A multi-target imaging mission planning method, device and system

Abstract

The present invention relates to a multi-target imaging task planning method, device and system, belonging to the field of remote sensing satellite technology, and solving the problem of how to adjust the actual observation time within the visible time interval of the remote sensing satellite to each target, taking into account multiple observation targets. The method includes: based on the spatial position of the remote sensing satellite and the observation target, calculating the visible time window of the remote sensing satellite to the observation target; for each observation task, determining the best observation window, wherein the best observation window is the observation window with the smallest front and rear pitch angle and left and right swing angle observed by the remote sensing satellite; according to the best observation window of each observation task, sequentially arranging the observation tasks; when the observation task to be arranged conflicts with the observation task that has been arranged, adjusting the actual observation window of the observation task to be arranged. The actual observation time is flexibly adjusted in sequence, taking into account multiple observation targets.

Description

Technical Field

[0001] The present invention relates to the field of remote sensing satellite technology, and in particular to a multi-target imaging mission planning method, device and system. Background Art

[0002] In order to obtain effective image data of the observed target, the remote sensing satellite needs to image the observed target in a specific time interval. However, the theoretical visible time interval between the remote sensing satellite with pitch capability and the target is often greater than the actual observation time required. When the remote sensing satellite has conflicts in observation time for multiple different targets, it can still flexibly adjust the actual observation time within the visible time interval to achieve the purpose of imaging multiple observation targets. The multi-target imaging task planning method is to propose a planning method for how to optimize the observation time within the visible interval for multiple targets with conflicting observation times of remote sensing satellites to take into account multiple targets. During the visible time interval of the remote sensing satellite to the target, the remote sensing satellite has different observation angles for the target at different times, which leads to different observation effects on the target. In general, it is required to maximize the imaging effect of the observed target while ensuring that the observation task is arranged. Summary of the invention

[0003] In view of the above analysis, the embodiments of the present invention aim to provide a multi-target imaging mission planning method, device and system to solve the problem of how to adjust the actual observation time and take into account multiple observation targets within the visible time interval of each target by the remote sensing satellite.

[0004] On the one hand, an embodiment of the present invention provides a multi-target imaging task planning method, including: based on the spatial positions of the remote sensing satellite and the observation target, calculating the visible time window of the remote sensing satellite to the observation target; for each observation task, determining the optimal observation window, wherein the optimal observation window is the observation window with the smallest front and rear pitch angles and left and right swing angles observed by the remote sensing satellite; according to the optimal observation window of each observation task, sequentially arranging the observation tasks; when the observation task to be arranged conflicts with the arranged observation task, adjusting the actual observation window of the observation task to be arranged.

[0005] The beneficial effects of the above technical solution are as follows: within the visible time interval of each target by the remote sensing satellite, the actual observation time is flexibly adjusted in sequence to take into account multiple observation targets.

[0006] Based on the further improvement of the above method, for each observation task, determining the best observation window includes: calculating the observation imaging effects corresponding to different observation time windows and observation angles of different remote sensing satellites to the observation target. in, is the i-th satellite observation s_sw iThe pitch angle of the front and rear, γ(s_sw i ) is the i-th satellite observation s_sw i The left and right swing angles; when When it is minimum, the observation imaging effect is the best. For each observation task, the optimal observation window is determined by the following formula:

[0007]

[0008] Where i = 1, 2, ..., NumT, [s_sw i ,e_sw i ] is the observation window of the i-th satellite observation, s_sw i is the observation start time, e_sw i is the end time of observation, the superscript opt ​​is the optimal observation window in the observation window, and the window time length is Δt i .

[0009] Based on a further improvement of the above method, according to the best observation window of each observation task, sequentially arranging the observation tasks includes: when there is no timing conflict between the best observation windows of each observation task, the best observation window of each observation task is the actual observation window.

[0010] Based on the further improvement of the above method, when the observation task to be scheduled conflicts with the scheduled observation task, the actual observation window of the observation task to be scheduled is adjusted, including: when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is less than the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window is adjusted to the first actual observation window, wherein the first actual observation window of the i+1-th observation target is later than the actual observation window.

[0011] Based on the further improvement of the above method, when the observation task to be scheduled conflicts with the scheduled observation task, the actual observation window of the observation task to be scheduled is adjusted, including: when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is greater than the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to a second actual observation window, wherein the second actual observation window is earlier than the actual observation window.

[0012] Based on the further improvement of the above method, when the observation task to be scheduled conflicts with the scheduled observation task, the actual observation window of the observation task to be scheduled is adjusted, including: when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to the first actual observation window or the second actual observation window, wherein the first actual observation window is later than the actual observation window and the second actual observation window is earlier than the actual observation window.

[0013] On the other hand, an embodiment of the present invention provides a multi-target imaging task planning device including: a visible window acquisition module, which is used to calculate the visible time window of the remote sensing satellite to the observation target based on the spatial position of the remote sensing satellite and the observation target; an optimal window acquisition module, which is used to determine the optimal observation window for each observation task, wherein the optimal observation window is the observation window with the smallest front and rear pitch angles and left and right swing angles observed by the remote sensing satellite; a task scheduling module, which is used to schedule the observation tasks in sequence according to the optimal observation window of each observation task; and a conflict resolution module, which is used to adjust the actual observation window of the observation task to be scheduled to resolve the task observation window conflict when the observation task to be scheduled conflicts with the scheduled observation task.

[0014] Based on the further improvement of the above device, the optimal window acquisition module is used to calculate the observation imaging effect corresponding to the observation angle of the observation target by different observation time windows and different remote sensing satellites. in, is the i-th satellite observation s_sw i The pitch angle of the front and rear, γ(s_sw i) is the i-th satellite observation s_sw i The left and right swing angles; when When it is minimum, the observation imaging effect is the best. For each observation task, the optimal observation window is determined by the following formula:

[0015]

[0016] Where i = 1, 2, ..., NumT, [s_sw i ,e_sw i ] is the observation window of the i-th satellite observation, s_sw i is the observation start time, e_sw i is the end time of observation, the superscript opt ​​is the optimal observation window in the observation window, and the window time length is Δt i .

[0017] Based on further improvement of the above device, the task scheduling module is also used for, when there is no timing conflict between the best observation windows of each observation task, the best observation window of each observation task is the actual observation window.

[0018] On the other hand, an embodiment of the present invention provides a multi-target imaging mission planning system, comprising: one or more processors; a storage device for storing one or more programs, so that when the one or more processors execute the one or more programs, the one or more processors implement the multi-target imaging mission planning method described in the above embodiment.

[0019] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0020] 1. Within the visible time interval of each target by the remote sensing satellite, the actual observation time is flexibly adjusted in sequence to take into account multiple observation targets.

[0021] 2. Slide the actual observation window within the visible time window of the observation task to be scheduled, and try to ensure the observation effect while taking into account the task scheduling. In general, the observation angle that deviates from the optimal observation window is the smallest.

[0022] 3. When the observation task to be scheduled conflicts with the observation task that has been scheduled, the actual observation window of the observation task to be scheduled needs to be adjusted to eliminate the task observation window conflict.

[0023] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0025] Figure 1 A flowchart of a multi-target imaging task planning method according to an embodiment of the present invention;

[0026] Figure 2 The remote sensing satellite is provided in an embodiment of the present invention. The visible time window and the actual observation window of the target;

[0027] Figure 3 is the relative relationship I of the optimal observation window of the remote sensing satellite to the adjacent targets provided by the embodiment of the present invention;

[0028] Figure 4 The relative relationship II of the optimal observation window of the remote sensing satellite to the adjacent targets provided by the embodiment of the present invention;

[0029] Figure 5 The relative relationship III of the optimal observation window of the remote sensing satellite to the adjacent targets provided by the embodiment of the present invention;

[0030] Figure 6 The relative relationship IV of the optimal observation window of the remote sensing satellite to the adjacent targets provided by the embodiment of the present invention;

[0031] Figure 7 is a structural diagram of a multi-target imaging task planning device provided by an embodiment of the present invention;

[0032] Figure 8 4 is a block diagram of a multi-target imaging task planning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0034] A specific embodiment of the present invention discloses a multi-target imaging mission planning method. Figure 1The multi-target imaging task planning method includes: in step S102, based on the spatial positions of the remote sensing satellite and the observation target, calculating the visible time window of the remote sensing satellite to the observation target; in step S104, determining the best observation window for each observation task, wherein the best observation window is the observation window with the smallest front and rear pitch angle and left and right swing angle observed by the remote sensing satellite; in step S106, arranging the observation tasks in sequence according to the best observation window of each observation task; in step S108, when the observation task to be arranged conflicts with the arranged observation task, adjusting the actual observation window of the observation task to be arranged.

[0035] Compared with the prior art, the multi-target imaging mission planning method provided in this embodiment can flexibly adjust the actual observation time in sequence within the visible time interval of each target by the remote sensing satellite, taking into account multiple observation targets.

[0036] In the following, reference will be made to Figures 1 to 6 , each step of the multi-target imaging task planning method according to an embodiment of the present invention is described in detail.

[0037] In step S102, based on the spatial positions of the remote sensing satellite and the observed target, the visible time window of the remote sensing satellite to the observed target is calculated. i ,e_vw i ] is the remote sensing satellite observing target i The visible time window of s_vw i is the imaging start time, e_vw i is the end time of imaging, and the window time length is Δt i .

[0038] In step S104, for each observation task, the best observation window is determined, wherein the best observation window is the observation window with the smallest pitch angle and left and right swing angle observed by the remote sensing satellite. Specifically, for each observation task, determining the best observation window includes: calculating the observation imaging effects corresponding to different observation time windows and different observation angles of remote sensing satellites to the observation target. in, is the i-th satellite observation s_sw i The pitch angle of the front and rear, γ(s_sw i ) is the i-th satellite observation s_sw i The left and right swing angles; when When it is minimum, the observation imaging effect is the best. For each observation task, the optimal observation window is determined by the following formula:

[0039]

[0040] Where i = 1, 2, ..., NumT, [s_sw i ,e_sw i ] is the observation window of the i-th satellite observation, s_sw i is the observation start time, e_sw i is the end time of observation, the superscript opt ​​is the optimal observation window in the observation window, and the window time length is Δt i .

[0041] In step S106, the observation tasks are arranged in sequence according to the best observation window of each observation task. Arranging the observation tasks in sequence according to the best observation window of each observation task includes: when there is no timing conflict between the best observation windows of each observation task, the best observation window of each observation task is the actual observation window.

[0042] In step S108, when the observation task to be scheduled conflicts with the observation task that has been scheduled, the actual observation window of the observation task to be scheduled is adjusted. Figure 4 , when the observation task to be scheduled conflicts with the observation task that has been scheduled, the actual observation window of the observation task to be scheduled is adjusted, including: when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is less than the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to the first actual observation window, wherein the first actual observation window is later than the actual observation window. Specifically, the actual observation start time of the first actual observation window is the i-th actual observation end time of the actual observation window, and the actual observation end time of the first actual observation window is the sum of the i-th actual observation end time of the actual observation window and the i+1-th window time length.

[0043] refer to Figure 5, when the observation task to be scheduled conflicts with the observation task that has been scheduled, the actual observation window of the observation task to be scheduled is adjusted, including: when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is greater than the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to the second actual observation window, wherein the second actual observation window is earlier than the actual observation window. Specifically, the actual observation start time of the second actual observation window is the difference between the i-th actual observation start time of the actual observation window and the i+1-th window time length, and the actual observation end time of the second actual observation window is the i-th actual observation start time of the actual observation window.

[0044] refer to Figure 6 When the observation task to be scheduled conflicts with the scheduled observation task, the actual observation window of the observation task to be scheduled is adjusted, including: when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to the first actual observation window or the second actual observation window, wherein the first actual observation window is later than the actual observation window and the second actual observation window is earlier than the actual observation window.

[0045] Another specific embodiment of the present invention discloses a multi-target imaging mission planning device. Figure 8 The multi-target imaging task planning device includes: a visible window acquisition module 802, which is used to calculate the visible time window of the remote sensing satellite to the observation target based on the spatial position of the remote sensing satellite and the observation target; an optimal window acquisition module 804, which is used to determine the optimal observation window for each observation task, wherein the optimal observation window is the observation window with the smallest front and rear pitch angle and left and right swing angle observed by the remote sensing satellite; a task scheduling module 806, which is used to schedule the observation tasks in sequence according to the optimal observation window of each observation task; and a conflict resolution module 808, which is used to adjust the actual observation window of the observation task to be scheduled to resolve the task observation window conflict when the observation task to be scheduled conflicts with the observation task that has been scheduled.

[0046] The best window acquisition module 804 is used to calculate the observation imaging effects corresponding to different observation time windows and observation angles of different remote sensing satellites to the observation target. Among them, is the i-th satellite observation s_sw i The pitch angle of the front and rear, γ(s_sw i ) is the i-th satellite observation s_sw i The left and right swing angles; when When it is minimum, the observation imaging effect is the best. For each observation task, the optimal observation window is determined by the following formula:

[0047]

[0048] Where i = 1, 2, ..., NumT, [s_sw i ,e_sw i ] is the observation window of the i-th satellite observation, s_sw i is the observation start time, e_sw i is the end time of observation, the superscript opt ​​is the optimal observation window in the observation window, and the window time length is Δt i .

[0049] The task scheduling module 806 is further configured to, when there is no timing conflict between the best observation windows of each observation task, use the best observation window of each observation task as the actual observation window.

[0050] Another specific embodiment of the present invention discloses a multi-target imaging mission planning system. Figure 7 The multi-target imaging mission planning system includes: one or more processors; a storage device for storing one or more programs. When the one or more processors execute the one or more programs, the one or more processors implement the multi-target imaging mission planning method described in the above embodiment.

[0051] In the following, reference will be made to Figures 2 to 6 , a multi-target imaging task planning method according to an embodiment of the present invention is described in detail by way of a specific example.

[0052] See also Figure 1 The technical problem to be solved by the present invention is achieved by the following technical solution. The main idea is to flexibly adjust the actual observation time in sequence within the visible time interval of the remote sensing satellite to each target, taking into account multiple observation targets.

[0053] (1) Calculate the visible time window of the remote sensing satellite to the target. Based on the spatial position of the satellite and the observed target, calculate the visible time window of the remote sensing satellite to the target.

[0054] (2) Calculate and determine the optimal observation window for the observation task. Based on the best imaging effect, calculate and determine the optimal observation window for each observation task.

[0055] (3) Arrange the observation tasks according to the best observation window of the observation task. Arrange the observation tasks in sequence according to the best observation window of the observation task.

[0056] (4) Task observation window conflict resolution: When the observation task to be scheduled conflicts with the scheduled observation task, the actual observation window of the observation task to be scheduled needs to be adjusted.

[0057] The following is a further description of a multi-target imaging task planning method, as follows:

[0058] (1) Calculate the visible time window of the remote sensing satellite to the target, that is, the time range for the satellite to observe the target when it passes over the ground target. Based on the spatial position of the satellite and the observed target, obtain the visible time window of the remote sensing satellite to the target.

[0059] Assume that the remote sensing satellite sat observes the target i The visible time window is expressed as [s_vw i ,e_vw i ], where s_vw i is the imaging start time, e_vw i is the end time of imaging, and the window time length is Δt i

[0060] (2) Calculate and determine the best observation window for the observation task. Based on the best imaging effect, calculate and determine the best observation window for each observation task, such as Figure 2 As shown, the calculation method is as follows.

[0061] In order to obtain effective remote sensing images of the target, the window time length is required to be Δt i , the observation window needs to be [s_sw i ,e_sw i ], e_sw i =s_sw i +Δt i , which can be flexibly selected within the visible time window. Different observation time windows result in different observation angles of the remote sensing satellite to the target, and the corresponding observation imaging effects are also different, which can be expressed as in Is the satellite observation s_sw i The pitch angle, γ(s_sw i ) is the satellite observation s_sw i The angle of left and right swing. When it is the smallest, the imaging effect is the best. For each observation task, the optimal observation window is calculated and determined as:

[0062]

[0063] Wherein, i=1,2,…,NumT, and the superscript opt ​​is the best observation window in the visible observation window.

[0064] (3) Arrange observation tasks according to the best observation window. Arrange observation tasks in sequence according to the best observation window of the observation task. If there is no time sequence conflict between the best observation windows of each observation task, the best observation window of each observation task is the actual observation window:

[0065]

[0066] (4) Task observation window conflict resolution: When the observation task to be scheduled conflicts with the scheduled observation task, the actual observation window of the observation task to be scheduled needs to be adjusted.

[0067] Slide the actual observation window within the visible time window of the observation task to be scheduled, and try to ensure the observation effect while taking into account the task scheduling. In general, the observation angle corresponding to the smallest deviation from the optimal observation window is used as the basis.

[0068] 1) When the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is greater than the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is less than the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window is adjusted to the first actual observation window, where the first actual observation window is later than the actual observation window.

[0069] like and Then observe the target target i+1 with target i There is a timing conflict and it cannot be implemented, such as Figure 3 shown.

[0070] 2) When the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is less than the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window is adjusted to the first actual observation window, where the first actual observation window is later than the actual observation window.

[0071] like and Then observe the target target i+1 with target i There is a timing conflict, so the actual observation window is adjusted to like Figure 4 shown.

[0072]

[0073] 3)Reference Figure 5 , when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is greater than the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window is adjusted to the second actual observation window, where the second actual observation window is earlier than the actual observation window.

[0074] like and and Then observe the target target i+1 with target i There is a timing conflict, so the actual observation window is adjusted to like Figure 5 shown.

[0075]

[0076] 4)Reference Figure 6 , when the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window is adjusted to the first actual observation window or the second actual observation window, where the first actual observation window is later than the actual observation window and the second actual observation window is earlier than the actual observation window.

[0077] like and and Then the observed target arget i+1 with target i If there is a timing conflict, the actual observation window can be adjusted to and like Figure 6 shown.

[0078] A. If the left-right swing angle at the observation start time point of the first actual observation window is greater than the left-right swing angle at the observation start time point of the second actual observation window, that is, Then observe the target target i+1 The actual observation window is adjusted to be earlier than the actual observation window:

[0079]

[0080] B. If the left-right swing angle at the observation start time point of the first actual observation window (i.e., the first observation start time point) is smaller than the left-right swing angle at the observation start time point of the second actual observation window (i.e., the second observation start time point), that is, Then observe the target target i+1 The actual observation window is adjusted to be later than the actual observation window:

[0081]

[0082] C. If the left and right side swing angles at the observation start time point of the first actual observation window (i.e., the first observation start time point) are the same as the left and right side swing angles at the observation start time point of the second actual observation window (i.e., the second observation start time point) and the front and rear pitch angles at the first observation start time point are greater than the front and rear pitch angles at the second observation start time point, then:

[0083] Then observe the target target i+1 The actual observation window is adjusted to be earlier than the actual observation window:

[0084]

[0085] D. If the left and right side swing angles at the observation start time point of the first actual observation window (i.e., the first observation start time point) are the same as the left and right side swing angles at the observation start time point of the second actual observation window (i.e., the second observation start time point) and the front and rear pitch angles at the first observation start time point are less than or equal to the front and rear pitch angles at the second observation start time point, that is:

[0086] Then observe the target target i+1 The actual observation window of is adjusted to be later than the actual observation window:

[0087]

[0088] Figure 7 The structure of the multi-target imaging mission planning device is shown. Figure 7For example, the multi-target imaging mission planning device 700 can be used to act as a mission planning host in a remote sensing satellite imaging system. As described herein, the multi-target imaging mission planning device 700 can be used to implement the planning function for imaging missions in a remote sensing satellite imaging system. The multi-target imaging mission planning device 700 can be implemented in a single node, or the functions of the multi-target imaging mission planning device 700 can be implemented in multiple nodes in a network. Those skilled in the art should appreciate that the term multi-target imaging mission planning device includes devices in a broad sense, Figure 7 The multi-target imaging mission planning device 700 shown in the figure is only one example. The multi-target imaging mission planning device 700 is included for clarity of description and is not intended to limit the application of the present invention to a specific multi-target imaging mission planning device embodiment or a certain type of multi-target imaging mission planning device embodiment. At least some of the features / methods described in the present invention can be implemented in a network device or component, such as the multi-target imaging mission planning device 700. For example, the features / methods in the present invention can be implemented in hardware, firmware and / or software installed and run on the hardware. The multi-target imaging mission planning device 700 can be any device that processes, stores and / or forwards data frames through a network, such as a server, a client, a data source, etc. Figure 7 As shown, the multi-target imaging mission planning device 700 may include a transceiver (Tx / Rx) 710, which may be a transmitter, a receiver, or a combination thereof. Tx / Rx 710 may be coupled to multiple ports 750 (e.g., an uplink interface and / or a downlink interface) for sending and / or receiving frames from other nodes. A processor 730 may be coupled to Tx / Rx 710 to process frames and / or determine which nodes to send frames to. The processor 730 may include one or more multi-core processors and / or a memory device 732, which may be used as a data memory, a buffer, etc. The processor 730 may be implemented as a general-purpose processor, or may be part of one or more application specific integrated circuits (ASICs) and / or digital signal processors (DSPs).

[0089] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0090] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-target imaging mission planning method, characterized in that: include: Based on the spatial positions of the remote sensing satellite and the observation target, calculating the visible time window of the remote sensing satellite to the observation target; For each observation task, determine the best observation window, wherein the best observation window is the observation window with the smallest front and rear pitch angle and left and right swing angle observed by the remote sensing satellite; Arrange the observation tasks in sequence according to the optimal observation window of each observation task; When the observation task to be scheduled conflicts with the observation task that has been scheduled, the actual observation window of the observation task to be scheduled is adjusted, wherein for each observation task, the optimal observation window is determined, including: Calculate the observation imaging effects corresponding to the observation angles of different remote sensing satellites to the observation target in different observation time windows in, is the i-th satellite observation s_sw i The pitch angle of the front and rear, γ(s_sw i ) is the i-th satellite observation s_sw i The left and right swing angles; when When it is minimum, the observation imaging effect is the best. For each observation task, the optimal observation window is determined by the following formula: Where i = 1, 2, ..., NumT, [s_sw i ,e_sw i ] is the observation window of the i-th satellite observation, s_sw i is the observation start time, e_sw i is the end time of observation, the superscript opt ​​is the optimal observation window in the observation window, and the window time length is Δt i .

2. The multi-target imaging task planning method according to claim 1, characterized in that: The observation tasks are arranged in sequence according to the best observation window of each observation task, including: when there is no timing conflict between the best observation windows of each observation task, the best observation window of each observation task is the actual observation window.

3. The multi-target imaging task planning method according to claim 1, characterized in that: When the observation task to be scheduled conflicts with the observation task that has been scheduled, adjusting the actual observation window of the observation task to be scheduled includes: When the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is less than the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to the first actual observation window, wherein the first actual observation window is later than the actual observation window.

4. The multi-target imaging task planning method according to claim 1, characterized in that: When the observation task to be scheduled conflicts with the observation task that has been scheduled, adjusting the actual observation window of the observation task to be scheduled includes: When the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is greater than the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to a second actual observation window, wherein the second actual observation window is earlier than the actual observation window.

5. The multi-target imaging task planning method according to claim 1, characterized in that: When the observation task to be scheduled conflicts with the observation task that has been scheduled, adjusting the actual observation window of the observation task to be scheduled includes: When the intersection of the actual observation window and the optimal observation window is a non-empty set, the sum of the i-th actual observation end time and the i+1-th window time length is less than or equal to the i+1-th visible end time, and the difference between the i-th actual observation start time and the i+1-th window time length is greater than or equal to the i+1-th visible start time, there is a timing conflict between the i+1-th observation target and the i-th observation target, and the actual observation window of the i+1-th observation target is adjusted to the first actual observation window or the second actual observation window, wherein the first actual observation window is later than the actual observation window and the second actual observation window is earlier than the actual observation window.

6. A multi-target imaging task planning device, characterized in that: include: A visible window acquisition module, used for calculating the visible time window of the remote sensing satellite to the observed target based on the spatial positions of the remote sensing satellite and the observed target; The best window acquisition module is used to determine the best observation window for each observation task, wherein the best observation window is the observation window with the smallest front and rear pitch angle and left and right swing angle observed by the remote sensing satellite, wherein the best window acquisition module is used to calculate the observation imaging effect corresponding to different observation time windows and different remote sensing satellite observation angles of the observation target. in, is the i-th satellite observation s_sw i The pitch angle of the front and rear, γ(s_sw i ) is the i-th satellite observation s_sw i The left and right swing angles; when When it is minimum, the observation imaging effect is the best. For each observation task, the optimal observation window is determined by the following formula: Where i = 1, 2, ..., NumT, [s_sw i ,e_sw i ] is the observation window of the i-th satellite observation, s_sw i is the observation start time, e_sw i is the end time of observation, the superscript opt ​​is the optimal observation window in the observation window, and the window time length is Δt i ; A task scheduling module, used for sequentially scheduling the observation tasks according to the optimal observation window of each observation task; The conflict resolution module is used to adjust the actual observation window of the observation task to be scheduled to resolve the task observation window conflict when the observation task to be scheduled conflicts with the observation task that has been scheduled.

7. The multi-target imaging task planning device according to claim 6, characterized in that: The task scheduling module is also used for, when there is no timing conflict between the best observation windows of each observation task, the best observation window of each observation task is the actual observation window.

8. A multi-target imaging mission planning system, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more processors execute the one or more programs, the one or more processors implement the multi-target imaging task planning method according to any one of claims 1 to 5.

Images