CN104251994B - Long baselines laser ranging is realized without control point satellite Precise Position System and method - Google Patents
Long baselines laser ranging is realized without control point satellite Precise Position System and method Download PDFInfo
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- CN104251994B CN104251994B CN201410461971.6A CN201410461971A CN104251994B CN 104251994 B CN104251994 B CN 104251994B CN 201410461971 A CN201410461971 A CN 201410461971A CN 104251994 B CN104251994 B CN 104251994B
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- laser
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- laser signal
- signal receiver
- control point
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a kind of Long baselines laser ranging to realize without control point satellite Precise Position System, including satellite platform, speculum and laser radar；The laser radar and the speculum are arranged on the satellite platform.The satellite platform includes satellite platform body, head rod and the second connecting rod；One end of the head rod and described second connecting rod one end connect the both sides of the satellite platform respectively.The laser radar includes generating laser, first laser signal receiver, second laser signal receiver and the 3rd laser signal receivers；The generating laser is arranged in the satellite platform, and the laser pulse of the laser transmitter projects is reflected earthward by speculum.Present invention also offers one kind without control point satellite high-precision locating method over the ground.The present invention disclosure satisfy that mapping, photography etc. have the satellite requirement of high-precision positioning for ground demand.
Description
Technical field
The present invention relates to satellite remote sensing technology, in particular it relates to which a kind of Long baselines laser ranging is realized without control point satellite
Precise Position System and method.
Background technology
The information that satellite remote sensing technology obtains can be divided into three classes：Qualitative, positioning and quantitative.It is " fixed in above-mentioned three category information
Position " information directly reflects the spatial correspondence between remote sensing information and target, is the important of remote sensing qualitative and quantitative analysis
Premise and basis.At present, external satellite is under the conditions of having control point, and positioning for ground precision can reach a meter magnitude, during no control point
Positioning for ground precision can reach ten meters, hundred meters of magnitude, and domsat positioning for ground level and the U.S., France, Japan etc. also have
Larger gap.
Under-developed area about 90% belongs to Wu Tuqu in the world today, and Pillarless caving satellite positioning for ground precision is very
LOS point precision is depended in big degree, and LOS point precision determines with satellite orbital position, flight attitude determines, structure
Unpredictable shake is associated during thermal deformation and satellite flight with mechanism.Developed by Current hardware, technique etc.
Limitation, orbit determination, accuracy of attitude determination only by improving satellite platform etc. have been difficult to meet high accuracy to correct optical axis sensing deviation
Positioning for ground requirement.
The content of the invention
For in the prior art the defects of, in order to improve satellite positioning for ground precision, promote high-precision satellite surveying and mapping, photography
Deng field development, the advantage based on laser radar precision ranging of the invention, it is proposed that nothing is realized in a kind of Long baselines laser ranging
Control point satellite accurate positioning method.
A kind of Long baselines laser ranging provided according to an aspect of the present invention is realized and is accurately positioned without control point satellite
System, including satellite platform, speculum and laser radar；The laser radar and the speculum are arranged at the satellite and put down
On platform.
Preferably, the satellite platform includes satellite platform body, head rod and the second connecting rod；Described first
One end of connecting rod and one end of second connecting rod connect the both sides of the satellite platform body respectively.
Preferably, the laser radar includes generating laser, first laser signal receiver, the reception of second laser signal
Device and the 3rd laser signal receivers；The generating laser is arranged in the satellite platform body, the Laser emission
The laser pulse of device transmitting is reflected earthward by speculum；The first laser signal receiver, second laser signal receive
Device is separately positioned on the other end of the head rod and the other end of second connecting rod；3rd laser signal connects
Device is received to be arranged on the satellite platform body；The first laser signal receiver, the second laser signal receiver with
And the reception direction of the 3rd laser signal receivers is directed to ground.
Preferably, the speculum uses electric drive rotatable mirror.
Preferably, the generating laser uses Nd:YAG solid state lasers, two kinds of ripples of 1064nm and 532nm can be launched
It is long.
Preferably, the head rod and the second connecting rod use length as 1 meter to 100 meters of rigid rod.
The Long baselines laser ranging provided according to another aspect of the present invention is realized to be accurately positioned without control point satellite
The satellite accurate positioning method of system, comprises the following steps：
Step 1：By generating laser to ground or low-altitude detection objective emission laser pulse, and launch time is recorded simultaneously
t0；
Step 2：First laser signal receiver D1, second laser signal receiver D2And the 3rd laser signal receivers
D3The laser signal returned from ground return point P is received respectively, and record receives the time t of signal respectively1、t2、t3；
Step 3：First laser signal receiver D is calculated respectively1, second laser signal receiver D2And the 3rd laser letter
Number receiver D3To the distance r of ground return point1、r2And r3；
Step 4：The position coordinates of Laser emission moment satellite is obtained by the Big Dipper or GPS location, is believed according to three laser
The installation matrix of number receiver, is calculated position coordinates D of three laser signal receivers at the Laser emission moment1(x1,y1,
z1)、D2(x2,y2,z2)、D3(x3,y3,z3)；
Step 5：By position coordinates D1(x1,y1,z1)、D2(x2,y2,z2)、D3(x3,y3,z3) and r1、r2、r3Substitute into equation
Group, you can obtain the three-dimensional coordinate P (x, y, z) of ground return point.
Preferably, the step 3 usesCalculate r1、r2And r3, wherein c is the light velocity, riFor laser signal
Receiver is to the distance of ground return point, tiThe time of signal, t are received for laser signal receivers0For laser pulse emission when
Between.
Preferably, equation group is in the step 5
Compared with prior art, the present invention has following beneficial effect：
1st, high accuracy positioning over the ground of the invention does not need the high-precision control point on traditional ground, but actively
Ground, ground " control point " coordinate is accurately obtained, can effectively solve less-developed uncovered area does not have ground control point
Orientation problem, and the orientation problem without obvious surface mark such as ocean, mountain forest；
2nd, the present invention does not need accurate Satellite attitude information, also not dependent on the thermal change to satellite structure, mechanism
Shape Accurate Calibration, only according to the track location information for knowing satellite, (position coordinates of satellite passes through the alignment systems such as the Big Dipper, GPS
Positioning can reach very high-precision), you can realize high-precision positioning for ground, greatly reduce requirement to related satellite hardware and
The complexity of system；
3rd, the present invention utilizes laser distance measurement method, and the range information measured by co-ordinates of satellite, laser radar can be accurate
The coordinate information of ground point is resolved, simple in construction, algorithm is simple, can be equipped on photography, mapping, laser three-dimensional imaging etc. and defend
Star, realize that high-precision three-dimensional positions over the ground；
4th, the present invention can obtain the three-dimensional accuracy coordinate of positioning target point, and satellite can be realized to low latitude moving target
High accuracy positioning, the three-dimensional coordinate information of low flyer (such as guided missile, aircraft) is obtained, can be with continuous tracing mode
Speed, the orbit information of target are obtained, there is great application value.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is that the structural representation without control point satellite Precise Position System is realized in medium-long baselines laser ranging of the present invention；
Fig. 2 is that medium-long baselines laser ranging of the present invention is realized without the pinpoint measuring principle figure of control point satellite.
In figure：
1 is satellite platform body；
2 be generating laser；
3 be speculum；
4 be head rod；
5 be the second connecting rod；
6 be first laser signal receiver；
7 be second laser signal receiver；
8 be the 3rd laser signal receivers.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the present embodiment, as shown in Figure 1 and Figure 2, Long baselines laser ranging provided by the invention is realized without control point satellite
Precise Position System includes satellite platform, speculum 3 and laser radar.The laser radar and the speculum 3 are arranged at
On the satellite platform.The satellite platform includes satellite platform body 1, the connecting rod 5 of head rod 4 and second；It is described
One end of head rod 4 and described one end of second connecting rod 5 connect the both sides of the satellite platform body 1 respectively.It is described to swash
Optical radar includes generating laser 2, first laser signal receiver 6, the laser signal of second laser signal receiver 7 and the 3rd
Receiver 8；The generating laser 2 is arranged in the satellite platform body, the laser pulse that the generating laser 2 is launched
Reflected earthward by speculum 3；The first laser signal receiver 6, second laser signal receiver 7 are separately positioned on institute
State the other end of head rod 4 and the other end of the second connecting rod 5；3rd laser signal receivers 8 are arranged on institute
State on satellite platform body 1；The first laser signal receiver 6, the second laser signal receiver 7 and the described 3rd
The reception direction of laser signal receivers 8 is directed to ground.3rd laser signal receivers 8 are arranged on satellite platform body 1,
Specific reception system can also be used with main load (such as optical camera) light path reception altogether.The speculum 3 uses
Electric drive rotatable mirror, to realize continuous, the quick regulation in laser pulse light beam direction.Speculum 3 can control laser
The deflection of beam direction, realize the positioning of difference over the ground in certain visual field, can also realize positioning to moving target with
Tracking.The connecting rod 5 of head rod 4 and second uses length as 1 meter to 100 meters of rigid rod.Rail is carried out in satellite
Deploy after road work, fixed after expansion with satellite platform angle, the length of specific bar, can be according to different satellites times with platform angle
Specific design is done in business requirement.
The generating laser 2 uses Nd:YAG solid state lasers, two kinds of wavelength of 1064nm and 532nm can be launched.Such as
Laser three-D cartographic satellite uses the laser of 1064nm wavelength, and optical photography satellite uses the laser of 532nm wavelength.
For the transmitting laser of different wave length, using different laser detectors：The selection Si-APD detections of 532nm wavelength
Device, 1064nm selection InGaAS-APD detectors.Energy of lasers is mJ magnitudes, and the angle of divergence is μ rad magnitudes, according to different mesh
Pulsed laser energy and the angle of divergence can be adjusted flexibly in mark characteristic and object height.
The connecting rod 5 of head rod 4 and second is equivalent to " Long baselines " in surveying, measurement process in the present invention
As shown in Fig. 2 specific implementation step is as follows：
Step 1：By generating laser to ground or low-altitude detection objective emission laser pulse, and launch time is recorded simultaneously
t0；
Step 2：First laser signal receiver D1, second laser signal receiver D2And the 3rd laser signal receivers
D3The laser signal returned from ground return point P is received respectively, and record receives the time t of signal respectively1、t2、t3；
Step 3：First laser signal receiver D is calculated respectively1, second laser signal receiver D2And the 3rd laser letter
Number receiver D3To the distance r of ground return point1、r2And r3, wherein：C is the light velocity, riFor laser signal
Receiver is to the distance of ground return point, tiThe time of signal, t are received for laser signal receivers0For laser pulse emission when
Between；
Step 4：The position coordinates of Laser emission moment satellite is obtained by the Big Dipper or GPS location, is believed according to three laser
The installation matrix of number receiver, is calculated position coordinates D of three laser signal receivers at the Laser emission moment1(x1,y1,
z1)、D2(x2,y2,z2)、D3(x3,y3,z3)；
Step 5：By position coordinates D1(x1,y1,z1)、D2(x2,y2,z2)、D3(x3,y3,z3) and r1、r2、r3Substitute into following
Equation group, you can obtain the three-dimensional coordinate P (x, y, z) of ground return point.
The present invention meets without control point, the requirement of high-precision positioning for ground, comprising two parts of satellite platform and laser radar,
Laser radar load is made up of a generating laser and three laser signal receivers, and satellite platform body is respectively to two phases
Opposite direction stretches out two connecting rods, and a laser signal receivers, the 3rd laser signal receivers are installed in the end of every bar
On satellite platform.Method provided by the invention utilizes laser radar range principle, measures three receivers and target point
Distance, then substitute into the three-dimensional coordinate of three receivers under the coordinate system that is connected, you can pass through solving equations and obtain target point
Three-dimensional coordinate.The present invention realizes high-precision positioning for ground using Long baselines laser distance measurement method, calculates simply, simple structure is right
The attitude information dependence of satellite high-precision is small, greatly reduces the requirement to hardware such as star sensors, can apply to photograph
Cartographic satellite, linear array or face battle array laser three-D cartographic satellite, have on the satellites such as the optical imagery of high-precision positioning for ground demand.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (7)
1. a kind of Long baselines laser ranging is realized without control point satellite Precise Position System, it is characterised in that including satellite platform,
Speculum and laser radar；The laser radar and the speculum are arranged on the satellite platform；
The satellite platform includes satellite platform body, head rod and the second connecting rod；The one of the head rod
End and one end of second connecting rod connect the both sides of the satellite platform body respectively；
The laser radar includes generating laser, first laser signal receiver, second laser signal receiver and the 3rd
Laser signal receivers；The generating laser is arranged in the satellite platform body, and the laser transmitter projects swash
Light pulse is reflected earthward by speculum；The first laser signal receiver, second laser signal receiver are set respectively
In the other end of the head rod and the other end of second connecting rod；3rd laser signal receivers are arranged on
On the satellite platform body；The first laser signal receiver, the second laser signal receiver and the described 3rd
The reception direction of laser signal receivers is directed to ground.
Exist 2. Long baselines laser ranging according to claim 1 is realized without control point satellite Precise Position System, its feature
In the speculum uses electric drive rotatable mirror.
Exist 3. Long baselines laser ranging according to claim 1 is realized without control point satellite Precise Position System, its feature
In the generating laser uses Nd:YAG solid state lasers, two kinds of wavelength of 1064nm and 532nm can be launched.
Exist 4. Long baselines laser ranging according to claim 1 is realized without control point satellite Precise Position System, its feature
Length is used as 1 meter to 100 meters of rigid rod in, the head rod and the second connecting rod.
It is accurately fixed without control point satellite that 5. the Long baselines laser ranging any one of a kind of usage right requirement 1 to 4 is realized
The satellite accurate positioning method of position system, it is characterised in that comprise the following steps：
Step 1：By generating laser to ground or low-altitude detection objective emission laser pulse, and launch time t is recorded simultaneously0；
Step 2：First laser signal receiver D1, second laser signal receiver D2And the 3rd laser signal receivers D3Point
The laser signal returned from ground return point P is not received, and record receives the time t of signal respectively1、t2、t3；
Step 3：First laser signal receiver D is calculated respectively1, second laser signal receiver D2And the 3rd laser signal connect
Receive device D3To the distance r of ground return point1、r2And r3；
Step 4：The position coordinates of Laser emission moment satellite is obtained by the Big Dipper or GPS location, is connect according to three laser signals
The installation matrix of device is received, position coordinates D of three laser signal receivers at the Laser emission moment is calculated1(x1,y1,z1)、
D2(x2,y2,z2)、D3(x3,y3,z3)；
Step 5：By position coordinates D1(x1,y1,z1)、D2(x2,y2,z2)、D3(x3,y3,z3) and r1、r2、r3Equation group is substituted into, i.e.,
It can obtain the three-dimensional coordinate P (x, y, z) of ground return point.
6. satellite accurate positioning method according to claim 5, it is characterised in that the step 3 uses
Calculate r1、r2And r3, wherein c is the light velocity, riDistance for laser signal receivers to ground return point, tiReceived for laser signal
Device receives the time of signal, t0For the laser pulse emission time.
7. satellite accurate positioning method according to claim 5, it is characterised in that equation group is in the step 5
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| CN201410461971.6A CN104251994B (en) | 2014-09-11 | 2014-09-11 | Long baselines laser ranging is realized without control point satellite Precise Position System and method |
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| CN105157700A (en) * | 2015-07-07 | 2015-12-16 | 中国空间技术研究院 | Ground-control-point-free positioning method and ground-control-point-free positioning apparatus for space optical cameras |
| CN106291448B (en) * | 2016-08-02 | 2021-02-19 | 北京国承万通信息科技有限公司 | Light beam scanning mechanism and light beam emitting device |
| CN107092042A (en) * | 2017-05-14 | 2017-08-25 | 广东大仓机器人科技有限公司 | Laser pickoff with printing opacity baffle plate |
| CN110595439A (en) * | 2018-06-12 | 2019-12-20 | 中国科学院光电研究院 | Photogrammetry system suitable for small disturbance environment |
| CN109856614B (en) * | 2018-12-28 | 2021-05-11 | 上海卫星工程研究所 | Satellite-borne laser radar optical axis pointing measurement system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1555545A1 (en) * | 2004-01-19 | 2005-07-20 | Rafael Armament Development Authority Ltd. | Multi-beam laser rangefinder |
| CN101788688B (en) * | 2010-03-04 | 2012-12-26 | 清华大学 | Micro integrated non-cooperative target detection device |
| EP2546674B1 (en) * | 2011-07-15 | 2014-12-31 | Airbus DS GmbH | Plarform relative navigation using range measurements |
| US8718918B2 (en) * | 2012-04-26 | 2014-05-06 | Richard D. Roberts | Determining relative positioning information |
| CN103543444B (en) * | 2013-09-30 | 2016-01-20 | 中国科学院上海光学精密机械研究所 | With polarization electropical scanning Orthoptic synthetic aperture laser imaging radar emission coefficient |
| CN103543442B (en) * | 2013-09-30 | 2016-01-06 | 中国科学院上海光学精密机械研究所 | M-Z type electropical scanning Orthoptic synthetic aperture laser imaging radar emission coefficient |
| CN103529454A (en) * | 2013-11-06 | 2014-01-22 | 中国科学院上海天文台 | Multi-telescope laser ranging system and method |
| CN103926589B (en) * | 2014-04-30 | 2017-03-29 | 山东科技大学 | Spaceborne laser altimeter system system solid earth's surface objective plane and height accuracy detection method |
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