A Multi-Satellite Cooperative Mission Planning Method and Device Based on Observation Requirement Conflict Degree

Abstract

The present invention relates to a multi-satellite collaborative mission planning method and device based on the conflict degree of observation requirements, belonging to the technical field of remote sensing satellites, and solves the problem that resource usage conflicts will occur when existing multi-satellites are used in collaboration to perform different observation tasks. The method includes: for each observation requirement, calculating one or more observation opportunities according to the observation resources and the observation effective time interval matched with each observation requirement; selecting a specific observation requirement according to the number of observation opportunities and the observation requirement priority; calculating the number of observation requirements corresponding to the observation opportunities that have timing conflicts with a group of observation opportunities as a group of observation requirement conflict degrees corresponding to the group of observation opportunities; and for the specific observation requirement, comparing a group of observation requirement conflict degrees and preferentially selecting the observation opportunity with the smallest observation requirement conflict degree in the group of observation requirement conflict degrees for observation. The satisfaction rate of observation requirements is improved and the satellite resource usage efficiency is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of remote sensing satellites, and in particular, to a multi-satellite collaborative mission planning method and device based on the conflict degree of observation requirements. Background Art

[0002] In the context of the sharp increase in remote sensing requirements and the limited capabilities of single satellites, the collaborative use of multiple satellites is an important means to meet diverse and multi-user observation requirements. However, there are resource usage conflicts when multiple satellites are used in cooperation in terms of the priority levels of comprehensive observation tasks, satellite capabilities, and satellites when performing different observation tasks. Therefore, the key to multi-satellite collaborative mission planning for multi-satellite collaborative use is multi-satellite collaborative mission planning, that is, facing observation requirements, based on satellite payload types, satellite capabilities, and various usage constraints, how to resolve resource usage conflicts, allocate appropriate remote sensing satellite resources to appropriate observation requirements, and give full play to the usage efficiency of satellites. Summary of the Invention

[0003] In view of the above analysis, embodiments of the present invention aim to provide a multi-satellite collaborative mission planning method and device based on the conflict degree of observation requirements to solve the problem of resource usage conflicts that occur when existing multi-satellite collaborative use performs different observation tasks.

[0004] On the one hand, embodiments of the present invention provide a multi-satellite collaborative mission planning method based on the conflict degree of observation requirements, including: for each observation requirement, calculating one or more observation opportunities for each observation requirement according to the observation resources and observation effective time intervals matching each observation requirement; selecting a specific observation requirement according to the number of observation opportunities and the priority of the observation requirement to allocate a set of observation opportunities to the specific observation requirement; calculating the number of observation requirements corresponding to the observation opportunities that have timing conflicts with the set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities; and for the specific observation requirement, comparing the set of observation requirement conflict degrees and preferentially selecting the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees for observation.

[0005] The beneficial effects of the above technical solution are as follows: By calculating the number of observation requirements corresponding to the observation opportunities that have timing conflicts with a set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities, the observation requirements of tasks with fewer observation opportunities can be satisfied, and the satisfaction rate of requirements can be improved. For a specific observation requirement, preferentially selecting the observation opportunity with the smallest observation requirement conflict degree in a set of observation requirement conflict degrees can improve the satellite resource usage efficiency.

[0006] For further improvement based on the above method, before calculating one or more observation opportunities for each of the observation requirements, it further includes: obtaining a plurality of observation requirement information, where each piece of observation requirement information includes a first sensor type, a first observation valid time interval, a first resolution requirement, an observation frequency, and an observation priority; obtaining observation resource information, where the observation resource information includes attribute information of a plurality of satellites, and the attribute information of each satellite includes a second sensor type, a second observation valid time interval, and a second resolution; and using the observation requirement information and the observation resource information to match the plurality of observation requirements with the observation resources to obtain observation resources that match each of the observation requirements.

[0007] For further improvement based on the above method, matching the plurality of observation requirements with the observation resources includes: the second sensor type is within the range of the first sensor type; the second resolution is within the range of the first resolution; and the second observation valid time interval is within the first observation valid time interval.

[0008] For further improvement based on the above method, for each observation requirement, according to the observation resources and the observation valid time interval that match each observation requirement, calculating one or more observation opportunities for each observation requirement further includes: for the observation requirement ScoutDem d , within the observation resources Sat(ScoutDem d ) and the observation valid time interval TimeSec d that match the observation requirement ScoutDem d , its observation opportunities are:

[0009]

[0010] Wherein, are the 1st to the NumSth satellites, and are the start time points corresponding to the 1st to the NumSth observation opportunities respectively, are the end time points corresponding to the 1st to the NumSth observation opportunities respectively, and d is the observation requirement serial number.

[0011] Based on further improvements to the above method, selecting specific observation requirements according to the number of the observation opportunities and the priority of the observation requirements to allocate a set of observation opportunities to the specific observation requirements further includes: selecting the observation requirement with the fewest observation opportunities from the multiple observation requirements as the specific observation requirement to allocate a set of observation opportunities to the specific observation requirement; or when there are multiple observation requirements with the fewest observation opportunities at the same time, selecting the specific observation requirement with a high observation priority to allocate a set of observation opportunities to the specific observation requirement.

[0012] Based on further improvements to the above method, calculating the number of observation requirements corresponding to the observation opportunities that have timing conflicts with the set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities further includes: calculating the number of the first observation requirements corresponding to the observation opportunities that have timing conflicts with the first observation opportunity in the set of observation opportunities as the first observation requirement conflict degree corresponding to the set of observation opportunities; calculating the number of the second observation requirements corresponding to the observation opportunities that have timing conflicts with the second observation opportunity in the set of observation opportunities as the second observation requirement conflict degree corresponding to the set of observation opportunities; calculating the number of the nth observation requirements corresponding to the observation opportunities that have timing conflicts with the nth observation opportunity in the set of observation opportunities as the nth observation requirement conflict degree corresponding to the set of observation opportunities, where n is the number of observation sets in a set of observation sets, where n is from 3 to N, and N is a positive integer greater than 3.

[0013] Based on further improvements to the above method, for the specific observation requirement, comparing the set of observation requirement conflict degrees and preferentially selecting the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees further includes: when the first observation requirement conflict degree is the same as the second observation requirement conflict degree and less than the nth observation requirement conflict degree, comparing the first observation priority of the first observation requirement with the second observation priority of the second observation requirement; and when the first observation priority is greater than the second observation priority, selecting the first observation opportunity.

[0014] Based on further improvements to the above method, a multi-satellite collaborative mission planning method based on observation requirement conflict degrees further includes: repeatedly executing each step described in claim 1 until the following steps are executed multiple times until all observation requirements are traversed.

[0015] On the other hand, an embodiment of the present invention provides a multi-satellite collaborative task planning device based on the conflict degree of observation requirements, including: an observation opportunity calculation module, configured to calculate one or more observation opportunities for each observation requirement according to the observation resources and the observation effective time interval that match each observation requirement; an observation requirement selection module, configured to select a specific observation requirement according to the number of the observation opportunities and the observation requirement priority, so as to allocate a set of observation opportunities to the specific observation requirement; a conflict degree calculation module, configured to calculate the number of observation requirements corresponding to the observation opportunities that have time sequence conflicts with the set of observation opportunities respectively as a set of observation requirement conflict degrees corresponding to the set of observation opportunities; and an observation opportunity selection module, configured to compare the set of observation requirement conflict degrees for the specific observation requirement and preferentially select the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees.

[0016] Based on a further improvement of the above device, the multi-satellite collaborative task planning device based on the conflict degree of observation requirements further includes an observation requirement acquisition module, an observation resource acquisition module, and a matching module. Among them, the observation requirement acquisition module is configured to acquire a plurality of observation requirements, where each observation requirement includes a first sensor type, a first observation effective time interval, a first resolution requirement, an observation frequency, and an observation priority; the observation resource acquisition module is configured to acquire observation resources, where the observation resources include a plurality of satellites, and the attributes of each satellite include a second sensor type, a second observation effective time interval, and a second resolution; and the matching module is configured to match the plurality of observation requirements with the observation resources to obtain the observation resources that match each observation requirement.

[0017] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects:

[0018] 1. First, select the observation requirement with the fewest available observation opportunities. When there are multiple observation requirements with the fewest observation opportunities at the same time, select the observation requirement with a high priority to allocate observation opportunities first. In this way, under the condition of limited observation resources, the high-priority observation requirements can be met, and the maximum efficiency of high-priority tasks can be guaranteed.

[0019] 2. By calculating the number of observation requirements corresponding to the observation opportunities that have time sequence conflicts with a set of observation opportunities respectively as a set of observation requirement conflict degrees corresponding to the set of observation opportunities, the observation requirements of tasks with few observation opportunities can be met, and the satisfaction rate of requirements can be improved.

[0020] 3. For each observation requirement, compare the requirement conflict degrees corresponding to its available observation opportunities, and preferentially select the observation opportunity with a smaller requirement conflict degree. When the corresponding requirement conflict degrees are the same, select the observation opportunity with a smaller priority of the conflicting requirements. This fully considers the priorities of the observation tasks and the satisfaction of resources, and can maximize the satisfaction of the high-priority requirements and improve the utilization efficiency of satellite resources.

[0021] In the present invention, the above technical solutions can also be combined with each other to implement more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent specification, and some advantages can be made obvious from the specification or understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained from the content specifically pointed out in the specification and the drawings. Description of the Drawings

[0022] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation of the present invention. Throughout the drawings, the same reference numerals represent the same components.

[0023] Figure 1 It is a flowchart of a multi-satellite collaborative mission planning method based on the observation requirement conflict degree according to an embodiment of the present invention;

[0024] Figure 2 It is a schematic flowchart of a multi-satellite collaborative mission planning method based on the observation requirement conflict degree provided by an embodiment of the present invention;

[0025] Figure 3 It is a structural diagram of a multi-satellite collaborative mission planning device based on the observation requirement conflict degree provided by an embodiment of the present invention;

[0026] Figure 4 It is a block diagram of a multi-satellite collaborative mission planning device based on the observation requirement conflict degree according to an embodiment of the present invention. Detailed Embodiments

[0027] The following will specifically describe the preferred embodiments of the present invention in conjunction with the drawings, where the drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0028] A specific embodiment of the present invention discloses a multi-satellite collaborative mission planning method based on the observation requirement conflict degree. Refer to Figure 1, The multi-satellite collaborative mission planning method based on the conflict degree of observation requirements includes: in step S102, for each observation requirement, calculate one or more observation opportunities for each observation requirement according to the observation resources and the observation effective time interval matched with each observation requirement; in step S104, select specific observation requirements according to the number of observation opportunities and the observation requirement priority to allocate a set of observation opportunities to the specific observation requirements; in step S106, calculate the number of observation requirements corresponding to the observation opportunities that have timing conflicts with a set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities; and in step S108, for the specific observation requirements, compare a set of observation requirement conflict degrees and preferentially select the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees for observation.

[0029] Compared with the prior art, in the multi-satellite collaborative mission planning method based on the conflict degree of observation requirements provided in this embodiment, by calculating the number of observation requirements corresponding to the observation opportunities that have timing conflicts with a set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities, it is possible to meet the observation requirements of tasks with few observation opportunities and improve the satisfaction rate of requirements. For the specific observation requirements, preferentially selecting the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees can improve the satellite resource utilization efficiency.

[0030] In the following text, reference will be made to Figure 1 and Figure 2 , to describe each step of the multi-satellite collaborative mission planning method based on the conflict degree of observation requirements according to the embodiments of the present invention in detail.

[0031] Reference Figure 2 , before calculating one or more observation opportunities for each observation requirement, it further includes: obtaining a plurality of observation requirement information, where each observation requirement information includes a first sensor type, a first observation effective time interval, a first resolution requirement, an observation frequency, and an observation priority. Obtain observation resource information, where the observation resource information includes the attribute information of multiple satellites, and the attribute information of each satellite includes a second sensor type, a second observation effective time interval, and a second resolution. Then, use the observation requirement information and the observation resource information to match the multiple observation requirements with the observation resources to obtain the observation resources matched with each observation requirement. Specifically, matching the multiple observation requirements with the observation resources includes: the second sensor type is within the range of the first sensor type; the second resolution is within the range of the first resolution; and the second observation effective time interval is within the first observation effective time interval.

[0032] In step S102, for each observation requirement, one or more observation opportunities for each observation requirement are calculated according to the observation resources and the effective observation time interval matched with each observation requirement. Specifically, for each observation requirement, calculating one or more observation opportunities for each observation requirement according to the observation resources and the effective observation time interval matched with each observation requirement further includes: for the observation requirement ScoutDem d , within the observation resources Sat(ScoutDem d ) and the effective observation time interval TimeSec d that are matched with the observation requirement ScoutDem d , its observation opportunities are:

[0033]

[0034] wherein, are the 1st to the NumSth satellites, and are the start time points corresponding to the 1st to the NumSth observation opportunities respectively, are the end time points corresponding to the 1st to the NumSth observation opportunities respectively, and d is the serial number of the observation requirement.

[0035] In step S104, a specific observation requirement is selected according to the number of observation opportunities and the observation requirement priority to allocate a set of observation opportunities to the specific observation requirement. Specifically, selecting a specific observation requirement according to the number of observation opportunities and the observation requirement priority to allocate a set of observation opportunities to the specific observation requirement further includes: selecting the observation requirement with the fewest observation opportunities from multiple observation requirements as the specific observation requirement to allocate a set of observation opportunities to the specific observation requirement; or when there are multiple observation requirements with the fewest observation opportunities at the same time, selecting the specific observation requirement with a high observation priority to allocate a set of observation opportunities to the specific observation requirement.

[0036] In step S106, calculate the number of observation requirements corresponding to the observation opportunities that have timing conflicts with a set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities. Specifically, calculating the number of observation requirements corresponding to the observation opportunities that have timing conflicts with a set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities further includes: calculating the number of first observation requirements corresponding to the observation opportunities that have timing conflicts with the first observation opportunity in a set of observation opportunities as the first observation requirement conflict degree corresponding to the set of observation opportunities; calculating the number of second observation requirements corresponding to the observation opportunities that have timing conflicts with the second observation opportunity in a set of observation opportunities as the second observation requirement conflict degree corresponding to the set of observation opportunities; calculating the number of nth observation requirements corresponding to the observation opportunities that have timing conflicts with the nth observation opportunity in a set of observation opportunities as the nth observation requirement conflict degree corresponding to the set of observation opportunities, where n is the number of observation sets in a set of observation sets, and n ranges from 3 to N, and N is a positive integer greater than 3.

[0037] In step S108, for a specific observation requirement, compare a set of observation requirement conflict degrees and preferentially select the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees for observation. Specifically, comparing a set of observation requirement conflict degrees and preferentially selecting the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees for a specific observation requirement further includes: when the first observation requirement conflict degree is the same as the second observation requirement conflict degree and less than the nth observation requirement conflict degree, compare the first observation priority of the first observation requirement with the second observation priority of the second observation requirement; and when the first observation priority is greater than the second observation priority, select the first observation opportunity.

[0038] Repeat each of the above steps S102, step S104, step S106, and step S108 until the following steps are executed multiple times until all observation requirements are traversed.

[0039] A specific embodiment of the present invention discloses a multi-satellite collaborative mission planning device based on observation requirement conflict degrees. Refer to Figure 4, The multi-satellite collaborative mission planning device based on the conflict degree of observation requirements includes: an observation opportunity calculation module 402, which is used to calculate one or more observation opportunities for each observation requirement according to the observation resources and the observation effective time interval matched with each observation requirement; an observation requirement selection module 404, which is used to select specific observation requirements according to the number of observation opportunities and the observation requirement priority, so as to allocate a set of observation opportunities to the specific observation requirements; a conflict degree calculation module 406, which is used to calculate the number of observation requirements corresponding to the observation opportunities that have time sequence conflicts with a set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities; an observation opportunity selection module 408, which is used to compare a set of observation requirement conflict degrees for a specific observation requirement and preferentially select the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees.

[0040] The multi-satellite collaborative mission planning device based on the conflict degree of observation requirements further includes an observation requirement acquisition module, an observation resource acquisition module and a matching module. Among them, the observation requirement acquisition module is used to acquire multiple observation requirements, and each observation requirement includes a first sensor type, a first observation effective time interval, a first resolution requirement, an observation frequency and an observation priority; the observation resource acquisition module is used to acquire observation resources, and the observation resources include multiple satellites, and the attributes of each satellite include a second sensor type, a second observation effective time interval and a second resolution; and the matching module is used to match the multiple observation requirements with the observation resources to obtain the observation resources matched with each observation requirement.

[0041] In the following text, reference will be made to Figure 2 and Figure 3 to describe in detail the multi-satellite collaborative mission planning method and device based on the conflict degree of observation requirements according to the embodiments of the present invention by way of specific examples.

[0042] The technical problem to be solved by the present invention is to carry out multi-satellite collaborative mission planning by comprehensively considering the priority level of observation tasks, the satellite capability constraints and the degree of resource use conflicts presented by satellites when performing different observation tasks. See Figure 2 , which specifically includes the following steps:

[0043] (1) Observation requirement acceptance: Accept observation requirements and simultaneously obtain detailed observation requirement information, including information such as sensor type, observation effective time interval, resolution requirement, and observation frequency.

[0044] (2) Observation resource matching: Match the observation requirements with remote sensing satellites according to the detailed observation requirements and the attributes of satellite sensor types, resolutions, etc.

[0045] (3) Observation opportunity calculation: For each observation requirement and the corresponding remote sensing satellite, the observation opportunity is predicted within the effective observation time interval, and its observation opportunity is calculated.

[0046] (4) Observation requirement selection: Sequentially determine the observation requirements for preferentially selecting observation opportunities based on the available observation opportunities and the priorities of the observation requirements.

[0047] (5) Conflict degree calculation: For each observation requirement, calculate the number of observation requirements corresponding to the observation opportunities that conflict with this observation opportunity, which is denoted as the observation requirement conflict degree.

[0048] (6) Observation opportunity optimization: Optimize the observation opportunities for each observation requirement based on the observation requirement conflict degree and the priorities of the observation requirements.

[0049] Steps (4), (5), and (6) are looped until all observation requirements are traversed.

[0050] See Figure 1 , for a multi-satellite collaborative mission planning method based on the conflict degree of observation requirements, it is further described as follows:

[0051] (1) Accept observation requirements. Obtain information such as sensor type, effective observation time interval, resolution requirements, observation frequency, and observation priority for the observation requirements.

[0052] For observation requirements with an observation frequency greater than 1, they are decomposed into multiple observation requirements with an observation frequency of 1 in combination with the effective observation time interval. The observation requirement is expressed as:

[0053] ScoutDem = {SensorType, TimeSec, Reso, Freq, Priority}

[0054] Among them, each element of the observation requirement can be respectively expressed as:

[0055] SensorType = <ccd, sar, isr>

[0056] TimeSec = [s_time, e_time]

[0057] Reso = {(0, ccd_reso], (0, sar_reso], (0, isr_reso]}

[0058] Freq = 1

[0059] Priority = pri

[0060] The set of observation requirements can be expressed as:

[0061] SCOUTDEM = {ScoutDem1 ,ScoutDem 2 ,…,ScoutDem d ,…,ScoutDem Num}

[0062] Among them, ScoutDem is the observation requirement, SensorType is the sensor type, TimeSec is the effective observation time interval, Reso is the resolution requirement, Freq is the observation frequency, and Priority is the observation priority; ccd is the optoelectronic sensor, ccd_reso is the maximum value of the resolution of the optoelectronic sensor, sar is the radar sensor, sar_reso is the maximum value of the resolution of the radar sensor, isr is the infrared sensor, isr_reso is the maximum value of the resolution of the infrared sensor, s_Time is the start time point corresponding to the observation opportunity, e_Time is the end time point corresponding to the observation opportunity, ScoutDem 1 、ScoutDem 2 、…、ScoutDem d 、…、ScoutDem Num are the first observation requirement, the second observation requirement, the d-th observation requirement, and the Num-th observation requirement respectively.

[0063] (2) Observation resource matching. According to the detailed observation requirements and the attributes of satellite sensors such as type and resolution, screen the satellite set participating in guaranteeing the observation requirements.

[0064] Let the satellite set be SAT = {Sat 1 ,Sat 2 ,…,Sat d ,…,Sat NumSat}}, and the attributes of each satellite include the sensor type Sensor and the resolution Reso, and the matching observation resource set corresponding to the observation requirement ScoutDem d is expressed as:

[0065]

[0066] For example, for the observation requirement ScoutDem d where each element is SensorType d = <ccd, sar>, Reso d = {(0, 2], (0, 5]}, where the resolution is from 0 to 2 meters and the resolution is from 0 to 5 meters. The existing satellite set is:

[0067] SAT = {{ccd, 1}, {sar, 3}, {ccd, 1.5}, {isr, 5}, {ccd, 2}},

[0068] Then the set of observation requirements matching the observation resources is as follows:

[0069] Sat(ScoutDem d ) = {sat 1 , sat 2 , sat 3 , sat 5}},

[0070] (3) Observation opportunity calculation. For each observation requirement and the remotely sensed satellite that matches it, an observation opportunity forecast is carried out within the effective observation time interval to calculate its observation opportunity. Different satellites have different orbits, and observations can be made on the left and right parts of the subsatellite point (the subsatellite point track: the projection point of an artificial earth satellite on the ground (or the intersection point of the line connecting the satellite and the earth's center with the ground) is called the subsatellite point, which is represented by geographical longitude and latitude. The movement of the satellite and the rotation of the earth cause the subsatellite point to move on the earth's surface, forming a subsatellite point track) to achieve the target observation. The calculation of its observation opportunity is as follows:

[0071] After satellite orbit extrapolation and target access calculation, for the observation requirement ScoutDem d , within the matching observation resource Sat(ScoutDem d ) and the effective observation time interval TimeSec d , its observation opportunity is as follows:

[0072]

[0073] Among them, are the 1st to the NumSth satellites;

[0074] d is the serial number of the observation requirement, are the starting time points corresponding to the 1st to the NumSth observation opportunities respectively, are the ending time points corresponding to the 1st to the NumSth observation opportunities respectively.

[0075] (4) Observation requirement selection. First, select the observation requirement with the fewest available observation opportunities. When there are multiple observation requirements with the fewest observation opportunities at the same time, select the observation requirement with a higher priority for observation opportunity allocation first. In this way, under the condition of limited observation resources, the observation requirements with high priority can be met, and the maximum efficiency guarantee of high-priority tasks can be achieved.

[0076] For example, the corresponding elements of the observation requirement ScoutDem 1 are as follows:

[0077] ScoutDem 1={<ccd, sar>, TimeSec 1 , Reso 1 , 1, 5}

[0078] The corresponding observation opportunities are:

[0079]

[0080] Observation requirement ScoutDem 2 The corresponding elements for each are:

[0081] ScoutDem 2 ={<ccd, sar>, TimeSec 2 , Reso 2 , 1, 3}

[0082] The corresponding observation opportunities are:

[0083]

[0084] Observation requirement ScoutDem 3 The corresponding elements for each are:

[0085] ScoutDem 3 ={<ccd, sar>, TimeSec 3 , Reso 3 , 1, 6}

[0086] The corresponding observation opportunities are:

[0087]

[0088] According to the above principle, first, the observation requirement ScoutDem 1 is used to allocate the observation opportunities.

[0089] (5) Conflict degree calculation. After selecting the observation requirement for the observation opportunities to be allocated, it is necessary to calculate the number of observation requirements corresponding to the observation opportunities that conflict with this observation opportunity after allocating the observation opportunities to this observation requirement, as the subsequent observation requirement conflict degree, which is the basis for optimizing the observation opportunities for each observation requirement. Through the conflict degree calculation, the observation requirements of tasks with fewer observation opportunities can be satisfied, and the satisfaction rate of requirements can be improved.

[0090] For the observation requirement ScoutDem 1 , there are 2 observation opportunities. Calculate respectively if the 2 observation opportunities are allocated to the observation requirement ScoutDem 1 , through the satellite payload timing constraint judgment, the number of observation requirements corresponding to the observation opportunities that have timing conflicts with these two observation opportunities, such as the corresponding observation opportunity The number of observation requirements corresponding to the conflicting observation opportunities is The maximum corresponding conflict requirement priority is Observation opportunity The number of observation requirements corresponding to the observation opportunity conflicting with it is The maximum corresponding conflict requirement priority is

[0091] (6) Observation opportunity optimization. For each observation requirement, compare the requirement conflict degrees corresponding to its available observation opportunities, and preferentially select the observation opportunity with a smaller requirement conflict degree. When the corresponding requirement conflict degrees are the same, select the observation opportunity with a smaller conflict requirement priority. That is, if Then select the observation opportunity To meet the observation requirement ScoutDem 1 ; If And Then select the observation opportunity Otherwise select the observation opportunity This step fully considers the observation task priority and the resource satisfaction degree, and can maximize the satisfaction of the high-priority requirement priority guarantee requirement and improve the satellite resource utilization efficiency.

[0092] Loop through steps (4), (5), and (6) until all observation requirements are traversed.

[0093] Figure 3 Shows the structure of the multi-satellite collaborative task planning device based on the observation requirement conflict degree. Refer to Figure 3 , for example, the multi-satellite collaborative task planning device 200 based on the observation requirement conflict degree can be used as the task planning host in the remote sensing satellite group control system. As described herein, the multi-satellite collaborative task planning device 200 based on the observation requirement conflict degree can be used to implement the planning function of the observation task in the remote sensing satellite group control system. The multi-satellite collaborative task planning device 200 based on the observation requirement conflict degree can be implemented in a single node, or the function of the multi-satellite collaborative task planning device 200 based on the observation requirement conflict degree can be implemented in multiple nodes in the network. Those skilled in the art should realize that the term multi-satellite collaborative task planning device based on the observation requirement conflict degree includes devices in a broad sense, Figure 3The multi-satellite collaborative mission planning device 200 based on the degree of conflict of observation requirements shown is only one example. The inclusion of the multi-satellite collaborative mission planning device 200 based on the degree of conflict of observation requirements is for clarity of description and is not intended to limit the application of the present invention to a specific embodiment of the multi-satellite collaborative mission planning device based on the degree of conflict of observation requirements or a certain type of embodiment of the multi-satellite collaborative mission planning device based on the degree of conflict of observation requirements. At least some of the features / methods described in the present invention can be implemented in a network device or component, for example, the multi-satellite collaborative mission planning device 200 based on the degree of conflict of observation requirements. For example, the features / methods in the present invention can be implemented using hardware, firmware, and / or software installed and running on the hardware. The multi-satellite collaborative mission planning device 200 based on the degree of conflict of observation requirements 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. As Figure 2 shown, the multi-satellite collaborative mission planning device 200 based on the degree of conflict of observation requirements can include a transceiver (Tx / Rx) 210, which can be a transmitter, a receiver, or a combination thereof. The Tx / Rx 210 can be coupled to a plurality of ports 250 (such as an uplink interface and / or a downlink interface) for sending and / or receiving frames from other nodes. The processor 230 can be coupled to the Tx / Rx 210 to process frames and / or determine to which nodes to send frames. The processor 230 can include one or more multi-core processors and / or a memory device 232, which can be used as a data memory, a buffer, etc. The processor 230 can be implemented as a general-purpose processor, or can be part of one or more application specific integrated circuits (ASICs) and / or digital signal processors (DSPs).

[0094] To solve the above technical problems, the present invention provides a multi-satellite collaborative mission planning method based on the degree of conflict of observation requirements. The method includes: for each observation requirement and the remote sensing satellite matching it, forecasting observation opportunities within the effective observation time interval and calculating its observation opportunities; comprehensively using the observation opportunities and the priority of the observation requirements to select observation requirements for observation opportunity allocation; calculating the number of observation requirements corresponding to the observation tasks that conflict with this observation opportunity after allocating this observation opportunity to this observation requirement; comparing the degree of conflict of the requirements corresponding to its available observation opportunities, and preferentially selecting the observation opportunity with a smaller degree of conflict of requirements.

[0095] In some embodiments, for each observation requirement and the remote sensing satellite matching it, forecasting observation opportunities within the effective observation time interval and calculating its observation opportunities includes: for the observation requirement ScoutDem d , in the matching observation resource Sat(ScoutDemd ) and the effective observation time interval TimeSec d Within it, the observation opportunities are as follows:

[0096]

[0097] where sat ∈ Sat(ScoutDem d ) is the start time point corresponding to the i-th observation opportunity, is the end time point corresponding to the i-th observation opportunity.

[0098] In some embodiments, according to the calculated number of observation opportunities, the corresponding observation requirements are selected, including: selecting the observation requirement with the fewest available observation opportunities; or when there are multiple observation requirements with the fewest observation opportunities at the same time, selecting the observation requirement with a higher priority for observation opportunity allocation first.

[0099] In some embodiments, after calculating the opportunity to allocate this observation opportunity to this observation requirement, the requirement conflict degree corresponding to the available observation opportunities of the observation requirement is calculated, including: calculating the number of observation requirements corresponding to the observation opportunities with timing conflicts with this observation opportunity, which is the observation requirement conflict degree.

[0100] In some embodiments, comparing the requirement conflict degrees corresponding to its available observation opportunities, the observation opportunity with a smaller requirement conflict degree is preferentially selected, including: comparing the observation requirement conflict degrees corresponding to its available observation opportunities, and preferentially selecting the observation opportunity with a smaller observation requirement conflict degree; when the corresponding observation requirement conflict degrees are the same, selecting the observation opportunity with a smaller conflict requirement priority.

[0101] In some embodiments, it further includes: for each observation requirement and the remote sensing satellite matching it, before forecasting the observation opportunity within the effective observation time interval and calculating its observation opportunity, accepting the observation requirement, and obtaining the information of the observation requirement regarding the sensor type, effective observation time interval, resolution requirement, observation frequency, and observation priority.

[0102] In some embodiments, it further includes: for each observation requirement and the remote sensing satellite matching it, after accepting the observation requirement and obtaining the information of the observation requirement regarding the sensor type, effective observation time interval, resolution requirement, observation frequency, and observation priority before forecasting the observation opportunity within the effective observation time interval and calculating its observation opportunity, screening the satellite set participating in guaranteeing the observation requirement according to the detailed observation requirement and the attributes of the satellite sensor type and resolution.

[0103] In addition, the present invention also provides a multi-satellite collaborative task planning device based on the degree of conflict of observation requirements, and the device includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the multi-satellite collaborative task planning method based on the degree of conflict of observation requirements described above.

[0104] After adopting such a design, the present invention has at least the following advantages:

[0105] The present invention calculates the degree of conflict of requirements for available observation opportunities after allocating observation opportunities to observation requirements, and conducts multi-satellite collaborative task planning.

[0106] Those skilled in the art can understand that all or part of the processes for implementing the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.

[0107] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A multi-satellite collaborative mission planning method based on the conflict degree of observation requirements, characterized in that, it includes: Obtain multiple observation requirement information, where each observation requirement information includes the first sensor type, the first observation valid time interval, the first resolution requirement, the observation frequency, and the observation priority: obtain observation resource information, where the observation resource information includes the attribute information of multiple satellites, and the attribute information of each satellite includes the second sensor type, the second observation valid time interval, and the second resolution; and use the observation requirement information and the observation resource information to match the multiple observation requirements with the observation resources to obtain the observation resources matching each observation requirement; where matching the multiple observation requirements with the observation resources includes: the second sensor type is within the range of the first sensor type; the second resolution is within the range of the first resolution; and the second observation valid time interval is within the first observation valid time interval; For each observation requirement, calculate one or more observation opportunities for each observation requirement according to the observation resources and the observation valid time interval matching each observation requirement; Select specific observation requirements according to the number of the observation opportunities and the observation requirement priority to allocate a set of observation opportunities to the specific observation requirements; Calculate the number of observation requirements corresponding to the observation opportunities that have time sequence conflicts with the set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities, where calculating the number of observation requirements corresponding to the observation opportunities that have time sequence conflicts with the set of observation opportunities as a set of observation requirement conflict degrees corresponding to the set of observation opportunities further includes: calculating the number of the first observation requirements corresponding to the observation opportunities that have time sequence conflicts with the first observation opportunity in the set of observation opportunities as the first observation requirement conflict degree corresponding to the set of observation opportunities; calculating the number of the second observation requirements corresponding to the observation opportunities that have time sequence conflicts with the second observation opportunity in the set of observation opportunities as the second observation requirement conflict degree corresponding to the set of observation opportunities; and / or calculating the number of the nth observation requirements corresponding to the observation opportunities that have time sequence conflicts with the nth observation opportunity in the set of observation opportunities as the nth observation requirement conflict degree corresponding to the set of observation opportunities, where the n is the number of the observation sets in a set of observation sets, where n is from 3 to N, and N is a positive integer greater than 3; and For the specific observation requirement, compare the set of observation requirement conflict degrees and preferentially select the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees for observation.

2. The multi-satellite collaborative mission planning method based on the conflict degree of observation requirements according to claim 1, characterized in that, For each observation requirement, calculating one or more observation opportunities for each observation requirement according to the observation resources and observation effective time intervals matched to each observation requirement further includes: for the observation requirement ScoutDem d , within the observation resources Sat(ScoutDem d ) and the observation effective time interval TimeSec d that are matched to the observation requirement ScoutDem d , its observation opportunity is: ScoutTime(ScoutDem d ) = Among them, are the 1st to the NumS-th satellites, and are the starting time points corresponding to the 1st to the NumS-th observation opportunities respectively, are the ending time points corresponding to the 1st to the NumS-th observation opportunities respectively, and d is the observation requirement serial number.

3. The multi-satellite collaborative mission planning method based on the conflict degree of observation requirements according to claim 1, characterized in that, Selecting specific observation requirements according to the number of the observation opportunities and the observation requirement priority to allocate a set of observation opportunities to the specific observation requirements further includes: Select the observation requirement with the fewest observation opportunities from the multiple observation requirements as the specific observation requirement, so as to allocate a set of observation opportunities to the specific observation requirement; or When there are multiple observation requirements with the fewest observation opportunities at the same time, select the specific observation requirement with a higher observation priority to allocate a set of observation opportunities to the specific observation requirement.

4. The multi-satellite collaborative mission planning method based on the observation requirement conflict degree according to claim 1,[[]] characterized in that,[[]] For the specific observation requirement, comparing the set of observation requirement conflict degrees and preferentially selecting the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees further includes:[[]] When the first observation requirement conflict degree is the same as the second observation requirement conflict degree and less than the nth observation requirement conflict degree, compare the first observation priority of the first observation requirement with the second observation priority of the second observation requirement; and When the first observation priority is greater than the second observation priority, select the first observation opportunity.

5. The multi-satellite collaborative mission planning method based on the observation requirement conflict degree according to any one of claims 1 to 4,[[]] characterized in that,[[]] further includes:[[]] Repeat the above steps until all observation requirements are traversed.

6. A multi-satellite collaborative mission planning device based on the observation requirement conflict degree,[[]] characterized in that,[[]] including:[[]] An observation requirement acquisition module, configured to acquire multiple observation requirements, where each observation requirement includes a first sensor type, a first observation valid time interval, a first resolution requirement, an observation frequency, and an observation priority; An observation resource acquisition module, configured to acquire observation resources, where the observation resources include multiple satellites, and the attributes of each satellite include a second sensor type, a second observation valid time interval, and a second resolution; A matching module, configured to match the multiple observation requirements with the observation resources to obtain the observation resources matching each observation requirement, where the second sensor type is within the range of the first sensor type; the second resolution is within the range of the first resolution; and the second observation valid time interval is within the first observation valid time interval; An observation opportunity calculation module, configured to calculate one or more observation opportunities for each observation requirement according to the observation resources and the observation valid time interval matching each observation requirement; An observation requirement selection module, configured to select a specific observation requirement according to the number of observation opportunities and the observation requirement priority to allocate a set of observation opportunities to the specific observation requirement; A conflict degree calculation module, which is used to calculate the number of observation requirements corresponding to the observation opportunities that have timing conflicts with the set of observation opportunities respectively as a set of observation requirement conflict degrees corresponding to the set of observation opportunities. The conflict degree calculation module is further used to: calculate the number of first observation requirements corresponding to the observation opportunities that have timing conflicts with the first observation opportunity in the set of observation opportunities as the first observation requirement conflict degree corresponding to the set of observation opportunities; calculate the number of second observation requirements corresponding to the observation opportunities that have timing conflicts with the second observation opportunity in the set of observation opportunities as the second observation requirement conflict degree corresponding to the set of observation opportunities; and / or calculate the number of nth observation requirements corresponding to the observation opportunities that have timing conflicts with the nth observation opportunity in the set of observation opportunities as the nth observation requirement conflict degree corresponding to the set of observation opportunities, where n is the number of observation sets in a set of observation sets, and n ranges from 3 to N, and N is a positive integer greater than 3; An observation opportunity selection module, which is used to compare the set of observation requirement conflict degrees for the specific observation requirement and preferentially select the observation opportunity with the smallest observation requirement conflict degree in the set of observation requirement conflict degrees.

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