Monitoring task planning method and device for space target, equipment and medium

Abstract

The embodiment of the invention discloses a monitoring task planning method and device for a space target, equipment and a medium, and relates to the technical field of space situation awareness, and the method comprises the steps: determining a preset monitoring time period, a to-be-monitored space target group and a monitoring equipment network; obtaining a visibility result of the space target monitored by each monitoring device, and generating a monitoring arc section; determining a sub-monitoring task of each monitoring device in a sub-time period, and respectively determining an income parameter of each sub-monitoring task for monitoring each space target; and taking the maximum value of the sum of the income parameters as a target function, constructing a monitoring task planning model, and performing planning based on a solving result to determine the monitoring time period and the monitoring target of each monitoring device. According to the embodiment of the invention, data support can be provided for the planning scheme of each monitoring device in the monitoring device network, so that the monitoring income parameter is maximized, all monitoring devices are effectively utilized, and the monitoring effect on a plurality of space targets is improved.

Description

Technical Field

[0001] The present application relates to the field of space situational awareness technology, and in particular to a monitoring mission planning method, device, equipment and medium for space targets. Background Art

[0002] Space situational awareness includes identifying and tracking space targets, determining and predicting orbits, understanding and evaluating the operating environment, etc. These tasks are based on monitoring space targets to obtain data. There are many space targets of different types. The main potential hazards to human space activities include space debris and asteroids. Among them, near-Earth space debris is large in number and moves at high speed, posing a collision risk to in-service spacecraft; there are a considerable number of asteroids, which may have a severe close approach to the Earth. Therefore, it is necessary to monitor these space targets.

[0003] Due to the different distances, movement modes and required observation methods of different space targets, the final observation requirements, arc segment information and observation quality are also different. The space monitoring resources used to observe space targets are relatively limited. At present, it is difficult to plan and dispatch monitoring resources according to the type, number and human needs of space targets, and conduct targeted monitoring respectively. At the same time, the number of monitoring equipment is limited, the location distribution is different, and the monitoring capabilities are also quite different.

[0004] Therefore, there is currently a lack of a mission planning method that can coordinate limited monitoring equipment to achieve monitoring of space targets (space debris and asteroids), which makes it difficult to maximize the use of limited monitoring resources to efficiently monitor numerous observation targets. Summary of the invention

[0005] The embodiment of the present application provides a space target-oriented monitoring mission planning method to solve the defects of the above-mentioned related technologies. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a monitoring mission planning method for a space target, including:

[0007] Determine a space target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the space target group;

[0008] Obtaining the visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generating a monitoring arc segment based on the positional relationship between each monitoring device and each visible space target;

[0009] Determine a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determine a benefit parameter for each sub-monitoring task to monitor each space target;

[0010] Taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, a monitoring task planning model of the monitoring device network is constructed;

[0011] The monitoring device network is planned based on the solution of the monitoring task planning model, and the monitoring period of each monitoring device and the monitoring target within the given monitoring period are determined;

[0012] The benefit parameter is determined based on the visibility result, the distribution of each monitoring arc segment, the position of each monitoring device, and the time interval between each monitoring device monitoring each space target.

[0013] In an optional solution of the first aspect, if the space target is space debris, determining the sub-monitoring task of each monitoring device in each sub-period within the preset monitoring period, and respectively determining the benefit parameter of each sub-monitoring task monitoring each space target, includes:

[0014] The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any space target j is determined. ij ;

[0015] The monitoring task planning model of the monitoring equipment network is constructed by taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, wherein the objective function is:

[0016]

[0017] The corresponding constraints are:

[0018]

[0019] x ij ={0,1};

[0020] Wherein, N is the total number of sub-monitoring tasks obtained based on the product of the number of sub-periods and the number of the monitoring devices, i is the sequence number of the sub-monitoring task, M is the total number of the space debris, j is the sequence number of the space debris, and b ij is the benefit parameter of sub-monitoring task i when monitoring space debris j; x ij Indicates whether sub-monitoring task i monitors space debris j. If x ij If is 0, then sub-monitoring task i is not used to monitor space debris j, otherwise, sub-monitoring task i is used to monitor space debris j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0021] In an optional solution of the first aspect, if the space target is space debris, obtaining a line of sight angle between a previous space debris monitored by the monitoring device and the current space debris, and determining a movement cost of the monitoring device when switching from monitoring the previous space debris to monitoring the current space debris based on the line of sight angle;

[0022] The monitoring task planning model of the monitoring equipment network is constructed by taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, wherein the objective function is:

[0023] When c = 0, i = 1;

[0024] Among them, c is the unit cost, d is i (j, k) is the line-of-sight angle between the last space debris k and the current space debris j monitored by the monitoring device.

[0025] In an optional solution of the first aspect, if the space target is an asteroid, a three-fold mapping is performed on the asteroids in the space target group to obtain an asteroid target group including three times the total number of asteroids in the space target group, and an objective function is established based on the asteroid target group after the three-fold mapping, including:

[0026] The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring an asteroid j in any asteroid target group after triple mapping is determined. ij ;

[0027] The monitoring task planning model of the monitoring equipment network is constructed by taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, wherein the objective function is:

[0028]

[0029] The corresponding constraints are:

[0030]

[0031] x ij ={0,1};

[0032] Wherein, N is the total number of sub-monitoring tasks obtained based on the product of the number of sub-periods and the number of the monitoring devices, i is the serial number of the sub-monitoring task, M is the total number of asteroids, 3M is the total number of asteroids after triple mapping, j is the serial number of the asteroid, and b ij is the benefit parameter of sub-monitoring task i when monitoring asteroid j; x ijIndicates whether sub-monitoring task i monitors asteroid j. If x ij If is 0, then sub-monitoring task i is not used to monitor asteroid j, otherwise, sub-monitoring task i is used to monitor asteroid j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0033] In an optional scheme of the first aspect, the weights of the profit parameters are adjusted respectively based on three profit strategies, and the monitoring task planning model is solved respectively based on each of the profit strategies, and the steps of planning the monitoring device network based on the solution results of the monitoring task planning model are respectively performed to determine the monitoring time period of each monitoring device and the monitoring target within the given monitoring time period;

[0034] The three profit strategies include:

[0035] The first benefit strategy is to set the same benefit parameter weight for all monitoring arcs;

[0036] The second benefit strategy is: to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the beginning and end of the same preset monitoring period, and the value of the benefit parameter weight is greater than the maximum value of the global benefit parameter weight except for the beginning and end periods;

[0037] The third benefit strategy is to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period, and the value of the benefit parameter weight is equal to the maximum value of the global benefit parameter weight except the start and end periods.

[0038] In an optional solution of the first aspect, if the space target is an asteroid, the method further includes:

[0039] Determine the asteroid monitoring arc j for each asteroid monitored by each monitoring device g within the preset monitoring period, and determine the monitoring time t corresponding to each asteroid monitoring arc gj ;

[0040] The monitoring duration corresponding to each of the asteroid monitoring arcs is taken as a benefit parameter, and the maximum value of the sum of the benefit parameters of each of the asteroid monitoring arcs is taken as an objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0041]

[0042] t gj =Te gj -Ts gj , T gj ={Te gj ,Tsgj};

[0043]

[0044] Among them, G is the total number of monitoring devices, g is the serial number of the monitoring device, M i is the total number of asteroid monitoring arcs, j is the serial number of the asteroid monitoring arc; f(t gj ) represents the sum of the benefit parameters of each asteroid monitoring arc segment; Te gj is the end time of the asteroid monitoring arc j of monitoring device g, Ts gj is the start time of the asteroid monitoring arc j of monitoring device g, Te gj′ is the end time of the asteroid monitoring arc j′ of monitoring device g, Ts gj′ is the start time of the asteroid monitoring arc j′ of monitoring device g, T gj′ is the monitoring duration of the asteroid monitoring arc segment j′, A g is the set of all asteroid monitoring arcs of monitoring device g.

[0045] In a second aspect, an embodiment of the present application further provides a monitoring mission planning device for space targets, including:

[0046] A monitoring information determination unit, used to determine a space target group to be monitored within a preset monitoring period and a monitoring equipment network used to monitor the space target group;

[0047] A visibility result analysis unit, configured to obtain a visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generate a monitoring arc segment based on a positional relationship between each monitoring device and each visible space target;

[0048] A benefit parameter determination unit, used to determine a sub-monitoring task of each monitoring device in each sub-period within the preset monitoring period, and respectively determine a benefit parameter of each sub-monitoring task monitoring each space target;

[0049] A planning unit, used to construct a monitoring task planning model for the monitoring device network by taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function;

[0050] The planning unit is further used to plan the monitoring device network based on the solution result of the monitoring task planning model, and determine the monitoring time period of each monitoring device and the monitoring target within a given monitoring time period.

[0051] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method provided in the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect is implemented.

[0052] In a fourth aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided by the first aspect of the embodiment of the present application or any one of the implementations of the first aspect.

[0053] The beneficial effects brought about by the technical solutions provided by some embodiments of the present application include at least:

[0054] The embodiment of the present application provides a monitoring task planning method for space targets. By quantitatively evaluating the monitoring effect of the monitoring equipment network on multiple space targets through the benefit parameters of each monitoring device monitoring each space target, the monitoring of space target groups by space-based monitoring devices and ground-based monitoring devices can be better planned, and targeted monitoring of different space targets can be carried out using the monitoring equipment network. Data support can be provided for the planning scheme of each monitoring device in the monitoring equipment network, and the monitoring target of each monitoring device in the monitoring equipment network in the corresponding time period can be given to maximize the monitoring benefit parameters, effectively utilize all monitoring equipment, and improve the monitoring effect on multiple space targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 It is a flowchart of a space target monitoring mission planning method provided in an embodiment of the present application;

[0057] Figure 2 It is a schematic diagram of a monitoring coverage period of a monitoring task planning method for space targets provided in an embodiment of the present application;

[0058] Figure 3 It is a schematic diagram of a monitoring coverage period of a monitoring task planning method for space targets provided in an embodiment of the present application;

[0059] Figure 4 It is a schematic diagram of a monitoring coverage period of a monitoring task planning method for space targets provided in an embodiment of the present application;

[0060] Figure 5 It is a structural schematic diagram of a monitoring mission planning device for space targets provided in an embodiment of the present application;

[0061] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0064] It should be noted that the terms "first\second" involved in the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that "first\second" can be interchanged with a specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those described or illustrated herein.

[0065] The present application is described in detail below with reference to specific embodiments.

[0066] Next, combine Figure 1 , introduces a space target monitoring mission planning method provided by the embodiment of the present application. For details, please refer to Figure 1 , Figure 1 FIG. 1 is a flow chart of a space target monitoring mission planning method provided by an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0067] S101, determining a space target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the space target group.

[0068] S102, obtaining the visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generating a monitoring arc based on the positional relationship between each monitoring device and each visible space target.

[0069] S103, determining the sub-monitoring tasks of each monitoring device in each sub-period within the preset monitoring period, and respectively determining the benefit parameters of each sub-monitoring task for monitoring each space target.

[0070] S104, taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function, and constructing a monitoring task planning model for the monitoring device network.

[0071] S105, planning the monitoring device network based on the solution result of the monitoring task planning model, and determining the monitoring period of each monitoring device and the monitoring target within a given monitoring period.

[0072] Specifically, in S101, the time period to be planned for monitoring, i.e., the preset monitoring period, can be selected, and the group of space targets to be monitored can be selected from the corresponding list of space targets (space debris and asteroids). In this process, the orbital motion parameters, brightness (or magnitude), size and other information of each space target can also be collected.

[0073] Specifically, in S101, multiple monitoring devices (including space-based monitoring devices such as satellites, and / or ground-based monitoring devices such as ground-based monitoring stations) can also be selected to form a monitoring device network. At the same time, the spatial geographic information (ground-based stations include geographic locations, and space-based stations include spatial positions and orbital motion parameters), working time range, equipment type (optical, radar, etc.), working mode (tracking, staring or scanning, etc.), observation limits (field of view range and distance threshold or star magnitude), etc. of each monitoring device can also be determined. The embodiments of the present application are not limited to this.

[0074] Exemplarily, taking space debris as an example, a time range of 4 hours from Julian calendar (UTC) 2459280.5 to 2459280.666667 can be selected as the preset monitoring period, 200 optical telescopes can be selected to form a monitoring equipment network, and the technical parameters of the monitoring equipment are shown in Table 1. 7170 space debris can also be selected as the space target group to be monitored.

[0075] Table 1 Technical parameters of monitoring equipment

[0076]

[0077] Exemplarily, if the space target is an asteroid, the time range of 21 days in the Julian calendar (UTC) 2460279.5-2459300.5 can be selected as the preset monitoring period. The technical parameters of the selected monitoring equipment can refer to the data shown in Table 1. 100 asteroids can be selected as the space target group to be monitored. Specifically, the distribution of the asteroids can be determined by the eccentricity-semi-major axis parameters of the asteroids.

[0078] Specifically, in S102, the visibility result of the monitoring equipment network to the space target can be obtained, and the calculation can be performed through public computing websites and software. If there is no public computing website and software, the orbit of the space target can be interpolated according to the set step size, and the position relationship between the space target and the monitoring equipment in the same inertial system can be calculated at the same time, and then according to the monitoring capability of the monitoring equipment, it is determined whether the space target is visible to the monitoring equipment at the corresponding time, so that the visibility result of the monitoring equipment and each space target can be determined.

[0079] Specifically, for a visible space target, a corresponding monitoring arc is generated according to the positional relationship between each monitoring device and the visible space target.

[0080] Specifically, in S103, different observation sequences can be set for different space targets, and there are different monitoring relationships between space targets and monitoring devices. The benefit parameters for evaluating the monitoring effectiveness can be determined based on the visibility results of each monitoring device when monitoring each space target, the distribution of each monitoring arc segment, the position of each monitoring device, and the time interval between each monitoring device monitoring each space target. The benefit parameters can also take into account the required monitoring data quality, the orbital accuracy of the monitoring results, and the idleness of each monitoring device during the monitoring period.

[0081] It can be understood that the benefit parameter between the invisible space target and the monitoring device is 0; the higher the required monitoring quality and the higher the orbit accuracy, the lower the benefit parameter; the more discrete the distribution of the monitoring arc segments, that is, each space target can be observed by different monitoring devices in different time periods, and each monitoring device can cover as many space targets as possible within the monitoring period, then the corresponding benefit parameter is higher; the shorter the idle period of each monitoring device within the monitoring period, the more it indicates that the monitoring efficiency of the monitoring device is fully utilized, and the corresponding benefit parameter is higher. The acquisition of the benefit parameter is only an example here, and the embodiments of the present application are not limited to this.

[0082] Specifically, in S103, the preset monitoring period can be divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any space target j is determined. ij, further executing step S104, taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function, and constructing a monitoring task planning model for the monitoring device network.

[0083] The embodiment of the present application selects one of the following four types of planning schemes for solving different space targets and mission plans, and determines the planning results of each monitoring device in the scheduling monitoring device network to monitor each space target.

[0084] In some embodiments, in S103, if the space target is space debris, i.e., space junk, the preset monitoring period in S101 can be divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any space debris j is determined. ij , further perform step S104 to determine the objective function as:

[0085]

[0086] The corresponding constraints are:

[0087]

[0088] x ij ={0,1};

[0089] Wherein, N is the total number of sub-monitoring tasks obtained based on the product of the number of sub-periods and the number of the monitoring devices, i is the sequence number of the sub-monitoring task, M is the total number of the space debris, j is the sequence number of the space debris, and b ij is the benefit parameter of sub-monitoring task i when monitoring space debris j; x ij Indicates whether sub-monitoring task i monitors space debris j. If x ij If is 0, then sub-monitoring task i is not used to monitor space debris j, otherwise, sub-monitoring task i is used to monitor space debris j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0090] Further, execute step S105 to solve the monitoring task planning model of the above embodiment. The above monitoring task planning model is a linear programming model, which can be solved by adopting an improved SAPA (Shortest Augment Path Algorithm, SAPA) algorithm. Specifically, a series of difficulties in the linear programming model such as N≠M, large matrix dimension, and high sparsity can be solved by inserting matrices to assist in square matrix formation of zero rows and columns, deleting all zero rows and columns, recording the positions of zero data in the square matrix and the non-zero values ​​between every two zero data, and performing special mapping, thereby improving the solution speed of the linear programming model.

[0091] Furthermore, a planning list for each device in the monitoring device network can be obtained based on the solution results, and the monitoring device network is planned based on the planning list obtained from the solution results, and then the monitoring time period of each monitoring device and the monitoring target within the given monitoring time period are determined, that is, the monitoring time period of each monitoring device and the corresponding monitoring target are adjusted according to the planning list. The embodiment of the present application does not limit the form of the solution results.

[0092] In some embodiments, in S103, if the space target is space debris, considering that there is a movement cost when the monitoring device switches from monitoring the previous space target to monitoring the next space target when monitoring different space targets, specifically, the line of sight angle between the previous space debris monitored by the monitoring device and the current space debris can be obtained, and the movement cost of the monitoring device when switching from monitoring the previous space debris to monitoring the current space debris is determined based on the line of sight angle, and then the objective function considering the above movement cost is determined:

[0093] When c = 0, i = 1;

[0094] Among them, c is the unit cost, d is i (j, k) is the line-of-sight angle between the last space debris k and the current space debris j monitored by the monitoring device.

[0095] The above objective function is a nonlinear model, which can be calculated by the k-exchange algorithm. It can follow the positive gain criterion and perform local exchange. Under this, the non-intersection criterion requires that the new solution generated after the exchange is not exactly the same as the initial solution, and the sequential exchange criterion requires that each sub-monitoring task contains an alternative fragment solution. In addition, a special check function can be used to speed up the convergence speed and ensure the uniqueness of the match between each sub-monitoring task and the spatial target.

[0096] Exemplarily, each benefit parameter can be assigned a random value to simulate a large-scale scenario, with 1 minute as the effective minimum monitoring time. The moving cost of the monitoring device can be c=1 per radian. The improved k-exchange algorithm is used to solve the nonlinear model. The calculation results are shown in Table 2.

[0097] Table 2 Linear programming and nonlinear programming solution results

[0098]

[0099] As shown in Table 2, when c=0, the corresponding moving cost is 0, and the total benefit parameter is higher than the total benefit parameter when c=1 and the moving cost is taken into account.

[0100] The monitoring equipment network is further planned according to the solution result. For details, please refer to the description of S105, which will not be repeated here.

[0101] In some embodiments, in S103, if the space target is an asteroid, considering that asteroids are long-distance space targets relative to space debris and move slowly, the arc quality and monitoring requirements involved are different.

[0102] The following requirements may apply when monitoring asteroids, including:

[0103] 1) For the same asteroid, at least four observations are required within 2 hours. When scheduling the monitoring equipment, the four short monitoring arcs within 2 hours can be regarded as a whole, and the specific monitoring strategy of the monitoring equipment for the asteroid within 2 hours is not important; (2) The same target needs to be visited three times within 21 days, and then connected into a long monitoring arc, which is considered to complete the effective monitoring of the same asteroid; (3) For the same asteroid, it is hoped that the monitoring equipment can complete three visits to the asteroid within a given coverage time.

[0104] It should be noted that, on the one hand, there is a competitive relationship between the monitoring of different asteroids, and there is no guarantee that every asteroid can be revisited at a long interval. On the other hand, a good layout of monitoring equipment can better avoid poor monitoring arc geometry, making it acceptable to revisit the same asteroid within a short time interval.

[0105] Specifically, taking into account the above requirements for monitoring asteroids, the monitoring coverage time of the asteroid can be determined based on the time difference between the first monitoring of the same asteroid and the last monitoring of the asteroid within a given monitoring period of 21 days. That is, corresponding to the above long monitoring arc, the monitoring coverage time can be used as one of the influencing factors of the benefit parameter. The longer the monitoring coverage time for all asteroids, the higher the corresponding total benefit parameter.

[0106] Specifically, considering the above requirements for monitoring asteroids, asteroids in the space target group may be triple mapped to obtain an asteroid target group containing three times the total number of asteroids in the space target group. An objective function is established based on the triple mapped asteroid target group, including:

[0107] The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring an asteroid j in any asteroid target group after triple mapping is determined. ii ;

[0108] The monitoring task planning model of the monitoring equipment network is constructed by taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, wherein the objective function is:

[0109]

[0110] The corresponding constraints are:

[0111]

[0112] x ij ={0,1};

[0113] Wherein, N is the total number of sub-monitoring tasks obtained based on the product of the number of sub-periods and the number of the monitoring devices, i is the serial number of the sub-monitoring task, M is the total number of asteroids, 3M is the total number of asteroids after triple mapping, j is the serial number of the asteroid, and b ij is the benefit parameter of sub-monitoring task i when monitoring asteroid j; x ij Indicates whether sub-monitoring task i monitors asteroid j. If x ij If is 0, then sub-monitoring task i is not used to monitor asteroid j, otherwise, sub-monitoring task i is used to monitor asteroid j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

[0114] Specifically, when solving the above monitoring task planning model, since the monitoring task planning model is a linear planning model, the improved SAPA algorithm can be directly used to solve the linear model of the global monitoring coverage time, and the monitoring equipment network is planned based on the solution results of the monitoring task planning model. For details, please refer to the description of S105, which will not be repeated here.

[0115] Specifically, after planning the monitoring of asteroids in S105, a round of "three-visit check" can be performed on the results of the planned scheduling, and the successful check will be counted into the distribution and average statistics of the global duration. Three visits specifically refer to checking whether the adjacent 3M-2, 3M-1, and 3M asteroids can be monitored after the monitoring equipment is scheduled within the planned time period. If so, the three-visit check is considered to be completed, that is, three visits to the asteroid are completed within the given coverage time.

[0116] Specifically, when solving the above monitoring task planning model, a variety of benefit weighting strategies can be adopted. Specifically, the weights of the benefit parameters can be adjusted based on three benefit strategies, and the monitoring task planning model can be solved based on each benefit strategy, and the steps of planning the monitoring device network based on the solution results of the monitoring task planning model can be performed respectively to determine the monitoring time period of each monitoring device and the monitoring target within a given monitoring time period;

[0117] The three profit strategies include:

[0118] The first benefit strategy is to set the same benefit parameter weight for all monitoring arcs;

[0119] The second benefit strategy is: to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the beginning and end of the same preset monitoring period, and the value of the benefit parameter weight is greater than the maximum value of the global benefit parameter weight except for the beginning and end periods;

[0120] The third benefit strategy is to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period, and the value of the benefit parameter weight is equal to the maximum value of the global benefit parameter weight except the start and end periods.

[0121] Exemplarily, the above three strategies can be adopted for simulation respectively, and the monitoring results of consecutive adjacent 3M-2, 3M-1, and 3M targets are counted in the output file. If the three monitoring targets are monitored by monitoring equipment, the difference between the time when the monitoring target is first monitored and the time when the monitoring target is last monitored in a given monitoring period is calculated, that is, the monitoring coverage time of target M is obtained. The monitoring coverage time of 100 targets in the network is counted to obtain the average value, and the results are shown in Table 3.

[0122] Table 3 Experimental results under three strategies

[0123]

[0124] For example, reference may be made to Figure 2 , Figure 3 , Figure 4 The monitoring coverage period distribution diagram is shown in FIG. Figure 2 The experimental results corresponding to strategy 1 are as follows: Figure 3 The experimental results corresponding to strategy 2 are: Figure 4 Experimental results corresponding to strategy 3. Figure 2-4As shown in Table 3, it can be seen that under Strategy 1, since the same benefit parameter weight is assigned to each time period, the distribution of monitoring arcs is relatively concentrated in the range of 0-3 days in the 21-day monitoring period, and there is only a small distribution in the range of 18-21 days. In this case, it can be seen that the monitoring coverage time of each target is short; under Strategy 2, the distribution of monitoring arcs is concentrated in the range of 0-3 days and 18-21 days in the 21-day monitoring period, and only a small number of monitoring arcs are distributed in the range of 9-12 days. Under Strategy 3, the distribution of monitoring arcs is also concentrated in the range of 0-3 days and 18-21 days in the 21-day monitoring period, and there is also a small amount of distribution in other time periods. It can be seen that the average monitoring coverage time after using Strategy 2 and Strategy 3 is respectively increased by 49.85% and 60.77% compared with Strategy 1 which does not specially consider the first and last arc benefit parameters of target observation. From a numerical point of view, the average monitoring coverage time of Strategy 3 is only 7.29% higher than that of Strategy 2, but Strategy 3 can make more monitoring targets have longer and better monitoring coverage time, and the idle period of monitoring equipment is also less. The distribution of monitoring arcs is more evenly distributed than that of Strategy 2, and each monitoring device can be fully utilized. Therefore, Strategy 3 is used first to plan the problem of the longest global monitoring coverage time.

[0125] In some embodiments, if the space target is an asteroid, considering that the asteroid is far away and has a slow visual trajectory, it is necessary to make full use of the long-term visible monitoring arc information, that is, it is necessary to determine the maximum monitoring time for the entire monitoring equipment network to continuously observe the asteroid, specifically including:

[0126] Determine the asteroid monitoring arc j for each asteroid monitored by each monitoring device g within the preset monitoring period, and determine the monitoring time t corresponding to each asteroid monitoring arc gj ;

[0127] The monitoring duration corresponding to each of the asteroid monitoring arcs is taken as a benefit parameter, and the maximum value of the sum of the benefit parameters of each of the asteroid monitoring arcs is taken as an objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is:

[0128]

[0129] t gj =Te gj -Ts gj , T gj ={Te gj , Ts gj};

[0130]

[0131] Among them, G is the total number of monitoring devices, g is the serial number of the monitoring device, M i is the total number of asteroid monitoring arcs, j is the serial number of the asteroid monitoring arc; f(t gj ) represents the sum of the benefit parameters of each asteroid monitoring arc segment; Te gj is the end time of the asteroid monitoring arc j of monitoring device g, Ts gj is the start time of the asteroid monitoring arc j of monitoring device g, Te gj′ is the end time of the asteroid monitoring arc j′ of monitoring device g, Ts gj′ is the start time of the asteroid monitoring arc j′ of monitoring device g, T gj′ is the monitoring duration of the asteroid monitoring arc j′, A g is the set of all asteroid monitoring arcs of monitoring device g.

[0132] Specifically, the monitoring task planning model with the longest single continuous monitoring time can be solved based on the greedy search algorithm. When using the greedy search algorithm, each station in the search set is sorted in descending order according to the observation time, and the longest observation time is selected for mutual exclusion test. After the test is successful, it is put into the planning and scheduling set and updated, and then the longest observation information in the search set is continuously subjected to mutual exclusion test, and this is repeated until no new observation information is allowed to be added to the planning and scheduling set or all time periods in the search set are subjected to mutual exclusion test.

[0133] Furthermore, the monitoring equipment network can be planned based on the solution results so that the total observation time of each monitoring device for each asteroid is maximized, and the monitoring period of each monitoring device and the monitoring target within a given monitoring period are determined.

[0134] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0135] See next Figure 5 , is a schematic diagram of the structure of a monitoring mission planning device for space targets provided by an exemplary embodiment of the present application. The device can be implemented as all or part of a terminal through software, hardware, or a combination of both, and can also be integrated on a server as an independent module. The monitoring mission planning device 50 in the embodiment of the present application includes a monitoring information determination unit 501, a visibility result analysis unit 502, a benefit parameter determination unit 503, and a planning unit 504, wherein:

[0136] The monitoring information determination unit 501 is used to determine a space target group to be monitored within a preset monitoring period and a monitoring device network for monitoring the space target group;

[0137] The visibility result analysis unit 502 is used to obtain the visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generate a monitoring arc segment based on the positional relationship between each monitoring device and each visible space target;

[0138] The benefit parameter determination unit 503 is used to determine the sub-monitoring task of each monitoring device in each sub-period within the preset monitoring period, and respectively determine the benefit parameter of each sub-monitoring task monitoring each space target;

[0139] The planning unit 504 is used to construct a monitoring task planning model for the monitoring device network by taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function;

[0140] The planning unit 504 is further configured to plan the monitoring device network based on the solution result of the monitoring task planning model, and determine the monitoring period of each monitoring device and the monitoring target within a given monitoring period.

[0141] It should be noted that the device 50 provided in the above embodiment only uses the division of the above functional modules as an example when executing the monitoring mission planning method for space targets. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device provided in the above embodiment and the embodiment of the monitoring mission planning method for space targets belong to the same concept. The implementation process is detailed in the method embodiment and will not be repeated here.

[0142] An embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the program.

[0143] See also Figure 6 , which is a structural block diagram of an electronic device provided in an embodiment of the present application.

[0144] like Figure 6 As shown, the electronic device 600 includes: a processor 601 and a memory 602 .

[0145] In the embodiment of the present application, the processor 601 is the control center of the computer system, which can be a processor of a physical machine or a processor of a virtual machine. The processor 601 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 601 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array).

[0146] The processor 601 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also called a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state.

[0147] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments of the present application, the non-transitory computer-readable storage medium in the memory 602 is used to store at least one instruction, which is used to be executed by the processor 601 to implement the method in the embodiment of the present application.

[0148] In some embodiments, the electronic device 600 further includes: a peripheral device interface 603 and at least one peripheral device 604. The processor 601, the memory 602 and the peripheral device interface 603 can be connected via a bus or a signal line. Each peripheral device 604 can be connected to the peripheral device interface 603 via a bus, a signal line or a circuit board. Specifically, the peripheral device 604 includes: a display screen, a camera and an audio circuit. The peripheral device interface 603 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 601 and the memory 602.

[0149] In some embodiments of the present application, the processor 601, the memory 602, and the peripheral device interface 603 are integrated on the same chip or circuit board; in some other embodiments of the present application, any one or two of the processor 601, the memory 602, and the peripheral device interface 603 can be implemented on a separate chip or circuit board. This embodiment of the present application does not specifically limit this.

[0150] The electronic device structure block diagram shown in the embodiment of the present application does not constitute a limitation on the electronic device 600. The electronic device 600 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0151] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method of any of the above embodiments are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0152] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 application.

Claims

1. A space target-oriented monitoring mission planning method, characterized in that: include: Determine a space target group to be monitored within a preset monitoring period and a monitoring equipment network for monitoring the space target group; Obtaining the visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generating a monitoring arc segment based on the positional relationship between each monitoring device and each visible space target; Determine a sub-monitoring task for each monitoring device in each sub-period within the preset monitoring period, and respectively determine a benefit parameter for each sub-monitoring task to monitor each space target; Taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, a monitoring task planning model of the monitoring device network is constructed; The monitoring device network is planned based on the solution of the monitoring task planning model, and the monitoring period of each monitoring device and the monitoring target within the given monitoring period are determined; The benefit parameter is determined based on the visibility result, the distribution of each monitoring arc segment, the position of each monitoring device, and the time interval between each monitoring device monitoring each space target.

2. A space target-oriented monitoring mission planning method according to claim 1, characterized in that: If the space target is space debris, determining the sub-monitoring task of each monitoring device in each sub-period within the preset monitoring period, and respectively determining the benefit parameter of each sub-monitoring task monitoring each space target, includes: The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring any space target j is determined. ij ; The monitoring task planning model of the monitoring equipment network is constructed by taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, wherein the objective function is: The corresponding constraints are: x ij ＝{0,1}； Wherein, N is the total number of sub-monitoring tasks obtained based on the product of the number of sub-periods and the number of the monitoring devices, i is the sequence number of the sub-monitoring task, M is the total number of the space debris, j is the sequence number of the space debris, and b ij is the benefit parameter of sub-monitoring task i when monitoring space debris j; x ij Indicates whether sub-monitoring task i monitors space debris j. If x ij If is 0, then sub-monitoring task i is not used to monitor space debris j, otherwise, sub-monitoring task i is used to monitor space debris j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

3. A space target-oriented monitoring mission planning method according to claim 2, characterized in that: If the space target is space debris, obtaining a line-of-sight angle between the last space debris monitored by the monitoring device and the current space debris, and determining a movement cost of the monitoring device when switching from monitoring the last space debris to monitoring the current space debris based on the line-of-sight angle; The monitoring task planning model of the monitoring equipment network is constructed by taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, wherein the objective function is: When c = 0, i = 1; Among them, c is the unit cost, d is i (j, k) is the line-of-sight angle between the last space debris k and the current space debris j monitored by the monitoring device.

4. The method for planning a space target monitoring mission according to claim 1, characterized in that: If the space target is an asteroid, a three-fold mapping is performed on the asteroids in the space target group to obtain an asteroid target group containing three times the total number of asteroids in the space target group, and an objective function is established based on the asteroid target group after the three-fold mapping, including: The preset monitoring period is divided into a plurality of sub-periods, and a sub-monitoring task i is assigned to each monitoring device in each sub-period, and a benefit parameter b of each sub-monitoring task i for monitoring an asteroid j in any asteroid target group after triple mapping is determined. ii ; The monitoring task planning model of the monitoring equipment network is constructed by taking the maximum value of the sum of the benefit parameters of each sub-monitoring task as the objective function, wherein the objective function is: The corresponding constraints are: x ij ＝{0,1}； Wherein, N is the total number of sub-monitoring tasks obtained based on the product of the number of sub-periods and the number of the monitoring devices, i is the serial number of the sub-monitoring task, M is the total number of asteroids, 3M is the total number of asteroids after triple mapping, j is the serial number of the asteroid, and b ij is the benefit parameter of sub-monitoring task i when monitoring asteroid j; x ij Indicates whether sub-monitoring task i monitors asteroid j. If x ij If is 0, then sub-monitoring task i is not used to monitor asteroid j, otherwise, sub-monitoring task i is used to monitor asteroid j; Z represents the sum of the benefit parameters of all sub-monitoring tasks monitoring a given space target.

5. The method for planning a space target monitoring mission according to claim 4, characterized in that: The weights of the profit parameters are adjusted based on the three profit strategies respectively, and the monitoring task planning model is solved based on each of the profit strategies respectively, and the steps of planning the monitoring device network based on the solution results of the monitoring task planning model are respectively performed to determine the monitoring time period of each monitoring device and the monitoring target within the given monitoring time period; The three profit strategies include: The first benefit strategy is to set the same benefit parameter weight for all monitoring arcs; The second benefit strategy is: to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the beginning and end of the same preset monitoring period, and the value of the benefit parameter weight is greater than the maximum value of the global benefit parameter weight except for the beginning and end periods; The third benefit strategy is to assign benefit parameter weights to the monitoring arcs of the same monitoring device at the start and end of the same preset monitoring period, and the value of the benefit parameter weight is equal to the maximum value of the global benefit parameter weight except the start and end periods.

6. The method for planning a space target monitoring mission according to claim 1, characterized in that: If the space target is an asteroid, the method further includes: Determine the asteroid monitoring arc j for each asteroid monitored by each monitoring device g within the preset monitoring period, and determine the monitoring time t corresponding to each asteroid monitoring arc gj ; The monitoring duration corresponding to each of the asteroid monitoring arcs is taken as a benefit parameter, and the maximum value of the sum of the benefit parameters of each of the asteroid monitoring arcs is taken as an objective function to construct a monitoring task planning model for the monitoring equipment network, wherein the objective function is: t gj =The hj -Ts gj ,T gj ={The gj ,Ts gj }; Among them, G is the total number of monitoring devices, g is the serial number of the monitoring device, M i is the total number of asteroid monitoring arcs, j is the serial number of the asteroid monitoring arc; f(t gj ) represents the sum of the benefit parameters of each asteroid monitoring arc segment; Te gj is the end time of the asteroid monitoring arc j of monitoring device g, Ts gj is the start time of the asteroid monitoring arc j of monitoring device g, Te gj′ is the end time of the asteroid monitoring arc j′ of monitoring device g, Ts gj′ is the start time of the asteroid monitoring arc j′ of monitoring device g, T gj′ is the monitoring duration of the asteroid monitoring arc j′, A g is the set of all asteroid monitoring arcs of monitoring device g.

7. A monitoring mission planning device for space targets, characterized in that: include: A monitoring information determination unit, used to determine a space target group to be monitored within a preset monitoring period and a monitoring equipment network used to monitor the space target group; A visibility result analysis unit, configured to obtain a visibility result of each monitoring device in the monitoring device network monitoring each space target in the space target group within the preset monitoring period, and generate a monitoring arc segment based on a positional relationship between each monitoring device and each visible space target; A benefit parameter determination unit, used to determine a sub-monitoring task of each monitoring device in each sub-period within the preset monitoring period, and respectively determine a benefit parameter of each sub-monitoring task monitoring each space target; A planning unit, used to construct a monitoring task planning model for the monitoring device network by taking the maximum value of the sum of the benefit parameters of each of the sub-monitoring tasks as the objective function; The planning unit is further used to plan the monitoring device network based on the solution result of the monitoring task planning model, and determine the monitoring time period of each monitoring device and the monitoring target within a given monitoring time period.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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