Accurate earth target positioning method of agile optical satellite for satellite-earth collaborative observation

Abstract

The invention relates to an accurate earth target positioning method of an agile optical satellite for satellite-earth collaborative observation. The method comprises the following steps: respectively obtaining satellite observation data and earth observation data; acquiring a fixed star control point on the star observation image; according to a star observation imaging mechanism of an optical satellite, constructing a star observation imaging geometric model considering fixed star self-walking, parallax and aberration correction; updating camera installation parameters in the star observation imaging geometric model by using the fixed star control point; according to an optical satellite earth observation imaging mechanism, constructing an earth observation imaging geometric model considering aberration correction; and for a target image point on the earth observation image, calculating a three-dimensional space coordinate of a target object point corresponding to the target image point according to the earth observation imaging geometric model and the updated camera installation parameters. According to the method, accurate ground target positioning of the agile optical satellite for satellite-ground collaborative observation can be realized, so that support is provided for high-precision geometric processing of optical satellite images.

Description

Technical Field

[0001] This invention belongs to the technical field of optical satellite data processing, and in particular relates to a method for precise positioning of ground targets by an agile optical satellite using satellite-ground collaborative observation. Background Technology

[0002] During their operation in orbit, optical satellites are susceptible to changes in the relative relationships between multiple star sensors and between star sensors and satellite cameras due to factors such as drastic changes in the space environment and satellite platform jitter. This can reduce the accuracy of the optical satellite's Earth target positioning. Currently, on-orbit geometric calibration methods based on ground calibration fields are a common approach to obtaining the relative relationships between imaging devices on optical satellites. This method utilizes satellite images and high-precision control information from ground calibration fields to update camera installation parameters, effectively improving the Earth target positioning accuracy of optical satellites. However, compared to the global observation and imaging capabilities of optical satellites, the number of ground calibration fields is very limited, and their geographical distribution is also very restricted globally. Therefore, constrained by the number and distribution of ground calibration fields, on-orbit geometric calibration methods based on ground calibration fields still cannot solve the problem of differences in camera installation parameters between different satellite orbits.

[0003] With the rapid development of technologies such as satellites, remote sensing, and computers, the rapid and agile maneuvering imaging capabilities of optical satellites have been significantly improved. Compared to conventional optical satellites, agile optical satellites can not only image the Earth but also observe and image stars. This provides us with a completely new satellite-ground collaborative observation mode, where, within the same satellite orbit, the agile maneuvering imaging capabilities of the optical satellite are used to first image stars with the Earth-observing camera, and then the Earth-observing camera is used to image the Earth. In this collaborative imaging mode, high-precision stellar control information can be used to update camera installation parameters in real time, thereby eliminating the differences in camera installation parameters between different satellite orbits and improving the positioning accuracy of Earth targets by the optical satellite.

[0004] Currently, there is limited research on the precise positioning of Earth targets by agile optical satellites for space-ground collaborative observation, which remains one of the key issues that urgently needs to be addressed in the high-precision geometric processing of optical satellites. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for precise Earth target positioning using an agile optical satellite with coordinated space-ground observation. By combining the rapid maneuvering imaging capabilities of the agile optical satellite, the onboard Earth observation camera sequentially observes and images stars and the Earth. Stars are used as high-precision control information to update camera installation parameters in real time, which are then used for geometric positioning processing of the Earth observation images, thereby achieving precise Earth target positioning by the optical satellite.

[0006] To achieve the above objectives, the technical solution provided by this invention is a method for precise Earth target positioning using an agile optical satellite based on satellite-ground collaborative observation, comprising the following steps: Step 1: Combining the rapid maneuvering imaging capability of the Agile Optics Satellite, the onboard Earth observation camera is used to sequentially observe and image stars and observe the Earth, obtaining star observation data and Earth observation data respectively. Step 2: Obtain stellar control points from the high-precision navigation star database using star point extraction and star map recognition methods; Step 3: Based on the optical satellite's imaging mechanism, construct a geometric model for star observation and imaging that takes into account the correction of stellar proper motion, parallax, and optical aberration by using satellite position, satellite velocity, satellite attitude, imaging time, stellar proper motion, and stellar parallax parameters. Step 4: Use stellar control points to update the camera mounting parameters in the stellar observation imaging geometry model; Step 5: Based on the imaging mechanism of optical satellite Earth observation, construct an Earth observation imaging geometric model that takes into account optical aberration correction using satellite orbit, satellite velocity, satellite attitude, and imaging time parameters. Step 6: For the target image point on the Earth observation image, calculate the three-dimensional spatial coordinates of the target object point corresponding to the target image point based on the Earth observation imaging geometric model and the camera installation parameters updated in Step 4.

[0007] Furthermore, the specific implementation of step 3 includes: Step 3.1, for the star point P, based on the right ascension and declination coordinates of the star point... Calculate the true apparent vector of the star point in the barycentric celestial reference frame. ; Step 3.2, for the true view vector of the star point P By performing corrections for stellar properness and parallax, the true apparent vector of the stellar point in the geocentric celestial frame is obtained. ; Step 3.3, in the geocentric celestial reference frame, determine the true apparent vector of the star point P. After performing optical aberration correction, the observation vector of the star point is obtained. ; Step 3.4: Based on the corresponding image point p of the star point P on the star observation image, the camera installation parameters, and the satellite attitude parameters, construct the optical satellite star observation imaging geometric model, as shown in Equation (4): (4) In the formula, Let p be the view vector of the image point p in the camera coordinate system. It is a scaling factor; The rotation matrix from the satellite body coordinate system to the camera coordinate system is derived from the camera mounting parameters. constitute; This is the rotation matrix from the geocentric celestial reference frame to the satellite's body coordinate system.

[0008] Furthermore, in step 3.1, the true apparent vector of the stellar point in the barycentric celestial reference frame is... As shown in equation (1): (1) In step 3.2, the true apparent vector of the stellar point in the geocentric celestial reference frame. As shown in equation (2): (2) In the formula, The imaging time of the optical satellite image; For the observation epoch of star points in the navigation star database; The proper deviation of the star point; Parallax of the star point; This refers to the satellite's position in the geocentric celestial frame of reference. This represents the Earth's position in the center-of-mass celestial frame of reference. astronomical units; intermediate variable Intermediate variables .

[0009] Furthermore, in step 3.3, the observational view vector of the star point... As shown in equation (3): (3) In the formula, This refers to the satellite's velocity in the geocentric celestial frame of reference. This is the velocity of Earth in the center-of-mass celestial frame of reference. It is the speed of light.

[0010] Furthermore, the specific implementation of step 4 includes: Step 4.1, let , , The geometric model for star observation and imaging is transformed as follows: (5) in, Let be the view vector of image point p in the camera coordinate system, which is a 3x1 matrix. , These are the three elements in the matrix; The rotation matrix from the satellite body coordinate system to the camera coordinate system is derived from the camera mounting parameters. constitute; Let be the rotation matrix from the geocentric celestial reference frame to the satellite's body coordinate system. Let be the observation vector of the star point, which is also a 3x1 matrix. , Let be the three elements in the matrix; - A 3x3 matrix The nine elements in it; Step 4.2: For each stellar control point in Step 2, construct the following error equation: (6) In the formula, The control point residual matrix; The design matrix is ​​composed of the partial derivatives of the camera mounting parameters; A correction matrix for camera mounting parameters; It is a matrix of constant terms; Step 4.3: Based on the least squares adjustment principle, calculate the corrections for the camera mounting parameters. :

[0011] Step 4.4, solve for Then, the camera mounting parameters are updated, and steps 4.2 and 4.3 are repeated until the adjustment iteration converges, thereby obtaining the updated camera mounting parameters.

[0012] Furthermore, the specific implementation of step 5 includes: Step 5.1: For the target image point q on the Earth observation image, calculate the observational vector of the image point in the geocentric celestial reference frame. ; Step 5.2, in the geocentric celestial reference frame, determine the observation vector of the target image point q. Perform optical aberration correction to obtain the true view vector. ; Step 5.3: Construct the geometric model of the optical satellite's Earth observation imaging, as shown in Equation (10): (10) In the formula, Let Q be the three-dimensional spatial coordinates of the target point Q in the international Earth reference system; It is a scaling factor; This is the rotation matrix from the geocentric celestial reference frame to the international Earth reference frame; Furthermore, in step 5.1, the observational vector of the image point in the geocentric celestial reference frame... As shown in equation (8): (8) In the formula, This is the rotation matrix from the satellite's body coordinate system to the geocentric celestial reference system; The rotation matrix from the camera coordinate system to the satellite body coordinate system is derived from the camera mounting parameters. constitute; Let q be the observation view vector of the target image point q in the camera coordinate system; In step 5.2, the true view vector As shown in equation (9): (9) In the formula, This refers to the satellite's velocity in the geocentric celestial frame of reference. Let q be the velocity of the target object point Q corresponding to the target image point q in the geocentric celestial reference frame.

[0013] Furthermore, the specific implementation of step 6 includes: Step 6.1: For the target image point q on the Earth observation image, using the camera installation parameters updated in Step 4, calculate the observation view vector of the image point in the geocentric celestial reference frame according to Equation (8). ; Step 6.2, without considering axial aberration correction, observe the view vector. Replace the true view vector in equation (10) Combining the Earth ellipsoid model, the three-dimensional spatial coordinates of the target point Q in the international Earth reference system are calculated, and the velocity of the target point Q in the geocentric celestial reference system is further calculated. Step 6.3, according to equation (9), perform optical aberration correction on the observation vector of the target image point q in the geocentric celestial reference frame. The true view vector of the image point is obtained. ; Step 6.4: Taking into account the optical aberration correction, calculate the three-dimensional spatial coordinates of the target point Q in the international Earth reference system according to Equation (10) and the Earth ellipsoid model.

[0014] This yields the three-dimensional spatial coordinates of the target point in the international Earth reference system, enabling precise positioning of Earth targets by the agile optical satellite for space-ground collaborative observation. The precise positioning of Earth targets by the optical satellite is now complete.

[0015] The present invention also provides a precise Earth target positioning system for agile optical satellites using space-ground collaborative observation, comprising a processor and a memory. The memory is used to store program instructions, and the processor is used to call the program instructions in the memory to execute a precise Earth target positioning method for agile optical satellites using space-ground collaborative observation as described in the above technical solution.

[0016] The present invention also provides a computer-readable storage medium, including a readable storage medium on which a computer program is stored. When the computer program is executed, it implements a method for precise positioning of ground targets by an agile optical satellite for space-ground collaborative observation as described in the above technical solution.

[0017] Compared with existing technologies, this invention has the following advantages: First, it uses an onboard Earth observation camera to sequentially image stars and Earth, obtaining star observation data and Earth observation data respectively. Second, it obtains stellar control points from the star observation images from a high-precision navigation satellite database. Then, it constructs a stellar observation imaging geometric model that takes into account stellar proper motion, parallax, and optical aberration corrections, and updates the camera installation parameters in this model using the stellar control points. Finally, it constructs an Earth observation imaging geometric model that takes into account optical aberration corrections, and uses this model to calculate the three-dimensional spatial coordinates of the target point. This invention, combined with the rapid maneuvering imaging capability of agile optical satellites, effectively solves the problem of differences in camera installation parameters between different satellite orbits by updating camera installation parameters in real time through stellar control points, providing support for precise Earth target positioning by optical satellites. Attached Figure Description

[0018] Figure 1 This is a flowchart of an embodiment of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] This invention provides a method for precise Earth target positioning using an agile optical satellite with coordinated satellite-ground observation. First, the onboard Earth observation camera sequentially images stars and the Earth, obtaining star observation data and Earth observation data respectively. Second, stellar control points on the star observation images are obtained from a high-precision navigation satellite database. Then, a geometric model for star observation imaging, taking into account stellar proper motion, parallax, and stellar aberration corrections, is constructed, and the camera installation parameters in this model are updated using the stellar control points. Finally, a geometric model for Earth observation imaging, taking into account stellar aberration corrections, is constructed, and the three-dimensional spatial coordinates of the target point are calculated using this model to achieve precise Earth target positioning by the optical satellite.

[0021] like Figure 1 As shown, the process of this embodiment of the invention includes the following steps: Step 1: Combining the rapid maneuvering imaging capability of the Agile Optics Satellite, the onboard Earth observation camera is used to sequentially observe and image stars and observe the Earth, obtaining star observation data and Earth observation data respectively. Step 2: Obtain stellar control points from the high-precision navigation star database using star point extraction and star map recognition methods; Step 3: Based on the imaging mechanism of optical satellite observation, construct a geometric model for star observation imaging that takes into account the correction of stellar proper motion, parallax, and optical aberration by using parameters such as satellite position, satellite velocity, satellite attitude, imaging time, stellar proper motion, and stellar parallax. Step 3.1, for the star point P, based on the right ascension and declination coordinates of the star point... Calculate the true apparent vector of the star point in the barycentric celestial reference frame. As shown in equation (1): (1) Step 3.2, for the true view vector of the star point P By performing corrections for stellar properness and parallax, the true apparent vector of the stellar point in the geocentric celestial frame is obtained. As shown in equation (2): (2) In the formula, The imaging time of the optical satellite image; For the observation epoch of star points in the navigation star database; The proper deviation of the star point; Parallax of the star point; This refers to the satellite's position in the geocentric celestial frame of reference. This represents the Earth's position in the center-of-mass celestial frame of reference. astronomical units; intermediate variable Intermediate variables ; Step 3.3, in the geocentric celestial reference frame, determine the true apparent vector of the star point P. After performing optical aberration correction, the observation vector of the star point is obtained. As shown in equation (3): (3) In the formula, This refers to the satellite's velocity in the geocentric celestial frame of reference. This is the velocity of Earth in the center-of-mass celestial frame of reference. The speed of light; Step 3.4: Based on the corresponding image point p of the star point P on the star observation image, camera installation parameters, satellite attitude and other parameters, construct the optical satellite star observation imaging geometric model, as shown in Equation (4): (4) In the formula, Let p be the view vector of the image point p in the camera coordinate system. It is a scaling factor; The rotation matrix from the satellite body coordinate system to the camera coordinate system is derived from the camera mounting parameters. constitute; This is the rotation matrix from the geocentric celestial reference frame to the satellite's body coordinate system; Step 4: Use stellar control points to update the camera mounting parameters in the stellar observation imaging geometry model; Step 4.1, let , , Equation (4) can be transformed into: (5) in, Let be the view vector of image point p in the camera coordinate system, which is a 3x1 matrix. , These are the three elements in the matrix; Let be the observation vector of the star point, which is also a 3x1 matrix. , Let be the three elements in the matrix; - A 3x3 matrix The nine elements in it; Step 4.2: For each stellar control point in Step 2, construct the error equation according to equations (2), (3), and (5), as shown in equation (6): (6) In the formula, The control point residual matrix; The design matrix is ​​composed of the partial derivatives of the camera mounting parameters; A correction matrix for camera mounting parameters; A matrix of constant terms; subscripts Indicates the first One star control point.

[0022] Step 4.3: Based on the least squares adjustment principle, calculate the corrections for the camera mounting parameters. : (7) Step 4.4, use equation (7) to solve for... Update the camera mounting parameters and repeat steps 4.2 and 4.3 until the adjustment iteration converges, thereby obtaining the updated camera mounting parameters.

[0023] Step 5: Based on the imaging mechanism of optical satellite Earth observation, construct an Earth observation imaging geometric model that takes into account optical aberration correction using parameters such as satellite orbit, satellite velocity, satellite attitude, and imaging time. Step 5.1: For the target image point q on the Earth observation image, calculate the observational vector of the image point in the geocentric celestial reference frame. As shown in equation (8): (8) In the formula, This is the rotation matrix from the satellite's body coordinate system to the geocentric celestial reference system; The rotation matrix from the camera coordinate system to the satellite body coordinate system is derived from the camera mounting parameters. constitute; Let q be the observation view vector of the target image point q in the camera coordinate system; Step 5.2, in the geocentric celestial reference frame, determine the observation vector of the target image point q. Perform optical aberration correction to obtain the true view vector. As shown in equation (9): (9) In the formula, This refers to the satellite's velocity in the geocentric celestial frame of reference. Let q be the velocity of the target object point Q corresponding to the target image point q in the geocentric celestial reference frame; Step 5.3: Construct the geometric model of the optical satellite's Earth observation imaging, as shown in Equation (10): (10) In the formula, Let Q be the three-dimensional spatial coordinates of the target point Q in the international Earth reference system; It is a scaling factor; This is the rotation matrix from the geocentric celestial reference frame to the international Earth reference frame; Step 6: For the target image point on the Earth observation image, calculate the three-dimensional spatial coordinates of the target object point corresponding to the target image point based on the Earth observation imaging geometric model and the camera installation parameters updated in Step 4.

[0024] Step 6.1: For the target image point q on the Earth observation image, using the camera installation parameters updated in Step 4, calculate the observation view vector of the image point in the geocentric celestial reference frame according to Equation (8). ; Step 6.2, without considering axial aberration correction, observe the view vector. Replace the true view vector in equation (10) Combining the Earth ellipsoid model, the three-dimensional spatial coordinates of the target point Q in the international Earth reference system are calculated, and the velocity of the target point Q in the geocentric celestial reference system is further calculated. Step 6.3, according to equation (9), perform optical aberration correction on the observation vector of the target image point q in the geocentric celestial reference frame. The true view vector of the image point is obtained. ; Step 6.4: Taking into account the optical aberration correction, calculate the three-dimensional spatial coordinates of the target point Q in the international Earth reference system according to Equation (10) and the Earth ellipsoid model.

[0025] This yields the three-dimensional spatial coordinates of the target point in the international Earth reference system, enabling precise positioning of Earth targets by the agile optical satellite for space-ground collaborative observation. The precise positioning of Earth targets by the optical satellite is now complete.

[0026] In practice, the above process can be automated using computer software technology.

[0027] Example 2 This invention also provides a precise Earth target positioning system for agile optical satellites using space-ground collaborative observation, including a processor and a memory. The memory stores program instructions, and the processor calls the program instructions in the memory to execute the precise Earth target positioning method for agile optical satellites using space-ground collaborative observation as described above.

[0028] Example 3 This invention also provides a computer-readable storage medium, including a readable storage medium on which a computer program is stored. When the computer program is executed, it implements a method for precise Earth target positioning by an agile optical satellite for space-ground collaborative observation as described in the above technical solution.

[0029] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A method for agile optical satellite precise ground target positioning in cooperation with ground observation, characterized in that, The method comprises the following steps: Step 1, combined with the rapid maneuvering imaging capability of the agile optical satellite, using the on-board earth observation camera, sequentially observing and imaging a star and observing and imaging the earth, respectively obtaining star observation data and earth observation data; Step 2, through a star point extraction and star map identification method, obtaining star control points on the star observation image from a high-precision navigation star library; Step 3, according to the star observation imaging mechanism of the optical satellite, using satellite position, satellite speed, satellite attitude, imaging time, star proper motion and star parallax parameters, constructing a star observation imaging geometric model considering star proper motion, parallax and aberration correction; Step 4, using the star control points, updating the camera installation parameters in the star observation imaging geometric model; Step 5, according to the earth observation imaging mechanism of the optical satellite, using satellite orbit, satellite speed, satellite attitude and imaging time parameters, constructing an earth observation imaging geometric model considering aberration correction; Step 6, for a target image point on the earth observation image, according to the earth observation imaging geometric model and the updated camera installation parameters in step 4, calculating the three-dimensional space coordinates of the target object point corresponding to the target image point.

2. The agile optical satellite accurate ground target positioning method for the star-ground cooperative observation of claim 1, wherein: The specific implementation of step 3 comprises: Step 3.

1. For a star point P, the true line of sight vector of this star point in the barycentric celestial reference frame is calculated from the right ascension and declination coordinates of this star point ; Step 3.

2. The true line of sight vector of the star point P in the barycentric celestial reference frame is projected on the plane of the sky ; Step 3.

3. The true line of sight vector of the star point P in the barycentric celestial Step 3.

2. Real line-of-sight vector of star point P The real line-of-sight vector of star point P in the geocentric celestial reference system is obtained by correcting the star proper motion and star parallax ; Step 3.

3. In the geocentric celestial reference system, the true line-of-sight vector to the star point P is obtained by applying the proper motion correction to the observed line-of-sight vector ; Step 3.4, according to the corresponding image point p of the star point P on the star observation image, the camera installation parameters and the satellite attitude parameters, constructing the optical satellite star observation imaging geometric model as shown in formula (4): （4） wherein is the observed viewing vector of the image point p in the camera coordinate system; is the scale factor; is the rotation matrix from the satellite body coordinate system to the camera coordinate system, composed of the camera mounting parameters ; is the rotation matrix from the geocentric celestial reference system to the satellite body coordinate system.

3. The agile optical satellite accurate ground target positioning method for the star-ground cooperative observation of claim 2, characterized in that: In step 3.1, the true line-of-sight vector of the star point in the center-of-mass celestial reference system As shown in equation (1): （1） In step 3.2, the true line-of-sight vector of the star point in the geocentric celestial reference system As shown in equation (2): （2） wherein is the imaging time of the optical satellite image; is the observation epoch of the star point in the navigation star library; is the proper motion of the star point; is the parallax of the star point; is the position of the satellite in the geocentric celestial reference system; is the position of the Earth in the barycentric celestial reference system; is the astronomical unit; Intermediate variable ; Intermediate variable .

4. The agile optical satellite accurate ground target positioning method for the star-ground cooperative observation of claim 2, wherein: In step 3.3, the observed direction vector of the star point As shown in equation (3): （3） wherein is the velocity of the satellite in the geocentric celestial reference frame; is the velocity of the Earth in the barycentric celestial reference frame; is the speed of light.

5. The agile optical satellite accurate ground target positioning method for the star-ground cooperative observation of claim 1, wherein: The specific implementation of step 4 comprises: Step 4.1, let , , the star observation imaging geometry model be deformed to: （5） where is the observed view vector of the image point p in the camera coordinate system, is a 3 by 1 matrix, , are the three elements of the matrix; is the rotation matrix from the satellite body coordinate system to the camera coordinate system, composed of the camera mounting parameters ; is the rotation matrix from the geocentric celestial reference system to the satellite body coordinate system, is the observed view vector of the star point, also a 3 by 1 matrix, , are the three elements of the matrix; - are the nine elements of the 3 by 3 matrix ; Step 4.2, for each star control point in step 2, constructing an error equation as follows: （6） wherein is a control point residual matrix; is a design matrix consisting of partial derivatives of the camera mounting parameters; is a matrix of corrections of the camera mounting parameters; is a constant term matrix; Step 4.

3. According to the principle of least squares adjustment, the correction numbers of camera installation parameters are solved : Step 4.4, solve for The camera mounting parameters are then updated and steps 4.2 and 4.3 are repeated until the adjustment iteration converges, thereby obtaining updated camera mounting parameters.

6. The agile optical satellite accurate ground target positioning method for the star-ground cooperative observation of claim 1, wherein: The specific implementation of step 5 comprises: Step 5.1, for a target image point q on the image of the earth observation, calculate the observed view vector of the image point under the geocentric celestial reference system ; Step 5.2, in the geocentric celestial reference frame, the observed direction vector of the target image point q Performing the aberration correction, the true direction vector is obtained ; Step 5.3, constructing the optical satellite earth observation imaging geometric model as shown in formula (10): （10） wherein is the three-dimensional spatial coordinate of the object point Q in the International Terrestrial Reference System; is a scale factor; is the rotation matrix of the Geocentric Celestial Reference System to the International Terrestrial Reference System.

7. The agile optical satellite accurate ground target positioning method for the star-ground cooperative observation of claim 6, wherein: In step 5.1, the observed view vector of the image point in the geocentric celestial reference system As shown in equation (8): （8） wherein is the rotation matrix from the satellite body frame to the geocentric celestial reference frame; is the rotation matrix from the camera frame to the satellite body frame, composed of camera mounting parameters ; is the observed view vector of the target image point q in the camera frame. In step 5.2, the real view vector As shown in equation (9): （9） wherein is the velocity of the satellite in the geocentric celestial reference frame; is the velocity of the object point Q corresponding to the target image point q in the geocentric celestial reference frame.

8. The agile optical satellite accurate ground target positioning method for the star-ground cooperative observation of claim 7, wherein: The specific implementation of step 6 comprises: Step 6.

1. For a target image point q on the image of the earth observation, using the updated camera mounting parameters in Step 4, the observed viewing vector of the image point in the geocentric celestial reference frame is calculated according to equation (8) ; Step 6.2, without considering the correction of aberration, the observed direction vector Instead of the real direction vector in formula (10) , combined with the earth ellipsoid model, the three-dimensional space coordinates of the target point Q under the international terrestrial reference system are calculated, and the speed of the target point Q under the geocentric celestial reference system is further calculated; Step 6.

3. Correct the observed direction vector of the target image point q for aberration, according to equation (9), in the geocentric celestial reference frame to obtain the true direction vector of the image point ; Step 6.4, under the consideration of aberration correction, according to formula (10) and the earth ellipsoid model, calculating the three-dimensional space coordinates of the target object point Q in the international terrestrial reference system.

9. An agile optical satellite precision ground target pointing system for space-ground collaborative observation, characterized in that: The method comprises a processor and a memory, the memory is used for storing program instructions, and the processor is used for calling the program instructions in the memory to execute the agile optical satellite precise earth target positioning method for star-earth cooperative observation according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The method comprises a readable storage medium, and the readable storage medium stores a computer program, and the computer program is executed to realize the agile optical satellite precise earth target positioning method for star-earth cooperative observation according to any one of claims 1-8.

Images