Emergency task planning method for low earth orbit remote sensing satellite constellation based on knapsack model

Abstract

The present application relates to a kind of low-orbit remote sensing satellite constellation emergency task planning method based on knapsack model, comprising the following steps: obtaining the emergency imaging requirement proposed by user, obtaining emergency target information and calculating the multiple-star transit imaging window of emergency target according to the multiple satellite and satellite orbit information designated by emergency demand, and according to the observation time interval, eliminate the transit imaging window not in interval;Determine whether the multiple-star transit imaging window has the control station that meets the upper injection condition, eliminate the transit imaging window without the control station that meets the upper injection condition;According to the satellite to which the transit imaging window belongs, determine whether the satellite data transmission station meets the return time efficiency.The present application is based on existing planning scheme, selects the imaging window that meets control resource, observation time efficiency, data transmission time efficiency, task cloud amount, task resolution, according to task benefit value, under the multiple-star emergency task planning scheme of maximum benefit, effectively deal with the rapid response of sudden emergency event.

Description

Technical Field

[0001] This invention relates to the field of low-Earth orbit remote sensing satellite constellation mission planning technology, and in particular to a method for emergency mission planning of low-Earth orbit remote sensing satellite constellations based on a multi-knapsack model. Background Technology

[0002] Routine mission planning involves user requirements, requirements scheduling, satellite telemetry and control, and data reception. User requirements are routine observation needs proposed by users based on target point or target area observation tasks. Requirement types include single-track coverage of point targets and multi-track coverage of area targets, with the requirement acquisition cycle divided into single effective observations or multiple repeated observations. Requirements scheduling involves resolving satellite resource conflicts by considering all user observation needs while satisfying satellite constraints, mission benefits, meteorological cloud image forecast information, window side-swing values, solar altitude angles, and other limitations. Mission planning allocates appropriate data transmission station receiving resources to imaging tasks based on the distribution of satellite imaging tasks, generating satellite imaging and data transmission plan instructions and data transmission station receiving plans after assigning data transmission stations to imaging tasks.

[0003] With the continuous development of satellite technology and the increasing demands of users for remote sensing, there is a growing number of sudden and time-sensitive observation tasks, such as natural disasters like explosions, forest fires, earthquakes, landslides, mudslides, and volcanic eruptions, or other emergency observation tasks. These tasks differ from traditional observations in that they are typically sudden and unpredictable, with relatively concentrated target areas. Furthermore, these tasks are accompanied by strong time-sensitive requirements; data exceeding these requirements will lose its value.

[0004] Such emergency missions are characterized by their suddenness and high timeliness, requiring rapid system response and timely mobilization of satellite resources to acquire image data, completing the mission's imaging and data transmission within the specified timeframe. Conventional mission planning models, which plan imaging and data transmission tasks for the following day, cannot meet the needs of emergency mission planning. In emergency missions, mission timeliness primarily consists of two steps: target observation and data transmission, each significantly impacting the overall timeliness of the emergency mission. Therefore, when an emergency mission occurs, separate timeliness requirements for observation and data transmission are specified for each step. In rapid target observation with multiple satellites, differences in satellite orbits and local time result in varying transit times at the target point. Therefore, the selected imaging window must meet observation timeliness requirements; that is, the transit window time must fall within the specified time range to be considered timely. In the rapid data transmission portion, data transmission stations in different regions experience varying data return times due to mission congestion and network limitations. Therefore, the selected data transmission stations must meet data return timeliness requirements. Thus, for both rapid target observation and rapid data transmission, selecting appropriate observation windows and data transmission station resources is particularly crucial in emergency mission planning.

[0005] The following conditions must be met during the emergency mission planning process:

[0006] (1) Emergency mission planning needs to generate a transit window for emergency needs based on the emergency target point area information and emergency timeliness requirements provided by the user, according to the satellite orbit and target point. The transit window needs to meet the observation timeliness interval.

[0007] (2) The transit window for emergency needs must have monitoring and control resources, and the monitoring and control resources must meet the emergency command upload requirements, at least meet the monitoring and control requirements of the current circle, and complete the emergency command upload for the day.

[0008] (3) After selecting the measurement and control time, the imaging plan for the unfinished data transmission after the measurement and control time can be adjusted, and emergency tasks and routine tasks can be rearranged. For emergency tasks, data transmission stations that meet the data return time requirements can be selected for data transmission. At the same time, corresponding plans and instructions are generated for the rearranged emergency imaging scheme and sent to the data transmission station and data receiving system respectively. Emergency instructions are sent to the emergency measurement and control circle.

[0009] (4) Emergency mission planning is carried out on the day the emergency needs are proposed. However, since the satellite instructions for the regular mission planning have been uploaded on the same day, when there is a conflict with the emergency mission, it is necessary to adjust the satellite imaging plan and increase the instruction priority to replace the mission.

[0010] (5) The data transmission station receives emergency task data, prioritizes its transmission to the processing system, and prioritizes data processing to achieve rapid response in data processing.

[0011] (6) If, when an emergency request is made, none of the satellites specified in the request have an observation window on that day, the mission cannot be carried out. Summary of the Invention

[0012] This invention addresses the problem of adjusting and replanning the original mission sequence after the arrival of emergency missions in a multi-satellite, multi-emergency mission environment by providing a low-Earth orbit remote sensing satellite constellation emergency mission planning method based on a multi-knapsack model.

[0013] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0014] A method for emergency mission planning of low-Earth orbit remote sensing satellite constellations based on a multi-knapsack model includes the following steps:

[0015] Step 1: Obtain the emergency imaging requirements proposed by the user, acquire emergency target information, calculate the multi-satellite transit imaging window of the emergency target based on the multiple satellites and satellite orbit information specified in the emergency requirements, and remove transit imaging windows that are not within the observation time interval.

[0016] Step 2: Determine whether there are any telemetry and control stations that meet the uploading conditions in the multi-satellite transit imaging window, and remove the transit imaging windows of telemetry and control stations that do not meet the uploading conditions;

[0017] Step 3: Based on the satellite to which the overpass imaging window belongs, determine whether the satellite's data transmission station meets the return transmission time requirement;

[0018] Step 4: When there are multiple emergency needs, and each need has multiple imaging windows that meet the conditions, check in a loop whether the satellite to which each window belongs has unused spare data transmission that meets the time requirement. If spare data transmission exists, use it directly to complete the emergency need, and the need is marked as completed; uncompleted needs proceed to Step 5.

[0019] Step 5: Based on the multi-satellite imaging windows and conventional task planning schemes for the multiple requirements that were not planned in Step 4, construct a multi-satellite emergency task multi-knapsack model. In the multi-knapsack model, the data transmission set used in conventional task planning is abstracted as a knapsack, the tasks completed in daily task planning and emergency task windows are abstracted as items, and the multi-satellite emergency task planning problem is abstracted as a multi-knapsack problem. The original scheme is optimized with the goal of maximizing the total task benefit and minimizing it, and the final multi-satellite emergency task planning scheme is obtained.

[0020] Step Six: The multi-star emergency mission planning algorithm based on the multi-knapsack model is solved using the tabu search algorithm.

[0021] In the above technical solution, the multi-knapsack model for multi-satellite emergency mission planning in step five is as follows:

[0022] The set of observational resource satellites S = {1,2,3,…,N} s}, where N s The number of satellites;

[0023] The set of telemetry and control stations is C = {1,2,3,…,N} C}, where N c The number of telemetry and control stations;

[0024] Data transmission station set D = {1,2,3,…,N} d}, where N d Number of data transmission stations;

[0025] The k-th visible time window for satellite s to track and control station c Perform instruction annotation, among which For the start time, The end time; the h-th visible time window of satellite s logarithmic transmission station d. Data transmission is performed, where the start time is... End time is This represents the data return time of data transmission station d;

[0026] The tasks include routine tasks and emergency tasks; the task set A = {1,2,3,…,N} a}, where N a The number of tasks; for any task i in the task set, the attributes include: task class, task observation time interval (WTL), and data transmission time interval (DT). limit Task Profit, Task Visible Window Set TW i Six attributes;

[0027] Where Class = normal represents a routine task, and Class = Emergency represents an emergency task; the task observation time interval WTL = [WTL start WTL end ], among which, WTL start WTL is the start time of the interval. end This is the end time of the interval; TW i ={1,2,3…N tw}, where N tw The number of visible windows for task i;

[0028] The j-th visible window of satellite s for mission i is The window start time is End time is variable Let be the decision variable for satellite s regarding whether to select the j-th window for mission i to execute the mission. This indicates that the window has been selected. This indicates that the window is not selected; define decision variables. This indicates whether satellite s uses the h-th data transmission window of data transmission station d under satellite s for data transmission in the j-th window of mission i. Satellite s uses a data transmission window during the j-th observation window of mission i. To transmit, This means that a data transfer window is not used. Transmit;

[0029] 1) Uniqueness constraint of the imaging target

[0030] In the multi-star imaging window for Task i, you can select at most one:

[0031]

[0032] 2) Transition constraints between satellite missions

[0033] The time interval between two windows for the same satellite must be greater than the attitude adjustment time;

[0034] Task i and i ′ Imaging window and Simultaneously, the conversion constraints when selected are based on the satellite conversion time T corresponding to the satellite side-swing maneuver angle. trans It must meet the following requirements:

[0035]

[0036] or

[0037]

[0038] Imaging window of task i and data transmission station d With data transmission window Transformation constraints when both are selected:

[0039]

[0040] or

[0041]

[0042] The same satellite s transmits to two data stations d and d ′ Two data transmission windows and Transformation constraints when both are selected:

[0043]

[0044] or

[0045]

[0046] 3) Uniqueness constraint of data transmission station

[0047] An antenna at the same data transmission station can only transmit data to one satellite at a time. The switching time of the data transmission station antenna is T_trans. Data transmission station d transmits data to satellites s and s... ′ When the data transmission windows of two satellites are used simultaneously, the following conversion constraints must be satisfied:

[0048]

[0049] or

[0050]

[0051] 4) Data transmission duration constraint

[0052] The total duration of all imaging tasks transmitted in the h-th window of data transmission station d used by satellite s should be less than or equal to the total available data transmission duration of data transmission station d.

[0053]

[0054] 5) Time constraints for imaging tasks

[0055] Imaging missions have time requirements, necessitating that the imaging be completed within the observation timeframe during the emergency mission observation window.

[0056]

[0057] 6) Data transmission timeliness constraints

[0058] When the data transmission station d of satellite s performs task i in the h-th window, the data transmission timeliness constraint must be met:

[0059]

[0060] 7) Objective function

[0061] The imaging benefits of the final satellite deployment are used as the measure of total revenue;

[0062]

[0063] In the above technical solution, in step six, the multi-knapsack model is solved by the tabu search algorithm. When the algorithm converges or reaches the set number of iterations of 10,000, the algorithm terminates and the algorithm result is obtained.

[0064] The present invention has the following beneficial effects:

[0065] This invention addresses the characteristics of emergency missions, such as their suddenness and high timeliness requirements. It proposes a low-Earth orbit remote sensing satellite constellation emergency mission planning method based on a multi-knapsack model. This method is based on existing planning schemes, selects imaging windows that meet the requirements of telemetry and control resources, observation timeliness, data transmission timeliness, mission cloud cover, and mission resolution, and proposes a multi-satellite emergency mission planning scheme that maximizes mission benefits based on mission benefit values, effectively addressing rapid responses to sudden emergency events. Attached Figure Description

[0066] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0067] Figure 1 This is a schematic diagram illustrating the emergency planning process of the low-Earth orbit remote sensing satellite constellation emergency mission planning method based on the multi-knapsack model of the present invention applied to multi-satellite and multi-station missions.

[0068] Figure 2 for Figure 1A flowchart of the planning scheme for generating multi-satellite emergency missions using a multi-knapsack model.

[0069] Figure 3 This is a schematic diagram of the tabu search algorithm structure involved in this invention. Detailed Implementation

[0070] The inventive concept of this invention is as follows: Multi-satellite emergency mission planning requires consideration of constraints such as satellite orbit, satellite maneuvering, mission timeliness, satellite telemetry and control, and data transmission window at data transmission stations, as well as their complex and coupled multi-constraint limitations. The multi-satellite emergency mission planning problem is defined as a multi-knapsack problem. The imaging window is abstracted as an item, and the data transmission to be used is abstracted as a knapsack. The data transmission capacity is the knapsack capacity, and the imaging window duration is the space occupied by the item. Here, the relevant variable definitions and constraints in the multi-knapsack model for multi-satellite emergency mission planning are explained as follows:

[0071] The set of observational resource satellites S = {1,2,3,…,N} s}, where N s The number of satellites.

[0072] The set of telemetry and control stations is C = {1,2,3,…,N} C}, where N c This refers to the number of telemetry and control stations.

[0073] Data transmission station set D = {1,2,3,…,N} d}, where N d The number of data transmission stations.

[0074] The k-th visible time window for satellite s to track and control station c Perform instruction annotation, among which For the start time, The end time; the h-th visible time window of satellite s logarithmic transmission station d. Data transmission is initiated. The start time is... End time is This represents the data return time of data transmission station d.

[0075] The tasks include routine tasks and emergency tasks. The task set A = {1, 2, 3, ..., N} a}, where N a The number of tasks; for any task i in the task set, the attributes include: task class, task observation time interval (WTL), and data transmission time interval (DT). limit Task Profit, Task Visible Window Set TW i Six attributes, etc.

[0076] Where Class = normal represents a routine task, and Class = Emergency represents an emergency task. The task observation time interval WTL = [WTL...] start WTL end ], among which, WTL start WTL is the start time of the interval. end This is the end time of the interval; TW i ={1,2,3…N tw}, where N tw The number of visible windows for task i.

[0077] The j-th visible window of satellite s for mission i is The window start time is End time is variable Let be the decision variable for satellite s regarding whether to select the j-th window for mission i to execute the mission. This indicates that the window has been selected. This indicates that the window is not selected. Define decision variables. This indicates whether satellite s uses the h-th data transmission window of data transmission station d under satellite s for data transmission in the j-th window of mission i. Satellite s uses a data transmission window during the j-th observation window of mission i. To transmit, This means that a data transfer window is not used. Transmit the data.

[0078] 1) Uniqueness constraint of the imaging target

[0079] In the multi-star imaging window for Task i, you can select at most one:

[0080]

[0081] 2) Transition constraints between satellite missions

[0082] The time interval between two windows for the same satellite must be greater than the attitude adjustment time.

[0083] Task i and i ′ Imaging window and Simultaneously, the conversion constraints when selected are based on the satellite conversion time T corresponding to the satellite side-swing maneuver angle. trans It must meet the following requirements:

[0084]

[0085] or

[0086]

[0087] Imaging window of task i and data transmission station d With data transmission window Transformation constraints when both are selected:

[0088]

[0089] or

[0090]

[0091] The same satellite s transmits to two data stations d and d ′ Two data transmission windows and Transformation constraints when both are selected:

[0092]

[0093] or

[0094]

[0095] 3) Uniqueness constraint of data transmission station

[0096] An antenna at the same data transmission station can only transmit data to one satellite at a time. The switching time of the data transmission station antenna is T_trans. Data transmission station d transmits data to satellites s and s... ′ When the data transmission windows of two satellites are used simultaneously, the following conversion constraints must be satisfied:

[0097]

[0098] or

[0099]

[0100] 4) Data transmission duration constraint

[0101] The total duration of all imaging tasks transmitted in the h-th window of data transmission station d used by satellite s should be less than or equal to the total available data transmission duration of data transmission station d.

[0102]

[0103] 5) Time constraints for imaging tasks

[0104] Imaging missions have time requirements, necessitating that the imaging be completed within the observation timeframe during the emergency mission observation window.

[0105]

[0106] 6) Data transmission timeliness constraints

[0107] When the data transmission station d of satellite s performs task i in the h-th window, the data transmission timeliness constraint must be met:

[0108]

[0109] 7) Objective function

[0110] The imaging benefits of the final satellite deployment are used as the measure of total benefits.

[0111]

[0112] In the multi-satellite emergency mission planning model, the set of available data transmission windows D is defined as a knapsack, and the data transmission capacity is... This refers to the capacity of the backpack; the imaging task window... Defined as an item, the value obtained from the imaging task is the item's profit value, and the imaging window duration is... Given the data transmission capacity occupied by each item, a multi-knapsack model is used to determine the execution order of multiple tasks and allocate data transmission resources to them. The objective function is to maximize the total profit of all items placed in the knapsack.

[0113] The present invention will now be described in detail with reference to the accompanying drawings.

[0114] like Figure 1-3 As shown, the emergency mission planning method for low-Earth orbit remote sensing satellite constellations based on a multi-knapsack model of the present invention includes the following steps:

[0115] Step 1: Obtain the emergency imaging requirements proposed by the user, acquire emergency target information, and calculate the multi-satellite transit imaging window of the emergency target based on the multiple satellites and satellite orbit information specified in the emergency requirements. Then, based on the observation time period, eliminate transit imaging windows that are not within the time period. If none of the transit imaging windows are within the observation time period, this task cannot be planned.

[0116] Step 2: Determine if there are any telemetry and control stations that meet the uploading conditions in the multi-satellite transit imaging window. Remove transit imaging windows from telemetry and control stations that do not meet the uploading conditions. If there are no telemetry and control stations that meet the uploading conditions in all multi-satellite transit imaging windows, this task cannot be planned.

[0117] Step 3: After meeting the above conditions, determine whether the data transmission station of the satellite to which the overpass imaging window belongs meets the data return timeliness requirement, based on the satellite to which it belongs. In multi-satellite emergency mission planning, the data transmission stations already used in the satellite's regular mission planning and the unused idle data transmission stations are used as the candidate set of data transmission stations for emergency planning. Using the data transmission set used in the regular mission planning can reduce the difference between the new planning scheme and the original planning scheme, avoiding excessive discrepancies between the new and original schemes. At the same time, it is necessary to determine whether the data return timeliness requirement is met in the candidate set. If the data return timeliness requirement is not met in any of them, the overpass imaging window is removed.

[0118] Step 4: After the above conditions are met, when there are multiple emergency needs and multiple imaging windows that meet the conditions for each need, the satellite to which each window belongs is checked in a loop to see if there is any unused spare data transmission that meets the time requirement. If there is spare data transmission, the spare data transmission is used directly to complete the emergency need and the need is marked as completed; uncompleted needs proceed to Step 5.

[0119] Step 5: Construct a multi-satellite emergency mission multi-knapsack model for the multiple satellite imaging windows and regular mission planning schemes that were not planned in Step 4. In the multi-knapsack model, the data transmission set used in regular mission planning is abstracted as a knapsack, and the tasks completed in daily mission planning and emergency mission windows are abstracted as items. Adjust the original scheme to maximize the total mission benefit to obtain the final multi-satellite emergency mission planning scheme.

[0120] Step Six: The multi-star emergency task planning algorithm based on the multi-knapsack model is solved using the tabu search algorithm. The tabu search algorithm, also known as the hill-climbing heuristic algorithm, starts searching from the current solution and compares it with surrounding neighboring solutions, continuously moving closer to the optimal solution. Even if there is no better solution in the neighborhood, it can still choose the optimal one. This characteristic allows tabu search to escape local optima and has the ability to search for the global optimum. In the multi-star emergency task planning problem, the tabu search algorithm is used to solve the multi-knapsack multi-star emergency task planning problem. By fully utilizing the strong local search capability of the tabu search algorithm, a better result is obtained by solving the planning problem using the tabu search algorithm.

[0121] The tabu search algorithm is used to solve the multi-knapsack model. The algorithm terminates when it converges or reaches the set number of iterations (10,000), yielding the results. The tabu search algorithm, by adjusting the conventional scheme and maximizing the benefit, provides a multi-satellite emergency mission planning scheme, effectively addressing rapid responses to sudden emergencies and completing the selection of imaging and data transmission windows for multi-satellite emergency missions.

[0122] Finally, a matching scheme between the imaging window and the data transmission window that meets the requirements of telemetry and control resources, observation timeliness, and data transmission timeliness is obtained through a multi-satellite emergency mission planning algorithm based on a multi-knapsack model. This generates multi-satellite emergency mission planning instructions, enabling rapid response and automation of emergency missions.

[0123] This invention addresses the characteristics of emergency missions, such as their suddenness and high timeliness requirements, by proposing a low-Earth orbit remote sensing satellite constellation emergency mission planning method based on a multi-knapsack model. This method is based on existing planning schemes, selects imaging windows that meet the requirements of telemetry and control resources, observation timeliness, data transmission timeliness, mission cloud cover, and mission resolution, and proposes a multi-satellite emergency mission planning scheme that maximizes mission benefits based on mission benefit values, effectively addressing rapid responses to sudden emergency events.

[0124] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for emergency mission planning of low-Earth orbit remote sensing satellite constellations based on a multi-knapsack model, characterized in that, Includes the following steps: Step 1: Obtain the emergency imaging requirements proposed by the user, acquire emergency target information, calculate the multi-satellite transit imaging window of the emergency target based on the multiple satellites and satellite orbit information specified in the emergency requirements, and remove transit imaging windows that are not within the observation time interval. Step 2: Determine whether there are any telemetry and control stations that meet the uploading conditions in the multi-satellite transit imaging window, and remove the transit imaging windows of telemetry and control stations that do not meet the uploading conditions; Step 3: Based on the satellite to which the overpass imaging window belongs, determine whether the satellite's data transmission station meets the return transmission time requirement; Step 4: When there are multiple emergency needs, and each need has multiple imaging windows that meet the conditions, check in a loop whether the satellite to which each window belongs has unused spare data transmission that meets the time requirement. If spare data transmission exists, use it directly to complete the emergency need, and the need is marked as completed; uncompleted needs proceed to Step 5. Step 5: Based on the multi-satellite imaging windows for multiple needs that were not planned in Step 4 and the conventional task planning scheme, construct a multi-satellite emergency task multi-knapsack model. In the multi-knapsack model, the data transmission set used in the conventional task planning is abstracted as a knapsack, the tasks completed in the daily task planning and the emergency task windows are abstracted as items, and the multi-satellite emergency task planning problem is abstracted as a multi-knapsack problem. Adjust the original scheme to maximize the total task benefit to obtain the final multi-satellite emergency task planning scheme. Step Six: The multi-star emergency mission planning algorithm based on the multi-knapsack model is solved using the tabu search algorithm.

2. The method for emergency mission planning of low-Earth orbit remote sensing satellite constellations based on a multi-knapsack model according to claim 1, characterized in that, In step five, the multi-knapsack model for multi-satellite emergency mission planning is: a set of observation resource satellites. ,in, The number of satellites; Collection of telemetry and control stations ,in, The number of telemetry and control stations; Data transmission station collection ,in, Number of data transmission stations; satellite The k-th visible time window for telemetry and control station c = [ [Comment on the instructions, where] For the start time, End time; satellite Logarithmic transmission station The Visible time window =[ Data transmission is performed, where the start time is... The end time is ; Representative data transmission station Data return time; The tasks include routine tasks and emergency tasks; task set ,in The number of tasks; for any task in the task set The attributes include: task category Task observation time range Data transmission timeliness Task Rewards Task visible window set Six attributes; in, This is a routine task. , representing an emergency mission; mission observation time interval WTL=[ ],in, The start time of the interval. This is the end time of the interval; ,in, For the task The number of visible windows; satellite For the task The Visible window =[ ], where the window start time is The end time is ;variable For satellite For the task The The decision variable for whether to select a window to perform a task. This indicates that the window has been selected. This indicates that the window is not selected; define decision variables. , representing satellite s for the mission The One window, whether to use the data transmission station. In satellite The next Data is transmitted through multiple windows. Representative satellite In the mission The Each observation window uses a data transmission window. To transmit, This means that a data transfer window is not used. Transmit; 1) Uniqueness constraint of the imaging target Task You can select at most once in the multi-star imaging window: 2) Transition constraints between satellite missions The time interval between two windows for the same satellite must be greater than the attitude adjustment time; Task and Imaging window and Simultaneously, the conversion constraints when selected are based on the satellite conversion time corresponding to the satellite side-swing maneuver angle. It must meet the following requirements: or Task With data transmission station Imaging window With data transmission window Transformation constraints when both are selected: or Same satellite For two data transmission stations and Two data transmission windows and Transformation constraints when both are selected: or 3) Uniqueness constraint of data transmission station An antenna at the same data transmission station can only transmit data to one satellite at a time. The switching time for the data transmission station antenna is... Data transmission station For satellite and When the data transmission windows of two satellites are used simultaneously, the following conversion constraints must be satisfied: or 4) Data transmission duration constraint Satellite requirements Data transmission used The total duration of all imaging tasks transmitted in the h-th window should be less than or equal to that of the data transmission station. Total available data transmission time: 5) Time constraints for imaging tasks Imaging missions have time requirements, necessitating that the imaging be completed within the observation timeframe during the emergency mission observation window. 6) Data transmission timeliness constraints Satellites used Data transmission station The task executed in the h-th window Data transmission timeliness constraints must be met: 7) Objective function The imaging benefits of the final satellite deployment are used as the measure of total revenue; 。 3. The method for emergency mission planning of low-Earth orbit remote sensing satellite constellations based on a multi-knapsack model according to claim 1, characterized in that, In step six, the multi-knapsack model is solved using the tabu search algorithm. The algorithm terminates when it converges or reaches the set number of iterations of 10,000, and the algorithm result is obtained.

Images