Photoelectric load air-to-ground scanning reconnaissance scheme design method

Abstract

The invention discloses a photoelectric load air-to-ground scanning reconnaissance scheme design method, which comprises the following steps of: firstly, constructing a missile-borne photoelectric-based air-to-ground scanning reconnaissance scheme design model; comprising an initialization module, a detection distance calculation module, an imaging view field calculation module, a scanning calculation module, a reconnaissance breadth calculation module, a scanning scheme analysis module and a parameter adjustment module. Determining the value range of each parameter in a scanning scheme by using an initialization module, a detection distance calculation module, an imaging view field calculation module, a scanning calculation module and a reconnaissance breadth calculation module, designing the scanning scheme, and finally analyzing and judging the effectiveness of the designed scanning scheme according to a scanning scheme analysis module. And if not, adjusting the parameters and then repeating the process, and if yes, outputting the design scheme and ending the process. According to the method, the contradiction between the detection distance and the reconnaissance efficiency can be balanced, the problem that a blind area is formed due to the influence of flying motion of a missile is solved, and efficient and non-blind area scanning reconnaissance of missile-borne photoelectricity on a ground target is achieved.

Description

Technical Field

[0001] This invention belongs to the field of optoelectronic reconnaissance technology, specifically relating to a design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme. Background Technology

[0002] The missile-borne optoelectronic payload is a general term for optoelectronic sensor systems and their supporting components that use electromagnetic waves such as visible light and infrared to detect, identify, track, guide, and assess damage to targets. Its core functions include: detecting and identifying predetermined targets in complex backgrounds; continuously locking onto and tracking moving targets; and calculating the precise position and motion parameters of the target.

[0003] To achieve the above functions, there are certain requirements for the coverage range of the field of view of the missile-borne electro-optical payload. However, during the execution of ground reconnaissance missions, the coverage range of the field of view of the electro-optical payload is affected by the scanning scheme and the missile's own flight motion. In order to achieve a longer detection range, the instantaneous field of view of the electro-optical payload is usually small. When the optical axis of the electro-optical payload is fixed during reconnaissance, the lateral width of the search field of view formed is small, and a longer flight path is required to effectively cover the reconnaissance area, resulting in low reconnaissance efficiency. Admittedly, the reconnaissance efficiency can be greatly improved by designing a scanning scheme, but due to the influence of the missile's own flight motion, blind spots are easily formed during the scanning process.

[0004] Therefore, designing a reasonable, effective, and blind-zone-free optoelectronic payload scanning scheme based on the missile's flight motion is crucial for improving reconnaissance efficiency. Summary of the Invention

[0005] The technical problem to be solved by this invention is to propose a design method for an air-to-ground scanning reconnaissance scheme of an electro-optical payload, so as to overcome the contradiction between detection range and reconnaissance efficiency in the existing airborne electro-optical payload air-to-ground scanning reconnaissance process and the problem of blind spots formed by the flight motion of the missile itself, so as to realize efficient and blind-spot-free scanning reconnaissance of ground targets by airborne electro-optical payloads.

[0006] The technical solution of this invention is as follows:

[0007] A design method for an air-to-ground scanning reconnaissance scheme using an optoelectronic payload, characterized by the following specific steps:

[0008] Step 1: Construct a design model for a ground scanning reconnaissance scheme based on missile-borne electro-optical payload, including an initialization module, a detection range calculation module, an imaging field of view calculation module, a scanning calculation module, a reconnaissance swath calculation module, a scanning scheme analysis module, and a parameter adjustment module;

[0009] Step 2: Initialize the module to initialize the missile's flight parameters, optoelectronic payload parameters, detector parameters, target size information, and design requirement parameters;

[0010] Step 3: The detection distance calculation module calculates the maximum detection distance;

[0011] Step 4: The imaging field of view calculation module calculates the size of the imaging field of view;

[0012] Step 5: The scan calculation module calculates the scan parameters;

[0013] Step 6: The reconnaissance swath calculation module calculates the maximum reconnaissance swath;

[0014] Step 7: The scanning scheme analysis module determines whether the scanning scheme is effective: if the scanning reconnaissance scheme is determined to be effective, an output is generated, and the design process ends; if the scanning reconnaissance scheme is determined to be ineffective, proceed to step 8.

[0015] Step 8: Enter the parameter adjustment module. The designer adjusts the input parameters according to the listed adjustment items, and then repeats the above steps in Step 3 until the design process is completed.

[0016] Furthermore, in step 2:

[0017] The missile's flight parameters include: flight altitude H and flight speed v;

[0018] The photoelectric load parameters include: maximum continuous scan angular velocity. Minimum step period ;

[0019] The detector parameters include: pixel size ,focal length Lateral field of view Longitudinal field of view ;

[0020] The target size information includes: target size ;

[0021] The design requirements parameters include: minimum number of recognizable pixels. Minimum reconnaissance swath .

[0022] Furthermore, in step 3, the formula for calculating the maximum detection distance is:

[0023] .

[0024] Furthermore, in step 4, the size of the imaging field of view is taken as the minimum horizontal and vertical dimensions of the imaging field of view, calculated using the following formula:

[0025]

[0026]

[0027] In the formula,

[0028] The lateral dimension of the imaging field of view; This represents the longitudinal dimension of the imaging field of view; The pitch angle of the photoelectric payload is calculated when the slant range at the far end of the field of view equals the maximum detection range, and .

[0029] Furthermore, in step 5, the calculation of the scanning parameters includes:

[0030] First, the maximum scanning period is calculated with the constraint that there is no blind zone in the longitudinal direction of the field of view between two adjacent cycles. Then, we can consider two scenarios:

[0031] Case 1: For the continuous scanning scheme, calculate the maximum continuous scanning angle, the minimum continuous scanning angle, and the minimum continuous scanning angular velocity;

[0032] The formula for calculating the maximum continuous scanning angle is:

[0033]

[0034] The formula for calculating the minimum continuous scanning angle is:

[0035]

[0036] The formula for calculating the minimum continuous scanning angular velocity is as follows:

[0037]

[0038] Scenario 2: For the stepping scan scheme, calculate the maximum number of steps, the minimum number of steps, the maximum stepping period, the maximum stepping angle, and the minimum stepping angle;

[0039] The formula for calculating the maximum number of steps is:

[0040]

[0041] In the formula,

[0042] This is the floor function;

[0043] The formula for calculating the minimum number of steps is:

[0044]

[0045] In the formula,

[0046] It is a rounding function;

[0047] The formula for calculating the maximum step period is:

[0048]

[0049] The formula for calculating the maximum step angle is:

[0050]

[0051] The formula for calculating the minimum step angle is:

[0052] .

[0053] Furthermore, in step 6, the maximum reconnaissance swath width is divided into two cases:

[0054] Scenario 1: For continuous scanning schemes, the formula for calculating the maximum reconnaissance swath width during continuous scanning is:

[0055]

[0056] Scenario 2: For the step-scan scheme, the formula for calculating the maximum reconnaissance swath width of the step-scan is:

[0057]

[0058] In the formula,

[0059] For the maximum step scan angle, and .

[0060] Furthermore, in step 7, the criteria for determining whether the scanning scheme is valid fall into two categories:

[0061] Scenario 1: For continuous scanning schemes, determine whether the following conditions are met:

[0062]

[0063] Scenario 2: For the step-scan scheme, determine whether the following conditions are met:

[0064] .

[0065] Furthermore, when all the judgment conditions described in Case 1 are met, the output continuous scanning scheme is: photoelectric payload elevation angle, continuous scanning angle, continuous scanning angular velocity, continuous scanning reconnaissance swath width, and continuous scanning reconnaissance efficiency, and the design process ends;

[0066] The values ​​of the photoelectric load pitch angle, continuous scanning angle, and continuous scanning angular velocity are based on the following:

[0067]

[0068] In the formula,

[0069] For continuous scanning angles; For continuous scanning angular velocity;

[0070] The formula for calculating the continuous scanning reconnaissance swath width is as follows:

[0071]

[0072] The formula for calculating the continuous scanning reconnaissance efficiency is as follows:

[0073]

[0074] When all the judgment conditions described in Case 2 are met, the output step scanning scheme is as follows: photoelectric payload elevation angle, step angle, step cycle, number of steps, step scanning reconnaissance swath width, and step scanning reconnaissance efficiency, and the design process ends.

[0075] The values ​​of the photoelectric load pitch angle, step angle, step period, and number of steps are determined based on the following:

[0076]

[0077] In the formula,

[0078] The step angle; The step cycle; The number of steps;

[0079] The formula for calculating the step-scan reconnaissance swath width is as follows:

[0080]

[0081] In the formula,

[0082] For the step scan angle, and ;

[0083] The formula for calculating the efficiency of the step-scan reconnaissance is as follows:

[0084] .

[0085] Furthermore, when there are unmet conditions in Case 1, the basis for adjusting the input parameters is as follows:

[0086] If condition 1 is not met, then adjust one or a combination of the following: a) Increase the maximum continuous scan angular velocity. b) Reduce minimum reconnaissance swath c) Increase the lateral field of view. d) Increase the longitudinal field of view. e) Increase focal length ;

[0087] If the judgment condition 2 is not met, then adjust one or a combination of the following: a) Increase the maximum continuous scan angular velocity. b) Reduce minimum reconnaissance swath c) Increase the longitudinal field of view;

[0088] If the judgment condition 3 is not met, then adjust one or a combination of the following: a) Increase the maximum continuous scanning angular velocity. b) Reduce minimum reconnaissance swath ;

[0089] If multiple judgment conditions are not met, the common adjustment item shall be selected first.

[0090] When there are unmet conditions in scenario two, the basis for adjusting the input parameters is as follows:

[0091] If condition 4 is not met, then adjust one or a combination of the following: a) Reduce the minimum step period. b) Reduce minimum reconnaissance swath c) Increase the lateral field of view. d) Increase the longitudinal field of view. e) Increase focal length ;

[0092] If condition 5 is not met, then adjust one or a combination of the following: a) Reduce the minimum step cycle. b) Reduce minimum reconnaissance swath ;

[0093] If condition 6 is not met, then adjust one or a combination of the following: a) Reduce the minimum step period. b) Reduce minimum reconnaissance swath c) Increase the longitudinal field of view;

[0094] If the judgment condition 7 is not met, then adjust one or a combination of the following: a) Reduce the minimum step cycle. b) Increase the longitudinal field of view;

[0095] If multiple judgment conditions are not met, the common adjustment item shall be selected first.

[0096] Furthermore, the above-mentioned design method for air-to-ground scanning reconnaissance schemes for electro-optical payloads is applicable to roll-pitch two-axis electro-optical payloads, yaw-pitch two-axis electro-optical payloads, and roll-yaw-pitch three-axis electro-optical payloads.

[0097] For the two-axis photoelectric payload, during the scanning and reconnaissance process, the pitch axis is placed at a specific angle and fixed, while the roll axis or yaw axis periodically reciprocates at a uniform speed.

[0098] For the three-axis optoelectronic payload, two different strategies are adopted during the scanning and reconnaissance process: the pitch axis and roll axis are set to zero and fixed, and the yaw axis is periodically reciprocated at a constant speed; the pitch axis and yaw axis are set to zero and fixed, and the roll axis is periodically reciprocated at a constant speed.

[0099] The beneficial effects of this invention are as follows:

[0100] This invention proposes a design method for an air-to-ground scanning reconnaissance scheme using an optoelectronic payload. By controlling the periodic movement of the optical axis of the optoelectronic payload during the flight of the carrier, it achieves efficient and blind-spot-free scanning reconnaissance of the ground, balancing the contradiction between detection range and reconnaissance efficiency. The design is simple and easy to implement, and has strong reference and promotion value. It can be extended to optoelectronic reconnaissance equipment on other carrier platforms. Attached Figure Description

[0101] The above or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0102] Figure 1 This is a schematic diagram of the design method for the scanning and reconnaissance scheme of the present invention. Detailed Implementation

[0103] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0104] This invention proposes a design method for an air-to-ground scanning reconnaissance scheme for an optoelectronic payload. This method is applicable to roll-pitch two-axis optoelectronic payloads, yaw-pitch two-axis optoelectronic payloads, and roll-yaw-pitch three-axis optoelectronic payloads. For two-axis optoelectronic payloads, during the scanning reconnaissance process, the pitch axis is placed at a specific angle and fixed, while the roll axis or yaw axis periodically reciprocates at a uniform speed. For three-axis optoelectronic payloads, two different strategies can be adopted during the scanning reconnaissance process: 1) The pitch and roll axes are placed at zero positions and fixed, while the yaw axis periodically reciprocates at a uniform speed; 2) The pitch and yaw axes are placed at zero positions and fixed, while the roll axis periodically reciprocates at a uniform speed.

[0105] The specific steps of this invention include:

[0106] Step 1: Construct a design model for a ground scanning reconnaissance scheme based on a missile-borne electro-optical payload, including an initialization module, a detection range calculation module, an imaging field of view calculation module, a scanning calculation module, a reconnaissance swath calculation module, a scanning scheme analysis module, and a parameter adjustment module, wherein:

[0107] The initialization module is responsible for initializing missile flight parameters, optoelectronic payload parameters, detector parameters, target size information, and design requirement parameters.

[0108] The function of the detection distance calculation module is to calculate the maximum detection distance;

[0109] The function of the imaging field of view calculation module is to calculate the size of the imaging field of view;

[0110] The function of the scan calculation module is to calculate scan parameters;

[0111] The function of the reconnaissance swath calculation module is to calculate the maximum reconnaissance swath.

[0112] The function of the scanning scheme analysis module is to analyze the scanning scheme design results and output effective scanning reconnaissance schemes;

[0113] The function of the parameter adjustment module is to adjust the input parameters to obtain a scanning and reconnaissance scheme that meets the design requirements.

[0114] Step 2: Initialize the module to initialize the missile's flight parameters, optoelectronic payload parameters, detector parameters, target size information, and design requirement parameters;

[0115] The missile's flight parameters include: flight altitude H (unit: meters) and flight speed v (unit: meters per second);

[0116] Photoelectric load parameters include: maximum continuous scan angular velocity (Unit: degrees / second), minimum step period (Unit: seconds);

[0117] Detector parameters include: pixel size (Unit: meters) Focal length (Unit: meters) Lateral field of view (Unit: degrees), Longitudinal field of view (Unit: degree);

[0118] Target size information includes: target size (Unit: meters);

[0119] Design requirements parameters include: minimum number of recognizable pixels. Minimum reconnaissance swath (Unit: meters).

[0120] Step 3: The detection distance calculation module calculates the maximum detection distance;

[0121] Maximum detection range The formula for calculating (unit: meter) is:

[0122]

[0123] Step 4: The imaging field of view calculation module calculates the size of the imaging field of view;

[0124] To ensure the detectability of targets across the entire field of view, the downward angle of view of the electro-optical payload, i.e., the pitch angle of the electro-optical payload, is calculated when the slant range at the far end of the field of view equals the maximum detection range. (Unit: degrees), the calculation formula is:

[0125]

[0126] When the pitch angle of the photoelectric load is calculated using the above formula, the imaging field of view is at its maximum. The size of the imaging field of view and its lateral dimension are then calculated. (Unit: meters) is:

[0127]

[0128] Longitudinal dimension of the imaging field of view (Unit: meters) is:

[0129]

[0130] The imaging field of view is approximately trapezoidal, taking the minimum dimensions in both the horizontal and vertical directions. This ensures that there are no blind spots between adjacent fields of view during the scanning process.

[0131] Step 5: The scan calculation module calculates the scan parameters;

[0132] Taking the zero position of the azimuth frame angle as the starting time, the scanning process returning to the zero position is considered one cycle, with the time being T (unit: seconds). ,in The maximum scanning period is calculated with the constraint that there are no blind spots in the longitudinal direction of the field of view between two adjacent periods, that is:

[0133]

[0134] The following discussion covers continuous scanning and step scanning schemes in different scenarios:

[0135] 1) For continuous scanning schemes, consider the maximum continuous scanning angular velocity. The maximum continuous scanning angle can be calculated as follows:

[0136]

[0137] Minimum continuous scan angle Based on minimum reconnaissance width Calculation yielded:

[0138]

[0139] The range of values ​​for the continuous scanning angle is: (Unit: degrees), corresponding continuous scan angular velocity The range of values ​​for (unit: degrees / second) is: ,in, The minimum continuous scan angular velocity is calculated using the following formula:

[0140]

[0141] 2) For the stepping scan scheme, calculate the maximum number of steps per scan cycle under the constraint of no blind spots in the longitudinal field of view between adjacent cycles. ,Right now:

[0142]

[0143] in, This is the floor function;

[0144] Minimum number of steps Based on minimum reconnaissance width calculate:

[0145]

[0146] in, If it is a floor function, then the number of steps Meet the conditions ;

[0147] During step scanning, the time for one servo step plus one imaging is called the step cycle, and the time is t (unit: seconds). ,in, For the maximum step period and:

[0148]

[0149] Let the angle of a single step be denoted as . (Unit: degrees) To ensure no blind spots in the lateral direction between adjacent fields of view, the maximum step angle is... Minimum step angle for:

[0150]

[0151] The range of step angle values ​​is: (Unit: degree).

[0152] Step 6: The reconnaissance swath calculation module calculates the maximum reconnaissance swath;

[0153] Based on the maximum continuous scanning angle and maximum step scanning angle obtained in step 5, the reconnaissance swath width is calculated, and the cases of continuous scanning and step scanning are discussed separately:

[0154] 1) For the continuous scanning scheme, calculate the maximum reconnaissance swath width for continuous scanning. (Unit: meters) is:

[0155]

[0156] 2) For the step-scan scheme, calculate the maximum reconnaissance swath width of the step-scan. (Unit: meters) is:

[0157]

[0158] In the formula, (Unit: degrees) represents the maximum step scan angle, and .

[0159] Step 7: The scanning scheme analysis module analyzes the scanning scheme design results and outputs effective scanning reconnaissance schemes;

[0160] The aforementioned calculation process determines the value range of each parameter in the scanning scheme, and analyzes it in two cases: continuous scanning and step scanning.

[0161] 1) For continuous scanning schemes, determine whether the following conditions are met:

[0162]

[0163] If any condition is not met, the scanning reconnaissance plan is deemed invalid and proceeds to step 8; if the condition is met, a continuous scanning plan is generated based on the aforementioned calculation results. The parameters to be determined for the continuous scanning plan are: the electro-optical payload elevation angle. Continuous scanning angle Continuous scanning angular velocity The value is obtained according to the following formula:

[0164]

[0165] Assuming the selected continuous scanning scheme is: photoelectric load pitch angle Continuous scanning angle Continuous scanning angular velocity Calculate the continuous scan reconnaissance swath width (Unit: meters):

[0166]

[0167] Calculate continuous scanning reconnaissance efficiency (Unit: square meters), i.e., the area surveyed per unit of time:

[0168]

[0169] The output continuous scanning scheme is: photoelectric load pitch angle Continuous scanning angle Continuous scanning angular velocity Continuous scanning reconnaissance swath Continuous scanning reconnaissance efficiency The design process is now complete.

[0170] 2) For the step-scan scheme, determine whether the following conditions are met:

[0171]

[0172] If any condition is not met, the scanning reconnaissance scheme is deemed invalid and proceeds to step 8; if the condition is met, a step-by-step scanning scheme is generated based on the aforementioned calculation results. The parameters that need to be determined for the step-by-step scanning scheme are: the electro-optical payload elevation angle. Step angle Step cycle Number of steps The value is obtained according to the following formula:

[0173]

[0174] Assuming the selected step scanning scheme is: photoelectric load pitch angle Step angle Step cycle Number of steps Calculate the swath width of the step scan reconnaissance (Unit: meters):

[0175]

[0176] In the formula,

[0177] For the step scan angle, and ;

[0178] Calculate step scan reconnaissance efficiency (Unit: square meters), i.e., the area surveyed per unit of time:

[0179]

[0180] The output step-by-step reconnaissance scheme is: electro-optical payload elevation angle. Step angle Step cycle Number of steps Step-scan reconnaissance swath width Step-by-step scanning reconnaissance efficiency The design process is now complete.

[0181] Step 8: Enter the parameter adjustment module. Designers adjust the input parameters, discussing two cases: continuous scanning and step scanning.

[0182] 1) For continuous scanning schemes:

[0183] If condition 1 is not met, adjust one or a combination of the following: a) Increase the maximum continuous scan angular velocity. b) Reduce minimum reconnaissance swath c) Increase the lateral field of view. d) Increase the longitudinal field of view. e) Increase focal length ;

[0184] If condition 2 is not met, adjust one or a combination of the following: a) Increase the maximum continuous scan angular velocity. b) Reduce minimum reconnaissance swath c) Increase the longitudinal field of view;

[0185] If condition 3 is not met, adjust one or a combination of the following: a) Increase the maximum continuous scan angular velocity. b) Reduce minimum reconnaissance swath ;

[0186] If multiple judgment conditions are not met, the common adjustment item shall be selected first.

[0187] Then proceed to step 3 and repeat the above steps until the design process is complete.

[0188] 2) For the step-scan scheme:

[0189] If condition 4 is not met, adjust one or a combination of the following: a) Reduce the minimum step period. b) Reduce minimum reconnaissance swath c) Increase the lateral field of view. d) Increase the longitudinal field of view. e) Increase focal length ;

[0190] If condition 5 is not met, adjust one or a combination of the following: a) Reduce the minimum step period. b) Reduce minimum reconnaissance swath ;

[0191] If condition 6 is not met, adjust one or a combination of the following: a) Reduce the minimum step period. b) Reduce minimum reconnaissance swath c) Increase the longitudinal field of view;

[0192] If condition 7 is not met, adjust one or a combination of the following: a) Reduce the minimum step period. b) Increase the longitudinal field of view;

[0193] If multiple judgment conditions are not met, the common adjustment item shall be selected first.

[0194] Then proceed to step 3 and repeat the above steps until the design process is complete.

[0195] In the above process, it is assumed that the missile's flight path is approximately a straight line, and that its flight altitude and speed remain approximately constant.

[0196] By implementing the above methods, the contradiction between detection range and reconnaissance efficiency can be well balanced during the airborne electro-optical payload's ground scanning reconnaissance process. This solves the problem of blind spots caused by the missile's own flight motion, and enables the airborne electro-optical payload to perform efficient, blind-spot-free scanning reconnaissance of ground targets.

[0197] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme, characterized in that, The specific steps include: Step 1: Construct a design model for a ground scanning reconnaissance scheme based on missile-borne electro-optical payload, including an initialization module, a detection range calculation module, an imaging field of view calculation module, a scanning calculation module, a reconnaissance swath calculation module, a scanning scheme analysis module, and a parameter adjustment module; Step 2: Initialize the module to initialize the missile's flight parameters, optoelectronic payload parameters, detector parameters, target size information, and design requirement parameters; Step 3: The detection distance calculation module calculates the maximum detection distance; Step 4: The imaging field of view calculation module calculates the size of the imaging field of view; Step 5: The scan calculation module calculates the scan parameters; Step 6: The reconnaissance swath calculation module calculates the maximum reconnaissance swath; Step 7: The scanning scheme analysis module determines whether the scanning scheme is effective: if the scanning reconnaissance scheme is determined to be effective, an output is generated, and the design process ends; if the scanning reconnaissance scheme is determined to be ineffective, proceed to step 8. Step 8: Adjust the input parameters according to the adjustment items listed in the parameter adjustment module, and then repeat the above steps in Step 3 until the design process is completed.

2. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 1, characterized in that, In step 2: The missile's flight parameters include: flight altitude H and flight speed v; The photoelectric load parameters include: maximum continuous scan angular velocity. Minimum step period ; The detector parameters include: pixel size ,focal length Lateral field of view Longitudinal field of view ; The target size information includes: target size ; The design requirements parameters include: minimum number of recognizable pixels. Minimum reconnaissance swath .

3. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 1, characterized in that, In step 3, the formula for calculating the maximum detection distance is: 。 4. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 1, characterized in that, In step 4, the size of the imaging field of view is taken as the minimum horizontal and vertical dimensions of the imaging field of view, and the calculation formula is as follows: In the formula, The lateral dimension of the imaging field of view; This represents the longitudinal dimension of the imaging field of view; The pitch angle of the photoelectric payload is calculated when the slant range at the far end of the field of view equals the maximum detection range, and .

5. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 1, characterized in that, In step 5, the calculation of the scanning parameters includes: First, the maximum scanning period is calculated with the constraint that there is no blind zone in the longitudinal direction of the field of view between two adjacent cycles. Then, we can consider two scenarios: Case 1: For the continuous scanning scheme, calculate the maximum continuous scanning angle, the minimum continuous scanning angle, and the minimum continuous scanning angular velocity; The formula for calculating the maximum continuous scanning angle is: The formula for calculating the minimum continuous scanning angle is: The formula for calculating the minimum continuous scanning angular velocity is as follows: Scenario 2: For the stepping scan scheme, calculate the maximum number of steps, the minimum number of steps, the maximum stepping period, the maximum stepping angle, and the minimum stepping angle; The formula for calculating the maximum number of steps is: In the formula, This is the floor function; The formula for calculating the minimum number of steps is: In the formula, It is a rounding function; The formula for calculating the maximum step period is: The formula for calculating the maximum step angle is: The formula for calculating the minimum step angle is: 。 6. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 1, characterized in that, In step 6, the maximum reconnaissance swath width falls into two categories: Scenario 1: For continuous scanning schemes, the formula for calculating the maximum reconnaissance swath width during continuous scanning is: Scenario 2: For the step-scan scheme, the formula for calculating the maximum reconnaissance swath width of the step-scan is: In the formula, For the maximum step scan angle, and .

7. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 1, characterized in that, In step 7, the criteria for determining whether the scanning scheme is valid fall into two categories: Scenario 1: For continuous scanning schemes, determine whether the following conditions are met: Scenario 2: For the step-scan scheme, determine whether the following conditions are met: 。 8. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 7, characterized in that, When all the judgment conditions described in Case 1 are met, the output continuous scanning scheme is: photoelectric payload elevation angle, continuous scanning angle, continuous scanning angular velocity, continuous scanning reconnaissance swath width, and continuous scanning reconnaissance efficiency, and the design process ends; The values ​​of the photoelectric load pitch angle, continuous scanning angle, and continuous scanning angular velocity are based on the following: In the formula, For continuous scanning angles; For continuous scanning angular velocity; The formula for calculating the continuous scanning reconnaissance swath width is as follows: The formula for calculating the continuous scanning reconnaissance efficiency is as follows: When all the judgment conditions described in Case 2 are met, the output step scanning scheme is as follows: photoelectric payload elevation angle, step angle, step cycle, number of steps, step scanning reconnaissance swath width, and step scanning reconnaissance efficiency, and the design process ends. The values ​​of the photoelectric load pitch angle, step angle, step period, and number of steps are determined based on the following: In the formula, The step angle; The step cycle; The number of steps; The formula for calculating the step-scan reconnaissance swath width is as follows: In the formula, For the step scan angle, and ; The formula for calculating the efficiency of the step-scan reconnaissance is as follows: 。 9. A design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claim 1 or 7, characterized in that, When there are unmet conditions in Case 1, the basis for adjusting the input parameters is as follows: If condition 1 is not met, then adjust one or a combination of the following: a) Increase the maximum continuous scan angular velocity. b) Reduce minimum reconnaissance swath c) Increase the lateral field of view. d) Increase the longitudinal field of view. e) Increase focal length ; If the judgment condition 2 is not met, then adjust one or a combination of the following: a) Increase the maximum continuous scan angular velocity. b) Reduce minimum reconnaissance swath c) Increase the longitudinal field of view; If the judgment condition 3 is not met, then adjust one or a combination of the following: a) Increase the maximum continuous scanning angular velocity. b) Reduce minimum reconnaissance swath ; If multiple judgment conditions are not met, the common adjustment item shall be selected first. When there are unmet conditions in scenario two, the basis for adjusting the input parameters is as follows: If condition 4 is not met, then adjust one or a combination of the following: a) Reduce the minimum step period. b) Reduce minimum reconnaissance swath ; c) Increase the lateral field of view d) Increase the longitudinal field of view. e) Increase focal length ; If condition 5 is not met, then adjust one or a combination of the following: a) Reduce the minimum step cycle. b) Reduce minimum reconnaissance swath ; If condition 6 is not met, then adjust one or a combination of the following: a) Reduce the minimum step period. b) Reduce minimum reconnaissance swath c) Increase the longitudinal field of view; If the judgment condition 7 is not met, then adjust one or a combination of the following: a) Reduce the minimum step cycle. b) Increase the longitudinal field of view; If multiple judgment conditions are not met, the common adjustment item shall be selected first.

10. The design method for an optoelectronic payload air-to-ground scanning reconnaissance scheme as described in claims 1-9, characterized in that, Applicable to roll-pitch two-axis electro-optical loads, yaw-pitch two-axis electro-optical loads, and roll-yaw-pitch three-axis electro-optical loads; For the two-axis photoelectric payload, during the scanning and reconnaissance process, the pitch axis is placed at a specific angle and fixed, while the roll axis or yaw axis periodically reciprocates at a uniform speed. For the three-axis optoelectronic payload, two different strategies are adopted during the scanning and reconnaissance process: the pitch axis and roll axis are set to zero and fixed, and the yaw axis is periodically reciprocated at a constant speed; the pitch axis and yaw axis are set to zero and fixed, and the roll axis is periodically reciprocated at a constant speed.

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