A method for autonomous and collaborative satellite selection for tracking and guiding moving targets in high orbits and identifying satellites in medium and low orbits.

Abstract

This invention proposes a method for autonomous collaborative satellite selection for high-orbit tracking and guidance of moving targets, enabling the identification of low-Earth orbit (LEO) satellites. A high-orbit remote sensing satellite detects and tracks a moving target, autonomously detecting the target through onboard information processing and calculating its current position, velocity, direction, shortest side length, and corresponding time as guidance information for collaborative observation. The ground system pre-injects collaborative observation requirements and candidate LEO satellite information onto the high-orbit remote sensing satellite. Based on this candidate LEO satellite information, the high-orbit remote sensing satellite's own on-orbit operation status, and imaging performance parameters, it calculates and assesses the imaging and target recognition capabilities of all candidate LEO satellites when observing the moving target. The high-orbit remote sensing satellite then selects candidate satellites whose estimated imaging and target recognition capabilities meet the collaborative observation requirements, serving as the first round of candidate satellites for collaborative observation.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of motion target high orbit tracking guide middle low orbit satellite identification autonomous cooperative star selection method, it is suitable for high orbit remote sensing satellite and middle low orbit remote sensing satellite based on inter-satellite autonomous cooperation ability, realize small motion target discovery, identification and tracking observation task scene. BACKGROUND

[0002] Motion target, for example, sea-going ship, ground mobile vehicle etc. has the characteristics of relatively small size, position is not fixed, large motion range, etc. Its observation needs to meet the requirements of wide-area search discovery, accurate and effective identification, continuous dynamic tracking. Remote sensing satellite earth observation is an important means to obtain target characteristics and trend information, especially in the open sea, remote area is usually the main and often the only effective observation means.

[0003] Remote sensing satellites can be divided into high orbit, medium orbit and low orbit remote sensing satellites according to orbit. High orbit and middle low orbit remote sensing satellites here mainly refer to remote sensing satellites that can be used for small motion target discovery, tracking and identification observation tasks; The target observed is small motion target distributed on land and sea surface, such as: sea-going ship, ground mobile vehicle, etc.; Small here usually refers to the maximum size of the target compared with the spatial resolution of the high orbit remote sensing satellite imaging, which is between 1-3 times, if the Johnson criterion for target discovery, identification and confirmation capability is used as the criterion, then under normal circumstances, it meets the requirements of high orbit remote sensing satellite target discovery, but does not meet the requirements of target identification and confirmation for spatial resolution.

[0004] High orbit remote sensing satellites usually operate in orbits above 20000 kilometers in altitude, and the typical orbit is geostationary orbit with an altitude of 35786 kilometers, and the satellite is approximately stationary relative to the earth surface. High orbit remote sensing satellites can achieve high time resolution by combining satellite attitude maneuver, sensor load observation pointing adjustment and sensor observation field of view, compared with middle low orbit remote sensing satellites, which can image a wide area of the earth's land and sea surface and monitor for a long time, thereby searching for and discovering land and sea motion targets, but the spatial resolution is low due to the distance from the earth, and it can only achieve discovery and continuous tracking of the motion track of small motion targets, but cannot achieve identification and confirmation of target type and attribute. For example, Gaofen No. 4 satellite is an optical imaging monitoring satellite in geostationary orbit, which can realize wide-area, long-time motion target search and tracking monitoring of land and sea surface of China and surrounding areas, but its spatial resolution is 50 meters for visible light, and for sea motion ships with length of 50 meters or more and less than 150 meters, Gaofen No. 4 satellite can discover the target but cannot identify the target type, confirm the target model and attribute.

[0005] Medium and low Earth orbit (LEO) remote sensing satellites typically operate in orbits between 200 km and 200,000 km altitudes, with 2000 km being the general dividing line: below 2000 km are LEO satellites, and above 2000 km are LEO satellites. They can also be categorized by the type of sensor payload they carry: optical imaging remote sensing satellites, microwave imaging remote sensing satellites, and other types of payload remote sensing satellites. Optical imaging remote sensing satellites typically carry optical camera payloads in the visible light, infrared, or other spectral bands, enabling them to acquire optical images of targets and obtain intuitive morphological and textural features. They have strong target interpretation capabilities, but often cannot image land or sea surfaces under adverse weather conditions such as cloud cover. Microwave imaging remote sensing satellites typically carry synthetic aperture radar (SAR) or other microwave imaging and detection payloads, enabling them to acquire microwave images of targets. They have strong penetration capabilities into clouds and precipitation in the atmosphere and possess good all-weather imaging capabilities, especially under adverse weather conditions. Medium and low orbit remote sensing satellites, due to their relatively close proximity to Earth, have higher spatial resolution and stronger identification and confirmation capabilities for small targets compared to high orbit remote sensing satellites. However, the time interval between two consecutive revisit observations of targets in the same area is relatively long, and the duration of a single observation is relatively short, making it difficult to meet the needs of continuous monitoring of moving targets and tracking changes in their trajectory and position. For example, the Gaofen-Multimode satellite operates in a sun-synchronous circular orbit at an altitude of 643.8 kilometers and carries a visible panchromatic and multispectral optical camera payload, with a spatial resolution of 0.5 meters for the full spectrum and 2 meters for the multispectral band; the Gaofen-3 satellite operates in a sun-synchronous orbit at an altitude of 755 kilometers and carries a C-band SAR imaging payload, with a maximum spatial resolution of 1 meter. Both can effectively identify and confirm small moving targets such as small ships at sea and ground vehicles, but their average revisit time for targets in the same area is as long as 1-2 days, and the longest single target visit imaging time is only in the minute range, making it difficult to achieve long-term continuous tracking of the dynamic trajectory of moving targets.

[0006] To resolve the conflict in temporal and spatial resolution between high-orbit and low-orbit remote sensing satellites, and to meet the needs of small moving target observation in the same observation mission for wide-area search and discovery, precise identification and confirmation, and continuous tracking and monitoring, a networked space-based sensing system is constructed that coordinates the use of high-orbit and low-orbit remote sensing satellites. In this space-based sensing system, high-orbit remote sensing satellites serve as nodes for wide-area search and continuous monitoring, while low-orbit remote sensing satellites serve as terminals for precise identification and effective confirmation. Through collaborative observation, they leverage their respective advantages and compensate for their respective shortcomings, achieving the application capabilities of small moving target discovery, identification, and tracking that are difficult to achieve with a single satellite or single method.

[0007] For collaborative observation and application of high-orbit and medium- and low-orbit remote sensing satellites, two methods can be adopted: ground-based collaborative observation or satellite-independent collaborative observation.

[0008] Ground-based collaboration refers to satellites only serving as sensors for imaging and detection to acquire observation data. Mission planning before observation, multi-satellite resource scheduling, imaging data processing after observation, and target perception applications are all completed on the ground. This approach usually does not impose additional special technical requirements on satellites, but relying entirely on ground mission planning and data processing has inherent drawbacks such as multiple information transfer links, long mission response closed-loop cycles, and insufficient flexibility in observing sudden emergency moving targets.

[0009] Satellite autonomous collaboration refers to a system where, under the premise that all participating high-orbit and low-orbit remote sensing satellites possess a certain degree of autonomy, such as inter-satellite link information transmission, on-board autonomous mission planning, and on-board target detection and processing, high-orbit remote sensing satellites serve as network information nodes, multi-satellite collaborative mission planning hubs, and multi-source information integration processing hubs in the space-based sensing system. Low-orbit remote sensing satellites serve as target identification and confirmation terminals in the space-based sensing system. Multiple satellites and the satellites autonomously plan, schedule, and control each other to image according to certain logic, timing, and strategies. They also autonomously perform target detection, identification, and tracking information processing on-board on-site on images acquired by different satellites. Through the comprehensive application of multi-source target perception information, the system achieves the discovery, identification, and tracking of small moving targets. Compared with ground collaboration, it has significant advantages such as efficient information flow, rapid mission response, and flexible and changeable observation of sudden and emergency moving targets. It is an important development direction for the autonomous and intelligent development of remote sensing satellites and the improvement of the usability and ease of use of space-ground integrated systems.

[0010] In recent years, relevant research institutions and personnel have conducted a great deal of research on multi-satellite collaborative observation of remote sensing satellites. However, the patents published so far mainly focus on multi-satellite collaborative mission planning algorithms, models, and multi-source information fusion processing, and are basically in the field of collaborative observation between low-Earth orbit remote sensing satellites. No patent results have been found on collaborative observation between high-Earth orbit and medium-low Earth orbit remote sensing satellites, nor have any patent results been found on satellite selection methods applicable to high-Earth orbit remote sensing satellites tracking moving targets, autonomously extracting target feature information, and selecting medium-low Earth orbit satellites for target identification according to certain rules and strategies. Summary of the Invention

[0011] To address the aforementioned issues, this invention proposes a method for autonomous and collaborative satellite selection for high-orbit tracking and guidance of moving targets, and identification of low- and medium-orbit satellites.

[0012] The present invention is achieved through the following technical solution.

[0013] A method for autonomous and collaborative satellite selection for high-orbit tracking and guidance of moving targets to identify low- and medium-orbit satellites includes the following steps:

[0014] Step 1: The high-orbit remote sensing satellite detects and tracks moving targets, autonomously detects targets through onboard information processing, and calculates the target's current position, velocity, direction, shortest side length, and corresponding time, which serve as guidance information for collaborative observation tasks.

[0015] Step 2: The ground system pre-injects the collaborative observation requirements and candidate satellite source information of medium and low orbit remote sensing satellites into the high-orbit remote sensing satellite. Based on the candidate satellite source information of medium and low orbit remote sensing satellites, as well as the high-orbit remote sensing satellite's own on-orbit operation status and imaging performance parameters, the high-orbit remote sensing satellite calculates and judges the imaging capability and target recognition capability of all candidate medium and low orbit remote sensing satellites when observing moving targets. Then, the high-orbit remote sensing satellite selects candidate satellite sources whose estimated imaging capability and target recognition capability meet the collaborative observation requirements, and uses them as candidate satellite sources after the first round of screening of medium and low orbit remote sensing satellites participating in collaborative observation.

[0016] Step 3: For the candidate satellite sources selected in the first round of screening, based on the initial orbital elements of each medium- and low-orbit remote sensing satellite and the target's position, velocity, and directional motion parameters, the high-orbit remote sensing satellites predict the orbital arcs and corresponding time ranges for target overpass observation by each medium- and low-orbit remote sensing satellite. Then, the application capability index of each medium- and low-orbit remote sensing satellite for the target in each orbital arc is calculated, and medium- and low-orbit remote sensing satellites that meet the requirements for collaborative observation, along with their orbital arcs and corresponding time ranges, are selected as candidate satellite sources and their candidate time windows for the second round of screening of medium- and low-orbit remote sensing satellites participating in collaborative observation.

[0017] Step 4: Based on the candidate satellite sources and their candidate time windows selected in the second round, the high-orbit remote sensing satellites calculate the comprehensive weighted value of the application capability index for each time window of each satellite according to the weight allocation, and sort them from largest to smallest as the priority of the candidate satellite sources and their candidate time windows for medium and low orbit remote sensing satellites. Then, according to the priority from high to low, the collaborative observation task guidance information obtained in Step 1 is sent forward to different medium and low orbit remote sensing satellites. After receiving the collaborative observation task guidance information, each medium and low orbit remote sensing satellite independently judges whether it has the observation conditions and decides whether the satellite is feasible for the task. Then, it sends the task feasibility information back to the high-orbit remote sensing satellites until the number of medium and low orbit remote sensing satellites accepting the collaborative observation task reaches the number of multiple observation satellites required for collaborative observation conditions obtained in Step 2, or all candidate satellite sources and their candidate time windows for medium and low orbit remote sensing satellites have been traversed.

[0018] The beneficial effects of this invention are:

[0019] 1. Based on the target feature parameters autonomously sensed by high-orbit remote sensing satellites and the information of candidate satellite sources of medium and low orbit remote sensing satellites pre-injected onto high-orbit remote sensing satellites, this invention can quickly simplify the calculation and judgment of whether the imaging capabilities and target recognition capabilities of medium and low orbit remote sensing satellites meet the requirements of collaborative observation missions.

[0020] 2. This invention prioritizes the application capability indicators of different medium and low orbit remote sensing satellites for moving targets by comprehensively weighting the values. Through information exchange between high orbit remote sensing satellites and medium and low orbit remote sensing satellites based on inter-satellite links and autonomous decision-making by both parties, the final satellite source and actual window of medium and low orbit remote sensing satellites used for collaborative observation are determined interactively and dynamically.

[0021] 3. This invention uses multiple parameters such as response timeliness, imaging capability, and target recognition capability as a comprehensive weighted value as an application capability index, which is used as a quantitative evaluation standard, making the evaluation more accurate;

[0022] 4. This invention uses the Johnson criterion as the criterion, which can better determine whether the target recognition capability requirement is met by setting a probability.

[0023] 5. This invention calculates a comprehensive weighted value of the application capability index for each satellite in each time window according to the weight allocation, and determines whether the satellite is feasible for the mission.

[0024] 6. This invention adopts the method of autonomously marking high-orbit remote sensing satellites to receive collaborative observation tasks, until the number of medium and low orbit remote sensing satellites receiving collaborative observation tasks reaches the number of multiple observation satellites required by the collaborative observation conditions, or until all N medium and low orbit remote sensing satellite candidate sources have been traversed. Attached Figure Description

[0025] Figure 1 This is a flowchart of the autonomous collaborative satellite selection method for high-orbit tracking and guidance of moving targets in low-orbit and medium-orbit satellite identification, as described in a specific embodiment of the present invention. Detailed Implementation

[0026] Exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the embodiments shown and described in the drawings are merely exemplary and are intended to illustrate the principles and spirit of the present invention, and are not intended to limit the scope of the present invention.

[0027] like Figure 1 As shown, the present invention provides a method for autonomous and collaborative satellite selection for high-orbit tracking and guidance of moving targets in low-to-medium orbit, specifically including the following steps:

[0028] Step 1: The high-orbit remote sensing satellite detects moving targets and keeps tracking and monitoring them. Through on-board information processing, it autonomously detects targets and calculates their current position, velocity, direction, shortest side length, and corresponding time. These parameters are then used as guidance information for collaborative observation tasks.

[0029] Step 2: The ground system pre-injects the collaborative observation requirements and candidate satellite source information of medium and low orbit remote sensing satellites into the high-orbit remote sensing satellites; based on the candidate satellite source information of medium and low orbit remote sensing satellites, as well as the high-orbit remote sensing satellite's own on-orbit operation status and imaging performance parameters, the high-orbit remote sensing satellites calculate and judge the imaging capability and target recognition capability of all candidate medium and low orbit remote sensing satellites when observing moving targets; then, the high-orbit remote sensing satellites select candidate satellite sources whose estimated imaging capability and target recognition capability meet the collaborative observation requirements, and these become the first round of candidate satellite sources for the medium and low orbit remote sensing satellites participating in the collaborative observation.

[0030] This step is because the target feature parameters autonomously sensed by the high-orbit remote sensing satellite and the information of the alternative satellite sources of medium and low orbit remote sensing satellites pre-injected into the high-orbit remote sensing satellite can quickly simplify the calculation and judgment of whether the imaging capabilities and target recognition capabilities of the medium and low orbit remote sensing satellites meet the requirements of the collaborative observation mission.

[0031] In this embodiment, the ground system pre-injects collaborative observation conditions requirements onto the high-orbit remote sensing satellite, including payload type (SensorType), resolution (GSD), swath width (B), weather conditions (W), illumination conditions (S), target recognition capability threshold, number of multiple observation satellites, and observation start and end time range.

[0032] In this embodiment, the candidate satellite source information for medium and low orbit remote sensing satellites includes satellite designation, payload type, resolution, swath width, observable weather conditions, observable illumination conditions, and initial orbital elements.

[0033] In this embodiment, the Johnson criterion is used as the criterion for judging the imaging capability and target recognition capability of all medium and low orbit remote sensing satellite candidate sources when observing moving targets. That is, when the shortest side length of the target exceeds a set multiple of the spatial resolution, it is determined that the target recognition capability requirement is met with a set probability.

[0034] Step 3: Based on the initial orbital elements of each medium- and low-orbit remote sensing satellite and the target's position, velocity, and directional motion parameters, the high-orbit remote sensing satellites predict the orbital arcs and corresponding time ranges for target overpass observations. Then, they calculate the application capability indicators of each medium- and low-orbit remote sensing satellite for the target in each orbital arc, and select medium- and low-orbit remote sensing satellites that meet the requirements for collaborative observation, along with their orbital arcs and corresponding time ranges, as candidate satellite sources and their time windows for the second round of screening for collaborative observation.

[0035] In this embodiment, the application capability indicators include response timeliness, imaging capability, and target recognition capability.

[0036] The specific steps are as follows:

[0037] 3.1 Within the observation start and end time range required by the aforementioned collaborative observation conditions, starting from the observation start time required by the collaborative observation conditions, based on the initial orbital elements of the medium- and low-Earth orbit remote sensing satellites, calculate a certain time T sequentially according to a predetermined step size. i Orbital position of low and medium Earth orbit remote sensing satellite O i ;

[0038] 3.2 Based on the time t0 when the high-orbit satellite detects the moving target and the corresponding position S0, velocity v0, and direction Dir0, calculate T obtained in step 3.1. i The new position S of the target after its movement at any given moment i Speed ​​v i Direction Dir i ;

[0039] 3.3 Calculate T i The pointing angle of the low-Earth orbit remote sensing satellite towards the target at any given time, including the roll angle. and pitch angle ω i And further calculate T i Spatial resolution (GSD) of satellite observations at any given time i Width B i Determine T i Whether the satellite at any given time meets the roll angle, elevation angle, spatial resolution, and swath width requirements specified in step one of the collaborative observation conditions;

[0040] 3.4 Based on T i At any given moment, the satellite's orbital position O i Target location S i Using a three-dimensional geometric model of the Earth and a model of the area of ​​solar illumination covering the Earth, the satellite's line of sight, i.e., its orbital position O, is calculated and determined. i To target location S i Whether the line connecting the points is obscured by the Earth itself, calculate and determine the target position S. i In T i Analyze the illumination conditions at any given time and determine whether they meet the collaborative observation conditions obtained in step one.

[0041] 3.5 Based on T i Spatial resolution (GSD) of satellite observations at any given time i Using the shortest side length L of the target obtained in step one, the Johnson criterion is applied as a criterion, i.e., when the shortest side length L of the target reaches the spatial resolution GSD... i After setting the predetermined multiple, set T i The satellite identifies the target with a corresponding probability at any given time, as T i Target identification capability of satellite observation at all times (Rc) i When the target recognition capability Rc iWhen the value is greater than the given threshold, it is determined that the target recognition capability requirement specified in the collaborative observation conditions obtained in step one is met;

[0042] 3.6 Repeat steps 3.1-3.5, record each continuous orbital arc segment and corresponding time range that meets the collaborative observation conditions obtained in step one, and use each medium-low orbit remote sensing satellite with at least one such continuous orbital arc segment and corresponding time range as a candidate satellite source after the second round of screening for participating in collaborative observation, and use the corresponding continuous orbital arc segment and corresponding time range of each satellite as its own candidate time window.

[0043] Step 4: Based on the candidate satellite sources and their candidate time windows obtained in Step 3 after the second round of screening of medium and low orbit remote sensing satellites, the high-orbit remote sensing satellites calculate the comprehensive weighted value of the application capability index for each time window of each satellite according to the weight allocation, and sort them from largest to smallest as the priority of the candidate satellite sources and their candidate time windows for medium and low orbit remote sensing satellites. Then, according to the priority from high to low, the collaborative observation task guidance information obtained in Step 1 is sent forward to different medium and low orbit remote sensing satellites. After receiving the collaborative observation task guidance information, each medium and low orbit remote sensing satellite independently judges whether it has the observation conditions and decides whether the satellite is feasible for the task. Then, it sends the task feasibility information back to the high-orbit remote sensing satellite, until the number of medium and low orbit remote sensing satellites accepting the collaborative observation task reaches the number of multiple observation satellites required for collaborative observation conditions obtained in Step 2, or all candidate satellite sources and their candidate time windows for medium and low orbit remote sensing satellites have been traversed.

[0044] The purpose of this step is to prioritize the application capabilities of different medium- and low-Earth orbit remote sensing satellites for moving targets by using a comprehensive weighted value. Through information exchange between high-Earth orbit remote sensing satellites and medium- and low-Earth orbit remote sensing satellites based on inter-satellite links and autonomous decision-making by both parties, the final source satellites and actual windows of medium- and low-Earth orbit remote sensing satellites for collaborative observation are determined interactively and dynamically.

[0045] The specific steps are as follows:

[0046] 4.1 Calculate the priority of each time window for each medium and low orbit remote sensing satellite, and use the comprehensive weighted value M of application capability index as the quantitative evaluation standard;

[0047] In this embodiment, the priority of each time window for each medium- and low-Earth orbit remote sensing satellite is calculated in the following way:

[0048] 1) The comprehensive weighted value M of the application capability index of the k-th medium-low orbit remote sensing satellite in the l-th time window kl Its basic element is response timeliness (Rs) kl Imaging capability P kl And target recognition capability Rc klApplication capability index comprehensive weighted value M kl The product of the above basic elements is M. kl =Rs kl P kl Rc kl ;

[0049] Among them, response timeliness Rs kl The imaging time T is the center point of the l-th time window of the k-th medium-low orbit remote sensing satellite. W_kl The difference between the time t0 when the high-orbit satellite detects the moving target and the time t0 is used to determine the weighting coefficient a. When this difference is greater than 0 and the smaller the value, the corresponding weighting coefficient a is determined. kl The larger the value, the closer it gets to 1; conversely, the smaller the value, the closer it gets to 0. When this difference is less than or equal to 0, the corresponding weight coefficient 'a' is... kl =0;

[0050] Imaging capability P kl The imaging time T is the center point of the l-th time window of the k-th medium-low orbit remote sensing satellite. W_kl The corresponding spatial resolution of satellite observations is GSD. W_kl Width B W_kl The comprehensive calculation yielded the following: spatial resolution GSD W_kl The corresponding weight coefficient is b 1_kl The larger the value, the closer it gets to 1; conversely, the smaller the value, the closer it gets to 0. Width B W_kl The corresponding weight coefficient is b 2_kl The larger the value, the closer it gets to 1; conversely, the smaller the value, the closer it gets to 0; thus, the imaging capability P... kl =b 1_kl GSD W_kl +b 2_kl B W_kl ;

[0051] Target recognition capability Rc kl The imaging time T of the center point of the l-th time window based on the k-th medium-low orbit remote sensing satellite. W_kl The corresponding spatial resolution of satellite observations is GSD. W_kl The target's shortest side length L, obtained in step (1), is calculated and determined using the Johnson criterion, where: when the target's shortest side length L is relative to the spatial resolution GSD W_kl When the multiplier is 8, the target recognition capability Rc kl The probability value is 50%; when the above multiplier is 12, the target recognition capability Rc kl The probability value is 80%; when the above multiple is 16 times, the target recognition capability Rc kl The probability value is 95%; the target recognition capability Rc kl The corresponding weight coefficient is c klThe larger the value, the closer it gets to 1; conversely, the smaller the value, the closer it gets to 0.

[0052] 2) For the l-th time window priority of the k-th medium-low orbit remote sensing satellite, among all candidate medium-low orbit remote sensing satellite sources and corresponding candidate time windows, the comprehensive weighted value M based on the application capability index is selected. kl Sort from largest to smallest, as the priority sort, denoted as... Where: N is the total number of all candidate time windows for all medium and low orbit satellites, H is the total number of candidate satellites for all medium and low orbit satellites, and Qi is the total number of all candidate time windows for the i-th candidate satellite.

[0053] 4.2 Based on information exchange via inter-satellite links and independent decision-making by both high-orbit and low-orbit remote sensing satellites, the final satellite source and actual window of the low-orbit remote sensing satellites used for collaborative observation are determined.

[0054] In this embodiment, the determination of the final satellite source and its actual window for the low-to-medium orbit remote sensing satellite used for collaborative observation is carried out in the following manner:

[0055] 1) Based on the number of multiple observation satellites m in the collaborative observation requirements obtained in step 2, the high-orbit remote sensing satellite selects the m highest-ranked candidate time windows from all N medium- and low-orbit remote sensing satellite candidate sources obtained in step 3, according to the priority sequence Pir obtained in step 4.1, and sends signals to the corresponding medium- and low-orbit remote sensing satellites Sat1, Sat2…Sat1. m The collaborative observation mission guidance information obtained in step one is transmitted via inter-satellite link;

[0056] 2) The low-Earth orbit remote sensing satellite Sat received the guidance information for the collaborative observation mission. i Utilizing its autonomous mission planning capabilities, the satellite autonomously determines whether its imaging, storage, attitude, energy, and other observation constraints are met. It also autonomously assesses whether received collaborative observation tasks conflict with pre-planned tasks. If conflicts exist, the low-Earth orbit remote sensing satellite Sat... i The satellite autonomously decides whether it is feasible for the mission based on pre-established rules.

[0057] 3) Medium and low Earth orbit remote sensing satellites Sat i Through inter-satellite links, information regarding the feasibility of a mission is sent to the high-orbit remote sensing satellite. If the sent information indicates that the mission is feasible, it means that the medium- and low-orbit remote sensing satellite accepts the collaborative observation mission; if the sent information indicates that the mission is not feasible, it means that the medium- and low-orbit remote sensing satellite does not accept the collaborative observation mission. When the high-orbit remote sensing satellite receives data from the medium- and low-orbit remote sensing satellite... i When the transmitted information is mission-executable information, the low-Earth orbit remote sensing satellite Sat is autonomously tagged.i Accepting this collaborative observation mission, all alternative time windows of the satellite are removed from the priority sequence Pir accordingly, thereby updating the alternative satellite sources and their alternative time window priority sequence Pir for medium and low Earth orbit remote sensing satellites;

[0058] 4) Repeat the above steps until the number of low-Earth orbit remote sensing satellites that the high-Earth orbit remote sensing satellite has autonomously marked to accept the collaborative observation mission reaches the number of multiple observation satellites m required by the collaborative observation conditions, or until all N candidate low-Earth orbit remote sensing satellite sources have been traversed.

[0059] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

Claims

1. A method for identifying autonomous collaborative star selection of a low earth orbit satellite guided by a high earth orbit tracking of a moving target, characterized in that, The method comprises the following steps: Step one: a high-orbit remote sensing satellite discovers a moving target and keeps track and monitoring, autonomously detects the target and calculates the current position, speed, direction, shortest side length and corresponding time of the target by on-board information processing, as the guiding information of the cooperative observation task; Step two: the ground system pre-loads the cooperative observation condition requirements and the selected satellite source information of the medium and low-orbit remote sensing satellite on the high-orbit remote sensing satellite; the high-orbit remote sensing satellite calculates and judges the imaging ability and target recognition ability of all the selected satellite sources of the medium and low-orbit remote sensing satellite when observing the moving target based on the selected satellite source information of the medium and low-orbit remote sensing satellite and the on-orbit operation state and imaging performance parameters of the high-orbit remote sensing satellite; then the high-orbit remote sensing satellite selects the selected satellite sources whose estimated imaging ability and target recognition ability meet the cooperative observation condition requirements as the selected satellite sources of the medium and low-orbit remote sensing satellite after the first round of screening; Step three: the high-orbit remote sensing satellite predicts the orbit arc segment and corresponding time range of each medium and low-orbit remote sensing satellite for the target transit observation based on the initial orbit elements of each medium and low-orbit remote sensing satellite and the target position and speed, direction motion parameters for the first round of selected satellite sources; then the high-orbit remote sensing satellite calculates the application ability index of each medium and low-orbit remote sensing satellite in each orbit arc segment for the target, selects the medium and low-orbit remote sensing satellite whose orbit arc segment and corresponding time range meet the cooperative observation condition requirements as the selected satellite sources of the medium and low-orbit remote sensing satellite after the second round of screening and the selected time window; Step four: the high-orbit remote sensing satellite calculates the application ability index comprehensive weighted value of each time window of each satellite according to the second round of selected satellite sources and the selected time window, and sorts the selected satellite sources of the medium and low-orbit remote sensing satellite and the selected time window in descending order according to the priority; then the high-orbit remote sensing satellite sends the cooperative observation task guiding information obtained in step one to different medium and low-orbit remote sensing satellites in turn according to the priority from high to low; each medium and low-orbit remote sensing satellite autonomously judges whether it has the observation condition after receiving the cooperative observation task guiding information, decides whether the satellite has the executability for the task, and then sends the task executability information to the high-orbit remote sensing satellite until the number of medium and low-orbit remote sensing satellites accepting the cooperative observation task reaches the multiple observation satellite number in the cooperative observation condition requirements obtained in step two, or all the selected satellite sources of the medium and low-orbit remote sensing satellite and the selected time window have been traversed.

2. The autonomous cooperative select-star method for identifying a low-earth orbit satellite in a high-earth orbit target motion tracking guidance according to claim 1, wherein, The ground system pre-injects the cooperative observation condition requirements to the high-orbit remote sensing satellite, including load type , resolution , width , weather condition , illumination condition , target identification ability threshold, multiple observation satellite number, observation start and end time range.

3. The autonomous cooperative select-star method for identifying a low-earth orbit satellite in a high-earth orbit target motion tracking guidance according to claim 1, wherein, The selected satellite source information of the medium and low-orbit remote sensing satellite includes the satellite code, the load type, the resolution, the width, the observable weather condition, the observable light condition, and the initial orbit element.

4. The autonomous co-operative select-star method for identifying a low-earth orbit satellite in a high-earth orbit target motion tracking guidance according to claim 1, wherein, The judgment of the imaging ability and target recognition ability of all the selected satellite sources of the medium and low-orbit remote sensing satellite when observing the moving target adopts the Johnson criterion as the criterion, that is, when the shortest side length of the target exceeds the set multiple of the spatial resolution, it is determined that the target recognition ability requirement is met with a set probability.

5. The autonomous co-operative select-star method for identifying a low-earth orbit satellite in a high-earth orbit target motion object tracking guidance according to claim 1, wherein, The application ability index includes the response timeliness, the imaging ability and the target recognition ability.

6. The autonomous co-operative select-star method for identifying a low-earth orbit satellite in a high-earth orbit target motion object tracking guidance according to claim 1, wherein, Step three comprises the following specific steps: 3.1 According to the observation start and end time range required by the cooperative observation condition, from the observation start time required by the cooperative observation condition, based on the initial orbital elements of the medium and low earth orbit remote sensing satellite, the orbital position of the medium and low earth orbit remote sensing satellite at a certain time is calculated in turn with a predetermined step size Orbital position of the medium and low earth orbit remote sensing satellite ; 3.2 Based on the time when the high-orbit satellite detects the moving target and corresponding positions ,speed ,direction The result obtained in step 3.1 The target's new position after movement ,speed ,direction ; 3.3 Calculation the observation pointing angle of the target by the low-orbit remote sensing satellite at the moment, including the roll angle and the pitch angle and further calculating the spatial resolution of the satellite observation at the moment , the swath , judging whether the satellite at the moment meets the roll angle, pitch angle, spatial resolution, swath required by the cooperative observation condition obtained in step one; 3.4 based on satellite orbit position , target position , using the three-dimensional geometric model of the earth body and the sun's light coverage area model on the earth, calculate and judge whether the satellite observation line of sight, i.e. the satellite orbit position to the target position is blocked by the earth body, calculate and judge the light conditions of the target position at the time and determine whether the cooperative observation condition requirements obtained in step one are met; 3.5 based on spatial resolution of the satellite at the time and the target minimum side length dimension obtained in step one , using Johnson criterion as the criterion, that is, when the target minimum side length dimension reaches a predetermined multiple of the spatial resolution , set the probability of the satellite at the time identifying the target as the target identification capability of the satellite at the time of observation ; When the target recognition capability is greater than a given threshold, it is determined that the target recognition capability requirement prescribed by the cooperative observation condition requirement obtained in step one is satisfied. 3.6 Repeat steps 3.1-3.5, record each segment of the continuous orbit arc segment and the corresponding time range that meets the requirements of the cooperative observation conditions obtained in step one, and take each of the above-mentioned continuous orbit arc segment and the corresponding time range with a number of no less than 1 as the second round of selected satellite sources of the medium and low orbit remote sensing satellite after screening for cooperative observation, and take the corresponding continuous orbit arc segment and the corresponding time range of each satellite as the respective selected time window.

7. The autonomous cooperative select-star method for identifying a low-earth orbit satellite in a high-earth orbit target motion tracking guidance according to claim 1 or 6, wherein, The specific steps of step four are as follows: 4.1 Calculate the priority of each time window of each medium-low earth orbit remote sensing satellite, using the comprehensive weighted value of the capability index As a quantitative evaluation standard; 4.2 The high-orbit remote sensing satellite and the medium and low-orbit remote sensing satellite exchange information based on the inter-satellite link and make independent decisions to determine the final satellite source of the medium and low-orbit remote sensing satellite for cooperative observation and the actual window thereof.

8. The autonomous cooperative co-selection method for identifying a low earth orbit satellite for guiding a high earth orbit moving target in a high earth orbit tracking according to claim 7, wherein, The priority of each time window of each medium and low-orbit remote sensing satellite is calculated in the following manner: 1) No. The first of the medium and low orbit remote sensing satellites The comprehensive weighted value of application capability indicators for each time window Its basic element is responsiveness. Imaging capabilities and target recognition capabilities Comprehensive weighted value of application capability indicators It is obtained by multiplying the above basic elements; 2) For the first The first of the medium and low orbit remote sensing satellites The priority of each time window is determined by a comprehensive weighted value based on application capability indicators across all candidate low-Earth orbit remote sensing satellite sources and their corresponding time windows. Sort from largest to smallest, as the priority sort.

9. The autonomous cooperative select-star method for identifying a low-earth orbit satellite in a high-earth orbit target motion object tracking guidance according to claim 8, wherein, The final satellite source of the medium and low-orbit remote sensing satellite for cooperative observation and the actual window thereof are determined in the following manner: 1) the number of multiple observation satellites required in the cooperative observation condition requirements obtained in step two , from all the low-orbit remote sensing satellite candidate sources obtained in step three, the priority sequence obtained in step 4.1 , select the top candidate time windows, and respectively send the cooperative observation task guidance information obtained in step one to the corresponding low-orbit remote sensing satellites through the inter-satellite link; 2) the medium and low earth orbit remote sensing satellite receiving the cooperative observation task guidance information using its autonomous task planning capability, autonomously judging whether the imaging, storage, attitude, energy and other observation constraint conditions of the satellite are satisfied, and autonomously judging whether the received cooperative observation task conflicts with the task planned and arranged; if there is a conflict, the medium and low earth orbit remote sensing satellite autonomously deciding according to a pre-established rule whether the satellite has the executability for the task; 3) Medium and low orbit remote sensing satellite Through the inter-satellite link, the information of whether the task is executable is sent to the high orbit remote sensing satellite. If the sent information is the information of task executable, it represents that the medium and low orbit remote sensing satellite accepts the cooperative observation task. If the sent information is the information of task unexecutable, it represents that the medium and low orbit remote sensing satellite does not accept the cooperative observation task. When the high-orbit remote sensing satellite gets the medium-low-orbit remote sensing satellite The information sent is the task executable information, then the medium-low-orbit remote sensing satellite is autonomously marked Accept the cooperative observation task, and correspondingly remove all the candidate time windows of the satellite from the priority sequence of the medium-low-orbit remote sensing satellite candidate source and the priority sequence of the candidate time windows of the medium-low-orbit remote sensing satellite candidate source are updated ; 4) Repeat the above steps until the number of medium and low orbit remote sensing satellites that accept the cooperative observation task marked by the high orbit remote sensing satellite independently reaches the multiple observation satellite number in the cooperative observation condition requirement , or all medium and low orbit remote sensing satellite candidate sources have completed traversal.

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