Agile imaging satellite narrow strip area splicing planning method, equipment and medium

Abstract

The invention relates to an agile imaging satellite narrow strip region splicing planning method and device and a medium, and the method comprises the steps: S1, constructing the visual strip information of a region target at least according to the three dimensions of the region target, the satellite and the time based on the orbit and load view field parameters of a constellation; s2, calculating a candidate strip set of a splicing task of each satellite for each regional target, and completing preliminary planning of regional splicing; and S3, optimizing the preliminarily planned area splicing task according to the satellite attitude maneuver capability and the area coverage index. According to the method, through greedy search, neighborhood search, attitude discretization and other algorithms, optimization calculation is carried out on the regional target splicing task, each satellite attitude maneuver and load imaging strip sequence is generated, the splicing coverage rate of constellations on the regional target can be effectively improved, and the splicing time consumption is reduced.

Description

Technical Field

[0001] The present invention relates to the field of remote sensing satellite earth observation mission planning, and in particular to a method, equipment and medium for planning narrow-strip area mosaics of an agile imaging satellite. Background Art

[0002] A small number of satellites can only observe small-scale point targets on the ground. If you want to perform mosaic imaging of regional targets, a longer observation cycle is required. With the continuous development of remote sensing satellite technology, the working time and agility of satellite imaging have been further improved, and the rapid coverage of the region by the constellation has become feasible. Agile imaging satellite constellations can pass through a large area with a high frequency through their rapid revisit characteristics of the ground, and can achieve rapid coverage of the region in a short time. When the area of ​​the regional target is large, it is very necessary to plan the observation strips of each agile imaging satellite for the regional target. A better planning scheme can effectively improve the coverage rate of regional targets, shorten the regional coverage time and coverage interval, and improve the response efficiency of the mosaic task.

[0003] Therefore, proposing a narrow-strip area splicing planning method for agile imaging satellites is an urgent problem to be solved. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a method, device and medium for narrow-band regional stitching planning of an agile imaging satellite, which can effectively improve the stitching coverage of the constellation to the regional target and reduce the stitching time, thereby improving the stitching task response efficiency.

[0005] To achieve the above-mentioned object of the invention, the present invention provides a method for planning a narrow-band region mosaic of an agile imaging satellite, comprising the following steps:

[0006] Step S1, constructing visible strip information of regional targets based on the orbit and payload field of view parameters of the constellation at least in terms of three dimensions: regional targets, satellites, and time;

[0007] Step S2, calculating the candidate strip set of each satellite's mosaic task for each regional target, and completing the preliminary planning of regional mosaic;

[0008] Step S3: optimizing the preliminarily planned regional stitching task according to the satellite attitude maneuverability and regional coverage index.

[0009] According to a technical solution of the present invention, the step S1 specifically includes:

[0010] Step S11: Based on the orbit and payload field of view parameters of the constellation, calculate the visible time window set T of the satellite to the regional target = {T ij |1≤i≤N,1≤j≤mi}; where N is the number of satellites in the constellation, i is the serial number of the i-th satellite in the constellation, j is the serial number of the j-th visible time window of the i-th satellite, and m i is the number of visible time windows of the i-th satellite;

[0011] Step S12: Calculate all visible bands of the satellite to the regional target, and obtain the visible band set P = {P ij |1≤i≤N,1≤j≤m i}.

[0012] According to a technical solution of the present invention, the step S2 specifically includes:

[0013] Step S21, selecting a visible strip combination in each round according to the time sequence of the spliced ​​strips using a greedy algorithm;

[0014] Step S22: for the visible strip combination V generated in step S21, according to the overlap between the strip and the region and the visible time window set T generated in step S11, the time planning of the satellite to stitch the region is calculated by the time neighborhood search method.

[0015] According to a technical solution of the present invention, step S3 specifically includes:

[0016] Step S31, according to the maximum value maxR, the minimum value minR of the satellite attitude maneuverability and the target position, the attitude angle adjustment range of each splicing strip in the visible strip combination V is calculated in sequence;

[0017] Step S32: adjust the range and area coverage index R according to the attitude angle of each mosaic strip. s , combined with the greedy algorithm, the preliminarily arranged regional splicing tasks are optimized.

[0018] According to a technical solution of the present invention, the step S21 specifically includes:

[0019] Step S211: sort the visible stripe set P in ascending order of time to obtain a time sequence stripe set Wherein, u is the sequence number of the sorted visible strip.

[0020] Step S212: Select stripes from the time series stripe set L in order, selecting one stripe each time. c =A cover / A raw Reach coverage index R s When , it is considered that one round of stitching task is completed;

[0021] Among them, A coverA is the overlap area between the selected visual strip combination and the regional target, raw is the area of ​​the regional target;

[0022] Step S213: After all the stripes in the time-series strip set L are selected, all rounds of stitching tasks are completed.

[0023] According to a technical solution of the present invention, the step S22 specifically includes:

[0024] Step S221, for the visible time window corresponding to each mosaic strip in the visible strip combination V, calculate the latest visible start time that can be postponed;

[0025] Step S222: Calculate the earliest visible end time for the visible time window corresponding to each mosaic strip in the visible strip combination V;

[0026] Step S223: After adjusting the start and end time of the visible time window corresponding to each mosaic strip in the visible strip combination V, the preliminary planning of the regional mosaic is completed.

[0027] According to a technical solution of the present invention, the step S32 specifically includes:

[0028] Step S321: For each visible strip in the visible strip combination V of the stitching task, all adjustable angles are calculated in combination with the posture angle range and according to the posture discrete precision dPhi.

[0029] Step S322: According to the area coverage index R s and the adjusted coverage R of the strip c , complete the adjustment of the attitude angle of each strip.

[0030] According to one aspect of the present invention, an electronic device is proposed, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes a method for stitching narrow-strip areas of an agile imaging satellite as described in any one of the above technical solutions.

[0031] According to one aspect of the present invention, a computer-readable storage medium is proposed for storing computer instructions. When the computer instructions are executed by a processor, a method for planning narrow-strip area mosaics for an agile imaging satellite as described in any one of the above technical solutions is implemented.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The present invention proposes a method, device and medium for planning narrow-strip regional stitching of agile imaging satellites. By using greedy search, neighborhood search and attitude discretization algorithms, the regional target stitching task is optimized and calculated to generate each satellite attitude maneuver and payload imaging strip sequence, which can effectively improve the stitching coverage of the constellation to the regional target and reduce the stitching time, thereby improving the stitching task response efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flowchart of a method for planning narrow-strip area mosaic observation of an agile imaging satellite provided in an implementation case of the present invention is schematically shown;

[0036] Figure 2 A schematic diagram of time windows of all satellites in one implementation case according to the present invention is schematically shown;

[0037] Figure 3 A schematic diagram of a visible strip of a satellite to a regional target within a single visible time window according to an implementation example of the present invention is schematically shown;

[0038] Figure 4 A schematic diagram schematically shows the coverage area effect before and after the regional splicing time planning in an implementation case of the present invention;

[0039] Figure 5 A schematic diagram schematically shows the coverage area effect before and after the visible strip posture angle is adjusted in an implementation case of the present invention;

[0040] Figure 6 A specific flow chart schematically showing step S1 of an embodiment of the present invention;

[0041] Figure 7 A specific flow chart schematically showing step S2 of an embodiment of the present invention;

[0042] Figure 8 A specific flow chart of step S3 in one embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] like Figure 1 As shown, a method for planning a narrow-band region mosaic of an agile imaging satellite according to the present invention comprises the following steps:

[0045] Step S1: Based on the orbit and payload field of view parameters of the constellation, at least three dimensions of regional target, satellite and time are used to construct the visible strip information of the regional target, such as Figure 6 As shown, specifically including:

[0046] The schematic diagram of the time window for all satellites is as follows Figure 2 As shown, step S11, based on the orbit and payload field of view parameters of the constellation, calculate the visible time window set T of the satellite to the regional target = {T ij |1≤i≤N,1≤j≤m i}; where N is the number of satellites in the constellation, i is the serial number of the i-th satellite in the constellation, j is the serial number of the j-th visible time window of the i-th satellite, and m i is the number of visible time windows of the i-th satellite;

[0047] The specific method is as follows:

[0048] The satellite-to-ground fixed system trajectory, regional target latitude and longitude point set data, payload field of view parameters, sun-to-ground fixed system trajectory, and minimum solar altitude angle constraint are known conditions. The pseudo code of the satellite visible time window calculation method for regional targets is as follows:

[0049]

[0050] Step S12: Calculate all visible bands of the satellite to the regional target, and obtain the visible band set P = {P ij |1≤i≤N,1≤j≤m i}. The schematic diagram of the visible strip of the satellite to the regional target in a single visible time window is as follows Figure 3 shown.

[0051] The pseudo code of the calculation method is as follows:

[0052]

[0053]

[0054] Step S2: Calculate the candidate strip set of each satellite's mosaic task for each regional target, and complete the preliminary planning of regional mosaic, such as Figure 7 As shown, specifically including:

[0055] Step S21 : selecting a visible strip combination in each round according to the time sequence of the spliced ​​strips using a greedy algorithm.

[0056] Calculate the visible strip combination V of the satellite's mosaic mission for the regional target = {V a |1≤a≤K}; where a is the sequence number of the visible strip combination of the ath round of the mosaic task, and K is the maximum round of the mosaic task, including:

[0057] Step S211: sort the visible stripe set P in ascending order of time to obtain a time sequence stripe set Among them, u is the sequence number of the sorted visible strip;

[0058] Step S212: Select stripes from the time series stripe set L in order, selecting one stripe each time. c =A cover / A raw Reach coverage index R s When , it is considered that one round of stitching task is completed;

[0059] Among them, A cover A is the overlap area between the selected visual strip combination and the regional target, raw is the area of ​​the regional target;

[0060] The program pseudo code is as follows:

[0061]

[0062]

[0063] Step S213: After all the stripes in the time-series strip set L are selected, all rounds of stitching tasks are completed.

[0064] Step S22: For the visible strip combination V generated in step S21, according to the overlap between the strip and the region and the visible time window set T generated in step S11, the time planning of the satellite to stitch the region is calculated through the time neighborhood search method. After the time planning of the enhanced region stitching is completed, the stitching time can be initially reduced, thereby improving efficiency. The coverage area effect before and after planning is as follows: Figure 4 shown.

[0065] Step S22 specifically includes:

[0066] Step S221, for the visible time window corresponding to each mosaic strip in the visible strip combination V, calculate the latest visible start time that can be postponed;

[0067] The program pseudo code is as follows:

[0068]

[0069]

[0070] Step S222: for the visible time window corresponding to each mosaic strip in the visible strip combination V, calculate the earliest visible end time that can be advanced;

[0071] The program pseudo code is as follows:

[0072]

[0073] Step S223: After adjusting the start and end time of the visible time window corresponding to each mosaic strip in the visible strip combination V, the preliminary planning of the regional mosaic is completed.

[0074] Step S3: Optimize the preliminarily planned regional mosaic task according to the satellite attitude maneuverability and regional coverage index, such as Figure 8 As shown, specifically including:

[0075] Step S31, according to the maximum value maxR, the minimum value minR of the satellite attitude maneuverability and the target position, the attitude angle adjustment range of each splicing strip in the visible strip combination V is calculated in sequence;

[0076] The program pseudo code is as follows:

[0077]

[0078] Step S32: adjust the range and area coverage index R according to the attitude angle of each mosaic strip. s , combined with the greedy algorithm to optimize the preliminarily arranged regional splicing tasks, including:

[0079] Step S321: For each visible strip in the visible strip combination V of the stitching task, all adjustable angles are calculated in combination with the posture angle range and according to the posture discrete precision dPhi.

[0080] Step S322: According to the area coverage index R s and the adjusted coverage R of the strip c , complete the adjustment of each strip's attitude angle. The coverage area effect before and after adjustment is as follows Figure 5 shown.

[0081] The program pseudo code is as follows:

[0082]

[0083] After completing the strip attitude angle adjustment, the constellation's mosaic coverage of regional targets is improved, and the number of mosaic strips can be effectively reduced, thereby further reducing the mosaic time.

[0084] According to one aspect of the present invention, there is provided an electronic device, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes a method for stitching narrow-strip areas of an agile imaging satellite as described in any one of the above technical solutions.

[0085] According to one aspect of the present invention, a computer-readable storage medium is provided for storing computer instructions. When the computer instructions are executed by a processor, a method for planning narrow-strip area mosaics for an agile imaging satellite as described in any one of the above technical solutions is implemented.

[0086] Computer-readable storage media may include any medium capable of storing or transmitting information. Examples of computer-readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments may be downloaded via computer networks such as the Internet, intranets, etc.

[0087] The invention discloses a method, device and medium for planning narrow-strip regional mosaics of an agile imaging satellite. The method comprises: step S1, based on the orbit and payload field of view parameters of the constellation, at least in accordance with the three dimensions of regional target, satellite and time, constructing visible strip information for regional targets; step S2, calculating the candidate strip set of the mosaic task of each satellite for each regional target, and completing the preliminary planning of regional mosaics; step S3, optimizing the preliminary planned regional mosaic tasks according to the satellite attitude maneuverability and regional coverage index. The invention optimizes and calculates the regional target mosaic tasks through greedy search, neighborhood search and attitude discretization algorithms, generates each satellite attitude maneuver and payload imaging strip sequence, and can effectively improve the mosaic coverage rate of the constellation for regional targets and reduce the mosaic time.

[0088] In addition, it should be noted that the present invention can be provided as a method, an apparatus or a computer program product. Therefore, the embodiments of the present invention can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0089] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0090] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0091] It should also be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0092] Finally, it should be noted that the above is a preferred embodiment of the present invention. It should be pointed out that although the preferred embodiment of the present invention has been described, for those skilled in the art, once the basic creative concept of the present invention is known, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the attached claims are intended to be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. A method for planning the mosaic of narrow-band regions of an agile imaging satellite, characterized in that: The following steps are involved: Step S1, constructing visible strip information of regional targets based on the orbit and payload field of view parameters of the constellation at least in terms of three dimensions: regional targets, satellites, and time; Step S2, calculating the candidate strip set of each satellite's mosaic task for each regional target, and completing the preliminary planning of regional mosaic; Step S3: optimizing the preliminarily planned regional stitching task according to the satellite attitude maneuverability and regional coverage index.

2. The method for planning narrow-band area mosaics of an agile imaging satellite according to claim 1, characterized in that: The step S1 specifically includes: Step S11: Based on the orbit and payload field of view parameters of the constellation, calculate the visible time window set T of the satellite to the regional target = {T ij |1≤i≤N,1≤j≤m i }; where N is the number of satellites in the constellation, i is the serial number of the i-th satellite in the constellation, j is the serial number of the j-th visible time window of the i-th satellite, and m i is the number of visible time windows of the i-th satellite; Step S12: Calculate all visible bands of the satellite to the regional target, and obtain the visible band set P = {P ij |1≤i≤N,1≤j≤m i }.

3. The method for planning narrow-band area mosaics of an agile imaging satellite according to claim 2, characterized in that: The step S2 specifically includes: Step S21, selecting a visible strip combination in each round according to the time sequence of the spliced ​​strips using a greedy algorithm; Step S22: for the visible strip combination V generated in step S21, according to the overlap between the strip and the region and the visible time window set T generated in step S11, the time planning of the satellite to stitch the region is calculated by the time neighborhood search method.

4. The method for planning narrow-band area mosaics of an agile imaging satellite according to claim 3, characterized in that: The step S3 specifically includes: Step S31, according to the maximum value maxR, the minimum value minR of the satellite attitude maneuverability and the target position, the attitude angle adjustment range of each splicing strip in the visible strip combination V is calculated in sequence; Step S32: adjust the range and area coverage index R according to the posture angle of each mosaic strip. s , combined with the greedy algorithm, the preliminarily arranged regional splicing tasks are optimized.

5. The method for planning narrow-band area mosaics of an agile imaging satellite according to claim 3, characterized in that: The step S21 specifically includes: Step S211: sort the visible stripe set P in ascending order of time to obtain a time sequence stripe set Wherein, u is the sequence number of the sorted visible strip. Step S212: Select stripes from the time series stripe set L in order, selecting one stripe each time. c =A cover / A raw Reach coverage index R s When , it is considered that one round of stitching task is completed; Among them, A cover A is the overlap area between the selected visual strip combination and the regional target, raw is the area of ​​the regional target; Step S213: After all the stripes in the time-series strip set L are selected, all rounds of stitching tasks are completed.

6. The method for planning narrow-band region mosaics of an agile imaging satellite according to claim 3, characterized in that: The step S22 specifically includes: Step S221, for the visible time window corresponding to each mosaic strip in the visible strip combination V, calculate the latest visible start time that can be postponed; Step S222: Calculate the earliest visible end time for the visible time window corresponding to each mosaic strip in the visible strip combination V; Step S223: After adjusting the start and end time of the visible time window corresponding to each mosaic strip in the visible strip combination V, the preliminary planning of the regional mosaic is completed.

7. The method for planning narrow-band area mosaics of an agile imaging satellite according to claim 4, characterized in that: The step S32 specifically includes: Step S321: For each visible strip in the visible strip combination V of the stitching task, all adjustable angles are calculated in combination with the posture angle range and according to the posture discrete precision dPhi. Step S322: According to the area coverage index R s and the adjusted coverage R of the strip c , complete the adjustment of the attitude angle of each strip.

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

9. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, implement a method for planning narrow-strip area mosaics for an agile imaging satellite as described in any one of claims 1 to 7.

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