A remote sensing shooting window planning method, device, equipment, medium and product

Abstract

The application discloses a remote sensing shooting window planning method, device, equipment, medium and product, relates to the satellite shooting field, and the method comprises the following steps: acquiring the orbital elements of a satellite and the coordinates of a desired shooting point; calculating the instantaneous three-dimensional position and the satellite speed of the satellite according to the orbital elements; performing coordinate system conversion on the instantaneous three-dimensional position and the satellite speed and determining the satellite longitude, latitude and height coordinates; determining the real-time attitude angle parameters of the satellite according to the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point and the satellite longitude, latitude and height coordinates; determining the pan-tilt rotation angle according to the coordinates of the desired shooting point, the satellite longitude, latitude and height coordinates and the real-time attitude angle parameters; and the pan-tilt rotation angle is used for adjusting the remote sensing shooting window. The application can improve the autonomy of the shooting window, and improve the time matching accuracy and imaging positioning accuracy of the earth observation.

Description

Technical Field

[0001] This application relates to the field of satellite imaging, and in particular to a method, apparatus, equipment, medium, and product for planning remote sensing imaging windows. Background Technology

[0002] Agile satellites are a type of high-performance satellite that has developed rapidly in recent years. Their key feature is the ability of the satellite platform to perform large-scale, rapid attitude maneuvers around arbitrary Euler axes and stabilize quickly, thereby supporting onboard imaging or other types of remote sensors to rapidly acquire target information. Currently, satellite-based imaging windows cannot be autonomously planned, resulting in low time-matching accuracy and imaging positioning accuracy for Earth observation. Summary of the Invention

[0003] The purpose of this application is to provide a method, apparatus, equipment, medium, and product for planning remote sensing imaging windows, which can improve the autonomy of the imaging window and improve the time matching accuracy and imaging positioning accuracy of Earth observation.

[0004] To achieve the above objectives, this application provides the following solution:

[0005] Firstly, this application provides a method for planning remote sensing imaging windows, including:

[0006] Obtain the six orbital elements of the satellite and the coordinates of the desired image capture point;

[0007] The instantaneous three-dimensional position and velocity of the satellite are calculated based on the six orbital elements.

[0008] Perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity, and determine the satellite's latitude, longitude, and altitude coordinates;

[0009] The real-time attitude angle parameters of the satellite are determined based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates.

[0010] The gimbal rotation angle is determined based on the coordinates of the desired shooting point, the satellite latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window.

[0011] In one embodiment, the real-time attitude angle parameters of the satellite are determined based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates. Specifically, this includes:

[0012] The maximum observation range of the satellite over the Earth is calculated based on the satellite's latitude, longitude, and altitude coordinates.

[0013] Determine whether the coordinates of the desired shooting point after the transformation are within the maximum observation range;

[0014] If not, then the filming cannot be completed;

[0015] If so, the satellite's real-time attitude angle parameters are determined based on the converted instantaneous three-dimensional position.

[0016] In one embodiment, determining the satellite's real-time attitude angle parameters based on the converted instantaneous three-dimensional position specifically includes:

[0017] Based on the transformed instantaneous three-dimensional position, the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system is determined using a rotation matrix;

[0018] The real-time attitude angle parameters of the satellite are determined by using the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system.

[0019] In one embodiment, determining the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite's latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters specifically includes:

[0020] The latitude offset angle and longitude offset angle are determined based on the coordinates of the desired shooting point and the satellite's latitude, longitude, and altitude coordinates.

[0021] The angle between the satellite coordinate system and the coordinate plane is determined based on the latitude offset angle and the longitude offset angle;

[0022] The gimbal rotation angle is determined based on the angle between the satellite coordinate system and the coordinate plane, and the angle between the x-axis in the satellite attitude coordinate system and the equatorial plane.

[0023] In one embodiment, the expression for the gimbal rotation angle is:

[0024] ;

[0025] in, This refers to the rotation angle of the gimbal joint near the base. For the rotation of the gimbal joints away from the base, δ is the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system. The normal vector is relative to the coordinate system of the satellite. xz Angle between planes The normal vector is relative to the coordinate system of the satellite. xy Angle between two planes.

[0026] Secondly, this application provides a remote sensing image window planning device, comprising:

[0027] The acquisition module is used to obtain the six orbital elements of the satellite and the coordinates of the desired shooting point;

[0028] The orbit calculation module is used to calculate the instantaneous three-dimensional position and velocity of the satellite based on the orbital six-factors.

[0029] The coordinate transformation module is used to perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity, and to determine the satellite's latitude, longitude and altitude coordinates.

[0030] The attitude angle calculation module is used to determine the real-time attitude angle parameters of the satellite based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates.

[0031] The shooting window calculation module is used to determine the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite latitude, longitude and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window.

[0032] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the remote sensing imaging window planning method.

[0033] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the remote sensing image window planning method described above.

[0034] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the remote sensing image window planning method.

[0035] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0036] This application provides a method, apparatus, device, medium, and product for planning remote sensing imaging windows. The method involves calculating the instantaneous three-dimensional position and velocity of a satellite based on its orbital six-axis data; performing coordinate system transformation on the instantaneous three-dimensional position and velocity to determine the satellite's latitude, longitude, and altitude coordinates; determining the satellite's real-time attitude angle parameters based on the transformed instantaneous three-dimensional position, the transformed coordinates of the desired imaging point, and the satellite's latitude, longitude, and altitude coordinates; and determining the gimbal rotation angle based on the coordinates of the desired imaging point, the satellite's latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters. The gimbal rotation angle is used to adjust the remote sensing imaging window. By determining the gimbal rotation angle using the satellite's orbital six-axis data and real-time attitude angle parameters, real-time adjustment of the gimbal is achieved, thereby improving the autonomous adjustment of the remote sensing imaging window and enhancing the time matching accuracy and imaging positioning accuracy of Earth observation. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 Flowchart of the method for planning remote sensing capture windows.

[0039] Figure 2 This is a remote sensing diagram.

[0040] Figure 3 This is a hardware architecture diagram of a computer device.

[0041] Figure 4 A schematic diagram of a remote sensing image window planning method.

[0042] Figure 5 This is a schematic diagram of the functional modules of a remote sensing imaging window planning device provided in an embodiment of this application. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] In one exemplary embodiment, such as Figure 1 , Figure 3 and Figure 4 As shown, a remote sensing imaging window planning method is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, it includes the following steps.

[0046] Step 101: Obtain the satellite's orbital root number and the coordinates of the desired shooting point.

[0047] Step 102: Calculate the instantaneous three-dimensional position and velocity of the satellite based on the orbital six-element number.

[0048] Step 103: Perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity, and determine the satellite's latitude, longitude, and altitude coordinates.

[0049] Step 104: Determine the satellite's real-time attitude angle parameters based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates.

[0050] Step 105: Determine the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite latitude, longitude and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window.

[0051] By implementing the above steps, the gimbal rotation angle is determined by the satellite's orbital six-axis number and real-time attitude angle parameters, so as to realize the real-time adjustment of the gimbal, thereby improving the autonomous adjustment of the remote sensing imaging window and improving the time matching accuracy and imaging positioning accuracy of Earth observation.

[0052] Coordinate system transformation is used to perform coordinate transformation operations between the geodetic coordinate system (longitude, latitude, altitude), the J2000 geocentric celestial coordinate system, and the WGS84 inertial reference system. Taking the transformation from the WGS84 coordinate system to the latitude, longitude, and altitude coordinate system as an example, in the WGS84 coordinate system, the latitude, longitude, and altitude coordinate system can be converted to Cartesian coordinates through the following mapping relationship:

[0053] (1)

[0054] in, X , Y and Z The three-dimensional coordinates in the satellite's WGS84 inertial reference frame. The radius of curvature of the circle is denoted as . With reference to the semi-major axis of the ellipsoid, e For the first eccentricity, Latitude in the WGS-84 coordinate system Longitude in the WGS-84 coordinate system Let be the ellipsoidal height in the WGS-84 coordinate system. Based on formula (1), the formula for converting latitude and longitude to altitude in the WGS-84 coordinate system can also be obtained:

[0055] (2)

[0056] The instantaneous three-dimensional position and velocity vectors of a satellite in the geodetic coordinate system are calculated based on the Keplerian orbital elements; the Keplerian orbital elements are defined as the semi-major axis of the reference ellipsoid. First eccentricity e Track inclination i Argument of the pericentric point ω Longitude of ascending node Ω And true near point angle Therefore, the instantaneous three-dimensional position of the satellite and satellite velocity vector They are respectively:

[0057] (3)

[0058] (4)

[0059] in, p The central celestial body is half-circumference. μ The gravitational constant of the central celestial body.

[0060] In an exemplary embodiment, the real-time attitude angle parameters of the satellite are determined based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates. Specifically, this includes: calculating the satellite's maximum observation range over the Earth based on the satellite's latitude, longitude, and altitude coordinates; determining whether the converted coordinates of the desired shooting point are within the maximum observation range; if not, determining that shooting cannot be completed; if yes, determining the satellite's real-time attitude angle parameters based on the converted instantaneous three-dimensional position. The maximum observation range includes the maximum latitude observation range and the maximum longitude observation range.

[0061] The real-time attitude angle parameters of the satellite are determined based on the transformed instantaneous three-dimensional position, specifically including: determining the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system using a rotation matrix based on the transformed instantaneous three-dimensional position; and determining the real-time attitude angle parameters of the satellite using the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system.

[0062] Based on the satellite's real-time geodetic coordinates, its Earth coverage characteristics are calculated to determine whether the satellite possesses the conditions for observing the target area at that spatial location; for a given spacecraft coordinate ( That is, the instantaneous latitude, longitude, and altitude coordinates and the coordinates of the desired shooting point. First, it is necessary to determine whether the maximum remote sensing range that the spacecraft can cover at that location includes the remote sensing point. In this application, "spacecraft" refers to a satellite; therefore, it is possible to... Figure 2 The triangle shown In the middle, calculate the maximum observation angle. To determine whether the target point is within the effective field of view of the satellite:

[0063] (5)

[0064] (6)

[0065] β is the limited field of view angle of the satellite, therefore, it can be solved first from formula (6). Then, the latitude offset angle is solved using formula (5). :

[0066] (7)

[0067] Therefore, the maximum latitudinal observation range of the spacecraft above the Earth can be calculated. Similarly, the maximum longitude observation range of the spacecraft above the Earth can also be calculated. , This represents the longitude offset. If the observation point is outside this range, then no matter how the gimbal moves its load, it will be impossible to complete the Earth observation mission. R For the Earth's radius, H The satellite's altitude above the ground. E 1 for Figure 2 The satellite coverage boundary is shown. S for Figure 2 Given the target and the latitude and longitude of the satellite point, its maximum observation range is determined by formulas (5) and (6), which is the sum of the satellite latitude and longitude and the offset angle. If the target point is not within this range, the shooting cannot be completed.

[0068] By solving the satellite's position and velocity vectors or attitude quaternions, the real-time attitude angle parameters consisting of pitch, yaw, and roll angles are output. These parameters are used to drive the pointing correction of the remote sensing payload gimbal.

[0069] For a satellite, its attitude is described by quaternions and then transformed into a set of Euler angles, where x The axis is along the direction of spacecraft motion (i.e., the velocity direction). z The axis always points towards the Earth's center (in the direction relative to the Earth). This set of Euler angles characterizes the rotational relationship from the inertial frame to the spacecraft's body coordinate system and can be obtained through attitude feedback data provided by the spacecraft. Assuming the rotation sequence is 3-2-1, let the Euler angles be the yaw angles. ψ Pitch angle θ Roll angle That is, around in sequence z , y , x The axis rotates:

[0070] (8)

[0071] Therefore, it is necessary to calculate the extraction x The direction vector of the axis in the J2000 system. Due to the rotation matrix. This is a transformation from an inertial frame of reference to our own system. Therefore:

[0072] (9)

[0073] Therefore, specifically:

[0074] (10)

[0075] The angle of rotation of the gimbal motor is used to calculate the vector of the x-axis in the star attitude coordinate system. v The angle between the plane and the equatorial plane is determined by... z The amount determines the quantity.

[0076] (11)

[0077] Since the orbit is circular, we can assume that the x-axis points in the same direction as the velocity. However, this does not hold true if the orbit is elliptical.

[0078] Therefore, the spacecraft is in an ideal attitude ( x The axis is parallel to the equator. z The homogeneous transformation matrix for converting axis-to-ground coordinates to actual attitude. for:

[0079] (12)

[0080] In an exemplary embodiment, determining the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite's latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters specifically includes: determining the latitude offset angle and the longitude offset angle based on the coordinates of the desired shooting point and the satellite's latitude, longitude, and altitude coordinates; determining the angle between the satellite coordinate system and the coordinate plane based on the latitude offset angle and the longitude offset angle; and determining the gimbal rotation angle based on the angle between the satellite coordinate system and the coordinate plane, as well as the angle between the x-axis in the satellite attitude coordinate system and the equatorial plane.

[0081] Based on the desired remote sensing point, the satellite's latitude, longitude, and altitude, and the satellite's attitude, the gimbal rotation angle is calculated to capture images of the desired remote sensing point. The desired remote sensing point is obtained directly, while the satellite's latitude, longitude, and altitude are calculated through coordinate transformation. The desired remote sensing point is the desired image capture point.

[0082] In actual deployment, to minimize the impact of external obstructions on the payload's installation location on the spacecraft platform, it is typically positioned on the spacecraft's... xz Within the plane. Based on this engineering consideration, the following is set: Therefore, the corresponding coordinate transformation relationship can be defined as follows:

[0083] (19)

[0084] This represents the position of the payload in the spacecraft's attitude coordinate system. T This is the coordinate system transformation matrix. δ The angle of the spacecraft's attitude coordinate system relative to the equatorial plane. Let be the homogeneous transformation matrix from the payload center coordinate system to the spacecraft coordinate system. Homogeneous transformation matrix from the base coordinate system to the camera coordinate system This represents the distance from the first motor along the z-axis of the base coordinate system. This represents the distance from the second motor along the z-axis of the first motor's coordinate system. The distance from the camera along the z-axis of the second motor coordinate system. This represents the distance from the first motor along the x-axis of the base coordinate system. This represents the distance from the camera along the x-axis of the second motor coordinate system.

[0085] Therefore, based on the properties of the homogeneous transformation matrix, the normal vector from the origin of the spacecraft coordinate system to the camera plane can be determined by the first three elements of the third column of the homogeneous transformation matrix. That is, the first three rows of this column vector represent the normal direction of the camera plane in the spacecraft coordinate system. n :

[0086] (20)

[0087] in, These are the first three elements of the third column in formula (20).

[0088] Based on formula (19), the normal vector relative to the coordinates of the spacecraft can be calculated. yz Angle between planes ,and xz Angle between planes and with xy Angle between planes They are defined as follows:

[0089] (twenty one)

[0090] (twenty two)

[0091] (twenty three)

[0092] If the coordinates of the spaceship have been determined ( ) and the coordinates of the remote sensing points ( The system is capable of performing remote sensing tasks on Earth; therefore, the latitude and longitude offset angles are calculated:

[0093] (twenty four)

[0094] (25)

[0095] The coordinates of the spacecraft in the coordinate system can be determined using the latitude offset angle. xz Angle between planes:

[0096] (26)

[0097] (27)

[0098] F 1 and F 2 represents the latitude offset angle. The point of intersection between the satellite and the Earth under certain circumstances. S 0 represents the intersection of the satellite and the Earth's center.

[0099] The solution can be obtained as follows:

[0100] (28)

[0101] Similarly, the solution can be obtained. yz Angle between planes:

[0102] (29)

[0103] Therefore, the gimbal motion planning problem can be transformed into a problem of solving a system of constrained equations:

[0104] (30)

[0105] Among these constraints, the camera's relative position to the ground is determined by engineering practice experience. xy When the angle of the plane is negative, the task of taking pictures of the ground cannot be completed, so this constraint is added. For the system of equations (30), the expression for the rotation angle of the gimbal can be directly obtained as follows:

[0106] (31)

[0107] in, This refers to the rotation angle of the gimbal joint near the base. For the rotation of the gimbal joints away from the base, δ is the angle between the x-axis and the equatorial plane in the satellite attitude coordinate system. δ has already been obtained in the aforementioned formula (11), therefore it can be calculated. θ 1 and θ 2. The rotation angles of the gimbal joints closest to the base and the gimbal joints furthest from the base, respectively.

[0108] This application processes the obtained three-dimensional position of the satellite to obtain its latitude, longitude, and altitude coordinates. First, orbit calculation is performed, as the orbital elements are obtained through ground control stations. A coordinate system transformation is then performed for subsequent calculations. The obtained satellite orbital elements are processed to obtain the satellite's instantaneous three-dimensional position and velocity. Based on the latitude, longitude, and altitude coordinates of the satellite and the desired remote sensing point, it is determined whether imaging can be completed. If not, this calculation process terminates. The obtained satellite coordinates are then processed to obtain the angle between the satellite's attitude and the xy-plane in the WGS84 coordinate system. Euler angles can be calculated using the satellite's velocity (vx, vy, and vz) and the satellite's attitude definition (e.g., in this application, the satellite's attitude is defined as the z-axis always pointing towards the Earth's center and the x-axis pointing towards the velocity direction). Based on the Euler angles, the angle between the attitude and the xy-plane is then calculated. The obtained satellite latitude and longitude coordinates are processed to obtain the satellite's perturbation acceleration (acceleration is not very relevant; the intention is to take into account that after the satellite's fuel is exhausted, its orbit will begin to descend, at which point the orbital elements will have changed, allowing for the acquisition of real-time orbital elements and further calculations). Based on the satellite's latitude and longitude coordinates, the angle between the satellite's attitude and the xy plane in the WGS84 coordinate system, and the desired latitude and longitude coordinates of the remote sensing point, the angle of gimbal rotation is obtained.

[0109] This application implements coordinate transformation calculations for the satellite between different reference frames; calculates the satellite's instantaneous three-dimensional position and velocity vectors based on Kepler orbital elements; calculates its Earth coverage characteristics based on the satellite's real-time coordinates to determine whether the satellite has the conditions to observe the target area at that spatial location; corrects the pointing of the multi-axis gimbal by calculating the satellite's position and velocity vectors in the J2000 coordinate system; uses LSTM to perform time-series modeling and high-precision prediction of orbital perturbation errors, thereby improving orbit extrapolation accuracy; and calculates the gimbal rotation angle based on the desired remote sensing point, satellite position, and attitude to achieve image capture of the desired remote sensing point. The introduction of an LSTM neural network to model and predict orbital uncertainty perturbations enables the agile remote sensing satellite to autonomously plan and calculate the Earth remote sensing window, thereby improving the time matching accuracy and imaging positioning accuracy of Earth observation, and enhancing the autonomy and overall performance of the remote sensing mission.

[0110] Based on the same inventive concept, this application also provides a remote sensing imaging window planning device for implementing the remote sensing imaging window planning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the remote sensing imaging window planning device provided below can be found in the limitations of the remote sensing imaging window planning method described above, and will not be repeated here.

[0111] In one exemplary embodiment, such as Figure 5 As shown, a remote sensing image window planning device is provided, comprising:

[0112] The acquisition module is used to obtain the six orbital elements of the satellite and the coordinates of the desired shooting point.

[0113] The orbit calculation module is used to calculate the instantaneous three-dimensional position and velocity of the satellite based on the orbital six-factors.

[0114] The coordinate transformation module is used to perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity and determine the satellite's latitude, longitude and altitude coordinates.

[0115] The attitude angle calculation module is used to determine the real-time attitude angle parameters of the satellite based on the converted instantaneous three-dimensional position, the converted coordinates of the desired shooting point, and the satellite's latitude, longitude, and altitude coordinates.

[0116] The shooting window calculation module is used to determine the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite latitude, longitude and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window.

[0117] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method embodiments.

[0118] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the above-described method embodiments.

[0119] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described method embodiments.

[0120] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0121] In this application, all actions to acquire signals, information, or data are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with the authorization granted by the owner of the relevant device.

[0122] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0123] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for planning remote sensing imaging windows, characterized in that, The remote sensing image window planning method includes: Obtain the six orbital elements of the satellite and the coordinates of the desired image capture point; The instantaneous three-dimensional position and velocity of the satellite are calculated based on the six orbital elements. Perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity, and determine the satellite's latitude, longitude, and altitude coordinates; The real-time attitude angle parameters of the satellite are determined based on the instantaneous three-dimensional position after the transformation, the coordinates of the desired shooting point after coordinate system transformation, and the latitude, longitude, and altitude coordinates of the satellite. The gimbal rotation angle is determined based on the coordinates of the desired shooting point, the satellite's latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window. The expression for the gimbal rotation angle is: ； in, This refers to the rotation angle of the gimbal joint near the base. For the rotation of the gimbal joints away from the base, δ is the coordinate system in the satellite coordinate system. x The angle between the axis and the equatorial plane, The normal vector is relative to the coordinate system of the satellite. xz Angle between planes The normal vector is relative to the coordinate system of the satellite. xy Angle between two planes.

2. The remote sensing imaging window planning method according to claim 1, characterized in that, The real-time attitude angle parameters of the satellite are determined based on the converted instantaneous three-dimensional position, the coordinates of the desired shooting point after coordinate system transformation, and the satellite's latitude, longitude, and altitude coordinates. Specifically, this includes: The maximum observation range of the satellite over the Earth is calculated based on the satellite's latitude, longitude, and altitude coordinates. Determine whether the coordinates of the desired shooting point after coordinate system transformation are within the maximum observation range; If not, then the filming cannot be completed; If so, the satellite's real-time attitude angle parameters are determined based on the converted instantaneous three-dimensional position.

3. The remote sensing imaging window planning method according to claim 2, characterized in that, The real-time attitude angle parameters of the satellite are determined based on the converted instantaneous three-dimensional position, specifically including: Based on the transformed instantaneous three-dimensional position, the angle between the x-axis and the equatorial plane in the satellite coordinate system is determined using a rotation matrix; The real-time attitude angle parameters of the satellite are determined using the angle between the x-axis and the equatorial plane in the satellite coordinate system.

4. The remote sensing imaging window planning method according to claim 1, characterized in that, The gimbal rotation angle is determined based on the coordinates of the desired shooting point, the satellite's latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters. Specifically, this includes: The latitude offset angle and longitude offset angle are determined based on the coordinates of the desired shooting point and the satellite's latitude, longitude, and altitude coordinates. The angle between the satellite coordinate system and the coordinate plane is determined based on the latitude offset angle and the longitude offset angle; The gimbal rotation angle is determined based on the angle between the satellite coordinate system and the coordinate plane, and the angle between the x-axis in the satellite coordinate system and the equatorial plane.

5. A remote sensing imaging window planning device, characterized in that, The remote sensing imaging window planning device includes: The acquisition module is used to obtain the six orbital elements of the satellite and the coordinates of the desired shooting point; The orbit calculation module is used to calculate the instantaneous three-dimensional position and velocity of the satellite based on the orbital six-factors. The coordinate transformation module is used to perform coordinate system transformation on the instantaneous three-dimensional position and the satellite velocity, and to determine the satellite's latitude, longitude and altitude coordinates. The attitude angle calculation module is used to determine the real-time attitude angle parameters of the satellite based on the converted instantaneous three-dimensional position, the coordinates of the desired shooting point after coordinate system transformation, and the satellite's latitude, longitude, and altitude coordinates. The shooting window calculation module is used to determine the gimbal rotation angle based on the coordinates of the desired shooting point, the satellite latitude, longitude, and altitude coordinates, and the real-time attitude angle parameters; the gimbal rotation angle is used to adjust the remote sensing shooting window; the expression for the gimbal rotation angle is: ； in, This refers to the rotation angle of the gimbal joint near the base. For the rotation of the gimbal joints away from the base, δ is the coordinate system in the satellite coordinate system. x The angle between the axis and the equatorial plane, The normal vector is relative to the coordinate system of the satellite. xz Angle between planes The normal vector is relative to the coordinate system of the satellite. xy Angle between two planes.

6. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the remote sensing imaging window planning method according to any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the remote sensing imaging window planning method as described in any one of claims 1-4.

8. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the remote sensing imaging window planning method as described in any one of claims 1-4.

Images