Method for adjusting emergency task of high-orbit remote sensing satellite

Abstract

The invention discloses an emergency task adjustment method for a high-orbit remote sensing satellite. The method comprises the following steps: receiving emergency task information sent by the ground and executing legality check; pre-planning an emergency task, and obtaining an emergency task observation time window; acquiring a task conflict set according to the emergency task observation time window and the on-satellite task pool condition; under the condition that a task being executed exists in the task conflict set, the emergency degree of the received emergency task is judged, if the task is an emergency + preemptive task, the currently executed task is terminated, the emergency + preemptive task is inserted, and task replanning is performed on the currently terminated task; otherwise, adjusting the emergency task observation time window according to the currently executed task observation window; and task replanning is performed on the emergency tasks in the conflict set and non-executed tasks on the satellite, and the emergency tasks are inserted. Therefore, the problems that the high-orbit satellite emergency task conflicts with the currently executed task and the influence on the original task on the satellite is minimum are solved, and the use efficiency of the satellite is improved.

Description

Technical Field

[0001] The invention relates to the technical field of satellite autonomous mission planning, in particular to an emergency mission adjustment method for a high-orbit remote sensing satellite. Background Art

[0002] High-orbit remote sensing satellites have the characteristics of real-time online satellites and high mission timeliness. The need to reasonably dispatch satellites for emergency mission observation is very urgent. The existing remote sensing satellite emergency task adjustment method process is to obtain the conflict set between the emergency task window and the on-board task pool, delete the tasks in the conflict set that conflict with the emergency task, and insert the emergency task. This task adjustment method is mainly aimed at resolving the conflict between the emergency task and the unexecuted tasks on the satellite, and the technology is relatively mature. If the emergency task mentioned above conflicts with the currently executed task, there are few studies on the existing emergency task adjustment methods, or to terminate the current task and delete all unexecuted tasks, insert the emergency task; or optimize the instructions of the equipment according to the actual power-on and power-off status of the on-board equipment, in order to shorten the task preparation time and quickly perform the emergency task as quickly as possible. High-orbit remote sensing satellites have the working characteristics of continuous tracking and monitoring. Satellite equipment is in standby mode for a long time, and each device can be quickly switched to working mode, so there is no need to optimize the equipment.

[0003] In the case where the emergency task conflicts with the currently executed task, the existing emergency task adjustment method has some shortcomings. Inserting an emergency task requires deleting the currently executed task, which has a great impact on the original tasks on the satellite; there is a lack of the ability to re-plan the currently terminated task. Summary of the invention

[0004] The present invention provides a method for adjusting emergency tasks of high-orbit remote sensing satellites. According to the characteristics of high-orbit remote sensing satellites, emergency tasks are classified according to their urgency, and terminated tasks are re-planned to solve the problem of rapid response to conflicts between emergency tasks of high-orbit satellites and currently executed tasks, with minimal impact on original tasks on the satellite, thereby maximizing the efficiency of satellite use.

[0005] In a first aspect, a method for adjusting an emergency mission of a high-orbit remote sensing satellite is provided, comprising:

[0006] (1) Receive the mission information of the emergency mission sent by the ground, and perform mission legitimacy check on the mission information of the emergency mission on the satellite;

[0007] (2) Pre-plan emergency tasks and obtain emergency task observation time windows;

[0008] (3) Obtain the task conflict set based on the emergency task observation time window and the onboard task pool;

[0009] (4) Determine whether there is any task being executed in the task conflict set. If yes, execute step (5); otherwise, execute step (9);

[0010] (5) Determine the urgency of the received emergency task. If it is an emergency + seizure task, execute step (6); if it is an emergency task, execute step (8);

[0011] (6) Terminate the currently executing task and insert an emergency + forced task;

[0012] (7) Determine whether to re-plan the currently terminated task; if re-planning is required, generate a new task according to the task type and add it to the task pool, and execute step (9);

[0013] (8) adjusting the emergency task observation time window according to the currently executing task observation window, and executing step (9);

[0014] (9) Replan the conflict-focused emergency tasks and unexecuted tasks on board, and insert emergency tasks.

[0015] In combination with the first aspect, in certain implementations of the first aspect, in step (1), the task information includes target type, target location information, task validity interval, task attributes, number of cycles, and load-related parameters; imaging of a point / surface / line area at a time is considered a task; and the legality check includes checking the data format, data validity, and content.

[0016] In combination with the first aspect, in certain implementations of the first aspect, in step (2), the pre-planning of the emergency task includes task decomposition, path planning, task sorting, and generating a meta-task. The meta-task is a task obtained by performing a second decomposition of the task, and is the smallest particle of the task. The information of the meta-task includes the task start time, posture information, and load information. The meta-task includes the entire process of task preparation, task execution, and post-execution recovery.

[0017] In combination with the first aspect, in certain implementations of the first aspect, in step (2), the task observation time window is the effective observation time interval [T_ObserveStart, T_ObservestartEnd] obtained through task planning, T_ObserveStart is the earliest start time of observation, and T_ObservestartEnd is the latest end time of observation; the task cycle interval is the interval at which the point / line / surface target is detected within the task observation time window.

[0018] In combination with the first aspect, in certain implementations of the first aspect, in step (2), if the number of loops is 1, a task is decomposed into a subtask b1; the task observation time window [Tb1_ObserveStart, Tb1_ObservestartEnd] of the entire task is determined according to the time front T_Start of the task effective interval and the task preparation time starttime_b1; wherein Tb1_ObserveStart = T_Start + starttime_b1; the observation task completes the task within the task effective interval [T_Start, T_End], Tb1_ObservestartEnd is earlier than T_End, and T_End is the end time of the task effective interval.

[0019] In combination with the first aspect, in certain implementations of the first aspect, in step (2), if the number of loops is not 1, determining whether to split the task into multiple subtasks is performed based on the loop interval and the time required to complete one point / line / surface detection;

[0020] If the cycle interval is greater than 2 times the time required to complete a point / line / surface detection, then the task is decomposed into multiple subtasks b1, b2, ..., bn, and the observation windows are [Tb1_ObserveStart, Tb1_ObservestartEnd], ..., [Tbn_ObserveStart, Tbn_ObservestartEnd], where Tb1_ObserveStart = T_Start + starttime_b1, starttime_b1 is the task preparation time of subtask b1, and the subsequent observation window time is sorted according to the order of task planning results, Tbn_ObservestartEnd is earlier than T_End, and T_End is the end time of the effective interval of the task;

[0021] Otherwise, a task is decomposed into a subtask; the task observation time window [Tb1_ObserveStart, Tb1_ObservestartEnd] of the entire task is determined according to the time front T_Start of the task effective interval, the task preparation time, the task execution and the recovery after execution; wherein Tb1_ObserveStart=T_Start+starttime_b1, starttime_b1 is the task preparation time of subtask b1, Tb1_ObservestartEnd is earlier than T_End, and T_End is the end time of the task effective interval.

[0022] In combination with the first aspect, in certain implementations of the first aspect, in step (5), the task attributes include emergency + seizure tasks, emergency tasks and normal tasks; emergency + seizure tasks are emergency tasks with the highest priority, which will terminate the currently executing task; emergency tasks are ordinary emergency tasks, which are executed as soon as possible without affecting the currently executing task; normal tasks have the lowest priority and are inserted into the task during idle time periods on the satellite.

[0023] In combination with the first aspect, in certain implementation methods of the first aspect, in step (6), subsequent instructions for the currently executing task are no longer sent, and the load recovery standby instruction group is autonomously triggered to restore the load state to the standby mode. After the standby mode is restored, the emergency task is immediately responded to. If the time for inserting the emergency task is T, the observation time window of the emergency task is [T+endtime+starttime_b1, T_ObservestartEnd], T_ObservestartEnd is obtained after task planning, T_ObservestartEnd_b1 of subtask b1 = T+endtime+starttime_b1+Tb1_ObservestartEnd-Tb1_ObserveStart, and the subsequent observation window time is sorted according to the order of task planning results.

[0024] In combination with the first aspect, in certain implementations of the first aspect, in step (7), if the task type is determined to be a single / multiple point target multiple-cycle task, the target position information, task validity interval, task attributes, remaining number of cycles, and load-related parameters of the current task are obtained, and a new task is generated, in which the multiple point targets are a whole, and a single detection and imaging of the multiple point targets is performed as a one-step task.

[0025] In combination with the first aspect, in certain implementations of the first aspect, in step (8), the task end observation time of the current task is obtained as the task observation window time frontier of the emergency task, and the task observation time window of the emergency task is obtained based on the task validity interval of the emergency task.

[0026] Compared with the prior art, the solution provided by the present invention includes at least the following beneficial technical effects:

[0027] (1) The present invention classifies emergency tasks, defines the most urgent tasks as emergency + forced tasks, and ensures that emergency tasks can be inserted immediately and 100%; defines generally urgent tasks as emergency tasks, and ensures that emergency tasks can be responded to immediately after the current tasks are completed, ensuring that emergency tasks can be responded to 100% quickly and with the lowest impact on the original tasks on the satellite;

[0028] (2) The emergency task adjustment method of the present invention has the ability to re-plan the unexecuted tasks on the satellite, and can also re-plan the remaining part of the terminated task according to the execution status of the terminated task, so as to minimize the impact on the currently executing tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Adjust the flow chart for emergency missions of high-orbit remote sensing satellites. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1 As shown, the present invention provides a method for adjusting emergency tasks of a high-orbit remote sensing satellite, and the specific implementation steps are as follows.

[0032] (1) Receive the mission information of emergency mission B sent by the ground, and perform a mission legitimacy check on the mission information of emergency mission B on the satellite.

[0033] The task information includes target type (point / line / surface), target location information, task validity interval, task attributes, number of cycles, load-related parameters, etc. Imaging a point / surface / line area once is considered a task. Legality checks include, for example, checking data format, data validity, and content.

[0034] (2) Pre-plan emergency tasks and obtain the emergency task observation time window.

[0035] The pre-planning of emergency tasks includes tasks decomposition, path planning, task sorting and other processes to generate meta-tasks. Meta-tasks are tasks obtained by decomposing tasks for the second time. They are the smallest task particles. Meta-task information includes task start time, posture information, load information and other information. Meta-tasks include the entire process of task preparation, task execution and post-execution recovery.

[0036] The mission observation time window is the effective observation time interval [T_ObserveStart, T_ObservestartEnd] obtained through mission planning, where T_ObserveStart is the earliest start time of observation and T_ObservestartEnd is the latest end time of observation. The mission cycle interval is the interval at which the point / line / surface target is detected and photographed within the mission observation time window.

[0037] In some embodiments, if the number of cycles is 1, a task is decomposed into a subtask b1, that is, a meta-task. A subtask is a task decomposed according to the target type, task observation time window and number of cycles in the task information, and a task is decomposed into multiple point / surface / line tasks. The task observation time window [Tb1_ObserveStart, Tb1_ObservestartEnd] of the entire task is determined according to the time frontier T_Start of the task effective interval, the task preparation time starttime_b1, the task execution and post-execution recovery endtime; wherein Tb1_ObserveStart=T_Start+starttime_b1; T_Start is the starting value of the task effective interval. Tb1_ObservestartEnd can be determined according to the actual situation. The observation task must complete the task within the task effective interval [T_Start, T_End].

[0038] In some embodiments, if the number of cycles is not 1, it is determined whether to split the task into multiple subtasks based on the cycle interval and the time to complete a point / line / surface detection. If the cycle interval is much longer than the time to complete a point / line / surface detection, in order to make full use of idle time, a task is decomposed into multiple subtasks, and each subtask generates a meta-task after planning, namely b1, b2, ..., bn, and the observation windows are [Tb1_ObserveStart, Tb1_ObservestartEnd], ..., [Tbn_ObserveStart, Tbn_ObservestartEnd], where Tb1_ObserveStart = T_Start + starttime_b1, Tb1_ObservestartEnd is determined according to the actual situation, and the subsequent observation window time is sorted according to the order of the task planning results. Otherwise, a task is decomposed into a sub-task, that is, a meta-task; the task observation time window [Tb1_ObserveStart, Tb1_ObservestartEnd] of the entire task is determined according to the time frontier of the task effective interval, task preparation time, task execution and post-execution recovery; among which Tb1_ObserveStart=T_Start+starttime_b1, Tb1_ObservestartEnd is determined according to actual conditions.

[0039] In some embodiments, considering the completeness and effectiveness of the task, the surface / line task does not need to specify a cycle interval, and the next reconnaissance task starts immediately after one reconnaissance task.

[0040] After task decomposition, multiple meta-tasks are combined into a whole and associated according to the task number. Conflict detection is processed as a whole task.

[0041] (3) Obtain the task conflict set based on the emergency task observation time window and the onboard task pool situation.

[0042] (4) Determine whether there is any task being executed in the task conflict set. If so, execute step (5); otherwise, execute step (9).

[0043] (5) Determine the urgency of the received emergency task. If it is an emergency + seizure task, execute step (6); if it is an emergency task, execute step (8).

[0044] Task attributes include emergency + seizure tasks, emergency tasks, and normal tasks. Emergency + seizure tasks are emergency tasks with the highest priority, which will terminate the currently executing tasks. Emergency tasks are ordinary emergency tasks, which will be executed as soon as possible without affecting the currently executing tasks. Normal tasks have the lowest priority and are inserted during idle time periods on the satellite.

[0045] (6) Terminate the currently executing task and insert an emergency + forced task.

[0046] No subsequent instructions for the currently executing task are sent, and the load recovery standby instruction group is triggered autonomously at the same time to restore the load state to standby mode. After the standby mode is restored, the emergency task is responded to immediately. If the time of inserting the emergency task is T, the observation time window of the emergency task is [T+endtime+starttime_b1, T_ObservestartEnd], starttime_b1 is the task preparation time of subtask b1, and T_ObservestartEnd is obtained according to task planning. For example, T_ObservestartEnd_b1 of subtask b1 = T+endtime+starttime_b1+Tb1_ObservestartEnd-Tb1_ObserveStart, and the subsequent observation window time is sorted according to the order of task planning results.

[0047] (7) Determine whether to re-plan the currently terminated task. If re-planning is required, generate a new task according to the task type and add it to the task pool, and execute step (9);

[0048] In some embodiments, if the task type is determined to be a single / multiple point target multiple-cycle task, the target position information, task validity interval, task attributes, remaining number of cycles, and load-related parameters of the current task are obtained to generate a new task; the difference between multiple point targets and a single point target is that in a multiple point target task, the multiple point targets are a whole, and a single detection and imaging of the multiple point targets is a one-time task.

[0049] Assume that the currently terminated task includes multiple point targets a1, a2, ...am. If only the reconnaissance of a1...ai is executed in the cycle when the task is terminated, and the reconnaissance of ai+1...am is not executed, then when replanning the task, the task planning starts again from the point target a1.

[0050] In some embodiments, if the task type is determined to be a line / surface target task, considering the completeness and effectiveness of the task, only the currently executing task is terminated without re-planning the current task.

[0051] (8) According to the observation window of the currently executing task, adjust the emergency task observation time window and execute step (9).

[0052] The task end observation time of the current task is obtained and used as the task observation window time frontier of the emergency task, and the task observation time window of the emergency task is obtained according to the task effective interval of the emergency task.

[0053] (9) Replan the conflict-focused emergency tasks and unexecuted tasks on board, and insert emergency tasks.

[0054] Although the present invention is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims

1. A method for adjusting emergency tasks of a high-orbit remote sensing satellite, characterized in that: include: (1) Receive the mission information of the emergency mission sent by the ground, and perform mission legitimacy check on the mission information of the emergency mission on the satellite; (2) Pre-plan emergency tasks and obtain emergency task observation time windows; (3) Obtain the task conflict set based on the emergency task observation time window and the onboard task pool; (4) Determine whether there is any task being executed in the task conflict set. If yes, execute step (5); otherwise, execute step (9); (5) Determine the urgency of the received emergency task. If it is an emergency + seizure task, execute step (6); if it is an emergency task, execute step (8); (6) Terminate the currently executing task and insert an emergency + forced task; (7) Determine whether to re-plan the currently terminated task; if re-planning is required, generate a new task according to the task type and add it to the task pool, and execute step (9); (8) adjusting the emergency task observation time window according to the currently executing task observation window, and executing step (9); (9) Replan the conflict-focused emergency tasks and unexecuted tasks on board, and insert emergency tasks.

2. The method according to claim 1, characterized in that In step (1), the task information includes target type, target location information, task validity interval, task attributes, number of cycles, and load-related parameters; imaging of a point / surface / line area once is considered a task; and the legality check includes checking the data format, data validity, and content.

3. The method according to claim 1, characterized in that: In step (2), the pre-planning of the emergency task includes task decomposition, path planning, task sorting, and generating meta-tasks. Meta-tasks are tasks obtained by performing a second decomposition of tasks. Meta-tasks are the smallest task particles. Meta-task information includes task start time, posture information, and load information. The meta-task includes the entire process of task preparation, task execution and post-execution recovery.

4. The method according to claim 1, characterized in that: In step (2), the task observation time window is the effective observation time interval [T_ObserveStart, T_ObservestartEnd] obtained through task planning, where T_ObserveStart is the earliest start time of observation and T_ObservestartEnd is the latest end time of observation; the task cycle interval is the interval at which the point / line / surface target is detected within the task observation time window.

5. The method according to claim 1, characterized in that: In step (2), if the number of loops is 1, a task is decomposed into a subtask b1; the task observation time window [Tb1_ObserveStart, Tb1_ObservestartEnd] of the entire task is determined according to the time front T_Start of the task validity interval and the task preparation time starttime_b1; wherein Tb1_ObserveStart = T_Start + starttime_b1; the observation task completes the task within the task validity interval [T_Start, T_End], Tb1_ObservestartEnd is earlier than T_End, and T_End is the end time of the task validity interval.

6. The method according to claim 1, characterized in that In step (2), if the number of loops is not 1, determine whether to split the task into multiple subtasks based on the loop interval and the time required to complete one point / line / surface detection. If the cycle interval is greater than 2 times the time required to complete a point / line / surface detection, then the task is decomposed into multiple subtasks b1, b2, ..., bn, and the observation windows are [Tb1_ObserveStart, Tb1_ObservestartEnd], ..., [Tbn_ObserveStart, Tbn_ObservestartEnd], where Tb1_ObserveStart = T_Start + starttime_b1, starttime_b1 is the task preparation time of subtask b1, and the subsequent observation window time is sorted according to the order of task planning results, Tbn_ObservestartEnd is earlier than T_End, and T_End is the end time of the effective interval of the task; Otherwise, a task is decomposed into a subtask; the task observation time window [Tb1_ObserveStart, Tb1_ObservestartEnd] of the entire task is determined according to the time front T_Start of the task effective interval, the task preparation time, the task execution and the recovery after execution; wherein Tb1_ObserveStart=T_Start+starttime_b1, starttime_b1 is the task preparation time of subtask b1, Tb1_ObservestartEnd is earlier than T_End, and T_End is the end time of the task effective interval.

7. The method according to claim 1, characterized in that In step (5), the task attributes include emergency + seizure tasks, emergency tasks and normal tasks; emergency + seizure tasks are emergency tasks with the highest priority, which will terminate the currently executing tasks; emergency tasks are ordinary emergency tasks, which will be executed as soon as possible without affecting the currently executing tasks; normal tasks have the lowest priority and are inserted into the tasks during the idle time period on the satellite.

8. The method according to claim 5 or 6, characterized in that: In step (6), the subsequent instructions of the currently executing task are no longer sent, and the load recovery standby instruction group is triggered autonomously at the same time to restore the load state to the standby mode. After the standby mode is restored, the emergency task is responded to immediately. If the time of inserting the emergency task is T, the observation time window of the emergency task is [T+endtime+starttime_b1, T_ObservestartEnd], T_ObservestartEnd is obtained according to the task planning, T_ObservestartEnd_b1 of subtask b1 = T+endtime+starttime_b1+Tb1_ObservestartEnd-Tb1_ObserveStart, and the subsequent observation window time is sorted according to the order of the task planning results.

9. The method according to claim 1, characterized in that: In step (7), if the task type is determined to be a single / multiple point target multiple-cycle task, the target position information, task validity interval, task attributes, remaining number of cycles, and load-related parameters of the current task are obtained to generate a new task, in which multiple point targets are regarded as a whole, and multiple point targets are detected and photographed once as a one-step task.

10. The method according to claim 1, characterized in that In step (8), the task end observation time of the current task is obtained as the task observation window time front of the emergency task, and the task observation time window of the emergency task is obtained according to the task effective interval of the emergency task.

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