Star cluster-based ground surface anomaly early warning method and system

Abstract

The application provides a ground surface anomaly early warning method and system based on a star cluster, and the method comprises the following steps: acquiring ground surface anomaly data; selecting observation satellites to construct a star cluster according to the ground surface anomaly data, and verifying and warning based on the constructed star cluster. The application simulates the whole chain processing flow of the early warning of the ground surface anomaly event driven and based on the cooperative observation of multiple satellites, constructs a complete simulation environment, simulates the subject, process and result in the instant early warning link of the ground surface anomaly, simulates the complete business process, and reflects the advancement, effectiveness and practicability of the design in the whole process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ground surface monitoring, and particularly relates to a ground surface anomaly early warning method and system based on a satellite constellation. BACKGROUND

[0002] In order to realize risk control of natural disasters, environmental pollution, ecological destruction, safety accidents, illegal development and other ground surface anomalies, not only early discovery of ground surface anomalies is required, but also early warning is required, which is a major strategic requirement for high-quality development of contemporary society and economy in China, and is also a major scientific challenge faced by the field of geosciences. Satellite constellation is a set of satellites that are in orbit and can work normally, and satellite constellation observation is an effective way to realize real-time early warning of ground surface anomalies.

[0003] With the development of satellite technology, sensor technology and information technology, satellite sensor types have diversified from single to multiple, including high-resolution visible light, hyperspectral, radar and the like. Information reception and storage are becoming more and more convenient, ground observation data acquisition methods are becoming more and more diversified, and the amount of data that needs to be stored and processed is increasing year by year. In the research and verification stage of various types of earth observation tasks, multi-source satellite collaborative observation, inter-satellite interconnection, satellite-ground interfeed and satellite chain direct transmission consume relatively high real resources. Therefore, in the satellite development cycle, using computer technology to construct and verify the satellite constellation becomes a natural alternative means to verify or intuitively display experimental results in the most realistic environment.

[0004] Satellite constellation construction can be divided into single-satellite constellation construction and multi-satellite constellation construction according to the types of satellites involved. The multi-satellite constellation construction has the following characteristics compared with the traditional single-satellite constellation construction: the function tends to be more complex, the spatial coupling degree is high, and the task collaboration requirement is higher. The traditional satellite constellation construction usually uses a desktop application to establish an accurate mathematical model, performs full mathematical model construction, and then analyzes the results in the form of charts and text. The accuracy of this type of construction depends on the accuracy of the mathematical model, and has the advantages of convenience and speed. However, the desktop application has poor portability and cannot be deployed on multiple devices simultaneously. Although this method effectively solves the problems of satellite construction and display, the process of establishing a verification scene is complex, the form of result visualization is single, and for the constructed satellites, the related orbit parameters need to be input in advance, the preset virtual satellite parameters cannot be displayed in real time, and the coverage performance of the satellite constellation cannot be displayed.

[0005] In addition, the conventional constellation construction mode is mainly for single-type satellite constellation construction, and the combination type satellite task verification is not sufficient, and the construction task is simple and the verification process is single; the constellation construction mode is mainly developed twice, the simulation mode is fixed, the adaptability to newly launched different satellites is poor, and the expandability is poor; the ground surface data and true value are artificially manufactured at the task level, the real observation data access ability is lacked, the whole chain processing ability is lacked, and the practicability of the method is affected. SUMMARY

[0006] The application provides a ground surface anomaly early warning method and system based on a constellation, to solve the defects of long task chain, slow response and low intelligent level of traditional satellites in ground surface anomaly remote sensing early warning, enhance the rapid response and immediate early warning ability to ground surface anomalies, realize multi-satellite cooperation, and effectively improve the execution efficiency of the constellation.

[0007] The application provides a ground surface anomaly early warning method based on a constellation, comprising: acquiring ground surface anomaly data; selecting observation satellites to construct a constellation according to the ground surface anomaly data, and verifying and warning based on the constructed constellation.

[0008] According to the ground surface anomaly early warning method based on a constellation provided by the application, the ground surface anomaly data is used to obtain a task planning interval, and a warning task is generated; it is judged whether the constellation is currently performing or has existed a previous warning task in the task planning interval; if yes, the warning task is added to a waiting queue; otherwise, observation satellites are selected to construct a constellation, and verification and warning are performed based on the constructed constellation.

[0009] According to the ground surface anomaly early warning method based on a constellation provided by the application, the selection of observation satellites to construct a constellation and the verification and warning based on the constructed constellation comprise: obtaining the transit time of each observation satellite to the task planning interval; obtaining the communication time of each observation satellite to transmit observation data to other satellites; wherein the other satellites are used to forward the observation data of the observation satellites to a hub satellite for anomaly analysis, and send the anomaly analysis result returned by the hub satellite to a navigation satellite; obtaining the respective satellite-ground communication time of the other observation satellites and the navigation satellite; according to the transit time of each observation satellite to the task planning interval, the communication time of each observation satellite to transmit observation data to a relay satellite, and the satellite-ground communication time, an other communication satellite is selected as a relay satellite, and a corresponding navigation satellite is selected to construct a constellation, and verification and warning are performed based on the constructed constellation.

[0010] The earth surface anomaly early warning method based on the star group provided by the application is verified and warned based on the constructed star group, and comprises the following steps: selecting an observation satellite in the star group, and transmitting observation data to the relay satellite; the relay satellite forwards the received observation data to the hub satellite for anomaly analysis, and receives the anomaly analysis result returned by the hub satellite; and the relay satellite sends the anomaly analysis result to the navigation satellite for forwarding to the user end.

[0011] The transit time of each observation satellite to the task planning area is obtained, comprising the following steps: obtaining the orbit six parameters of real satellites and virtual satellites and a preset prediction starting time; based on the SGP4 algorithm, the orbit six parameters and the preset prediction starting time are calculated and predicted to obtain satellite geocentric inertial coordinate system coordinates; according to the satellite geocentric inertial coordinate system coordinates, the station-centered horizontal coordinate system of the satellite is obtained in combination with the pre-obtained geographical coordinates of the ground object; according to the station-centered horizontal coordinate system of the satellite, the azimuth angle, the elevation angle and the distance of the satellite relative to the ground point at a fixed time are obtained by using spatial coordinate conversion; according to the azimuth angle, the elevation angle and the distance, in combination with a preset threshold, it is judged whether the corresponding satellite transits or not; if it transits, the transit time and the elevation angle are recorded, the time information is changed, and the calculation and prediction based on the SGP4 algorithm are returned; otherwise, it is judged whether the termination time is exceeded or not, and based on the fact that the termination time is not exceeded, the time information is changed, and the calculation and prediction based on the SGP4 algorithm are returned.

[0012] According to the earth surface anomaly early warning method based on the star group provided by the application, when the observation satellite is selected to construct the star group according to the earth surface anomaly data, visual display is performed.

[0013] According to the earth surface anomaly early warning method based on the star group provided by the application, the earth surface anomaly data is obtained, comprising the following steps: obtaining the earth surface anomaly data from a database; or, based on the diagnosis of the earth surface by the satellites in the star group, the earth surface anomaly data is obtained.

[0014] The application further provides an earth surface anomaly early warning system based on a star group, comprising: a data acquisition module for acquiring earth surface anomaly data; and an earth surface anomaly early warning module for selecting an observation satellite to construct a star group according to the earth surface anomaly data, and verifying and warning based on the constructed star group.

[0015] The application further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the earth surface anomaly early warning method based on a star group according to any one of the above embodiments when executing the program.

[0016] The application further provides a non-transitory computer-readable storage medium, which has stored thereon a computer program, and the computer program, when executed by a processor, implements the steps of the star group-based ground surface anomaly early warning method according to any one of the above.

[0017] The application further provides a computer program product, which comprises a computer program, and the computer program, when executed by a processor, implements the steps of the star group-based ground surface anomaly early warning method according to any one of the above.

[0018] The star group-based ground surface anomaly early warning method and system provided by the application simulate a complete simulation environment by using a ground surface anomaly event-driven, multi-source satellite cooperative observation-based early warning whole-chain processing flow, simulate subjects, processes and results in a ground surface anomaly immediate early warning link, simulate a complete business process, and reflect the advancement, effectiveness and practicability of all process designs; based on a complete and clear simulation task whole flow, the 'Tongdouxing' three types of satellites are enhanced in terms of rapid response to a ground surface anomaly and immediate early warning capability, multi-satellite cooperation is achieved, and star group execution efficiency is effectively improved; the whole flow simulation can be performed with the aid of external existing satellites and geographic space data and user input, the problems of single simulation object and simulation task and fixed simulation result output form are avoided, visual real-time interaction can be realized, and better usability is achieved; the two modes of case mode and on-duty mode can be provided at the same time, the two modes have the characteristics of strong pertinence and multiple processing modes, and the practicability and reliability of star group construction projects can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0020] Figure 1 is a flowchart of the star group-based ground surface anomaly early warning method provided by the application;

[0021] Figure 2 is an architecture diagram of the star group-based ground surface anomaly early warning method provided by the application;

[0022] Figure 3 is a star group construction diagram provided by the application;

[0023] Figure 4 is one of simulation flowcharts of the ground surface anomaly immediate early warning task provided by the application;

[0024] Figure 5Figure 2 is a schematic diagram of a simulation process of a ground surface anomaly real-time early warning task provided by the present application;

[0025] Figure 6 Figure 3 is a schematic diagram of a ground surface anomaly monitoring in a duty mode provided by the present application;

[0026] Figure 7 Figure 4 is a workflow swim lane diagram of constructing a star cluster provided by the present application;

[0027] Figure 8 Figure 5 is a flowchart of star cluster transit prediction provided by the present application;

[0028] Figure 9 Figure 6 is a structural schematic diagram of a ground surface anomaly early warning system based on a star cluster provided by the present application;

[0029] Figure 10 Figure 7 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] Figure 1 Figure 1 shows a flowchart of a ground surface anomaly early warning method based on a star cluster provided by the present application. The method comprises:

[0032] S11, obtaining ground surface anomaly data;

[0033] S12, selecting observation satellites to construct a star cluster according to the ground surface anomaly data, and verifying and warning based on the constructed star cluster.

[0034] It should be noted that S1N in the present specification does not represent the order of the ground surface anomaly early warning method based on a star cluster. The ground surface anomaly early warning method based on a star cluster of the present application will be described in detail below. Figures 2-8

[0035] Step S11, obtaining ground surface anomaly data.

[0036] ​In the embodiment, the ground surface anomaly data is acquired, including: acquiring the ground surface anomaly data from a database; or, diagnosing the ground surface based on satellites in a satellite constellation to obtain the ground surface anomaly data. It should be noted that the ground surface anomaly data obtained by acquiring the database or the diagnosis of the satellites in the satellite constellation is used to directly mine the ground surface anomaly information under the resource constraint condition on the satellite, without the need for ground processing, thereby avoiding the communication cost of satellite-ground communication.

[0037] In step S12, the observation satellites are selected according to the ground surface anomaly data to construct a satellite constellation, and verification and early warning are performed based on the constructed satellite constellation.

[0038] In the embodiment, the observation satellites are selected from the pre-constructed satellite constellation to perform verification according to the ground surface anomaly data, including: obtaining a task planning interval and generating an early warning task according to the ground surface anomaly data; determining whether the satellite constellation is performing or has existed a prior early warning task for the task planning interval; if yes, the early warning task is added to a waiting queue; otherwise, the observation satellites are selected to construct a satellite constellation, and verification and early warning are performed based on the constructed satellite constellation.

[0039] Specifically, the observation satellites are selected to construct a satellite constellation, and verification and early warning are performed based on the constructed satellite constellation, including: acquiring the transit time of each observation satellite to the task planning interval; acquiring the communication time of each observation satellite to transmit observation data to other satellites; wherein the other satellites are used to forward the observation data of the observation satellites to a hub satellite for anomaly analysis, and send the anomaly analysis result returned by the hub satellite to a navigation satellite; acquiring the respective satellite-ground communication time of the other observation satellites and the navigation satellite; according to the transit time of each observation satellite to the task planning interval, the communication time of each observation satellite to transmit observation data to the relay satellite, and the satellite-ground communication time, an other communication satellite is selected as a relay satellite, and a corresponding navigation satellite is selected to construct a satellite constellation, and verification and early warning are performed based on the constructed satellite constellation.

[0040] Further, the transit time of each observation satellite to the mission planning area is obtained, including: obtaining the orbit six parameters of the real satellite and the virtual satellite and the preset prediction starting time; based on the SGP4 algorithm, the orbit six parameters and the preset prediction starting time are calculated and predicted to obtain the satellite geocentric inertial coordinate system coordinates; according to the satellite geocentric inertial coordinate system coordinates, the satellite station center horizontal coordinate system is obtained in combination with the pre-obtained geographical coordinates of the ground object; according to the satellite station center horizontal coordinate system, the azimuth angle, the elevation angle and the distance of the satellite relative to the ground point at a fixed time are obtained by using the space coordinate conversion; according to the azimuth angle, the elevation angle and the distance, in combination with the preset threshold, it is judged whether the corresponding satellite transits; if it transits, the transit time and the elevation angle are recorded, the time information is changed, and the calculation and prediction based on the SGP4 algorithm are returned; otherwise, it is judged whether the termination time is exceeded, and based on the fact that the termination time is not exceeded, the time information is changed, and the calculation and prediction based on the SGP4 algorithm are returned.

[0041] In addition, verification and early warning are carried out based on the constructed constellation, including: selecting an observation satellite in the constellation, and transmitting observation data to a relay satellite; the relay satellite forwards the received observation data to a hub satellite for anomaly analysis, and receives the anomaly analysis result returned by the hub satellite; the relay satellite sends the anomaly analysis result to a navigation satellite for forwarding to a user end.

[0042] In an optional embodiment, with reference to Figure 2 The constellation can be constructed by using a constellation construction system for surface anomaly real-time early warning, which includes a satellite simulation module, a constellation construction module, a surface anomaly real-time early warning module and a visual information display module, wherein:

[0043] The satellite simulation module and the constellation construction module reproduce various satellites and orbit states that actually exist in a simulation environment, and construct virtual satellites in constellation simulation, and pay attention to the dynamic interrelation between multiple satellites or the entire satellite system, so as to simulate data communication between terminals in the reachable state of constellation interconnection. In addition, when constructing the constellation, a program module specially used for satellite orbit calculation is used to support satellite position and orbit calculation based on TLE orbit elements and satellite six parameters, support geographical calculation of the relationship between ground base stations and satellites, support satellite orbit prediction, support custom construction of the constellation, and support visual interfaces corresponding to various related functions.

[0044] Preferably, the satellite simulation module includes a satellite category management function, a satellite parameter and information query function, an orbit simulation function and a transit prediction function, and the constellation construction module includes an inter-satellite and inter-satellite link construction function, an inter-satellite reachability analysis function, a communication simulation function and an on-ground coverage domain calculation function.

[0045] Further, the orbit simulation function performs coordinate system conversion and satellite position and speed calculation; the transit prediction function performs orbit calculation and satellite transit time calculation through initial orbit element configuration; the inter-satellite and satellite-ground link construction function and the communication simulation function simulate the entire link communication process according to the relative position between satellites and the current position of the satellite-ground.

[0046] In addition, the constellation construction module calculates satellite units and inter-satellite topological structures to reasonably configure constellation resources, thereby ensuring the execution of subsequent ground anomaly real-time early warning tasks. The constellation construction module has flexible and expandable characteristics, supports interfaces for satellite information, communication links, and various functions of ground coverage, and uses module interfaces to build the graphical structure of the target constellation.

[0047] Further, the constellation construction module changes parameters and provides real-time feedback of the graphical interface according to user requirements through the constellation parameter interface. The changeable parameters include satellite orbit elements, satellite ephemeris, satellite names and payloads, wireless communication link settings, and the like, to facilitate the implementation and display of constellation construction. It should be noted that the constellation construction module uses a virtual satellite and real satellite linkage mode, uses real satellite information and ground station information as a benchmark, introduces the determinable characteristics and parameters of the user-defined virtual satellite into the framework of the constellation, analyzes the motion trajectories of real satellites and virtual satellites and the constellation situation during the execution of the task verification process, and combines the dynamic change relationship of communication satellites, navigation satellites, and remote sensing satellites in the constellation network to jointly communicate the links to display the internal networking of the satellites to the user to complete complex space scheduling tasks.

[0048] Further, the constellation construction supports modular combination of satellites in orbit rather than relying solely on satellite models and satellite series, and supports updating and adding modules. The single-layer constellation design is transformed into a multi-layer constellation design, presenting a diversified, three-dimensional structured, and dynamic network of the multi-layer constellation network. The satellites in the constellation are decoupled at the module level through modular construction of the multi-layer constellation, so that in the process of combining the constellation, the functions and types of the satellites are not rigidly adhered to. The same type of satellites can be allocated according to the orbital height, or different types of satellites can be allocated according to the requirements of the ground observation task. Ultimately, multiple constellation modules are combined and constructed through the modular approach, as shown in Figure 3 The modular design is conducive to uniform service of the constellation system to the ground, conducive to reducing the communication delay of the constellation, and conducive to the introduction of new ground observation tasks.

[0049] In addition, the inter-satellite interconnection and the star-ground transmission process simulation are designed to simulate the communication links between various satellites and between satellites and ground facilities, and to display the data transmission direction, state, rate, time, and result between satellites and between satellites and different ground facilities in a visual environment.

[0050] Further, in the communication link construction part of the satellite constellation, the link adaptation technology is adopted, and the satellite constellation system dynamically adjusts the transmission parameters of the transmitters and receivers of the communication equipment in the satellite constellation according to the changes of the satellite wireless channel in the frequency, space, and time dimensions, so as to ensure that the satellite constellation maintains different business transmission quality, further improves the average frequency band utilization of the satellite constellation, and maximizes the utilization of channel resources within the satellite constellation. Preferably, the inter-satellite interconnection and the star-ground transmission process simulation module abstracts a group of space-ground base objects such as satellites, ground stations, and mobile devices, establishes communication and data transmission paths according to certain topological relationships, displays the complex relationships of numerous objects, breaks through the limitations of traditional two-point link analysis, truly realizes link analysis in a three-dimensional environment, and perfects the cooperative analysis of the links within and between the satellite constellation.

[0051] In addition, the inter-satellite and star-ground transmission process simulation mainly realizes the simulation of the transmission content interface, the estimation of the transmission time, and the transmission process simulation. For the simulation of the transmission content interface, the satellite and ground terminal protocol stack processes and sends the communication data to the satellite constellation network. The satellite protocol stack of the satellite node classifies the communication data according to the task urgency, completes the task scheduling and routing forwarding on the communication satellite, analyzes the traffic sent by the earth observation satellite to the communication satellite using the communication satellite protocol stack, and completes the judgment of whether to issue the ground station on the satellite. Then, the communication module of the communication satellite issues the ground station, and the ground station analyzes the communication signal using the protocol stack.

[0052] At the same time, the traffic statistical tool in the satellite constellation network monitors the simulated communication traffic and calculates the corresponding statistical data indicators, thereby optimizing the node design of the communication network topology of the satellite constellation and improving the effectiveness of subsequent satellite constellation simulation construction and verification. For the estimation of the transmission time, the signal delay and data reception time are mainly considered, and the signal delay between the satellite and the ground target receiving station is estimated according to the distance between them.

[0053] In this embodiment, the time of data reception needs to be estimated according to the channel parameters of different satellites, and the estimation method can adopt the total amount of data divided by the amount of data that can be received per unit time. For transmission process simulation, the function of constellation construction is used to simulate the space-time characteristics of multiple satellites in the constellation, and the space link signals of the constellation are simulated in real time through the set radio frequency signals and baseband signal information in the satellite parameters, including signal power, data transmission and coding system simulation, transmission characteristic analysis. The simulation of the transmission process supports multi-channel signal access, and can simultaneously complete the automated testing of multiple groups of inter-satellite communication of the to-be-tested satellites in batches, thereby improving the testing efficiency.

[0054] In addition, the visualization of the transmission process mainly reflects the connection and transmission state between the receiving two parties. The communication links between various satellites and between satellites and ground facilities are simulated, and the data transmission direction between satellites, the state, rate, time, and result of the receiving two parties are displayed in the visualization environment. It should be noted that the coverage domain calculation function adds the field of view parameters of the sensor to the space-based object, which can provide higher authenticity in visualization. The latitude and longitude of the subsatellite point are solved by the spherical triangle formula, the spatial data model of the satellite coverage boundary is solved, the spatial data model of the coverage boundary on the geographic base map is obtained through projection processing, and finally the geographic data format is converted into the public geographic data format by using the GIS technology and is accessed to the visualization interface. Preferably, the coverage analysis supports the adjustment of satellite parameters to assist users in judging important issues in constellation construction, such as the influence of parameter adjustment of a single satellite in the constellation on the coverage range of the entire constellation.

[0055] The ground anomaly real-time warning module and the visualization information display module demonstrate and display the simulated task flow and simulation results, demonstrate the elements of each link in the simulation of the warning task, demonstrate the warning mode of dynamic interaction among multiple satellites in the constellation, and perform two-dimensional-three-dimensional simulation that is interactive to users.

[0056] Further, the visualization module supports the access and graphic calculation of geographic data, supports visualization display, and supports the visualization interface of other modules. The ground anomaly real-time warning module includes an anomaly area management function, a ground station management function, and a warning information transmission function, manages the spatial geographic positions of the ground areas and ground terminal facilities involved in the entire process of the ground anomaly real-time warning, and links with the simulated constellation in the air to complete the entire link simulation of the ground anomaly real-time warning task. In addition, the visualization information display module includes a geographic data layer management function, a view management function (2D, 3D), and a graphic interaction control function. The interactive interface of the visualization information display module can be divided into multiple functional areas according to the above functions to support multiple terminals, including personal computers, smart phones, notebook computers, and other devices.

[0057] In an optional embodiment, after the constellation is constructed, a simulation process of the ground anomaly instant warning task is further executed. Referring to Figure 4 , it specifically includes: inputting simulation related data, the simulation related data including user self-provided and inputted public geographic data and satellite data; constellation construction calculation, performing on-board calculation related to the warning task; anomaly instant warning, linking the constellation and the ground elements to perform process simulation; element visualization display, the user evaluating and interactively adjusting the simulation results through the program main interface.

[0058] In an optional embodiment, after the constellation is constructed, a simulation process of the ground anomaly instant warning task is further executed. Referring to Figure 5 , it specifically includes: listening to whether the user inputs data, if yes, performing the case mode; otherwise, entering the on-duty mode.

[0059] Further, the case mode is to input the simulation required parameter data from the interactive interface, and is used to read the simulation scene information from the database after receiving the inputted warning information, to call the main program to perform real-time calculation on the simulation scene, and the interactive interface can display interfaces including but not limited to warning start and end time period, constellation satellite detailed information, ground anomaly response position, and coverable domain. It needs to be noted that the case mode, after obtaining the anomaly warning data, provides intuitive design and operation for the user through the scheduling program, supports defining the related resource demand statistics of the task, and outputs the generated schedule and solution.

[0060] In an optional embodiment, when the constellation is constructed according to the ground anomaly data, the observation satellites are selected to perform visualization display.

[0061] In addition, in the simulation process of a one-time on-duty mode task, in the continuous monitoring stage, the observation satellite sending the warning simulation request becomes the “discovery star”, and the subsequent observation satellite responding to the request of the discovery star becomes the “diagnosis star”. The discovery star is usually a remote sensing satellite with a high orbit, a large sensor coverage area, but a low resolution, and the diagnosis star is usually a high-resolution remote sensing satellite with a low orbit and can perform detailed ground anomaly diagnosis. Through the functional complementation of the discovery star and the diagnosis star, the rough locking (rough identification) and detailed diagnosis of the ground anomaly target are completed, and the ground anomaly monitoring and diagnosis schematic based on the discovery star and the diagnosis star can refer to Figure 5 .

[0062] Under normal operation monitoring, the discovery star and the diagnosis star in the constellation run normally along the satellite orbit, and after the discovery star monitors that there may be a ground anomaly, the corresponding region is set as a task region and is sent to the relay satellite (communication satellite) in the constellation, to perform task scheduling and sending through the relay satellite in the constellation, fromFigure 6 As can be seen, after the relay satellite receives the mission from the discovery satellite, it uses the transit prediction function to calculate the diagnostic satellite that will pass through the mission area. By sending the valid mission information to the diagnostic satellite, the diagnostic satellite passes through the mission area after a certain period of time and sends the detailed surface information and anomaly diagnosis obtained to the relay satellite. Finally, the relay satellite sends the information to the ground station, completing the onboard automated intelligent processing of the entire "discovery to diagnosis" process, effectively reducing the communication cost between the satellite and the ground.

[0063] It should be noted that the distinction between discovery stars and diagnostic stars is not strictly based on resolution and orbital altitude. The roles of discovery stars and diagnostic stars in a constellation can be flexibly assigned, thereby improving the constellation's mission execution efficiency and better adapting to the response and planning of various early warning missions.

[0064] In addition, the selection of observation satellites to perform early warning tasks includes: selecting observation satellites in the constellation and transmitting the observation data to relay satellites; relay satellites forwarding the received observation data to central satellites for anomaly analysis and receiving the anomaly analysis results returned by the central satellites; and relay satellites sending the anomaly analysis results to navigation satellites for forwarding to the user end.

[0065] It should be noted that the reference Figure 7 Based on the configuration scheme of computing and data transmission capabilities of the "communication, navigation, and remote sensing" satellite constellation architecture and network topology, as well as information from surface anomaly early warning missions, the constellation resources are optimized. This optimization includes: remote sensing satellites acquiring data and diagnosing anomalies, relaying data via communication satellites; then, central satellites generating detailed representations of surface anomalies, which are then transmitted to ground-based user terminals.

[0066] It should be noted that, under the optimized configuration scheme, the basic components of the processing process, as well as the interface rules, automatic triggering methods, and processing operations, are integrated into a simulation mechanism to complete the real-time surface anomaly early warning chain process. The full-chain execution process simulation links the entire process of surface anomaly monitoring and early warning information dissemination, forming a complete continuous application, and displays the start and end points, scenarios, and results of each link.

[0067] In one alternative embodiment, reference Figure 8 The transit times of each observation satellite reaching the planned mission interval are obtained, including: acquiring the six orbital parameters of the real and virtual satellites and the preset predicted start time; calculating and predicting the six orbital parameters and the preset predicted start time based on the SGP4 algorithm to obtain the satellite geocentric inertial coordinate system (ECI) coordinates; and obtaining the satellite's station-centered horizontal coordinate system ([r] based on the satellite's geocentric inertial coordinate system coordinates (latitude, longitude, and elevation) and the pre-acquired geographic coordinates of ground objects. x ,r y ,rz ]); according to the station-centered ground coordinate system of the satellite, the space coordinate conversion is used to obtain the azimuth angle, the elevation angle and the distance of the satellite relative to the ground point at a fixed time; according to the azimuth angle, the elevation angle and the distance, in combination with a preset threshold, it is judged whether the satellite passes through the area; if yes, the passing time and the elevation angle are recorded, the time information is changed, and the SGP4 algorithm is used again to solve and predict; otherwise, it is judged whether the end time is exceeded, and based on the result that the end time is not exceeded, the time information is changed, and the SGP4 algorithm is used again to solve and predict.

[0068] It should be noted that in the embodiment, the star cluster transit prediction module is used to obtain the transit time of each observation satellite to the task planning area, and the star cluster transit prediction module mainly includes the following functions: transit time definition function, ground object definition function, satellite star cluster definition function and program running control function. The transit time definition function is used to define the starting point of the simulation time and the length of the simulation time, and mainly completes the definition of the reconnaissance time period. The ground object definition function is used to set the simulated ground object, which can be a certain city or a certain surface anomaly area. The city definition uses the longitude and latitude of the city, and the area definition uses the longitude and latitude of each vertex of the area to define, and both support open source geographic data exchange format files. The satellite star cluster definition function is used to set the observation satellite of interest, mainly sets the orbit parameters and the parameters of the sensor carried, can complete the addition and deletion of any concerned reconnaissance satellite, and forms a constellation by using the "Tongdoy" satellite selected based on the demand, which is displayed in real time by using a list box. The program running control function mainly controls the progress of the program, including four button controls of transit start, transit calculation, transit report output and save and exit.

[0069] In summary, the embodiment of the application simulates the whole process of the early warning chain based on the surface anomaly event driving and the multi-source satellite cooperative observation, constructs a complete simulation environment, simulates the main body, process and result of the surface anomaly instant early warning link, simulates the complete business process, and reflects the advancement, effectiveness and practicability of the design in the whole process. Based on the complete and clear simulation task whole process, the rapid response and instant early warning capability of the "Tongdoy" three types of satellites to the surface anomaly are enhanced, multi-satellite cooperation is realized, and the efficiency of the star cluster execution is effectively improved. The whole process simulation can be performed with the aid of external existing satellites and geographic space data and user input, the problems of single simulation object and simulation task and fixed simulation result output form are avoided, visual real-time interaction can be realized, and better usability is achieved. The case mode and the on-duty mode can be provided at the same time, have the characteristics of strong pertinence and multiple processing modes, and can improve the practicability and reliability of the star cluster construction project.

[0070] The star cluster-based ground surface anomaly early warning system provided by the present application is described below, and the star cluster-based ground surface anomaly early warning system described below can be correspondingly referred to the star cluster-based ground surface anomaly early warning method described above.

[0071] Figure 9 A structural schematic diagram of a star cluster-based ground surface anomaly early warning system is shown, and the system comprises:

[0072] The data acquisition module 91 acquires ground surface anomaly data.

[0073] The ground surface anomaly early warning module 92 selects observation satellites to construct a star cluster according to the ground surface anomaly data, and performs verification and early warning based on the constructed star cluster.

[0074] In the embodiment, the data acquisition module 91 comprises: a first data acquisition unit that acquires ground surface anomaly data from a database; or a second data acquisition unit that acquires ground surface anomaly data obtained based on diagnosis of the ground surface by satellites in a star cluster. It should be noted that by acquiring ground surface anomaly data obtained by diagnosis by a database or satellites in a star cluster, ground surface anomaly information can be directly mined under the constraint of on-orbit resources, without the need for ground processing, thereby avoiding communication costs for star-ground communication.

[0075] The ground surface anomaly early warning module 92 comprises: a task generation unit that obtains a task planning interval and generates an early warning task according to the ground surface anomaly data; a judgment unit that judges whether the star cluster is currently performing or has previously performed an early warning task in the task planning interval; a waiting unit that adds the early warning task to a waiting queue based on a judgment result of the judgment unit being yes; and a star cluster construction unit that selects observation satellites to construct a star cluster based on a judgment result of the judgment unit being no, and performs verification and early warning based on the constructed star cluster.

[0076] Specifically, the star cluster construction unit comprises: a transit time acquisition subunit that acquires transit times of each observation satellite to the task planning interval; a communication time acquisition subunit that acquires communication times of each observation satellite to transmit observation data to other satellites; wherein the other satellites are used to forward the observation data of the observation satellites to a hub satellite for anomaly analysis, and send anomaly analysis results returned by the hub satellite to a navigation satellite; a star-ground communication time acquisition subunit that acquires respective star-ground communication times of the other observation satellites and the navigation satellite; and a verification and early warning subunit that selects one other communication satellite as a relay satellite and selects a corresponding navigation satellite to construct a star cluster according to the transit times of each observation satellite to the task planning interval, the communication times of each observation satellite to transmit observation data to the relay satellite, and the star-ground communication times, and performs verification and early warning based on the constructed star cluster.

[0077] The transit time acquisition subunit comprises: a first data acquisition grandson unit that acquires orbit six parameters of real satellites and virtual satellites and a preset prediction starting time; a first coordinate acquisition grandson unit that, based on the SGP4 algorithm, solves and predicts the orbit six parameters and the preset prediction starting time to obtain satellite geocentric inertial coordinate system coordinates; a coordinate system acquisition grandson unit that, according to the satellite geocentric inertial coordinate system coordinates, in combination with pre-acquired ground object geographic coordinates, obtains a station center horizontal coordinate system of the satellite; a second data acquisition grandson unit that, according to the station center horizontal coordinate system of the satellite, utilizes spatial coordinate conversion to obtain an azimuth angle, a pitch angle and a distance of the satellite relative to a ground point at a fixed time; a transit judgment grandson unit that, according to the azimuth angle, the pitch angle and the distance, in combination with a preset threshold, judges whether the corresponding satellite transits; a first execution grandson unit that, based on a transit judgment grandson unit judgment result of transit, records a transit time and a pitch angle, changes time information, and returns to solve and predict based on the SGP4 algorithm again; and a second execution grandson unit that, based on a transit judgment grandson unit judgment result of non-transit, judges whether a termination time is exceeded, and, based on not exceeding the termination time, changes time information and returns to solve and predict based on the SGP4 algorithm again.

[0078] The verification and early warning subunit comprises: a first data transmission grandson unit that selects an observation satellite in a star cluster, transmits observation data to a relay satellite, so that the relay satellite forwards the received observation data to a hub satellite for abnormality analysis, and receives abnormality analysis results returned by the hub satellite; and the relay satellite sends the abnormality analysis results to a navigation satellite for forwarding to a user end.

[0079] It should be noted that the remaining structure of the ground surface anomaly early warning system based on the star cluster and the star cluster construction system architecture for constructing the star cluster can refer to the above description, which will not be repeated here.

[0080] Figure 10 An example of an electronic device entity structure schematic diagram is shown in Figure 10 As shown, the electronic device can include a processor 101, a communications interface 102, a memory 103 and a communications bus 104, wherein the processor 101, the communications interface 102 and the memory 103 complete mutual communication through the communications bus 104. The processor 101 can invoke a logical instruction in the memory 103 to execute a ground surface anomaly early warning method based on a star cluster, which comprises: acquiring ground surface anomaly data; selecting an observation satellite to construct a star cluster based on the ground surface anomaly data, and verifying and warning based on the constructed star cluster.

[0081] In addition, the logic instructions in the memory 103 described above can be realized in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0082] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the star group based ground surface anomaly early warning method provided by the above method, the method comprising: obtaining ground surface anomaly data; selecting observation satellites to construct a star group according to the ground surface anomaly data, and verifying and warning based on the constructed star group.

[0083] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor to enable a computer to execute the star group based ground surface anomaly early warning method provided by the above method, the method comprising: obtaining ground surface anomaly data; selecting observation satellites to construct a star group according to the ground surface anomaly data, and verifying and warning based on the constructed star group.

[0084] The above described embodiments are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0085] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0086] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A star cluster-based ground surface anomaly early warning method, characterized in that, The method comprises the following steps: acquiring surface anomaly data; selecting observation satellites to form a star group according to the surface anomaly data, and verifying and warning based on the formed star group; the step of selecting observation satellites to form a star group according to the surface anomaly data, and verifying and warning based on the formed star group, comprises: obtaining a task planning interval and generating a warning task according to the surface anomaly data; judging whether the star group is currently performing or has existed a prior warning task in the task planning interval; if yes, adding the warning task to a waiting queue; otherwise, selecting observation satellites to form a star group, and verifying and warning based on the formed star group; the step of selecting observation satellites to form a star group, and verifying and warning based on the formed star group, comprises: acquiring transit time of each observation satellite to the task planning interval; acquiring communication time of each observation satellite for transmitting observation data to other satellites, wherein the other satellites are used for forwarding the observation data of the observation satellites to a hub satellite for anomaly analysis, and sending anomaly analysis results returned by the hub satellite to a navigation satellite; acquiring star-ground communication time of the other satellites and the navigation satellite respectively; selecting an other communication satellite as a relay satellite and selecting a corresponding navigation satellite to form a star group according to the transit time of each observation satellite to the task planning interval, the communication time of each observation satellite for transmitting observation data to the relay satellite, and the star-ground communication time, and verifying and warning based on the formed star group.

2. The constellation-based ground anomaly early warning method according to claim 1, characterized in that, the step of verifying and warning based on the formed star group, comprises: selecting an observation satellite in the star group to transmit observation data to the relay satellite; the relay satellite forwards the received observation data to the hub satellite for anomaly analysis, and receives anomaly analysis results returned by the hub satellite; the relay satellite sends the anomaly analysis results to the navigation satellite for forwarding to a user end.

3. The constellation-based ground anomaly early warning method according to claim 1, characterized in that, the step of acquiring the transit time of each observation satellite to the task planning interval, comprises: acquiring orbit six parameters of real satellites and virtual satellites and a preset prediction starting time; based on an SGP4 algorithm, the orbit six parameters and the preset prediction starting time are calculated and predicted to obtain satellite coordinates in an earth-centered inertial coordinate system; based on the satellite coordinates in the earth-centered inertial coordinate system, satellite station-centered horizon coordinates are obtained in combination with pre-acquired geographical coordinates of ground objects; based on the satellite station-centered horizon coordinates, a spatial coordinate conversion is used to obtain azimuth angle, elevation angle and distance of the satellite relative to a ground point at a fixed time; based on the azimuth angle, the elevation angle and the distance, a preset threshold is used to judge whether the corresponding satellite transits; if yes, a transit time and the elevation angle are recorded, time information is changed, and the calculation and prediction based on the SGP4 algorithm are returned; otherwise, whether the terminal time is exceeded is judged, and based on the fact that the terminal time is not exceeded, the time information is changed, and the calculation and prediction based on the SGP4 algorithm are returned.

4. The constellation-based ground anomaly early warning method according to claim 1, characterized in that, when the observation satellites are selected to form a star group according to the surface anomaly data, a visual display is performed.

5. The constellation-based ground anomaly early warning method according to claim 1, characterized in that, the step of acquiring surface anomaly data, comprises: acquiring surface anomaly data from a database; or, Diagnose the earth surface based on the satellites in the constellation to obtain earth surface anomaly data.

6. A constellation-based ground anomaly early warning system, characterized by, The method comprises the following steps: a data acquisition module acquires the earth surface anomaly data; an earth surface anomaly early warning module selects observation satellites to construct a constellation based on the earth surface anomaly data, and performs verification and early warning based on the constructed constellation; the earth surface anomaly early warning module comprises: a task generation unit generates a warning task based on the earth surface anomaly data and a task planning interval; a judgment unit judges whether the constellation is currently performing or has previously performed an early warning task in the task planning interval; a waiting unit adds the warning task to a waiting queue if the judgment result of the judgment unit is yes; a constellation construction unit selects observation satellites to construct a constellation and performs verification and early warning based on the constructed constellation if the judgment result of the judgment unit is no; the constellation construction unit comprises: a transit time acquisition subunit acquires the transit time of each observation satellite to the task planning interval; a communication time acquisition subunit acquires the communication time of each observation satellite to transmit observation data to other satellites; the other satellites are used to forward the observation data of the observation satellites to a hub satellite for anomaly analysis, and send the anomaly analysis result returned by the hub satellite to a navigation satellite; a satellite-ground communication time acquisition subunit acquires the satellite-ground communication time of each of the other satellites and the navigation satellite; a verification and early warning subunit selects one other communication satellite as a relay satellite and selects a corresponding navigation satellite to construct a constellation based on the transit time of each observation satellite to the task planning interval, the communication time of each observation satellite to transmit observation data to a relay satellite, and the satellite-ground communication time, and performs verification and early warning based on the constructed constellation.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps of the earth surface anomaly early warning method based on a constellation according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the earth surface anomaly early warning method based on a constellation according to any one of claims 1 to 5.

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