CN112327261B - Distributed InSAR satellite time synchronization on-orbit testing method and system - Google Patents
Distributed InSAR satellite time synchronization on-orbit testing method and system Download PDFInfo
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Abstract
The invention provides a distributed InSAR satellite time synchronization on-orbit testing method and a distributed InSAR satellite time synchronization on-orbit testing system. The method comprises the following implementation steps: (1) Building and planning a geometric calibration field, and acquiring high-precision control point and characteristic point information; (2) photographing a target area; (3) SAR image production, selecting a control point area; (4) obtaining a characteristic point test value by complex image two-dimensional interpolation; (5) calculating the bias of the SAR slant range of the double-star; and (6) calculating a time synchronization on-track test result. The method fills the technical blank that the time synchronization index of the distributed InSAR satellite cannot be directly tested in orbit, and has the advantages of good adaptability, simplicity, easiness and high test precision. The invention is suitable for the distributed InSAR satellite time synchronization on-orbit test under a two-star (one-shot two-shot receiving) system or a multi-star (one-shot multiple-shot receiving) system, the test methods, the steps and the basic principle of the two systems are the same, and the method is only expressed by taking the two-star (one-shot two-shot receiving) system as an example.
Description
Technical Field
The invention relates to the general technical field of satellites, in particular to an in-orbit testing method for a distributed InSAR satellite.
Background
Interferometric synthetic aperture radar (InSAR) is an important remote sensing means for obtaining a high-precision ground elevation model (DEM). The method comprises the steps of observing the same area at different visual angles by using two SAR antennas distributed along a vertical course, carrying out interference processing on two acquired complex SAR images, and solving the difference of the slant distances between the phase centers of the main and auxiliary radar antennas and a target so as to obtain the DEM of an observation area. The distributed satellite InSAR system installs two SAR on two satellites flying in formation and simultaneously observes the earth, can overcome the problems of time decoherence, low baseline precision and the like faced by repeatedly flying the InSAR, and can obtain a high-precision DEM. The SAR loads carried on two formation flying satellites need to realize three synchronizations of high-precision time, space and phase by being limited by an InSAR working principle.
The time synchronization is to ensure that the primary and secondary satellite SAR subsystems can cooperatively work at the same time beat. Unlike an optical satellite, an SAR satellite does not rely on reflected light to generate an image, but controls the image position of the recorded ground scene by controlling the starting and stopping time (namely a sampling window) of the SAR acquisition echo, the unique echo recording mode of the SAR satellite determines that the position of an imaging band of the SAR satellite is only related to the slant range of the satellite and a target point, and if the two-satellite time cannot be synchronized, the ground position difference of the two-satellite recorded image is caused, so that the observation area capable of generating DSM is reduced, and the mapping efficiency is influenced.
Therefore, how to realize the on-orbit test of the time synchronization index of the distributed InSAR satellite becomes one of the important works of the design of the distributed InSAR satellite system. With the rapid development of the satellite-borne InSAR technology, the requirement on the mapping efficiency of the distributed InSAR satellite is higher and higher, and the design margin of the DSM observation bandwidth is more and more tense, so that how to realize the in-orbit high-precision measurement of the time synchronization index of the distributed InSAR satellite becomes a direction in which important research needs to be carried out.
The patent document with the publication number of CN108964821A discloses a self-synchronizing satellite positioning device and a time synchronization method thereof, mainly solves the problem of an on-orbit testing method of time synchronization among multiple satellites of a distributed InSAR (interferometric synthetic aperture radar) satellite, mainly solves the problem of the self-synchronizing satellite positioning device and the time synchronization method thereof, aims at passive satellite positioning ground equipment, and has obvious differences in application direction, application range and technical approach.
An integrated satellite PCM measurement and control and time synchronization performance test system design, aerospace measurement and measurement technology, 201904. The main differences are: the patent mainly solves the problem of the time synchronization on-orbit testing method of the distributed InSAR satellite SAR load, and the paper mainly solves the problem that the time synchronization of remote control and remote measurement in a satellite platform electronic system has obvious difference in application direction, application range and technical approach on the analysis of the influence on the safety and practical efficiency of the satellite.
And (3) analyzing the influence of the time synchronization error on the interference phase of the satellite-borne parasitic InSAR system, namely astronomical report 200702. The main differences are: the patent mainly solves the problem of a universal time synchronization on-orbit testing method of a distributed InSAR satellite, and the paper mainly demonstrates a simulation and influence analysis method of a parasitic InSAR system time synchronization error, and has obvious differences in application direction, application range and technical approach.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a distributed InSAR satellite time synchronization on-orbit testing method and a distributed InSAR satellite time synchronization on-orbit testing system. The method fills the technical blank that the time synchronization index of the distributed InSAR satellite cannot be directly tested in the orbit, and has the advantages of good adaptability, simplicity, practicability and high test precision. The invention is suitable for the time synchronization on-orbit test of the distributed InSAR satellite under a two-star (one-shot two-shot) system or a multi-star (one-shot multiple-shot) system, the test methods, the steps and the basic principle of the two systems are the same, and the test method is only expressed by taking the two-star (one-shot two-shot) system as an example.
According to one aspect of the invention, a distributed InSAR satellite time synchronization on-orbit testing method is provided, which comprises the following steps:
the construction planning step of the geometric calibration field: planning control points and characteristic points along the flight direction of the satellite, measuring and recording coordinate information of the control points, and calculating coordinate information of the characteristic points;
a step of obtaining a characteristic point test value: calculating to obtain a characteristic point test value by reading the coordinate information of the control point;
a characteristic point deviation distance obtaining step: calculating to obtain the distance deviation of the characteristic point test value;
calculating the slant range difference of the double-star SAR and correcting the range deviation: calculating to obtain the slant range difference of the double-star SAR according to the coordinate information of the characteristic points, correcting the range deviation, and converting the range deviation into the slant range deviation;
calculating a time synchronization on-track test result: the time-synchronized on-track test results are shown assin θ, where T syn For time synchronization test results, Δ R ref And c is the slope distance deviation of the double-star characteristic point test value, c is the light speed, and theta is the incident angle of the main star at the characteristic point.
Preferably, in the geometric calibration field construction planning step, N groups of M high-precision angle reflectors in each group are arranged in front and back of the same observation strip along the satellite flight direction according to the satellite design orbit, and the geometric centers of the M angle reflectors are used as feature points.
Preferably, in the step of obtaining the characteristic point test value, a satellite operation and control task is arranged, and a target area SAR image is obtained while double-satellite single-navigation is carried out; and selecting a complex image area with control points through image interpretation, performing two-dimensional interpolation on the complex image, selecting an interpolation mode of 64 multiplied by 64 times to ensure the test precision, and calculating two-dimensional coordinates of each group of M corner reflectors as a characteristic point test value.
Preferably, in the step of obtaining the deviation distance of the characteristic points, a satellite operation and control task is arranged, and a target area SAR image is obtained while double-satellite single-navigation is carried out; and selecting a complex image area with control points through image interpretation, calculating the geometric center of each group of M corner reflectors as a characteristic point test value, acquiring N pairs of characteristic point test data by using double stars, and calculating the distance deviation of the N pairs of characteristic point test values.
Preferably, in the step of calculating the skew distance difference and correcting the range deviation of the two-star SAR, the skew distance difference of the two-star SAR at the position of the feature point is calculated according to the post-event high-precision orbit data and the feature point coordinates, the range deviation of the N pairs of feature point test values is corrected, and the corrected range deviation is converted into the skew distance deviation according to the incident angle of the main-star feature point.
According to another aspect of the invention, a distributed InSAR satellite time synchronization on-orbit test system is provided, which comprises the following modules:
a geometric calibration field construction planning module: planning control points and characteristic points along the flight direction of the satellite, measuring and recording coordinate information of the control points, and calculating coordinate information of the characteristic points;
a characteristic point test value acquisition module: calculating to obtain a characteristic point test value by reading the coordinate information of the control point;
a characteristic point deviation distance obtaining module: calculating to obtain the distance deviation of the characteristic point test value;
the double-star SAR slant range difference calculation and range direction deviation correction module comprises: calculating to obtain the slant range difference of the double-star SAR according to the coordinate information of the characteristic points, correcting the range deviation, and converting the range deviation into the slant range deviation;
the time synchronization on-orbit test result calculation module: the time-synchronized on-track test results are shown assin θ, where T syn For time synchronization test results, Δ R ref And c is the slope distance deviation of the double-star characteristic point test value, c is the light speed, and theta is the incident angle of the main star at the characteristic point.
Preferably, in the geometric calibration field construction planning module, N groups of M high-precision angle reflectors of each group are arranged in front and back of the same observation strip along the flight direction of the satellite according to the satellite design orbit, and the geometric centers of the M angle reflectors are used as feature points.
Preferably, in the characteristic point test value acquisition module, a satellite operation and control task is arranged, and a target area SAR image is acquired while double-satellite single-navigation is performed; and selecting a complex image area with a control point through image interpretation, performing two-dimensional interpolation on the complex image, and calculating two-dimensional coordinates of each group of M corner reflectors to serve as a characteristic point test value.
Preferably, in the characteristic point deviation distance acquisition module, a satellite operation and control task is arranged, and a target area SAR image is acquired while double-satellite single-navigation is performed; and selecting a complex image area with control points through image interpretation, calculating the geometric center of each group of M corner reflectors as a characteristic point test value, acquiring N pairs of characteristic point test data by using double stars, and calculating the distance deviation of the N pairs of characteristic point test values.
Preferably, in the module for calculating the skew distance difference and correcting the range deviation of the SAR, the skew distance difference of the SAR at the position of the feature point is calculated according to the post-event high-precision orbit data and the coordinates of the feature point, the range deviation of the N pairs of feature point test values is corrected, and the corrected range deviation is converted into the skew distance deviation according to the incident angle of the main satellite feature point.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the time synchronization in-orbit test result is obtained by using the distance direction deviation of the same characteristic point in the double-star complex image, which is the first time at home and abroad, and the technical blank that the time synchronization in-orbit of the distributed InSAR satellite cannot be directly tested is filled;
secondly, parameters such as the number of control points, the arrangement position and the like can be adjusted in a targeted manner according to actual conditions such as ground geometric calibration field construction conditions, satellite design indexes and the like, and the method is flexible and good in adaptability;
thirdly, the time synchronization on-orbit testing method provided by the invention has high testing precision, and the time synchronization testing precision can reach 0.02 nanosecond by analyzing based on the working parameters of the German TanDEM-X satellite system.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a processing step of a distributed InSAR satellite time synchronization on-orbit testing method of the present invention;
FIG. 2 is a diagram of a group of high-precision angle reflector layout when M = 3;
FIG. 3 is a layout diagram of a group of high-precision angle reflectors when M = 4;
fig. 4 is a schematic diagram of geometric calibration field angle reflector layout and single star control point area interception.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
In order to reduce the test error caused by topographic relief, a flat bare soil area (the topographic gradient is less than or equal to 2 degrees) is selected as the area for arranging the corner reflector. The value of N can be set according to the construction scale of a geometric calibration field, the start and stop positions of imaging strips need to be respectively distributed in one group, and the distribution of corner reflectors in the imaging process can be considered as appropriate according to the actual situation; 3-4 corner reflectors in each group can be selected and arranged in a triangular or square shape, and the distance between adjacent corner reflectors is not less than 3 times of resolution, as shown in fig. 2 and 3, so that high precision can be ensured, and good maintainability can be maintained.
As shown in fig. 1, in this embodiment, since the arrangement manner of the corner reflectors does not affect the implementation steps and the basic principle of the present invention, a case where 3 groups (N = 3) of corner reflectors are arranged and 4 (M = 4) corner reflectors are arranged is taken as an example for description, and the specific implementation manner is as follows:
(1) Construction of geometric calibration site
As shown in fig. 4, 3 groups of 4 high-precision angle reflectors are arranged in the same observation strip along the flight direction of the satellite according to the designed orbit of the satellite, the geometric center of each group of 4 angle reflectors is used as a control point, and the arrangement distance between adjacent angle reflectors is 10 meters; and measuring and recording the coordinate information of the control point, and calculating the coordinate information of the characteristic point.
The arrangement of 3 groups of corner reflectors meets the following requirements:
the imaging head and tail regions are respectively distributed in a group;
arranging a group near the center line of the flight path;
selecting a flat bare soil area in each group of corner reflector arrangement area, wherein the terrain gradient is less than or equal to 2 degrees;
each group of corner reflectors are uniformly distributed in the same observation band, and the specific positions in the far and near end directions are not required.
(2) Photographing a target area
And arranging the operation and control tasks of the satellites, and simultaneously acquiring the main and auxiliary SAR echo data of the target area by the double-satellite single-navigation in a one-sending and double-receiving mode.
(3) SAR image production, selecting control point area
And after the double-star SAR image is transmitted back to the ground, the ground system carries out imaging processing on the original echo data, and identifies the position areas of 3 pairs (6 groups) of control points through interpretation of the double-star SAR image.
(4) Obtaining characteristic point test value
As shown in fig. 4, the SAR complex image data of the 3 pairs of (6 groups of) control point regions of the two stars are respectively intercepted through the coordinate information of the target regions in the two-star orbit and the geometric calibration field, the data blocks are respectively subjected to 64 times of two-dimensional interpolation, and the 3 groups of data of the main star after the interpolation are recorded as C m1 、C m2 、C m3 Auxiliary satellite 3 group data record C s1 、C s2 、C s3 And calculating the test result of each control point in the 3 pairs (6 groups) of complex image data blocks through the actual layout coordinate information of the control points in the double star orbit and the geometric calibration field, and calculating the characteristic point coordinate of each group of data blocks through the formula (1).
The list of the test results of the control points and the characteristic points is shown in table 1.
TABLE 1 test values of control points, characteristic points
(5) Calculating the distance rough deviation of the double-star characteristic points
Coarse deviation delta R of distance of double-star 3 pairs of characteristic points ref_tj =|F mj -F sj I x cos δ, j =1,2,3; delta is the vector (F) mj -F sj ) And the angle with the normal phase vector of the distance direction.
(6) Calculating the skew distance difference of the double-star SAR, correcting the deviation and converting the deviation into the skew distance direction
Calculating the slant range difference of the double-star SAR at each feature point position according to the post-satellite high-precision orbit data and the actual layout coordinates of the feature points, correcting the rough distance deviation of the test values of the N pairs of feature points, acquiring the distance direction deviation of the double-star SAR 3 pairs of feature points, converting the corrected distance direction deviation into the slant range deviation according to the incidence angle of the main star feature points, and obtaining a test result of delta R ref_j ,j=1,2,3。
(7) Computing time-synchronized on-orbit test results
The time synchronization on-track test result can be expressed asj =1,2,3, where T syn_j As a result of the time synchronization test at each feature point, c is the speed of light, θ j Is the incident angle of the main star at each characteristic point.
(8) Method for analyzing test precision
At present, the precision of the domestic geometric calibration corner reflector production and processing level can reach 0.1 meter, and the feature point target can reach higher precision by averaging coordinates of 4 control points; according to data published by a German TanDEM-X system, the SAR resolution reaches 3 meters, the calculation precision of the distance deviation after 64 times of two-dimensional interpolation can be better than 0.05 meter, and the satellite orbit positioning precision is better than 0.01 meter; in addition, due to the fact that the paths of the two-star SAR beams are basically the same, SAR slant range measurement errors caused by atmospheric delay can be ignored; in conclusion, the engineering margin is fully considered, the distance direction deviation measurement precision can be better than 0.16 meter, the slant distance direction deviation measurement precision can be better than 0.12 meter at the far-end incident angle (45 degrees) with worse indexes, and the time synchronization test precision can reach 0.02 nanosecond.
The invention also provides a distributed InSAR satellite time synchronization on-orbit test system, which comprises the following modules:
a geometric calibration field construction planning module: planning control points and characteristic points along the flight direction of the satellite, measuring and recording coordinate information of the control points, and calculating coordinate information of the characteristic points;
a characteristic point test value acquisition module: calculating to obtain the characteristic point test value by reading the control point information;
a characteristic point deviation distance obtaining module: calculating to obtain the distance deviation of the characteristic point test value;
the double-star SAR slant range difference calculation and range direction deviation correction module comprises: calculating to obtain the slant range difference of the double-star SAR according to the coordinate information of the characteristic points, correcting the range deviation, and converting the range deviation into the slant range deviation;
the time synchronization on-orbit test result calculation module: the time-synchronized on-track test results are shown assin θ, where T syn For time synchronization test results, Δ R ref And c is the slope distance deviation of the double-star characteristic point test value, c is the light speed, and theta is the incident angle of the main star at the characteristic point.
It is well within the knowledge of a person skilled in the art to implement the system and its various devices, modules, units provided by the present invention in a purely computer readable program code means that the same functionality can be implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (2)
1. A distributed InSAR satellite time synchronization on-orbit testing method is characterized by comprising the following steps:
and (3) building and planning a geometric calibration field: planning control points and characteristic points along the flight direction of the satellite, measuring and recording coordinate information of the control points, and calculating coordinate information of the characteristic points;
a step of obtaining a characteristic point test value: calculating to obtain a characteristic point test value by reading the coordinate information of the control point;
a characteristic point distance direction deviation obtaining step: obtaining distance direction deviation of the feature point test value through calculation;
calculating the slant range difference of the double-star SAR and correcting the range deviation: calculating to obtain the slant range difference of the double-star SAR according to the coordinate information of the characteristic points, correcting the range deviation, and converting the range deviation into the slant range deviation;
calculating a time synchronization on-track test result: the time-synchronized on-track test results are shown as Wherein T is syn For time synchronization test results, Δ R ref The slope distance deviation of the double-star characteristic point test value is shown, c is the light speed, and theta is the incident angle of the main star at the characteristic point;
in the geometric calibration field construction planning step, N groups of M high-precision angle reflectors are arranged in the same observation strip back and forth along the flight direction of the satellite according to the design orbit of the satellite, each group of M high-precision angle reflectors is used as a control point, and the geometric centers of the M angle reflectors are used as characteristic points;
in the step of obtaining the characteristic point test value, arranging a satellite operation and control task, and obtaining an SAR image of a target area while double-satellite single-navigation is carried out; selecting a complex image area with control points through image interpretation, performing two-dimensional interpolation on the complex image area, and calculating the geometric center of each group of M corner reflectors as a characteristic point test value;
in the step of obtaining the distance direction deviation of the characteristic points, the double stars obtain N pairs of characteristic point test data, and the distance direction deviation of the N pairs of characteristic point test values is calculated;
in the step of calculating the slant range difference of the double-star SAR and correcting the distance deviation, the slant range difference of the double-star SAR at the position of the characteristic point is calculated according to post-incident high-precision orbit data and the coordinates of the characteristic point, the distance deviation of the N pairs of characteristic point test values is corrected, and the corrected distance deviation is converted into the slant range deviation according to the incident angle of the main-star characteristic point.
2. A distributed InSAR satellite time synchronization in-orbit test system is characterized by comprising:
a geometric calibration field construction planning module: planning control points and characteristic points along the flight direction of the satellite, measuring and recording coordinate information of the control points, and calculating coordinate information of the characteristic points;
a characteristic point test value acquisition module: calculating to obtain a characteristic point test value by reading the coordinate information of the control point;
a characteristic point distance direction deviation obtaining module: calculating to obtain the distance deviation of the characteristic point test value;
the double-star SAR slant range difference calculation and range direction deviation correction module comprises: calculating to obtain the slant range difference of the double-star SAR according to the coordinate information of the characteristic points, correcting the range deviation, and converting the range deviation into the slant range deviation;
calculation of time-synchronized on-track test resultsA module: the time-synchronized on-track test results are shown as Wherein T is syn For time synchronization test results, Δ R ref The slope distance deviation of the double-star characteristic point test value is shown, c is the light speed, and theta is the incident angle of the main star at the characteristic point;
in the geometric calibration field construction planning module, N groups of M high-precision angle reflectors are arranged in the same observation strip back and forth along the flight direction of the satellite according to the design orbit of the satellite, each group of M high-precision angle reflectors is used as a control point, and the geometric centers of the M angle reflectors are used as characteristic points;
in the characteristic point test value acquisition module, a satellite operation and control task is arranged, and a target area SAR image is acquired while double-satellite single-navigation is performed; selecting a complex image area with control points through image interpretation, performing two-dimensional interpolation on the complex image area, and calculating the geometric center of each group of M corner reflectors as a characteristic point test value;
in the characteristic point distance direction deviation acquisition module, double stars acquire N pairs of characteristic point test data, and calculate the distance direction deviation of the N pairs of characteristic point test values;
in the double-star SAR slant range difference calculation and range direction deviation correction module, the slant range difference of the double-star SAR at the position of the characteristic point is calculated according to post-incident high-precision orbit data and the coordinates of the characteristic point, the range direction deviation of the N pairs of characteristic point test values is corrected, and the corrected range direction deviation is converted into the slant range deviation according to the incident angle of the main star characteristic point.
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