aux
This commit is contained in:
nuknal
10
extract/attitude.go
Normal file
10
extract/attitude.go
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@@ -0,0 +1,10 @@
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package extract
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/*
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将欧拉角 (yaw, pitch, roll) 转换为旋转矩阵
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参数:
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- yaw: 偏航角（绕Z轴旋转）
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- pitch: 俯仰角（绕Y轴旋转）
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- roll: 滚转角（绕X轴旋转）
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*/
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@@ -142,6 +142,9 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
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var afh AuxFrameHead
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msdata := make([][]byte, 4)
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var header []byte
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var ebAux []byte
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var platAux []byte
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for i := 0; i < dataLen; {
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if i+4 > dataLen {
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@@ -182,11 +185,17 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
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break
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}
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auxTime := binary.BigEndian.Uint32(data[i+32 : i+36])
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if math.Abs(float64(auxTime)-float64(afh.TimeSec)) < 30 {
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header = append(header, data[i:i+24]...)
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}
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// 存储辅助数据到临时文件
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dataIndex := i + 24
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lw.ws[EB_AUX].w.Write(data[dataIndex : dataIndex+8]) // 8字节焦面电箱辅助数据
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// lw.ws[EB_AUX].w.Write(data[dataIndex : dataIndex+8]) // 8字节焦面电箱辅助数据
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ebAux = append(ebAux, data[dataIndex:dataIndex+8]...)
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dataIndex += 8
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lw.ws[PLAT_AUX].w.Write(data[dataIndex : dataIndex+32]) // 32字节中心机辅助数据
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// lw.ws[PLAT_AUX].w.Write(data[dataIndex : dataIndex+32]) // 32字节中心机辅助数据
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platAux = append(platAux, data[dataIndex:dataIndex+32]...)
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dataIndex += 32
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// 存储图像数据到临时文件 - 以 ENVI BSQ 格式存储，同时提供 HDR 描述文件
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@@ -221,15 +230,41 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
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i = dataIndex // 完成一行数据解析
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}
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var bands = 0
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for i := 0; i < 4; i++ {
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if len(msdata[i]) > 0 {
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log.Println("write mss data of band B", i+1)
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_, err := write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[i])
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if err != nil {
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log.Error("write mss data error:", err.Error())
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}
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bands += 1
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// var bands = 0
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// for i := 0; i < 4; i++ {
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// if len(msdata[i]) > 0 {
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// log.Println("write mss data of band B", i+1)
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// _, err := write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[i])
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// if err != nil {
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// log.Error("write mss data error:", err.Error())
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// }
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// bands += 1
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// }
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// }
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if len(msdata[0]) != len(msdata[1]) || len(msdata[2]) != len(msdata[3]) {
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log.Error("mss data of bands B1-B4 are not equal")
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return errors.New("mss data of bands B1-B4 are not equal")
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}
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mssRowLen := 1192 * 4
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for i := 0; i < len(msdata[0]); i += mssRowLen {
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var err error
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_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[0][i:i+mssRowLen])
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if err != nil {
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log.Error("write mss 1 data error:", err.Error())
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}
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_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[1][i:i+mssRowLen])
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if err != nil {
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log.Error("write mss 2 data error:", err.Error())
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}
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_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[2][i:i+mssRowLen])
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if err != nil {
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log.Error("write mss 3 data error:", err.Error())
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}
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_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[3][i:i+mssRowLen])
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if err != nil {
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log.Error("write mss 4 data error:", err.Error())
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}
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}
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@@ -238,16 +273,29 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
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lw.ws[PAN_HDR].w.Write([]byte(panEnviHdr.String()))
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mssEnviHdr.Lines = mssEnviHdr.Lines / 4 // 多光谱波段分别在 4 行中传输
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mssEnviHdr.Samples = 2384
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mssEnviHdr.Bands = bands
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mssEnviHdr.Samples = 2384 * 4
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mssEnviHdr.Bands = 1
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lw.ws[MSS_HDR].w.Write([]byte(mssEnviHdr.String()))
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// 帧头+辅助数据
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if len(header)/24 < len(ebAux)/128 || len(ebAux)/128 != len(platAux)/512 {
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fmt.Println("aux data length:", len(header)/24, len(ebAux)/128, len(platAux)/512)
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return errors.New("aux data length is not equal")
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}
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auxRows := len(header) / 24
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for i := 0; i < auxRows; i++ {
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lw.ws[AUX].w.Write(header[i*24 : (i+1)*24])
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lw.ws[AUX].w.Write(ebAux[i*128 : (i+1)*128])
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lw.ws[AUX].w.Write(platAux[i*512 : (i+1)*512])
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}
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return nil
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}
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func (e *Extractor) quanlityAnalysis(data []byte) {
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// 数据质量分析
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fimg, _ := os.Create("demo/temp/" + e.params.DataId + "_aux_img.txt")
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fimg, _ := os.Create("demo/temp/" + e.params.DataId + "/aux.txt")
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defer fimg.Close()
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fimg.WriteString("字节数 帧头流水号 文件号 帧头时间 中心辅助数据前4字节(行33-36)\n")
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@@ -346,14 +346,22 @@ func (e *Extractor) ParseAuxPlatform(auxfile string) ([]*AuxPlatform, error) {
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}
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var aps []*AuxPlatform
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for i := 0; i < len(data); i += AuxPlatformFrmSize {
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for i := 0; i < len(data); i += 24 + 128 + 512 {
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ap := AuxPlatform{}
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if err := ap.Parse(data[i : i+AuxPlatformFrmSize]); err != nil {
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if err := ap.Parse(data[i+24+128 : i+24+128+512]); err != nil {
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return nil, err
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}
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aps = append(aps, &ap)
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ap.Print()
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// Calculate(
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// Vector3{ap.J2000Pos_X, ap.J2000Pos_Y, ap.J2000Pos_Y},
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// Vector3{ap.J2000Vel_X, ap.J2000Vel_Y, ap.J2000Vel_Z},
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// Quaternion{ap.SS1_Q1, ap.SS1_Q2, ap.SS1_Q3, ap.SS1_Q4},
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// )
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// pp.Println(calculator.WGS84XYZtoLngLat(ap.W84PosX, ap.W84PosY, ap.W84PosZ))
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// pp.Println(calculator.WGS84XYZtoLngLat(ap.WGS84PosX, ap.WGS84PosY, ap.WGS84PosZ))
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break
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114
extract/calculator.go
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114
extract/calculator.go
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@@ -0,0 +1,114 @@
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package extract
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import (
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"fmt"
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"math"
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)
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// 定义常数
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const (
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GM = 3.986004418e14 // 地球引力常数（m^3/s^2）
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Re = 6378137.0 // 地球半径（m）
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)
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// 四元数
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type Quaternion struct {
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w, x, y, z float64
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}
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// 矢量
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type Vector3 struct {
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x, y, z float64
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}
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// 计算轨道参数
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func calculateOrbitalParameters(position, velocity Vector3) (float64, float64, float64, float64, float64) {
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r := math.Sqrt(position.x*position.x + position.y*position.y + position.z*position.z)
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v := math.Sqrt(velocity.x*velocity.x + velocity.y*velocity.y + velocity.z*velocity.z)
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// 计算轨道参数
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energy := 0.5*v*v - GM/r // 比能
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a := -GM / (2 * energy) // 轨道半长轴
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e := math.Sqrt(1 - (math.Pow(math.Sqrt(math.Pow(position.x*velocity.y-position.y*velocity.x, 2)+
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math.Pow(position.y*velocity.z-position.z*velocity.y, 2)+
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math.Pow(position.z*velocity.x-position.x*velocity.z, 2)), 2) / (GM * a)))
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i := math.Acos(position.z / r) // 轨道倾角
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Omega := math.Atan2(position.x, -position.y) // 升交点赤经
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omega := math.Atan2(position.z*velocity.x-position.x*velocity.z, position.x*velocity.y-position.y*velocity.x) // 升交点赤纬
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return a, e, i * 180 / math.Pi, Omega * 180 / math.Pi, omega * 180 / math.Pi
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}
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// 四元数到旋转矩阵
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func quaternionToRotationMatrix(q Quaternion) [3][3]float64 {
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w, x, y, z := q.w, q.x, q.y, q.z
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return [3][3]float64{
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{1 - 2*y*y - 2*z*z, 2*x*y - 2*z*w, 2*x*z + 2*y*w},
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{2*x*y + 2*z*w, 1 - 2*x*x - 2*z*z, 2*y*z - 2*x*w},
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{2*x*z - 2*y*w, 2*y*z + 2*x*w, 1 - 2*x*x - 2*y*y},
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}
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}
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// 向量加法
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func add(v1, v2 Vector3) Vector3 {
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return Vector3{v1.x + v2.x, v1.y + v2.y, v1.z + v2.z}
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}
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// 向量数乘
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func scale(v Vector3, c float64) Vector3 {
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return Vector3{v.x * c, v.y * c, v.z * c}
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}
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// 矩阵乘法
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func matrixMult(m [3][3]float64, v Vector3) Vector3 {
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return Vector3{
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m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z,
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m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z,
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m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z,
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}
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}
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// 计算图像位置
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func calculateImagePosition(roll, pitch, yaw float64, quat Quaternion, satellitePos, satelliteVel Vector3) (float64, float64) {
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// 将角度转换为弧度
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roll = roll * math.Pi / 180
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pitch = pitch * math.Pi / 180
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yaw = yaw * math.Pi / 180
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// 构造旋转矩阵
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R := quaternionToRotationMatrix(quat)
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// 传感器坐标系中的Z轴向量
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sensorZ := Vector3{0, 0, 1}
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// 将Z轴向量通过旋转矩阵转换到卫星坐标系中
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lineOfSight := matrixMult(R, sensorZ)
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// 计算交点经纬度
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lat := math.Asin(lineOfSight.z) * 180 / math.Pi
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lon := math.Atan2(lineOfSight.y, lineOfSight.x) * 180 / math.Pi
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return lat, lon
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}
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func Calculate(satellitePos, satelliteVel Vector3, quat Quaternion) {
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// 假设一些已知数据
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// satellitePos := Vector3{x: 7000e3, y: 0, z: 0} // 假设一个简单的地心坐标位置
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// satelliteVel := Vector3{x: 0, y: 7.5e3, z: 0} // 假设一个简单的速度
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// quat := Quaternion{w: 0.7071, x: 0.7071, y: 0, z: 0} // 假设一个简单的四元数
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roll := 0.0
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pitch := 0.0
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yaw := 0.0
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// 计算轨道参数
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a, e, i, Omega, omega := calculateOrbitalParameters(satellitePos, satelliteVel)
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// 打印轨道参数
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fmt.Println("轨道参数：")
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fmt.Printf("轨道半长轴 (a): %.2f m\n", a)
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fmt.Printf("偏心率 (e): %.6f\n", e)
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fmt.Printf("轨道倾角 (i): %.2f 度\n", i)
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fmt.Printf("升交点赤经 (Ω): %.2f 度\n", Omega)
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fmt.Printf("近地点幅角 (ω): %.2f 度\n", omega)
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// 计算图像位置
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lat, lon := calculateImagePosition(roll, pitch, yaw, quat, satellitePos, satelliteVel)
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fmt.Printf("\n图像位置：\n纬度: %.6f\n经度: %.6f\n", lat, lon)
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}
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1
extract/orbit.go
Normal file
1
extract/orbit.go
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@@ -0,0 +1 @@
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package extract
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51
extract/util.go
Normal file
51
extract/util.go
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@@ -0,0 +1,51 @@
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package extract
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import (
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"bytes"
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"encoding/binary"
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)
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// int32ToBigEndian converts an int32 to a big-endian byte array.
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func int32ToBigEndian(num int32) ([]byte, error) {
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buf := new(bytes.Buffer)
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err := binary.Write(buf, binary.BigEndian, num)
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if err != nil {
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return nil, err
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}
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return buf.Bytes(), nil
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}
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// bigEndianToInt32 converts a big-endian byte array to an int32.
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func bigEndianToInt32(data []byte) int32 {
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var num int32
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buf := bytes.NewReader(data)
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err := binary.Read(buf, binary.BigEndian, &num)
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if err != nil {
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return 0
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}
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return num
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}
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// bigEndianToInt24 converts a big-endian 3-byte array to an int32 (simulating int24).
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func bigEndianToInt24(data []byte) int32 {
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if len(data) != 3 {
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return 0
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}
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num := int32(data[0])<<16 | int32(data[1])<<8 | int32(data[2])
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// Adjust for negative values
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if num&0x800000 != 0 {
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num |= ^0xFFFFFF
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}
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return num
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}
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// bigEndianToInt16 converts a big-endian byte array to an int16.
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func bigEndianToInt16(data []byte) int16 {
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var num int16
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buf := bytes.NewReader(data)
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err := binary.Read(buf, binary.BigEndian, &num)
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if err != nil {
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return 0
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}
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return num
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}
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@@ -5,13 +5,15 @@ import (
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"io"
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"os"
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"path/filepath"
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"strings"
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"github.com/sirupsen/logrus"
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)
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const (
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EB_AUX = "EB.AUX"
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PLAT_AUX = "PLAT.AUX"
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AUX = ".AUX"
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EB_AUX = ".EB.AUX"
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PLAT_AUX = ".PLAT.AUX"
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PAN_RAW = "PAN.RAW"
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MSS_RAW = "MSS.RAW"
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PAN_HDR = "PAN.HDR"
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@@ -32,8 +34,8 @@ type L0Writer struct {
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func newL0Writer(outputDir, name string) *L0Writer {
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var err error
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suffix := []string{EB_AUX, PLAT_AUX, PAN_RAW, MSS_RAW, PAN_HDR, MSS_HDR}
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suffix := []string{AUX, PAN_RAW, MSS_RAW, PAN_HDR, MSS_HDR}
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nameEles := strings.Split(name, "_")
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lw := &L0Writer{
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ws: make(map[string]*l0w),
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mssStoredType: MSS_ALL_IN_ONE,
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@@ -41,7 +43,14 @@ func newL0Writer(outputDir, name string) *L0Writer {
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for _, s := range suffix {
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w := &l0w{}
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w.name = filepath.Join(outputDir, name+"_"+s)
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fname := name + s
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if s == MSS_HDR || s == MSS_RAW || s == PAN_HDR || s == PAN_RAW {
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eles := strings.Split(s, ".")
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nameEles[1] = eles[0]
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fname = strings.Join(nameEles, "_") + "." + eles[1]
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}
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w.name = filepath.Join(outputDir, fname)
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w.f, err = os.OpenFile(w.name, os.O_CREATE|os.O_TRUNC|os.O_WRONLY, 0777)
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if err != nil {
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logrus.Panic("create file failed: ", w.name, err)
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Block a user