Imaging Satellite Emergency Mission Planning Method and System Based on Synthetic Strategy

Abstract

This invention provides a method and system for planning emergency missions for imaging satellites based on a synthesis strategy, relating to the field of imaging satellite mission planning technology. This invention can identify conflicts in the planning scheme for emergency missions. Under the condition of satisfying synthesis constraints, it synthesizes the selected emergency missions with the conflicting missions in the planning scheme, reducing the number of maneuvers and startups of the imaging satellite during mission imaging, as well as the number of shutdowns at the end of imaging, thereby increasing the chances of completing emergency missions and improving the effectiveness of emergency mission planning. When no synthesis constraints are satisfied, an emergency mission insertion strategy is executed. This allows the selected emergency missions to be inserted into conflict-free positions within the visible time window when there are many conflicts. Synthetic observation reduces the imaging time of the imaging satellite, improves the resource utilization efficiency of the imaging satellite, and reserves more idle imaging time slots for subsequent emergency mission scheduling.

Description

Technical Field

[0001] This invention relates to the field of imaging satellite mission planning technology, and specifically to an imaging satellite emergency mission planning method and system based on a synthetic strategy. Background Technology

[0002] In imaging satellite operation plans, missions are often fully booked, making it difficult to find idle time slots for emergency missions to be inserted. Emergency mission planning is a problem of over-ordering.

[0003] Most existing emergency mission planning methods focus on offline mission synthesis, that is, mission synthesis is performed first, and then mission planning is performed.

[0004] Existing emergency mission planning technologies have some shortcomings. The flexibility in selecting the time window for inserting emergency missions is poor. The insertion of emergency missions does not comprehensively consider the mission weight and the number of time windows, resulting in many emergency missions being planned first, making it impossible to plan subsequent emergency missions to be inserted. The most suitable synthesis position is not selected during mission synthesis, which consumes a lot of satellite resources and ultimately leads to poor emergency mission planning results. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a method and system for planning emergency missions for imaging satellites based on a synthetic strategy, which solves the problem of poor planning performance in existing emergency mission planning technologies.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] Firstly, a method for planning emergency missions for imaging satellites based on a synthetic strategy is provided, the method comprising:

[0010] S1. Obtain planning information;

[0011] S2. Sort the emergency tasks in the emergency task set according to their urgency.

[0012] S3. Iterate through the emergency task set to select emergency tasks;

[0013] S4. Sort the synthesis priority of all visible time windows of the selected emergency tasks.

[0014] S5. Traverse all visible time windows of the selected emergency task and determine whether there are any positions in the visible time windows that satisfy the composition constraints.

[0015] If so, combine the selected emergency task with the planned task at the location that satisfies the synthesis constraint, and then execute S8;

[0016] Otherwise, execute S6;

[0017] S6. Iterate through all visible time windows of the selected emergency task and determine whether all visible time windows are in conflict.

[0018] If so, execute S7;

[0019] Otherwise, directly insert the selected emergency task into the conflict-free position of the visible time window, and then execute S8;

[0020] S7. Determine if there are any conflicts with a weight smaller than the selected emergency task;

[0021] If so, delete the conflict, then insert the selected emergency task into the conflict-free position of the visible time window, and then execute S8;

[0022] Otherwise, execute S8 directly;

[0023] S8. Determine if the emergency task set has been traversed. If yes, output the current planning scheme; otherwise, return to S3.

[0024] Furthermore, the planning information includes:

[0025] Imaging satellite collection Number of imaging satellites N s Imaging satellites j Maximum single boot time Δt j ;

[0026] Imaging satellites j Field of view ΔV in the lateral tilt direction j ;

[0027] The set of planned tasks DT; the number of planned tasks N DT ;

[0028] Emergency task set AT; Number of emergency tasks N AT ;

[0029] Task t i Visible time window The number of visible time windows

[0030] Task t i In imaging satellites j Start time of the a-th visible time window and end time

[0031] Task t in the planned task set i In imaging satellites j The start time of observation within the a-th visible time window and observation end time

[0032] Emergency Task t i In imaging satellites j The conflict set of the a-th visible time window

[0033] Task t i weights tv i ;

[0034] Task t i In imaging satellites j Ideal observation of the lateral swing angle during the a-th visible time window

[0035] Furthermore, the urgency level δ i The calculation formula is as follows:

[0036]

[0037] in,

[0038] TV i Represents task t i The weights;

[0039] Represents task t i The number of visible time windows;

[0040] t i' ∈DT∪AT represents the i'th task.

[0041] Furthermore, the synthesis priority The calculation formula is as follows:

[0042]

[0043] in,

[0044] Represents task t i In imaging satellites j Start time of the a-th visible time window;

[0045] Represents task t i In imaging satellites j The end time of the a-th visible time window;

[0046] This indicates that task t is in the planned task set. i' In imaging satellites j The start time of observation within the a'th visible time window;

[0047] This indicates that task t is in the planned task set. i' In imaging satellites j The end time of observation within the a'th visible time window;

[0048] d i Represents task t i The observation duration is equal for each task.

[0049] This indicates that task t is in the planned task set. i' In imaging satellites j The a'th visible time window on;

[0050] Indicates emergency task t i In imaging satellites j The set of conflicts for the a-th visible time window.

[0051] Furthermore, the synthesis constraints include:

[0052] Angle constraints: The observation angles of an imaging satellite for multiple targets must be within a certain range, meaning their distances along the normal direction of the imaging satellite's trajectory must be within the single field of view of the remote sensor.

[0053]

[0054] in, Represents task t i In imaging satellites j The ideal observation side swing angle during the a-th visible time window, i.e., task t i Located on the center line of the observation strip;

[0055] This indicates that task t is in the planned task set. i' In imaging satellites j Ideally, the side swing angle should be observed during the a'th visible time window.

[0056] ΔV j Indicates imaging satellites s j The field of view in the lateral tilt direction;

[0057] Time Constraint: The visible time window of the emergency task and the observation time window of the task in the planning scheme must overlap in time and must be within a certain time range, i.e.

[0058]

[0059] in,

[0060] It is task t in the set of planned tasks. i' In imaging satellites j The start and end times of the observations;

[0061] It is an emergency mission. i In imaging satellites j The a-th visible time window;

[0062] d i Represents task t i The observation duration is equal for each task.

[0063] Represents task t i In imaging satellites j Start time of the a-th visible time window;

[0064] Represents task t i In imaging satellites j The end time of the a-th visible time window;

[0065] In the initial task planning scheme, task t represents task t. i' In imaging satellites j The observation end time;

[0066] In the initial task planning scheme, task t represents task t. i' In imaging satellites j The start time of the observation;

[0067] Δt j It is an imaging satellite. j Maximum boot time per session.

[0068] Furthermore, the selected emergency task t i With task t in the plan i' The combined observation time window and lateral swing angle are as follows:

[0069] (1) If

[0070]

[0071] (2) If

[0072]

[0073] (3) If and

[0074]

[0075] in, For task t i' With task t i The synthesized image satellite s j The start time of the observation;

[0076] For task t i' With task t i The synthesized image satellite s j The observation end time;

[0077] For task t i' With task t i The synthesized image satellite s j The actual observed lateral swing angle.

[0078] Secondly, an imaging satellite emergency mission planning system based on a synthetic strategy is provided. The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-described method.

[0079] (III) Beneficial Effects

[0080] This invention provides a method and system for emergency mission planning of imaging satellites based on a synthetic strategy. Compared with existing technologies, it has the following advantages:

[0081] This invention identifies conflicts in emergency tasks within the planning scheme. Under the condition of satisfying the synthesis constraints, it synthesizes the selected emergency tasks with the conflicting tasks in the planning scheme, reducing the number of maneuvers and startups of the imaging satellite during imaging, as well as the number of shutdowns at the end of imaging, increasing the chances of completing emergency tasks and thus improving the effectiveness of emergency task planning. When no synthesis constraints are satisfied, an emergency task insertion strategy is implemented, which can insert the selected emergency tasks into conflict-free positions within the visible time window when there are many conflicts. Synthetic observation reduces the imaging time of the imaging satellite, improves the resource utilization efficiency of the imaging satellite, and reserves more idle imaging time slots for subsequent emergency task scheduling. Attached Figure Description

[0082] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0083] Figure 1 This is a flowchart of an embodiment of the present invention;

[0084] Figure 2 This is a schematic diagram of the conflict set of tasks in an embodiment of the present invention;

[0085] Figure 3 This is a schematic diagram of the task synthesis process according to an embodiment of the present invention;

[0086] Figure 4 This is a schematic diagram of the task insertion process according to an embodiment of the present invention;

[0087] Figure 5 This is a schematic diagram of the task deletion process according to an embodiment of the present invention. Detailed Implementation

[0088] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0089] This application provides a method and system for emergency mission planning of imaging satellites based on a synthetic strategy, which solves the problem of poor planning effect in existing emergency mission planning technologies and achieves the goal of improving the planning effect of emergency missions.

[0090] The technical solution in this application is to solve the above-mentioned technical problems, and the general idea is as follows:

[0091] To address the problem that in imaging satellite mission planning schemes, missions are often saturated, making it difficult to find idle periods to insert selected emergency missions into conflict-free positions within the visible time window, an emergency mission synthesis strategy is designed. This strategy can identify conflicts between emergency missions in the planning scheme and, under the condition of satisfying synthesis constraints, synthesize the selected emergency missions with the conflicts in the planning scheme. This reduces the number of maneuvers and power-on times during imaging missions, as well as the number of power-off times at the end of imaging, thereby increasing the chances of completing emergency missions.

[0092] To address the issue that prioritizing emergency tasks in the emergency task set can prevent subsequent emergency tasks from being inserted into conflict-free positions within the visible time window, a heuristic factor for the urgency of emergency tasks is designed. This factor comprehensively considers the weight of emergency tasks and the number of visible time windows, assigning higher urgency values ​​to tasks with larger weights and fewer visible time windows. This guides the planning process to prioritize emergency tasks with higher weights and fewer insertion opportunities, thereby increasing the planning opportunities for subsequent emergency tasks.

[0093] To address the multi-visible time window characteristics of missions, a heuristic factor for prioritizing the synthesis of visible time windows for emergency missions is designed. For each visible time window, its conflicts are traversed, the maximum value of the overlapping part with the conflict is calculated, and the values ​​are sorted from high to low. This ensures that when performing subsequent synthesis strategy operations, the position with the most conflicting synthesis parts in the scheme is selected first for mission insertion, further reducing the imaging time of imaging satellites.

[0094] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0095] Conflicting tasks are those that prevent the task to be inserted from being directly inserted. These are tasks whose observation time windows overlap with the visible time window of the task to be inserted.

[0096] A conflict refers to a combination of conflicting tasks, where removing one conflict satisfies the observation duration required for the task to be inserted.

[0097] Visible window: When an imaging satellite is orbiting the Earth and is near or above the mission location, the mission target can be seen for a period of time. This visible time is called the visible window.

[0098] Observation time window: Each task has an observation duration. During planning, a time period of equal length needs to be selected within the visible time window to execute the task. This time period is called the observation time window.

[0099] Example 1:

[0100] like Figure 1 As shown, this invention provides a method for planning emergency missions for imaging satellites based on a synthetic strategy. This method is executed by a computer and includes S1-S8:

[0101] S1. Obtain planning information;

[0102] S2. Sort the emergency tasks in the emergency task set according to their urgency.

[0103] S3. Iterate through the emergency task set to select emergency tasks;

[0104] S4. Sort the synthesis priority of all visible time windows of the selected emergency tasks.

[0105] S5. Execute emergency task synthesis strategies, including:

[0106] Iterate through all visible time windows of the selected emergency task and determine whether there are any positions within the visible time windows that satisfy the composition constraints;

[0107] If so, combine the selected emergency task with the planned task at the location that satisfies the synthesis constraint, and then execute S8;

[0108] Otherwise, execute S6, which is the emergency task insertion strategy;

[0109] S6. Execute the emergency task insertion strategy, including:

[0110] Iterate through all visible time windows of the selected emergency task and determine whether all visible time windows are in conflict.

[0111] If so, execute S7, which is to execute the emergency task deletion policy;

[0112] Otherwise, directly insert the selected emergency task into the conflict-free position of the visible time window, and then execute S8;

[0113] S7. Execute emergency task deletion strategy, including:

[0114] Determine if there are any conflicts with a weight smaller than the selected emergency task;

[0115] If so, delete the conflict, then insert the selected emergency task into the conflict-free position of the visible time window, and then execute S8;

[0116] Otherwise, execute S8 directly;

[0117] S8. Determine if the emergency task set has been traversed. If yes, output the current planning scheme; otherwise, return to S3.

[0118] The beneficial effects of this embodiment are:

[0119] This invention can identify conflicts in emergency tasks within the planning scheme. Under the condition of satisfying the synthesis constraints, the selected emergency tasks are synthesized with the conflicts in the planning scheme, reducing the number of maneuvers and power-on times when the imaging satellite performs the task imaging, as well as the number of power-off times when imaging ends, increasing the chance of completing the emergency tasks, and thus improving the effectiveness of emergency task planning. When no synthesis constraints are satisfied, an emergency task insertion strategy is executed, which can insert the selected emergency tasks into the conflict-free position of the visible time window when there are many conflicts in the emergency tasks. By synthesizing observations, the imaging time of the imaging satellite is reduced, the resource utilization efficiency of the imaging satellite is improved, and more idle imaging time slots are reserved for subsequent emergency task arrangements.

[0120] The implementation process of the embodiments of the present invention will be described in detail below:

[0121] S1. Obtain planning information, including:

[0122] Imaging satellite collection Number of imaging satellites N s ,

[0123] Imaging satellites j Field of view ΔV in the lateral tilt direction j ;

[0124] Imaging satellites j Maximum single boot time Δt j ;

[0125] The set of planned tasks DT; the number of planned tasks N DT ;

[0126] Emergency task set AT; Number of emergency tasks N AT ;

[0127] Task t i Visible time window The number of visible time windows

[0128] Task t i In imaging satellites j Start time of the a-th visible time window and end time

[0129] Task t in the planned task set i In imaging satellites j The start time of observation within the a-th visible time window and observation end time

[0130] Emergency Task t i In imaging satellites jThe conflict set of the a-th visible time window

[0131] Task t i weights tv i .

[0132] Task t i In imaging satellites j Ideal observation of the lateral swing angle during the a-th visible time window

[0133] S2. Sort the emergency tasks in the emergency task set according to their urgency, specifically as follows:

[0134] Calculate t for each emergency task i urgency level δ i And according to the urgency level δ i The values ​​are sorted from highest to lowest. This allows emergency tasks with fewer visible time windows and higher task weights to be scheduled as early as possible.

[0135] Urgency level δ i The calculation formula is as follows:

[0136]

[0137] in,

[0138] TV i Represents task t i The weights;

[0139] Represents task t i The number of visible time windows;

[0140] t i' ∈DT∪AT represents the i'th task.

[0141] The calculation process comprehensively considers the attributes of task weight and the number of visible time windows. It calculates the product of the maximum task weight and the maximum number of visible time windows across all tasks, and uses this product as the denominator to calculate the maximum number of visible time windows and the emergency task t across all tasks. i The difference in the number of visible time windows, and this difference is used in conjunction with the emergency task t. i The weighted product is used as the numerator to ensure that the urgency level of all tasks is less than or equal to 1, and the higher the urgency level, the more urgent the task.

[0142] S3. Iterate through the emergency task set to select emergency tasks.

[0143] S4. Sort the synthesis priority of the visible time windows of emergency tasks.

[0144] Specifically, this involves calculating each visible time window corresponding to the emergency task. Synthesis priority And according to synthesis priority Sort from highest to lowest.

[0145] For each task, there may be several visible time windows. To complete the task, one and only one visible time window must be selected for observation. When an emergency task has multiple opportunities to be combined, that is, multiple visible time windows exist. Select synthesis priority A larger visible time window can guide us to select time windows with higher priority for emergency task integration during planning. The calculation formula is as follows:

[0146]

[0147] in,

[0148] Represents task t i In imaging satellites j Start time of the a-th visible time window;

[0149] Represents task t i In imaging satellites j The end time of the a-th visible time window;

[0150] This indicates that task t is in the planned task set. i' In imaging satellites j The start time of observation within the a'th visible time window;

[0151] This indicates that task t is in the planned task set. i' In imaging satellites j The end time of observation within the a'th visible time window;

[0152] d i Represents task t i The observation duration is equal for each task.

[0153] This indicates that task t is in the planned task set. i' In imaging satellites j The a'th visible time window on;

[0154] Indicates emergency task t i In imaging satellites j The conflict set of the a'th visible time window, such as Figure 2 As shown,

[0155] Emergency mission t i The observation duration is used as the denominator, with the visible time window as the denominator. The numerator is the intersection of the observation time windows of conflicting tasks in the planning scheme, and the visible time windows are traversed. Conflict set Calculate the maximum ratio as the visible time window The degree of synthesis is determined by the ratio; therefore, a larger ratio indicates a greater synthesis of the visible time window and the conflicting observation time window.

[0156] S5. Execute the emergency task synthesis strategy, that is, traverse all visible time windows of the selected emergency task and determine whether there is a position in the visible time window that satisfies the synthesis constraint; if so, synthesize the selected emergency task with the planned task at the position that satisfies the synthesis constraint, and then execute S8.

[0157] Otherwise, execute S6, which is to execute the emergency task insertion strategy.

[0158] Since not every task can be composited with tasks in the planning scheme, the following composite constraints must be met when a task's visible time window conflicts with a non-composite observation time window in the scheme:

[0159] ① Angle Constraint: The observation angles of an imaging satellite for multiple targets must be within a certain range, meaning the distances between them along the normal direction of the imaging satellite's trajectory must be within the width of a single field of view of the remote sensor.

[0160]

[0161] in, Represents task t i In imaging satellites j The ideal observation side swing angle during the a-th visible time window, i.e., task t i Located on the center line of the observation strip;

[0162] This indicates that task t is in the planned task set. i' In imaging satellites j Ideally, the side swing angle should be observed during the a'th visible time window.

[0163] ΔV j Indicates imaging satellites s j The field of view in the lateral tilt direction.

[0164] ②Time constraints: The visible time window of the emergency task and the observation time window of the task in the planning scheme must overlap in time and must be within a certain time range.

[0165]

[0166] in,

[0167] It is task t in the set of planned tasks. i' In imaging satellites j The start and end times of the observations;

[0168] It is an emergency mission. i In imaging satellites j The a-th visible time window;

[0169] d i Represents task t i The observation duration is equal for each task.

[0170] Represents task t i In imaging satellites j Start time of the a-th visible time window;

[0171] Represents task t i In imaging satellites j The end time of the a-th visible time window;

[0172] In the initial task planning scheme, task t represents task t. i' In imaging satellites j The observation end time;

[0173] In the initial task planning scheme, task t represents task t. i' In imaging satellites j The start time of the observation;

[0174] Δt j It is an imaging satellite. j Maximum boot time per session.

[0175] The step of combining the selected emergency task with the planned task at the location that satisfies the synthesis constraints specifically includes:

[0176] If there is a position where it can be synthesized, such as Figure 3 As shown, the selected emergency task t i With task t in the plan i' By performing synthesis, a new planned task can be formed within the planning scheme, with its observation time window and lateral swing angle as follows:

[0177] (1) If

[0178]

[0179] (2) If

[0180]

[0181] (3) If and

[0182]

[0183] in, For task t i' With task t i The synthesized image satellite s j The start time of the observation;

[0184] For task t i' With task t i The synthesized image satellite s j The observation end time;

[0185] For task t i' With task t i The synthesized image satellite s j The actual observed lateral swing angle.

[0186] S6. Execute the emergency task insertion strategy, that is, traverse all visible time windows of the selected emergency tasks and determine whether there are conflicts in all visible time windows.

[0187] If so, execute S7, which is to execute the emergency task deletion policy;

[0188] Otherwise, such as Figure 4 As shown, the selected emergency task is directly inserted into the conflict-free position of the visible time window, and then S8 is executed.

[0189] S7. Execute the emergency task deletion strategy. That is, if the two methods of S5 and S6 cannot insert an emergency task, determine whether there is a conflict with a smaller weight than the emergency task.

[0190] If so, Figure 5 As shown, delete the conflict, then insert the selected emergency task into the conflict-free position of the visible time window, and then execute S8;

[0191] Otherwise, execute S8 directly.

[0192] S8. Determine whether the emergency task set has been traversed. If yes, output the current planning scheme; otherwise, return to S3.

[0193] Specifically, it determines whether the traversal of the emergency task set AT has been completed. If so, it completes the emergency task planning and outputs the current task planning scheme; otherwise, it returns to S3 to plan the next emergency task.

[0194] Example 2

[0195] The present invention also provides an imaging satellite emergency mission planning system based on a synthesis strategy. The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above method.

[0196] It is understood that the imaging satellite emergency mission planning system based on synthesis strategy provided in this embodiment of the invention corresponds to the above-mentioned imaging satellite emergency mission planning method based on synthesis strategy. The explanation, examples, and beneficial effects of the relevant content can be referred to the corresponding content in the imaging satellite emergency mission planning method based on synthesis strategy, and will not be repeated here.

[0197] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0198] 1. By adopting an emergency mission synthesis strategy for imaging satellite emergency mission planning, when there are many conflicts among emergency missions, the selected emergency missions can be inserted into the conflict-free positions of the visible time window. By synthesizing observations, the imaging time of imaging satellites can be reduced, the resource utilization efficiency of imaging satellites can be improved, and more idle imaging time slots can be reserved for subsequent emergency mission arrangements.

[0199] 2. Using a heuristic factor based on the urgency of emergency tasks to guide the prioritization of emergency tasks, prioritizing those with higher weights and fewer visible time windows can reduce the impact of early task scheduling on the insertion opportunities of subsequent tasks, ensuring that more emergency tasks are planned and improving the overall effectiveness of the solution.

[0200] 3. By using the synthesis priority heuristic factor of the visible time window of the emergency mission to sort the visible time windows, it is possible to prioritize traversing the positions with larger conflict synthesis parts in the visible time window set with the planned scheme, ensuring that the insertion of emergency missions occupies less imaging time of imaging satellites, reserving as many idle imaging time periods as possible for subsequent missions, and further increasing the benefits of the overall scheme.

[0201] It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the prior art, can be embodied in the form of software products. These computer software products can be stored in computer-readable storage media, such as ROM / RAM, magnetic disks, optical disks, etc., and include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain portions of the embodiments. In this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0202] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for planning emergency missions for imaging satellites based on a synthetic strategy, characterized in that, The method includes: S1. Obtain planning information; S2. Sort the emergency tasks in the emergency task set according to their urgency. S3. Iterate through the emergency task set to select emergency tasks; S4. Sort the synthesis priority of all visible time windows of the selected emergency tasks. S5. Traverse all visible time windows of the selected emergency task and determine whether there are any positions in the visible time windows that satisfy the composition constraints; If so, combine the selected emergency task with the planned task at the location that satisfies the synthesis constraint, and then execute S8; Otherwise, execute S6; S6. Iterate through all visible time windows of the selected emergency task and determine whether all visible time windows are in conflict. If so, execute S7; Otherwise, directly insert the selected emergency task into the conflict-free position of the visible time window, and then execute S8; S7. Determine if there are any conflicts with a weight smaller than the selected emergency task; If so, delete the conflict, then insert the selected emergency task into the conflict-free position of the visible time window, and then execute S8; Otherwise, execute S8 directly; S8. Determine if the emergency task set has been traversed. If yes, output the current planning scheme; otherwise, return to S3.

2. The method for emergency mission planning of imaging satellites based on a synthetic strategy as described in claim 1, characterized in that, The planning information includes: Imaging satellite collection Number of imaging satellites N s , Imaging satellites j Maximum single boot time Δt j ; Imaging satellites j Field of view ΔV in the lateral tilt direction j ; The set of planned tasks DT; the number of planned tasks N DT ; Emergency task set AT; Number of emergency tasks N AT ; t i This represents the i-th task; Task t i Visible time window The number of visible time windows Task t i In imaging satellites j Start time of the a-th visible time window and end time Task t in the planned task set i In imaging satellites j The start time of observation within the a-th visible time window and observation end time Emergency Task t i In imaging satellites j The conflict set of the a'th visible time window Task t i weights tv i ; Task t i In imaging satellites j Ideal observation lateral tilt angle for the a-th visible time window 3. The method for emergency mission planning of imaging satellites based on a synthetic strategy as described in claim 1, characterized in that, The level of urgency δ i The calculation formula is as follows: in, TV i Represents task t i The weights; Represents task t i The number of visible time windows; t i' ∈DT∪AT represents the i'th task.

4. The method for emergency mission planning of imaging satellites based on a synthetic strategy as described in claim 1, characterized in that, The synthesis priority The calculation formula is as follows: in, Represents task t i In imaging satellites j Start time of the a-th visible time window; Represents task t i In imaging satellites j The end time of the a-th visible time window; This indicates that task t is in the planned task set. i' In imaging satellites j The start time of observation within the a'th visible time window; This indicates that task t is in the planned task set. i' In imaging satellites j The end time of observation within the a'th visible time window; d i Represents task t i The observation duration is equal for each task. This indicates that task t is in the planned task set. i' In imaging satellites j The a'th visible time window on; Indicates emergency task t i In imaging satellites j The set of conflicts for the a-th visible time window.

5. The method for emergency mission planning of imaging satellites based on a synthetic strategy as described in claim 1, characterized in that, The synthesis constraints include: Angle constraints: The observation angles of an imaging satellite for multiple targets must be within a certain range, meaning their distances along the normal direction of the imaging satellite's trajectory must be within the single field of view of the remote sensor. in, Represents task t i In imaging satellites j The ideal observation side swing angle for the a-th time window, i.e., task t i Located on the center line of the observation strip; This indicates that task t is in the planned task set. i' In imaging satellites j The ideal observation lateral tilt angle for the a'th visible time window; ΔV j Indicates imaging satellites s j The field of view in the lateral tilt direction; Time Constraint: The visible time window of the emergency task and the observation time window of the task in the planning scheme must overlap in time and must be within a certain time range, i.e. in, It is task t in the set of planned tasks. i' In imaging satellites j The start and end times of the observations; It is an emergency mission. i In imaging satellites j The a-th visible time window; d i Represents task t i The observation duration is equal for each task. Represents task t i In imaging satellites j Start time of the a-th visible time window; Represents task t i In imaging satellites j The end time of the a-th visible time window; In the initial task planning scheme, task t represents task t. i' In imaging satellites j The observation end time; In the initial task planning scheme, task t represents task t. i' In imaging satellites j The start time of the observation; Δt j It is an imaging satellite. j Maximum boot time per session.

6. The method for planning emergency missions for imaging satellites based on a synthetic strategy as described in claim 5, characterized in that, The selected emergency task t i With task t in the plan i' The combined observation time window and lateral swing angle are as follows: (1) If (2) If (3) If and in, For task t i' With task t i The synthesized image satellite s j The start time of the observation; For task t i' With task t i The synthesized image satellite s j The observation end time; For task t i' With task t i The synthesized image satellite s j The actual observed lateral swing angle.

7. A system for planning emergency missions for imaging satellites based on a synthetic strategy, the system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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