CN112462339B - Method for calculating third-order Doppler parameters of SAR (synthetic aperture radar) satellite in geosynchronous orbit - Google Patents
Method for calculating third-order Doppler parameters of SAR (synthetic aperture radar) satellite in geosynchronous orbit Download PDFInfo
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Abstract
The invention discloses a method for calculating third-order Doppler parameters of a geosynchronous orbit SAR satellite, which comprises the steps of obtaining 1-4-order motion state vectors of the geosynchronous orbit SAR satellite according to a satellite-ground geometric relation model: position R s Velocity V s Acceleration A s And first-order differential A 'of acceleration' s The method comprises the steps of carrying out a first treatment on the surface of the 2. According to the satellite-ground geometric relation model, a 1-4-order motion state vector of a central aiming point of the SAR satellite wave beam is obtained: position R t Velocity V t Acceleration A t And first-order differential A 'of acceleration' t The method comprises the steps of carrying out a first treatment on the surface of the 3. Obtaining third-order Doppler parameters of the Geo-SAR satellite based on the results of the first step and the second step; the third-order Doppler parameter obtained by the method can greatly improve the high-resolution modeling precision of the satellite, reduce the development difficulty of the satellite and bring good social and economic benefits and military benefits.
Description
Technical Field
The invention belongs to the technical field of global design of a geosynchronous orbit SAR satellite, and particularly relates to a method for calculating third-order Doppler parameters of the geosynchronous orbit SAR satellite.
Background
Doppler parameters of the spaceborne SAR have important significance for the establishment of a signal model and the processing of imaging data. For the low-and-medium-resolution Leo-SAR, the requirements of signal modeling and data processing can be met only by determining the calculation method and the accuracy of the first-order and second-order Doppler parameters (namely Doppler center and Doppler frequency modulation value), so that the overall satellite parameter design is constrained. However, for geosynchronous orbit SAR satellites (Geo-SAR), only two low order doppler parameter values are far from sufficient, requiring calculation of higher order doppler parameters.
For Geo-SAR satellites, the accuracy of the doppler parameter values between the SAR antenna phase center and the ground is significant for building an efficient signal model and data processing using matched filtering. The Geo-SAR satellite is at about 36000km high altitude, the synthetic aperture time of which can reach hundreds or even thousands of seconds, during which time the synthetic aperture nonlinear distortion of the radar is serious, the flight trajectory of the satellite can not be approximated to a two-dimensional plane positive arc as much as the Leo-SAR, which directly results in that the traditional equivalent squint distance model is not established any more, and the approximate doppler parameter calculation method based on the model is simultaneously ineffective. Therefore, third-order Doppler parameters need to be calculated to meet the requirements of system parameter design, signal modeling, data processing and the like.
Disclosure of Invention
In view of the above, the invention provides a method for calculating the third-order Doppler parameters of a geosynchronous orbit SAR satellite, which can effectively solve the problem of accurate calculation of the third-order Doppler parameters of a Geo-SAR satellite under different in-orbit attitudes.
The technical scheme for realizing the invention is as follows:
a method for calculating third-order Doppler parameters of a geosynchronous orbit SAR satellite comprises the following steps:
step one, obtaining a 1-4 order motion state vector of a geosynchronous orbit SAR satellite according to a satellite-ground geometric relation model: position ofR s Velocity V s Acceleration A s And first-order differential A 'of acceleration' s ；
Step two, obtaining a 1-4-order motion state vector of a central aiming point of the SAR satellite wave beam according to the satellite-ground geometric relation model: position R t Velocity V t Acceleration A t And first-order differential A 'of acceleration' t ；
Step three, obtaining a third-order Doppler parameter f of the Geo-SAR satellite based on the results of the step one and the step two 2r ；
Where λ is the radar carrier wavelength, f dc Represents the Doppler center, f 1r Representing doppler tone frequency, r is the distance between the satellite and the beam center aiming point.
Further, the method comprises the steps of,
R s ＝R s [1,0,0] T (1)
wherein:
wherein R is s Scalar is the instantaneous distance between satellite and earth center, R' s Is R s First order differentiation of omega s For the instantaneous angular velocity of the satellite, e is the orbital eccentricity, f is the true near-center angle, a is the orbital half-length axis, μ= 3.98696 ×10 14 m 3 /s 2 Is the gravitational constant;
wherein omega e The rotation angular velocity of the earth, R is the distance between the satellite and the aiming point of the beam center, R a Local earth radius, θ, as the aiming point lat And theta long Geographic latitude and geographic longitude of the aiming point respectively; a is that re Is a conversion matrix between a satellite platform coordinate system and a satellite star coordinate system, A ea Is a transformation matrix between a satellite star coordinate system and an antenna coordinate system, A rv Is a conversion matrix between a satellite platform coordinate system and a satellite orbit plane coordinate system, A vo The expression of the transformation matrix between the satellite orbit plane coordinate system and the geocentric non-rotating coordinate system is as follows:
wherein θ y 、θ r And theta p The angles respectively represent the yaw angle, roll angle and pitch angle of the satellite; γ denotes SAR antenna downview angle, k denotes satellite beam pointing, k=1 denotes right view, and k= -1 denotes left view; θ i Is the track inclination angle; omega is the near-place argument.
The beneficial effects are that:
the third-order Doppler parameter calculated by the method can greatly improve the high-resolution modeling precision of the satellite, reduce the difficulty of satellite development, and further bring good social and economic benefits and military benefits.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic diagram of a coordinate system Ep and a coordinate system Ev according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of 1-3 order Doppler parameters of a Geo-SAR satellite in a front side view imaging attitude state; wherein, (a) a 1-order Doppler parameter, (b) a 2-order Doppler parameter, and (c) a 3-order Doppler parameter.
FIG. 4 is a schematic diagram of the 1-3 order Doppler parameters of a Geo-SAR satellite in an imaging state without attitude control; wherein, (a) a 1-order Doppler parameter, (b) a 2-order Doppler parameter, and (c) a 3-order Doppler parameter.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a method for calculating third-order Doppler parameters of a geosynchronous orbit SAR satellite, and a flow chart is shown in figure 1.
The invention adopts the methods of motion state vector analysis and coordinate transformation to analyze, transforms all state vectors into a coordinate system Ep for analysis, so as to simplify the deducing process to the greatest extent, wherein the coordinate system is transformed by a track coordinate system Ev, the coordinate system is defined as shown in figure 2, ω is a near-place argument, f is a true near-center argument and R s The distance from the satellite to the earth center is the instantaneous distance, XYZO represents Ev, the origin of coordinates is located at the earth center, the X axis points to the near point from the earth center, the Y axis is vertical to the X axis in the orbit plane, and the Z axis accords with the rule of a right-hand coordinate system. The coordinate system Ev is rotated anticlockwise around the Z axis by f to obtain a coordinate system Ep, namely X 'Y' Z 'O, wherein the X' axis of the coordinate system Ep is constantly directed to the satellite from the earth center, and f represents the true near-center angle.
To calculate the 3 rd order doppler parameters, the respective 1-4 th order motion state vectors of the satellite and target need to be solved first: position, velocity, acceleration and first order differentiation of acceleration, namely: r, V, A and a'. The subscript "s" denotes the satellite and "t" denotes the beam center aiming point. According to the satellite-ground geometric relation model, the 1-4 order motion state vector expression of the satellite is as follows:
R s ＝R s [1,0,0] T (1)
wherein:
wherein R is s Is the scalar of the instantaneous distance between the satellite and the earth center, R' s Is R s First order differentiation of omega s Is the instantaneous angular velocity of the satellite, e is the orbital eccentricity, f is the true near-center angle, a is the orbit long half axis, μ= 3.98696 ×10 14 m 3 /s 2 Is the gravitational constant. Correspondingly, according to the star-ground geometric relation model, the 1-4-order motion state vector expressions of the beam center aiming point are respectively expressed as follows:
wherein omega e Is the rotational angular velocity of the earth, R is the distance between the satellite and the beam center aiming point, R a Local earth radius, θ, which is the aiming point lat And theta long The geographical latitude and the geographical longitude of the aiming point, respectively. A is that re Is a satellite platform coordinate system and a satellite starConversion matrix between coordinate systems, A ea Is a transformation matrix between a satellite star coordinate system and an antenna coordinate system, A rv Is a conversion matrix between a satellite platform coordinate system and a satellite orbit plane coordinate system, A vo Is a transformation matrix between a satellite orbit plane coordinate system and a geocentric non-rotating coordinate system.
In the space-borne SAR 'space-earth' geometric modeling and orbit parameter analysis, different coordinate systems are needed, and seven different coordinate systems are defined by the invention: geocentric rotation coordinate system E g Coordinate system E with non-rotating earth center o Plane coordinate system E of satellite orbit v "non-translation platform coordinate System" E r0 Satellite platform coordinate system E r Satellite star coordinate system E e And an antenna coordinate system E a . The seven coordinate systems are defined and inter-transformed as follows:
(1)E g and E is o
The geocentric non-rotation coordinate system is also called geocentric inertial coordinate system, and takes the Z axis as the rotation axis to rotate the Greenwich mean star hour angle H of a spring divider point anticlockwise g ＝ω e (t-t 0 ) Thereby obtaining the geocentric rotational coordinate system, wherein omega e Is the rotational angular velocity of the earth.
(2)E v
The geocentric non-rotating coordinate system is rotated counter-clockwise by Ω about the Z-axis, and then the coordinate system is rotated counter-clockwise by θ about the X-axis i And finally, rotating the coordinate system counter-clockwise by omega around the Z axis to obtain the orbit coordinate system.
(3)E r
And (3) rotating the orbit coordinate system around the Z axis anticlockwise by an angle f, and translating the origin of coordinates to the phase center of the satellite radar antenna to obtain a satellite platform coordinate system. The X-axis of the coordinate system points to the satellite from the earth center, the Z-axis points to be consistent with the orbit coordinate system, and the Y-axis accords with the Cartesian right rule.
(4)E e
The origin of the satellite star coordinate system is also located at the satellite radar antenna phase center. The satellite platform coordinate system rotates anticlockwise by theta around X, Y and Z coordinate axes respectively y 、θ r And theta p The angles are such that the three coordinate axes coincide with the main axis of inertia of the star and the attitude error of the satellite operation is described by yaw, roll and pitch angles.
(5)E a
The origin of the antenna coordinate system is also located at the satellite radar antenna phase center. The satellite star coordinate system is rotated around the Y axis to obtain the antenna coordinate system by the visual angle gamma, the X axis of the coordinate system points to the satellite from the target, the Y axis points to the satellite speed direction, and the Z axis accords with the Cartesian right-hand spiral rule.
In analysis of the space-borne SAR geometric model, different coordinate systems are required to be selected according to different problems, and the reasonable coordinate system is selected, so that complexity of an analysis process can be effectively reduced. A is that re 、A ea 、A rv And A vo Is the coordinate system E o 、E v 、E r 、E e And E is a The conversion matrix between the two is expressed as follows:
wherein θ y 、θ r And theta p The angles respectively represent the yaw angle, roll angle and pitch angle of the satellite; γ denotes SAR antenna downview angle, k denotes satellite beam pointing, k=1 denotes right view, and k= -1 denotes left view; θ i Is the track inclination; ω is the near-spot argument.
Based on the above results, a 1-3 order Doppler parameter calculation expression of the Geo-SAR satellite can be obtained:
in formulas (16) - (18), λ is the radar carrier wavelength, f dc Representing the Doppler center (i.e., first order Doppler parameter), f 1r Representing Doppler tone frequency (i.e., second order Doppler parameter), f 2r Representing the third order doppler parameter.
Since the calculation result is related to the satellite attitude, the invention takes two typical satellite attitudes as input to complete the calculation, and the result is shown in fig. 3 and fig. 4.
Fig. 3 (a) - (c) are the results of 1-3 order doppler parameter calculation of Geo-SAR satellites in one orbital period in the forward side view imaging pose state. In the figure, the abscissa is the orbit latitude amplitude angle, and the ordinate is the Doppler parameter calculated value. The track parameters are shown in table 1;
FIGS. 4 (a) - (c) are the 1-3 order Doppler parameters for a Geo-SAR satellite in the attitude-free control state. The abscissa of the picture is the latitude and amplitude angle of the orbit, and the ordinate is the Doppler parameter calculated value. Track parameters and SAR parameters are shown in table 1;
TABLE 1 geosynchronous orbit SAR satellite orbit parameters
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The method for calculating the third-order Doppler parameters of the geosynchronous orbit SAR satellite is characterized by comprising the following steps of:
step one, obtaining a 1-4 order motion state vector of a geosynchronous orbit SAR satellite according to a satellite-ground geometric relation model: position R s Velocity V s Acceleration A s And first-order differential A 'of acceleration' s ；
Step two, obtaining a 1-4-order motion state vector of a central aiming point of the SAR satellite wave beam according to the satellite-ground geometric relation model: position R t Velocity V t Acceleration A t And first-order differential A 'of acceleration' t ；
Step three, obtaining a third-order Doppler parameter f of the Geo-SAR satellite based on the results of the step one and the step two 2r ；
Where λ is the radar carrier wavelength, f dc Represents the Doppler center, f 1r Representing doppler tone frequency, r is the distance between the satellite and the beam center aiming point.
2. A method for calculating the third-order Doppler parameters of a geosynchronous orbit SAR satellite according to claim 1,
R s ＝R s [1,0,0] T (1)
wherein:
wherein R is s Scalar is the instantaneous distance between satellite and earth center, R' s Is R s First order differentiation of omega s For the instantaneous angular velocity of the satellite, e is the orbital eccentricity, f is the true near-center angle, a is the orbital half-length axis, μ= 3.98696 ×10 14 m 3 /s 2 Is the gravitational constant;
wherein omega e The rotation angular velocity of the earth, R is the distance between the satellite and the aiming point of the beam center, R a Local earth radius, θ, as the aiming point lat And theta long Geographic latitude and geographic longitude of the aiming point respectively; a is that re Is a conversion matrix between a satellite platform coordinate system and a satellite star coordinate system, A ea Is a transformation matrix between a satellite star coordinate system and an antenna coordinate system, A rv Is a conversion matrix between a satellite platform coordinate system and a satellite orbit plane coordinate system, A vo The expression of the transformation matrix between the satellite orbit plane coordinate system and the geocentric non-rotating coordinate system is as follows:
wherein θ y 、θ r And theta p The angles respectively represent the yaw angle, roll angle and pitch angle of the satellite; γ denotes SAR antenna downview angle, k denotes satellite beam pointing, k=1 denotes right view, and k= -1 denotes left view; θ i Is the track inclination angle; omega is the near-place argument.
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