Method, equipment and medium for planning narrow-band area mosaics of agile imaging satellites

Abstract

The present invention relates to a method, device, and medium for planning narrow-strip regional mosaics for agile imaging satellites. The method comprises: step S1, constructing visible strip information for regional targets based on at least three dimensions: regional targets, satellites, and time, based on the orbit and payload field of view parameters of the constellation; step S2, calculating a set of candidate strips for each satellite's mosaic task for each regional target, completing preliminary planning for the regional mosaic; and step S3, optimizing the preliminary planned regional mosaic tasks based on satellite attitude maneuverability and regional coverage indicators. The present invention optimizes and calculates the regional target mosaic tasks through algorithms such as greedy search, neighborhood search, and attitude discretization, generating a sequence of attitude maneuver and payload imaging strips for each satellite, effectively improving the mosaic coverage rate of the constellation for the regional targets and reducing mosaic time.

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, device 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, making it feasible for constellations to quickly cover a region. Agile imaging satellite constellations, through their rapid revisit characteristics, can pass through a large area with a high frequency, and can achieve rapid regional coverage in a short period of 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 the regional target, shorten the regional coverage time and coverage interval, and improve the response efficiency of the mosaic mission.

[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, equipment and medium for planning narrow-band regional stitching of agile imaging satellites, which can effectively improve the stitching coverage of the constellation to regional targets and reduce the stitching time, thereby improving the response efficiency of the stitching task.

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

[0006] Step S1: Based on the orbit and payload field of view parameters of the constellation, visual strip information of the regional target is constructed according to at least three dimensions: regional target, satellite, and time;

[0007] Step S2: Calculate the candidate strip set of each satellite's mosaic mission for each regional target, and complete the preliminary planning of the regional mosaic;

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

[0009] According to a technical solution of the present invention, 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 target in the area, 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, step S2 specifically includes:

[0013] Step S21: selecting a visible strip combination for 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, a time neighborhood search method is used to calculate the time plan for the satellite to complete the regional mosaic.

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

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

[0017] 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 to optimize the preliminarily arranged regional splicing tasks.

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

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

[0020] Step S212: Select strips from the time series strip set L in order, selecting one strip at a time. When the coverage R 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 overlapping area between the selected visual strip combination and the regional target, raw is the area of ​​the regional target;

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

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

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

[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 visual strip combination V, the preliminary planning of the regional mosaic is completed.

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

[0028] Step S321 : For each visual strip in the visual strip combination V of the mosaic task, all adjustable angles are calculated in accordance with the posture angle range and 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. When the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device performs a method for planning narrow-strip area mosaics for 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 mosaicking of agile imaging satellites. By using greedy search, neighborhood search and attitude discretization algorithms, the regional target mosaicking task is optimized and calculated, and each satellite's attitude maneuver and payload imaging strip sequence is generated. This can effectively improve the mosaicking coverage of the constellation for regional targets, reduce the mosaicking time, and improve the response efficiency of the mosaicking task. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0035] Figure 1 A flowchart of a method for planning narrow-strip area mosaic observations for an agile imaging satellite according to an embodiment of the present invention is schematically shown;

[0036] Figure 2 Schematically showing a schematic diagram of time windows of all satellites in an embodiment of the present invention;

[0037] Figure 3 A schematic diagram showing a visible strip of a satellite to a regional target within a single visible time window according to an embodiment of the present invention;

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

[0039] Figure 5 A schematic diagram schematically illustrates the coverage area effect before and after adjustment of the posture angle of the visible strip in an embodiment 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 The specific flow chart of step S3 in one embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 making creative efforts shall fall within the scope of protection of the present invention.

[0044] like Figure 1 As shown, a method for planning a narrow-strip area 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, construct the visual strip information of the regional target in at least three dimensions: regional target, satellite and time, such as Figure 6 As shown, specifically including:

[0046] The time window diagram of 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's Earth-fixed system trajectory, the regional target's latitude and longitude point data, the payload's field of view parameters, the sun's Earth-fixed system trajectory, and the minimum solar altitude angle constraint are known conditions. The pseudo code for the satellite's visible time window calculation method for the regional target is as follows:

[0049]

[0050] Step S12: Calculate all visible bands of the satellite to the target in the area, 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 mission for each regional target and complete the preliminary planning of the regional mosaic, such as Figure 7 As shown, specifically including:

[0055] Step S21 : selecting a visible strip combination for 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 visual strip combination number of the a-th round of the mosaic task, and K is the maximum number of rounds of the mosaic task, specifically including:

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

[0058] Step S212: Select strips from the time series strip set L in order, selecting one strip at a time. When the coverage R 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 overlapping 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 stripes in the time-series strip set L are selected, all rounds of splicing 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 the region is calculated by the time neighborhood search method. After the time planning of the improved region is completed, the time consumption of the region can be initially reduced, thereby improving the efficiency. The coverage area effect before and after planning is as follows: Figure 4 shown.

[0065] Step S22 specifically includes:

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

[0067] The program pseudo code is as follows:

[0068]

[0069]

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

[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 visual 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, calculating the attitude angle adjustment range of each mosaic strip in the visible strip combination V in sequence according to the maximum value maxR, the minimum value minR of the satellite attitude maneuverability and the target position;

[0076] The program pseudo code is as follows:

[0077]

[0078] 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 to optimize the preliminarily arranged regional splicing tasks, specifically including:

[0079] Step S321 : For each visual strip in the visual strip combination V of the mosaic task, all adjustable angles are calculated in accordance with the posture angle range and 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, an electronic device is provided, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory; when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device performs a method for planning narrow-strip area mosaics for 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 a narrow-strip area mosaic 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, fiber optic media, radio frequency (RF) links, and the like. The code segments may be downloaded via a computer network such as the Internet, an intranet, and the like.

[0087] The present invention provides a method, device, and medium for planning narrow-strip regional mosaics for an agile imaging satellite. The method comprises: step S1, constructing visible strip information for regional targets based on at least three dimensions: regional target, satellite, and time, based on the orbit and payload field of view parameters of the constellation; step S2, calculating a set of candidate strips for each satellite's mosaic task for each regional target, completing preliminary planning for the regional mosaic; and step S3, optimizing the preliminary planned regional mosaic tasks based on satellite attitude maneuverability and regional coverage indicators. The present invention optimizes and calculates the regional target mosaic tasks through algorithms such as greedy search, neighborhood search, and attitude discretization, generating a sequence of imaging strips for each satellite's attitude maneuver and payload, effectively improving the mosaic coverage rate of the constellation for the regional target and reducing mosaic time.

[0088] Furthermore, it should be noted that the present invention may be provided as a method, apparatus, or computer program product. Thus, embodiments of the present invention may take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied 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 process 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 that can direct 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, thereby providing instructions for implementing the process in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0091] It should also be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or terminal device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or terminal device comprising the element.

[0092] Finally, it should be noted that the above is a preferred embodiment of the present invention. It should be noted that although the preferred embodiment of the present invention has been described, it is clear that those skilled in the art, once they understand the basic inventive concept of the present invention, can make various improvements and modifications without departing from the principles of the present invention. Such improvements and modifications should also be considered as within the scope of protection of the present invention. Therefore, the appended 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 narrow-band area mosaics for agile imaging satellites, characterized in that: The following steps are involved: Step S1: Based on the orbit and payload field of view parameters of the constellation, calculate the satellite's visible time window set T for the regional target, and construct visible strip information for the regional target according to at least three dimensions: regional target, satellite, and time; Step S2: Calculate the candidate strip set for each satellite's mosaic mission for each regional target and complete the preliminary planning of the regional mosaic, specifically including: Step S21: selecting a visible strip combination for 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, calculate the time plan for the satellite to complete the regional mosaic by using a time neighborhood search method based on the overlap between the strip and the region and the visible time window set T; Step S3: Optimize the preliminarily planned regional splicing task according to the satellite attitude maneuverability and regional coverage index.

2. The method for planning narrow-band region mosaics for agile imaging satellites 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 target in the area, and obtain the visible band set P = {P ij |1≤i≤N,1≤j≤m i }.

3. The method for planning narrow-band region mosaics for agile imaging satellites according to claim 2, characterized in that: The step S3 specifically includes: Step S31, calculating the attitude angle adjustment range of each mosaic strip in the visible strip combination V in sequence according to the maximum value maxR, the minimum value minR of the satellite attitude maneuverability and the target position; 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 to optimize the preliminarily arranged regional splicing tasks.

4. The method for planning narrow-band region mosaics for agile imaging satellites according to claim 2, characterized in that: The step S21 specifically includes: Step S211: sort the visible strip set P in ascending order of time to obtain a time series strip set Wherein, u is the sequence number of the sorted visible strip; Step S212: Select strips from the time series strip set L in order, selecting one strip at a time. When the coverage R 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 overlapping area between the selected visual strip combination and the regional target, raw is the area of ​​the regional target; Step S213: After all stripes in the time-series strip set L are selected, all rounds of splicing tasks are completed.

5. The method for planning narrow-band region mosaics for agile imaging satellites according to claim 2, characterized in that: The step S22 specifically includes: Step S221: Calculate the latest visible start time that can be postponed for the visible time window corresponding to each mosaic strip in the visible strip combination V; 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 visual strip combination V, the preliminary planning of the regional mosaic is completed.

6. The method for planning narrow-band region mosaics for agile imaging satellites according to claim 3, characterized in that: The step S32 specifically includes: Step S321: For each visual strip in the visual strip combination V of the mosaic task, all adjustable angles are calculated according to the posture angle range and 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.

7. An electronic device, characterized in that: include: One or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, and the one or more computer programs are stored in the memory; when the electronic device is running, the processor executes the one or more computer programs stored in the memory, so that the electronic device executes the method for planning narrow-strip area mosaics of an agile imaging satellite as described in any one of claims 1 to 6.

8. 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 according to any one of claims 1 to 6.

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