Satellite and unmanned aerial vehicle cooperative observation method for large-scale emergency scenarios

Abstract

The application provides a satellite and unmanned aerial vehicle cooperative observation method and system for large-scale emergency scenarios, a storage medium and an electronic device, and relates to the technical field of cooperative observation.According to the specific observation background of facing large-scale emergencies, the application stipulates that when observation resources perform tasks, the completion degree of the tasks needs to be given priority, and the accuracy of task execution needs to be considered next.In addition, when satellites and unmanned aerial vehicles perform task planning and scheduling, the conflicts between tasks and between tasks and time windows need to be considered.Under this premise, the addition of emergency observation further emphasizes the dynamic and timeliness characteristics of the tasks.The emergency observation task increases the constraint of the completion time, so the insertion and replacement of emergency tasks are considered during the execution process.The satellite and unmanned aerial vehicle cooperative observation for large-scale emergency scenarios is to comprehensively utilize satellites and unmanned aerial vehicles for observation with the highest expected observation task benefit as the target under the premise of considering the timeliness of the tasks.

Description

Technical Field

[0001] This invention relates to the field of collaborative observation technology, specifically to a method, system, storage medium, and electronic device for collaborative observation of satellites and drones in large-scale emergency scenarios. Background Technology

[0002] In scenarios involving large-scale emergency missions, satellites alone can provide comprehensive observation by leveraging their typically higher altitude (over 100km). However, this approach suffers from lower image resolution and less accurate observations due to the large observation area. Conversely, using drones alone may result in a limited observation range, making it impossible to grasp the overall picture quickly. A complementary approach, combining both methods, can significantly improve the completeness and accuracy of information on key targets in large-scale emergency scenarios within a shorter timeframe.

[0003] Satellite-UAV collaborative observation refers to the integrated use of satellites and UAVs to plan and execute the same observation task in a unified manner. However, existing research rarely utilizes satellite-UAV collaborative observation to handle emergency tasks, and the observation benefits of emergency tasks are usually set as fixed values ​​in the research process, without considering the impact of the completion time and importance of emergency tasks on the observation benefits. As a result, it fails to meet the goals of timeliness and maximizing the overall benefits of emergency task observation.

[0004] Therefore, it is necessary to provide a satellite and UAV collaborative observation scheme for large-scale emergency scenarios. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a method, system, storage medium, and electronic device for collaborative observation of satellites and drones in large-scale emergency scenarios, solving the technical problem of failing to fully utilize multiple observation resources in a short period of time.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A satellite and UAV collaborative observation method for large-scale emergency scenarios includes:

[0010] S1. Select the task and obtain the set of emergency tasks;

[0011] S2. Based on the satellite's visible time window and existing task constraints, and combined with the completion time window requirements of each emergency task, execute task scheduling and obtain a collaborative observation plan between the satellite and the UAV.

[0012] S3. Repeat S2 to obtain multiple satellite and UAV collaborative observation schemes;

[0013] S4. Considering maximizing the overall observation benefit, the optimal solution is selected from the multiple satellite and UAV collaborative observation schemes.

[0014] Preferably, S1 includes:

[0015] S11. Divide the specified time into time segments of fixed duration to form a set. Where Y represents the number of time periods. Let i be the set of emergency tasks within the i-th time period. y The number of emergency tasks within the i-th time period;

[0016] S12, Emergency Task Sets T at Different Time Periods E Two sets are randomly selected from the data.

[0017] S13, respectively from Identify the emergency tasks that can be executed first, in chronological order. If all options are found, proceed to S14; otherwise, end the task selection.

[0018] S14. Compare the two emergency tasks The known return value R i Size, select the profit value R. i Larger tasks are designated as pending scheduling tasks;

[0019] S15. Return the unselected emergency tasks to the task set and update all emergency tasks. Proceed to S12 until only one task remains within the specified time, at which point the task will be automatically selected for execution or the selection will automatically stop when the specified time is reached. The task selection iteration terminates and the emergency task set is output.

[0020] Preferably, S2 includes:

[0021] S21. Randomly select an emergency task from the emergency task set. Calculate its completion time window Does a set of available time windows exist that satisfy the requirements for satellite observation? If it exists, proceed to S22; if it does not exist, proceed to S27; where, For emergency missions Earliest execution time For emergency missions Latest end time;

[0022] S22. Update the set of available time windows. Will All currently available time windows are placed in chronological order. And select the available time window according to the sorting;

[0023] S23, Emergency Tasks Insert into the currently available time window. If there is no conflict with adjacent tasks, insert directly and update the scheduling sequence, then proceed to S25; if a conflict occurs, proceed to S24.

[0024] S24, Judgment and Emergency Response Tasks The conflicting task type; if it is a regular task, remove it from the scheduling sequence and replace it with an emergency task. Proceed to S25; if it is an emergency task, select to delete the available time window and proceed to S22;

[0025] S25. Calculate the minimum time required for the UAV to perform observations on the mission, and determine whether it meets the time window requirement, based on the images acquired by the satellite being transmitted to the ground station. Complete within the specified timeframe; if satisfied, proceed to S26; if not satisfied, proceed to emergency task. Completed independently by the satellite, the emergency mission was removed from the emergency mission set. And determine whether the emergency task set is empty. If it is, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, proceed to S22.

[0026] S26, Emergency Tasks The data is immediately transmitted after satellite observation is completed, and then the drone conducts high-precision observations again based on the information acquired by the satellite. The emergency task is then removed from the emergency task set. And determine whether the emergency task set is empty. If it is, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, proceed to S22.

[0027] S27. Select a drone to observe this mission, and delete the emergency mission from the emergency mission set. It then determines whether the emergency task set is empty. If so, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, it proceeds to step S22.

[0028] Preferably, in step S4, the collaborative observation schemes of multiple satellites and UAVs are evaluated and optimized based on a pre-constructed collaborative observation model; wherein the collaborative observation model includes an objective function:

[0029]

[0030]

[0031]

[0032]

[0033]

[0034]

[0035] Where i is the emergency task index. For the set of emergency tasks, m is the number of tasks; j is the index of the available time window for satellite observation, n is the number of visible time windows; k is the index of the UAV, and o is the number of UAVs;

[0036] F represents the objective of maximizing comprehensive observation benefits;

[0037] This corresponds to the combined benefit value of satellite and UAV collaborative observation, independent satellite observation, and independent UAV observation;

[0038] Corresponding to emergency missions The benefits of collaborative observation by satellite and UAV, independent satellite observation, and independent UAV observation, and

[0039] All of them are decision variables.

[0040] Preferably, the collaborative observation model further includes constraints:

[0041]

[0042]

[0043]

[0044]

[0045]

[0046]

[0047]

[0048] in, For emergency missions Earliest execution time; For emergency missions Latest end time;

[0049] This is the set of visible time windows for satellite emergency missions;

[0050] For emergency missions Duration during satellite observation; i UE For emergency missions The duration of time while being observed by a drone; For emergency missions The duration of time when they are observed collaboratively;

[0051] For satellites for emergency missions The earliest start time of the observation time window; For satellites for emergency missions The latest end time of the observation window;

[0052] For emergency missions observed by satellite The time it takes for the information to be successfully transmitted and acquired by the drone;

[0053] Formulas (7), (8), and (9) represent the time constraints for the execution of emergency tasks; Formula (10) indicates that tasks are indivisible and non-preemptive, and a task can be observed at most once; Formula (11) represents the emergency task. It cannot conflict with other ongoing emergency tasks; formulas (12) and (13) represent emergency tasks. The execution of the task must be carried out within the visible time window of the satellite. After the emergency task is observed and transmitted by the satellite, it must also be observed by the drone before the deadline of the emergency task.

[0054] A satellite and UAV collaborative observation system for large-scale emergency scenarios includes:

[0055] The task selection module is used to execute S1, select tasks, and obtain a set of emergency tasks;

[0056] The task scheduling module is used to execute S2, based on the satellite's visible time window and existing task constraints, combined with the completion time window requirements of each emergency task, to perform task scheduling and obtain a collaborative observation plan between the satellite and the UAV.

[0057] The repeat execution module is used to execute S3 and repeat S2 to obtain multiple satellite and UAV collaborative observation schemes.

[0058] The scheme evaluation module is used to execute S4, consider the maximization of comprehensive observation benefits, and evaluate and output the optimal scheme among the multiple satellite and UAV collaborative observation schemes.

[0059] A storage medium storing a computer program for satellite and drone collaborative observation in large-scale emergency scenarios, wherein the computer program causes a computer to execute the satellite and drone collaborative observation method as described above.

[0060] An electronic device, comprising:

[0061] One or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs including methods for performing satellite and UAV collaborative observation as described above.

[0062] (III) Beneficial Effects

[0063] This invention provides a method, system, storage medium, and electronic device for collaborative satellite and UAV observation in large-scale emergency scenarios. Compared with existing technologies, it has the following advantages:

[0064] This invention, based on the specific observation context of large-scale emergency response, stipulates that when observation resources execute tasks, priority should be given to task completion, followed by accuracy. Furthermore, when planning and scheduling satellite and UAV missions, conflicts between tasks and between tasks and time windows must be considered. Under this premise, the inclusion of emergency observation further emphasizes the dynamic and time-sensitive characteristics of the tasks. Emergency observation tasks have added time constraints, therefore, the insertion and replacement of emergency tasks must be considered during execution. Satellite and UAV collaborative observation in large-scale emergency scenarios, considering the urgency of task time, aims to maximize the expected observational benefits by comprehensively utilizing both satellites and UAVs for observation. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 A block diagram illustrating a satellite and UAV collaborative observation method for large-scale emergency scenarios, provided by an embodiment of the present invention;

[0067] Figure 2 This is a structural block diagram of a satellite and UAV collaborative observation system for large-scale emergency scenarios, provided as an embodiment of the present invention. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] This application provides a satellite and UAV collaborative observation method, system, storage medium, and electronic device for large-scale emergency scenarios, solving the technical problem of failing to fully utilize multiple observation resources in a short period of time.

[0070] The technical solution in this application is to solve the above-mentioned technical problems, and the general idea is as follows:

[0071] As a method for collaborative satellite and UAV observation in large-scale emergency scenarios, this approach considers the comprehensive utilization of multiple observation resources to acquire large and detailed information within a short period. First, it considers whether a time window exists that allows the satellite to perform the emergency mission. If not, the UAV is used to perform the mission. If so, the satellite is used for large-scale observation. Then, it calculates whether the total time for data transmission and the UAV's execution of the emergency mission falls within the time window constraint. If so, joint observation by satellite and UAV is used; otherwise, satellite observation alone is considered to maximize mission completion and observational benefits.

[0072] In the process of selecting and scheduling emergency tasks, a function based on the relationship between emergency task time and benefit value was established. In the task selection process, time window constraints and benefits were considered, and random selection was introduced so that each emergency task has a chance to be observed, preventing it from converging too early.

[0073] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0074] Example:

[0075] like Figure 1 As shown, this embodiment of the invention provides a satellite and UAV collaborative observation method for large-scale emergency scenarios, including:

[0076] S1. Select the task and obtain the set of emergency tasks;

[0077] S2. Based on the satellite's visible time window and existing task constraints, and combined with the completion time window requirements of each emergency task, execute task scheduling and obtain a collaborative observation plan between the satellite and the UAV.

[0078] S3. Repeat S2 to obtain multiple satellite and UAV collaborative observation schemes;

[0079] S4. Considering maximizing the overall observation benefit, the optimal solution is selected from the multiple satellite and UAV collaborative observation schemes.

[0080] This invention addresses observation missions in large-scale emergency situations (such as rainforest fires, earthquakes, and floods), comprehensively utilizing satellites and drones to maximize the overall benefits of the observation mission. Satellite observation resources are used to pinpoint the location and extent of the incident, while drones are used for detailed observations, such as accurately locating the incident point and precisely obtaining information about it. The dual-platform observation resources enable higher-quality solutions for emergency mission planning.

[0081] The following will detail each step of the above solution:

[0082] In step S1, task selection is performed to obtain a set of emergency tasks; including:

[0083] To complete as many emergency tasks as possible within the specified time and maximize benefits, while also considering the diversity of scheduling schemes to avoid local convergence, this step divides the specified time into different time periods to group the emergency tasks. Two different time periods are randomly selected, ensuring that each emergency task has a chance of being observed and preventing premature convergence. Emergency tasks are selected chronologically within each time period. Then, the benefit values ​​of the two selected emergency tasks from the two time periods are compared, and the task with the higher benefit value is selected. Unselected emergency tasks are returned to the task set, and all emergency tasks are updated for the next task selection. This process continues until only one task remains within the specified time, at which point it is automatically selected for execution, or the selection process automatically stops when the specified time is reached, thus terminating the task selection iteration.

[0084] Specifically, S1 includes:

[0085] S11. Divide the specified time into time segments of fixed duration to form a set. Where Y represents the number of time periods. Let i be the set of emergency tasks within the i-th time period. y The number of emergency tasks within the i-th time period;

[0086] S12, Emergency Task Sets T at Different Time Periods E Two sets are randomly selected from the data.

[0087] S13, respectively from Identify the emergency tasks that can be executed first, in chronological order. If all options are found, proceed to S14; otherwise, end the task selection.

[0088] S14. Compare the two emergency tasks The known return value R i Size, select the profit value R. i Larger tasks are designated as pending scheduling tasks;

[0089] S15. Return the unselected emergency tasks to the task set and update all emergency tasks. Proceed to S12 until only one task remains within the specified time, at which point the task will be automatically selected for execution or the selection will automatically stop when the specified time is reached. The task selection iteration terminates and the emergency task set is output.

[0090] In step S2, based on the satellite's visible time window and existing task constraints, and combined with the completion time window requirements of each emergency task, task scheduling is performed to obtain a collaborative observation scheme between the satellite and the UAV.

[0091] Considering the limited operational range of satellites in orbit and their fixed observation payloads, their observation flexibility is inferior to that of UAVs. Therefore, in emergency missions, if the constraints for satellite observation are not met, UAVs will conduct independent observations. If the constraints for satellite observation are met, then satellite observations will be performed. Satellite observation information will be promptly transmitted down, and it will be calculated whether, within the emergency mission time window, it is feasible for UAVs to conduct high-precision observations again. If so, UAV observations will continue. If not, the observation mission will end. This maximizes mission completion and observational benefits.

[0092] In addition, during the emergency mission scheduling process, it is necessary to take into account the satellite's visible time window and existing mission constraints, while ensuring that the emergency mission is completed within the specified time window.

[0093] Therefore, in emergency task scheduling, the first consideration is whether there is a visible time window for the emergency task from a satellite. If so, satellite observation tasks are inserted. If not, the UAV performs the observation independently. If there is no conflict with adjacent tasks, the task is directly inserted and the scheduling sequence is updated. If there is a conflict with other regular tasks, the regular task is removed from the scheduling sequence and replaced with an emergency task. If there is a conflict with other emergency tasks, the available time window is deleted, and the available time window set for the emergency task is updated, continuing the selection process by time sorting. The time for satellite and UAV collaborative observation is then calculated to determine if it can be completed within the specified time window of the emergency task. If so, collaborative observation is performed. If not, the satellite performs the observation independently.

[0094] After the selected emergency task observation is completed, the emergency task set is updated until the set is empty, at which point the scheduling ends.

[0095] Specifically, S2 includes:

[0096] S21. Randomly select an emergency task from the emergency task set. Calculate its completion time window Does a set of available time windows (CVTW) exist that satisfy the requirements for satellite observation? i E If it exists, proceed to S22; if it does not exist, proceed to S27; where, For emergency missions Earliest execution time For emergency missions Latest end time;

[0097] S22. Update the available time window set CVTW i E ;Will All currently available time windows are placed into CVTW in chronological order. i E And select the available time window according to the sorting;

[0098] S23, Emergency Tasks Insert into the currently available time window. If there is no conflict with adjacent tasks, insert directly and update the scheduling sequence, then proceed to S25; if a conflict occurs, proceed to S24.

[0099] S24, Judgment and Emergency Response Tasks The conflicting task type; if it is a regular task, remove it from the scheduling sequence and replace it with an emergency task. Proceed to S25; if it is an emergency task, select to delete the available time window and proceed to S22;

[0100] S25. Calculate the minimum time required for the UAV to perform observations on the mission, and determine whether it meets the time window requirement, based on the images acquired by the satellite being transmitted to the ground station. Complete within the specified timeframe; if satisfied, proceed to S26; if not satisfied, proceed to emergency task. Completed independently by the satellite, the emergency mission was removed from the emergency mission set. And determine whether the emergency task set is empty. If it is, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, proceed to S22.

[0101] S26, Emergency Tasks The data is immediately transmitted after satellite observation is completed, and then the drone conducts high-precision observations again based on the information acquired by the satellite. The emergency task is then removed from the emergency task set. And determine whether the emergency task set is empty. If it is, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, proceed to S22.

[0102] S27. Select a drone to observe this mission, and delete the emergency mission from the emergency mission set. It then determines whether the emergency task set is empty. If so, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, it proceeds to step S22.

[0103] In step S3, S2 is repeated to obtain multiple satellite and UAV collaborative observation schemes.

[0104] Because step S2 sets up the random selection of emergency tasks. The iterative loop begins to obtain the final satellite and UAV collaborative observation scheme. Therefore, when randomly selecting an emergency mission... Unlike other methods, repeating S2 can yield multiple different satellite and UAV collaborative observation schemes.

[0105] In step S4, considering the maximization of comprehensive observation benefits, the optimal solution is selected from the multiple satellite and UAV collaborative observation schemes.

[0106] Under the premise that the emergency mission meets the time window for satellite and UAV collaborative observation, in order to ensure both accuracy and efficiency of the observation results and to obtain the most complete and clear image information possible within the specified time, the benefit value of adopting dual-platform collaborative repeated observation for the emergency mission is set as follows: If there is no satellite observation window for its emergency mission, then the independent observation by the UAV will be adopted directly, and its benefit value will be set to... If only independent satellite observations are satisfied within the time window of the emergency mission, then the observation benefit value is set to... The provisions

[0107] Accordingly, this step introduces a pre-built collaborative observation model to evaluate the collaborative observation schemes of multiple satellites and UAVs; wherein the collaborative observation model includes an objective function:

[0108]

[0109]

[0110]

[0111]

[0112]

[0113]

[0114] Where i is the emergency task index. For the set of emergency tasks, m is the number of tasks; j is the index of the available time window for satellite observation, n is the number of visible time windows; k is the index of the UAV, and o is the number of UAVs;

[0115] F represents the objective of maximizing comprehensive observation benefits;

[0116] This corresponds to the combined benefit value of satellite and UAV collaborative observation, independent satellite observation, and independent UAV observation;

[0117] Corresponding to emergency missions The benefits of collaborative observation by satellite and UAV, independent satellite observation, and independent UAV observation;

[0118] All of them are decision variables.

[0119] In addition, the cooperative observation model also includes constraints:

[0120]

[0121]

[0122]

[0123]

[0124]

[0125]

[0126]

[0127] in, For emergency missions Earliest execution time; For emergency missions Latest end time;

[0128] This is the set of visible time windows for satellite emergency missions;

[0129] For emergency missions Duration during satellite observation; i UE For emergency missions The duration of time when observed by a drone; dur iCE For emergency missions The duration of time when they are observed collaboratively;

[0130] For satellites for emergency missions The earliest start time of the observation time window; For satellites for emergency missions The latest end time of the observation window;

[0131] For emergency missions observed by satellite The time it takes for the information to be successfully transmitted and acquired by the drone;

[0132] Formulas (7), (8), and (9) represent the time constraints for the execution of emergency tasks; Formula (10) indicates that tasks are indivisible and non-preemptive, and a task can be observed at most once; Formula (11) represents the emergency task. It cannot conflict with other ongoing emergency tasks; formulas (12) and (13) represent emergency tasks. The execution of the task must be carried out within the visible time window of the satellite. After the emergency task is observed and transmitted by the satellite, it must also be observed by the drone before the deadline of the emergency task.

[0133] By comparison, the satellite and UAV collaborative observation scheme with the highest overall benefit value is finally output to ensure the mission completion rate and maximize benefits within the specified time.

[0134] like Figure 2 As shown, this embodiment of the invention also provides a satellite and UAV collaborative observation system for large-scale emergency scenarios, including:

[0135] The task selection module is used to execute S1, select tasks, and obtain a set of emergency tasks;

[0136] The task scheduling module is used to execute S2, based on the satellite's visible time window and existing task constraints, combined with the completion time window requirements of each emergency task, to perform task scheduling and obtain a collaborative observation plan between the satellite and the UAV.

[0137] The repeat execution module is used to execute S3 and repeat S2 to obtain multiple satellite and UAV collaborative observation schemes.

[0138] The scheme evaluation module is used to execute S4, consider the maximization of comprehensive observation benefits, and evaluate and output the optimal scheme among the multiple satellite and UAV collaborative observation schemes.

[0139] This invention also provides a storage medium storing a computer program for satellite and UAV collaborative observation in large-scale emergency scenarios, wherein the computer program enables a computer to execute the satellite and UAV collaborative observation method described above.

[0140] This invention also provides an electronic device, comprising:

[0141] One or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs including methods for performing satellite and UAV collaborative observation as described above.

[0142] It is understood that the satellite and UAV collaborative observation system, storage medium and electronic device provided in the embodiments of the present invention for large-scale emergency scenarios correspond to the satellite and UAV collaborative observation method provided in the embodiments of the present invention for large-scale emergency scenarios. The explanation, examples and beneficial effects of the relevant contents can be referred to the corresponding parts of the satellite and UAV collaborative observation method, and will not be repeated here.

[0143] In summary, compared with existing technologies, it has the following beneficial effects:

[0144] This invention, tailored to the specific observation context of large-scale emergency response, stipulates that when observation resources execute tasks, priority should be given to task completion, followed by accuracy. Furthermore, when planning and scheduling satellite and UAV missions, conflicts between tasks and between tasks and time windows must be considered. Under this premise, the addition of emergency observation further emphasizes the dynamic and time-sensitive characteristics of the tasks. Emergency observation tasks have added time constraints, therefore, the insertion and replacement of emergency tasks must be considered during execution. Satellite and UAV collaborative observation in large-scale emergency scenarios, considering the urgency of task time, aims to maximize the expected observational benefits by comprehensively utilizing both satellites and UAVs for observation.

[0145] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0146] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A satellite and UAV collaborative observation method for large-scale emergency scenarios, characterized in that, include: S1. Select the task and obtain the set of emergency tasks; S2. Based on the satellite's visible time window and existing task constraints, and combined with the completion time window requirements of each emergency task, execute task scheduling and obtain a collaborative observation plan between the satellite and the UAV. S3. Repeat S2 to obtain multiple satellite and UAV collaborative observation schemes; S4. Considering maximizing the overall observation benefit, the optimal solution is selected from the multiple satellite and UAV collaborative observation schemes. S2 includes: S21. Randomly select an emergency task from the emergency task set. Calculate its completion time window Does a set of available time windows exist that satisfy the requirements for satellite observation? If it exists, proceed to S22; if it does not exist, proceed to S27; where, For emergency missions Earliest execution time For emergency missions Latest end time; S22. Update the set of available time windows. ;Will All currently available time windows are placed in chronological order. And select the available time window according to the sorting; S23, Emergency Tasks Insert into the currently available time window. If there is no conflict with adjacent tasks, insert directly and update the scheduling sequence, then proceed to S25; if a conflict occurs, proceed to S24. S24, Judgment and Emergency Response Tasks The conflicting task type; if it is a regular task, remove it from the scheduling sequence and replace it with an emergency task. Proceed to S25; if it is an emergency task, select to delete the available time window and proceed to S22; S25. Calculate the minimum time required for the UAV to perform observations on the mission, and determine whether it meets the time window requirement, based on the images acquired by the satellite being transmitted to the ground station. Complete within the specified timeframe; if satisfied, proceed to S26; if not satisfied, proceed to emergency task. Completed independently by the satellite, the emergency mission was removed from the emergency mission set. And determine whether the emergency task set is empty. If it is, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, proceed to S22. S26, Emergency Tasks The data is immediately transmitted after satellite observation is completed, and then the drone conducts high-precision observations again based on the information acquired by the satellite. The emergency task is then removed from the emergency task set. And determine whether the emergency task set is empty. If it is, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, proceed to S22. S27. Select a drone to observe this mission, and delete the emergency mission from the emergency mission set. And determine whether the emergency task set is empty. If it is, the task scheduling ends and the satellite and UAV collaborative observation scheme is output; otherwise, proceed to S22. In step S4, the collaborative observation schemes involving multiple satellites and UAVs are evaluated and optimized based on a pre-constructed collaborative observation model; wherein the collaborative observation model includes an objective function: in, For emergency mission indexing, For emergency task collection, Number of tasks; An index of the available time windows for satellite observations. This represents the number of visible time windows; For drone indexing, Number of drones; To maximize the overall observation benefits; , , This corresponds to the combined benefit value of satellite and UAV collaborative observation, independent satellite observation, and independent UAV observation; , , Corresponding to emergency missions The benefits of collaborative observation by satellite and UAV, independent satellite observation, and independent UAV observation, and ; , All of them are decision variables.

2. The satellite and UAV collaborative observation method as described in claim 1, characterized in that, S1 includes: S11. Divide the specified time into time segments of fixed duration to form a set. ;in Number of time periods For the first A set of emergency tasks within a specific time period For the first The number of emergency tasks within a given time period; S12, Emergency Task Collection at Different Time Periods Two sets are randomly selected from the data. , ; S13, respectively from , Identify the emergency tasks that can be executed first, in chronological order. , If all options are found, proceed to S14; otherwise, end the task selection. S14. Compare the two emergency tasks , The known value of the profit Size, select the profit value Larger tasks are designated as pending scheduling tasks; S15. Return the unselected emergency tasks to the task set and update all emergency tasks. Proceed to S12 until only one task remains within the specified time, at which point the task will be automatically selected for execution or the selection will automatically stop when the specified time is reached. The task selection iteration terminates and the emergency task set is output.

3. The satellite and UAV collaborative observation method as described in claim 1, characterized in that, The collaborative observation model also includes constraints: in, For emergency missions Earliest execution time; For emergency missions Latest end time; This is the set of visible time windows for satellite emergency missions; Emergency mission The duration of time while being observed by satellite; For emergency missions The duration of time while being observed by a drone; For emergency missions The duration of time when they are observed collaboratively; Satellites for emergency missions The earliest start time of the observation time window; Satellites for emergency missions The latest end time of the observation window; Emergency missions observed by satellite The time it takes for the information to be successfully transmitted and acquired by the drone; Formulas (7), (8), and (9) represent the time constraints for the execution of emergency tasks; Formula (10) indicates that the task is indivisible and non-preemptive, and a task can be observed at most once; Formula (11) represents the emergency task. It cannot conflict with other ongoing emergency tasks; formulas (12) and (13) represent emergency tasks. The execution of the task must be carried out within the visible time window of the satellite. After the emergency task is observed and transmitted by the satellite, it must also be observed by the drone before the deadline of the emergency task.

4. A satellite and UAV collaborative observation system for large-scale emergency scenarios, characterized in that, For performing the satellite and UAV collaborative observation method as described in any one of claims 1 to 3, comprising: The task selection module is used to execute S1, select tasks, and obtain a set of emergency tasks; The task scheduling module is used to execute S2, based on the satellite's visible time window and existing task constraints, combined with the completion time window requirements of each emergency task, to perform task scheduling and obtain a collaborative observation plan between the satellite and the UAV. The repeat execution module is used to execute S3 and repeat S2 to obtain multiple satellite and UAV collaborative observation schemes. The scheme evaluation module is used to execute S4, consider the maximization of comprehensive observation benefits, and evaluate and output the optimal scheme among the multiple satellite and UAV collaborative observation schemes.

5. A storage medium, characterized in that, It stores a computer program for satellite and UAV collaborative observation in large-scale emergency scenarios, wherein the computer program causes the computer to execute the satellite and UAV collaborative observation method as described in any one of claims 1 to 3.

6. An electronic device, characterized in that, include: One or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs including methods for performing the satellite and UAV collaborative observation method as described in any one of claims 1 to 3.

Images