Remote sensing satellite intensive target imaging task planning method and device

Abstract

The present application relates to a kind of remote sensing satellite dense target imaging task planning method and device, belong to remote sensing satellite technical field, solve how the existing satellite is adjusted to the imaging pitch angle of target and the problem such as task conflict resolution.The method includes: based on the side swing direction of remote sensing satellite, pitch direction, satellite orbit and observation target space position, the imaging visible window of remote sensing satellite to target is calculated;Through remote sensing satellite in imaging visible window, select target imaging time interval;Based on task priority, task conflict is resolved by flexibly selecting target imaging time interval, in the case where task conflict cannot be resolved, delete the observation task of lower priority;The imaging task sequence formed by imaging task conflict resolution is used as input, and the imaging time interval of target is adjusted under the premise of not adding task conflict;And according to target observation center point time, calculate imaging duration.According to task priority, task conflict is resolved by flexibly selecting imaging time interval.

Description

Technical Field

[0001] This invention relates to the field of remote sensing satellite technology, and in particular to a method and apparatus for planning dense target imaging missions using remote sensing satellites. Background Technology

[0002] With the continuous development of remote sensing satellite payload technology, more and more sophisticated satellites are capable of imaging targets to the left and right of their nadir point through side-tilt, and of achieving oblique-view imaging of targets by adjusting the observation angle in the elevation direction. The elevation observation capability of remote sensing satellites extends the satellite's viewing window for targets, and the actual observation time is much shorter than the viewing window, providing favorable conditions for rapid observation of dense targets. By adjusting the actual imaging time interval of the target, multiple observation tasks with conflicting frontal and side-view scenarios can be largely accommodated, greatly improving satellite observation efficiency. Summary of the Invention

[0003] Based on the above analysis, the embodiments of the present invention aim to provide a method and apparatus for planning a remote sensing satellite dense target imaging mission, in order to solve problems such as how to resolve mission conflicts by adjusting the satellite's imaging elevation angle and the target imaging time interval.

[0004] On one hand, embodiments of the present invention provide a method for planning a dense target imaging mission using a remote sensing satellite, comprising: calculating the imaging window of the remote sensing satellite on the target based on the yaw direction, pitch direction, satellite orbit, and spatial position of the observed target; selecting a target imaging time interval within the imaging window by the remote sensing satellite, wherein different observation pitch angles correspond to different imaging durations; resolving mission conflicts by flexibly selecting the target imaging time interval based on mission priority, wherein if mission conflicts cannot be resolved by adjusting the target imaging time interval, observation missions with lower priority are deleted; using the imaging mission sequence formed by resolving imaging mission conflicts as input, adjusting the target imaging time interval without adding new mission conflicts; and calculating the imaging duration based on the time of the target observation center point.

[0005] The beneficial effects of the above technical solution are as follows: Based on the calculation of the target imaging visual window and the estimation of imaging duration by the satellite, and taking the mission priority as the basic principle, mission conflicts are resolved by flexibly selecting the imaging time interval.

[0006] Based on further improvements to the above method, and considering the yaw direction, pitch direction, satellite orbit, and spatial position of the observed target, the calculation of the imaging viewing window of the remote sensing satellite for the target includes: calculating the target access via the remote sensing satellite, where the observation task set is defined as: SCO = {sco1, sco2, ..., sco...} i ,…,sco NumSCO The observation task is defined as follows: Among them, pro i Indicates the priority of the observation task, m_t i The actual observation center point time is represented by Δt, the actual observation duration is represented by Δt, and [s_t, e_t] represents the theoretical observation time interval of the observation task. γ represents the lateral tilt angle of the remote sensing satellite relative to the target at the actual observation center point at any given time. i (m_t i ) represents the elevation angle of the remote sensing satellite relative to the target at the actual observation center point at any given time, BT i For the pre-task conflict queue and AT i This is the task-after-conflict queue.

[0007] Further improvements to the above method involve selecting the target imaging time interval within the imaging view window using remote sensing satellites, including: sorting the observation task set (SCO) according to time sequence.

[0008]

[0009]

[0010] When s_t i+1 >s_t i At that time, the observation mission sco i+1 Set in sco i Then; where SC is the task queue that successfully completed task orchestration, with a queue size of NumSC; LS is the task queue that failed to orchestrate, with a queue size of NumLS; σ(sco i ,sco j ) represents two adjacent observation tasks sco i sco j The conversion time.

[0011] Further improvements to the above method, based on remote sensing satellite estimation of the imaging viewing window and imaging duration, and following task priorities, include resolving imaging task conflicts by selecting the target imaging time interval, including: when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) When there is no conflict, the observation task will be SCO. i Stored in the success queue; when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is low, the observation task will be sco i Store in the failure queue LS = LS + sco i ; and when the observation task sco iWith the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is high, the observation task will be sco SC(NumSC) Store observation task sco i The corresponding pre-task conflict queue (BT) i =BT i +sco SC(NumSC) The observation mission sco SC(NumSC) Remove from the success queue: SC = SC - sco SC(NumSC) And store it in the failure queue: LS = LS + sco SC(NumSC) .

[0012] Based on further improvements to the above method, the observation task sco i Store in the failure queue LS = LS + sco i This also includes: SCO observation missions. i The last observation task (sco) was successfully stored in the queue. SC(NumSC) The corresponding post-task conflict queue will be moved to the pre-task conflict queue BT. i The observation mission has been re-entered into the success queue: SC = SC + BT i And remove it from the failure queue: LS = LS - BT i The time for determining the target observation center point by the remote sensing satellite is:

[0013] Observation mission SCO i The corresponding target imaging time interval is [m_t] i -Δt / 2,m_t i +Δt / 2].

[0014] Further improvements to the above method, based on remote sensing satellite estimation of the imaging viewing window and imaging duration, and following task priority, involve resolving imaging task conflicts by selecting the target imaging time interval. This includes: planning the observation tasks in the observation task set SCO in chronological order, with the first observation task being i=1, m_t i =s_t i +Δt / 2, observation task sco i The corresponding imaging time interval is [m_t] i -Δt / 2,m_t i +Δt / 2],SC=SC+sco i The conflict queue before the task is a non-empty set, and the conflict queue after the task is a non-empty set; and when observing task sco i and sco i+1The imaging time intervals overlap, so the observation tasks with lower priority are placed in the conflict queue according to their priority.

[0015] Further improvements to the above method involve using the imaging task sequence formed by resolving imaging task conflicts as input, and adjusting the target imaging time interval to improve imaging quality without creating new task conflicts. This includes: fine-tuning the scheduled imaging time intervals according to priority based on the already arranged imaging times of each observation task, prioritizing high-priority tasks by minimizing the observation pitch angle, and ensuring that the adjustment of the imaging time interval does not generate new task conflicts.

[0016] Further improvements to the above method, calculating the imaging duration based on the target observation center point time, include: for the observation task sco SC(i) The preceding observation task in the successful queue is SCO. SC(i-1) The next observation mission is SCO. SC(i+1) upper bound of imaging time u_t SC(i) and imaging time lower bound d_t SC(i) They are represented as follows:

[0017] u_t SC(i) =min(m_t) SC(i) -Δt / 2-σ(sco SC(i) ,sco SC(i+1) ),e_t SC(i) )

[0018] d_t SC(i) =max(m_t) SC(i-1) +Δt / 2+σ(sco SC(i-1) ,sco SC(i) ),s_t SC(i) ),in,

[0019] If the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration, u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2≥Δt / 2, and the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration (s_t). SC(i) +e_t SC(i) ) / 2-d_t SC(i) If the actual imaging center time is ≥Δt / 2, then the actual imaging center time is the midpoint m_t of the theoretical observation time interval. SC(i) =(s_t SC(i) +e_t SC(i) ) / 2; If the difference between the upper bound of the imaging time and the theoretical observation time interval is less than half of the actual observation duration u_t SC(i) -(s_t SC(i) +e_tSC(i) ) / 2 < Δt / 2 and the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration (s_t) SC(i) +e_t SC(i) ) / 2-d_t SC(i) If ≥Δt / 2, then the center time is the value m_t, which is the upper bound of the imaging time minus half of the actual observation time. SC(i) =u_t SC(i) -Δt / 2; and if the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2≥Δt / 2, the difference between the lower bound of the imaging time and the theoretical observation time interval is less than half of the actual observation duration (s_t) SC(i) +e_t SC(i) ) / 2-d_t SC(i) If <Δt / 2, then the center time is the value m_t, which is the lower bound of the imaging time plus half of the actual observation time. SC(i) =d_t SC(i) +Δt / 2.

[0020] On the other hand, embodiments of the present invention provide a remote sensing satellite dense target imaging mission planning device, comprising: an imaging viewing window, used to calculate the imaging viewing window of the remote sensing satellite on the target based on the side-swing direction, pitch direction, satellite orbit, and spatial position of the observed target; a selection module, used to select a target imaging time interval within the imaging viewing window via the remote sensing satellite, wherein different observation pitch angles correspond to different imaging durations; a conflict resolution module, used to resolve mission conflicts by flexibly selecting the target imaging time interval based on mission priority, wherein if mission conflicts cannot be resolved by adjusting the target imaging time interval, observation missions with lower priority are deleted; an imaging time fine-tuning module, used to adjust the target imaging time interval without adding new mission conflicts, using the imaging mission sequence formed by imaging mission conflict resolution as input; and an imaging duration calculation module, used to calculate the imaging duration using the target observation center point time as input.

[0021] Based on further improvements to the above device, the conflict resolution module is used to: when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) When there is no conflict, the observation task will be SCO. i Stored in the success queue; when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is low, the observation task will be sco iStore in the failure queue LS = LS + sco i ; and when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is high, the observation task will be sco SC(NumSC) Store observation task sco i The corresponding pre-task conflict queue (BT) i =BT i +sco SC(NumSC) The observation mission sco SC(NumSC) Remove from the success queue: SC = SC - sco SC(NumSC) And store it in the failure queue: LS = LS + sco SC(NumSC) .

[0022] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0023] 1. Based on the calculation of the satellite's target imaging visibility window and the estimation of imaging duration, and taking mission priority as the basic principle, mission conflicts are resolved by flexibly selecting imaging time intervals;

[0024] 2. With improving image quality as the primary goal, the imaging time interval was adjusted without creating new task conflicts; and

[0025] 3. The finely adjusted imaging time interval is used as input to accurately calculate the imaging duration, and further task conflict resolution is carried out to ultimately achieve remote sensing satellite observation of dense targets.

[0026] 4. In order to avoid new task conflicts and to minimize the elevation angle of each observation, it is often necessary to fine-tune the imaging time in multiple rounds.

[0027] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0028] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0029] Figure 1 This is a flowchart of a remote sensing satellite dense target imaging mission planning method according to an embodiment of the present invention;

[0030] Figure 2 This is a flowchart of a dense target observation task planning method according to an embodiment of the present invention;

[0031] Figure 3 This is a flowchart illustrating how to determine whether an observation task conflicts with observation tasks in the successful queue and how to resolve task conflicts based on task priority, according to an embodiment of the present invention.

[0032] Figure 4 This is a flowchart of imaging time fine-tuning based on task priority according to an embodiment of the present invention;

[0033] Figure 5 A schematic diagram of task-priority-based imaging time fine-tuning according to an embodiment of the present invention; and

[0034] Figure 6 This is a block diagram of a remote sensing satellite dense target imaging mission planning apparatus according to an embodiment of the present invention. Detailed Implementation

[0035] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0036] A specific embodiment of the present invention discloses a method for planning a remote sensing satellite dense target imaging mission, with reference to... Figure 1 The remote sensing satellite dense target imaging mission planning method includes: in step S102, calculating the imaging window of the remote sensing satellite on the target based on the side-swing direction, pitch direction, satellite orbit, and spatial position of the observed target; in step S104, selecting the target imaging time interval within the imaging window by the remote sensing satellite, wherein different observation pitch angles correspond to different imaging durations; in step S106, resolving mission conflicts by flexibly selecting the target imaging time interval based on mission priority, wherein if mission conflicts cannot be resolved by adjusting the target imaging time interval, the observation mission with lower priority is deleted; in step S108, using the imaging mission sequence formed by resolving imaging mission conflicts as input, adjusting the target imaging time interval to improve imaging quality without adding new mission conflicts; and in step S110, calculating the imaging duration based on the time of the target observation center point.

[0037] Compared with existing technologies, the remote sensing satellite dense target imaging mission planning method provided in this embodiment proposes a planning method for continuous observation missions of dense point targets for remote sensing satellites with maneuverability in the elevation direction. Based on the resolution of conflicts in dense observation missions, the elevation angle of the satellite imaging the target is flexibly adjusted to maximize the completion rate of observation missions and maximize imaging quality.

[0038] In the following text, refer to Figure 1 The steps of the remote sensing satellite dense target imaging mission planning method according to embodiments of the present invention will be described in detail.

[0039] In step S102, the imaging viewing window of the remote sensing satellite on the target is calculated based on the yaw direction, pitch direction, satellite orbit, and spatial position of the observed target. Specifically, calculating the imaging viewing window of the remote sensing satellite on the target based on the yaw direction, pitch direction, satellite orbit, and spatial position of the observed target includes: calculating the target access through the remote sensing satellite, where the observation task set is defined as: SCO = {sco1, sco2, ..., sco i ,…,sco NumSCO The observation task is defined as follows: Among them, pro i Indicates the priority of the observation task, m_t i The actual observation center point time is represented by Δt, the actual observation duration is represented by Δt, and [s_t, e_t] represents the theoretical observation time interval of the observation task. γ represents the lateral tilt angle of the remote sensing satellite relative to the target at the actual observation center point at any given time. i (m_t i ) represents the elevation angle of the remote sensing satellite relative to the target at the actual observation center point at any given time, BT i For the pre-task conflict queue and AT i This is the task-after-conflict queue.

[0040] In step S104, the target imaging time interval is selected within the imaging viewing window using a remote sensing satellite. Different observation elevation angles correspond to different imaging durations. Specifically, selecting the target imaging time interval within the imaging viewing window using a remote sensing satellite includes: sorting the observation task set (SCO) according to chronological order.

[0041]

[0042]

[0043] When s_t i+1 >s_t i At that time, the observation mission sco i+1 Set in sco i Then; where SC is the task queue that successfully completed task orchestration, with a queue size of NumSC; LS is the task queue that failed to orchestrate, with a queue size of NumLS; σ(sco i ,sco j ) represents two adjacent observation tasks sco i sco j The conversion time.

[0044] In step S106, task conflicts are resolved by flexibly selecting the target imaging time interval based on task priority. Specifically, if task conflicts cannot be resolved by adjusting the target imaging time interval, lower-priority observation tasks are deleted. Specifically, based on the remote sensing satellite's estimated imaging viewing window calculation and imaging duration, and following task priority, resolving imaging task conflicts by selecting the target imaging time interval includes: when observation task sco i With the last observation task in the successful queue sco SC(NumSC) When there is no conflict, the observation task will be SCO. i Stored in the success queue; when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is low, the observation task will be sco i Store in the failure queue LS = LS + sco i ; and when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is high, the observation task will be sco SC(NumSC) Store observation task sco i The corresponding pre-task conflict queue (BT) i =BT i +sco SC(NumSC) The observation mission sco SC(NumSC) Remove from the success queue: SC = SC - sco SC(NumSC) And store it in the failure queue: LS = LS + sco SC(NumSC) .

[0045] Specifically, in the observation task sco i Store in the failure queue LS = LS + sco i This also includes: SCO observation missions. i The last observation task (sco) was successfully stored in the queue. SC(NumSC) The corresponding post-task conflict queue will be moved to the pre-task conflict queue BT. i The observation mission has been re-entered into the success queue: SC = SC + BT i And remove it from the failure queue: LS = LS - BT i The time for determining the target observation center point by the remote sensing satellite is:

[0046] m_t i =max(m_t) SC(NumSC) +Δt / 2+σ(sco SC(NumSC) ,scoi ),s_t i )+Δt / 2, observation task sco i The corresponding target imaging time interval is [m_t] i -Δt / 2,m_t i +Δt / 2].

[0047] Based on remote sensing satellite estimation of the imaging viewing window and imaging duration, and following task priority, imaging task conflict resolution is achieved by selecting the target imaging time interval. This includes: planning the observation tasks in the observation task set SCO in chronological order, with the first observation task being i=1, m_t i =s_t i +Δt / 2, observation task sco i The corresponding imaging time interval is [m_t] i -Δt / 2,m_t i +Δt / 2],SC=SC+sco i The conflict queue before the task is a non-empty set, and the conflict queue after the task is a non-empty set; and when observing task sco i and sco i+1 The imaging time intervals overlap, so the observation tasks with lower priority are placed in the conflict queue according to their priority.

[0048] In step S108, the imaging task sequence formed by resolving imaging task conflicts is used as input to adjust the target imaging time interval without creating new task conflicts. Specifically, adjusting the target imaging time interval to improve imaging quality by using the imaging task sequence formed by resolving imaging task conflicts as input without creating new task conflicts includes: fine-tuning the scheduled imaging time interval according to priority based on the imaging times of each observation task, prioritizing high-priority tasks to use the minimum observation elevation angle, and ensuring that the adjustment of the imaging time interval does not generate new task conflicts.

[0049] In step S110, the imaging duration is calculated based on the target observation center point time. Specifically, calculating the imaging duration based on the target observation center point time includes: for the observation task sco SC(i) The preceding observation task in the successful queue is SCO. SC(i-1) The next observation mission is SCO. SC(i+1) upper bound of imaging time u_t SC(i) and imaging time lower bound d_t SC(i) They are represented as follows:

[0050] u_t SC(i) =min(m_t) SC(i) -Δt / 2-σ(sco SC(i) ,scoSC(i+1) ),e_t SC(i) )

[0051] d_t SC(i) =max(m_t) SC(i-1) +Δt / 2+σ(sco SC(i-1) ,sco SC(i) ),s_t SC(i) ),in,

[0052] If the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration, u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2≥Δt / 2, and the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration (s_t). SC(i) +e_t SC(i) ) / 2-d_t SC(i) If the actual imaging center time is ≥Δt / 2, then the actual imaging center time is the midpoint m_t of the theoretical observation time interval. SC(i) =(s_t SC(i) +e_t SC(i) ) / 2;

[0053] If the difference between the upper bound of the imaging time and the theoretical observation time interval is less than half of the actual observation duration, u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2 < Δt / 2 and the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration (s_t) SC(i) +e_t SC(i) ) / 2-d_t SC(i) If ≥Δt / 2, then the center time is the value m_t, which is the upper bound of the imaging time minus half of the actual observation time. SC(i) =u_t SC(i) -Δt / 2; and

[0054] If the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration, u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2≥Δt / 2, the difference between the lower bound of the imaging time and the theoretical observation time interval is less than half of the actual observation duration (s_t) SC(i) +e_t SC(i) ) / 2-d_t SC(i) If <Δt / 2, then the center time is the value m_t, which is the lower bound of the imaging time plus half of the actual observation time. SC(i) =d_t SC(i) +Δt / 2.

[0055] Another specific embodiment of the present invention discloses a remote sensing satellite dense target imaging mission planning device, with reference to Figure 6 The remote sensing satellite dense target imaging mission planning device according to an embodiment of the present invention includes: an imaging viewing window 602, used to calculate the imaging viewing window of the remote sensing satellite on the target based on the side-swing direction, pitch direction, satellite orbit, and spatial position of the observed target; a selection module 604, used to select the target imaging time interval within the imaging viewing window by the remote sensing satellite, wherein different observation pitch angles correspond to different imaging durations; a conflict resolution module 606, used to resolve mission conflicts by flexibly selecting the target imaging time interval based on mission priority, wherein if the mission conflict cannot be resolved by adjusting the target imaging time interval, the observation mission with lower priority is deleted; an imaging time fine-tuning module 608, used to adjust the target imaging time interval to improve imaging quality without adding new mission conflicts, using the imaging mission sequence formed by imaging mission conflict resolution as input; and an imaging duration calculation module 610, used to calculate the imaging duration by using the target observation center point time as input.

[0056] Conflict resolution module 606 is used for: when observation task sco i With the last observation task in the successful queue sco SC(NumSC) When there is no conflict, the observation task will be SCO. i Stored in the success queue; when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is low, the observation task will be sco i Store in the failure queue LS = LS + sco i ; and when the observation task sco i With the last observation task in the successful queue sco SC(NumSC) Conflict and observation mission SCO i When the priority is high, the observation task will be sco SC(NumSC) Store observation task sco i The corresponding pre-task conflict queue (BT) i =BT i +sco SC(NumSC) The observation mission sco SC(NumSC) Remove from the success queue: SC = SC - sco SC(NumSC) And store it in the failure queue: LS = LS + sco SC(NumSC) .

[0057] In the following text, refer to Figures 2 to 5 The method for planning a remote sensing satellite dense target imaging mission according to an embodiment of the present invention will be described in detail with specific examples.

[0058] The technical problem to be solved by this invention is achieved by the following technical solution. The main idea is as follows: based on the satellite's calculation of the imaging viewing window and estimation of imaging duration, and taking task priority as the basic principle, task conflicts are resolved by flexibly selecting the imaging time interval; taking the improvement of imaging quality as the basic starting point, the imaging time interval is adjusted without adding new task conflicts; the finely adjusted imaging time interval is used as input for accurate calculation of imaging duration, and further task conflict resolution is carried out, ultimately realizing the remote sensing satellite's comprehensive observation of dense targets.

[0059] refer to Figure 2 The specific steps of the remote sensing satellite dense target imaging mission planning method according to an embodiment of the present invention are as follows:

[0060] (1) Calculation of the satellite's target visibility window. Based on the satellite's yaw and pitch capabilities, as well as its orbit and the spatial position of the observed target, the satellite's target visibility window is accurately calculated. Within the visibility window, the satellite has the capability to image the target at any given time. Within the visibility window, the satellite adjusts its yaw and pitch angles to observe the target at different times.

[0061] (2) Satellite target imaging duration estimation. The satellite target imaging time interval is flexibly selectable within the viewing window, and the imaging duration varies depending on the observation elevation angle. The satellite target imaging duration is an important input for imaging mission scheduling and needs to be estimated before fine calculation. The upper and lower bounds of the imaging duration have small deviations. To avoid excessive conflict resolution due to setting the imaging duration too large, the estimated value of the satellite target imaging duration is generally the theoretical minimum value.

[0062] (3) Imaging task conflict resolution. Based on the satellite's calculation of the imaging viewing window and estimation of imaging duration, and following the principle of task priority, task conflicts are resolved by flexibly selecting imaging time intervals. If adjusting the imaging time cannot be implemented, the observation tasks with lower priority are deleted.

[0063] (4) Fine-tuning of imaging time. Using the imaging task sequence formed by resolving imaging task conflicts as input, and with the basic goal of improving imaging quality, the imaging time interval is adjusted without creating new task conflicts. The imaging time interval adjustment is performed within the satellite's target visibility window.

[0064] (5) Precise calculation of imaging duration. Since the imaging duration is closely related to factors such as the time of the satellite's observation of the target's center point, the aforementioned tasks of resolving imaging mission conflicts and fine-tuning imaging time are all based on the estimation of imaging duration, which has a certain error compared to the actual required observation duration. The imaging duration is precisely calculated using the time of the target's observation center point as input.

[0065] After the imaging duration is accurately calculated, the imaging time intervals for each observation task are updated, and conflict resolution is performed again until there are no conflicts between imaging tasks.

[0066] Specific implementation steps:

[0067] Step 1: Through satellite target access calculations, the set of observation tasks can be clearly defined as follows: SCO = {sco1, sco2, ..., sco...} i ,…,sco NumSCO}, observation mission sco i It can be defined as:

[0068] Among them, pro i Indicates the priority of the observation task; m_t i The actual observation center point time is represented by (s_t+e_t) before task scheduling; Δt represents the actual observation duration; [s_t,e_t] represents the theoretical observation time interval for this task. γ represents the satellite's side-swing angle relative to the target at the corresponding actual observation center point time. i (m_t i ) represents the satellite's elevation angle relative to the target at the corresponding actual observation center point time, BT i The pre-task conflict queue represents the set of observation tasks whose observation times predate this task and conflict with this task. Initially, it is set to an empty set. AT i The post-task conflict queue represents the set of observation tasks whose observation times are after this task and conflict with this task. Initially, it is set to an empty set.

[0069] Step 2: Based on the theoretical visible time start time, sort the observation task set SCO according to time sequence, such as:

[0070]

[0071]

[0072] If s_t i+1 >s_t i , then sco i+1 Ranked in SCO i Next. Let the task queue that successfully completed task orchestration be SC, with a queue size of NumSC, initially empty, that is: The task queue that failed to be orchestrated is LS, with a queue size of NumLS, and is initially empty, i.e.: Suppose two adjacent observation tasks sco i sco jThe conversion time is σ(sco) i ,sco j The value is determined based on the relative attitude of the two observation tasks.

[0073] Step 3: Plan the observation tasks in the observation task set SCO in chronological order. For observation task 1, i.e., when i=1, m_t i =s_t i +Δt / 2, observation task sco i The corresponding imaging time interval is [m_t] i -Δt / 2,m_t i +Δt / 2],SC=SC+sco i Conflict queue before task Post-task conflict queue If the observation task is sco i and sco i+ If there is an overlap in the imaging time intervals, the lower priority ones will be placed in the conflict queue according to their priority.

[0074] Step 4: For the observation task SCO i First, it determines whether the observation task conflicts with observation tasks in the success queue (SC), and then resolves the conflict based on the task priority (pro). (Reference) Figure 3 Let Θ i (SC) represents the set of tasks in the success queue that conflict with the observation task.

[0075] Step 4.1: For example, observation task SCO i With the last observation task in the successful queue sco SC(NumSC) No conflict, that is: The observation task sco i Store in the success queue, i.e.: SC = SC + sco i The time for determining the satellite's observation center point of the target is:

[0076] m_t i =max(m_t) SC(NumSC) +Δt / 2+σ(sco SC(NumSC) ,sco i ),s_t i )+Δt / 2, observation task

[0077] sco i The corresponding imaging time interval is [m_t] i -Δt / 2,m_t i +Δt / 2]. Schedule the next observation task and proceed to step 4.

[0078] Step 4.2: For example, observation task SCOi With the last observation task in the successful queue sco SC(NumSC) Conflict, that is: And observation mission SCO i Low priority, observation task SCO i Store in the failure queue, i.e.: LS = LS + sco i The observation mission sco i The last observation task (sco) was successfully stored in the queue. SC(NumSC) The corresponding post-task conflict queue, i.e.: AT SC(NumSC) =AT SC(NumSC) +sco i ;like BT i The observation task is re-added to the success queue and removed from the failure queue, i.e.: SC = SC + BT i LS = LS - BT i ;make: The next observation task will be scheduled, and we will proceed to step 4.

[0079] Step 4.3: For example, observation task SCO i With the last observation task in the successful queue sco SC(NumSC) Conflict, that is And observation mission SCO i High priority, observation task SCO SC(NumSC) Store observation task sco i The corresponding pre-task conflict queue, i.e., BT i =BT i +sco SC(NumSC) The observation mission sco SC(NumSC) Remove from the success queue and add to the failure queue, i.e.: SC = SC - sco SC(NumSC) LS = LS + sco SC(NumSC) Proceed to step 4.

[0080] Step 5: To obtain better observation results, based on the existing imaging times for each observation task, and adhering to the principles of minimizing the observation elevation angle and avoiding new task conflicts, the scheduled imaging time intervals are fine-tuned according to priority. Specifically, when adjusting imaging intervals, higher-priority tasks should be prioritized to use the minimum observation elevation angle, and the adjustment should minimize new task conflicts. (Reference) Figure 4 and Figure 5 For observation mission SCO SC(i) In the successful queue, its immediate preceding observation task is sco. SC(i-1) The next observation mission is SCO. SC(i+1) Let u_t be the upper bound of the imaging time. SC(i) and lower bound d_tSC(i) They are represented as follows:

[0081] u_t SC(i) =min(m_t) SC(i) -Δt / 2-σ(sco SC(i) ,sco SC(i+1) ),e_t SC(i) )

[0082] d_t SC(i) =max(m_t) SC(i-1) +Δt / 2+σ(sco SC(i-1) ,sco SC(i) ),s_t SC(i) )

[0083] Step 5.1:

[0084] If the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation time, and the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation time, i.e., u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2≥Δt / 2 and (s_t) SC(i) +e_t SC(i) ) / 2-d_t SC(i) If ≥Δt / 2, then the actual imaging center time is the midpoint of the theoretical observation time interval, i.e., m_t SC(i) =(s_t SC(i) +e_t SC(i) ) / 2.

[0085] Step 5.2:

[0086] If the difference between the upper bound of the imaging time and the theoretical observation time interval is less than half of the actual observation time, and the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation time, i.e., u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2<Δt / 2 and (s_t) SC(i) +e_t SC(i) ) / 2-d_t SC(i) If ≥Δt / 2, then the center time is the upper bound of the mission imaging time minus half of the actual observation duration, i.e., m_t SC(i) =u_t SC(i) -Δt / 2.

[0087] Step 5.3:

[0088] If the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation time, and the difference between the lower bound of the imaging time and the theoretical observation time interval is less than half of the actual observation time, i.e., u_t SC(i) -(s_t SC(i) +e_t SC(i) ) / 2≥Δt / 2 and (s_t) SC(i) +e_t SC(i) ) / 2-d_t SC(i) If <Δt / 2, then the center time is the value of the lower bound of the mission imaging time plus half of the actual observation duration, i.e., m_t SC(i) =d_t SC(i) +Δt / 2.

[0089] To avoid creating new mission conflicts and to minimize the elevation angle of each observation, multiple rounds of fine-tuning of the imaging time are often required.

[0090] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0091] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for planning a remote sensing satellite dense target imaging mission, characterized in that, include: Based on the yaw direction, pitch direction, satellite orbit, and spatial position of the observed target of the remote sensing satellite, the imaging viewing window of the remote sensing satellite on the target is calculated; The remote sensing satellite selects the target imaging time interval within the imaging viewing window, where different observation elevation angles correspond to different imaging durations; Based on task priority, task conflicts are resolved by flexibly selecting the target imaging time interval. If task conflicts cannot be resolved by adjusting the target imaging time interval, the observation task with lower priority is deleted. Using the imaging task sequence generated by the resolution of imaging task conflicts as input, the target imaging time interval is adjusted without creating new task conflicts; and The imaging duration is calculated based on the time of the target observation center point. Among these methods, task conflict resolution is achieved by flexibly selecting the target imaging time interval based on task priority. Specifically, if adjusting the target imaging time interval fails to resolve the task conflict, deleting lower-priority observation tasks includes: When the observation task With the last observation task in the successful queue When there is no conflict, the observation task will be... Store in the success queue; When the observation task With the last observation task in the successful queue Conflict and the observation task When the priority is low, the observation task will be... Store in the failure queue ;as well as When the observation task With the last observation task in the successful queue Conflict and the observation task When the priority is high, the observation task will be... Store the observation task The corresponding pre-task conflict queue: The observation task Remove from the success queue: And store it in the failure queue: Based on the target access calculations performed by the remote sensing satellites, the set of observation tasks is defined as follows: ;set up To successfully complete task orchestration, the task queue has a size of [number]. ; The task queue failed to be orchestrated. The queue size; The process of estimating the imaging viewing window and calculating the imaging duration based on the remote sensing satellite, and resolving imaging task conflicts by selecting the target imaging time interval in accordance with task priorities, includes: The observation task sets were analyzed in chronological order. The observation tasks are planned accordingly, with the first observation task being i=1. The observation task The corresponding imaging time interval is , The pre-task conflict queue is a non-empty set, and the post-task conflict queue is a non-empty set; and When the observation task and The imaging time intervals overlap, and the observation tasks with lower priority are placed in the conflict queue according to their priority.

2. The remote sensing satellite dense target imaging mission planning method according to claim 1, characterized in that, Based on the yaw direction, pitch direction, satellite orbit, and spatial position of the observed target of the remote sensing satellite, the imaging viewing window of the remote sensing satellite for the target is calculated as follows: The observation task is defined as follows: ； in, This indicates the priority of the observation task. Indicates the actual time at the center point of observation. This indicates the actual duration of the observation. This represents the theoretical observation time interval for the observation task. This represents the side angle of the remote sensing satellite relative to the target at the actual observation center point at that time. This represents the elevation angle of the remote sensing satellite relative to the target at the actual observation center point at that time. For the pre-task conflict queue and This is the task-after-conflict queue.

3. The remote sensing satellite dense target imaging mission planning method according to claim 1, characterized in that, Selecting the target imaging time interval within the imaging viewing window using the remote sensing satellite includes: The observation task set is arranged chronologically. Sort: ； ； when At that time, the observation task Settings after; in, For two adjacent observation tasks , The conversion time.

4. The remote sensing satellite dense target imaging mission planning method according to claim 1, characterized in that, In the observation task Store in the failure queue This also includes: The observation task Store the last observation task in the successful queue. The corresponding post-task conflict queue will be used to replace the pre-task conflict queue. The observation mission has been re-entered into the success queue: And remove it from the failure queue: ; The time at which the remote sensing satellite observes the center point of the target is determined is: The observation task The corresponding target imaging time interval is .

5. The remote sensing satellite dense target imaging mission planning method according to claim 1, characterized in that, Using the imaging task sequence formed by the resolution of imaging task conflicts as input, adjusting the target imaging time interval without creating new task conflicts includes: Based on the pre-arranged imaging times for each observation task, the scheduled imaging time intervals are fine-tuned according to priority, with high-priority tasks being given priority to minimize the observation elevation angle, and the adjustment of the imaging time intervals does not generate new task conflicts.

6. The remote sensing satellite dense target imaging mission planning method according to claim 1, characterized in that, The imaging duration is calculated based on the time of the target observation center point, including: For observation mission The preceding observation task in the successful queue is The subsequent observation mission is Upper bound of imaging time and lower bound of imaging time They are represented as follows: ,in, If the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation time... Furthermore, the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration. The actual imaging center time is the midpoint of the theoretical observation time interval. ; If the difference between the upper bound of the imaging time and the theoretical observation time interval is less than half of the actual observation duration. Furthermore, the difference between the lower bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration. The center time is the value of the upper bound of the imaging time minus half of the actual observation time. ;as well as If the difference between the upper bound of the imaging time and the theoretical observation time interval is greater than half of the actual observation duration. The difference between the lower bound of the imaging time and the theoretical observation time interval is less than half of the actual observation duration. The center time is then the value of the lower bound of the imaging time plus half of the actual observation time. .

7. A remote sensing satellite dense target imaging mission planning device, characterized in that, include: An imaging view window is used to calculate the imaging view window of the remote sensing satellite on the target based on the side-slide direction, pitch direction, satellite orbit, and spatial position of the observed target. The selection module is used to select the target imaging time interval within the imaging viewing window via the remote sensing satellite, wherein different observation elevation angles correspond to different imaging durations; The conflict resolution module is used to resolve task conflicts by flexibly selecting the target imaging time interval based on task priority. If the task conflict cannot be resolved by adjusting the target imaging time interval, the observation task with lower priority is deleted. An imaging time fine-tuning module is used to adjust the target imaging time interval without creating new task conflicts, by taking the imaging task sequence formed by the resolution of imaging task conflicts as input; and The imaging duration calculation module is used to calculate the imaging duration by taking the time of the target observation center point as input. The conflict resolution module is used for: When the observation task With the last observation task in the successful queue When there is no conflict, the observation task will be... Store in the success queue; When the observation task With the last observation task in the successful queue Conflict and the observation task When the priority is low, the observation task will be... Store in the failure queue ;as well as When the observation task With the last observation task in the successful queue Conflict and the observation task When the priority is high, the observation task will be... Store the observation task The corresponding pre-task conflict queue: The observation task Remove from the success queue: And store it in the failure queue: Based on the target access calculations performed by the remote sensing satellites, the set of observation tasks is defined as follows: ;set up To successfully complete task orchestration, the task queue has a size of [number]. ; The task queue failed to be orchestrated. The queue size; The observation task sets are arranged in chronological order. The observation tasks are planned accordingly, with the first observation task being i=1. The observation task The corresponding imaging time interval is , The pre-task conflict queue is a non-empty set, and the post-task conflict queue is a non-empty set; and when the observation task and The imaging time intervals overlap, and the observation tasks with lower priority are placed in the conflict queue according to their priority.

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