技术领域technical field
本发明属于航天器在轨运行管理技术领域，具体涉及一种摄影任务自动规划系统和方法，适用于可见光遥感航天器的在轨运行管理。The invention belongs to the technical field of on-orbit operation management of spacecraft, and in particular relates to an automatic planning system and method for photographic tasks, which are suitable for on-orbit operation management of visible light remote sensing spacecraft.
背景技术Background technique
光学遥感航天器是一类从太空中获取地面图像信息的对地观测卫星，在军事、灾害防治，环境保护等领域发挥了重要作用。随着遥感航天器数量增多，成像任务需求也呈现出多样化、复杂化和快速增长趋势，根据摄影任务需要和现有航天器资源能力，制定优化的成像方案，是提高航天器观测效率，充分发挥航天器系统整体效能的有效技术途径。Optical remote sensing spacecraft is a kind of earth observation satellite that obtains ground image information from space, and plays an important role in military, disaster prevention, environmental protection and other fields. With the increase in the number of remote sensing spacecraft, the demand for imaging tasks is also showing a trend of diversification, complexity, and rapid growth. According to the needs of photography tasks and the resource capabilities of existing spacecraft, formulating an optimized imaging plan is to improve the efficiency of spacecraft observation and fully An effective technical approach to exert the overall effectiveness of the spacecraft system.
现有光学遥感航天器，主要以耗费航天器资源和损失实时性为代价实现预定的观测任务，主要体现在：云层气象信息考虑有限，带来较多的星载存储资源浪费和数传时间浪费，导致重访周期内关键目标成像机会丧失；光学遥感一般采用近地轨道以提高分辨率指标，航天器过境时间短，对于成像目标变化频繁，气象信息短期变化快，遥感器工作参数需要经常调整的特点，现有技术实时应变能力有限，对于某些高实时性要求的观测目标，无法做出及时调整和响应。Existing optical remote sensing spacecraft mainly realize the scheduled observation tasks at the cost of consuming spacecraft resources and losing real-time performance, which is mainly reflected in: limited consideration of cloud layer meteorological information, resulting in more waste of on-board storage resources and data transmission time , leading to the loss of imaging opportunities for key targets during the revisit period; optical remote sensing generally uses low-earth orbits to improve resolution indicators, and the transit time of spacecraft is short. The imaging targets change frequently, and meteorological information changes rapidly in the short term, and the working parameters of remote sensors need to be adjusted frequently. Due to the limited real-time adaptability of existing technologies, it is impossible to make timely adjustments and responses to some observation targets with high real-time requirements.
发明内容Contents of the invention
有鉴于此，本发明提供了一种摄影任务自动规划方法和系统，使用最新的轨道数据做摄影规划，克服了按照理论轨道计算摄影指令造成的摄影区域偏差较大的缺陷，最大限度的减少星载存储资源和地面接收站资源浪费，提高航天器观测效率。In view of this, the present invention provides a method and system for automatic planning of photography tasks, which uses the latest orbit data for photography planning, overcomes the defect of relatively large deviation of the photography area caused by calculating photography instructions according to theoretical orbits, and minimizes the It can reduce the waste of on-board storage resources and ground receiving station resources, and improve the efficiency of spacecraft observation.
为了解决上述技术问题，本发明是这样实现的：In order to solve the problems of the technologies described above, the present invention is achieved in that:
一种摄影任务自动规划方法，设定一个时间单元，在每个时间单元内基于用户提出的摄影区域要求，根据测控系统提供的轨道数据、气象局提供的气象信息、星载存储器剩余容量和相机使用约束，进行该时间单元内的摄影规划，生成摄影开关机指令；在时间单元内，当气象信息变化时，重新进行摄影规划；时间单元的设定范围小于或等于24小时。An automatic planning method for photography tasks, setting a time unit, and in each time unit, based on the photography area requirements proposed by the user, according to the orbit data provided by the measurement and control system, the weather information provided by the Meteorological Bureau, the remaining capacity of the on-board memory and the camera Use constraints to carry out photography planning within the time unit, and generate photography switching instructions; within the time unit, when the weather information changes, re-perform the photography planning; the setting range of the time unit is less than or equal to 24 hours.
优选地，所述摄影规划包括：Preferably, the photography plan includes:
步骤1、根据轨道数据、本次规划起止时间，计算每秒的航天器轨道位置和太阳位置；Step 1. Calculate the orbital position and sun position of the spacecraft per second according to the orbital data and the start and end time of this plan;
步骤2、根据每一时刻的航天器轨道位置、摄影区域和相机使用约束，计算星下点是否进入摄影区域，以及进入和离开摄影区域的时间和经纬度，然后根据当地太阳高度角，得出满足光照条件的摄影区域、相机开关机时间、数据量；Step 2. Calculate whether the sub-satellite point enters the imaging area, the time and latitude and longitude of entering and leaving the imaging area according to the orbital position of the spacecraft, the imaging area and the camera usage constraints at each moment, and then obtain the satisfaction of Photography area under lighting conditions, camera on/off time, data volume;
步骤3、根据摄影区域重要级别确定步骤2得出的满足光照条件的摄影区域的优先级；Step 3. Determine the priority of the photography area that meets the lighting conditions obtained in step 2 according to the importance level of the photography area;
步骤4、进行摄影指令有效性判别：根据云层情况，去除覆盖过厚的云层区域不进行摄影；并且根据星载存储器剩余容量，去除不满足星载存储器容量限制的低优先级摄影区域，得到最终的摄影开关机指令。Step 4. Judging the validity of the photography instruction: according to the cloud condition, remove the overly thick cloud region and do not take photography; and according to the remaining capacity of the onboard memory, remove the low-priority photography region that does not meet the capacity limit of the onboard memory, and obtain the final camera switch command.
优选地，进一步根据由轨道数据计算出的摄影星下点的太阳高度，实时调整摄影的曝光时间。Preferably, the exposure time of the photography is adjusted in real time further according to the sun altitude of the sub-satellite point of photography calculated from the orbit data.
优选地，所述曝光时间t的计算方式为：Preferably, the calculation method of the exposure time t is:
其中，K1为常数，B为地面景物平均视亮度，δ为成像面照度衰减系数；Among them, K1 isa constant, B is the average apparent brightness of the ground scene, and δ is the illuminance attenuation coefficient of the imaging surface;
地面景物平均视亮度的计算方式为：The calculation method of the average apparent brightness of the ground scene is:
其中，E为地面照度，是太阳高度角hθ的函数；r为地面景物反射率；T_air为大气透过率；I为大气亮度，也是太阳高度角hθ的函数。Among them, E is the ground illuminance, which is a function of the sun altitude angle hθ ; r is the reflectivity of the ground scene; T_air is the atmospheric transmittance; I is the atmospheric brightness, which is also a function of the sun altitude angle hθ .
优选地，地面照度E和大气亮度I与太阳高度角hθ的函数关系分别为：Preferably, the functional relationship between the ground illuminance E and the atmospheric brightness I and the sun altitude angle hθ is respectively:
E＝0.00012493hθ4-0.0546319hθ3+4.80427hθ2+45.6507hθ+105.286E＝0.00012493hθ4 -0.0546319hθ3 +4.80427hθ2 +45.6507hθ +105.286
I＝-0.0000493688hθ4+0.0141825hθ3-1.38802hθ2+47.5287hθ+209.63。I = -0.0000493688hθ4 +0.0141825hθ3 -1.38802hθ2 +47.5287hθ +209.63.
优选地，该方法进一步包括步骤5，对每个摄影区域的任务完成情况进行统计，给出已完成的摄影区域及其覆盖情况，包括摄影重叠率、覆盖面积、覆盖次数，并给出未拍摄的区域。Preferably, the method further includes step 5, counting the task completion of each photographing area, giving the completed photographing area and its coverage, including the photographing overlap rate, coverage area, and coverage times, and giving the unphotographed Area.
优选地，所述相机使用约束的约束条件是根据摄影分系统约束条件和热控分系统约束条件确定的，包括：Preferably, the constraints of the camera usage constraints are determined according to the constraints of the photography subsystem and the constraints of the thermal control subsystem, including:
1)在航天器在轨飞行寿命期间，相机累计开关机次数的约束；1) During the life of the spacecraft in orbit, the constraints on the cumulative number of times the camera is turned on and off;
2)每半天摄影规划中相机累计开关机次数的约束；2) Constraints on the cumulative number of times the camera is turned on and off in the half-day photography plan;
3)每一天摄影规划中相机累计开关机次数的约束；3) Constraints on the cumulative number of times the camera is turned on and off in the photography plan for each day;
4)一次照相开始与照相停止之间的时间间隔TON-OFF的约束；4) Constraints on the time interval TON-OFF between the start of a photograph and the stop of the photograph;
5)本次照相停止与下次照相开始之间的时间间隔TOFF-ON的约束；5) The constraint of the time interval TOFF-ON between the stop of this photography and the start of the next photography;
6)设每一次照相开始时刻TON，连续判断后续所有照相停止与下次照相开始之间的时间间隔TOFF-ON，直到TOFF-ON大于设定上限，记录此次的关机时刻TOFF，则要求TOFF－TON小于一个约束值；6) Set the start time TON of each photographing, continuously judge the time interval TOFF-ON between the stop of all subsequent photographs and the start of the next photographing, until TOFF-ON is greater than the set upper limit, and record the shutdown time TOFF , then TOFF -TON is required to be less than a constraint value;
7)设一个摄影弧段内所有照相开始与照相停止之间的时间累加和为TTOTAL，一个摄影弧段内开关机控制满足下述情况1的次数为NCON1，满足情况2的次数为NCON2，满足情况3的次数为NCON3，设第I次照相停止与第I+1次照相开始之间的时间间隔为T(OFF-ON)I，则7) Assuming that the cumulative sum of the time between the start of photography and the stop of photography in a photography arc is TTOTAL , the number of times the switch machine control satisfies the following condition 1 in a photography arc is NCON1 , and the number of times that satisfies condition 2 is NCON2 , the number of times that satisfies condition 3 is NCON3 , and the time interval between the stop of the first photoshoot and the start of the I+1th photoshoot is T(OFF-ON)I , then
其中，所述情况1～3分别为：Among them, the above-mentioned situations 1-3 are respectively:
情况1：本次照相停止时间与下次照相开始时间之间时间间隔在范围A之间；Case 1: The time interval between the stop time of this photography and the start time of the next photography is within range A;
情况2：本次照相停止时间与下次照相开始时间之间时间间隔在范围B之间；Case 2: The time interval between the stop time of this photography and the start time of the next photography is within range B;
情况3：本次照相停止时间与下次照相开始时间之间时间间隔在范围B的上限以上；Case 3: The time interval between the stop time of this photography and the start time of the next photography is above the upper limit of range B;
上式左边第一项为总摄影时间；第二项为摄影间隔在范围A的累计热门开启时间；第三项为摄影间隔在范围B的累计热门开启时间；第四项为摄影间隔大于范围B上限的累计热门开启时间；总和为在一圈内总的热门开启时间。The first item on the left side of the above formula is the total shooting time; the second item is the cumulative hot opening time of the shooting interval in range A; the third item is the cumulative hot opening time of the shooting interval in range B; the fourth item is that the shooting interval is greater than range B Cumulative hot opening time of the upper limit; the sum is the total hot opening time in a lap.
本发明还提供了一种摄影任务自动规划系统，包括通信接口模块，以及与通信接口模块相连的摄影任务自动规划模块、轨道计算模块和曝光量计算模块；The present invention also provides an automatic photography task planning system, including a communication interface module, and an automatic photography task planning module, a track calculation module and an exposure calculation module connected to the communication interface module;
通信接口模块，完成本系统与外部的数据交互；The communication interface module completes the data interaction between the system and the outside;
摄影任务自动规划模块，根据设定的时间单元，在每个时间单元内基于用户提出的摄影区域要求，根据测控系统提供的轨道数据、气象局提供的气象信息、星载存储器剩余容量和相机使用约束，进行该时间单元内的摄影规划，生成摄影开关机指令；在时间单元内，当气象信息变化时，重新进行摄影规划；时间单元的设定范围小于或等于24小时；The photography task automatic planning module, according to the set time unit, in each time unit based on the photography area requirements proposed by the user, according to the orbit data provided by the measurement and control system, the weather information provided by the Meteorological Bureau, the remaining capacity of the on-board memory and the use of the camera Constraints, carry out the photography planning within the time unit, and generate the photography switch instruction; within the time unit, when the weather information changes, re-do the photography planning; the setting range of the time unit is less than or equal to 24 hours;
轨道计算模块，用于根据地面测控系统提供的轨道根数，计算航天器任一时刻的轨道数据和太阳位置，提供给摄影任务自动规划模块和曝光量计算模块；The orbit calculation module is used to calculate the orbit data and sun position of the spacecraft at any time according to the number of orbits provided by the ground measurement and control system, and provide them to the photography task automatic planning module and the exposure calculation module;
曝光量计算模块，用于根据所述轨道数据计算摄影星下点的太阳高度，实时计算航天器飞过摄影区域应采用的曝光时间码，作为摄影任务规划的一部分。The exposure calculation module is used to calculate the solar altitude of the photographic sub-satellite point according to the orbit data, and calculate the exposure time code that should be adopted by the spacecraft flying over the photographic area in real time, as a part of the photographic task planning.
优选地，所述摄影任务自动规划模块包括规划模块、优先级确定模块和有效性判别模块；Preferably, the photography task automatic planning module includes a planning module, a priority determination module and a validity judgment module;
规划模块，用于根据每一时刻的航天器轨道位置、摄影区域和相机使用约束，计算星下点是否进入摄影区域，以及进入和离开摄影区域的时间和经纬度，然后根据当地太阳高度角，得出满足光照条件的摄影区域、相机开关机时间、数据量；The planning module is used to calculate whether the sub-satellite point enters the photographing area, the time and latitude and longitude of entering and leaving the photographing area according to the orbital position of the spacecraft, the photographing area and the camera usage constraints at each moment, and then according to the local solar altitude angle, obtain Display the shooting area that meets the lighting conditions, the camera switching time, and the amount of data;
优先级确定模块，用于根据摄影区域重要级别确定满足光照条件的摄影区域的优先级；A priority determination module, configured to determine the priority of the photographic area meeting the lighting conditions according to the importance level of the photographic area;
有效性判别模块，用于进行摄影指令有效性判别：根据云层情况，去除覆盖过厚的云层区域不进行摄影，并且根据星载存储器剩余容量，去除不满足星载存储器容量限制的低优先级摄影区域，得到最终的摄影开关机指令。The validity judgment module is used to judge the validity of the photography instruction: according to the cloud layer, remove the overly thick cloud layer area and do not take the photo, and according to the remaining capacity of the onboard memory, remove the low priority photography that does not meet the capacity limit of the onboard memory area, get the final camera switch command.
优选地，该系统进一步包括完成情况统计模块，对每个摄影区域的任务完成情况进行统计，给出已完成的摄影区域及其覆盖情况，包括摄影重叠率、覆盖面积、覆盖次数，并给出未拍摄的区域。Preferably, the system further includes a completion statistics module, which performs statistics on the task completion of each photography area, provides the completed photography areas and their coverage, including photography overlap rate, coverage area, and coverage times, and gives Area not photographed.
有益效果：Beneficial effect:
(1)根据每天用户提出的摄影区域要求及测控系统提供的轨道数据和气象局提供的气象信息自动生成摄影程控指令；每天使用最新的轨道数据做摄影规划，克服了按照理论轨道计算摄影指令造成的摄影区域偏差较大的缺陷。(1) According to the requirements of the photography area proposed by the user every day, the orbit data provided by the measurement and control system and the meteorological information provided by the Meteorological Bureau, the photography program control instructions are automatically generated; the latest orbit data is used for photography planning every day, which overcomes the problem caused by calculating the photography instructions according to the theoretical orbit The defect that the photographic area deviates greatly.
(2)充分利用气象局提供的气象预报，根据云层的实际分布情况进行选择性摄影，最大限度的减少星载存储资源和地面接收站资源浪费。(2) Make full use of the weather forecast provided by the Meteorological Bureau, and conduct selective photography according to the actual distribution of clouds, so as to minimize the waste of spaceborne storage resources and ground receiving station resources.
(3)根据云层参数、剩余存储资源和下传窗口及时对目标优先级进行优化调整，提高航天器观测效率。(3) Optimize and adjust the target priority in time according to the cloud layer parameters, remaining storage resources and download window to improve the efficiency of spacecraft observation.
(4)根据航天器运行轨道、摄影星下点的太阳高度等影响曝光的各种因素实时调整曝光时间，克服固定曝光不灵活、光度计测光易受干扰的缺陷。(4) Adjust the exposure time in real time according to various factors that affect the exposure, such as the orbit of the spacecraft, the height of the sun at the sub-satellite point, etc., to overcome the defects that the fixed exposure is not flexible and the photometer measurement is easily disturbed.
附图说明Description of drawings
图1为本发明的方案示意图。Fig. 1 is the scheme schematic diagram of the present invention.
图2为曝光量优化计算方法。Figure 2 shows the calculation method for exposure optimization.
具体实施方式Detailed ways
下面结合附图并举实施例，对本发明进行详细描述。The present invention will be described in detail below with reference to the accompanying drawings and examples.
本发明提供了一种摄影任务自动规划方案，其基本思想是，设定一个时间单元，为了保证实时性，时间单元的设定范围小于或等于24小时，例如设定为24小时；在每个时间单元内基于用户提出的摄影区域要求，根据测控系统提供的轨道数据、气象局提供的气象信息、星载存储器剩余容量和相机使用约束，进行该时间单元内的摄影规划，生成摄影开关机指令。在时间单元内，当气象信息变化时，重新进行摄影规划。The present invention provides a scheme for automatic planning of photography tasks. The basic idea is to set a time unit. In order to ensure real-time performance, the setting range of the time unit is less than or equal to 24 hours, for example, set to 24 hours; In the time unit, based on the requirements of the photography area proposed by the user, according to the orbit data provided by the measurement and control system, the weather information provided by the Meteorological Bureau, the remaining capacity of the onboard memory and the constraints on the use of the camera, the photography planning in the time unit is carried out, and the photography switch command is generated. . In the time unit, when the meteorological information changes, the photography plan is re-executed.
可见，该方案每个时间单元均使用最新的轨道数据做该时间单元的摄影规划，克服了按照理论轨道计算摄影指令造成的摄影区域偏差较大的缺陷。充分利用气象局提供的实时气象预报，根据云层的实际分布情况进行选择性摄影，最大限度的减少星载存储资源和地面接收站资源浪费。根据星载存储器剩余容量及时对摄影规划进行优化，提高航天器观测效率。It can be seen that each time unit of this scheme uses the latest orbital data for the photography planning of the time unit, which overcomes the defect of relatively large deviation of the photography area caused by calculating the photography instructions according to the theoretical orbit. Make full use of the real-time weather forecast provided by the Meteorological Bureau, and carry out selective photography according to the actual distribution of clouds, so as to minimize the waste of spaceborne storage resources and ground receiving station resources. According to the remaining capacity of the on-board memory, the photography plan is optimized in time to improve the efficiency of spacecraft observation.
基于上述核心思想，本发明提供了一种摄影任务自动规划方法，包括如下步骤：Based on the above-mentioned core idea, the present invention provides a method for automatic planning of photographic tasks, comprising the following steps:
步骤1、根据轨道参数、本次规划起止时间，计算每秒的航天器轨道位置和太阳位置。本实施例将时间单元设定为24小时，还可以设定为12小时或者8小时，或者用户根据需要自行设置。Step 1. Calculate the orbital position and sun position of the spacecraft per second according to the orbital parameters and the start and end time of this plan. In this embodiment, the time unit is set to 24 hours, and it can also be set to 12 hours or 8 hours, or the user can set it as required.
步骤2、根据每一时刻的航天器轨道位置、摄影区域和相机使用约束，计算星下点是否进入摄影区域，以及进入和离开摄影区域的时间和经纬度，然后根据当地太阳高度角(光照条件)，得出满足光照条件的摄影区域、相机开关机时间、数据量。Step 2. Calculate whether the sub-satellite point enters the photography area, and the time and latitude and longitude of entering and leaving the photography area according to the orbital position of the spacecraft, the photography area and the camera usage constraints at each moment, and then according to the local solar altitude angle (lighting conditions) , to obtain the photographic area that meets the lighting conditions, the camera switch time, and the amount of data.
步骤3、根据摄影区域重要级别确定步骤2得出的满足光照条件的摄影区域的优先级。一般来说，摄影区域重要级别由外部指定。Step 3. Determine the priority of the photographing area satisfying the illumination condition obtained in step 2 according to the importance level of the photographing area. In general, photographic area importance levels are specified externally.
步骤4、进行摄影指令有效性判别：根据云层情况，去除覆盖过厚的云层区域不进行摄影；并且根据星载存储器剩余容量，去除不满足星载存储器容量限制的低优先级摄影区域，得到最终的摄影开关机指令。Step 4. Judging the validity of the photography instruction: according to the cloud condition, remove the overly thick cloud region and do not take photography; and according to the remaining capacity of the onboard memory, remove the low-priority photography region that does not meet the capacity limit of the onboard memory, and obtain the final camera switch command.
本步骤中，根据云层情况，识别覆盖n级(任务前已确定)以上云层的地区不进行摄影；并且根据摄影指令判别星载存储器存储容量是否满足存储数据量要求，若满足则将全部摄影区域；若不满足则根据可用容量大小将优先级较低的摄影区删除。最后得到最终的有效摄影程控指令，并记录下没有摄影的时间段，提供给航天器用户，作为下次制定摄影区域的参考。In this step, according to the cloud layer situation, it is identified that the areas covering cloud layers above n levels (determined before the mission) are not photographed; and according to the photography instruction, it is judged whether the storage capacity of the on-board memory meets the storage data volume requirement, and if so, all the photographed areas ; If it is not satisfied, delete the photography area with lower priority according to the available capacity. Finally, the final effective photography program control command is obtained, and the time period without photography is recorded, and provided to the spacecraft user as a reference for the next time to formulate the photography area.
步骤5、根据摄影星下点的太阳高度，实时调整摄影的曝光时间。Step 5. Adjust the exposure time of photography in real time according to the altitude of the sun at the substar point of photography.
本步骤利用轨道计算模块得到太阳高度角，根据指定景物的反射率计算得到指定景物的地面亮度，最后根据大气透过率、成像面照度衰减系数及相机参数，通过曝光时间计算算法得到拍摄时刻应采用的曝光码。In this step, the orbit calculation module is used to obtain the sun altitude angle, and the ground brightness of the specified scene is calculated according to the reflectance of the specified scene. Finally, according to the atmospheric transmittance, the illuminance attenuation coefficient of the imaging surface and the camera parameters, the exposure time calculation algorithm is used to obtain the shooting time. The exposure code used.
步骤6、统计任务完成情况。Step 6. Statistics on task completion.
根据摄影程控指令历史记录，统计每张胶片的摄影时间、摄影高度、摄影云层情况，给出已完成的摄影区域及其覆盖情况，以及未拍摄的区域。其中覆盖情况包括摄影重叠率、覆盖面积、覆盖次数等，还可以进一步提供摄影高度云层情况、摄影时间等信息，用于评价摄影任务完成情况。According to the historical record of the photography program control command, the statistics of the shooting time, shooting height, and shooting cloud cover of each film are given, and the completed shooting area and its coverage, as well as the unphotographed area are given. The coverage includes photography overlap rate, coverage area, coverage times, etc., and can further provide information such as photography height, cloud cover, photography time, etc., for evaluating the completion of photography tasks.
其中，覆盖面积根据经纬度数据容易得到；Among them, the coverage area is easily obtained according to the latitude and longitude data;
覆盖率＝摄影覆盖的面积/该摄影区域总面积；Coverage rate = area covered by photography / total area of the photography area;
覆盖次数为进入该摄影区的次数。The number of times of coverage is the number of times of entering the photographic area.
下面对相机使用约束和曝光时间计算进行详细描述。The camera usage constraints and exposure time calculation are described in detail below.
相机使用约束Camera usage constraints
摄影指令主要指相机开机指令、相机关机指令。通常航天器星下点进入某一摄影区域则相机开机，离开某一区域则相机关机，但由于相机自身的使用约束及星上其它分系统的约束，导致不能仅按照以上简单计算相机开关机时间，需要根据各种约束条件，综合考虑并规划摄影指令。以某遥感航天器为例，摄影规划约束条件如下：The photography command mainly refers to a camera power-on command and a camera power-off command. Usually, when the sub-satellite point of the spacecraft enters a certain shooting area, the camera turns on, and when it leaves a certain area, the camera turns off. However, due to the constraints of the use of the camera itself and the constraints of other subsystems on the satellite, it is impossible to simply calculate the switching time of the camera according to the above. , it is necessary to comprehensively consider and plan photography instructions according to various constraints. Taking a remote sensing spacecraft as an example, the photography planning constraints are as follows:
(1)摄影分系统约束条件(1) Constraints of photography subsystem
摄影分系统对摄影规划的约束条件包括以下几点：The constraints of photography subsystem on photography planning include the following points:
●在轨运行期间开关机次数不大于2000次；●The number of power on and off during the orbit operation is not more than 2000 times;
●一次开机工作最长持续时间不大于240s；●The maximum duration of a start-up work is not more than 240s;
●一次开机工作的最短持续时间大于10s；●The shortest duration of a start-up work is greater than 10s;
●在两次开机工作之间的最短间隔大于10s；●The shortest interval between two power-on operations is greater than 10s;
●在90分钟内摄影的最长持续时间小于480s；●The longest duration of photography within 90 minutes is less than 480s;
●热门开启完成后，60s开始摄影。●After the popular opening is completed, 60s to start shooting.
(2)热控分系统约束条件(2) Constraints of thermal control subsystem
一个轨道周期内热门总开启时间小于480s。The total opening time of hot spots in one orbital period is less than 480s.
(3)综合(1)和(2)的总约束条件(3) Combining the general constraints of (1) and (2)
根据航天器使用约束，将一个摄影弧段内所有的开关机控制分为以下三种情况：According to the constraints of the use of the spacecraft, all the switch controls in a photographic arc are divided into the following three situations:
情况1、本次照相停止时间与下次照相开始时间之间时间间隔在10s～30s之间；Situation 1. The time interval between the stop time of this photography and the start time of the next photography is between 10s and 30s;
情况2、本次照相停止时间与下次照相开始时间之间时间间隔在30s～120s之间；Case 2. The time interval between the stop time of this photography and the start time of the next photography is between 30s and 120s;
情况3、本次照相停止时间与下次照相开始时间之间时间间隔大于120s；则根据摄影、热控分系统的约束条件，对摄影规划的综合约束条件为：Case 3. The time interval between the stop time of this photography and the start time of the next photography is greater than 120s; then, according to the constraints of the photography and thermal control subsystems, the comprehensive constraints on photography planning are:
●在航天器在轨飞行寿命期间，相机累计开关机次数小于2000次；●During the life of the spacecraft in orbit, the cumulative number of times the camera is turned on and off is less than 2,000;
●每半天摄影规划中相机累计开关机次数小于50次；●The accumulative number of switching on and off of the camera in every half-day photography planning is less than 50 times;
●每一天摄影规划中相机累计开关机次数小于100次；●The accumulative number of switching on and off of the camera in the photography planning every day is less than 100 times;
●设一次照相开始与照相停止之间的时间间隔为TON-OFF，则TON-OFF>10s；●Set the time interval between the start of shooting and the stop of shooting as TON-OFF , then TON-OFF >10s;
●设本次照相停止与下次照相开始之间的时间间隔为TOFF-ON，则TOFF-ON>10s；●Set the time interval between the stop of this shooting and the start of the next shooting as TOFF-ON , then TOFF-ON >10s;
●设每一次照相开始时刻TON，连续判断后续所有照相停止与下次照相开始之间的时间间隔TOFF-ON，直到TOFF-ON大于30s，记录此次的关机时刻●Set the start time TON of each photo shooting, continuously judge the time interval TOFF-ON between the stop of all subsequent photos and the start of the next photo, until TOFF-ON is greater than 30s, and record the shutdown time of this time
TOFF，要求TOFF－TON<220s；TOFF , require TOFF－TON <220s;
●设一个摄影弧段内所有照相开始与照相停止之间的时间累加和为TTOTAL，一个摄影弧段内开关机控制满足上述情况1的次数为NCON1，满足上述情况2的次数为NCON2，满足上述情况3的次数为NCON3，设第I次照相停止与第I+1次照相开始之间的时间间隔为T(OFF-ON)I，则●Assume the cumulative sum of the time between the start of photography and the stop of photography in a photography arc as TTOTAL , the number of times the switch control in a photography arc satisfies the above condition 1 is NCON1 , and the number of times that meets the above situation 2 is NCON2 , the number of times to meet the above condition 3 is NCON3 , and the time interval between the stop of the first photoshoot and the start of the I+1th photoshoot is T(OFF-ON)I , then
上式左边第一项为总摄影时间；The first item on the left side of the above formula is the total shooting time;
第二项为摄影间隔在10s～30s的累计热门开启时间；The second item is the accumulative hotspot opening time when the shooting interval is between 10s and 30s;
第三项为摄影间隔在30s～120s的累计热门开启时间；The third item is the accumulative hotspot opening time with a shooting interval of 30s to 120s;
第四项为摄影间隔大于120s的累计热门开启时间；The fourth item is the cumulative opening time of hot spots with a shooting interval greater than 120s;
总和为在一圈内总的热门开启时间。The sum is the total hot open time in a lap.
根据以上约束条件，编制软件代码实现摄影指令规划。According to the above constraints, the software code is compiled to realize the planning of photography instructions.
曝光时间计算Exposure time calculation
根据光学成像原理，曝光时间是由以下方程确定的：According to the principle of optical imaging, the exposure time is determined by the following equation:
其中，T：为相机系统的光学透过率；Among them, T: is the optical transmittance of the camera system;
δ：成像面照度衰减系数；δ: Illumination attenuation coefficient of imaging surface;
η：相机快门效率；η: camera shutter efficiency;
f/N0：相机的光圈数；f/N0 : the aperture number of the camera;
F:相机的滤光因子；F: filter factor of the camera;
H:像面上的曝光量；H: exposure on the image plane;
B:地面景物平均视亮度；B: The average apparent brightness of the ground scene;
t：相机曝光时间；t: camera exposure time;
曝光时间t可以由公式(1)变形后求出：The exposure time t can be obtained by deforming the formula (1):
对于已经选定的相机和胶片，上式中除B和δ外均为定值，故公式(2)可化简为：For the selected camera and film, except for B and δ in the above formula, they are all fixed values, so the formula (2) can be simplified as:
K1为常数，B为地面景物平均视亮度，δ为成像面照度衰减系数，这两个参数的具体获取方式如下。K1 is a constant, B is the average apparent brightness of the ground scene, and δ is the illuminance attenuation coefficient of the imaging surface. The specific acquisition methods of these two parameters are as follows.
(1)B地面景物平均视亮度的计算方式为：(1) The calculation method of the average apparent brightness of the scene on the B ground is:
其中，E：地面照度；Among them, E: ground illumination;
r：地面景物反射率；r: reflectance of the ground scene;
T_air：大气透过率；T_air: Atmospheric transmittance;
I:大气亮度；I: atmospheric brightness;
●地面照度E●Ground illumination E
地面照度E是太阳高度角hθ的函数，根据经验，拟合公式为：The ground illuminance E is a function of the sun altitude angle hθ , according to experience, the fitting formula is:
E＝0.00012493hθ4-0.0546319hθ3+4.80427hθ2+45.6507hθ+105.286…(5)E＝0.00012493hθ4 -0.0546319hθ3 +4.80427hθ2 +45.6507hθ +105.286...(5)
●大气亮度I●Atmospheric Brightness I
大气亮度I是太阳高度角hθ的函数，根据经验，拟合公式为：Atmospheric brightness I is a function of the sun's altitude angle hθ , according to experience, the fitting formula is:
I＝-0.0000493688hθ4+0.0141825hθ3-1.38802hθ2+47.5287hθ+209.63……(6)I＝-0.0000493688hθ4 +0.0141825hθ3 -1.38802hθ2 +47.5287hθ +209.63...(6)
以上方法经实践证明是有效的方法。The above method has been proved to be an effective method by practice.
●大气透过率T_air●Atmospheric transmittance T_air
大气透过率是和地区云量、天气等有关的参数，对于晴朗天气一般取大气透过率T_air＝0.65。Atmospheric transmittance is a parameter related to regional cloud cover, weather, etc. For clear weather, the atmospheric transmittance T_air=0.65 is generally taken.
●地面景物反射率r●Ground scene reflectance r
从太空中看到地球上大量的有代表性的物体如水域、植被等的景物反射率是已知的。特别说明，对于复杂大幅面相机，应当以某个反射率值作为整幅像面上的平均反射率。计算和仿真表明，取r＝0.15是比较合适的。The scene reflectance of a large number of representative objects on the earth, such as water, vegetation, etc., seen from space is known. In particular, for complex large-format cameras, a certain reflectance value should be used as the average reflectance on the entire image plane. Calculation and simulation show that it is more appropriate to take r=0.15.
(2)成像面照度衰减系数的计算方式为：(2) The calculation method of the illumination attenuation coefficient of the imaging surface is:
面向测绘需求的航天遥感相机通常具有较大的视场和成像画幅，每次成像的地表覆盖面积通常可达上万平方公里，根据有关光学理论可知，对于大视场、大幅面相机，成像画幅不同位置上的光照度会有很大差异，正是由于存在这种照度分布差异，在计算成像面照度衰减系数时，需要在像面上优选某个位置作为基准点，以该点获得期望曝量为原则进行选取。Aerospace remote sensing cameras for surveying and mapping usually have a large field of view and imaging frame, and the surface coverage of each imaging can usually reach tens of thousands of square kilometers. According to relevant optical theories, for cameras with large field of view and large format, the imaging frame The illuminance at different positions will be very different. It is precisely because of this difference in illuminance distribution that when calculating the illuminance attenuation coefficient of the imaging surface, it is necessary to select a certain position on the image surface as a reference point, and use this point to obtain the desired exposure. Choose for the principle.
在实际中，也可以预先进行整体摄影任务规划，以此为先验信息对每天的规划结果进行验证、限制等处理。整体摄影任务规划为：In practice, it is also possible to plan the overall photography task in advance, and use this as prior information to verify and limit the daily planning results. The overall photography task plan is:
1)根据初始轨道参数、起止时间以秒为步长计算每秒的轨道位置、太阳高度角；1) Calculate the orbital position and solar altitude angle per second according to the initial orbital parameters and the start and end time in seconds;
2)根据每一时刻的航天器轨道位置、摄影区域及摄影综合约束，计算星下点是否进入摄影区域及进入和离开摄影区域的时间及经纬度，然后根据当地太阳高度角(获得光照条件)，得出满足光照条件的摄影区域、相机开关机时间、全程数据量；2) According to the orbital position of the spacecraft, the photographing area and the comprehensive constraints of photographing at each moment, calculate whether the sub-satellite point enters the photographing area and the time and latitude and longitude of entering and leaving the photographing area, and then according to the local solar altitude (to obtain the lighting conditions), Obtain the shooting area that meets the lighting conditions, the camera switch time, and the amount of data in the whole process;
3)根据摄影重叠率、及上一步得出的摄影区域和开关机时间，确定在航天器的飞行过程中是否能够对每一摄影区域完全覆盖以及覆盖的次数。3) According to the photography overlapping rate, and the photographing area and switching time obtained in the previous step, determine whether each photographing area can be completely covered and the number of times covered during the flight of the spacecraft.
为了实现上述方法，本发明还提供了一种摄影任务自动规划系统，如图1所示，其包括通信接口模块、摄影任务自动规划模块、轨道计算模块和曝光量计算模块。In order to realize the above method, the present invention also provides an automatic photography task planning system, as shown in FIG. 1 , which includes a communication interface module, an automatic photography task planning module, a trajectory calculation module and an exposure calculation module.
通信接口模块，完成本系统与外部的数据交互。The communication interface module completes the data interaction between the system and the outside.
摄影任务自动规划模块，基于用户每天提出的摄影区域要求，根据测控系统提供的轨道数据、气象局提供的气象信息、星载存储器剩余容量和相机使用约束，进行24小时的摄影规划，生成摄影开关机指令。The photography task automatic planning module, based on the photography area requirements proposed by the user every day, according to the orbit data provided by the measurement and control system, the weather information provided by the Meteorological Bureau, the remaining capacity of the on-board memory and the constraints of the camera, carries out 24-hour photography planning and generates a photography switch machine command.
轨道计算模块，用于根据地面测控系统提供的轨道根数计算航天器任一时刻的轨道数据和太阳位置，提供给摄影任务自动规划模块和曝光量计算模块。The orbit calculation module is used to calculate the orbit data and sun position of the spacecraft at any time according to the orbit elements provided by the ground measurement and control system, and provide them to the photography task automatic planning module and the exposure calculation module.
曝光量计算模块，用于根据所述轨道数据计算摄影星下点的太阳高度，实时计算航天器飞过摄影区域应采用的曝光时间码，作为摄影任务规划的一部分。The exposure calculation module is used to calculate the solar altitude of the photographic sub-satellite point according to the orbit data, and calculate the exposure time code that should be adopted by the spacecraft flying over the photographic area in real time, as a part of the photographic task planning.
较佳地，该系统还包括完成情况统计模块，对每个摄影区域的任务完成情况进行统计，给出已完成的摄影区域及其覆盖情况，包括摄影重叠率、覆盖面积、覆盖次数，并给出未拍摄的区域。Preferably, the system also includes a completion statistics module, which makes statistics on the task completion of each photography area, provides the completed photography areas and their coverage, including photography overlap rate, coverage area, and coverage times, and gives out of the unrecorded area.
其中，如图2所示，所述摄影任务自动规划模块包括规划模块、优先级确定模块和有效性判别模块。其中，Wherein, as shown in FIG. 2 , the photography task automatic planning module includes a planning module, a priority determination module and a validity judgment module. in,
规划模块，用于根据每一时刻的航天器轨道位置、摄影区域和相机使用约束，计算星下点是否进入摄影区域，以及进入和离开摄影区域的时间和经纬度，然后根据当地太阳高度角，得出满足光照条件的摄影区域、相机开关机时间、数据量。The planning module is used to calculate whether the sub-satellite point enters the photographing area, the time and latitude and longitude of entering and leaving the photographing area according to the orbital position of the spacecraft, the photographing area and the camera usage constraints at each moment, and then according to the local solar altitude angle, obtain Display the shooting area that meets the lighting conditions, the camera switch time, and the amount of data.
优先级确定模块，用于根据摄影区域重要级别确定满足光照条件的摄影区域的优先级。The priority determining module is used to determine the priority of the photographing area satisfying the lighting condition according to the importance level of the photographing area.
有效性判别模块，用于进行摄影指令有效性判别：根据星载存储器剩余容量，去除不满足星载存储器容量限制的低优先级摄影区域；根据云层情况，去除覆盖过厚的云层区域不进行摄影，得到最终的摄影开关机指令。The validity judgment module is used to judge the validity of photography instructions: according to the remaining capacity of the onboard memory, remove the low-priority photography areas that do not meet the capacity limit of the onboard memory; according to the cloud layer situation, remove the overly thick cloud layer area and do not perform photography , to get the final camera switch command.
综上所述，以上仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710908782.2ACN107816973B (en) | 2017-09-29 | 2017-09-29 | Automatic planning system and method for photographic tasks of visible light remote sensing spacecraft |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710908782.2ACN107816973B (en) | 2017-09-29 | 2017-09-29 | Automatic planning system and method for photographic tasks of visible light remote sensing spacecraft |
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| CN107816973Atrue CN107816973A (en) | 2018-03-20 |
| CN107816973B CN107816973B (en) | 2020-03-31 |
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|---|---|---|---|
| CN201710908782.2AActiveCN107816973B (en) | 2017-09-29 | 2017-09-29 | Automatic planning system and method for photographic tasks of visible light remote sensing spacecraft |
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| CN113815909A (en)* | 2021-09-09 | 2021-12-21 | 中国人民解放军63920部队 | Uplink determination method and device for peer-to-peer mode combined configuration spacecraft |
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| US20080114546A1 (en)* | 2006-11-15 | 2008-05-15 | Space Systems/Loral, Inc. | Image navigation and registration accuracy improvement using parametric systematic error correction |
| CN101226059A (en)* | 2008-02-03 | 2008-07-23 | 航天东方红卫星有限公司 | A Calculation and Adjustment Method of Integral Time of Spaceborne TDICCD Camera |
| CN103322982A (en)* | 2013-06-24 | 2013-09-25 | 中国科学院长春光学精密机械与物理研究所 | On-track space camera gain regulating method |
| WO2017048339A1 (en)* | 2015-06-16 | 2017-03-23 | King Abdulaziz City Of Science And Technology | Systems and methods for remote sensing of the earth from space |
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| CN113815909A (en)* | 2021-09-09 | 2021-12-21 | 中国人民解放军63920部队 | Uplink determination method and device for peer-to-peer mode combined configuration spacecraft |
| CN113815909B (en)* | 2021-09-09 | 2023-10-27 | 中国人民解放军63920部队 | Uplink determination method and device for peer-to-peer mode combined configuration spacecraft |
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