Satellite on-orbit autonomous task planning method and system

Abstract

The invention belongs to the technical field of satellite autonomous task planning, and provides a satellite in-orbit autonomous task planning method and system, and the system comprises a task receiving mechanism which is responsible for receiving a task group uploaded from the ground, and carrying out the primary processing; the task sorting and planning mechanism is used for carrying out priority and yield sorting on the tasks and generating a task planning scheme; the task execution mechanism executes operations such as observation, data transmission and data recording according to the planning scheme; the data processing mechanism is used for rapidly processing and extracting image data generated by the task and carrying out quality detection and correction in real time; the monitoring and evaluating mechanism is used for monitoring a task execution process in real time, evaluating a task execution result and recording related data; according to the invention, the task receiving module, the task priority ranking module, the observation trajectory acquisition module, the task planning module and the task execution module are arranged, and information interaction is carried out among the modules through data interfaces, so that satellite in-orbit autonomous task planning and execution are jointly realized.

Description

Technical Field

[0001] The invention belongs to the technical field of satellite autonomous mission planning, and in particular to a method and system for satellite on-orbit autonomous mission planning. Background Art

[0002] Satellite autonomous planning missions on orbit refer to the process in which satellites autonomously plan and execute missions without direct intervention from the ground or only accept remote control commands under necessary conditions. This process reflects the high degree of autonomy and intelligence of satellites, and is of great significance for improving the flexibility and response speed of satellite systems.

[0003] However, with the rapid development of aerospace technology, satellites are increasingly used in national defense, civilian and other fields, and the complexity and diversity of missions have increased significantly; traditional manual mission planning methods not only consume a lot of human resources, but also find it difficult to cope with complex dynamic environments and changing mission requirements.

[0004] To this end, those skilled in the art have proposed a method and system for autonomous on-orbit mission planning of satellites to solve the problems raised by the background technology. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a method and system for autonomous on-orbit mission planning of satellites to solve the problems in the prior art that satellite operations are difficult to cope with complex dynamic environments and changing mission requirements.

[0006] A satellite on-orbit autonomous task planning method and system, comprising: a task receiving mechanism, responsible for receiving task groups uploaded from the ground and performing preliminary processing; a task sorting and planning mechanism, which sorts tasks by priority and rate of return, and generates a task planning scheme; a task execution mechanism, which performs operations such as observation, data transmission and data recording according to the planning scheme; a data processing mechanism, which quickly processes and extracts image data generated by the task, and performs quality inspection and correction in real time; and a monitoring and evaluation mechanism, which monitors the task execution process in real time, evaluates the task execution results, and records relevant data.

[0007] Preferably, the task receiving mechanism includes a mechanism responsible for receiving task groups uploaded by the ground control station, as well as multiple regional observation information, so as to achieve the purpose of not only receiving ground tasks, but also receiving tasks sent by space stations and other satellites; the satellite receives the uploaded task group, as well as multiple tasks to be executed, so as to facilitate the simultaneous reception of multiple tasks, and can arrange them in batches for processing; the tasks in the task group are prioritized, usually processed in sequence according to factors such as the urgency, importance or rate of return of the tasks, so as to improve the efficiency of task processing, and can reasonably arrange the task processing time to avoid task conflicts.

[0008] Preferably, the task sorting and planning mechanism is included in the same priority level, and further sorting of task yields is performed to obtain the final task queue, thereby improving the efficiency of task processing and avoiding the post-processing of emergency tasks, which affects the normal operation trajectory and causes unnecessary losses; a single regional task with high priority and high yield is selected from the task queue as the current task to be executed, so as to achieve the rationality of task arrangement; the observation trajectory and observation time, observation target and other related information of the current task are obtained, and the task time and processing method are recorded in detail, which can not only plan the task mode, but also provide data reference for subsequent task arrangements; according to the satellite's orbital idle time and key observation area information, the matching area of ​​the observation time and the target is calculated, and attitude planning is performed, which can reasonably arrange the satellite's autonomous tasks according to real-time factors such as time, space and environment, so as to obtain real-time optimal data.

[0009] Preferably, the task execution mechanism includes executing tasks that are planned to be completed in sequence, and completing observation and data transmission operations in sequence to avoid conflicts caused by multiple tasks, thereby improving the execution efficiency of multiple tasks; performing real-time monitoring during task execution to detect whether the task execution is abnormal, whether the system working mode, data transmission recording status, camera power-on status, etc. are normal, and if an execution abnormality is found, performing corresponding processing according to the abnormal situation, such as regenerating the observation requirement task and replacing the abnormal task, retaining the task execution log, and recording the abnormal situation occurring in the task in real time, so as to facilitate re-observation in subsequent tasks, or effectively avoidance in subsequent tasks.

[0010] Preferably, the data processing mechanism includes rapid processing and extraction of image data generated by task execution, setting image quality standards for detection, so as to obtain sufficiently comprehensive data when processing task data, and retain the data; if the image does not meet the quality standards or there are sensitive targets, corresponding processing is performed, such as re-executing the task or deleting unqualified tasks, determining that the task is unqualified, and retaining the data, so as to facilitate the exploration of the reasons for the failure of the task and to design avoidance for subsequent tasks.

[0011] Preferably, the data processing mechanism further includes data preprocessing, which preprocesses the original data, and normalization can convert data of different dimensions into the same dimension;

[0012] The normalized calculation formula is as follows:

[0013] zx ij=max(X)-min(X)x-min(X)

[0014] Among them, xij represents the jth data of the i-th indicator, Xi represents the set of all data of the i-th indicator, min(Xi) and max(Xi) represent the minimum and maximum values ​​in the set respectively;

[0015] Information entropy is an important indicator to measure data uncertainty.

[0016] The calculation formula of information entropy is as follows:

[0017] First, calculate the probability distribution of the normalized data,

[0018] px ij=∑zx zx

[0019] Then, the information entropy is calculated based on the probability distribution,

[0020] EXi=-ln(n)-1*j=1∑npx i jl n(px ij)

[0021] Where n represents the number of data points;

[0022] Based on information entropy, the weights of various indicators can be further calculated; the distribution of weights is usually inversely proportional to information entropy, that is, the smaller the information entropy, the smaller the uncertainty of the indicator, the greater the impact on the task, and therefore the greater the weight; the specific calculation method of weights may vary depending on the application scenario, but can generally be obtained through some transformation of information entropy;

[0023] In satellite autonomous mission planning, multiple factors are normalized and assigned different weights, and then the weighted sum is used to obtain the priority of the mission;

[0024] The specific calculation formula is as follows:

[0025] pr i ok=i=1∑mwi*fi(taskk)

[0026] Among them, priok represents the priority of the kth task, m represents the number of factors affecting the task priority, wi represents the weight of the ith factor, and fi(taskk) represents the influence function of the ith factor on the kth task.

[0027] Preferably, the monitoring and evaluation mechanism includes recording the task completion status and related data to provide a reference for subsequent task planning; effectively managing the received data, and classifying, storing, retrieving and transmitting the data.

[0028] Preferably, the monitoring and evaluation agency also includes evaluating whether the mission planning is scientific and reasonable and whether it meets the actual capabilities and technical requirements of the satellite system; identifying and evaluating potential technical risks, environmental risks, operational risks, etc. in the mission planning; evaluating the stability and reliability of the mission planning to ensure that it can be continuously and effectively executed in a complex and changing environment; and evaluating whether the mission is fully completed in accordance with the planning requirements, including the achievement of mission objectives and the quality of data collection.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention sets a task receiving module, a task priority sorting module, an observation trajectory acquisition module, a task planning module and a task execution module. The modules exchange information through a data interface to jointly realize the satellite's on-orbit autonomous task planning and execution. It has the advantages of improving the flexibility and efficiency of satellite task execution, reducing human intervention, and improving the utilization rate of satellite resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The satellite on-orbit autonomous mission planning method and system structure diagram of the present invention; DETAILED DESCRIPTION

[0032] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0033] Embodiment 1:

[0034] As attached Figure 1 As shown:

[0035] The present invention provides a method and system for autonomous on-orbit satellite mission planning, comprising: a mission receiving mechanism, which is responsible for receiving a mission group uploaded from the ground and performing preliminary processing; a mission sorting and planning mechanism, which sorts the tasks by priority and rate of return, and generates a mission planning scheme; a mission execution mechanism, which performs operations such as observation, data transmission and data recording according to the planning scheme; a data processing mechanism, which quickly processes and extracts image data generated by the mission, and performs quality inspection and correction in real time; and a monitoring and evaluation mechanism, which monitors the mission execution process in real time, evaluates the mission execution results, and records relevant data.

[0036] refer to Figure 1, the task receiving organization includes a task group responsible for receiving the task uploaded by the ground control station, as well as multiple regional observation information, so as to achieve the purpose of not only receiving ground tasks, but also receiving tasks sent by space stations and other satellites; the satellite receives the uploaded task group, as well as multiple tasks to be executed, so as to facilitate the simultaneous reception of multiple tasks and arrange them in batches for processing; the tasks in the task group are prioritized, usually processed in sequence according to factors such as the urgency, importance or rate of return of the tasks, so as to improve the efficiency of task processing, and reasonably arrange the task processing time to avoid task conflicts.

[0037] refer to Figure 1 , task sorting and planning agencies are included in the same priority, and task yield sorting is further performed to obtain the final task queue, thereby improving the efficiency of task processing and avoiding the post-processing of emergency tasks, which affects the normal operation trajectory and causes unnecessary losses; select a single regional task with high priority and high yield from the task queue as the current task to be executed, so as to achieve the rationality of task arrangement; obtain the observation trajectory and observation time, observation target and other related information of the current task, record the time of the task in detail, and the processing method, which can not only plan the task mode, but also provide data reference for subsequent task arrangements; according to the satellite's orbital idle time and key observation area information, calculate the matching area of ​​the observation time and target, and perform attitude planning, which can reasonably arrange the satellite's autonomous tasks according to real-time factors such as time, space and environment, so as to obtain real-time optimal data.

[0038] Embodiment 2:

[0039] refer to Figure 1 The task execution mechanism includes executing the tasks that are planned and completed in sequence, and completing the observation and data transmission operations in sequence to avoid conflicts caused by multiple tasks, so as to improve the execution efficiency of multiple tasks; real-time monitoring is carried out during the task execution process to detect whether the task execution is abnormal, whether the system working mode, data transmission recording status, camera power-on status, etc. are normal, and if an execution abnormality is found, corresponding processing is carried out according to the abnormal situation, such as regenerating the observation requirement task and replacing the abnormal task, retaining the task execution log, and recording the abnormal situation in the task in real time, so as to facilitate the review of observation in subsequent tasks, or effectively avoid it in subsequent tasks.

[0040] refer to Figure 1The data processing mechanism includes rapid processing and extraction of image data generated by task execution, setting image quality standards for detection, so as to obtain sufficient and comprehensive data when processing task data, and retain the data for processing; if the image does not meet the quality standards or there are sensitive targets, corresponding processing is performed, such as re-executing the task or deleting unqualified tasks, determining that the task is unqualified, and retaining the data, so as to facilitate the exploration of the reasons for the unqualified task and to design avoidance for subsequent tasks.

[0041] refer to Figure 1 ,The data processing mechanism also includes data preprocessing, which preprocesses the raw data, and normalization can convert data of different dimensions to the same dimension;

[0042] The normalized calculation formula is as follows:

[0043] zx ij=max(X)-min(X)x-min(X)

[0044] Among them, xij represents the jth data of the i-th indicator, Xi represents the set of all data of the i-th indicator, min(Xi) and max(Xi) represent the minimum and maximum values ​​in the set respectively;

[0045] Information entropy is an important indicator to measure data uncertainty.

[0046] The calculation formula of information entropy is as follows:

[0047] First, calculate the probability distribution of the normalized data,

[0048] px ij=∑zx zx

[0049] Then, the information entropy is calculated based on the probability distribution,

[0050] EXi=-ln(n)-1*j=1∑n px i jl n(px ij)

[0051] Where n represents the number of data points;

[0052] Based on information entropy, the weights of various indicators can be further calculated; the distribution of weights is usually inversely proportional to information entropy, that is, the smaller the information entropy, the smaller the uncertainty of the indicator, the greater the impact on the task, and therefore the greater the weight; the specific calculation method of weights may vary depending on the application scenario, but can generally be obtained through some transformation of information entropy;

[0053] In satellite autonomous mission planning, multiple factors are normalized and assigned different weights, and then the weighted sum is used to obtain the priority of the mission;

[0054] The specific calculation formula is as follows:

[0055] pr i ok=i=1∑m wi*fi(taskk)

[0056] Among them, priok represents the priority of the kth task, m represents the number of factors affecting the task priority, wi represents the weight of the ith factor, and fi(taskk) represents the influence function of the ith factor on the kth task.

[0057] Embodiment three:

[0058] refer to Figure 1 ,The monitoring and evaluation organization includes recording the task completion and ,related data to provide reference for subsequent task planning; effectively ,managing the received data, and classifying, storing, retrieving and transmitting the data.

[0059] refer to Figure 1 The monitoring and evaluation agency also includes evaluating whether the mission planning is scientific and reasonable, and whether it meets the actual capabilities and technical requirements of the satellite system; identifying and evaluating potential technical risks, environmental risks, operational risks, etc. in the mission planning; evaluating the stability and reliability of the mission planning to ensure that it can be continuously and effectively implemented in a complex and changing environment; evaluating whether the mission is fully completed in accordance with the planning requirements, including the achievement of mission objectives and the quality of data collection.

[0060] Working principle: By setting up a task receiving agency, it is responsible for receiving the task groups uploaded from the ground and performing preliminary processing; the task sorting and planning agency sorts the tasks by priority and yield, and generates a task planning plan; the task execution agency performs observation, data transmission and data recording operations according to the planning plan; the data processing agency quickly processes and extracts the image data generated by the task, and performs quality inspection and correction in real time; the monitoring and evaluation agency monitors the task execution process in real time, evaluates the task execution results, and records relevant data;

[0061] And by preprocessing the original data, normalization can convert data of different dimensions to the same dimension;

[0062] The normalized calculation formula is as follows:

[0063] zx ij=max(X)-min(X)x-min(X)

[0064] Among them, xij represents the jth data of the i-th indicator, Xi represents the set of all data of the i-th indicator, min(Xi) and max(Xi) represent the minimum and maximum values ​​in the set respectively;

[0065] Information entropy is an important indicator to measure data uncertainty.

[0066] The calculation formula of information entropy is as follows:

[0067] First, calculate the probability distribution of the normalized data,

[0068] px ij=∑zx zx

[0069] Then, the information entropy is calculated based on the probability distribution,

[0070] EXi=-ln(n)-1*j=1∑npx i jl n(px ij)

[0071] Where n represents the number of data points;

[0072] Based on information entropy, the weights of various indicators can be further calculated; the distribution of weights is usually inversely proportional to information entropy, that is, the smaller the information entropy, the smaller the uncertainty of the indicator, the greater the impact on the task, and therefore the greater the weight; the specific calculation method of weights may vary depending on the application scenario, but can generally be obtained through some transformation of information entropy;

[0073] In satellite autonomous mission planning, multiple factors are normalized and assigned different weights, and then the weighted sum is used to obtain the priority of the mission;

[0074] The specific calculation formula is as follows:

[0075] pr i ok=i=1∑m wi*fi(taskk)

[0076] Among them, priok represents the priority of the kth task, m represents the number of factors affecting the task priority, wi represents the weight of the ith factor, and fi(taskk) represents the influence function of the ith factor on the kth task;

[0077] By setting up a task receiving module, a task priority sorting module, an observation trajectory acquisition module, a task planning module and a task execution module, each module exchanges information through a data interface to jointly realize autonomous on-orbit task planning and execution of the satellite, which has the advantages of improving the flexibility and efficiency of satellite mission execution, reducing human intervention and improving the utilization of satellite resources.

[0078] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

[0079] A few final points should be made:

[0080] First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two elements, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change.

[0081] Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0082] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0083] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method and system for autonomous on-orbit mission planning of a satellite, characterized in that: include: The task receiving organization is responsible for receiving the task groups uploaded from the ground and performing preliminary processing; Task sorting and planning agencies sort tasks by priority and rate of return and generate task planning plans; The mission execution agency performs observation, data transmission and data recording operations according to the planning scheme; The data processing unit quickly processes and extracts the image data generated by the task, and performs quality inspection and correction in real time; The monitoring and evaluation agency monitors the task execution process in real time, evaluates the task execution results, and records relevant data.

2. A satellite on-orbit autonomous mission planning method and system as claimed in claim 1, characterized in that: The task receiving mechanism includes a task group responsible for receiving the task group uploaded by the ground control station and multiple regional observation information; The satellite receives the uploaded task group and multiple tasks to be executed; Prioritize tasks in a task group, usually processing them in sequence based on factors such as urgency, importance, or profitability.

3. A satellite on-orbit autonomous mission planning method and system as claimed in claim 1, characterized in that: The task sorting and planning mechanism are included in the same priority level, and the task yield rate is further sorted to obtain the final task queue; Select a single regional task with high priority and high yield from the task queue as the task to be executed currently; Obtain the observation trajectory, observation time, observation target and other related information of the current task; According to the satellite's orbital idle time and key observation area information, the observation time and the matching area of ​​the target are calculated to perform attitude planning.

4. A satellite on-orbit autonomous mission planning method and system as claimed in claim 1, characterized in that: The task execution mechanism includes executing the tasks planned to be completed in sequence, and completing the observation and data transmission operations in sequence; Real-time monitoring is carried out during the task execution process to detect whether the task execution is abnormal, whether the system working mode, data transmission recording status, camera power-on status, etc. are normal. If an execution abnormality is found, corresponding processing is performed according to the abnormal situation, such as regenerating the observation requirement task and replacing the abnormal task.

5. A satellite on-orbit autonomous mission planning method and system as claimed in claim 1, characterized in that: The data processing mechanism includes rapid processing and extraction of image data generated by task execution, setting image quality standards for detection; If the image does not meet the quality standards or contains sensitive objects, appropriate processing will be performed, such as re-executing the task or deleting the unqualified task.

6. A satellite on-orbit autonomous mission planning method and system as claimed in claim 5, characterized in that: The data processing mechanism also includes data preprocessing, which preprocesses the original data. Normalization can convert data of different dimensions into the same dimension; The normalized calculation formula is as follows: zxij=max(X)-min(X)x-min(X) Among them, xij represents the jth data of the i-th indicator, Xi represents the set of all data of the i-th indicator, min(Xi) and max(Xi) represent the minimum and maximum values ​​in the set respectively; Information entropy is an important indicator to measure data uncertainty. The calculation formula of information entropy is as follows: First, calculate the probability distribution of the normalized data, pxij=∑zx zx Then, the information entropy is calculated based on the probability distribution, EXi=-ln(n)-1*j=1∑n pxijln(pxij) Where n represents the number of data points; Based on information entropy, the weights of various indicators can be further calculated; the distribution of weights is usually inversely proportional to information entropy, that is, the smaller the information entropy, the smaller the uncertainty of the indicator, the greater the impact on the task, and therefore the greater the weight; the specific calculation method of weights may vary depending on the application scenario, but can generally be obtained through some transformation of information entropy; In satellite autonomous mission planning, multiple factors are normalized and assigned different weights, and then the weighted sum is used to obtain the priority of the mission; The specific calculation formula is as follows: priok=i=1∑mwi*fi(taskk) Among them, priok represents the priority of the kth task, m represents the number of factors affecting the task priority, wi represents the weight of the ith factor, and fi(taskk) represents the influence function of the ith factor on the kth task.

7. A satellite on-orbit autonomous mission planning method and system as claimed in claim 1, characterized in that: The monitoring and evaluation mechanism includes recording the completion of tasks and related data to provide reference for subsequent task planning; Effectively manage the received data and classify, store, retrieve and transmit the data.

8. A satellite on-orbit autonomous mission planning method and system as claimed in claim 7, characterized in that: The monitoring and evaluation agency also includes evaluating whether the mission planning is scientific and reasonable and whether it meets the actual capabilities and technical requirements of the satellite system; Identify and evaluate potential technical risks, environmental risks, operational risks, etc. in mission planning; Evaluate the stability and reliability of mission planning to ensure continued effective execution in a complex and changing environment; Evaluate whether the task has been fully completed as per the planning requirements, including the achievement of task objectives, the quality of data collection, etc.

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