Earth monitoring system and satellite constellation management method

Abstract

A system for earth monitoring includes a constellation of satellites (310) and a dispatch computing module (302) located on earth. The dispatch computing module (302) can be configured to implement a satellite management method that receives a post-launch request for a location to be imaged; re-computes an existing schedule of satellites to provide an updated schedule that includes imaging the location; and provides the updated schedule to one or more of the satellites for transmission.

Description

[0001] This application relates to a system and method for Earth observation using a satellite constellation, and a system for managing and allocating satellite constellation missions to acquire images for a range of Earth observation applications. Background Technology

[0002] Due to the nature of the events being monitored, many land and sea surveillance applications require information delivery within hours or less. This is necessary, for example, in applications used to detect unauthorized shipping activity, such as ship identification and tracking, where information needs to be delivered quickly enough for timely intervention. However, Earth observation satellites used for surveillance typically do not return images within such a short timeframe after a new command is issued. Instead, Earth observation satellites are usually assigned missions before launch, meaning the missions are predefined. This presents challenges in responding to real-time monitoring needs.

[0003] The embodiments described below are not limited to implementations that address any or all of the drawbacks of the known methods described above. Summary of the Invention

[0004] This summary is provided to introduce, in a simplified form, some concepts that will be further described in the following detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to define the scope of the claimed subject matter.

[0005] This invention provides a satellite constellation management method that can be executed at a ground control point to accommodate post-launch requests for imaging locations. Aspects of some implementations include identifying the execution set for imaging locations, selecting the optimal execution set, and adapting to changes in the satellite constellation.

[0006] In a first aspect, this disclosure provides a method for managing an Earth observation satellite constellation, the method comprising: receiving a post-transmission request for a location to be imaged; recalculating the existing schedule of the satellites to provide an updated schedule including imagery of the location; and providing the updated schedule to one or more of the satellites for transmission.

[0007] This method may include any of the features described below in any combination.

[0008] The satellite constellation can store existing schedules. The method may include identifying eligible satellites from the constellation whose paths enable imaging of the location within a time window. The method may include identifying one or more execution sets for each eligible satellite, each execution set including the eligible satellite and a communication channel for communicating with the eligible satellite. The method may include selecting the execution set for imaging the location.

[0009] This method may include simulating satellite paths to identify eligible satellites. Ground station availability data can be used to identify communication channels for the execution set. Ground station availability data can be retrieved from the ground station provider.

[0010] One or more of the communication channels may include uplinks and downlinks using different ground stations. One or more of the communication channels may include space-to-space communication.

[0011] At least one execution set may include one or more additional qualified satellites for imaging the location using multiple satellites. Each execution set may be able to downlink and transmit images of the location within a predetermined time period.

[0012] The method may include selecting the optimal set of executions for imaging the location. The method may include minimizing command turnaround time. The method may include minimizing the difference between the requested imaging time and the scheduled imaging time.

[0013] Determining the optimal execution set can include optimizing the scheduling of satellite constellations for updates. Optimizing the scheduling of updates can include optimizing the utilization distribution across the satellite constellations.

[0014] Optimized and updated scheduling can include assigning tasks to the satellite constellation based on the individual capabilities of each satellite.

[0015] Optimized and updated scheduling can include predicting data communication traffic and optimizing the updated schedule based on that prediction. For example, predictions can use historical communication traffic data, such as through machine learning.

[0016] Optimized and updated scheduling may include rescheduling tasks previously scheduled in the existing schedule. This method may include rescheduling previously scheduled tasks only if there is still a predetermined duration remaining before the previously scheduled task's execution time. This method may also include rescheduling previously scheduled tasks only if the agreed-upon service level can still be met.

[0017] The method may include booking ground station services from a ground station provider based on an updated constellation schedule. The method may include transmitting the updated schedule to one or more satellites. The method may include receiving position images from one or more satellites in a satellite constellation.

[0018] The method may include recalculating an updated schedule in response to the unavailability of one of the satellites to provide an adjusted schedule, and providing the adjusted schedule to one or more of the satellites for transmission.

[0019] The method may include recalculating an updated schedule in response to a ground station being unavailable, providing an adjusted schedule, and providing the adjusted schedule to one or more satellites for transmission.

[0020] The method may include, in response to adding a satellite to a satellite constellation, recalculating an updated schedule to provide an adjusted schedule, and providing the adjusted schedule to one or more of the satellites for transmission.

[0021] This paper also provides a scheduling computation module that can be configured to implement any of the methods described herein.

[0022] This paper also provides an Earth monitoring system comprising a satellite constellation and a scheduling computation module located on Earth, wherein the scheduling computation module is configured to receive a post-transmission request for a location to be imaged, recalculate the existing schedule of the satellite constellation to provide an updated schedule including imaging of that location, and provide the updated schedule to one or more of the satellites for transmission.

[0023] The methods described herein can be executed by software in a machine-readable form on a tangible storage medium, such as a computer program comprising computer program code means adapted to perform all the steps of any of the methods described herein when the program is run on a computer, and wherein the computer program can be embodied on a computer-readable medium. Examples of tangible (or non-transitory) storage media include disks, thumb drives, memory cards, etc., and do not include propagation signals. The software can be adapted to execute on a parallel processor or a serial processor, such that the method steps can be executed in any suitable order or simultaneously.

[0024] Therefore, in another aspect, a computer-readable medium including instructions is provided that, when implemented in a processor within a scheduling computing module, causes the scheduling computing module to perform any of the methods described herein.

[0025] This application acknowledges that firmware and software can be valuable, separately tradable goods. It is intended to cover software that runs on or controls “dumb” or standard hardware to perform desired functions. It is also intended to cover software that “describes” or defines hardware configurations, such as HDL (Hardware Description Language) software used to design silicon chips or configure general-purpose programmable chips to perform desired functions.

[0026] Preferred features can be combined appropriately, as will be apparent to those skilled in the art, and can be combined with any aspect of the invention. Attached Figure Description

[0027] Embodiments of the present invention will be described by way of example with reference to the following accompanying drawings, wherein:

[0028] Figure 1 It is a perspective view of the Earth and its satellites;

[0029] Figure 2 It is an Earth map showing the coverage area of ​​a satellite over a 24-hour period;

[0030] Figure 3 This is a schematic diagram of the Earth, an example satellite, and the system used to manage the satellite constellation;

[0031] Figure 4 It is an Earth map showing the coverage area of ​​18 satellites over a 3-hour period;

[0032] Figure 5 It is an Earth map showing the coverage area of ​​18 satellites over a 24-hour period;

[0033] Figure 6 This is a schematic diagram of the scheduling calculation module, satellite database, and channel database of the above system;

[0034] Figure 7 This is a diagram illustrating the command for the location image;

[0035] Figure 8A This is a schematic diagram showing the details of the aforementioned scheduling calculation module;

[0036] Figure 8B These are a pair of tables showing the acquisition opportunities for Tokyo images in scenarios with one and 18 Earth observation satellites, respectively;

[0037] Figure 9 This is a schematic diagram showing the details of the aforementioned satellite database;

[0038] Figure 10 This is a schematic diagram showing the details of the aforementioned channel database;

[0039] Figure 11 This is a schematic diagram showing the scheduling information to be uploaded to the satellite constellation;

[0040] Figure 12 This is a flowchart illustrating the satellite constellation management method;

[0041] Figure 13 This is a flowchart illustrating an example implementation of the above method; and

[0042] Figure 14 This is a schematic diagram of the hardware suitable for implementing the above-mentioned scheduling and calculation module.

[0043] Use the same reference numerals in all the accompanying drawings to indicate similar features. Detailed Implementation

[0044] Embodiments of the invention are described below by way of example only. These examples represent the best mode of practicing the invention as currently known to the applicant, although they are not the only way to implement the invention. The description illustrates the function of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences can be implemented through different examples.

[0045] Figure 1 The illustration shows satellite 102 in orbit 104 around Earth 106. The satellite's trajectory includes passing through position 108, which will be imaged by satellite 102, and ground station 110, configured to transmit data to and from satellite 102. After satellite 102 is launched, a new command to acquire images of position 108 can be submitted to ground control station 110. In this case, the task assignment of the command must be transmitted from Earth to satellite 102 via uplink. Figure 1 A single ground station is shown. In actual implementations, multiple ground stations are distributed around the Earth, and many users can use these ground stations to communicate with their satellites. Once a command to "reserve" a time at a ground station is sent, ground station staff will typically need time to queue the necessary uplink or downlink transmissions.

[0046] In one example, satellite 102 operates in a low Earth orbit. Low Earth orbits can range from 160 km to 1000 km above the Earth's surface. Examples of Earth monitoring satellites can have orbits between 450 km and 650 km above the Earth. In some embodiments, the satellite has an orbit approximately 550 km above the Earth's surface. For example, in an orbit at 550 km above the Earth, the satellite would actually traverse the Earth at a speed of 7.5 km / s or 27,000 km / h. Most satellites in this orbit will traverse the Earth at speeds in the range of 7 to 8 km / s.

[0047] In one instance, Satellite 102 uses Synthetic Aperture Radar (SAR) to image the Earth under various conditions, including through clouds, fog, smoke, and at night. Satellite 102 can also use reflectors or phased array antennas to help guide the SAR beam. In any constellation described herein, one or more satellites, or each satellite, may use SAR.

[0048] There are currently various categories of satellites orbiting the Earth, typically defined by weight ranges, although the boundaries between these categories are somewhat unstable and arbitrary:

[0049] CubeSats: 1kg to 10kg

[0050] Microsatellites: 50kg to 250kg

[0051] Small satellite: 500kg

[0052] Regular satellite: 800 to 1200 kg.

[0053] Smaller satellites are less expensive to launch and are therefore easier to use to create satellite constellations that provide broad coverage of the Earth's surface. For example, having more satellites in a constellation provides more options and significantly reduces the time between images used to monitor a specific area or feature on Earth.

[0054] However, currently very small CubeSats are not capable of carrying current SAR payloads. Heavier satellites are generally more expensive and less flexible. The embodiments of the satellite constellations and operational methods described in this paper have been successfully tested using microsatellites weighing between 50 kg and 250 kg.

[0055] exist Figure 1 In this example, the uplink to satellite 102 in low Earth orbit is provided by ground station 110. As satellite 102 moves along its orbit 104 in the direction indicated by arrow 112, it first passes position 108 and then ground station 110. As a result, in this example, new commands cannot be uplinked to satellite 102 before it next passes position 108 to be imaged. This introduces a delay in the process. When satellite 102 passes ground station 110, the commands are uplinked from ground station 110 to the satellite. The next time satellite 102 passes position 108, images can be acquired.

[0056] There may be a considerable amount of time before satellite 102 next passes over position 108. When satellite 102 completes its full orbit, Earth 106 will rotate a small angle, so the satellite will no longer pass directly over position 108. Earth 106 may need to undergo several full rotations (taking several days) before satellite 102 passes over position 108 again and is able to acquire images.

[0057] This can be seen from Figure 2 The overlay diagram is easy to understand. Figure 2 The image shows the coverage area of ​​the Earth over a 24-hour period based on the satellite's path. Less than half of the Earth is covered in 24 hours, indicating that full coverage could take several days to achieve. Figure 1 Satellite 102 may need several days to pass directly over position 108 again to obtain the requested image. This situation can easily cause a delay of about a week between submitting a new order and delivering the image.

[0058] exist Figure 1In this instance, after submitting a new command and finally passing through position 108 for the second time, satellite 102 will shortly thereafter pass through ground station 110 to transmit the captured images downstream. Once ground station 110 receives the images, they can be delivered to the end user and / or processed to extract other usable information, such as land monitoring parameters, for delivery to the end user.

[0059] Earth observation satellites are typically not used for applications requiring much faster response times, such as hours or minutes, due to the potential time lag between command submission and delivery. Instead, Earth observation missions are usually predefined before launch to provide specific imagery of predetermined events or to provide continuous, known performance, such as periodic monitoring of known locations that can be scheduled in advance.

[0060] If an attempt is made to add additional commands to a pre-existing schedule after launch, the additional commands will suffer the aforementioned delays, which could last up to a week. Furthermore, it is necessary to reassign the additional commands to empty slots in the existing schedule, which could not only exacerbate the delays but also lead to inefficient use of overall resources in the mission.

[0061] Using an alternative approach can improve the delivery time of new commands and utilize resources more effectively. (Reference) Figure 3 A system for managing a satellite constellation includes a scheduling calculation module 302 for calculating the scheduling of the satellite constellation to execute tasks. The scheduling calculation module 302 may be provided in a satellite operator application programming interface (API) 304, which is configured to communicate with a network of ground station 306 and end user 308. Ground station 306 provides uplink and downlink to communicate with the satellites 310 in the constellation. (The representative satellites 310 in the constellation are...) Figure 3 As shown in the figure. Other satellites in this group are not shown, but the group may include several or more satellites 310, each configured to communicate with ground station 306.

[0062] The scheduling computing module and / or the APIs included in the computing system are known in the API field. The computing system can be distributed across multiple locations on Earth or at a single location. For example, the scheduling computing module 302 can be located at a ground station or at another location that communicates with multiple ground stations.

[0063] By using a satellite constellation, such as a constellation of 18 satellites, the overall coverage of the Earth by this group is improved over a given time period. This reduces the latency caused by waiting for satellites to pass over the location to be imaged. This can be achieved by referencing... Figure 4 and Figure 5 Use the map shown to understand. Figure 4It shows a map of the coverage of 18 satellite paths over a 3-hour period, and Figure 5 This shows the coverage area of ​​the same 18 satellites over Earth within 24 hours. Figure 2 The coverage of individual Earth observation satellites varies, but they achieve basic complete coverage of the Earth within 24 hours.

[0064] The more satellites in a constellation, the better the overall coverage of Earth over a given period of time (i.e., the reduced time between consecutive images of the same area or feature on Earth). For example, having two or more satellites already provides a significantly increased coverage compared to having only one satellite in the constellation. Three or more satellites provide even better coverage, as do five or more, or twelve or more. The eighteen or more satellites described in this example provide superior coverage. Even constellations with five or more satellites can achieve repeatability times (the time between potentially consecutive images of an area or feature on Earth) that were previously unprecedented in Earth surveillance. However, as the number of satellites in a constellation increases, the complexity of scheduling, optimizing, and assigning tasks to all satellites after launch also increases exponentially. In one example, a system with a scheduling computation module and a supporting database are used to handle these complex processing and task assignment activities.

[0065] When a new command is received Figure 3 The scheduling calculation module 302 shown actively manages the task allocation for launched satellites 310. When a new command is received, the scheduling of the entire satellite constellation is recalculated to maintain the efficiency of overall task allocation while combining new tasks with acceptable delivery times. This approach can reduce the turnaround time for commands submitted after launch by several hours or less.

[0066] Figure 6 The diagram illustrates the relationship between the scheduling calculation module 302 and the new command 602, satellite database 604, channel database 606, and new schedule 608. The scheduling calculation module 302, satellite database 604, and channel database 606 can form part of a ground control station or satellite operator API and are used together to calculate the new schedule 608 each time a new command 602 is received. The scheduling calculation module 302 is configured to recalculate the schedule using data from the satellite database 604 and channel database 606, which store data such as satellite paths, satellite availability, ground station locations and availability, and available communication channels between satellites and ground stations. Details of this data and how it is used are described below.

[0067] refer to Figure 7The new command 602 typically defines one or more geographic locations to be imaged and the time requirement for acquiring one or more images. For example, the time requirement could be an immediate or as soon as possible need for images, or it could include one or more time periods in the future when images should be captured. A typical command might require capturing images at fixed time intervals (e.g., daily). Other acquisition parameters can also be specified in the command. For example, a client might want to specify acquisition modes such as "spotlight" or "strip map," which trade off between resolution and coverage area (spotlight provides higher resolution at the cost of smaller coverage area, while strip map does the opposite). This may depend on any further processing they desire from the images (e.g., object classification, change detection, etc.). Thus, refer to... Figure 7 The new command 602 may include an indication of position 702, a time constraint 704, and any other acquisition parameter 706 in any combination.

[0068] Each time a new command 602 is received, the scheduling calculation module 302 calculates an updated schedule for the satellite, which includes imaging one or more locations defined in the new command 602. To achieve this, as... Figure 8A As shown, the scheduling calculation module may include a simulation module 802 and an optimization module 804. The simulation module 802 is configured to determine how to update the schedule to accommodate the options of the new command 602, and the optimization module 804 is configured to determine a suitable updated schedule based on the available options.

[0069] The simulation module 802 includes a satellite identifier 806, which is configured to identify satellites capable of acquiring the requested imagery based on their orbital positions and projection paths. The requested imagery includes images already requested in the new command 602 and images requested in previous commands but not yet acquired. Satellites capable of acquiring imagery are those whose paths, according to the time constraints specified in the command, will bring them to the requested location. To identify which satellites can execute which commands, the satellite identifier 806 can be configured to run a simulation of the satellite paths to determine which satellites will subsequently pass through the relevant geographic locations. It should be understood that arbitrary acquisition may not be executed perfectly, but the satellite identifier seeks satellites that can match arbitrary commands to locations within a reasonable threshold of the specified time constraints, while preserving other acquisition parameters as much as possible.

[0070] refer to Figure 8BSatellite identifier 806 can generate an acquisition opportunity table for obtaining imagery of locations such as Tokyo. In a first example scenario, there is one imaging satellite, and satellite identifier 806 generates a first table 810 that details the possible opportunities to acquire imagery of Tokyo using that single satellite over a three-day period. In a second example scenario, there are 18 satellites, and satellite identifiers generate a second table 812 that details the possible opportunities to acquire imagery of Tokyo using one or more of the 18 satellites over a three-day period.

[0071] As shown in the figure, Table 810 has two rows, each representing the opportunity to acquire images of Tokyo over a three-day period. There are two opportunities because, although only one satellite is used, it passes over Tokyo twice within those three days. Details of each acquisition opportunity are provided in the individual rows of Table 810. In the first column, “Anx” 814, Coordinated Universal Time, also known as Coordinated Universal Time and abbreviated as UTC, is indicated. This provides an acquisition timestamp showing the date and time the image will be acquired. The second column, “AreaCovered” 816, indicates the percentage of the requested area that will be imaged in this acquisition. In the third column, “Duration” 818, the duration, in seconds, is indicated, showing how long the satellite's imaging instrument will be on to capture the image. In this example, it is 10 seconds. The fourth column, “End” 820, indicates the date and time at which the imaging instrument will complete imaging, marking the end of the 10-second timeframe. In the fifth column, “IntersectionArea” 822, the overlap, in square kilometers, between the requested area to be imaged and the actual area to be imaged is indicated. Column 6, “Length” 824, indicates the distance projected onto the ground that the satellite will cover during a 10-second imaging operation. In column 7, “LookAngle” 826, the tilt of the imaging instrument on the roll axis is expressed in degrees. Column 8, “Passing” 828, indicates whether the imaging satellite will travel towards the North Pole (ascending) or towards the South Pole (descending) when it projects onto the Earth's surface during imaging. Column 9, “Satellites” 830, indicates the satellite's identity. In the case of Table 810, there is only one satellite, so both rows represent the same satellite. Finally, column 10, “Sensors” 832, indicates whether the satellite's left or right sensor will perform imaging. Table 812, related to the second example scenario, has similar columns and shows acquisition opportunities using one or more of 18 satellites over a 3-day period. There are 15 rows representing 15 acquisition opportunities over three days. As shown in column 9, “Satellites”, some rows indicate the same satellite, indicating that some satellites passed over Tokyo multiple times over three days. For example, the second and third rows both relate to image acquisition by the satellite “ICEYE-BLOCK1.2.2”. Ten of the 18 satellites in total passed over Tokyo once or multiple times within three days, providing 15 acquisition opportunities as shown in Table 812.

[0072] Back Figure 8A The simulation module 802 also includes an execution set identifier 808, configured to identify a ground station to complete a command. The ground station needs to transmit new scheduling uplinks to the satellite and transmit image data or data derived from images downlinks from the satellite. Therefore, for each image to be acquired, the execution set identifier 808 is configured to identify one or more execution sets, each including a satellite, a ground station capable of providing uplink, and a ground station capable of providing downlink. By identifying the execution set, the simulation module 802 generates a set of options for how to execute the command. For example, in... Figure 8B In the case of Table 810, each row of potential acquisitions can be associated with five ground stations that provide uplink options within 90 minutes prior to acquisition and five ground stations that provide downlink options within 90 minutes after acquisition. As a result, for each possible acquisition (i.e., for each row in Table 810), there are potentially 5*5 = 25 execution sets. Since there are two potential acquisitions, there are potentially 2*25 = 50 execution sets in this case to acquire imagery of Tokyo. Typically, a suitable execution set needs to be selected from the available options for each image to be acquired. For example, appropriate selection of execution sets can provide efficient use of resources on both the satellite and ground stations, and can also allow new commands to be executed within an acceptable delivery time.

[0073] To appropriately select the execution set, the scheduling calculation module 302 includes an optimization module 804 configured to determine an optimized set of execution sets. The optimization module 804 attempts to match commands with available execution capabilities and can be configured to optimize delivery time, efficient use of satellite and ground station resources, and cost-effectiveness.

[0074] To identify satellites and execution sets, the simulation module communicatively connects to satellite database 604 and channel database 606. For example... Figure 9 As shown, satellite database 604 stores satellite data, such as satellite orbits 902, satellite resources 904, such as power 906, momentum 908, and memory 910, available capacity 912 (including data on capacity reduction due to satellite maintenance 914, mandatory satellite management operations 916, and satellite malfunctions 918), and previously uploaded schedules 920. In this example, another database accessible to satellite database 604 or schedule calculation module 302 may store and be used to determine operational rules for new schedules.

[0075] like Figure 10As shown, the channel database 606 stores channel data (related to communication channels to and from satellites), such as ground station data 1002 (including available pathways 1004, e.g., when a ground station has pathways with uplink / downlink transmission capacity or other availability metrics), required booking time 1006 (e.g., the shortest time to book between the ground station and uplink / downlink transmission or other booking time metrics), pricing 1008, available space-to-space communication links 1010, and available laser downlinks 1012. Space-to-space communication links can be provided by other satellites, such as geostationary satellites or other spacecraft.

[0076] The simulation module 802 of the scheduling calculation module 302 uses data from the satellite database 604 and the channel database 606 to determine the execution set that can be used to acquire images.

[0077] refer to Figure 11 Once the schedule has been calculated, scheduling information is uploaded to the group of satellites to instruct them to acquire and downlink transmit image data. In one embodiment, the scheduling information includes an acquisition command 1102 and a downlink command 1104. The acquisition command 1102 provides details on when and how to perform the imaging operation, and the downlink command 1104 includes details on when and how to downlink transmit the acquired data. There is no uplink command, as it is understood that the satellites are configured to receive uplink transmission signals without being commanded to do so.

[0078] The acquisition command 1102 may include an indication 1106 of when the image will be acquired, an indication 1108 of the angle of the imaging instrument on the roll axis, an indication 1110 of whether the left or right sensor will be used for imaging, an indication 1112 of the duration of the imaging operation (e.g., 10 seconds as in the example above), and an indication 1114 of the image tag. The image tag provides an identifier for the image, such as a name or alphanumeric identifier, making the image easily identifiable during downlink transmission.

[0079] Downlink command 1104 may include a downlink time indication 1116, an indication 1118 of the identity or location of the ground station to which the image is to be downlinked, and an image tag indication 1120. This facilitates the process of identifying the correct image during downlink scheduling.

[0080] refer to Figure 12 A method 1200 for managing a satellite includes receiving a new command 1202, recalculating a schedule 1204, and uploading the new schedule to the satellite 1206. Method 1200 can be appropriately performed by a combination of a satellite operator's API and a ground station providing uplink to the satellite.

[0081] Figure 13 This shows how satellite operators use it. Figure 6 Figure 8 Figure 9 and Figure 10 The apparatus manages the operational instance 1300 of the satellite constellation. To recalculate the satellite mission schedule each time a new command is submitted, the scheduling calculation module 302 requires up-to-date information about available resources. This includes data on the satellites and data on the ground stations, from which execution sets can be identified and selected. Thus, the data stored in the satellite database 604 and the channel database 606 are kept up-to-date. Satellite data such as orbit 902, power 906, and momentum 908 are within the control of the satellite operator and are known to the satellite operator. As a result, this data can be kept up-to-date by the satellite operator without relying on external providers. However, if the satellite operator uses an external ground station provider, the ground station data 1002 stored in the channel database 606 must be periodically obtained from the ground station provider to keep this information up-to-date. Thus, the operational instance includes the step of requesting ground station availability 1302 from the ground station provider.

[0082] In step 1303, the scheduling calculation module receives a new command 602. At this stage, it is necessary to identify the ways in which pending commands can be executed. (Pending commands include new commands and any previously received commands that are still pending execution. If no previous commands are pending execution, the scheduling recalculation steps are the same and simply involve calculating a new schedule.) Each command may contain the same parameters and resource allocations. To identify possible ways to execute pending commands, in step 1304, the scheduling calculation module 302 recalculates the possible execution sets for each command. This creates options from which a new execution set can be selected for each pending command. Then, in step 1306, the schedule is recalculated by selecting a suitable execution set for each command and generating a new schedule for the satellites based on the selected execution sets. Execution sets can be selected based on optimization objectives, such as minimizing delivery time, minimizing the difference between the requested image acquisition time and the actual image acquisition time, maximizing the efficiency of inter-satellite resource utilization, and minimizing cost. The resource allocation table can be updated at this stage. The resource allocation table may contain information relevant to a specific implementation and may include any one or more of the following:

[0083] Which satellite will execute the command?

[0084] - Onboard storage for imaging missions

[0085] - The amount of time a satellite spends imaging (executing commands) in a specific orbit is limited by power availability (battery capacity) and thermal parameters.

[0086] - Which downlink from the ground station will be used to transmit the image.

[0087] To implement the new schedule, in step 1308, ground station reservations are updated to match the new execution set and provide the uplink and downlink required for the new schedule. This may involve requesting new reservations and canceling redundant reservations, and requires communication with the ground station provider to modify the reservations. In step 1310, the new schedule is uploaded to the satellites, or at least to the affected satellites whose mission assignments differ in the new schedule compared to the old schedule. The upload is performed using ground stations retained in the updated ground station reservations. At this stage, the ground stations and satellites are ready to execute commands according to the new schedule, and delivery parameters can be provided to the customer in step 1312. Delivery parameters may include any one or more of the following: image acquisition time; delivery time; where the images will be sent, such as the address of the customer's Secure File Transfer Protocol (SFTP) server, or whether the customer will acquire the images from the constellation operator's service; what level of processing the customer requires, such as ground distance imagery (image registered with the Earth) / single-view complex imagery, thereby providing the actual I / Q values ​​of the reflected signals.

[0088] In step 1314, a new command is executed, which includes acquiring one or more desired images and downlinking the image data or appropriate data derived from the images to deliver them to the customer.

[0089] The schedule is recalculated each time a new command is received or another event occurs that affects the ability to execute commands. For example, events that would affect the ability to execute commands could include satellite or ground station maintenance, or satellite or ground station failure.

[0090] This disclosure provides various advantages for managing satellites. From the perspective of the customer submitting the command, there is an improved turnaround time between submitting the command and receiving the requested satellite imagery. This means that urgent imagery can be acquired and delivered faster than using traditional methods. From the perspective of the satellite operator, because scheduling is recalculated each time a new command is received, available satellites and their resources can be used more efficiently and cost-effectively when a new command arrives. Tipping and cueing refer to the process by which a sensor monitors an area or object of interest and requests "tipping" to another complementary sensor platform to obtain "cue" imagery of the same area. Typically, the tipping and cueing process begins with an object or location identified using a cost-effective, low-resolution (but wide field of view) sensor. The collected information is then transferred to a higher-resolution (and potentially more expensive) sensor for subsequent investigation and analysis.

[0091] Some embodiments of the present invention enable easy adaptation to satellites with varying capabilities, and new scheduling can be calculated to provide efficient use of satellite resources, taking into account the different capabilities of different satellites. Two main reasons for satellites having different capabilities are: first, simple evolution, as recently launched satellites will typically have "better" storage, more robust manufacturing technology, more sophisticated downlink and imaging radios, more precise pointing systems, etc.; second, space degradation—satellites are susceptible to high levels of solar / cosmic radiation, which can damage subsystems and thus limit their operational capabilities. This distribution and timing on satellite fleets or constellations is essentially random. Furthermore, different satellites can have different imaging capabilities, such as resolution capabilities, imaging at different wavelengths, or better processing and storage capabilities.

[0092] Ground stations and their resources can also be used more efficiently. Because in the event of asset failure, such as satellite or ground station failures, scheduling is recalculated and remaining assets and resources are used to fulfill pending orders as efficiently as possible, this method is less susceptible to failures. This is far better than satellite or ground station failures preventing command execution.

[0093] Figure 14 A system 1400 suitable for implementing a method for processing new commands according to the present disclosure is shown. System 1400 includes a communication module 1402, an input device 1404, an output device 1406, a processor 1408, and a memory 1410. For example, processor 1408 may be configured to recalculate satellite scheduling by running a computer program stored in memory 1410.

[0094] In the above embodiments, the server may include a single server or a network of servers. In some instances, the functionality of the server may be provided by a network of servers distributed across geographical regions, such as a globally distributed server network, and a user can connect to the appropriate one in the server network based on the user's location.

[0095] For clarity, the above description has referred to embodiments of the invention discussed with reference to a single user. It should be understood that in practice, the system can be shared by multiple users, and possibly by a very large number of users simultaneously.

[0096] The above embodiments are fully automated. In some instances, the system user or operator may manually instruct some steps of the method to be performed.

[0097] In the embodiments described in this invention, the system can be implemented as any form of computing and / or electronic device. Such a device may include one or more processors, which may be a microprocessor, a controller, or any other suitable type of processor for processing computer-executable instructions to control the operation of the device in order to collect and record routing information. In some instances, for example, when using a system-on-a-chip architecture, the processor may include one or more fixed-function blocks (also referred to as accelerators) that implement a portion of the method in hardware (rather than software or firmware). Platform software, including an operating system or any other suitable platform software, may be provided at the computing-based device to enable the execution of application software on that device.

[0098] The various functions described herein can be implemented in hardware, software, or any combination thereof. If implemented in software, these functions can be stored or transmitted thereon as one or more instructions or code. Computer-readable media can include, for example, computer-readable storage media. Computer-readable storage media can include volatile or non-volatile, removable or non-removable media implemented using any method or technique for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer-readable storage media can be any available storage medium accessible by a computer. By way of example and not limitation, such computer-readable storage media can include RAM, ROM, EEPROM, flash memory or other memory devices, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible by a computer. Optical discs and disks used herein include compact optical discs (CDs), laser optical discs, optical discs, digital versatile optical discs (DVDs), floppy disks, and Blu-ray discs (BDs). Furthermore, the propagation of signals is not included within the scope of computer-readable storage media. Computer-readable media also include communication media, which includes any medium that facilitates the transfer of a computer program from one place to another. For example, a connection can be a communication medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, it is included in the definition of communication media. Combinations of the above should also be included within the scope of computer-readable media.

[0099] Alternatively or additionally, the functions described herein may be performed at least in part by one or more hardware logic components. For example, but not limited to, hardware logic components that may be used may include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), etc.

[0100] Although illustrated as a single system, it should be understood that computing devices can be distributed systems. Therefore, for example, several devices can communicate via a network connection and collaboratively perform tasks described as being performed by computing devices.

[0101] Although illustrated as a local device, it should be understood that the computing device may be located remotely and accessed via a network or other communication link (e.g., using a communication interface).

[0102] As used herein, the term "computer" refers to any device that has processing power that enables it to execute instructions. Those skilled in the art will recognize that such processing power is incorporated into many different devices, and therefore the term "computer" includes PCs, servers, mobile phones, personal digital assistants, and many other devices.

[0103] Those skilled in the art will recognize that storage devices used to store program instructions can be distributed across a network. For example, a remote computer can store instances of processes described as software. A local or terminal computer can access the remote computer and download part or all of the software to run the program.

[0104] Alternatively, the local computer can download software fragments as needed, or execute some software instructions on a local terminal, or execute some software instructions on a remote computer (or computer network). Those skilled in the art will also recognize that, by utilizing conventional techniques known to them, all or part of the software instructions can be executed by dedicated circuitry (such as DSPs, programmable logic arrays, etc.).

[0105] It should be understood that the above benefits and advantages may relate to one embodiment or several embodiments. These embodiments are not limited to those that solve any or all of the stated problems or have any or all of the stated benefits and advantages.

[0106] Any reference to the term "a" refers to one or more of these terms. The term "comprising" is used herein to mean including the identified method steps or elements, but such steps or elements are not included in an exclusive list, and the method or apparatus may contain additional steps or elements.

[0107] As used herein, the terms "component" and "system" are intended to cover a computer-readable data storage configured with computer-executable instructions that, when executed by a processor, enable certain functions to be performed. Computer-executable instructions may include routines, functions, etc. It should also be understood that a component or system may reside on a single device or be distributed across several devices.

[0108] Furthermore, as used herein, the term “exemplary” is intended to mean “serving as an illustration or example of something.”

[0109] Furthermore, with regard to the use of the term "includes" in the specification or claims, such a term is intended to be inclusive in a manner similar to how the term "comprising" is interpreted when "comprising" is used as a transitional word in a claim.

[0110] The accompanying drawings illustrate exemplary methods. While these methods are shown and described as a series of actions performed in a specific order, it should be understood and recognized that these methods are not limited to that order. For example, some actions may occur in a different order than that described herein. Furthermore, one action may occur simultaneously with another. Moreover, in some cases, not all actions are required to implement the methods described herein.

[0111] Furthermore, the actions described herein may include computer-executable instructions that can be implemented by one or more processors and / or stored on one or more computer-readable media. Computer-executable instructions may include routines, subroutines, programs, threads of execution, etc. Additionally, the results of the actions of these methods may be stored in a computer-readable medium, displayed on a display device, etc.

[0112] The order of steps in the methods described herein is exemplary, but these steps may be performed in any suitable order, or simultaneously where appropriate. Additionally, steps may be added to or substituted in any method, or individual steps may be deleted from any method, without departing from the scope of the subject matter described herein. Aspects of any of the instances described above may be combined with aspects of any other instance described to form additional instances without losing the desired effect.

[0113] It should be understood that the above description of preferred embodiments is given by way of example only, and various modifications can be made by those skilled in the art. The above description includes examples of one or more embodiments. Of course, it is not possible to describe every possible modification and variation of the above apparatus or method for the purpose of describing the foregoing aspects, but those skilled in the art will recognize that many further modifications and arrangements of various aspects are possible. Therefore, the described aspects are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims.

Claims

1. A method for managing a constellation of Earth observation satellites at a ground control point, each satellite including a synthetic aperture radar for imaging the Earth, the method comprising: Receive a request after transmission to obtain an image of the location; Eligible satellites are identified from the satellite constellation, and the paths of the eligible satellites enable imaging of the location within a time window; For each qualified satellite, one or more execution sets are identified. Each execution set includes the qualified satellite and a communication channel for communicating with the qualified satellite. At least one execution set in the execution set includes one or more additional qualified satellites so that the location can be imaged at different times using one of the one or more additional qualified satellites. The existing schedule of the satellites is recalculated to provide an updated schedule that includes imaging of the location; as well as The updated schedule is provided to one or more of the satellites for transmission.

2. The method of claim 1, wherein the satellite constellation stores the existing schedule.

3. The method of claim 1, further comprising simulating satellite paths to identify the qualified satellites.

4. The method according to claim 1, 2 or 3, further comprising selecting an execution set for imaging the location.

5. The method of claim 1, 2 or 3, further comprising using ground station availability data to identify the communication channel of the execution set.

6. The method of claim 5, further comprising retrieving the ground station availability data from the ground station provider.

7. The method according to claim 1, 2 or 3, wherein one or more of the communication channels include uplinks and downlinks using different ground stations.

8. The method according to claim 1, 2 or 3, wherein one or more of the communication channels include space-to-space communication.

9. The method according to claim 1, 2 or 3, wherein each execution set is capable of downlinking an image of the location within a predetermined time.

10. The method of claim 3, further comprising selecting an optimal set of actions for imaging the location.

11. The method of claim 10, further comprising minimizing command turnaround time.

12. The method of claim 10 or 11, further comprising minimizing the difference between the requested imaging time and the scheduled imaging time.

13. The method of claim 10 or 11, wherein determining the optimal execution set includes optimizing the scheduling of the updates of the satellite constellation.

14. The method of claim 13, wherein optimizing the updated scheduling includes optimizing the utilization distribution on the satellite constellation.

15. The method of claim 13, wherein optimizing the updated scheduling comprises assigning tasks to the satellite constellation based on the capabilities of each satellite.

16. The method of claim 13, wherein optimizing the updated scheduling includes predicting data communication traffic and optimizing the updated scheduling based on the prediction.

17. The method of claim 13, wherein optimizing the updated schedule includes rescheduling tasks previously scheduled in the existing schedule.

18. The method of claim 17, further comprising rescheduling the previously scheduled task only if there is a predetermined duration remaining before the previously scheduled task execution time.

19. The method of claim 17, comprising rescheduling previously scheduled tasks only if the agreed service level can still be met.

20. The method of claim 1, 2 or 3, comprising booking ground station services from a ground station provider based on an updated constellation schedule.

21. The method according to claim 1, 2 or 3, comprising transmitting the updated schedule to one or more of the satellites.

22. The method of claim 1, comprising receiving an image of the location from one or more of the satellite constellations.

23. The method of claim 1, 2 or 3, further comprising, in response to the unavailability of one of the satellites, recalculating the updated schedule to provide an adjusted schedule, and providing the adjusted schedule to one or more of the satellites for transmission.

24. The method of claim 1, 2 or 3, further comprising, in response to ground station unavailability, recalculating the updated schedule to provide an adjusted schedule, and providing the adjusted schedule to one or more of the satellites for transmission.

25. The method of claim 1, 2 or 3, further comprising, in response to adding a satellite to the satellite constellation, recalculating the updated schedule to provide an adjusted schedule, and providing the adjusted schedule to one or more of the satellites for transmission.

26. A computer-readable medium comprising instructions that, when implemented in a processor of a scheduling computing module, cause the scheduling computing module to perform the method according to any of the preceding claims.

27. A scheduling calculation module, the scheduling calculation module being configured to implement the method according to any one of claims 1 to 25.

28. An Earth monitoring system comprising a satellite constellation and a scheduling computing module located on Earth, each satellite including a synthetic aperture radar for imaging the Earth, wherein the scheduling computing module is configured to: Receive a post-launch request to obtain an image of the location, identify eligible satellites from the satellite constellation, and ensure that the location can be imaged within a time window; For each qualified satellite, one or more execution sets are identified, each execution set includes the qualified satellite and a communication channel for communicating with the qualified satellite, and at least one execution set in the execution set includes one or more additional qualified satellites so that the location can be imaged at different times using one of the one or more additional qualified satellites. as well as The existing schedule of satellites in the constellation is recalculated to provide an updated schedule that includes imaging of the location, and the updated schedule is provided to one or more of the satellites for transmission.

29. The Earth monitoring system according to claim 28, wherein the scheduling calculation module includes the scheduling calculation module according to claim 27.

30. The Earth monitoring system of claim 28 or 29, wherein the satellite constellation comprises satellites in low Earth orbit.

31. The Earth monitoring system according to claim 28 or 29, wherein the synthetic aperture radar comprises a phased array antenna.

32. The Earth monitoring system according to claim 28 or 29, wherein the satellite constellation comprises three or more satellites.

33. The Earth monitoring system according to claim 28 or 29, wherein the satellite constellation comprises five or more satellites.

34. The Earth monitoring system according to claim 28 or 29, wherein the satellite constellation comprises eight or more satellites.

35. The Earth monitoring system according to claim 28 or 29, wherein the satellite constellation comprises 12 or more satellites.

36. The Earth monitoring system according to claim 28 or 29, wherein the satellite constellation comprises 18 or more satellites.

37. The Earth monitoring system according to claim 28 or 29, wherein the satellite constellation comprises satellites weighing less than 500 kg.

38. The Earth monitoring system according to claim 28 or 29, wherein the satellite constellation comprises satellites weighing between 50 kg and 250 kg.

39. The Earth monitoring system of claim 28 or 29 further includes one or more ground stations configured to communicate with one or more satellites of the satellite constellation.

40. The Earth monitoring system of claim 28 or 29, wherein the one or more satellites includes a storage containing the existing schedule.

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