Targeting test task generation method for on-satellite autonomous task planning

Abstract

The invention provides a targeting test task generation method for on-satellite autonomous task planning. The method comprises the following steps: determining a data transmission time period in which a satellite can perform a data transmission task within a preset planning time; determining a first imaging duration sequence according to the data transmission time period and the initial solid memory value of the satellite; determining a second imaging duration sequence according to the load continuous imaging duration and the imaging interval duration of the satellite; determining a target imaging duration sequence according to the first imaging duration sequence and the second imaging duration sequence; and generating a test task based on the target imaging duration sequence, and performing energy recheck on the test task to obtain a target shooting test task. According to the scheme, the target shooting test task is automatically generated, the problem that the satellite-borne autonomous task planning technology is difficult to test and verify is solved, and the time and labor cost in the test process is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite mission planning, and in particular to a method for generating a target shooting test mission for autonomous mission planning on a satellite. Background Art

[0002] Autonomous mission planning on board the satellite realizes all functions of traditional ground mission planning, such as task preprocessing, task optimization and scheduling, and command sequence generation, greatly improving the usability of the satellite. As long as the user provides the longitude and latitude of the mission to be filmed, the data transmission window, and the location of the ground receiving station, the onboard control subsystem can autonomously generate a command sequence for each subsystem to execute, and send it to the satellite service subsystem to forward it to the lower computer of the relevant subsystem for execution according to the command execution time.

[0003] Since the on-board constraints considered by the on-board autonomous mission planning technology involve a wide range of fields, including the on-board satellite service subsystem, payload subsystem, data transmission subsystem, control subsystem, energy subsystem, etc., it is difficult to use a few or dozens of special use cases to verify the completeness of software functions and test its capability boundaries during the test and verification of the autonomous mission planning technology. It is necessary to manually design a sufficient number of test cases, which greatly increases the test time and labor cost, and cannot guarantee the completeness of the test verification. Therefore, it is urgent to provide a target shooting test task generation method for on-board autonomous mission planning. Summary of the invention

[0004] The present invention provides a method for generating a target shooting test task for onboard autonomous task planning, which solves the problem of difficult testing and verification of onboard autonomous task planning technology by automatically generating target shooting tasks, thereby reducing the time and labor costs in the testing process.

[0005] In a first aspect, the present invention provides a method for generating a target shooting test task for autonomous on-board task planning, comprising:

[0006] Determine the data transmission time period during which the satellite can perform data transmission tasks within the preset planning time;

[0007] Determining a first imaging duration sequence according to the data transmission time period and the initial storage value of the satellite;

[0008] Determining a second imaging duration sequence according to the satellite's payload continuous imaging duration and imaging interval duration;

[0009] Determining a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence;

[0010] A test task is generated based on the target imaging duration sequence, and energy review is performed on the test task to obtain a target shooting test task.

[0011] Optionally, determining a first imaging duration sequence according to the data transmission time period and the initial fixed storage value of the satellite includes:

[0012] Calculating the imaging cut-off time of each data transmission time period according to the initial storage value;

[0013] Dividing the preset planning time according to the data transmission time period and the imaging cut-off time to obtain a plurality of imaging time periods;

[0014] The imaging time periods are sorted in time series to obtain a first imaging time length sequence.

[0015] Optionally, the calculating, according to the initial fixed storage value, the imaging cut-off time of each data transmission time period includes:

[0016] Acquire the instantaneous fixed storage value at each moment in the data transmission time period in real time;

[0017] The earliest time corresponding to the instantaneous persistence value that is the same as the initial persistence value is determined as the imaging cut-off time.

[0018] Optionally, the preset planning time is divided according to the data transmission time period and the imaging cut-off time to obtain a plurality of imaging time periods, including:

[0019] Determine a maximum data transmission end time of the data transmission time period;

[0020] When the maximum data transmission termination time is less than the termination time of the preset planning time, a temporary imaging time period is determined; wherein the temporary imaging time period starts from the maximum data transmission termination time and ends at the termination time of the preset planning time;

[0021] Determining whether the satellite is located in a sunny area during the temporary imaging time period;

[0022] If the judgment result is yes, the temporary imaging time period is used as the last imaging time period; wherein the number of the imaging time periods is greater than the number of the data transmission time periods;

[0023] If the judgment result is no, the number of the imaging time periods is the same as the number of the data transmission time periods;

[0024] Among them, the first imaging time period takes the start time of the preset planning time as the starting point, and takes the imaging cutoff time of the first data transmission time period within the preset planning time as the end point; the Nth imaging time period takes the data transmission end time of the N-1th data transmission time period as the starting point, and takes the imaging cutoff time of the Nth data transmission time period as the end point.

[0025] Optionally, determining a second imaging duration sequence according to the satellite payload continuous imaging duration and imaging interval duration includes:

[0026] Determine the total sunshine duration of the satellite in the sunshine area within the preset planning time;

[0027] According to the load continuous imaging duration and the imaging interval duration, sequentially determining the load imaging time periods in which imaging can be performed in the total sunlight exposure duration;

[0028] The load imaging time periods are sorted according to a time series to obtain a second imaging time length sequence.

[0029] Optionally, determining a data transmission time period during which the satellite can perform a data transmission task within a preset planning time includes:

[0030] Determining an orbital interval in the orbit in which a data transmission mission can be performed according to the latitude and longitude of the ground station of the satellite and the orbit of the satellite;

[0031] The data transmission time period corresponding to each of the track intervals is determined within the preset planning time.

[0032] Optionally, determining a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence includes:

[0033] summing the durations of the imaging time periods included in the first imaging duration sequence to obtain a first total imaging duration;

[0034] summing the durations of the load imaging time periods included in the second imaging duration sequence to obtain a second imaging total duration;

[0035] The first total imaging time is compared with the second total imaging time, and a sequence corresponding to the shortest total imaging time is determined as the target imaging time sequence.

[0036] Optionally, generating a test task based on the target imaging duration sequence, and performing energy review on the test task to obtain a target shooting test task includes:

[0037] Randomly generating imaging tasks in the target imaging duration sequence;

[0038] For each of the imaging tasks, the following steps are performed: determining a data transmission task corresponding to the imaging task according to the imaging task; and generating a maneuvering task corresponding to the imaging task according to a preset task time interval and a preset random method; wherein the maneuvering task includes a maneuvering angle of the satellite; and the test task includes the imaging task, the data transmission task and the maneuvering task;

[0039] Determine whether the total occupied energy consumption of the test task does not exceed a first preset energy threshold of the satellite;

[0040] If the judgment result is yes, the test task is used as the target shooting test task;

[0041] If the judgment result is no, the test tasks are deleted in order of energy consumption from low to high until the judgment result is yes.

[0042] Optionally, the step of generating a motorized task corresponding to the imaging task according to a preset task time interval and a preset random method includes:

[0043] Determine the maneuvering time according to the preset task time interval;

[0044] At the maneuvering time, determining a rolling angle range of the satellite maneuver based on a satellite maneuvering capability curve;

[0045] randomly determining a rolling angle based on the rolling angle range;

[0046] Determining a pitch angle range of the satellite maneuver according to the satellite maneuverability curve and the rolling angle;

[0047] Randomly determining a pitch angle based on the pitch angle range;

[0048] Substituting the roll angle and the pitch angle into the satellite maneuverability curve to obtain the yaw angle of the satellite maneuver under the maneuvering time;

[0049] The rolling angle, the pitch angle and the yaw angle at the maneuvering time are used as the maneuvering angle of the satellite to obtain the maneuvering mission.

[0050] Optionally, after deleting the test tasks in order of energy consumption from low to high, the method further includes:

[0051] Determine whether the total occupied energy consumption of the deleted test task does not exceed a second preset energy threshold of the satellite; wherein the second preset energy threshold is less than the first preset energy threshold;

[0052] If the judgment result is yes, the deleted test task is used as the target shooting test task;

[0053] If the judgment result is no, the test task is deleted a second time in the order of the distance from the satellite in the shadow area from near to far when the deleted test task is executed, until the judgment result is yes.

[0054] In a second aspect, the present invention further provides a target shooting test task generation device for on-board autonomous task planning, comprising:

[0055] A data transmission constraint module is used to determine a data transmission time period during which the satellite can perform a data transmission task within a preset planning time; and determine a first imaging duration sequence according to the data transmission time period and the initial storage value of the satellite;

[0056] A payload constraint module, used to determine a second imaging duration sequence according to the payload continuous imaging duration and imaging interval duration of the satellite;

[0057] An imaging sequence determination module, configured to determine a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence;

[0058] The task generation module is used to generate a test task based on the target imaging duration sequence, and to perform energy review on the test task to obtain a target shooting test task.

[0059] In a third aspect, the present invention further provides a computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements any of the above-mentioned methods for generating target shooting test tasks for on-board autonomous mission planning.

[0060] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute any of the above-mentioned methods for generating a target shooting test task for on-board autonomous mission planning.

[0061] In a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method described in any first aspect of this specification.

[0062] The present invention provides a method for generating a target shooting test task for autonomous task planning on a satellite. First, the data transmission time period of the satellite is determined within a preset planning time, and a first imaging duration sequence satisfying the data transmission constraint is determined based on the data transmission time period and the initial storage value of the satellite. Then, based on the continuous imaging duration of the payload and the imaging interval duration, a second imaging duration sequence satisfying the payload constraint is determined. Then, from the two existing imaging duration sequences, a target imaging duration sequence satisfying both the data transmission constraint and the payload constraint is determined. Finally, a test task is generated based on the target imaging duration sequence, and a target shooting test task is obtained by energy compounding the test task. In this way, the present invention comprehensively considers the constraints of subsystems such as data transmission, storage, payload, and energy, not only ensuring that the target shooting test tasks are all valid and executable tasks, but also automatically generates the target shooting test tasks through the above method, reducing the labor cost and time cost required for the test process, improving the generation efficiency of test cases, and ensuring the completeness of test verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] 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 or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 It is a flow chart of a method for generating a target shooting test task for autonomous on-board task planning provided by an embodiment of the present invention;

[0065] Figure 2 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0066] Figure 3 It is a structural diagram of a target shooting test task generation device for on-board autonomous task planning provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0068] Please refer to Figure 1 The embodiment of the present invention provides a method for generating a target shooting test task for on-board autonomous task planning, comprising:

[0069] Step 100, determining a data transmission time period during which the satellite can perform data transmission tasks within a preset planning time;

[0070] Step 102, determining a first imaging duration sequence according to the data transmission time period and the initial storage value of the satellite;

[0071] Step 104, determining a second imaging duration sequence according to the satellite payload continuous imaging duration and the imaging interval duration;

[0072] Step 106, determining a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence;

[0073] Step 108, generating a test task based on the target imaging duration sequence, and performing energy review on the test task to obtain a target shooting test task.

[0074] In the present invention, firstly, the data transmission time period of the satellite is determined within the preset planning time, and the first imaging duration sequence that satisfies the data transmission constraint is determined based on the data transmission time period and the initial storage value of the satellite, and then the second imaging duration sequence that satisfies the load constraint is determined based on the payload continuous imaging duration and the imaging interval duration, and then the target imaging duration sequence that satisfies both the data transmission constraint and the load constraint is determined from the two existing imaging duration sequences, and finally the test task is generated based on the target imaging duration sequence, and the target shooting test task is obtained by energy compounding the test task. In this way, the present invention comprehensively considers the constraints of subsystems such as data transmission, storage, load, and energy, not only ensuring that the target shooting test tasks are all valid and executable tasks, but also automatically generates the target shooting test tasks through the above method, reducing the labor cost and time cost required for the test process, improving the efficiency of generating test cases, and ensuring the completeness of test verification.

[0075] It should be noted that the data transmission task refers to the satellite transmitting the onboard payload data to the ground through a wireless channel. It should be noted that in the present invention, in order to make full use of the resources of the satellite system within the preset planning time period, it is assumed that the satellite is located in the sunlit area at the beginning of the preset planning time period and can perform the imaging task.

[0076] Described below Figure 1 How the various steps are performed.

[0077] First, with respect to step 100, a data transmission time period during which the satellite can perform a data transmission task is determined within a preset planning time, including:

[0078] According to the longitude and latitude of the satellite's ground station and the satellite's orbit, determine the orbital interval in the orbit where data transmission missions can be carried out;

[0079] Determine the data transmission time period corresponding to each track section within the preset planning time.

[0080] Specifically, for example, by combining the longitude and latitude of the ground station and the orbit of the satellite, the existing technology is used to calculate the satellite's visible ground station situation within the preset planning time, and the data transmission time period Ttrans (t i ), t i =1,2,...,N, the total number of data transmission time periods is N, where each data transmission time period Ttrans(t i ) is the time interval (Tstartt i ,Tendtt i ). It should be noted that, since the data transmission task will not be started first when the preset planning time starts, t i When =1, Tstart1≠0.

[0081] In step 102, a first imaging duration sequence is determined according to the data transmission time period and the initial storage value of the satellite, including:

[0082] According to the initial storage value, the imaging cut-off time of each data transmission time period is calculated;

[0083] The preset planning time is divided according to the data transmission time period and the imaging cut-off time to obtain a number of imaging time periods;

[0084] The imaging time periods are sorted in time series to obtain a first imaging time length sequence.

[0085] Since the satellite only performs imaging in the sunny area, the sunny area can also perform digital transmission during the time period when the satellite is visible to the ground station. The satellite cannot perform imaging in the shadow area, and the shadow area can only perform digital transmission during the time period when the satellite is visible to the ground station. Therefore, the digital transmission time period of the present invention has simultaneous imaging and digital transmission stages, but because the data storage capacity of the satellite is constrained by the initial storage value, imaging will stop when the data storage capacity reaches the initial storage value. At this time, the imaging cutoff time can be determined, and then the imaging time period used for imaging in the digital transmission time period can be determined. By further arranging all imaging time periods within the preset planning time in chronological order, the first imaging time length sequence constrained by digital transmission is determined. It should be noted that the imaging time period is shorter than the digital transmission time period.

[0086] In a preferred embodiment, the imaging cut-off time of each data transmission time period is calculated according to the initial storage value, including:

[0087] Real-time acquisition of the instantaneous storage value at each moment in the data transmission time period;

[0088] The earliest time corresponding to the instantaneous sequestration value that is the same as the initial sequestration value is determined as the imaging cutoff time.

[0089] In the present invention, by acquiring the instantaneous storage value corresponding to each moment in the data transmission time period in real time, the moment when the instantaneous storage value is the same as the initial storage value can be determined, that is, the imaging cut-off moment is obtained.

[0090] For example, in the data transmission time period Trans(t i ), the imaging cut-off time is Tmaxt i , then the imaging time period within the data transmission time period is (Tstartt i ,Tmaxt i ), and imaging and data transmission are performed simultaneously during the imaging time period, but in the time interval (Tmaxt i ,Tendt i ) only performs data transmission tasks.

[0091] In a preferred embodiment, the preset planning time is divided according to the data transmission time period and the imaging cut-off time to obtain several imaging time periods, including:

[0092] Determine the maximum data transmission end time of the data transmission time period;

[0093] When the maximum data transmission termination time is less than the termination time of the preset planning time, a temporary imaging time period is determined; wherein the temporary imaging time period starts from the maximum data transmission termination time and ends at the termination time of the preset planning time;

[0094] Determine whether the satellite is located in the sunshine area during the temporary imaging period;

[0095] If the judgment result is yes, the temporary imaging time period is taken as the last imaging time period; wherein the number of imaging time periods is greater than the number of data transmission time periods;

[0096] If the judgment result is no, the number of imaging time periods is the same as the number of data transmission time periods;

[0097] Among them, the first imaging time period takes the start time of the preset planning time as the starting point, and takes the imaging cutoff time of the first data transmission time period within the preset planning time as the end point; the Nth imaging time period takes the data transmission termination time of the N-1th data transmission time period as the starting point, and takes the imaging cutoff time of the Nth data transmission time period as the end point, N>1, and N is the number of data transmission time periods.

[0098] Specifically, as described in the previous example, the time interval of the preset planning time is (T0, T s ), determine the maximum data transmission end time TendN from all data transmission time periods ((Tmax1, Tend1), ..., (TmaxN, TendN)); if TendN < T s , then determine the temporary imaging time period as (TendN,Ts ), and judge in (TendN,T s ) is the satellite located in the sunlit area. If it is located in the sunlit area, the imaging time period is determined to be N+1 periods in total. If it is located in the shadow area, the imaging time period is determined to be N periods in total. If TendN = T s , it is still determined that the imaging time period is N in total. Since the imaging task starts from T0 within the preset planning time, it is assumed that the imaging time is all in the sunlit area when considering the data transmission constraints. Therefore, when there are N imaging time periods, the first imaging time sequence is (T0, Tmax1), (Tend1, Tmax2), (Tend2, Tmax3), ..., (TendN-1, TmaxN); therefore, when there are N+1 imaging time periods, the first imaging time sequence is (T0, Tmax1), (Tend1, Tmax2), (Tend2, Tmax3), ..., (TendN-1, TmaxN), (TendN, T s ).

[0099] In the present invention, the time period from the maximum data transmission termination time to the termination time of the preset planning time is used as a temporary imaging time period, and when the temporary imaging time period is located in the sunshine area, the temporary imaging time period is increased to an imaging time period, thereby fully utilizing the satellite's fixed storage resources, increasing the number of test cases and improving work efficiency.

[0100] In a more preferred embodiment, the temporary imaging time period is used as the last imaging time period, including:

[0101] Acquire a time corresponding to an instantaneous storage value that is the same as the initial storage value in the temporary imaging time period, and determine the time as an imaging cutoff time of the last imaging time period;

[0102] If the instantaneous sequestration value at the end time of the preset planning time is less than the initial sequestration value, the end time of the preset planning time is determined to be the imaging cut-off time of the last imaging time period.

[0103] Specifically, as described in the previous example, (TendN,T s ) when the satellite is located in the sunlight area, the imaging cut-off time of the last imaging time period is TmaxN+1, and the time interval for the imaging task is (TendN, TmaxN+1).

[0104] In step 104, a second imaging duration sequence is determined according to the satellite payload continuous imaging duration and the imaging interval duration, including:

[0105] Determine the total sunshine duration of the satellite in the sunshine area within the preset planning time;

[0106] According to the payload continuous imaging time and the imaging interval time, the payload imaging time periods that can be imaged are determined in sequence in the total sunlight time;

[0107] The load imaging time periods are sorted according to the time series to obtain a second imaging time series.

[0108] In the present invention, after obtaining the satellite's payload continuous imaging time TPMax and imaging interval time TPNeedMin, the imaging tasks are alternately planned in the order of TPMax-TPNeedMin-TPMax-TPNeedMin in the sunlight area where imaging can be performed to obtain a second imaging time sequence that meets the payload constraint.

[0109] With respect to step 106, determining a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence includes:

[0110] The durations of the imaging time periods included in the first imaging duration sequence are summed to obtain a first total imaging duration;

[0111] The durations of the load imaging time periods included in the second imaging duration sequence are summed to obtain a second imaging total duration;

[0112] The first total imaging time is compared with the second total imaging time, and a sequence corresponding to the shortest total imaging time is determined as a target imaging time sequence.

[0113] Specifically, as described in the previous example, if the first imaging duration sequence is (T0, Tmax1), (Tend1, Tmax2), (Tend2, Tmax3), ..., (TendN-1, TmaxN), then the total duration of the first imaging T Z1 =Tmax1-T0+Tmax2-Tend1+Tmax3-Tend2+...+TmaxN-TendN-1. The second total duration T Z2 =n*TPMax, where n is the number of load imaging time periods. Z1 <T Z2 , then the first imaging time sequence is determined as the target imaging time sequence; if T Z1 ≥T Z2 , then the second imaging time sequence is determined as the target imaging time sequence.

[0114] In the present invention, by comparing the total duration of the imaging task in the two acquired imaging duration sequences, it is possible to further determine an imaging duration sequence that simultaneously satisfies the data transmission constraints, storage constraints and load constraints from the two, thereby improving the reliability of the generated test task.

[0115] In step 108, a test task is generated based on the target imaging duration sequence, and the energy of the test task is reviewed to obtain a target shooting test task, including:

[0116] Randomly generate imaging tasks in the target imaging duration sequence;

[0117] For each imaging task, the following are performed: according to the imaging task, a data transmission task corresponding to the imaging task is determined; and a maneuvering task corresponding to the imaging task is generated according to a preset task time interval and a preset random method; wherein the maneuvering task includes the maneuvering angle of the satellite; the test task includes an imaging task, a data transmission task and a maneuvering task;

[0118] Determine whether the total occupied energy consumption of the test task does not exceed a first preset energy threshold of the satellite;

[0119] If the judgment result is yes, the test task is used as a target shooting test task;

[0120] If the judgment result is no, the test tasks are deleted in order of energy consumption from low to high until the judgment result is yes.

[0121] In the present invention, after determining the target imaging duration sequence, an imaging task is randomly generated for each imaging time period, and then corresponding to each imaging task, a data transmission task is determined based on the constraints of the initial fixed value and the constraints that data transmission can be performed during the satellite visible ground station time period, and a corresponding maneuvering task is generated in a preset random manner according to the preset task interval time. The imaging task performs attitude and orbit control and completes imaging at the maneuvering angle of the satellite included in the maneuvering task. In this way, the imaging task, the data transmission task and the maneuvering task are one-to-one corresponding, and the imaging task, the data transmission task and the maneuvering task are combined to obtain a test task.

[0122] In the present invention, the instruments and equipment on the satellite cannot work without limit due to energy constraints. Therefore, it is also necessary to consider energy constraints in the test verification process, by judging whether each test task currently generated meets the energy constraints, so as to eliminate some test tasks when they do not meet the energy constraints, and by first deleting the test tasks with low energy consumption, it is ensured that the energy constraints are met while fully utilizing energy resources, ensuring the retention of important key test tasks, and then ensuring that the main payload works longer in each orbital cycle, thereby improving the execution efficiency of the task and the value of the satellite.

[0123] In a preferred embodiment, generating a motorized task corresponding to the imaging task according to a preset task time interval and a preset random method includes:

[0124] Determine the maneuvering time according to the preset mission time interval;

[0125] Under the maneuvering time, determining the rolling angle range of the satellite maneuver based on the satellite maneuvering capability curve;

[0126] Randomly determine the rolling angle based on the rolling angle range;

[0127] Determine the pitch angle range of satellite maneuvers based on the satellite maneuverability curve and roll angle;

[0128] Randomly determine the pitch angle based on the pitch angle range;

[0129] Substitute the roll angle and pitch angle into the satellite maneuverability curve to obtain the yaw angle of the satellite maneuver under the maneuvering time;

[0130] The roll angle, pitch angle and yaw angle at the maneuvering time are taken as the maneuvering angle of the satellite to obtain the maneuvering mission.

[0131] Specifically, the satellite maneuverability curve can be interpolated based on the satellite three-axis maneuverability characteristic values, which is recorded as y=f(x1,x2,x3), where x1,x2,x3 correspond to the roll angle, pitch angle, and yaw angle of the satellite maneuver, respectively, and y is the time required for the satellite to maneuver to the state of x1,x2,x3. The preset random method is as follows:

[0132] S1: Determine the maneuvering time y1 according to the preset mission time interval, set x2=0, x3=0 and input them into the satellite maneuverability curve, and output the initial value of the rolling angle x1';

[0133] S2: Determine the rolling angle range (-x1', x1') based on the initial rolling angle value x1', and randomly determine the rolling angle within this range

[0134] S3: x3=0 Input the satellite maneuverability curve and output the initial value of the pitch angle x'2;

[0135] S4: Determine the pitch angle range (-x'2, x'2) based on the initial value of the pitch angle x'2, and randomly determine the pitch angle within the range

[0136] S5: Input the satellite maneuverability curve and output the yaw angle The maneuver task is to adjust the satellite's attitude according to the rolling angle at time y1. Pitch Angle and yaw angle Maneuver.

[0137] In the present invention, the corresponding maneuvering angles are generated by interpolating maneuvering capabilities and random factors, thereby realizing the automatic formation of corresponding maneuvering tasks. Meanwhile, the flexibility and adaptability of the test tasks are increased by adopting random factors, thereby providing the system with the ability to handle uncertainty and complex environments without manual design.

[0138] In a preferred embodiment, after deleting the test tasks in order of energy consumption from low to high, the method further includes:

[0139] Determine whether the total occupied energy consumption of the deleted test task does not exceed a second preset energy threshold of the satellite; wherein the second preset energy threshold is less than the first preset energy threshold;

[0140] If the judgment result is yes, the deleted test task is used as the target shooting test task;

[0141] If the judgment result is no, the test task is deleted again in the order of the distance from the satellite in the shadow area from near to far when the deleted test task is executed, until the judgment result is yes.

[0142] In the present invention, since the solar panels can no longer provide energy when the satellite is in orbit and enters the shadow area of ​​the earth, it is necessary to further constrain the test tasks to ensure that the satellite's energy needs are met in the shadow area and within the entire preset planning time, thereby improving the reliability of satellite operation. The present invention constrains the test tasks that meet the first preset energy threshold again, and when the total energy consumption of the test tasks after deletion does not exceed the first preset energy threshold but exceeds the second preset energy threshold, the test tasks located near the shadow area are removed again until the total energy consumption of the test tasks after deletion does not exceed the second preset energy threshold.

[0143] like Figure 2 , Figure 3 As shown, an embodiment of the present invention provides a target shooting test task generation device for on-board autonomous task planning. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 2 As shown, a hardware architecture diagram of a computing device where a target shooting test task generation device for on-board autonomous task planning provided by an embodiment of the present invention is located is shown. Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a target shooting test task generation device for on-board autonomous task planning, including:

[0144] The data transmission constraint module 300 is used to determine the data transmission time period during which the satellite can perform the data transmission task within the preset planning time; and determine the first imaging duration sequence according to the data transmission time period and the initial storage value of the satellite;

[0145] The payload constraint module 302 is used to determine a second imaging duration sequence according to the payload continuous imaging duration and the imaging interval duration of the satellite;

[0146] An imaging sequence determination module 304 is used to determine a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence;

[0147] The task generation module 306 is used to generate a test task based on the target imaging duration sequence, and to perform energy review on the test task to obtain a target shooting test task.

[0148] In some specific implementations, the data transmission constraint module 300 may be used to execute the above steps 100 and 102 , the load constraint module 302 may be used to execute the above step 104 , the imaging sequence determination module 304 may be used to execute the above step 106 , and the task generation module 306 may be used to execute the above step 108 .

[0149] In some specific implementations, the data transmission constraint module 300 is further configured to perform the following operations:

[0150] According to the longitude and latitude of the satellite's ground station and the satellite's orbit, determine the orbital interval in the orbit where data transmission missions can be carried out;

[0151] Determine the data transmission time period corresponding to each track section within the preset planning time.

[0152] In some specific implementations, the data transmission constraint module 300 is further configured to perform the following operations:

[0153] Real-time acquisition of the instantaneous storage value at each moment in the data transmission time period;

[0154] The earliest time corresponding to the instantaneous sequestration value that is the same as the initial sequestration value is determined as the imaging cutoff time;

[0155] Determine the maximum data transmission end time of the data transmission time period;

[0156] When the maximum data transmission termination time is less than the termination time of the preset planning time, a temporary imaging time period is determined; wherein the temporary imaging time period starts from the maximum data transmission termination time and ends at the termination time of the preset planning time;

[0157] Determine whether the satellite is located in the sunshine area during the temporary imaging period;

[0158] If the judgment result is yes, the temporary imaging time period is taken as the last imaging time period; wherein the number of imaging time periods is greater than the number of data transmission time periods;

[0159] If the judgment result is no, the number of imaging time periods is the same as the number of data transmission time periods;

[0160] The first imaging time period takes the start time of the preset planning time as the starting point, and takes the imaging cut-off time of the first data transmission time period within the preset planning time as the end point; the Nth imaging time period takes the data transmission end time of the N-1th data transmission time period as the starting point, and takes the imaging cut-off time of the Nth data transmission time period as the end point;

[0161] The imaging time periods are sorted in time series to obtain a first imaging time length sequence.

[0162] In some specific implementations, the load constraint module 302 is further configured to perform the following operations:

[0163] Determine the total sunshine duration of the satellite in the sunshine area within the preset planning time;

[0164] According to the payload continuous imaging time and the imaging interval time, the payload imaging time periods that can be imaged are determined in sequence in the total sunlight time;

[0165] The load imaging time periods are sorted according to the time series to obtain a second imaging time series.

[0166] In some specific implementations, the imaging sequence determination module 304 is further configured to perform the following operations:

[0167] The durations of the imaging time periods included in the first imaging duration sequence are summed to obtain a first total imaging duration;

[0168] The durations of the load imaging time periods included in the second imaging duration sequence are summed to obtain a second imaging total duration;

[0169] The first total imaging time is compared with the second total imaging time, and a sequence corresponding to the shortest total imaging time is determined as a target imaging time sequence.

[0170] In some more specific implementations, the task generation module 306 is further configured to perform the following operations:

[0171] Randomly generate imaging tasks in the target imaging duration sequence;

[0172] For each imaging task, the following are performed: according to the imaging task, a data transmission task corresponding to the imaging task is determined; and a maneuvering task corresponding to the imaging task is generated according to a preset task time interval and a preset random method; wherein the maneuvering task includes the maneuvering angle of the satellite; the test task includes an imaging task, a data transmission task and a maneuvering task;

[0173] Determine whether the total occupied energy consumption of the test task does not exceed a first preset energy threshold of the satellite;

[0174] If the judgment result is yes, the test task is used as a target shooting test task;

[0175] If the judgment result is no, the test tasks are deleted in order of energy consumption from low to high until the judgment result is yes.

[0176] In some more specific implementations, the task generation module 306 is further configured to perform the following operations:

[0177] Determine the maneuvering time according to the preset mission time interval;

[0178] Under the maneuvering time, determining the rolling angle range of the satellite maneuver based on the satellite maneuvering capability curve;

[0179] Randomly determine the rolling angle based on the rolling angle range;

[0180] Determine the pitch angle range of satellite maneuvers based on the satellite maneuverability curve and roll angle;

[0181] Randomly determine the pitch angle based on the pitch angle range;

[0182] Substitute the roll angle and pitch angle into the satellite maneuverability curve to obtain the yaw angle of the satellite maneuver under the maneuvering time;

[0183] The roll angle, pitch angle and yaw angle at the maneuvering time are taken as the maneuvering angle of the satellite to obtain the maneuvering mission.

[0184] In some more specific implementations, the task generation module 306 is further configured to perform the following operations:

[0185] After deleting the test tasks in order of energy consumption from low to high, determining whether the total energy consumption of the deleted test tasks does not exceed a second preset energy threshold of the satellite; wherein the second preset energy threshold is less than the first preset energy threshold;

[0186] If the judgment result is yes, the deleted test task is used as the target shooting test task;

[0187] If the judgment result is no, the test task is deleted again in the order of the distance from the satellite in the shadow area from near to far when the deleted test task is executed, until the judgment result is yes.

[0188] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a target shooting test task generation device for onboard autonomous task planning. In other embodiments of the present invention, a target shooting test task generation device for onboard autonomous task planning may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0189] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0190] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for generating a target shooting test task for on-board autonomous task planning in any embodiment of the present invention is implemented.

[0191] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a method for generating a target shooting test task for on-board autonomous task planning in any embodiment of the present invention.

[0192] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes a method for generating a target shooting test task for on-board autonomous task planning as described in any of the above embodiments.

[0193] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0194] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0195] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0196] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0197] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0198] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0199] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for generating a target shooting test task for autonomous onboard mission planning, characterized in that: include: Determine the data transmission time period during which the satellite can perform data transmission tasks within the preset planning time; Determining a first imaging duration sequence according to the data transmission time period and the initial storage value of the satellite; Determining a second imaging duration sequence according to the satellite's payload continuous imaging duration and imaging interval duration; Determining a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence; A test task is generated based on the target imaging duration sequence, and energy review is performed on the test task to obtain a target shooting test task.

2. The method according to claim 1, characterized in that The step of determining a first imaging duration sequence according to the data transmission time period and the initial fixed storage value of the satellite includes: Calculating the imaging cut-off time of each data transmission time period according to the initial storage value; Dividing the preset planning time according to the data transmission time period and the imaging cut-off time to obtain a plurality of imaging time periods; The imaging time periods are sorted in time series to obtain a first imaging time length sequence.

3. The method according to claim 2, characterized in that The step of calculating the imaging cut-off time of each data transmission time period according to the initial storage value includes: Acquire the instantaneous fixed storage value at each moment in the data transmission time period in real time; Determining the earliest time corresponding to the instantaneous sequestration value that is the same as the initial sequestration value as the imaging cutoff time; and / or, The preset planning time is divided according to the data transmission time period and the imaging cut-off time to obtain a plurality of imaging time periods, including: Determine a maximum data transmission end time of the data transmission time period; When the maximum data transmission termination time is less than the termination time of the preset planning time, a temporary imaging time period is determined; wherein the temporary imaging time period starts from the maximum data transmission termination time and ends at the termination time of the preset planning time; Determining whether the satellite is located in a sunny area during the temporary imaging time period; If the judgment result is yes, the temporary imaging time period is used as the last imaging time period; wherein the number of the imaging time periods is greater than the number of the data transmission time periods; If the judgment result is no, the number of the imaging time periods is the same as the number of the data transmission time periods; Among them, the first imaging time period takes the start time of the preset planning time as the starting point, and takes the imaging cutoff time of the first data transmission time period within the preset planning time as the end point; the Nth imaging time period takes the data transmission end time of the N-1th data transmission time period as the starting point, and takes the imaging cutoff time of the Nth data transmission time period as the end point.

4. The method according to claim 1, characterized in that: The step of determining a second imaging duration sequence according to the satellite payload continuous imaging duration and the imaging interval duration comprises: Determine the total sunshine duration of the satellite in the sunshine area within the preset planning time; According to the load continuous imaging duration and the imaging interval duration, sequentially determining the load imaging time periods in which imaging can be performed in the total sunlight exposure duration; The load imaging time periods are sorted according to a time series to obtain a second imaging time length sequence.

5. The method according to claim 1, characterized in that Determining the data transmission time period during which the satellite can perform the data transmission task within the preset planning time includes: Determining an orbital interval in the orbit in which a data transmission mission can be performed according to the latitude and longitude of the ground station of the satellite and the orbit of the satellite; Determine the data transmission time period corresponding to each track section within the preset planning time; and / or, The step of determining a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence includes: summing the durations of the imaging time periods included in the first imaging duration sequence to obtain a first total imaging duration; summing the durations of the load imaging time periods included in the second imaging duration sequence to obtain a second imaging total duration; The first total imaging time is compared with the second total imaging time, and a sequence corresponding to the shortest total imaging time is determined as the target imaging time sequence.

6. The method according to any one of claims 1 to 5, characterized in that: The generating of the test task based on the target imaging duration sequence and performing energy review on the test task to obtain the target shooting test task includes: Randomly generating imaging tasks in the target imaging duration sequence; For each of the imaging tasks, the following steps are performed: determining a data transmission task corresponding to the imaging task according to the imaging task; and generating a maneuvering task corresponding to the imaging task according to a preset task time interval and a preset random method; wherein the maneuvering task includes a maneuvering angle of the satellite; and the test task includes the imaging task, the data transmission task and the maneuvering task; Determine whether the total occupied energy consumption of the test task does not exceed a first preset energy threshold of the satellite; If the judgment result is yes, the test task is used as the target shooting test task; If the judgment result is no, the test tasks are deleted in order of energy consumption from low to high until the judgment result is yes.

7. The method according to claim 6, characterized in that The step of generating a motorized task corresponding to the imaging task according to a preset task time interval and a preset random method includes: Determine the maneuvering time according to the preset task time interval; At the maneuvering time, determining a rolling angle range of the satellite maneuver based on a satellite maneuvering capability curve; randomly determining a rolling angle based on the rolling angle range; Determining a pitch angle range of the satellite maneuver according to the satellite maneuverability curve and the rolling angle; Randomly determining a pitch angle based on the pitch angle range; Substituting the roll angle and the pitch angle into the satellite maneuverability curve to obtain the yaw angle of the satellite maneuver under the maneuvering time; Taking the rolling angle, the pitch angle and the yaw angle at the maneuvering time as the maneuvering angle of the satellite, to obtain the maneuvering mission; and / or, After deleting the test tasks in order of energy consumption from low to high, the method further includes: Determine whether the total occupied energy consumption of the deleted test task does not exceed a second preset energy threshold of the satellite; wherein the second preset energy threshold is less than the first preset energy threshold; If the judgment result is yes, the deleted test task is used as the target shooting test task; If the judgment result is no, the test task is deleted a second time in the order of the distance from the satellite in the shadow area from near to far when the deleted test task is executed, until the judgment result is yes.

8. A target shooting test task generation device for autonomous mission planning on a satellite, characterized in that: include: A data transmission constraint module is used to determine a data transmission time period during which the satellite can perform a data transmission task within a preset planning time; and determine a first imaging duration sequence according to the data transmission time period and the initial storage value of the satellite; A payload constraint module, used to determine a second imaging duration sequence according to the payload continuous imaging duration and imaging interval duration of the satellite; An imaging sequence determination module, configured to determine a target imaging time sequence according to the first imaging time sequence and the second imaging time sequence; The task generation module is used to generate a test task based on the target imaging duration sequence, and to perform energy review on the test task to obtain a target shooting test task.

9. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 7.

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