CN116626781A - Cloud judgment parameter calculation method and device, electronic equipment and storage medium - Google Patents
Cloud judgment parameter calculation method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a cloud judgment parameter calculation method, a cloud judgment parameter calculation device, electronic equipment and a storage medium, wherein the cloud judgment parameter calculation method comprises the following steps: determining satellite position vectors, solar vectors and satellite attitude matrixes under the cloud judgment time inertial system based on the time interval between the current time and the cloud judgment time; calculating the position information of an imaging point corresponding to each pixel after the time interval according to the installation information of the satellite load, the pixel sight line pointing information, the satellite position vector under the cloud judgment time inertial system and the satellite attitude matrix; according to the position information of the corresponding surface imaging point of each pixel after the time interval and the solar vector under the cloud judgment time inertia, calculating the cloud judgment parameter of each surface imaging point; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle. According to the scheme, cloud judgment parameters can be provided for the cloud judgment process of the satellite load.
Description
Technical Field
The embodiment of the invention relates to the technical field of satellite attitude control, in particular to a cloud judgment parameter calculation method, a cloud judgment parameter calculation device, electronic equipment and a storage medium.
Background
At present, a lot of satellite loads have the need of distinguishing the cloud image and the ground object, the cloud image and the ground object are called cloud judgment, and the satellite loads need to use cloud judgment parameters of corresponding time to complete the judgment when in cloud judgment. However, in the satellite orbit motion process, how to calculate the cloud judgment parameters of each forecast time has not been a related calculation method. It can be seen that there is a need to provide a cloud determining parameter calculating method to provide cloud determining parameters for a cloud determining process of a satellite load.
Disclosure of Invention
The embodiment of the invention provides a cloud judgment parameter calculation method, a cloud judgment parameter calculation device, electronic equipment and a storage medium, which can provide cloud judgment parameters for a cloud judgment process of a satellite load.
In a first aspect, an embodiment of the present invention provides a cloud determining parameter calculating method, including:
determining satellite position vectors, solar vectors and satellite attitude matrixes under the cloud judgment time inertial system based on the time interval between the current time and the cloud judgment time;
calculating the position information of an imaging point corresponding to each pixel after the time interval according to the installation information of the satellite load, the pixel sight line pointing information, the satellite position vector under the cloud judgment time inertial system and the satellite attitude matrix;
according to the position information of the corresponding surface imaging point of each pixel after the time interval and the solar vector under the cloud judgment time inertia, calculating the cloud judgment parameter of each surface imaging point; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle.
In a second aspect, an embodiment of the present invention further provides a cloud determining parameter calculating device, including:
the determining unit is used for determining satellite position vectors, solar vectors and satellite attitude matrixes under the cloud judgment time inertial system based on the time interval between the current time and the cloud judgment time;
the first calculation unit is used for calculating the position information of the imaging point of each pixel corresponding to each pixel after the time interval according to the installation information of the satellite load, the pixel sight line pointing information, the satellite position vector under the cloud judgment time inertial system and the satellite attitude matrix;
the second calculation unit is used for calculating cloud judgment parameters of each surface imaging point according to the position information of the surface imaging point corresponding to each pixel after the time interval and the solar vector under the cloud judgment time inertia; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of the present specification is implemented.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform a method according to any of the embodiments of the present specification.
The embodiment of the invention provides a cloud judgment parameter calculation method, a cloud judgment parameter calculation device, electronic equipment and a storage medium. Therefore, in the scheme, the cloud judgment parameters are calculated by combining the track and the gesture, the obtained cloud judgment parameters are more accurate, the cloud judgment parameters are sent to the load to assist the load to carry out cloud judgment calculation, and the accuracy and the effectiveness of cloud judgment processing of the load image are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a cloud judgment parameter calculation method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a satellite zenith angle and a solar zenith angle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a relative azimuth angle provided by an embodiment of the present invention;
FIG. 4 is a hardware architecture diagram of an electronic device according to an embodiment of the present invention;
fig. 5 is a block diagram of a cloud determining parameter calculating device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a cloud judgment parameter calculation method, which includes:
step 100, determining a satellite position vector, a solar vector and a satellite attitude matrix under the cloud judgment time inertial system based on a time interval between the current time and the cloud judgment time;
102, calculating position information of an imaging point corresponding to each pixel after the time interval according to installation information and pixel line-of-sight pointing information of a satellite load and a satellite position vector and a satellite attitude matrix under the cloud judgment time inertial system;
104, calculating cloud judgment parameters of each surface imaging point according to the position information of the surface imaging point corresponding to each pixel after the time interval and the solar vector under the cloud judgment time inertia; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle.
In the embodiment of the invention, the position information of the surface imaging point corresponding to each pixel after the time interval is calculated by determining the satellite position vector, the sun vector and the satellite attitude matrix under the cloud judgment time inertia system, so that the cloud judgment parameter of each surface imaging point is calculated for the position information of each surface imaging point. Therefore, in the scheme, the cloud judgment parameters are calculated by combining the track and the gesture, the obtained cloud judgment parameters are more accurate, the cloud judgment parameters are sent to the load to assist the load to carry out cloud judgment calculation, and the accuracy and the effectiveness of cloud judgment processing of the load image are improved.
The manner in which the individual steps shown in fig. 1 are performed is described below.
First, for step 100, a satellite position vector, a solar vector, and a satellite attitude matrix under the cloud-time inertial frame are determined based on a time interval between a current time and a cloud-time.
In the embodiment of the invention, the cloud judgment time can be any time point in the future or a plurality of time points in the future, and the cloud judgment parameters corresponding to the cloud judgment time are calculated to provide auxiliary calculation for cloud judgment of the satellite load. In this embodiment, taking a future time point as an example of cloud judgment time, a cloud judgment parameter for calculating the cloud judgment time is described.
After the cloud determination time is determined, a time interval Δt between the current time and the cloud determination time may be determined.
Wherein, the satellite position vector under the J2000 inertia system after deltat is x DPC 、y DPC 、z DPC The method comprises the steps of carrying out a first treatment on the surface of the The solar vector under the J2000 inertial system after deltat is S ixDPC 、S iyDPC 、S izDPC The method comprises the steps of carrying out a first treatment on the surface of the The attitude matrix from the inertial system to the orbital coordinate system after Δt is C OIDPC 。
In the embodiment of the invention, the satellite attitude matrix C after deltat seconds TODPC Is related to the current attitude status of the satellite and can therefore be determined by:
determining the current attitude state of the satellite;
if the current attitude state is steady, if a non-zero target attitude such as a drift angle or a two-dimensional guide angle is introduced, the current drift angle or the two-dimensional guide angle is deducted under the current attitude state, and the drift angle or the two-dimensional guide angle after the time interval delta t is compensated, so as to obtain a satellite attitude matrix C at the cloud judgment time TODPC ；
If the current attitude state is a maneuvering state, extrapolation is carried out according to the angular speed and the angular acceleration corresponding to the current attitude state, and the attitude increment after extrapolation by the time interval delta t is compensated and inverted to obtain a satellite attitude matrix C at the cloud judgment time TODPC 。
Then, for step 102, according to the installation information of the satellite load, the line-of-sight pointing information of the pixels, the satellite position vector and the satellite attitude matrix under the cloud judgment time inertial system, the position information of the imaging point of each pixel corresponding to each pixel after the time interval is calculated.
In the embodiment of the invention, the earth is regarded as a standard ellipsoid, and then each pixel i corresponds to the position information of the imaging point iComprising the following steps: position vector pointing from the earth's center to the earth's imaging point iAnd a position vector pointing from the satellite centroid to the ground imaging point i>
Specifically, the position information of the imaging point i is correspondingly represented by each pixel i, and is calculated (S1-S5) as follows:
s1, determining a position vector pointing to a satellite from the earth center according to a satellite position vector under the cloud judgment time inertia system
S2, calculating a position vector pointing to the pixel i from the mass center of the satellite by using an installation position vector in the installation information of the satellite load, an installation matrix from a satellite body coordinate system to a load coordinate system and a position vector of the earth imaging point i in the load coordinate system and the satellite attitude matrix;
specifically, the method is calculated according to the following formula:
wherein ,for a position vector pointing from the satellite centroid towards picture element i, ->For the mounting position vector of the load under the satellite body system, C PB For the installation matrix from the satellite body coordinate system to the load coordinate system +.>A position vector of the surface imaging point i in a load coordinate system;
s3, determining the sum of the position vector pointing to the satellite from the earth center and the position vector pointing to the pixel i from the center of mass of the satellite as the position vector pointing to the pixel i from the earth center
S4, calculating a position vector pointing to the ground imaging point i from the pixel i and a position vector pointing to the ground imaging point i from the earth center according to the line vector of the pixel i in the orbit coordinate system, the line vector of the pixel i in the inertial system and the position vector pointing to the pixel i from the earth center;
specifically: the position vector pointing from pixel i to ground imaging point i is calculated using the following formula:
u o,i ＝C TODPC T ·C PB T ·u p,i
u I,i ＝C OIDPC T ·u o,i
A＝1+d·u I,i (3) 2
wherein ,uo,i Is the line-of-sight vector of the pixel i in the orbit coordinate system, C TODPC For the satellite attitude matrix, C PB U is an installation matrix from the satellite body coordinate system to the load coordinate system p,i The vector is a pixel i sight vector in a load coordinate system; u (u) I,i Is the line-of-sight vector of the pixel i in the inertial system, u I,i (3) Third data for the line-of-sight vector for the pixel i; c (C) OIDPC A gesture matrix from an inertial system to an orbit coordinate system; a, a e 、b e Is the semi-major and semi-minor axes of the earth; d. a, B, C and ρ are intermediate parameters;for a position vector pointing from the earth's center to picture element i, -, is shown>Third data for the position vector; />Is a position vector pointing from pixel i to ground imaging point i.
Further, a position vector pointing from the earth center to the ground imaging point iThe method comprises the following steps:
s5, determining the sum of a position vector pointing to the pixel i from the mass center of the satellite and a position vector pointing to the ground imaging point i from the pixel i as a position vector pointing to the ground imaging point i from the mass center of the satellite.
Position vector pointing from satellite centroid to ground imaging point iThe method comprises the following steps:
finally, for step 104, calculating cloud judgment parameters of each surface imaging point according to the position information of the surface imaging point corresponding to each pixel after the time interval and the solar vector under the cloud judgment time inertia; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle.
Please refer to fig. 2, which is a schematic diagram of a satellite zenith angle and a solar zenith angle; in fig. 2, point a is an earth surface imaging point, and point O is the earth center; alpha is the zenith angle of the sun, and beta is the zenith angle of the satellite.
Defining the zenith angle of the satellite as the included angle between the earth surface imaging point i and the earth center line and between the earth surface imaging point i and the earth center line:
wherein ,βsatG,i Is the zenith angle of the satellite,a position vector directed from the satellite centroid to the ground imaging point; />A position vector directed from the earth's center to the ground imaging point;
defining the zenith angle of the sun as the included angle between the earth surface imaging point i and the solar connecting line and between the earth surface imaging point i and the earth center connecting line:
wherein ,αsunG,i Is the zenith angle of the sun,a position vector pointing from the imaging point i to the sun; s is S ix_DPC 、S iy_DPC 、S iz_DPC Is a solar vector under an inertial system;
the geographic longitude of the surface imaging point i has the following parameters: l=atan (Y) 84 /X 84 )；
The geographic latitude of the earth imaging point i is: delta=atan (tan (delta) * )/(1-f E ) 2 )；
wherein ,X 84 、Y 84 、Z 84 for the position of the surface imaging point i in the WGS84 coordinate system, a constant +.>
Referring to fig. 3, o is the earth center, defining the earth surface imaging point as a, the projection point of the solar vector on the earth as C, AN as the shortest spherical connecting line (i.e. the meridian passing through the point a) connecting the a and N (north pole), CN as the shortest spherical connecting line (i.e. the meridian passing through the point C) connecting the C and N, the spherical angle λ from AN east to west rotation of AN to CN is the relative azimuth angle Δλ of the earth surface imaging point i SunG,i The method comprises the following steps:
△λ SunG,i ＝λ GDPC,i -λ Sun *
wherein ,λGDPC,i Geographic longitude for earth imaging point i; lambda (lambda) Sun * The geographic longitude of the earth to sun at the surface projection point can be calculated from the position of the earth to sun at the surface projection point under the WGS84 coordinate system.
In the embodiment of the invention, the calculated cloud judgment parameters are sent to the load for auxiliary cloud judgment calculation, so that the accuracy and effectiveness of cloud judgment processing of the load image are improved.
As shown in fig. 4 and fig. 5, the embodiment of the invention provides a cloud judgment parameter calculating device. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. In terms of hardware, as shown in fig. 4, a hardware architecture diagram of an electronic device where a cloud parameter computing device provided in an embodiment of the present invention is located, where the electronic device where the embodiment is located may include other hardware, such as a forwarding chip responsible for processing a message, in addition to the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 4. For example, as shown in fig. 5, the device in a logic sense is formed by reading a corresponding computer program in a nonvolatile memory into a memory by a CPU of an electronic device where the device is located. The cloud judgment parameter calculation device provided in this embodiment includes:
a determining unit 501, configured to determine a satellite position vector, a solar vector and a satellite attitude matrix under the cloud determination time inertial frame based on a time interval between a current time and a cloud determination time;
the first calculating unit 502 is configured to calculate, according to installation information of a satellite load, line-of-sight pointing information of pixels, a satellite position vector under the cloud-judging time inertial system, and a satellite attitude matrix, position information of an imaging point corresponding to each pixel after the time interval;
a second calculating unit 503, configured to calculate a cloud judgment parameter of each surface imaging point according to the position information of the surface imaging point corresponding to each pixel after the time interval and the solar vector under the cloud judgment time inertia; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle.
In one embodiment of the present invention, the determining unit determines the satellite attitude matrix of the cloud judgment time by:
determining the current attitude state of the satellite;
if the current attitude state is steady, subtracting a current drift angle or a two-dimensional guide angle in the current attitude state, and compensating the drift angle or the two-dimensional guide angle after the time interval to obtain a satellite attitude matrix at the cloud judgment time;
if the current attitude state is a maneuvering state, extrapolation is carried out according to the angular speed and the angular acceleration corresponding to the current attitude state, and the attitude increment after extrapolation by the time interval is compensated for inverting the current attitude state, so that a satellite attitude matrix at the cloud judgment time is obtained.
In one embodiment of the present invention, the position information of the imaging point corresponding to each pixel includes: a position vector directed from the earth center to the ground imaging point and a position vector directed from the satellite centroid to the ground imaging point;
the first calculation unit is specifically configured to perform the following calculation:
determining a position vector pointing to the satellite from the earth center according to the satellite position vector under the cloud judgment time inertia system;
calculating a position vector pointing to the pixel i from the mass center of the satellite by using an installation position vector in the installation information of the satellite load, an installation matrix from a satellite body coordinate system to a load coordinate system and a position vector of a ground surface imaging point i in the load coordinate system, and the satellite attitude matrix;
determining the sum of a position vector pointing from the earth center to the satellite and a position vector pointing from the center of mass to the pixel i as a position vector pointing from the earth center to the pixel i;
according to the line-of-sight vector of the pixel i in the orbit coordinate system, the line-of-sight vector of the pixel i in the inertial system and the position vector pointing to the pixel i from the earth center, calculating the position vector pointing to the ground imaging point i from the pixel i and the position vector pointing to the ground imaging point i from the earth center;
the sum of the position vector directed from the satellite centroid to the pixel i and the position vector directed from the pixel i to the ground imaging point i is determined as the position vector directed from the satellite centroid to the ground imaging point i.
It can be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a cloud judgment parameter calculation device. In other embodiments of the invention, a cloud decision parameter computing device may include more or fewer components than shown, or may combine certain components, or may split certain components, or may have a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
The content of information interaction and execution process between the modules in the device is based on the same conception as the embodiment of the method of the present invention, and specific content can be referred to the description in the embodiment of the method of the present invention, which is not repeated here.
The embodiment of the invention also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the cloud judgment parameter calculation method in any embodiment of the invention when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, which when being executed by a processor, causes the processor to execute the cloud judgment parameter calculation method in any embodiment of the invention.
Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of the storage medium for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of additional identical elements in a process, method, article or apparatus that comprises the element.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The cloud judgment parameter calculation method is characterized by comprising the following steps of:
determining satellite position vectors, solar vectors and satellite attitude matrixes under the cloud judgment time inertial system based on the time interval between the current time and the cloud judgment time;
calculating the position information of an imaging point corresponding to each pixel after the time interval according to the installation information of the satellite load, the pixel sight line pointing information, the satellite position vector under the cloud judgment time inertial system and the satellite attitude matrix;
according to the position information of the corresponding surface imaging point of each pixel after the time interval and the solar vector under the cloud judgment time inertia, calculating the cloud judgment parameter of each surface imaging point; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle.
2. The method of claim 1, wherein the determining the satellite attitude matrix of the cloud determination time includes:
determining the current attitude state of the satellite;
if the current attitude state is steady, subtracting a current drift angle or a two-dimensional guide angle in the current attitude state, and compensating the drift angle or the two-dimensional guide angle after the time interval to obtain a satellite attitude matrix at the cloud judgment time;
if the current attitude state is a maneuvering state, extrapolation is carried out according to the angular speed and the angular acceleration corresponding to the current attitude state, and the attitude increment after extrapolation by the time interval is compensated for inverting the current attitude state, so that a satellite attitude matrix at the cloud judgment time is obtained.
3. The method of claim 1, wherein the positional information of the imaging point corresponding to each pixel comprises: a position vector directed from the earth center to the ground imaging point and a position vector directed from the satellite centroid to the ground imaging point;
the position information of the imaging point i is correspondingly calculated by the following mode:
determining a position vector pointing to the satellite from the earth center according to the satellite position vector under the cloud judgment time inertia system;
calculating a position vector pointing to the pixel i from the mass center of the satellite by using an installation position vector in the installation information of the satellite load, an installation matrix from a satellite body coordinate system to a load coordinate system and a position vector of a ground surface imaging point i in the load coordinate system, and the satellite attitude matrix;
determining the sum of a position vector pointing from the earth center to the satellite and a position vector pointing from the center of mass to the pixel i as a position vector pointing from the earth center to the pixel i;
according to the line-of-sight vector of the pixel i in the orbit coordinate system, the line-of-sight vector of the pixel i in the inertial system and the position vector pointing to the pixel i from the earth center, calculating the position vector pointing to the ground imaging point i from the pixel i and the position vector pointing to the ground imaging point i from the earth center;
the sum of the position vector directed from the satellite centroid to the pixel i and the position vector directed from the pixel i to the ground imaging point i is determined as the position vector directed from the satellite centroid to the ground imaging point i.
4. A method according to claim 3, characterized in that the position vector pointing from pixel i to ground imaging point i is calculated using the formula:
u o,i ＝C TODPC T ·C PB T ·u p,i
u I,i ＝C OIDPC T ·u o,i
A＝1+d·u I,i (3) 2
wherein ,uo,i Is the line-of-sight vector of the pixel i in the orbit coordinate system, C TODPC For the satellite attitude matrix, C PB U is an installation matrix from the satellite body coordinate system to the load coordinate system p,i The vector is a pixel i sight vector in a load coordinate system; u (u) I,i Is the line-of-sight vector of the pixel i in the inertial system, u I,i (3) Third data for the line-of-sight vector for the pixel i; c (C) OIDPC A gesture matrix from an inertial system to an orbit coordinate system; a, a e 、b e Is the semi-major and semi-minor axes of the earth; d. a, B, C and ρ are intermediate parameters;for a position vector pointing from the earth's center to picture element i, -, is shown>Third data for the position vector; />Is a position vector pointing from pixel i to ground imaging point i.
5. A method according to claim 3, wherein said calculating cloud parameters for each of the earth imaging points comprises:
defining the zenith angle of the satellite as the included angle between the earth surface imaging point i and the earth center line and between the earth surface imaging point i and the earth center line:
wherein ,βsatG,i Is the zenith angle of the satellite,a position vector directed from the satellite centroid to the ground imaging point; />A position vector directed from the earth's center to the ground imaging point;
defining the zenith angle of the sun as the included angle between the earth surface imaging point i and the solar connecting line and between the earth surface imaging point i and the earth center connecting line:
wherein ,αsunG,i Is the sunThe zenith angle is a zenith angle,a position vector pointing from the imaging point i to the sun; s is S ix_DPC 、S iy_DPC 、S iz_DPC Is a solar vector under an inertial system;
the geographic longitude of the surface imaging point i has the following parameters: l=atan (Y) 84 /X 84 )；
The geographic latitude of the earth imaging point i is: delta=atan (tan (delta) * )/(1-f E ) 2 )；
wherein ,X 84 、Y 84 、Z 84 for the position of the surface imaging point i in the WGS84 coordinate system, a constant +.>
Defining the earth surface imaging point as A, the projection point of the solar vector on the earth as C, AN as the shortest spherical connecting line connecting A and N, CN as the shortest spherical connecting line connecting C and N, and the spherical angle lambda from AN to CN rotating from east to west as the relative azimuth angle delta lambda of the earth surface imaging point i SunG,i The method comprises the following steps:
Δλ SunG,i ＝λ GDPC,i -λ Sun *
wherein ,λGDPC,i Geographic longitude for earth imaging point i; lambda (lambda) Sun * Is the geographic longitude of the earth's center to the point of projection of the sun on the earth's surface.
6. A cloud judgment parameter calculation apparatus, comprising:
the determining unit is used for determining satellite position vectors, solar vectors and satellite attitude matrixes under the cloud judgment time inertial system based on the time interval between the current time and the cloud judgment time;
the first calculation unit is used for calculating the position information of the imaging point of each pixel corresponding to each pixel after the time interval according to the installation information of the satellite load, the pixel sight line pointing information, the satellite position vector under the cloud judgment time inertial system and the satellite attitude matrix;
the second calculation unit is used for calculating cloud judgment parameters of each surface imaging point according to the position information of the surface imaging point corresponding to each pixel after the time interval and the solar vector under the cloud judgment time inertia; the cloud judgment parameters comprise: at least one of satellite zenith angle, solar zenith angle, geographic longitude and latitude, and relative azimuth angle.
7. The apparatus according to claim 6, wherein the determining unit determines the satellite attitude matrix of the cloud determination time by:
determining the current attitude state of the satellite;
if the current attitude state is steady, subtracting a current drift angle or a two-dimensional guide angle in the current attitude state, and compensating the drift angle or the two-dimensional guide angle after the time interval to obtain a satellite attitude matrix at the cloud judgment time;
if the current attitude state is a maneuvering state, extrapolation is carried out according to the angular speed and the angular acceleration corresponding to the current attitude state, and the attitude increment after extrapolation by the time interval is compensated for inverting the current attitude state, so that a satellite attitude matrix at the cloud judgment time is obtained.
8. The apparatus of claim 6, wherein the positional information of the imaging point corresponding to each pixel comprises: a position vector directed from the earth center to the ground imaging point and a position vector directed from the satellite centroid to the ground imaging point;
the first calculation unit is specifically configured to perform the following calculation:
determining a position vector pointing to the satellite from the earth center according to the satellite position vector under the cloud judgment time inertia system;
calculating a position vector pointing to the pixel i from the mass center of the satellite by using an installation position vector in the installation information of the satellite load, an installation matrix from a satellite body coordinate system to a load coordinate system and a position vector of a ground surface imaging point i in the load coordinate system, and the satellite attitude matrix;
determining the sum of a position vector pointing from the earth center to the satellite and a position vector pointing from the center of mass to the pixel i as a position vector pointing from the earth center to the pixel i;
according to the line-of-sight vector of the pixel i in the orbit coordinate system, the line-of-sight vector of the pixel i in the inertial system and the position vector pointing to the pixel i from the earth center, calculating the position vector pointing to the ground imaging point i from the pixel i and the position vector pointing to the ground imaging point i from the earth center;
the sum of the position vector directed from the satellite centroid to the pixel i and the position vector directed from the pixel i to the ground imaging point i is determined as the position vector directed from the satellite centroid to the ground imaging point i.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the method of any of claims 1-5 when the computer program is executed.
10. A computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method of any of claims 1-5.
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