Agile imaging satellite multi-target observation planning method, equipment and medium

Abstract

The present invention relates to a method, device and storage medium for multi-target observation planning of an agile imaging satellite. The method comprises: step S1, constructing a clustering index of a ground target set based on satellite orbit and imaging sensor field of view parameters; step S2, clustering ground targets and merging targets with relatively close positions; step S3, calculating the attitude swing angle of the satellite to the center point of the ground target cluster, and optimizing the target observation path by using the attitude maneuvering angle; step S4, generating a time sequence of satellite attitude maneuvering and payload imaging instruction execution. The present invention optimizes and calculates the multi-target observation path of the agile imaging satellite through a clustering algorithm based on unsupervised learning and an ACS intelligent optimization algorithm, generates a satellite attitude maneuvering and payload imaging instruction time sequence, realizes the planning of observation imaging of multiple fixed targets, and can effectively reduce the time for the agile imaging satellite to observe multiple fixed targets on the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of remote sensing satellite earth detection mission planning, and in particular to an agile imaging satellite multi-target observation planning method, equipment and medium. Background Art

[0002] In recent years, agile satellite technology has developed rapidly, and its space pointing rapid maneuverability has become increasingly stronger, and its pointing accuracy and stability have become increasingly higher. These characteristics enable agile remote sensing satellites to adapt to a variety of working modes. Therefore, agile remote sensing satellites play a role in more and more fields, meeting the complex and diverse on-orbit application needs.

[0003] Agile satellites have low ground speeds and large ground coverage areas, and can cover a large surface area in one continuous remote sensing exploration process. In recent years, with the development of satellite remote sensing technology, the resolution of satellite imaging has been further improved, and the conditions for detailed exploration of ground targets have been met.

[0004] When the number of ground targets is large, it is very necessary to plan the observation sequence of agile imaging satellites on ground targets. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide an agile imaging satellite multi-target observation planning method, equipment and storage medium, which can reasonably complete the planning of multiple fixed target observation imaging and effectively reduce the time of agile imaging satellite to observe multiple fixed targets on the ground.

[0006] To achieve the above-mentioned object of the invention, the present invention provides a method for multi-target observation planning of an agile imaging satellite, comprising the following steps:

[0007] Step S1, constructing a ground target set clustering index based on satellite orbit and imaging sensor field of view parameters;

[0008] Step S2: clustering ground targets and merging targets with close locations;

[0009] Step S3, calculating the satellite's attitude swing angle to the center point of the ground target cluster, and using the attitude maneuvering angle to optimize the target observation path;

[0010] Step S4: Generate a time sequence of satellite attitude maneuvers and payload imaging instruction execution.

[0011] According to a technical solution of the present invention, the step S1 specifically includes:

[0012] Step S11, calculating the agile satellite imaging width based on the satellite orbit and the imaging sensor field of view parameters;

[0013] Step S12: using the agile satellite imaging width as a clustering index for ground target sets.

[0014] According to a technical solution of the present invention, the step S2 specifically includes:

[0015] The unsupervised learning clustering method is used to cluster ground point targets and generate a set of ground target cluster center points.

[0016] According to a technical solution of the present invention, step S3 specifically includes:

[0017] Step S31, calculating the satellite's attitude swing angle to the ground target cluster center point;

[0018] Step S32, using the attitude maneuvering angle as the distance weight, constructing a distance matrix of the ground target cluster center points;

[0019] Step S33: Calculate the target observation path based on the ACS intelligent optimization algorithm.

[0020] According to a technical solution of the present invention, in step S11, after obtaining the satellite orbit and the imaging sensor field of view parameters, the calculation formula of the satellite imaging width is:

[0021] W=2Htan(θ)

[0022] Where W is the satellite imaging width, H is the satellite orbit height, and θ is the half-angle of the imaging sensor field of view.

[0023] According to a technical solution of the present invention, in step S12, a binary K-means algorithm is used to cluster ground targets, and the Euclidean distance of ground targets is used as a criterion for error calculation. The upper limit of the error is set to 0.95W, where 0.95 is an empirical coefficient.

[0024] According to a technical solution of the present invention, the step S31 specifically includes:

[0025] Step S311, converting the geodetic coordinates of the target cluster center point into earth-fixed rectangular coordinates;

[0026] Step S312, converting the center point's earth fixed rectangular coordinates into earth inertial rectangular coordinates, and calculating the earth inertial direction vector from the satellite to the center point;

[0027] Step S313, converting the direction vector of the satellite to the center point into the orbital coordinate system;

[0028] Step S314, calculating the satellite roll and pitch attitude angles;

[0029] Step S315, repeatedly executing step S311 to step S314, traversing the target cluster center point set.

[0030] According to a technical solution of the present invention, step S4 specifically includes:

[0031] Based on the step S3, an optimized observation path is generated, position and posture maneuvers and imaging instructions are arranged, and a time sequence for the execution of the posture maneuvers and imaging instructions is generated.

[0032] According to one aspect of the present invention, there is provided an electronic device, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes an agile imaging satellite multi-target observation planning method as described in any one of the above technical solutions.

[0033] According to one aspect of the present invention, a computer-readable storage medium is provided for storing computer instructions. When the computer instructions are executed by a processor, an agile imaging satellite multi-target observation planning method as described in any one of the above technical solutions is implemented.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention proposes a method, device and storage medium for planning multi-target observation of an agile imaging satellite. The method optimizes and calculates the multi-target observation path of the agile imaging satellite through a clustering algorithm based on unsupervised learning and an ACS intelligent optimization algorithm, generates a time series of satellite attitude maneuvers and payload imaging instructions, and realizes the planning of observation and imaging of multiple fixed targets, which can effectively reduce the time for the agile imaging satellite to observe multiple fixed targets on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A flowchart of a method for planning multi-target observation of an agile imaging satellite is schematically shown according to one embodiment of the present invention;

[0038] Figure 2A specific flow chart of step S1 in the flow chart of the agile imaging satellite multi-target observation planning method according to one embodiment of the present invention is schematically shown;

[0039] Figure 3 A specific flow chart schematically showing step S3 in the flow chart of the agile imaging satellite multi-target observation planning method according to one embodiment of the present invention;

[0040] Figure 4 The specific flowchart of step S31 in the flowchart of the agile imaging satellite multi-target observation planning method according to one embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figures 1 to 4 As shown, an agile imaging satellite multi-target observation planning method of the present invention comprises the following steps:

[0043] Step S1, constructing a ground target set clustering index based on satellite orbit and imaging sensor field of view parameters;

[0044] Step S2: clustering ground targets and merging targets with close locations;

[0045] Step S3, calculating the satellite's attitude swing angle to the center point of the ground target cluster, and using the attitude maneuvering angle to optimize the target observation path;

[0046] Step S4: Generate a time sequence of satellite attitude maneuvers and payload imaging instruction execution.

[0047] like Figure 2 As shown, in one embodiment of the present invention, preferably, the step S1 specifically includes:

[0048] Step S11, calculating the agile satellite imaging width based on the satellite orbit and the imaging sensor field of view parameters;

[0049] Step S12: using the agile satellite imaging width as a clustering index for ground target sets.

[0050] Through the clustering algorithm based on unsupervised learning and the ACS intelligent optimization algorithm, the multi-target observation path of the agile imaging satellite is optimized and calculated, and the satellite attitude maneuver and payload imaging command time series are generated, which can effectively reduce the time for the agile imaging satellite to observe multiple fixed targets on the ground.

[0051] In one embodiment of the present invention, preferably, the step S2 specifically includes:

[0052] The unsupervised learning clustering method is used to cluster ground point targets and generate a set of ground target cluster center points.

[0053] In one embodiment of the present invention, preferably, the step S3 specifically includes:

[0054] Step S31, calculating the satellite's attitude swing angle to the ground target cluster center point;

[0055] Step S32, using the attitude maneuvering angle as the distance weight, constructing a distance matrix of the ground target cluster center points;

[0056] Step S33: Calculate the target observation path based on the ACS intelligent optimization algorithm.

[0057] The step S32 specifically includes: using the attitude maneuvering angle as the distance weight, an N-order square matrix can be constructed, and this matrix is ​​used as the distance matrix between the ground target cluster center points.

[0058] In step S33, the ACS algorithm is used for optimization calculation to generate an optimized observation path that traverses all ground target cluster center points.

[0059] In one embodiment of the present invention, preferably, in step S11, after obtaining the satellite orbit and the imaging sensor field of view parameters, the calculation formula for the satellite imaging width is:

[0060] W=2Htan(θ)

[0061] Where W is the satellite imaging width, H is the satellite orbit height, and θ is the half-angle of the imaging sensor field of view.

[0062] In one embodiment of the present invention, preferably, in step S12, a binary K-means algorithm is used to cluster ground targets, and the Euclidean distance of ground targets is used as a criterion for error calculation. The upper limit of the error is set to 0.95W, where 0.95 is an empirical coefficient, which is beneficial to avoid imaging distortion at the edge of the field of view.

[0063] like Figure 4 As shown, in one embodiment of the present invention, preferably, the step S31 specifically includes:

[0064] Step S311, converting the geodetic coordinates of the target cluster center point into earth-fixed rectangular coordinates;

[0065] Step S312, converting the center point's earth fixed rectangular coordinates into earth inertial rectangular coordinates, and calculating the earth inertial direction vector from the satellite to the center point;

[0066] Step S313, converting the direction vector of the satellite to the center point into the orbital coordinate system;

[0067] Step S314, calculating the satellite roll and pitch attitude angles;

[0068] Step S315, repeatedly executing step S311 to step S314, traversing the target cluster center point set.

[0069] In this embodiment, the conversion of the geodetic coordinates L, B, and H into the earth-fixed rectangular coordinates X, Y, and Z can be obtained by the following formula:

[0070] X=(N+h)cosBcosL

[0071] Y=(N+h)cosB sinL

[0072] Z = [N(1-e2)+h]sinB;

[0073] Where N is the radius of curvature of the mortise circle at point P, N = a / (1-e 2 sin 2 B) 1 / 2 , a and e are the semi-major axis and eccentricity of the reference ellipsoid, respectively.

[0074] The conversion from Earth-fixed coordinates to Earth-inertial coordinates mainly involves the calculation of the motion relationships of the Earth's precession, nutation, rotation, and polar motion. The coordinate conversion matrix is ​​expressed as:

[0075] T(t)=W(t)R(t)M(t);

[0076] Among them, W(t) is the polar motion matrix, R(t) is the rotation matrix, and M(t) is the precession and nutation matrix. This description uses the IAU1980 model to realize the conversion between the Earth-fixed coordinate system and the Earth-inertial coordinate system.

[0077] The roll attitude angle φ = asin(Ry), the pitch attitude angle φ = atan(Rz / Rx), and R is the direction vector from the satellite to the cluster center in the orbital coordinate system.

[0078] The corresponding program pseudocode can be expressed as:

[0079] While traverses the target cluster center point set.

[0080] Convert the center point geodetic coordinates to earth fixed rectangular coordinates.

[0081] The center point's fixed rectangular coordinates are converted into the Earth's inertial rectangular coordinates to calculate the Earth's inertial direction vector from the satellite to the center point.

[0082] The direction vector from the satellite to the center point is converted into the orbital coordinate system.

[0083] Calculate satellite roll and pitch attitude angles.

[0084] end

[0085] In one embodiment of the present invention, preferably, the step S4 specifically includes:

[0086] Based on the step S3, an optimized observation path is generated, position and posture maneuvers and imaging instructions are arranged, and a time sequence for the execution of the posture maneuvers and imaging instructions is generated.

[0087] The corresponding program pseudo code is as follows:

[0088] While traversing the observation path

[0089] Based on the satellite's attitude maneuverability, calculate the attitude maneuver duration.

[0090] Arrange satellite attitude maneuver instructions.

[0091] Arrange satellite payload power-on instructions.

[0092] Schedule satellite payload shutdown commands.

[0093] end

[0094] According to one aspect of the present invention, an electronic device is provided, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes an agile imaging satellite multi-target observation planning method as described in any one of the above technical solutions.

[0095] According to one aspect of the present invention, a computer-readable storage medium is provided for storing computer instructions. When the computer instructions are executed by a processor, an agile imaging satellite multi-target observation planning method as described in any one of the above technical solutions is implemented.

[0096] Computer-readable storage media may include any medium capable of storing or transmitting information. Examples of computer-readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments may be downloaded via computer networks such as the Internet, intranets, etc.

[0097] The invention discloses an agile imaging satellite multi-target observation planning method, device and storage medium. The agile imaging satellite multi-target observation planning method comprises: step S1, based on the satellite orbit and the field of view parameters of the imaging sensor, constructing a ground target set clustering index, clustering the ground targets, and merging targets with relatively close positions; step S2, calculating the satellite attitude swing angle to the center point of the ground target cluster, taking the attitude maneuvering angle as the distance weight, and optimizing and calculating the target observation path based on the ACS algorithm; step S3, generating a time series of attitude maneuvering and imaging instruction execution. By using a clustering algorithm based on unsupervised learning and an ACS intelligent optimization algorithm, the multi-target observation path of the agile imaging satellite is optimized and calculated, and a satellite attitude maneuvering and payload imaging instruction time series are generated to realize the planning of multiple fixed target observation imaging, which can effectively reduce the time for the agile imaging satellite to observe multiple fixed targets on the ground.

[0098] In addition, it should be noted that the present invention can be provided as a method, an apparatus or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0099] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0100] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] It should also be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0102] Finally, it should be noted that the above is a preferred embodiment of the present invention. It should be pointed out that although the preferred embodiment of the present invention has been described, for those skilled in the art, once the basic creative concept of the present invention is known, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the attached claims are intended to be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. A multi-target observation planning method for an agile imaging satellite, characterized in that: The following steps are involved: Step S1, constructing a ground target set clustering index based on satellite orbit and imaging sensor field of view parameters; Step S2: clustering ground targets and merging targets with close locations; Step S3, calculating the satellite's attitude swing angle to the ground target cluster center point, and using the attitude maneuvering angle to optimize the target observation path, specifically including: Step S31, calculating the satellite's attitude swing angle to the ground target cluster center point; Step S32, using the attitude maneuvering angle as the distance weight, constructing a distance matrix of the ground target cluster center points; Step S33, calculating the target observation path based on the ACS intelligent optimization algorithm; Step S4: Generate a time sequence of satellite attitude maneuvers and payload imaging instruction execution.

2. The agile imaging satellite multi-target observation planning method according to claim 1, characterized in that: The step S1 specifically includes: Step S11, calculating the agile satellite imaging width based on the satellite orbit and the imaging sensor field of view parameters; Step S12: using the agile satellite imaging width as a clustering index for ground target sets.

3. The agile imaging satellite multi-target observation planning method according to claim 2, characterized in that: The step S2 specifically includes: The unsupervised learning clustering method is used to cluster ground point targets and generate a set of ground target cluster center points.

4. The agile imaging satellite multi-target observation planning method according to claim 2, characterized in that: In step S11, after obtaining the satellite orbit and imaging sensor field of view parameters, the calculation formula for the satellite imaging width is: W=2Htan(θ) Where W is the satellite imaging width, H is the satellite orbit height, and θ is the half-angle of the imaging sensor field of view.

5. The agile imaging satellite multi-target observation planning method according to claim 4, characterized in that: In step S12, a binary K-means algorithm is used to cluster ground targets, and the Euclidean distance of ground targets is used as a criterion for error calculation. The upper limit of the error is set to 0.95W, where 0.95 is an empirical coefficient.

6. The agile imaging satellite multi-target observation planning method according to claim 1, characterized in that: The step S31 specifically includes: Step S311, converting the geodetic coordinates of the target cluster center point into earth-fixed rectangular coordinates; Step S312, converting the center point's earth fixed system rectangular coordinates into earth inertial system rectangular coordinates, and calculating the earth inertial system direction vector from the satellite to the center point; Step S313, converting the direction vector of the satellite to the center point into the orbital coordinate system; Step S314, calculating the satellite roll and pitch attitude angles; Step S315, repeatedly executing step S311 to step S314, traversing the target cluster center point set.

7. The agile imaging satellite multi-target observation planning method according to claim 1, characterized in that: The step S4 specifically includes: Based on the step S3, an optimized observation path is generated, position and posture maneuvers and imaging instructions are arranged, and a time sequence for the execution of the posture maneuvers and imaging instructions is generated.

8. An electronic device, characterized in that: include: One or more processors, one or more memories, and one or more computer programs; wherein, the processor is connected to the memory, and one or more of the computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory so that the electronic device executes the agile imaging satellite multi-target observation planning method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, implement the agile imaging satellite multi-target observation planning method as described in any one of claims 1 to 7.

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