CN115755047B - A SAR satellite high-resolution imaging mission planning method - Google Patents
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Abstract
本发明公开了一种SAR卫星高分辨成像任务规划方法，综合考虑卫星资源约束和高分辨率的成像任务需求，进行姿态机动和时序两方面的任务规划，一次性规划多个成像任务，提高卫星资源的利用效率和卫星的观测速度，且能满足成像任务需求，达到所需的分辨率和幅宽指标；本发明避免成像任务之间的姿态切换、开关机时刻、存储时序之间的冲突，按优先级从高到低依次完成成像任务。本发明采用最小二乘法拟合姿态欧拉角曲线，求导获得姿态欧拉角速度和姿态欧拉角加速度，提高计算精度。在计算时序参数时，本发明采用仿真验证分段变重频设计结果是否保证回波能够有效接收，保证时序参数的准确性。
The present invention discloses a SAR satellite high-resolution imaging task planning method, which comprehensively considers satellite resource constraints and high-resolution imaging task requirements, performs task planning in terms of attitude maneuvers and timing, plans multiple imaging tasks at one time, improves the utilization efficiency of satellite resources and the observation speed of the satellite, and can meet the imaging task requirements and achieve the required resolution and width indicators; the present invention avoids conflicts between attitude switching, power on/off time, and storage timing between imaging tasks, and completes the imaging tasks in order from high to low priority. The present invention adopts the least squares method to fit the attitude Euler angle curve, and obtains the attitude Euler angular velocity and attitude Euler angular acceleration by derivative, thereby improving the calculation accuracy. When calculating the timing parameters, the present invention adopts simulation to verify whether the segmented variable repetition frequency design result can ensure that the echo can be effectively received, and ensure the accuracy of the timing parameters.
Description
Technical Field
The invention relates to the technical field of satellite mission planning, in particular to a SAR satellite high-resolution imaging mission planning method.
Background
Different from the task planning of the traditional satellite, the task planning of SAR satellite high-resolution imaging needs to comprehensively consider the collaborative planning problem of satellite attitude and pulse receiving and transmitting time sequence. On one hand, the task needs to reasonably design a gesture maneuvering track according to imaging requirements, so that a satellite drives SAR antenna beams to rotate by a certain angle, and the azimuth large synthetic aperture bandwidth is ensured. The agile SAR satellite adopts a reflecting surface antenna system, and the wave beam is fixed relative to the satellite body, so that the change of the wave beam in the space direction is realized through gesture maneuver in order to realize high-resolution imaging. When multi-target ultra-high resolution imaging is performed, the pose switching time between different targets needs to be considered to avoid imaging pose conflicts. On the other hand, in the imaging process, the distance between the satellite and the target will change in a large range, so that pulse receiving and transmitting time sequences need to be reasonably designed according to the free movement characteristic of the satellite-to-ground distance during the imaging process, so that the effective receiving of the complete scene echo is realized. The pulse receiving and transmitting time sequence directly influences the solid memory of the satellite occupied by imaging data, and when multi-target high-resolution imaging is carried out, the occupied data size of different imaging tasks needs to be considered so as to completely store all data.
From the above discussion, it can be seen that agile SAR satellite ultra-high resolution imaging mission planning involves planning of attitude trajectories and pulse transmit-receive timings. Currently, aiming at the gesture track design of ultra-high resolution SAR imaging, a sliding beam focusing gesture track design method is proposed in a satellite platform gesture maneuvering method (patent number: CN 106291557A) for realizing an ultra-high resolution sliding beam focusing mode of a satellite-borne SAR. Aiming at wave position design of high-resolution SAR imaging, a super-resolution SAR time sequence design method is proposed in a patent of a super-resolution space-borne SAR segmented variable repetition frequency time sequence design method (patent number: CN 110208800A). However, the above patent only relates to a single aspect of single-target ultra-high resolution imaging mission planning, and cannot solve the problem of agile SAR satellite multi-target ultra-high resolution imaging mission planning. Therefore, a task planning method for ultra-high resolution imaging of multi-target and multi-aspect agile SAR satellites is currently required.
Disclosure of Invention
In view of the above, the invention provides a method for planning a high-resolution imaging task of an SAR satellite, which can combine attitude maneuver and time sequence to carry out efficient planning on a multi-target imaging task.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a SAR satellite high-resolution imaging mission planning method specifically comprises the following steps:
step 1, eliminating imaging tasks of invisible targets based on satellite orbit forecast, and calculating imaging windows of the visible targets.
And 2, calculating the load switching-on and switching-off time based on satellite motion information in the imaging window.
And step 3, judging whether the load on-off time is overlapped, and if so, only reserving the imaging task with the highest priority.
And 4, calculating an attitude Euler angle, and calculating the angular speed and the angular acceleration based on the attitude Euler angle.
And 5, comparing the Euler angles, the angular velocities and the angular accelerations of the postures of the adjacent imaging tasks, judging whether the posture switching conflict exists, and if so, only reserving the imaging task with the highest priority.
And 6, calculating time sequence parameters of the imaging task.
And 7, calculating the solid storage quantity of the imaging tasks, sorting the imaging tasks and the data transmission arc sections according to time, and when the solid storage quantity of the imaging tasks in the adjacent data transmission arc sections exceeds the satellite residual quantity, arranging the imaging tasks according to the priority from low to high, and deleting the imaging tasks in sequence until the solid storage quantity does not exceed the satellite residual quantity.
And 8, dividing the imaging task according to the circle number, calculating the total imaging duration of each circle of load, judging whether the maximum imaging duration of a single circle is exceeded, and if so, sequentially deleting the imaging tasks according to the order of the priority from low to high until the maximum imaging duration of the single circle is not exceeded.
Further, the specific mode of the step2 is as follows:
and 2.1, screening satellite motion information in an imaging window, and calculating a zero Doppler moment t m.
And 2.2, calculating a position vector O rot of the equivalent rotation center under the ground system according to the zero Doppler moment t m, and further obtaining a velocity vector of the satellite at the zero Doppler moment relative to the ground system.
Step 2.3, according to the speed vector of the satellite relative to the ground and the imaging breadth, calculating the total imaging duration t on:
Wherein D sce is imaging breadth, V S(tm) is velocity vector of satellite relative earth fixed system at zero doppler moment, |is modulo operation, a=ρ spot/ρstrip is resolution improvement factor, and is determined by sliding beam-focusing mode resolution ρ spot and stripe mode resolution ρ strip.
Step 2.4, calculating imaging start and end time, namely imaging start time t start＝tm-0.5×ton and imaging end time t end＝tm+0.5×ton.
And 2.5, calculating load startup and shutdown time, namely marking the preparation time of load imaging startup as t pre, marking the time of imaging ending and standby turning-over as t off, and marking the load startup time as t start-tpre and the load shutdown time as t end+toff.
Further, the specific mode of the step4 is as follows:
and 4.1, calculating theoretical orientations of the x axis, the y axis and the z axis of the satellite body coordinate system under the ground fixation system from the imaging start time to the imaging end time.
Step 4.2, calculating an attitude matrix C BO (t) from the satellite orbit coordinate system to the satellite body coordinate system:
Wherein, C FO (t) is the theoretical orientation of the x-axis, y-axis and z-axis of the satellite body coordinate system at time t in the earth-fixed system, respectively, of the coordinate conversion matrix ;(x1(t),x2(t),x3(t))、(y1(t),y2(t),y3(t))、(z1(t),z2(t),z3(t)) from the satellite orbit coordinate system to the earth-fixed system.
Step 4.3, converting the gesture matrix C BO (t) into euler angles:
The component form of notation C BO (t) is as follows:
the attitude euler angle θ (t) is:
Wherein θ pitch、θroll、θyaw is pitch angle, roll angle, and yaw angle, respectively, atan and asin are arctangent and arcsine functions, respectively.
And 4.4, fitting a pitch angle, a roll angle and a yaw angle at each moment from the beginning to the end of imaging into a polynomial curve by adopting a least square method.
And 4.5, obtaining the Euler angular velocity at the imaging starting and ending time by obtaining a first derivative of the polynomial curve, and obtaining the Euler angular acceleration at the imaging starting and ending time by obtaining a second derivative of the polynomial curve.
Further, the specific mode of step 6 is as follows:
And 6.1, determining the instantaneous maximum range span of the scene echo according to the scene echo range migration of the target, and designing the meeting range of the total range of the azimuth range of each section.
And 6.2, segmenting the azimuth during echo receiving according to the meeting range of the total span of the oblique distances of each azimuth section.
And 6.3, designing the length, the starting and ending sampling moments of the echo receiving window of each section of the azimuth according to the minimum and maximum skew of the echo in each section of the azimuth.
And 6.4, searching the working repetition frequency matched with the time range of the echo receiving window based on the starting and ending sampling moments of the echo receiving windows of each section in the azimuth direction.
And 6.5, simulating to verify whether the segmentation variable repetition frequency design result ensures that the echo can be effectively received, if so, ending the design and outputting the time sequence parameters, otherwise, returning to the step 6.3 until the segmentation variable repetition frequency design result ensures that the echo can be effectively received.
Further, the timing parameters include:
the total number of azimuth segmentation Na in one imaging process, and the azimuth initial sampling time of the ith segment Azimuth termination sampling time of ith sectionEcho receiving window initial sampling time of ith sectionThe echo receiving window of the ith section terminates the sampling timeThe repetition frequency PRF i of the transmission pulse of the ith section, the total number of the pulse transmissions of the ith sectionWherein i=1, na.
The beneficial effects are that:
1. The invention provides a SAR satellite high-resolution imaging task planning method, which comprehensively considers satellite resource constraint and high-resolution imaging task requirements, performs task planning in two aspects of attitude maneuver and time sequence, plans a plurality of imaging tasks at one time, improves the utilization efficiency of satellite resources and the observation speed of satellites, can meet the imaging task requirements, achieves required resolution and breadth indexes, avoids conflict among attitude switching, switching-on and switching-off time and storage time sequence among the imaging tasks, and sequentially completes the imaging tasks from high priority to low priority.
2. According to the invention, a least square method is adopted to fit the Euler angle curve of the gesture, so that the Euler angle speed and the Euler angle acceleration of the gesture are obtained by derivation, and the calculation precision is improved.
3. When the time sequence parameters are calculated, the invention adopts simulation to verify whether the segmented variable repetition frequency design result ensures that the echo can be effectively received, and ensures the accuracy of the time sequence parameters.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of imaging task and data transmission arc distribution.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a method for planning a high-resolution imaging task of a SAR satellite, which comprises the following specific steps:
step 1, based on initial parameters and constraint conditions of task planning, including task planning period, imaging task requirement, data transmission arc segment, satellite initial orbit, maximum view angle of load, initial residual solid-state capacity, single-turn longest accumulated imaging duration and maximum attitude maneuver capability. The parameters are described as follows:
the task planning period comprises starting and ending moments and is used for limiting the time range of task planning;
The imaging task demands include a target name, a target center position coordinate (including longitude, latitude and altitude), imaging resolution and imaging breadth to be realized, a quasi-imaging period and task priority, wherein the duration of the quasi-imaging period should not exceed a satellite orbit period;
the data transmission arc section is used for transmitting imaging data to the ground by the satellite, wherein the imaging data transmitted by the satellite are deleted by the satellite;
the maximum angle of view of the load, namely the maximum angle at which the load beam can point, is constrained by the attitude maneuver capability of the satellite;
the initial residual solid-state capacity is the data size which can be stored by the satellite, and the data size is not smaller than 0 in the task planning period;
The longest accumulated imaging duration P 0 of a single turn is that the total imaging duration of the single turn of the satellite is controlled to be not more than the value in the task planning period;
The maximum attitude maneuver capability provided by the satellite control system is represented by x, y and z three-axis maximum angular acceleration under the satellite coordinate system oxyz, and is marked as a x_ctrl、ay_ctrl、az_ctrl, and the maximum load field angle can be calculated.
Step 2, carrying out orbit forecasting on the satellite, acquiring orbit data of the satellite in a task planning period, and deleting an imaging task of an invisible target according to a maximum view angle of a load:
And 2.1, the orbit dynamics model extrapolates orbit forecast data of a mission planning period based on the initial orbit of the satellite, including the position and the speed of the satellite.
And 2.2, judging whether the satellite is visible to the target in the quasi-observation period of each imaging task according to the orbit forecast data and the maximum load field angle, eliminating the imaging task of the invisible target, and calculating an imaging window of the visible target (namely, the time period when the target is positioned in the maximum load field angle range).
Step 3, calculating the load startup and shutdown time of each imaging task based on satellite motion information in the imaging window:
Step 3.1, screening satellite motion information in an imaging window, and calculating a zero Doppler moment t m;
Step 3.2, calculating a position vector O rot of the equivalent rotation center under the ground system according to the zero Doppler moment t m, and further obtaining a velocity vector of the satellite at the zero Doppler moment relative to the ground system;
step 3.3, according to the flying speed and imaging breadth of the satellite relative to the ground, calculating the total imaging duration t on:
wherein D sce is imaging breadth, V S(tm) is velocity vector of satellite relative earth fixed system at zero doppler moment, |is modulo operation, a=ρ spot/ρstrip is resolution improvement factor, and is determined by sliding beam-focusing mode resolution ρ spot and stripe mode resolution ρ strip;
Step 3.4, calculating imaging start and end time, namely imaging start time t start＝tm-0.5×ton and imaging end time t end＝tm+0.5×ton;
And 3.5, calculating load startup and shutdown time, namely marking the preparation time of load imaging startup as t pre, marking the time of imaging ending and standby turning-over as t off, and marking the load startup time as t start-tpre and the load shutdown time as t end+toff.
And step 4, judging whether the load switching-on and switching-off moments of the visible targets are overlapped, and if so, only reserving the imaging task with the highest priority.
Step 5, calculating the attitude Euler angle of the imaging task, and calculating the attitude Euler angular speed and the angular acceleration of the imaging task at the starting time and the ending time based on the attitude Euler angle:
Step 5.1, calculating theoretical orientations of an x axis, a y axis and a z axis of a satellite body coordinate system under a ground fixed system from imaging starting time to imaging ending time;
Step 5.2, calculating an attitude matrix C BO (t) from the satellite orbit coordinate system to the satellite body coordinate system:
Wherein, C FO (t) is the theoretical orientation of the x-axis, y-axis and z-axis of the satellite body coordinate system at the time t from the satellite orbit coordinate system to the ground fixed system in the coordinate conversion matrix ;(x1(t),x2(t),x3(t))、(y1(t),y2(t),y3(t))、(z1(t),z2(t),z3(t));
Step 5.3, converting the gesture matrix C BO (t) into euler angles:
The component form of notation C BO (t) is as follows:
the attitude euler angle θ (t) is:
Wherein, theta pitch、θroll、θyaw is pitch angle, roll angle and yaw angle respectively, atan and asin are arctangent and arcsine functions respectively;
Step 5.4, fitting a pitch angle, a rolling angle and a yaw angle at each moment from the beginning to the end of imaging into a polynomial curve by adopting a least square method;
And 5.5, obtaining the Euler angular velocity at the imaging starting and ending time by obtaining a first derivative of the polynomial curve, and obtaining the Euler angular acceleration at the imaging starting and ending time by obtaining a second derivative of the polynomial curve.
And 6, judging whether the satellite mechanical capability meets the gesture switching requirement of the adjacent imaging task (comparing the gesture Euler angle, the angular speed and the angular acceleration of the adjacent imaging task and judging whether gesture switching conflict exists) and if not, reserving the task with the highest priority.
Step 7, calculating time sequence parameters of the imaging task:
Step 7.1, determining the instantaneous maximum range span of the scene echo according to the scene echo range migration of the target, and designing a range which is required to be met by the total range span of each section of range in azimuth according to the instantaneous maximum range span;
7.2, segmenting the azimuth during echo receiving according to the range which should be met by the total span of the oblique distances of each azimuth section;
Step 7.3, designing the length of the echo receiving window of each section of azimuth direction and the starting and ending sampling time according to the minimum slant distance and the maximum slant distance of the echo in each section of azimuth direction;
step 7.4, searching working heavy frequency capable of matching the time range of the echo receiving window based on the starting and ending sampling moments of the echo receiving windows of each section in azimuth;
And 7.5, simulating to verify whether the segmentation variable repetition frequency design result ensures that the echo can be effectively received, if so, ending the design and outputting the time sequence parameters, otherwise, returning to the step 6.3 until the segmentation variable repetition frequency design result ensures that the echo can be effectively received.
Through the calculation process, the time sequence parameters required by the SAR load single imaging task can be obtained, and the time sequence parameters specifically comprise:
the total number of azimuth segmentation Na in one imaging process, and the azimuth initial sampling time of the ith segment Azimuth termination sampling time of ith sectionEcho receiving window initial sampling time of ith sectionThe echo receiving window of the ith section terminates the sampling timeThe repetition frequency PRF i of the transmission pulse of the ith section, the total number of the pulse transmissions of the ith sectionWherein i=1, na. And 8, calculating the solid-state requirements of each imaging task according to the time sequence parameters, judging whether the residual solid-state quantity of the satellite meets the requirement guarantee of imaging data storage, and if the residual solid-state quantity of the satellite cannot meet the requirement guarantee, preferentially reserving the high-priority tasks.
And 8.1, calculating the solid-state quantity of each imaging task according to the pulse time sequence obtained in the step five.
Step 8.2, recording N total data transmission arc segments of the satellite during the whole task planning period, sequencing and marking according to time sequence,The starting time and the ending time of the j-th data transmission arc section are respectively. And (3) sequencing the starting and ending time periods and the data transmission arc periods of the imaging tasks reserved in the step six according to time sequence, as shown in fig. 2.
And 8.3, sequentially calculating the residual solid storage capacity F j on the satellite at the transmission starting time of the jth time according to the sequence from 1 to N of the j.
And 8.4, recording that g imaging tasks exist between the j-1 th and the j-th data transmission resources, and deleting the g tasks in sequence according to the order of the priority from low to high as shown in the attached figure 2, and repeating the step 3) until F j is more than or equal to 0.
And 9, dividing the imaging tasks according to the circle number, calculating the total imaging duration of each circle of load, judging whether the total imaging duration constraint of the single circle of load is exceeded, if so, deleting the imaging tasks in sequence according to the order of the priority from low to high until the total imaging duration constraint of the single circle of load is not exceeded, and ending task planning.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The SAR satellite high-resolution imaging mission planning method is characterized by comprising the following steps:
Step 1, based on initial parameters and constraint conditions of task planning, including task planning period, imaging task requirement, data transmission arc segment, satellite initial orbit, maximum view angle of load, initial residual solid-state capacity, single-turn longest accumulated imaging duration and maximum attitude maneuver capability;
Removing imaging tasks of invisible targets based on satellite orbit forecast, and calculating imaging windows of the visible targets;
step 2, calculating the load switching-on and switching-off time based on satellite motion information in an imaging window;
Step 3, judging whether the load on-off time is overlapped or not, if so, only reserving the imaging task with the highest priority;
step 4, calculating an attitude Euler angle, and calculating an angular speed and an angular acceleration based on the attitude Euler angle;
step 5, comparing the Euler angles, the angular velocities and the angular accelerations of the postures of the adjacent imaging tasks, judging whether posture switching conflict exists, and if so, only reserving the imaging task with the highest priority;
Step 6, calculating time sequence parameters of the imaging task;
Step 7, calculating the solid storage quantity of the imaging tasks, sorting the imaging tasks and the data transmission arc sections according to time, and when the solid storage quantity of the imaging tasks in the adjacent data transmission arc sections exceeds the satellite residual quantity, arranging the imaging tasks from low to high according to priority, and deleting the imaging tasks in sequence until the solid storage quantity does not exceed the satellite residual quantity;
And 8, dividing the imaging task according to the circle number, calculating the total imaging duration of each circle of load, judging whether the maximum imaging duration of a single circle is exceeded, and if so, sequentially deleting the imaging tasks according to the order of the priority from low to high until the maximum imaging duration of the single circle is not exceeded.
2. The method according to claim 1, wherein the specific manner of step 2 is:
Step 2.1, screening satellite motion information in an imaging window, and calculating a zero Doppler moment t m;
Step 2.2, calculating a position vector O rot of the equivalent rotation center under the ground system according to the zero Doppler moment t m, and further obtaining a velocity vector of the satellite at the zero Doppler moment relative to the ground system;
Step 2.3, according to the speed vector of the satellite relative to the ground and the imaging breadth, calculating the total imaging duration t on:
wherein D sce is imaging breadth, V S(tm) is velocity vector of satellite relative earth fixed system at zero doppler moment, |is modulo operation, a=ρ spot/ρstrip is resolution improvement factor, and is determined by sliding beam-focusing mode resolution ρ spot and stripe mode resolution ρ strip;
Step 2.4, calculating imaging start and end time, namely imaging start time t start＝tm-0.5×ton and imaging end time t end＝tm+0.5×ton;
And 2.5, calculating load startup and shutdown time, namely marking the preparation time of load imaging startup as t pre, marking the time of imaging ending and standby turning-over as t off, and marking the load startup time as t start-tpre and the load shutdown time as t end+toff.
3. The method according to claim 1, wherein the specific manner of step 4 is:
Step 4.1, calculating theoretical orientations of an x axis, a y axis and a z axis of a satellite body coordinate system under a ground fixed system from imaging starting time to imaging ending time;
step 4.2, calculating an attitude matrix C BO (t) from the satellite orbit coordinate system to the satellite body coordinate system:
Wherein, C FO (t) is the theoretical orientation of the x-axis, y-axis and z-axis of the satellite body coordinate system at the time t from the satellite orbit coordinate system to the ground fixed system in the coordinate conversion matrix ;(x1(t),x2(t),x3(t))、(y1(t),y2(t),y3(t))、(z1(t),z2(t),z3(t));
step 4.3, converting the gesture matrix C BO (t) into euler angles:
The component form of notation C BO (t) is as follows:
the attitude euler angle θ (t) is:
Wherein, theta pitch、θroll、θyaw is pitch angle, roll angle and yaw angle respectively, atan and asin are arctangent and arcsine functions respectively;
step 4.4, fitting a pitch angle, a rolling angle and a yaw angle at each moment from the beginning to the end of imaging into a polynomial curve by adopting a least square method;
and 4.5, obtaining the Euler angular velocity at the imaging starting and ending time by obtaining a first derivative of the polynomial curve, and obtaining the Euler angular acceleration at the imaging starting and ending time by obtaining a second derivative of the polynomial curve.
4. The method according to claim 1, wherein the specific manner of step 6 is:
Step 6.1, determining the instantaneous maximum slant range span of the scene echo according to the scene echo range migration of the target, and designing the meeting range of the total slant range span of each section of azimuth;
Step 6.2, segmenting the azimuth direction during echo receiving according to the meeting range of the total span of the oblique distances of each azimuth direction segment;
step 6.3, designing the length, the starting and ending sampling moments of the echo receiving windows of each section of the azimuth direction according to the minimum and maximum slant ranges of the echo in each section of the azimuth direction;
Step 6.4, searching working repetition frequency matched with the time range of the echo receiving window based on the starting and ending sampling moments of the echo receiving windows of each section in the azimuth direction;
and 6.5, simulating to verify whether the segmentation variable repetition frequency design result ensures that the echo can be effectively received, if so, ending the design and outputting the time sequence parameters, otherwise, returning to the step 6.3 until the segmentation variable repetition frequency design result ensures that the echo can be effectively received.
5. The method of claim 1 or 4, wherein the timing parameters comprise:
the total number of azimuth segmentation Na in one imaging process, and the azimuth initial sampling time of the ith segment Azimuth termination sampling time of ith sectionEcho receiving window initial sampling time of ith sectionThe echo receiving window of the ith section terminates the sampling timeThe repetition frequency PRF i of the transmission pulse of the ith section, the total number of the pulse transmissions of the ith sectionWherein i=1, na.
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