lankun/sjy01-image-proc
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从位置和速度计算验证轨道到地心坐标系的旋转矩阵

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nuknal
2024-06-13 15:07:15 +08:00
parent ee427949e3
commit cd9a534458
8 changed files with 118 additions and 42 deletions
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44
pkg/producer/aux.go
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@@ -39,38 +39,53 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
startPosInAux, endPosInAux := r.SceneInAuxIndex(scene)
as := r.AuxPlatforms[startPosInAux]
startTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec), int64(as.Microsecond)*1000).UTC()
startPos84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
ae := r.AuxPlatforms[endPosInAux]
startTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(as.UTCTimeSec), int64(as.Microsecond)*1000).UTC()
endTime := time.Unix(int64(auxilary.ReferenceTime2000)+int64(ae.UTCTimeSec), int64(ae.Microsecond)*1000).UTC()
startPos84 := []float64{as.W84PosX, as.W84PosY, as.W84PosZ}
endPos84 := []float64{ae.W84PosX, ae.W84PosY, ae.W84PosZ}
// ------------------ 使用定姿态四元数计算图像边界 ------------------
log.Info("using attitude quaternion to calculate image boundary...")
Qsat2eci := calculator.Quaternion{W: as.QuatAttstarQ0, X: as.QuatAttstarQ1, Y: as.QuatAttstarQ2, Z: as.QuatAttstarQ3}
line0Start := calculator.Intersection(Qsat2eci, startPos84, startTime, 0)
line0End := calculator.Intersection(Qsat2eci, startPos84, startTime, 9344)
line0Start, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 0)
line0End, _ := calculator.IntersectionAttitude(Qsat2eci, startPos84, startTime, 9344)
Qsat2eci = calculator.Quaternion{W: ae.QuatAttstarQ0, X: ae.QuatAttstarQ1, Y: ae.QuatAttstarQ2, Z: ae.QuatAttstarQ3}
lineNStart := calculator.Intersection(Qsat2eci, endPos84, endTime, 0)
lineNEnd := calculator.Intersection(Qsat2eci, endPos84, endTime, 9344)
lineNStart, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 0)
lineNEnd, _ := calculator.IntersectionAttitude(Qsat2eci, endPos84, endTime, 9344)
// ------------------ 使用本体和轨道四元数计算图像边界 ------------------
// ------------------ 使用本体和轨道四元数计算图像边界 ECI------------------
// log.Info("using orbit and body quaternion to calculate image boundary...")
// Qsat2orbit := calculator.Quaternion{X: as.QuatOrbitQ1, Y: as.QuatOrbitQ2, Z: as.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// Qorbit2eci := calculator.Quaternion{X: as.QuatOrbJQ1, Y: as.QuatOrbJQ2, Z: as.QuatOrbJQ3}
// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
// line0Start := calculator.Intersection2(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0)
// line0End := calculator.Intersection2(Qsat2orbit, Qorbit2eci, startPos84, startTime, 9344)
// line0Start,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 0)
// line0End,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, startPos84, startTime, 9344)
// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// Qorbit2eci = calculator.Quaternion{X: ae.QuatOrbJQ1, Y: ae.QuatOrbJQ2, Z: ae.QuatOrbJQ3}
// Qorbit2eci.W = math.Sqrt(1 - Qorbit2eci.X*Qorbit2eci.X - Qorbit2eci.Y*Qorbit2eci.Y - Qorbit2eci.Z*Qorbit2eci.Z)
// lineNStart := calculator.Intersection2(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0)
// lineNEnd := calculator.Intersection2(Qsat2orbit, Qorbit2eci, endPos84, endTime, 9344)
// lineNStart,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 0)
// lineNEnd,_ := calculator.IntersectionECI(Qsat2orbit, Qorbit2eci, endPos84, endTime, 9344)
// ------------------ 使用本体和轨道四元数计算图像边界 ECEF------------------
// log.Info("using orbit and body quaternion to calculate image boundary...")
// Qsat2orbit := calculator.Quaternion{X: as.QuatOrbitQ1, Y: as.QuatOrbitQ2, Z: as.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// vec84 := []float64{as.W84VelX, as.W84VelY, as.W84VelZ}
// line0Start, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 0)
// line0End, _ := calculator.IntersectionECEF(Qsat2orbit, startPos84, vec84, 9344)
// Qsat2orbit = calculator.Quaternion{X: ae.QuatOrbitQ1, Y: ae.QuatOrbitQ2, Z: ae.QuatOrbitQ3}
// Qsat2orbit.W = math.Sqrt(1 - Qsat2orbit.X*Qsat2orbit.X - Qsat2orbit.Y*Qsat2orbit.Y - Qsat2orbit.Z*Qsat2orbit.Z)
// vec84 = []float64{ae.W84VelX, ae.W84VelY, ae.W84VelZ}
// lineNStart, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 0)
// lineNEnd, _ := calculator.IntersectionECEF(Qsat2orbit, endPos84, vec84, 9344)
// ------------------ 计算图像边界距离和分辨率 ------------------
W0 := geo.Distance(orb.Point{line0Start.Lon, line0Start.Lat}, orb.Point{line0End.Lon, line0End.Lat})
@@ -80,11 +95,6 @@ func (r *Registrator) SetSceneBoundary(scene *Scene) (topLeft, bottomRight orb.P
xResolution := W0 / float64(scene.Width)
yResolution := H0 / float64(scene.Height)
scene.Meta.Gsd = math.Min(xResolution, yResolution)
// log.Debug("distance 0: ", W0)
// log.Debug("distance N: ", WN)
// log.Debug("distance 0-0: ", H0)
// log.Debug("distance N-N: ", HN)
log.Debug("resolution x: ", xResolution)
log.Debug("resolution y: ", yResolution)