies, such as poor flexibility and insufficient degrees of freedom, and can adapt to the needs of various remote sensing payloads and scene conditions. It provides new experimental support for the acquisition, calibration, analysis, and verification of remote sensing data, and offers important technical support for studying the mechanisms of remote sensing imaging.

[0006] The present invention solves the above-mentioned technical problem through the following technical solution:

[0007] This invention provides a multi-angle observation platform for laboratory remote sensing, mainly comprising a remote sensing payload pose adjustment sub-platform 1 and a ground feature scene orientation multi-angle adjustment sub-platform 2, wherein:

[0008] The remote sensing payload attitude adjustment sub-platform 1 includes a rotary frame 4 for realizing payload azimuth rotation, a linear guide rail 5 for realizing payload translation, an observation zenith angle adjustment frame 6 for realizing payload observation zenith angle adjustment, and a lateral swing adjustment frame 7 for realizing payload lateral swing adjustment. The rotary 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 lateral swing adjustment frame 7 work together to drive the payload to perform observation zenith angle adjustment and lateral swing adjustment.

[0009] The sub-platform 2 for adjusting the azimuth of the ground feature scene includes an x-axis guide rail 12 and an x-axis stepper motor 13 for translating the ground feature scene along the x-axis, a y-axis guide rail 10 and a y-axis stepper motor 11 for translating the ground feature scene along the y-axis, a tilting stage 17 for assisting in adjusting the zenith angle of the observation, and a rotating stage 14 for adjusting the azimuth angle of the ground feature scene relative to the light source. The rotating stage 14 and the tilting stage 17 are rigidly connected to drive the ground feature scene to synchronously achieve rotation and tilt adjustments. The x-axis guide rail 12 and the y-axis guide rail 10 are cascaded in a vertical structure and can drive the tilting stage 17, the rotating stage 14, and the ground feature scene on them to achieve two-dimensional translational motion in the horizontal plane, thereby supporting precise position and attitude adjustment of the ground feature relative to the light source direction.

[0010] The remote sensing payload pose adjustment sub-platform 1 and the ground object scene azimuth multi-angle adjustment sub-platform 2 are combined to realize the adjustment of the azimuth angle 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 azimuth angles, different observation zenith angles, and different side sway angles for static imaging and in-flight imaging.

[0011] Furthermore, in the remote sensing payload attitude adjustment sub-platform 1, the rotary frame 4 is mounted on the slide rail 9 of the rotary support frame 3, and the entire remote sensing payload attitude adjustment sub-platform is driven to rotate 360° by the CNC drive motor 18. A multi-turn encoder 20 is installed on the outside of the rotary support frame 3 to measure the rotation of the rotary frame 4 and thereby control the angle. The rotary support frame 3 is equipped with a rotation limit device 19 to prevent the rotary frame 4 from rotating beyond the predetermined range.

[0012] Furthermore, 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 drive device 21; after the remote sensing payload pose adjustment sub-platform moves to the predetermined position, its position can be fixed by the position locking device 23; the linear drive device 21 is equipped with translation limit devices 22 at both ends to limit its translation range.

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

[0014] The beneficial effects achieved by this invention are as follows:

[0015] (1) This invention enables flexible adjustment of remote sensing payloads during the observation process by changing the azimuth angle of the payload observation, adjusting the zenith angle of the observation, and the side swing angle, etc. At the same time, the ground 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 tilting of the x and y axes. It has flexible and multifunctional adjustment capabilities to meet the needs of complex experimental scenarios.

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

[0017] (3) The present invention adopts motor drive and modular design, combined with slewing support structure, which improves the stability and angle adjustment capability of the platform, can quickly adapt to various imaging methods and heavy remote sensing payloads, and enhances the versatility of the system.

[0018] (4) This invention combines a remote sensing payload pose adjustment sub-platform with a ground object scene azimuth multi-angle adjustment sub-platform. Through collaborative control, it achieves independent adjustment and precise control of the observation azimuth angle and the ground object azimuth angle, which can comprehensively simulate multi-angle and multi-azimuth imaging scenes in remote sensing observation. Compared with satellite and UAV platforms, this experimental system has low operating costs and strong operational controllability, and is suitable for long-term observation and repetitive experiments in laboratory environments. Its multi-dimensional adjustment capability provides key technical support for remote sensing observation mechanism research, model verification, and algorithm development, and significantly improves experimental efficiency and system adaptability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the remote sensing payload pose adjustment sub-platform structure in this invention;

[0020] Figure 2 This is a schematic diagram of the sub-platform structure for adjusting the orientation of ground features at multiple angles in this invention.

[0021] Figure 3 This is a schematic diagram of the slewing support frame structure;

[0022] Figure 4 This is a schematic diagram of a linear guide rail structure.

[0023] Figure 5 This is a nadir imaging mode;

[0024] Figure 6 This is a fixed-point observation mode;

[0025] Figure 7 This is the observation mode for a linear array camera.

[0026] Figure 8 This is the load motion compensation observation mode;

[0027] Figure 9 This is an agile observation mode. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Any component models, material names, connection structures, control methods, algorithms, etc., not explicitly described in this technical solution are considered to be common technical features disclosed in the prior art.

[0029] A specific embodiment of the present invention has the following structure: Figure 1 , 2 As shown, it includes a remote sensing payload pose adjustment sub-platform 1 and a ground object scene orientation multi-angle adjustment sub-platform 2.

[0030] In specific implementation, the remote sensing payload attitude adjustment sub-platform 1 includes a rotary 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 rotary 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 together drive the remote sensing payload to perform observation zenith angle adjustment and side swing adjustment.

[0031] In specific implementation, such as Figure 1 As shown, the rotary frame 4 in the remote sensing payload pose adjustment sub-platform 1 is mounted on the slide rail 9 of the rotary support frame 3. Figure 3 As shown, the rotary support frame 3 is equipped with a CNC drive motor 18, which drives the entire load posture adjustment sub-platform to rotate 360° in the horizontal plane. A multi-turn encoder 20 is installed on the outside of the rotary support frame 3 to measure the rotation of the rotary frame 4; at the same time, a rotation limit device 19 is set on the rotary support frame 3 to prevent the rotary frame 4 from rotating beyond the predetermined range, ensuring the positional stability and safety of the platform during the observation process.

[0032] In specific implementation, such as Figure 4As shown, the linear guide rail 5, with the center of the rotary support frame 3 as its origin, achieves the forward and backward translation of the observation platform through the linear drive device 21 mounted on it. After the remote sensing payload attitude adjustment sub-platform moves to the predetermined position, its position can be fixed by the position locking device 23. The linear drive device 21 is equipped with translation limit devices 22 at both ends to limit its translation range and ensure that the equipment operates within a safe range.

[0033] In specific implementation, such as Figure 1 As shown, the observation zenith angle adjustment frame 6 and the side swing adjustment frame 7 are connected to the load frame 8. Angle sensors are installed on the observation zenith angle adjustment frame 6 and the side swing adjustment frame 7 respectively to measure the observation zenith angle and the side swing angle, and to accurately control the attitude of the load frame 8 based on the measured angle, thereby realizing the precise adjustment of different observation zenith angles and side swing angles.

[0034] In specific implementation, such as Figure 2 As shown, the multi-angle adjustment sub-platform 2 for ground feature scene orientation includes: an x-axis guide rail 12 for translating the ground feature scene along the x-axis, an x-axis stepper motor 13, a y-axis guide rail 10 for translating along the y-axis, a y-axis stepper motor 11, a tilting stage 17 for assisting in adjusting the observation zenith angle, and a rotating stage 14 for adjusting the azimuth angle of the ground feature scene relative to the light source. The rotating stage 14 and the tilting stage 17 are rigidly connected to drive the ground feature scene to synchronously achieve 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 drive the tilting stage 17, the rotating stage 14, and the ground feature scene on them to achieve two-dimensional translational motion in the horizontal plane, thereby supporting precise position and attitude adjustment of the ground feature relative to the light source direction.

[0035] In practical implementation, the remote sensing payload pose adjustment sub-platform 1 and the ground scene azimuth multi-angle adjustment sub-platform 2 work together to achieve azimuth adjustment of the ground scene relative to the light source, as well as adjustment of multi-angle observation parameters of the ground scene by the remote sensing payload at different spatial positions on the x and y axes, including observation azimuth angle, observation zenith angle, and side sway angle. This platform can support imaging observations of the remote sensing payload in a stationary state as well as imaging observations in simulated flight state, meeting the experimental needs of various remote sensing imaging modes.

[0036] In this embodiment, a multi-angle observation platform for laboratory remote sensing provides five imaging modes for ground multi-angle measurements in practical applications. This is mainly achieved through the following steps:

[0037] 1. Implement the nadir observation mode. In this mode, the payload is stationary and observes vertically downwards, such as... Figure 5 As shown, 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 is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position 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 scene on the scene shelf 16 in the ground scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground 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 of the multi-angle adjustment sub-platform 2 to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements;

[0040] Step 3: The payload acquires data and completes the nadir observation.

[0041] 2. Implement a fixed-point observation mode. In this mode, the payload is stationary at a set observation azimuth, observation zenith angle, and observation position. Figure 6 As shown, the specific operation is 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 is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position 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 scene on the scene shelf 16 in the ground scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground 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 of the multi-angle adjustment sub-platform 2 to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the 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 and stops and locks.

[0045] Step 4: The payload acquires data; completes the fixed-point observation mode observation.

[0046] 3. Implement the linear array pushbroom imager observation mode. In this mode, the payload uses a linear array pushbroom imager, and translational observations are performed using the set observation azimuth angle, observation zenith angle, and side-swing angle. Figure 7 As shown, the specific operation is 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 is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position 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 scene on the scene shelf 16 in the ground scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground 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 of the multi-angle adjustment sub-platform 2 to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements.

[0049] Step 3: Set the observation azimuth angle, observation zenith angle, lateral swing angle, start and end positions of linear motion, and linear motion speed as needed. Match the linear motion speed with the load frequency. Rotary frame 4 rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle. Observation zenith angle adjustment frame 6 moves to adjust the observation zenith angle, stops and locks after reaching the specified angle. Lateral swing adjustment frame 7 moves to adjust the lateral swing angle, stops and locks after reaching the specified angle. Linear guide rail 5 moves the load 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 and stops and locks. During the linear motion, the linear array pushbroom imager collects data and completes the observation mode of the linear array pushbroom imager.

[0051] 4. Implement motion-compensated imaging mode. In this mode, the observed zenith angle rotates synchronously backward as the payload moves forward. Figure 8 As shown, the specific operation is as follows:

[0052] Step 1: Calculate the relationship between linear velocity and observed zenith angle during synchronous motion using the following formula:

[0053]

[0054] in, It is the distance that the preset load moves on the linear guide 5. It is the linear velocity. It is the angle that the pre-set observation zenith angle adjustment frame changes. It involves observing the zenith angle to adjust the 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 is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position to zero to ensure that the field of view is vertically downward. At this time, the payload is located directly below the center of the rotary support frame 3. Place the ground scene on the scene shelf 16 in the ground scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground scene is located directly below the center of the rotary 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 of the multi-angle adjustment sub-platform 2 to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements.

[0057] Step 4: Set the observation azimuth angle, the start and end angles of the observation zenith angle rotation, the angular velocity of the observation zenith angle rotation, the lateral swing angle, the start and end positions of the linear motion, and the linear motion speed as needed; 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 start angle, the lateral swing adjustment frame 7 moves and adjusts the lateral swing angle to the specified angle, stops and locks, and the linear guide rail 5 moves the load to the start position and then stops;

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

[0059] 5. Implement agile observation mode. In this mode, the payload can not only perform attitude maneuvers along three axes, but also scan and image simultaneously, such as... Figure 9 The specific steps are 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 is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position 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 scene on the scene shelf 16 in the ground scene azimuth multi-angle adjustment sub-platform 2. The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground 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 of the multi-angle adjustment sub-platform 2 to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements.

[0062] Step 3: Set the starting angle for the observation azimuth and the zenith angle rotation as needed. Intermediate angle , and termination angle Observe the angular velocity of the zenith rotation and the starting angle of the lateral swing rotation. Intermediate angle , and termination angle Lateral sway angle, rotational angular velocity, and starting position of linear motion. Middle position , , and termination position The linear motion speed; the rotary frame 4 rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle, and the observation zenith angle adjustment frame 6 adjusts the observation zenith angle to the starting angle. The lateral swing adjustment frame 7 moves to adjust the lateral swing angle to the starting angle. The linear guide 5 moves the load to the starting position. Then stop;

[0063] Step 4: Linear guide 5 moves the load from the starting position at a set speed. Move to the middle position During this process, the load synchronously acquires data; after the acquisition is completed, the observation zenith angle adjustment frame 6 moves at a preset zenith angle adjustment angular velocity to change the observation zenith angle to the intermediate angle. Meanwhile, the lateral tilt adjustment frame 7 adjusts the lateral tilt angle to the middle angle using a preset lateral tilt angle adjustment angular velocity. After the angle adjustment is complete, the linear guide 5 continues from the middle position. Move to the middle position During this process, the load synchronously acquires data. After the acquisition is completed, the zenith angle adjustment 6 moves at a preset zenith angle adjustment angular velocity to change the zenith angle to the intermediate angle. Meanwhile, the lateral tilt adjustment frame 7 adjusts the lateral tilt angle to the middle angle using a preset lateral tilt angle adjustment angular velocity. After the angle adjustment is complete, the linear guide 5 continues from the middle position. Move to the middle position During this process, the load synchronously acquires data. After the acquisition is completed, the observation zenith angle adjustment frame 6 moves at a preset zenith angle adjustment angular velocity to change the observation zenith angle to the termination angle. Simultaneously, the lateral tilt adjustment frame 7 adjusts the lateral tilt angle to the termination angle using a preset lateral tilt angle adjustment angular velocity. After the angle adjustment is complete, the linear guide 5 continues from the middle position. Move to the final 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 laboratory remote sensing multi-angle observation platform includes a remote sensing payload pose adjustment sub-platform (1) and a ground object scene orientation multi-angle adjustment sub-platform (2). in, The remote sensing payload pose adjustment sub-platform (1) includes a rotary 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 rotary 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) work together to drive the payload to perform observation zenith angle adjustment and side swing adjustment. In the remote sensing payload pose adjustment sub-platform (1), the rotary frame (4) is installed on the slide rail (9) of the rotary support frame (3), and the entire remote sensing payload pose adjustment sub-platform is driven to rotate 360° by the CNC drive motor (18); a multi-turn encoder (20) is installed on the outside of the rotary support frame (3) to measure the rotation of the rotary frame (4) and control the angle accordingly; a rotation limit device (19) is provided on the rotary support frame (3) to prevent the rotary frame (4) from rotating beyond the predetermined range; 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 drive device (21); after the remote sensing load pose adjustment sub-platform moves to the predetermined position, its position can be fixed by the position locking device (23); the linear drive device (21) is equipped with translation limit devices (22) at both ends to limit its translation range. The observation zenith angle adjustment frame (6) and the side swing adjustment frame (7) are connected to the load frame (8). Angle sensors are installed on the observation zenith angle adjustment frame (6) and the side swing adjustment frame (7) respectively to measure the observation zenith angle and the side swing angle respectively, and to precisely control the attitude of the load frame (8) based on the measured angle, thereby realizing precise adjustment of different observation zenith angles and side swing angles. The sub-platform (2) for adjusting the azimuth of the ground feature scene includes an x-axis guide rail (12) for translating the ground feature 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), an tilting platform (17) for assisting in adjusting the zenith angle of the observation, and a rotating platform (14) for adjusting the azimuth angle of the ground feature scene relative to the light source. The rotating platform (14) and the tilting platform (17) are rigidly connected to drive the ground feature scene to achieve synchronous 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 drive the tilting platform (17), the rotating platform (14) and the ground feature scene on it to achieve two-dimensional translational motion in the horizontal plane, thereby supporting the adjustment of the position and attitude of the ground feature relative to the light source direction. The remote sensing payload pose adjustment sub-platform (1) and the ground object scene azimuth multi-angle adjustment sub-platform (2) are combined to realize the adjustment of the azimuth angle 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 azimuth angles, different observation zenith angles, and different side swing angles for static imaging and in-flight imaging; the remote sensing payload pose adjustment sub-platform and the ground object scene azimuth multi-angle adjustment sub-platform are coordinated to realize the independent adjustment and precise control of the observation azimuth angle and the ground object azimuth angle, and have flexible and multifunctional adjustment capabilities.

2. A multi-angle observation method using the platform described in claim 1, characterized in that, Implement the nadir observation mode, in which the payload is stationary and observes vertically downwards. The specific operation is 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 linear guide rail (5) is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position to zero to ensure that the field of view is vertically downward. At this time, the load is located directly below the center of the rotary support frame (3). Place the ground scene on the scene shelf (16) in the ground scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground scene is located 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) of the multi-angle adjustment sub-platform (2) to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements; Step 3: The payload acquires data and completes the nadir observation.

3. A multi-angle observation method using the platform described in claim 1, characterized in that, Implement the fixed-point observation mode. In this mode, the payload is stationary at the set observation azimuth angle, observation zenith angle, and observation position. The specific operation is 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 linear guide rail (5) is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position to zero to ensure that the field of view is vertically downward. At this time, the load is located directly below the center of the rotary support frame (3). Place the ground scene on the scene shelf (16) in the ground scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground scene is located 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) of the multi-angle adjustment sub-platform (2) to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements; Step 3: Set the observation azimuth angle, observation zenith angle, linear motion position, and linear motion speed; Rotary frame (4) rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle; Observation zenith angle adjustment frame (6) moves to adjust the observation zenith angle, stops and locks after reaching the specified angle; Linear guide rail (5) moves from zero position to the specified position and stops and locks. Step 4: The payload acquires data; completes the fixed-point observation mode observation.

4. A multi-angle observation method using the platform described in claim 1, characterized in that, The observation mode of the linear array pushbroom imager is implemented. In this mode, the payload uses a linear array pushbroom imager, and translational observations are performed with a set observation azimuth angle, observation zenith angle, and side swing angle. The specific operation is 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 linear guide rail (5) is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position to zero to ensure that the field of view is vertically downward. At this time, the load is located directly below the center of the rotary support frame (3). Place the ground scene on the scene shelf (16) in the ground scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground scene is located 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) of the multi-angle adjustment sub-platform (2) to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements; Step 3: Set the observation azimuth, observation zenith angle, lateral swing angle, start and end positions of linear motion, and linear motion speed as needed. Match the linear motion speed with the load frequency. Rotary frame (4) rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle. Observation zenith angle adjustment frame (6) moves to adjust the observation zenith angle, stops and locks after reaching the specified angle. Lateral swing adjustment frame (7) moves to adjust the lateral swing angle, stops and locks after reaching the specified angle. Linear guide rail (5) moves the load to the starting position and stops. Step 4: The linear guide rail (5) moves from the starting position to the ending position at a set speed and stops and locks. During the linear motion, the linear array push-broom imager collects data and completes the observation mode of the linear array push-broom imager.

5. A multi-angle observation method using the platform as described in claim 1, characterized in that, Implement a motion-compensated imaging mode, in which the observed zenith angle rotates synchronously backward as the payload translates forward. The specific operation is as follows: Step 1: Calculate the relationship between the forward translational linear velocity and the backward rotational angular velocity using the following formula: ； in, It is the distance that the preset load moves on the linear guide (5). It is the speed of linear motion. It is the angle that the pre-set observation zenith angle adjustment frame changes. It involves observing the zenith angle to adjust the angular velocity; Step 2: Place the load on the load rack (8) in the remote sensing load pose adjustment sub-platform (1). At this time, the linear guide rail (5) is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position to zero to ensure that the field of view is vertically downward. At this time, the load is located directly below the center of the rotary support frame (3). Place the ground scene on the scene shelf (16) in the ground scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground scene is located 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) of the multi-angle adjustment sub-platform (2) to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements; Step 4: Set the observation azimuth angle, the starting and ending angles of the observation zenith angle rotation, the angular velocity of the observation zenith angle rotation, the lateral swing angle, the starting and ending positions of the linear motion, and the linear motion speed as needed; 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 lateral swing adjustment frame (7) moves and adjusts the lateral swing angle to the specified angle, stops and locks, and the linear guide rail (5) moves the load to the starting position and stops; Step 5: The linear guide rail (5) moves the load from the starting position to the ending position at a set speed. During the linear motion, the observation zenith angle adjustment frame (6) simultaneously rotates from the starting angle to the ending angle at a preset observation zenith angle adjustment angular velocity. The load collects data synchronously during this process to complete the load motion compensation imaging.

6. A multi-angle observation method using the platform as described in claim 1, characterized in that, Implementing the agile observation mode, in which the payload can not only perform attitude maneuvers along three axes, but also scan and image simultaneously during maneuvers, the specific operation is 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 linear guide rail (5) is oriented north-south, and the center position is zero. Moving south is positive, and moving north is negative. Set the side swing angle, observation zenith angle, rotation angle, and linear guide rail position to zero to ensure that the field of view is vertically downward. At this time, the load is located directly below the center of the rotary support frame (3). Place the ground scene on the scene shelf (16) in the ground scene azimuth multi-angle adjustment sub-platform (2). The x-axis guide rail points east-west, and the y-axis guide rail points north-south. Set the x-axis, y-axis position, azimuth angle, and tilt angle to zero. At this time, the ground scene is located 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) of the multi-angle adjustment sub-platform (2) to change the position, lighting azimuth angle, and tilt angle of the ground scene according to the requirements; Step 3: Set the starting angle for the observation azimuth and the zenith angle rotation as needed. Intermediate angle , and termination angle Observe the angular velocity of the zenith rotation and the starting angle of the lateral swing rotation. Intermediate angle , and termination angle Lateral sway angle, rotational angular velocity, and initial position of linear motion. Middle position , , and termination position 1. Linear motion speed; 2. Rotary frame (4) rotates according to the set observation azimuth angle, stops and locks after reaching the specified angle, 3. Observation zenith angle adjustment frame (6) adjusts the observation zenith angle to the starting angle. The lateral swing adjustment frame (7) moves to adjust the lateral swing angle to the starting angle. The linear guide (5) moves the load to the starting position. Then stop; Step 4: The linear guide (5) moves the load from the starting position at a set speed. Move to the middle position During this process, the load synchronously collects data; after the data collection is completed, the observation zenith angle adjustment frame (6) moves at a preset zenith angle adjustment angular velocity to change the observation zenith angle to the intermediate angle. Meanwhile, the lateral swing adjustment frame (7) adjusts the lateral swing angle to the middle angle using a preset lateral swing angle adjustment angular velocity. After the angle adjustment is completed, the linear guide (5) continues from the middle position. Move to the middle position During this process, the load synchronously collects data. After the data collection is completed, the observation zenith angle adjustment frame (6) moves at a preset zenith angle adjustment angular velocity to change the observation zenith angle to the intermediate angle. Meanwhile, the lateral swing adjustment frame (7) adjusts the lateral swing angle to the middle angle using a preset lateral swing angle adjustment angular velocity. After the angle adjustment is completed, the linear guide (5) continues from the middle position. Move to the middle position During this process, the load synchronously collects data. After the data collection is completed, the zenith angle adjustment frame (6) moves at a preset zenith angle adjustment angular velocity to change the zenith angle to the termination angle. Meanwhile, the lateral swing adjustment frame (7) adjusts the lateral swing angle to the termination angle using a preset lateral swing angle adjustment angular velocity. After the angle adjustment is completed, the linear guide (5) continues from the middle position. Move to the final position During this process, the payload synchronously acquires data to complete agile observation.

Images