An optimal joint planning method for imaging satellite missions based on a conflict resolution model

Abstract

An optimal joint planning method for imaging satellite missions based on a conflict resolution model relates to the field of satellite mission joint planning technology. It addresses the existing need to design a planning method that considers both imaging and data transmission. The method involves: acquiring information on all visible imaging windows and visible data transmission windows; establishing a conflict matrix between the visible imaging and data transmission windows; establishing an integer linear programming mathematical model based on constraints generated by the conflict matrix, single-transmission resource constraints for visible data transmission windows, and single-satellite daily storage constraints. This integer linear programming mathematical model uses maximizing total revenue as its objective function, taking data transmission costs into account; solving the integer linear programming mathematical model; and formulating a satellite-imaging-data transmission plan based on the obtained solution. This invention provides a planning method that simultaneously considers visible imaging and data transmission windows, solving the complex multi-satellite, multi-ground-station planning coupling problem, and is applicable to joint planning of multiple satellites and multiple ground stations.

Description

Technical Field

[0001] This invention relates to the field of satellite mission joint planning technology, and specifically to an optimal joint planning method for imaging satellite missions based on a conflict resolution model. Background Technology

[0002] The multi-satellite, multi-ground-station joint planning problem is a complex constraint-satisfying problem. Its most significant characteristic lies in the fact that, due to the orbital characteristics of satellites, they must perform certain tasks or data transmission actions within specific visible imaging windows or visible data transmission windows. Therefore, joint planning for multiple satellites requires not only allocating all visible imaging windows but also selecting a sufficiently large visible data transmission window for each allocated visible imaging window—making it a planning problem involving two selection processes.

[0003] In the past, due to the high cost of building and launching imaging satellites, the number of satellites requiring unified planning was relatively small, and ground station data transmission resources were often assumed to be sufficient, eliminating the need to consider data transmission resources. However, with the continuous maturation of small satellite technology, more and more low-Earth orbit imaging small satellites are being launched. The number of missions that satellites can perform is also increasing. Therefore, the limited number of ground station antennas is a scarce resource in planning problems, and their number and capacity become a significant constraint limiting the capabilities of satellite constellations. If data transmission is not considered during planning, even if the satellites execute a large number of missions according to the optimal planned mission list, it may be impossible to schedule data transmission for these missions within the planning period. Therefore, in order to reduce data transmission costs while pursuing greater imaging benefits, a planning method that globally considers both imaging and data transmission is needed. Summary of the Invention

[0004] In view of this, the present invention provides an optimal joint planning method for imaging satellite missions based on a conflict resolution model.

[0005] The technical solution adopted by this invention to solve the technical problem is as follows:

[0006] An optimal joint planning method for imaging satellite missions based on a conflict resolution model includes:

[0007] Step 1: Obtain information about all visible imaging windows and visible data transmission windows;

[0008] Step 2: Establish the conflict matrix between the visible imaging window and the visible data transmission window;

[0009] Step 3: Based on the constraints generated by the conflict matrix, the single transmission resource amount constraint of the visible data transmission window, and the single-satellite single-day storage constraint, establish an integer linear programming mathematical model. The integer linear programming mathematical model takes maximizing the total revenue as the objective function, and the maximization of the total revenue takes into account the data transmission cost.

[0010] Step 4: Solve the integer linear programming mathematical model, and formulate a satellite-imaging-data transmission plan based on the obtained solution.

[0011] The beneficial effects of this invention are:

[0012] This invention presents a planning method that simultaneously considers the visible imaging window and the visible data transmission window, and seeks to maximize the benefits within the planning period. It solves the complex problem of multi-satellite and multi-ground station planning coupling and is applicable to joint planning of multi-satellite and multi-ground station systems. Attached Figure Description

[0013] Figure 1 This is a flowchart of an optimal joint planning method for imaging satellite missions based on a conflict resolution model.

[0014] Figure 2 This is a schematic diagram illustrating the conflict between multiple visible imaging windows of a single star.

[0015] Figure 3 This is a schematic diagram illustrating the conflict between the visible data transmission window and the visible data transmission window of a single satellite.

[0016] Figure 4 This is a schematic diagram illustrating the conflict between the single-satellite visible imaging window and the visible data transmission window.

[0017] Figure 5 This is a schematic diagram illustrating the conflict between visible imaging windows of multiple stars.

[0018] Figure 6 This is a diagram illustrating a conflict between multiple satellites at a single station.

[0019] Figure 7 The flowchart for the branch and bound algorithm is shown. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0021] Before introducing the technical solution of this invention, the technical terms involved will first be explained or described:

[0022] A visible imaging window refers to the available satellite imaging intervals within a specified time period, during which a satellite maintains a certain tilt angle to acquire images of a region on the Earth's surface. A visible data transmission window refers to the available data transmission intervals within a specified time period during which a satellite can establish a connection with a ground station.

[0023] The two technical terms mentioned above are well-known to those skilled in the art. According to the above definitions, each technical term has a quantitative standard. Therefore, the above technical terms are not only textual descriptions, but also represent some specific quantitative values.

[0024] An optimal joint planning method for imaging satellite missions based on a conflict resolution model, such as... Figure 1 It includes the following steps:

[0025] Step 1: Obtain information about all visible imaging windows and visible data transmission windows;

[0026] Step 2: Based on the information of the visible imaging window and the visible data transmission window, and in accordance with the conflict rules, establish the conflict matrix of the visible imaging window and the visible data transmission window.

[0027] Step 3: Based on the constraint rules, establish an integer linear programming mathematical model; the integer linear programming mathematical model takes maximizing the total revenue as the objective function, where maximizing the total revenue means arranging as many visible imaging windows as possible for total revenue while using visible data transmission windows with the lowest possible total cost to transmit data to the visible imaging windows; the constraint rules include constraints on the generation of the conflict matrix, constraints on the amount of resources for a single transmission of visible data transmission windows, and constraints on single-satellite daily storage.

[0028] Step 4: Solve the integer linear programming mathematical model, and formulate a satellite-imaging-data transmission plan based on the solution. This results in an imaging satellite mission planning scheme that takes data transmission into account, while also considering imaging benefits and data transmission costs.

[0029] The information for the visible imaging window in Step 1 includes start time, end time, side-slip angle, corresponding satellite designation, corresponding shooting mission designation, and corresponding mission benefits (i.e., the value that can be obtained from capturing the visible imaging window) for each visible imaging window that meets the requirements of side-slip, cloud cover, and solar altitude angle. The information for the visible data transmission window includes start time, end time, transmission rate, recording / playback ratio, maximum transmission resource amount, corresponding data transmission cost, and corresponding satellite designation for each visible data transmission window.

[0030] The integer linear programming mathematical model is a conflict resolution model, specifically a 0-1 type integer linear programming mathematical model.

[0031] Based on the conflict rules, a conflict matrix is ​​established. The conflict rules are the basis for assigning values ​​to the conflict matrix, including: the state between single-satellite visible imaging windows, the state between single-satellite visible data transmission windows, whether single-satellite visible imaging windows and visible data transmission windows conflict due to conversion time, the state between multiple-satellite visible imaging windows, the state between multiple-satellite visible data transmission windows, and the state between visible imaging windows and visible data transmission windows caused by timing and mission timeliness (referred to as timeliness). The state refers to the conflict information. Multiple satellites represent different satellites. Conflict between multiple-satellite visible imaging windows indicates a conflict between the visible imaging windows of satellite A and satellite B, that is, a conflict between the visible imaging windows of satellite A and satellite B generated for the same requirement. Conflict between multiple-satellite visible data transmission windows indicates a conflict between the visible data transmission windows of satellite A and satellite B, that is, a conflict between the visible data transmission windows of satellite A and satellite B simultaneously connected to the same ground station antenna. Timing refers to the requirement that data transmission can only occur after the imaging task is completed, while task timeliness refers to the requirement that data transmission be completed within a specified time after imaging is completed. If the time after the transition from a single-satellite visible imaging window to another visible imaging window of the same satellite is earlier than the start time of that other visible imaging window, then the states between the single-satellite visible imaging window and the visible imaging window are not conflicting; otherwise, they conflict. Similarly, if the time after the transition from a single-satellite visible imaging window to another visible data transmission window of the same satellite is earlier than the start time of that other visible data transmission window, then the states between the single-satellite visible data transmission window and the visible data transmission window are not conflicting in terms of transition time; otherwise, they conflict. If the time after the transition from a single-satellite visible imaging window to the visible data transmission window of the same satellite is earlier than the start time of that visible data transmission window, or if the time after the transition from a single-satellite visible data transmission window to the visible imaging window of the same satellite is earlier than the start time of that visible imaging window, then the states between the single-satellite visible imaging window and the visible data transmission window are not conflicting in terms of transition time; otherwise, they conflict. Due to conversion time conflicts; if the visible imaging window of one satellite and the visible imaging window of another satellite are imaging windows generated for the same requirement, then the state between the visible imaging windows of multiple satellites is conflicting, otherwise it is not conflicting; if the visible data transmission window of one satellite and the visible data transmission window of another satellite transmit data to the same ground station antenna at the same time, then the state between the visible data transmission windows of multiple satellites is conflicting, otherwise it is not conflicting; if the start time of the visible data transmission window selected by the visible imaging window is later than the end time of the visible imaging window, and the visible data transmission window selected by the visible imaging window can complete the data transmission within the time limit after the end of imaging, then the state between the visible imaging window and the visible data transmission window caused by timing and mission time limit is that timing and time limit do not conflict, otherwise it is a conflict due to timing and / or time limit.Table 1 provides a brief overview of the model's basic parameters, relevant parameters of the imaging and data transmission windows, and the meaning of the corresponding positions in the conflict matrix C.

[0032] Table 1

[0033]

[0034] 1. Conflicts between single-star visible imaging windows and visible imaging windows, such as... Figure 2 This is used to indicate a multi-point conflict.

[0035] Consider the visible imaging window arrive Conversion constraints, satellite maneuver angle Corresponding conversion time Must meet:

[0036] when hour

[0037] or

[0038] when hour

[0039] If neither of the above two conditions can be met, then record the result: The visible imaging window of satellite O With visible imaging window The status is conflict, meaning that the visible imaging window and the visible imaging window conflict due to the conversion time.

[0040] If either of the above two conditions is met... express and There is no conflict.

[0041] in, This indicates that satellite O achieves the visible imaging window. maneuver angle, This indicates that satellite O achieves the visible imaging window. maneuver angle, This indicates that satellite O achieves the visible imaging window. To the visible imaging window The change in the maneuver angle during the conversion, The visible imaging window of satellite O The end time of the interval, Indicates that satellite O is from Adjust to The posture adjustment time, The visible imaging window of satellite O The start time of the interval, The visible imaging window of satellite O The start time of the interval, The visible imaging window of satellite O The end time of the interval, Indicates that satellite O is from Adjust to The posture adjustment time, The visible imaging window of satellite O and The state.

[0042] 2. Conflicts between single-satellite visible data transmission windows and visible data transmission windows, such as... Figure 3 This is used to illustrate a conflict involving multiple stations on a single satellite.

[0043] Consider the visible data transmission window arrive Conversion constraints, satellite maneuver angle Corresponding conversion time Must meet:

[0044] when hour

[0045] or

[0046] when hour

[0047] If neither of the above two conditions can be met, then record the result: The visible data transmission window of satellite O With visible data transmission window The conflict occurs when the visible data transmission window and the visible data transmission window conflict due to the conversion time.

[0048] If either of the above two conditions is met... express and There is no conflict.

[0049] in, This indicates that satellite O achieves a visible data transmission window. maneuver angle, This indicates that satellite O achieves a visible data transmission window. maneuver angle, This indicates that satellite O achieves a visible data transmission window. To the visible data transmission window The change in the maneuver angle during the conversion, The visible data transmission window of satellite O The end time of the interval, Indicates that satellite O is from Adjust to The posture adjustment time, The visible data transmission window of satellite O The start time of the interval, The visible data transmission window of satellite O The start time of the interval, The visible data transmission window of satellite O The end time of the interval, Indicates that satellite O is from Adjust to The posture adjustment time, The visible data transmission window of satellite O and The state.

[0050] 3. Conflicts in conversion time between the single-satellite visible imaging window and the visible data transmission window, such as... Figure 4 This is used to illustrate the conflict between the single-satellite visible imaging window and the visible data transmission window.

[0051] Consider the visible imaging window To the visible data transmission window Conversion constraints, satellite maneuver angle Corresponding conversion time Must meet:

[0052] when hour

[0053] or

[0054] when hour

[0055] If neither of the above two conditions can be met, then record the result: The visible imaging window of satellite O With visible data transmission window For conflict.

[0056] If either of the above two conditions is met... or express and No conflict due to conversion time.

[0057] in, This indicates that satellite O achieves the visible imaging window. To the visible data transmission window The change in the maneuver angle during the conversion, Indicates that satellite O is from Adjust to The posture adjustment time, Indicates that satellite O is from Adjust to The posture adjustment time, The visible data transmission window of satellite O and visible imaging window The state.

[0058] 4. Conflicts between multiple visible imaging windows (usually one image per day), such as... Figure 5 This is used to illustrate a conflict in multi-star imaging.

[0059] Consider the visible imaging window of satellite p Visible imaging window of satellite q Different imaging windows are generated by different satellites for the same requirement. To achieve the goal of capturing only one image and thus saving imaging resources, the recordings of these two conflicting images are recorded as follows:

[0060] This represents different visible imaging windows within the same daily snapshot requirement. and For conflict; otherwise The visible imaging window of satellite q Visible imaging window of satellite p The state.

[0061] 5. Conflicts between multiple visible data transmission windows and visible data transmission windows, such as... Figure 6 This is used to illustrate a conflict in data transmission between multiple satellites at a single station.

[0062] Considering that a single ground station antenna can only transmit data to one satellite at a time, and the antenna switching time is T_trant. If the j-th visible data transmission window of satellite p... With satellite q, the jjth visible data transmission window If the time periods are similar and the same antenna is used, then the following conditions must be met:

[0063] when hour

[0064] or

[0065] when hour

[0066] If neither of the above two conditions can be met, then record the result:

[0067] Indicates the visible data transmission window With visible data transmission window For conflict, otherwise The visible data transmission window of satellite q Visible data transmission window with satellite p The states are defined as follows: p, q, and o all belong to S. i and ii are used to distinguish different visible imaging windows, and j and jj are used to distinguish different visible data transmission windows. i, ii, j, and jj are usually positive integers representing sequence numbers.

[0068] 6. Conflicts between the visible imaging window and the visible data transmission window caused by timing and / or task timeliness.

[0069] Timing: Considering that all imaging tasks must be completed before data transmission can take place, the visible imaging window must be satisfied. Selected visible data transmission window The start time must be later than the visible imaging window. End time:

[0070]

[0071] Time-sensitivity: Considering some visible imaging windows with time-sensitivity. Selected visible data transmission window It needs to be done after imaging is completed. Data transmission completed within a specified time:

[0072]

[0073] If both of the above conditions cannot be met, then record the following: otherwise, or

[0074] in, Represents the visible imaging window (The lead time for satellite imaging missions).

[0075] In other words, all elements of the conflict matrix contain only 1, -1, and 0. 1 and -1 both indicate the existence of a conflict, while 0 indicates the absence of a conflict.

[0076] After the conflict matrix is ​​established, an integer linear programming mathematical model will be built based on the values ​​in the conflict matrix, which is step three.

[0077] The problem description of the mathematical model is as follows:

[0078] The first type of Boolean decision variable will be used as the basis for whether to select a certain visible data transmission window for transmission of a certain visible imaging window. The total revenue will be maximized as the objective function, and an integer linear programming mathematical model will be established according to the constraint rules and conflict matrix.

[0079] Boolean decision variables:

[0080] The time interval planned in the joint planning of multiple satellites and multiple ground stations is called the planning period, denoted as [S]. S ,S E ], where S S ≥0, S S S represents the start time of the planning period. E Indicates the start time of the planning period.

[0081] Table 2 shows the symbol definitions of decision variables and related parameters.

[0082] Table 2

[0083]

[0084] Within the planning period, for each visible imaging window of any satellite k With each visible data transmission window Type I Boolean decision variables Specify whether to select the visible data transmission window To be responsible for the visible imaging window Data transmission. If Then satellite k will capture the visible imaging window. And this task will select the visible data transmission window. Data transmission is performed. If... Then let satellite k not be used. For visible imaging window Perform data transmission. For each visible data transmission window... There is a second type of Boolean decision variable It represents the visible data transmission window of satellite k. The usage status. If Satellite k then uses the visible data transmission window Perform data transmission. If Then satellite k will not use the visible data transmission window. Data transmission is performed.

[0085] Objective function:

[0086] Since satellite and data transmission resources are limited and not all missions can be performed, the goal is to allocate as many visible imaging windows as possible for total benefit while using visible data transmission windows with the lowest possible total cost.

[0087]

[0088] Among them, A k This represents the set of visible imaging windows for satellite k. M k This represents the set of visible data transmission windows for satellite k.

[0089] Constraints:

[0090] This includes constraints on the generation of the conflict matrix, constraints on the amount of resources transmitted in a single transmission within an arbitrary visible data transmission window, and constraints on the storage capacity of a single satellite per day.

[0091] Constraints generated by the conflict matrix:

[0092] In the conflict matrix, if the visible imaging window of any satellite k... and visible imaging window Conflict, that is Then the following constraint inequality is formed:

[0093]

[0094] Among them, the first type of Boolean decision variables Specify whether to select the visible data transmission window To be responsible for the visible imaging window Data transmission.

[0095] In the conflict matrix, if the visible data transmission window of any satellite k... and visible data transmission window Conflict, that is Then the following constraint inequality is formed:

[0096]

[0097] Among them, the second type of Boolean decision variables Indicates the visible data transmission window of satellite k. Usage status.

[0098] In the conflict matrix, if the visible imaging window of any satellite k... and visible data transmission window Due to a time conflict during the conversion process, i.e. Then the following constraint inequality is formed:

[0099]

[0100] Among them, the first type of Boolean decision variables Specify whether to select the visible data transmission window To be responsible for the visible imaging window Data transmission.

[0101] In the collision matrix, if the visible imaging window of any satellite p... and the visible imaging window of any satellite q Conflict, that is Then the following constraint inequality is formed:

[0102]

[0103] Among them, the first type of Boolean decision variables Specify whether to select the visible data transmission window To be responsible for the visible imaging window Data transmission; Boolean decision variables of the first type Specify whether to select the visible data transmission window To be responsible for the visible imaging window Data transmission.

[0104] In the conflict matrix, if the visible data transmission window of any satellite p... and the visible data transmission window of any satellite q Conflict, that is Then the following constraint inequality is formed:

[0105]

[0106] Among them, the second type of Boolean decision variables This indicates that satellite p has a visible data transmission window. Usage status; second type of Boolean decision variable Indicates the visible data transmission window of satellite q. Usage status.

[0107] In the conflict matrix, if the visible imaging window of any satellite k... Visible imaging windows cannot be used due to timing and / or aging. Right now This leads to the following timing and / or task time constraint equations:

[0108]

[0109] Constraints on the amount of resources transmitted in a single transmission within any visible data transmission window:

[0110] If the visible data transmission window of any satellite k The maximum transmission resource amount is Visible imaging window of satellite k The required satellite storage resources are Visible data transmission window The corresponding recording / playback ratio is That is, the visible imaging window of satellite k The amount of transmission resources required is Then, the following constraint inequality applies to the visible data transmission window:

[0111]

[0112] Constraints of single-star, single-day storage:

[0113] If the maximum storage capacity of any satellite k is TT k And the visible imaging window of satellite k The required satellite storage resources are Then, for this satellite k, the following constraint inequality applies:

[0114]

[0115] The established 0-1 type integer linear programming mathematical model includes the above objective function, conflict matrix constraints, visible data transmission window single transmission resource quantity constraints, and single-star single-day storage constraints.

[0116] Based on the basic parameters of the satellite constellation and the information in the conflict matrix, constraint equations are formed, a 0-1 type integer linear programming mathematical model is established, and the satellite-imaging-data transmission plan for the current period is obtained by solving it.

[0117] The basic parameters of a satellite constellation refer to all other information mentioned above, except for the information needed to generate the conflict matrix. These include parameters such as the value of each imaging window, the satellite storage resources required, the cost of each data transmission window, the transmission rate, the recording / playback ratio, the maximum amount of transmission resources, and the maximum capacity of each satellite storage disk.

[0118] Specifically, based on the information in the conflict matrix, namely the values ​​(1, -1, 0) in the conflict matrix, a constraint formula will be listed for each position with a value of 1 or -1. After listing all the constraint formulas to form the system of equations and the objective function, the mathematical model of 0-1 type integer linear programming is established.

[0119] Solving a 0-1 type integer linear programming mathematical model ultimately yields a set of solutions that maximizes or maximizes the objective function value, which is a set of Boolean decision variable values.

[0120] Use an optimization solver and apply a branch and bound algorithm (such as...) Figure 7 Using branching and pruning operations, and by iteratively updating the upper and lower bounds, an attempt is made to completely search the solution space to find the optimal solution of the aforementioned 0-1 type integer linear programming mathematical model. Finally, based on the values ​​of each Boolean decision variable in the found optimal solution, a satellite-imaging-data transmission plan scheme for the current planning period is formulated.

[0121] The algorithm can find a relatively good solution (the current best solution) in a short time. Long-term practice has shown that when the optimization solver runs for 30 minutes, it can obtain a feasible solution that is close to the optimal solution (gap value less than 0.2%).

[0122] That is, the difference between the current best solution and the optimal solution is smaller than the gap value.

[0123] Planning by considering both satellite and data transmission resources holistically, compared to planning only satellite resources, maximizes benefits while minimizing data transmission costs. Without considering data transmission, even if a satellite executes a large number of imaging missions according to the optimal planned task list, it may be impossible to schedule data transmission for these missions within the planning period. Furthermore, only by considering the data transmission ground stations corresponding to imaging missions can the actual information acquisition time of the imaging missions be considered, thus accurately assessing the delivery timeliness of each mission. Therefore, this invention designs a multi-satellite optimal joint planning method that can allocate all visible imaging windows and select sufficiently large visible data transmission windows for each allocated visible imaging window.

[0124] The optimal joint planning method for imaging satellite missions in this invention solves the complex problem of multi-satellite and multi-ground-station planning coupling. It fully considers constraints such as satellite maneuvering, satellite storage, and single transmission within the visible data transmission window, as well as the number of paid imaging attempts and data transmission station usage costs within the planning period. This maximizes the overall benefits obtained in each planning period while ensuring that the mission is delivered before the specified deadline.

[0125] The following will demonstrate the effectiveness of the method presented in this paper through a model solving example.

[0126] The planned time period in this example starts at 00:00:00 on September 3, 2022, and ends at 00:00:00 on September 4, 2022. The planned duration is 24 hours.

[0127] First, obtain the relevant parameter information of all visible imaging windows and visible data transmission windows of the 70 satellites in the "Jilin-1" constellation within the planning period.

[0128] Next, based on the various conflict rules, a conflict matrix is ​​established by considering the parameter information of the visible imaging window and the visible data transmission window.

[0129] Then, taking the maximization of total revenue as the objective function, using Boolean decision variables as the basis for whether to select a certain visible data transmission window for transmission of a certain visible imaging window, and considering the conflict matrix, a 0-1 type integer linear programming mathematical model is established.

[0130] Finally, using a solver, the optimal solution to the above 0-1 type integer linear programming mathematical model is obtained within a specified time using the branch and bound algorithm. Based on the values ​​of each Boolean decision variable in the solution vector, a satellite-imaging-data transmission plan scheme for the current planning period is formulated. Here, the execution scheme of one of the satellites will be shown.

[0131] The implementation plan for a certain satellite project is shown in Table 3.

[0132] Table 3

[0133]

[0134]

[0135] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An optimal joint planning method for imaging satellite missions based on a conflict resolution model, characterized in that, include: Step 1: Obtain information about all visible imaging windows and visible data transmission windows; Step 2: Establish the conflict matrix between the visible imaging window and the visible data transmission window; Step 3: Based on the constraints generated by the conflict matrix, the single transmission resource amount constraint of the visible data transmission window, and the single-satellite single-day storage constraint, establish an integer linear programming mathematical model. The integer linear programming mathematical model takes maximizing the total revenue as the objective function, and the maximization of the total revenue takes into account the data transmission cost. Step 4: Solve the integer linear programming mathematical model, and formulate a satellite-imaging-data transmission plan based on the obtained solution; The conflict matrix includes the state between single-star visible imaging windows, the state between single-star visible data transmission windows, whether single-star visible imaging windows and visible data transmission windows conflict due to conversion time, the state between multiple-star visible imaging windows, the state between multiple-star visible data transmission windows, and the state between visible imaging windows and visible data transmission windows caused by timing and task timeliness. If the time after the transition from a single-satellite visible imaging window to another visible imaging window of the same satellite is earlier than the start time of the other visible imaging window of the same satellite, then the states between the single-satellite visible imaging window and the visible imaging window are not conflicting; if the time after the transition from a single-satellite visible data transmission window to another visible data transmission window of the same satellite is earlier than the start time of the other visible data transmission window of the same satellite, then the states between the single-satellite visible data transmission window and the visible data transmission window are not conflicting; if the time after the transition from a single-satellite visible imaging window to the visible data transmission window of the same satellite is earlier than the start time of the visible data transmission window of the same satellite, or if the single-satellite visible data transmission window... If the time after the window transitions to the visible imaging window of that satellite is earlier than the start time of the visible imaging window of that satellite, then the state between the single-satellite visible imaging window and the visible data transmission window is not conflicting in terms of transition time; if the visible imaging window of one satellite and the visible imaging window of another satellite are imaging windows generated for the same requirement, then the state between the multiple-satellite visible imaging windows and the visible imaging windows is conflicting; if the visible data transmission window of one satellite and the visible data transmission window of another satellite transmit data to the same ground station antenna at the same time, then the state between the multiple-satellite visible data transmission windows and the visible data transmission windows is conflicting. If the start time of the visible data transmission window selected by the visible imaging window is later than the end time of the visible imaging window, and the visible data transmission window selected by the visible imaging window can complete the data transmission within the time limit after the imaging ends, then the state between the visible imaging window and the visible data transmission window caused by timing and task time limit is that timing and time limit do not conflict.

2. The optimal joint planning method for imaging satellite missions based on a conflict resolution model as described in claim 1, characterized in that, The information for the visible imaging window includes the start time, end time, side tilt angle, satellite designation, shooting mission designation, and mission benefits for each visible imaging window. The information for the visible data transmission window includes the start time, end time, satellite designation, transmission rate, recording / playback ratio, maximum transmission resource amount, and data transmission cost for each visible data transmission window.

3. The optimal joint planning method for imaging satellite missions based on a conflict resolution model as described in claim 1, characterized in that, The integer linear programming mathematical model uses Boolean decision variables as the basis for deciding whether to use a certain visible data transmission window for transmission of a certain visible imaging window.

4. The optimal joint planning method for imaging satellite missions based on a conflict resolution model as described in claim 1, characterized in that, The method for solving the integer linear programming mathematical model is as follows: using an optimization solver, applying a branch and bound algorithm, and searching the solution space by iteratively updating the upper and lower bounds to find the optimal solution of the integer linear programming mathematical model.

5. The optimal joint planning method for imaging satellite missions based on a conflict resolution model as described in claim 1, characterized in that, The objective function is: in, Indicates satellite The set of visible imaging windows, , Indicates satellite The set of visible data transmission windows, , Represents a collection of satellites. Represents the visible imaging window The benefits, This represents the first type of Boolean decision variable. This represents the second type of Boolean decision variable. Indicates the use of a visible data transmission window The required cost.

6. The optimal joint planning method for imaging satellite missions based on a conflict resolution model as described in claim 1, characterized in that, The constraints generated by the conflict matrix are: In the conflict matrix, if any satellite Visible imaging window and visible imaging window If there is a conflict, then the following constraint inequality is formed. in, This represents the first type of Boolean decision variable. To represent a specific satellite, one can take... , , , ; Desirable , , Desirable , , and Used to distinguish different visible imaging windows and Used to distinguish different visible data transmission windows Indicates whether satellite r selects a visible data transmission window. To be responsible for the visible imaging window Data transmission, Indicates satellite The set of visible data transmission windows, ; In the conflict matrix, if any satellite Visible data transmission window and visible data transmission window If there is a conflict, then the following constraint inequality is formed. in, This represents a second type of Boolean decision variable, specifically a satellite. For visible data transmission window Usage status; In the conflict matrix, if any satellite Visible imaging window and visible data transmission window If there is a conflict, then the following constraint inequality is formed. In the conflict matrix, if any satellite Visible imaging window and any satellite Visible imaging window If there is a conflict, then the following constraint inequality is formed. In the conflict matrix, if any satellite Visible data transmission window and any satellite Visible data transmission window If there is a conflict, then the following constraint inequality is formed. In the conflict matrix, if any satellite Visible imaging window Visible imaging windows cannot be used due to timing and / or aging. Then, the following time series and task time constraint equation is formed. 。 7. The optimal joint planning method for imaging satellite missions based on a conflict resolution model as described in claim 1, characterized in that, The constraint rule for the single transmission resource amount of the visible data transmission window is as follows: If any satellite Visible data transmission window The maximum transmission resource amount is ,satellite Visible imaging window The required satellite storage resources are The data transmission window is visible. The corresponding recording / playback ratio is Satellite Visible imaging window The amount of transmission resources required is Then, the following constraint inequality applies to the visible data transmission window. in, Indicates satellite The set of visible imaging windows, ; This represents the first type of Boolean decision variable. To represent a specific satellite, one can take... , , , ; Desirable , , Desirable , , and Used to distinguish different visible imaging windows and Used to distinguish different visible data transmission windows Indicates satellite Select visible data transmission window? To be responsible for the visible imaging window Data transmission; This represents a second type of Boolean decision variable, specifically a satellite. For visible data transmission window Usage status.

8. The optimal joint planning method for imaging satellite missions based on a conflict resolution model as described in claim 1, characterized in that, The constraint rules for single-star, single-day storage are as follows: If any satellite The maximum capacity of the storage disk is And satellite Visible imaging window The required satellite storage resources are Then at this time, for the satellite The following constraint inequalities are formed. in, This represents the first type of Boolean decision variable. This refers to a specific satellite, which can be either selected or rejected. , , , ; Desirable , , Desirable , , and Used to distinguish different visible imaging windows and Used to distinguish different visible data transmission windows Indicates satellite Select visible data transmission window? To be responsible for the visible imaging window Data transmission; Indicates satellite The set of visible imaging windows, ; Indicates satellite The set of visible data transmission windows, .

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