Large-area stripe satellite collaborative shooting method and device, electronic equipment and storage medium

Abstract

The invention discloses a large-area strip satellite collaborative shooting method. The method comprises the following steps: calculating all shooting opportunity windows according to satellite orbit parameters of a plurality of satellites and a target area; sorting the shooting opportunity windows; obtaining each shooting opportunity window in sequence, and calculating the right boundary of the strip when the corresponding satellite in the shooting opportunity window laterally swings to the rightmost side; when the right boundary does not intersect with the target area, determining a target side-sway angle covering the rightmost boundary of the target area; determining a current shooting strip according to the target side-sway angle; and removing a region corresponding to the current shooting strip in the target region to form a next target region until the area of the next target region is zero or all shooting opportunity windows are obtained. According to the method, the influence of local failure on the whole task is greatly reduced, and the stability and the task completion rate of the system are remarkably improved. The invention further discloses a device for implementing the method, electronic equipment and a computer readable storage medium.

Description

Technical Field

[0001] This invention relates to the field of aerospace satellite technology, and in particular to a method, apparatus, electronic device, and storage medium for large-area strip satellite collaborative imaging. Background Technology

[0002] With the rapid development of Earth observation technology, satellite remote sensing has become an indispensable means for acquiring global geographic information, conducting national land surveys, environmental monitoring, and emergency disaster reduction. Based on the scope of the observation target, satellite remote sensing missions can be divided into observations of small areas or point targets, and observations of large-scale areas.

[0003] For small areas or point targets, since their size is usually smaller than the swath width of a single satellite image, the task can be completed by scheduling a single satellite to take a single overpass image, making mission planning relatively simple and efficient. However, for large areas (such as vast regions spanning an entire province, the whole country, or even transnational areas) that far exceed the swath width of a single satellite image, the imaging mission is much more complex. Such missions require dividing the large area into multiple strips, taking multiple overpass images from the satellite, and stitching the acquired images together to finally create a complete regional image map.

[0004] Collaborative imaging using multiple satellites presents several challenges: Firstly, planning all strips at once is problematic. If several discrete strips fail to execute or are unavailable, these failed strips become new target areas, requiring complete replanning. The algorithms for this replanning are extremely complex, often necessitating multiple iterations, leading to inefficient planning. Secondly, due to the large number of strips in a large area, completing all imaging may take weeks or even a month. During this extended period, satellite orbits may be adjusted due to mission requirements (e.g., orbit maintenance, collision avoidance), or satellite resource status may change. Any such changes can render the planned, yet-to-be-executed imaging schedule invalid, necessitating a complete overhaul and large-scale replanning. This results in significant waste of preliminary planning work and severely impacts the final mission completion time. Furthermore, the aforementioned planning methods are ineffective in addressing the various uncertainties and dynamic changes that inevitably arise during mission execution. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention provides a method, apparatus, electronic device, and storage medium for large-area strip satellite collaborative imaging. The technical problem to be solved by this invention is achieved through the following technical solution: The first aspect of this invention provides a method for large-area strip satellite collaborative imaging, comprising the following steps: Calculate all possible shooting opportunities based on the satellite orbit parameters of multiple satellites and the target area; The shooting opportunity windows are sorted according to the dynamic priority of the shooting tasks within the shooting opportunity windows; Each shooting opportunity window is retrieved sequentially; Calculate the right boundary of the strip when the corresponding satellite is tilted to the far right within the shooting opportunity window; When the right boundary does not intersect with the target area, the target lateral tilt angle covering the rightmost boundary of the target area is determined based on the satellite orbit parameters and the target area. The current shooting strip is determined based on the current shooting opportunity window and the target's side tilt angle; Remove the area in the target area corresponding to the current shooting strip to form the next target area, and return to the step of sequentially acquiring each shooting opportunity window until the area of ​​the next target area is zero or all shooting opportunity windows have been acquired.

[0006] In one embodiment of the present invention, determining the target lateral tilt angle covering the rightmost boundary of the target area based on satellite orbit parameters and the target area includes: Calculate the geometric center point of the target region. ; Based on the satellite orbit parameters, the centerline of the satellite's field of view is determined to pass through the geometric center point within the shooting opportunity window. Rotational lateral sway angle ; Steps to calculate the bisection angle: Let , ,calculate and Bisection angle Among them, the satellite's lateral tilt range is ; Calculate the satellite's side swing to the aforementioned bisection angle. The right boundary of the strip at that time ; like If it intersects with the target region, then ,otherwise, ; judge Is it less than the first preset precision? ; If so, then The target lateral sway angle; If not, return to the step of calculating the bisection angle.

[0007] In one embodiment of the present invention, the step of determining the satellite field of view centerline based on satellite orbit parameters to pass through the geometric center point within the shooting opportunity window is described. Rotational lateral sway angle ,include: Determine the satellite is in Time and Is the time in the circle? On the same side; where the start and end time interval of the shooting opportunity window is... ,round To the Earth's core Center and through The Earth's great circle at a point; If not, proceed with the step of calculating the bisection time. Steps to calculate the bisection time: Calculate and The second moment ; Determine the satellite is in Is the time in the circle? The inside; If it is on the inside, then ,otherwise, ; judge Is it less than the second preset precision? ; If so, then calculate the vector. Rotate to vector The angle is the rotational lateral swing angle. ;in, This indicates the satellite's position in the J2000 coordinate system; If not, return to the step of calculating the binary time division.

[0008] In one embodiment of the present invention, the determination of the satellite is... Time and Is the time in the circle? On the same side, including: calculate Time and time The position of the point in the J2000 coordinate system; Calculated based on satellite orbital parameters Time and The satellite's position and velocity in the J2000 coordinate system at any given time; Based on the satellite position and velocity, a VVLH coordinate system is constructed, and the X-axis vector of the VVLH coordinate system is obtained. ; like Then the satellite is currently in a circle Inside, otherwise in the circle The outside.

[0009] A second aspect of this invention provides a large-area strip satellite collaborative imaging device, comprising: The initialization module is used to calculate all the shooting opportunity windows based on the satellite orbit parameters of multiple satellites and the target area; The sorting module is used to sort the shooting opportunity windows according to the dynamic priority of the shooting tasks in the shooting opportunity windows; The acquisition module is used to sequentially acquire each shooting opportunity window; The calculation module is used to calculate the right boundary of the strip when the corresponding satellite is tilted to the far right within the shooting opportunity window; The first determining module is used to determine the target lateral tilt angle covering the rightmost boundary of the target area based on the satellite orbit parameters and the target area when the right boundary does not intersect with the target area. The second determining module is used to determine the current shooting strip based on the current shooting opportunity window and the target side swing angle; The cropping module is used to remove the area of ​​the current shooting strip corresponding to the target area to form the next target area, and return to the step of sequentially acquiring each shooting opportunity window until the area of ​​the next target area is zero or all shooting opportunity windows have been acquired.

[0010] In one embodiment of the present invention, determining the target lateral tilt angle covering the rightmost boundary of the target area based on satellite orbit parameters and the target area includes: Calculate the geometric center point of the target region. ; Based on the satellite orbit parameters, the centerline of the satellite's field of view is determined to pass through the geometric center point within the shooting opportunity window. Rotational lateral sway angle ; Steps to calculate the bisection angle: Let , ,calculate and Bisection angle Among them, the satellite's lateral tilt range is ; Calculate the satellite's side swing to the aforementioned bisection angle. The right boundary of the strip at that time ; like If it intersects with the target region, then ,otherwise, ; judge Is it less than the first preset precision? ; If so, then The target lateral sway angle; If not, return to the step of calculating the bisection angle.

[0011] In one embodiment of the present invention, the step of determining the satellite field of view centerline based on satellite orbit parameters to pass through the geometric center point within the shooting opportunity window is described. Rotational lateral sway angle ,include: Determine the satellite is in Time and Is the time in the circle? On the same side; where the start and end time interval of the shooting opportunity window is... , circle To the Earth's core Center and through The Earth's great circle at a point; If not, proceed with the step of calculating the bisection time. Steps to calculate the bisection time: Calculate and The second moment ; Determine the satellite is in Is the time in the circle? The inside; If it is on the inside, then ,otherwise, ; judge Is it less than the second preset precision? ; If so, then calculate the vector. Rotate to vector The angle is the rotational lateral swing angle. ;in, This indicates the satellite's position in the J2000 coordinate system; If not, return to the step of calculating the binary time division.

[0012] In one embodiment of the present invention, the determination of the satellite is... Time and Is the time in the circle? On the same side, including: calculate Time and time The position of the point in the J2000 coordinate system; Calculated based on satellite orbital parameters Time and The satellite's position and velocity in the J2000 coordinate system at any given time; Based on the satellite position and velocity, a VVLH coordinate system is constructed, and the X-axis vector of the VVLH coordinate system is obtained. ; like Then the satellite is currently in a circle Inside, otherwise in the circle The outside.

[0013] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a large-area strip satellite collaborative imaging method provided in the first aspect of the present invention.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a large-area strip satellite collaborative imaging method provided in the first aspect of the present invention.

[0015] The beneficial effects of this invention are: This invention employs a "small-scale, multiple-times" incremental planning method, planning only a few, or even just one, shooting opportunities at a time, which is currently optimal. When one or several strips fail to execute, only the failed tasks need to be replanned, triggering a small-scale, rapid replanning. This greatly reduces the impact of local failures on the overall task, enabling the system to flexibly adapt to uncertainties during execution, such as satellite malfunctions and weather changes, and significantly enhancing the system's stability and task completion rate.

[0016] Because this invention does not require handling complex global optimization problems and avoids multiple rounds of iterative calculations, the computational complexity of a single planning iteration is significantly reduced, and the computation time is extremely short. This advantage makes this invention particularly suitable for scenarios with extremely high timeliness requirements, such as emergency response, enabling the rapid generation of initial scheduling instructions and seizing valuable imaging opportunities.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 A flowchart illustrating a large-area strip satellite collaborative imaging method provided in an embodiment of the present invention; Figure 2A flowchart illustrating another large-area strip satellite collaborative imaging method provided in an embodiment of the present invention; Figure 3 A flowchart illustrating the target lateral sway angle calculation method provided in an embodiment of the present invention; Figure 4 Rotational lateral tilt angle provided in the embodiments of the present invention A flowchart illustrating the calculation method; Figure 5 The satellite judgment provided in the embodiments of the present invention is Time and Is the time in the circle? A flowchart illustrating the method on the inside; Figure 6 The circle provided in the embodiment of the present invention A schematic diagram of the VVLH coordinate system; Figure 7 This is a schematic diagram of the shooting strip after the entire target area has been planned, as provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of a large-area strip satellite collaborative imaging device provided in an embodiment of the present invention. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0021] like Figure 1 As shown, the first aspect of this invention provides a method for large-area strip satellite collaborative imaging, comprising the following steps: Step 11: Calculate all possible shooting opportunities based on the satellite orbit parameters of multiple satellites and the target area.

[0022] Step 12: Sort the shooting opportunity windows according to the dynamic priority of the shooting tasks in the shooting opportunity window.

[0023] Step 13: Obtain each shooting opportunity window in sequence.

[0024] Step 14: Calculate the right boundary of the strip when the corresponding satellite is tilted to the far right within the shooting opportunity window.

[0025] Step 15: When the right boundary does not intersect with the target area, determine the target lateral tilt angle covering the rightmost boundary of the target area based on the satellite orbit parameters and the target area.

[0026] Step 16: Determine the current shooting strip based on the current shooting opportunity window and the target side angle.

[0027] Step 17: Remove the area in the target area corresponding to the current shooting strip to form the target area for the next time. Return to the steps of acquiring each shooting opportunity window in turn until the area of ​​the target area for the next time is zero or all shooting opportunity windows have been acquired.

[0028] In this embodiment, after initialization, the shooting opportunity windows are sorted according to their urgency. Then, the shooting opportunity windows are traversed, and the side-swing is calculated so that the right boundary of the strip just covers (the coverage amount can be controlled by parameters) the rightmost side of the target area. The covered area is then cropped, and this process is repeated until the target is fully covered or all opportunities are exhausted. In this embodiment, it is not necessary to calculate all strips at once; planning can be done step by step in small batches, which shortens the single scheduling time and reduces the chance of task cancellation due to future uncertainties. There is no iterative calculation similar to optimization calculation, so the calculation time is short. The coverage amount can be controlled by parameters.

[0029] In this embodiment, a gradual planning method of "small number of times" is adopted, planning only a few or even one optimal shooting opportunity at a time. When one or several stripes fail to execute, it is only necessary to replan the failed task, triggering a small-scale rapid replanning. This greatly reduces the impact of local failures on the overall task, enabling the system to flexibly adapt to uncertainties in the execution process such as satellite failures and weather changes, and significantly enhances the system's stability and task completion rate.

[0030] Because this invention does not require handling complex global optimization problems and avoids multiple rounds of iterative calculations, the computational complexity of a single planning iteration is significantly reduced, and the computation time is extremely short. This advantage makes this invention particularly suitable for scenarios with extremely high timeliness requirements, such as emergency response, enabling the rapid generation of initial scheduling instructions and seizing valuable imaging opportunities.

[0031] like Figure 2 As shown, based on the first aspect of the present invention, the second aspect of the present invention provides a more detailed description of a large-area strip satellite collaborative imaging method, which includes the following steps: Step 21: Calculate all possible shooting opportunities based on the satellite orbit parameters of multiple satellites and the target area.

[0032] In this step, the system is first initialized to determine the scope of the target area and obtain initial data such as the satellite side-swing angle and satellite orbit parameters. Then, based on the satellite orbit parameters and the target area, all shooting opportunity windows are calculated.

[0033] Here, a shooting opportunity window corresponds to at least one visible time window of a satellite, and one visible time window corresponds to one strip. One strip is planned at a time. The number of strips that can be completed in one shooting opportunity window is related to the satellite's remote sensing capabilities and is also the upper limit of the number of strips that can be planned in one shooting opportunity window.

[0034] Step 22: Sort the shooting opportunity windows according to the dynamic priority of the shooting task.

[0035] In this step, dynamic prioritization mainly includes: the priority specified by the task requirements, the distance from the deadline, the number of subsequent available opportunities, and the magnitude of the task's benefits. The urgency of the dynamic priority of shooting opportunity windows is ranked. For example, shooting opportunity windows with shooting tasks approaching the deadline are ranked higher, or they are ranked from closest to furthest from the deadline, or from highest to lowest priority specified by the task requirements. Of course, a comprehensive ranking can also be achieved by weighting and summing factors such as the priority of the task requirements, the number of available opportunities for the task, and the distance from the deadline.

[0036] Step 23: Obtain each shooting opportunity window in sequence.

[0037] The shooting opportunity windows are extracted sequentially according to the order, and the following calculation steps are performed for each shooting opportunity window.

[0038] Step 24: Calculate the right boundary of the strip when the satellite is tilted to the far right within the shooting opportunity window. .

[0039] In this step, the right boundary of the stripe is calculated when the satellite is positioned to the far right (from the satellite's perspective) within the start and end time interval of the shooting opportunity window. .

[0040] Step 25, determine the right boundary Does it intersect with the target area?

[0041] Step 26: If they intersect, it means that the strip cannot cover the rightmost side of the target area (satellite view). Discard the shooting opportunity window, return to step 23, retrieve the next shooting opportunity window and execute step 24.

[0042] Step 27: When the right boundary does not intersect with the target area, determine the target lateral tilt angle covering the rightmost boundary of the target area based on the satellite orbit parameters and the target area.

[0043] like Figure 3 As shown, step 27 specifically includes steps 271-278: Step 271, calculate the geometric center point of the target region. (On the surface of the earth).

[0044] Step 272: Determine the geometric center point of the satellite's field of view centerline within the shooting opportunity window based on the satellite orbit parameters. Rotational lateral sway angle .

[0045] like Figure 4 As shown, step 272 includes steps A1-A9: Step A1, determine the satellite's position. Time and Is the time in the circle? On the same side.

[0046] The start and end time range of the shooting opportunity window is as follows: ,round To the Earth's core Center and through The Earth is a great circle.

[0047] Specifically, this step involves determining the satellite's position. Is the time in the circle? The inner side, and the judgment of the satellite in Is the time in the circle? The inside of.

[0048] Step A2, if the satellite is Time and Every moment is in the circle On the same side (inner or outer), it indicates that the stripe corresponding to the shooting opportunity window cannot pass through the point. Discard the shooting opportunity window and return to step 23.

[0049] Step A3, if the satellite is Time and At different times in the circle On both sides, proceed to step A4, using the successive bisection method for calculation: Step A4, Calculate and The second moment .

[0050] Step A5, determine the satellite's position. Is the time in the circle? The inside of.

[0051] Step A6, if it is on the inside, then If it is not on the inside, then .

[0052] Step A7, determine Is it less than the second preset precision? .

[0053] Step A8, if yes, then calculate the vector. Rotate to vector The angle is the rotational lateral swing angle. .

[0054] in, This indicates the satellite's position in the J2000 coordinate system.

[0055] Step A9. If not, return to step A4.

[0056] In this step, if Based on the result of step A6, or Return to step A4 and continue the bisection calculation until... .

[0057] Where, if the rotation normal vector is If the included angle is greater than 90°, the rotational lateral swing angle is reversed.

[0058] Furthermore, determine the satellite's position. Time and Is the time in the circle? The inner side can be calculated using various methods. For example, in one feasible implementation, such as... Figure 5 and Figure 6 As shown, the satellite is determined to be in Time and Is the time in the circle? The inner side, and the judgment of the satellite in Is the time in the circle? The specific method for the inner side includes steps B1-B4: In this step, the inner side is... Please provide explanations at all times: Step B1, Calculate time The position of the point in the J2000 coordinate system.

[0059] Step B2, calculate based on satellite orbital parameters Satellite position and velocity in the J2000 coordinate system.

[0060] Step B3: Construct a VVLH coordinate system based on the satellite's position and velocity, and obtain the X-axis vector of the VVLH coordinate system. .

[0061] Step B4, if Then the satellite is currently in a circle Inside, otherwise in the circle The outside.

[0062] Calculated Then, the target lateral swing angle is calculated using the successive bisection method.

[0063] Step 273, the satellite's lateral tilt range is ,make , ,calculate and Bisection angle .

[0064] In this step, .

[0065] Step 274, calculate the satellite's side swing to the half-angle. The right boundary of the strip at that time .

[0066] Step 275, if Intersecting with the target area, then If they do not intersect, .

[0067] Step 276, Determine Is it less than the first preset precision? .

[0068] Step 277, if yes, then The target lateral sway angle.

[0069] Step 278. If not, return to step 273.

[0070] In this step, if Based on the result of step 275, with or Return to step 273 and continue the bisection calculation until... .

[0071] If the last result obtained by the bisection method The right boundary of the strip at that time Intersects with the target area, and Then the target lateral swing angle is taken from the previously calculated non-intersecting angle. .

[0072] Step 28: Determine the current shooting strip based on the current shooting opportunity window and the target side angle, and add the shooting strip to the strip results list.

[0073] Step 29: Crop and remove the area of ​​the target region corresponding to the current shooting strip to form a new target region as the target region for the next planning. Return to step 23, obtain the next shooting opportunity window, and plan the new target region after removing the shooting strip as the target region until the area of ​​the target region after removing the shooting strip is zero or all shooting opportunity windows have been obtained.

[0074] When the area of ​​the target region is zero or all shooting opportunity windows have been acquired and a shooting opportunity list is obtained, the shooting task planning for the target region is complete. In this embodiment, a schematic diagram of the shooting strip after all target regions have been planned is shown below. Figure 7 As shown.

[0075] This embodiment is applicable to scenarios with a relatively large target area and many stripes. Based on the satellite orbit, it calculates when the satellite is about to approach the ground station or begin communication with the ground. Time is allocated for planning 1-3 stripes and generating instructions before executing the method described in this embodiment. When the satellite communicates with the ground station, the planning results are sent to the satellite.

[0076] like Figure 8 As shown, a second aspect of the present invention provides a large-area strip satellite collaborative imaging device, comprising: Initialization module 31 is used to calculate all shooting opportunity windows based on the satellite orbit parameters of multiple satellites and the target area; The sorting module 32 is used to sort the shooting opportunity windows according to the dynamic priority of the shooting tasks in the shooting opportunity window; Module 33 is used to sequentially acquire each shooting opportunity window; Calculation module 34 is used to calculate the right boundary of the strip when the corresponding satellite is tilted to the far right within the shooting opportunity window; The first determining module 35 is used to determine the target side swing angle covering the rightmost boundary of the target area based on the satellite orbit parameters and the target area when the right boundary does not intersect with the target area. The second determining module 36 is used to determine the current shooting strip based on the current shooting opportunity window and the target side tilt angle; The cropping module 37 is used to remove the area of ​​the current shooting strip corresponding to the target area to form the next target area, and return to the step of acquiring each shooting opportunity window in turn until the area of ​​the next target area is zero or all shooting opportunity windows have been acquired.

[0077] In one embodiment of the present invention, determining the target lateral tilt angle covering the rightmost boundary of the target area based on satellite orbit parameters and the target area includes: Calculate the geometric center point of the target region ; Based on satellite orbit parameters, the satellite's field of view centerline is determined to pass through its geometric center point within the shooting window. Rotational lateral sway angle ; Steps to calculate the bisection angle: Let , ,calculate and Bisection angle Among them, the satellite's lateral tilt range is ; Calculate the satellite's side swing to the half-angle. The right boundary of the strip at that time ; like Intersecting with the target area, then ,otherwise, ; judge Is it less than the first preset precision? ; If so, then The target lateral sway angle; If not, return to the step of calculating the bisection angle.

[0078] In one embodiment of the present invention, the satellite field of view centerline is determined to pass through the geometric center point within the shooting opportunity window based on satellite orbit parameters. Rotational lateral sway angle ,include: Determine the satellite is in Time and Is the time in the circle? On the same side; where the start and end time interval of the shooting opportunity window is... ,round To the Earth's core Center and through The Earth's great circle at a point; If not, proceed with the step of calculating the bisection time. Steps to calculate the bisection time: Calculate and The second moment ; Determine the satellite is in Is the time in the circle? The inside; If it is on the inside, then ,otherwise, ; judge Is it less than the second preset precision? ; If so, then calculate the vector. Rotate to vector The angle is the rotational lateral swing angle. ;in, This indicates the satellite's position in the J2000 coordinate system; If not, return to the step of calculating the binary time division.

[0079] In one embodiment of the present invention, it is determined that the satellite is... Time and Is the time in the circle? On the same side, including: calculate Time and time The position of the point in the J2000 coordinate system; Calculated based on satellite orbital parameters Time and The satellite's position and velocity in the J2000 coordinate system at any given time; Construct a VVLH coordinate system based on the satellite's position and velocity, and obtain the X-axis vector of the VVLH coordinate system. ; like Then the satellite is currently in a circle Inside, otherwise in the circle The outside.

[0080] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the large-area strip satellite collaborative imaging method provided by the present invention described above.

[0081] A fourth aspect of the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the large-area strip satellite collaborative imaging method provided in the above-described embodiments of the present invention.

[0082] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0083] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware devices.

[0084] The method provided in this invention can be applied to electronic devices. Specifically, the electronic device can be a desktop computer, a portable computer, a smart mobile terminal, a server, etc. No limitation is made herein; any electronic device that can implement this invention falls within the protection scope of this invention.

[0085] For the device / electronic device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments.

[0086] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0087] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0088] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0089] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for large-area strip satellite collaborative imaging, characterized in that, Includes the following steps: Calculate all possible shooting opportunities based on the satellite orbit parameters of multiple satellites and the target area; The shooting opportunity windows are sorted according to the dynamic priority of the shooting tasks within the shooting opportunity windows; Each shooting opportunity window is retrieved sequentially; Calculate the right boundary of the strip when the corresponding satellite is tilted to the far right within the shooting opportunity window; When the right boundary does not intersect with the target area, the target lateral tilt angle covering the rightmost boundary of the target area is determined based on the satellite orbit parameters and the target area. The current shooting strip is determined based on the current shooting opportunity window and the target's side tilt angle; Remove the area in the target area corresponding to the current shooting strip to form the next target area, and return to the step of sequentially acquiring each shooting opportunity window until the area of ​​the next target area is zero or all shooting opportunity windows have been acquired.

2. The method as described in claim 1, characterized in that, Determining the target lateral tilt angle covering the rightmost boundary of the target area based on satellite orbit parameters and the target area includes: Calculate the geometric center point of the target region. ; Based on the satellite orbit parameters, the centerline of the satellite's field of view is determined to pass through the geometric center point within the shooting opportunity window. Rotational lateral sway angle ; Steps to calculate the bisection angle: Let , ,calculate and Bisection angle Among them, the satellite's lateral tilt range is ; Calculate the satellite's side swing to the aforementioned bisection angle. The right boundary of the strip at that time ; like If it intersects with the target region, then ,otherwise, ; judge Is it less than the first preset precision? ; If so, then The target lateral sway angle; If not, return to the step of calculating the bisection angle.

3. The method as described in claim 2, characterized in that, The satellite field of view centerline, determined based on satellite orbit parameters, passes through the geometric center point within the shooting opportunity window. Rotational lateral sway angle ,include: Determine the satellite is in Time and Is the time in the circle? On the same side; where the start and end time interval of the shooting opportunity window is... ,round To the Earth's core Center and through The Earth's great circle at a point; If not, proceed with the step of calculating the bisection time. Steps to calculate the bisection time: Calculate and The second moment ; Determine the satellite is in Is the time in the circle? The inside; If it is on the inside, then ,otherwise, ; judge Is it less than the second preset precision? ; If so, then calculate the vector. Rotate to vector The angle is the rotational lateral swing angle. ;in, This indicates the satellite's position in the J2000 coordinate system; If not, return to the step of calculating the binary time division.

4. The method as described in claim 3, characterized in that, The judgment satellite is Time and Is the time in the circle? On the same side, including: calculate Time and time The position of the point in the J2000 coordinate system; Calculated based on satellite orbital parameters Time and The satellite's position and velocity in the J2000 coordinate system at any given time; Based on the satellite position and velocity, a VVLH coordinate system is constructed, and the X-axis vector of the VVLH coordinate system is obtained. ; like Then the satellite is currently in a circle Inside, otherwise in the circle The outside.

5. A large-area strip satellite collaborative imaging device, characterized in that, include: The initialization module is used to calculate all the shooting opportunity windows based on the satellite orbit parameters of multiple satellites and the target area; The sorting module is used to sort the shooting opportunity windows according to the dynamic priority of the shooting tasks in the shooting opportunity windows; The acquisition module is used to sequentially acquire each shooting opportunity window; The calculation module is used to calculate the right boundary of the strip when the corresponding satellite is tilted to the far right within the shooting opportunity window; The first determining module is used to determine the target lateral tilt angle covering the rightmost boundary of the target area based on the satellite orbit parameters and the target area when the right boundary does not intersect with the target area. The second determining module is used to determine the current shooting strip based on the current shooting opportunity window and the target side swing angle; The cropping module is used to remove the area of ​​the current shooting strip corresponding to the target area to form the next target area, and return to the step of sequentially acquiring each shooting opportunity window until the area of ​​the next target area is zero or all shooting opportunity windows have been acquired.

6. The apparatus as claimed in claim 5, characterized in that, Determining the target lateral tilt angle covering the rightmost boundary of the target area based on satellite orbit parameters and the target area includes: Calculate the geometric center point of the target region. ; Based on the satellite orbit parameters, the centerline of the satellite's field of view is determined to pass through the geometric center point within the shooting opportunity window. Rotational lateral sway angle ; Steps to calculate the bisection angle: Let , ,calculate and Bisection angle Among them, the satellite's lateral tilt range is ; Calculate the satellite's side swing to the aforementioned bisection angle. The right boundary of the strip at that time ; like If it intersects with the target region, then ,otherwise, ; judge Is it less than the first preset precision? ; If so, then The target lateral sway angle; If not, return to the step of calculating the bisection angle.

7. The apparatus as claimed in claim 6, characterized in that, The satellite field of view centerline, determined based on satellite orbit parameters, passes through the geometric center point within the shooting opportunity window. Rotational lateral sway angle ,include: Determine the satellite is in Time and Is the time in the circle? On the same side; where the start and end time interval of the shooting opportunity window is... ,round To the Earth's core Center and through The Earth's great circle at a point; If not, proceed with the step of calculating the bisection time. Steps to calculate the bisection time: Calculate and The second moment ; Determine the satellite is in Is the time in the circle? The inside; If it is on the inside, then ,otherwise, ; judge Is it less than the second preset precision? ; If so, then calculate the vector. Rotate to vector The angle is the rotational lateral swing angle. ;in, This indicates the satellite's position in the J2000 coordinate system; If not, return to the step of calculating the binary time division.

8. The apparatus as claimed in claim 7, characterized in that, The judgment satellite is Time and Is the time in the circle? On the same side, including: calculate Time and time The position of the point in the J2000 coordinate system; Calculated based on satellite orbital parameters Time and The satellite's position and velocity in the J2000 coordinate system at any given time; Based on the satellite position and velocity, a VVLH coordinate system is constructed, and the X-axis vector of the VVLH coordinate system is obtained. ; like Then the satellite is currently in a circle Inside, otherwise in the circle The outside.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the large-area strip satellite collaborative imaging method as described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the large-area strip satellite collaborative imaging method as described in any one of claims 1 to 4.

Images