On-satellite autonomous task visibility rapid determination method under load capacity constraint

Abstract

The invention provides a method for quickly determining visibility of an on-satellite autonomous task under load capacity constraint. The method comprises the following steps: acquiring target position information, and satellite position information and orbit information on each equally-spaced time grid point in planning time; determining a visible orbit circle number of the target in the planning time according to the orbit information, and determining a first visible time interval in the orbit circle number according to the target position information, satellite position information on each time grid point included in the orbit circle number and a preset detection distance; determining a second visible time interval meeting the field angle constraint from the first visible time interval according to the field angle of the satellite; and determining a third visible time interval satisfying the load clock angle constraint from the second visible time interval according to the load clock angle range of the satellite. According to the scheme, the visible time interval of the on-satellite autonomous task under the load capacity constraint can be efficiently and accurately determined, the calculation is efficient, and the universality is good.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite autonomous mission planning, and in particular to a method for quickly determining visibility of on-board autonomous missions under load capacity constraints. Background Art

[0002] Optical remote sensing satellites are equipped with visible light cameras, which can realize different detection tasks such as single-strip push-scan, regional multi-strip mosaic imaging, and non-along-track active push-scan imaging. Optical remote sensing satellite detection mission planning refers to autonomously determining flight mission objectives within a specified time based on the target observation requirements given by the user, in accordance with the satellite resource status and usage constraints, and generating a sequence of instructions to control the satellite's in-orbit operation based on the flight mission objectives. One of the core of these constraints is the visible window constraint of the remote sensing satellite detection payload on the target. Therefore, before autonomous detection mission planning, it is necessary to calculate the visible window of the remote sensing satellite payload on the mission target.

[0003] In order to meet the requirements of on-board computing resource constraints, the existing target visibility calculation methods either cannot provide the critical time set required for mission planning under the payload capacity constraint, or it is difficult to meet the real-time requirements of calculation under the constraints of the on-board computer computing power. Therefore, a method for quickly determining the visibility of on-board autonomous missions under the payload capacity constraint is needed. Summary of the invention

[0004] The present invention provides a method for quickly determining the visibility of an onboard autonomous mission under a payload capacity constraint, which can efficiently and accurately determine the visible time interval of an onboard autonomous mission under a payload capacity constraint, has efficient calculation and good versatility.

[0005] In a first aspect, the present invention provides a method for quickly determining visibility of autonomous missions on a satellite under payload capacity constraints, comprising:

[0006] Obtain target location information, satellite location information and orbit information at equally spaced time grid points within the planning time;

[0007] Determine an orbital circle in which the target is visible within the planned time according to the orbital information, and determine a first visible time interval within the orbital circle according to the target position information, satellite position information at each of the time grid points included in the orbital circle, and a preset detection distance;

[0008] Determining, from the first visible time interval, a second visible time interval satisfying a view angle constraint according to the view angle of the satellite;

[0009] According to the payload clock angle range of the satellite, a third visible time interval satisfying the payload clock angle constraint is determined from the second visible time interval.

[0010] In a second aspect, the present invention provides a device for quickly determining visibility of autonomous missions on a satellite under payload capacity constraints, comprising:

[0011] An acquisition module is used to obtain target location information, satellite location information and orbit information at equally spaced time grid points within a planning time;

[0012] A first constraint module is used to determine the orbital circle in which the target is visible within the planning time according to the orbital information, and determine the first visible time interval within the orbital circle according to the target position information, the satellite position information at each time grid point included in the orbital circle, and a preset detection distance;

[0013] A second constraint module, configured to determine, from the first visible time interval, a second visible time interval satisfying a view angle constraint according to the view angle of the satellite;

[0014] The third constraint module is used to determine a third visible time interval that meets the payload clock angle constraint from the second visible time interval according to the payload clock angle range of the satellite.

[0015] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any first aspect of this specification is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any first aspect of this specification.

[0017] In a fifth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method described in any first aspect of this specification are implemented.

[0018] The embodiment of the present invention provides a method for quickly determining the visibility of autonomous tasks on a satellite under the load capacity constraint, by dividing the planning time into equal intervals to obtain a number of time grid points, and determining the orbital circles in which the satellite is visible to the target based on the orbital information within the planning time, and then determining the first visible time interval that satisfies the load detection distance constraint within the orbital circle according to the target position compass, the satellite position information at each time grid point included in the orbital circle, and the preset detection distance, and then sequentially performing the field of view angle constraint and the load clock angle constraint on the first visible time interval, and finally obtaining the third visible time interval that satisfies the above three constraints at the same time, that is, obtaining the visible time interval of the autonomous task on the satellite under the load capacity constraint. In this way, the present scheme discretizes the orbit by dividing the time grid points into equal intervals, avoids the problem of massive data volume caused by continuous calculation, and improves the calculation efficiency; at the same time, according to the order of the load detection distance constraint, the field of view angle constraint, and the load clock angle constraint, it avoids the situation that the target is still mistakenly considered to be visible when it is on the back of the earth, and improves the accuracy of the satellite's determination of the target's visibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a flow chart of a method for quickly determining visibility of an autonomous mission on board a satellite under a payload capacity constraint provided by an embodiment of the present invention;

[0021] Figure 2 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a device for quickly determining visibility of an autonomous mission on board a satellite under a payload capacity constraint provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] The specific implementation of the concept of this application is described below.

[0025] Please refer to Figure 1 The embodiment of the present invention provides a method for quickly determining visibility of autonomous missions on a satellite under payload capacity constraints, comprising:

[0026] Step 100, obtaining target position information, satellite position information and orbit information at equally spaced time grid points within a planning time;

[0027] Step 102, determining the orbital circle in which the target is visible within the planned time according to the orbital information, and determining the first visible time interval within the orbital circle according to the target position information, the satellite position information at each time grid point included in the orbital circle, and the preset detection distance;

[0028] Step 104, determining a second visible time interval satisfying the view angle constraint from the first visible time interval according to the view angle of the satellite;

[0029] Step 106: Determine a third visible time interval satisfying the payload clock angle constraint from the second visible time interval according to the payload clock angle range of the satellite.

[0030] In an embodiment of the present invention, by dividing the planning time into equal intervals, a number of time grid points are obtained, and within the planning time, the orbital circles in which the satellite is visible to the target are determined based on the orbital information, and then the first visible time interval that satisfies the payload detection distance constraint within the orbital circle is determined according to the target position information, the satellite position information at each time grid point included in the orbital circle, and the preset detection distance, and then the first visible time interval is subjected to the field of view angle constraint and the payload clock angle constraint in turn, and finally the third visible time interval that satisfies the above three constraints is obtained, that is, the visible time interval of the on-board autonomous mission under the payload capacity constraint is obtained. In this way, this scheme discretizes the orbit by dividing the time grid points into equal intervals, avoids the problem of massive data volume caused by continuous calculation, and improves the calculation efficiency; at the same time, according to the order of the payload detection distance constraint, the field of view angle constraint, and the payload clock angle constraint, it avoids the situation where the target is still mistakenly considered to be visible when it is on the back of the earth, and improves the accuracy of the satellite's determination of the target's visibility.

[0031] Described below Figure 1 How the various steps are performed.

[0032] First, it should be noted that before step 100, the satellite parameters are initialized. The input initialization parameters include the position information r of the target in the earth fixed coordinate system. EP (i.e. target location information), search step length dh, satellite field of view angle θ smax , the preset detection distance d of the satellite payload es , the satellite's payload clock angle range [θcmin ,θ cmax ], time accuracy δ, and preset minimum visible window threshold Δt.

[0033] In step 100, the planning time is discretized at equal intervals according to the search step length dh to obtain a number of time grid points, and then the orbit interpolation calculation method is used to obtain the satellite position information r of the satellite in the earth fixed coordinate system at each time grid point s and other orbital parameters, and stores the obtained data, thereby avoiding the problem of massive data volume caused by continuous calculation. It should be noted that the method of the present invention is applicable to the determination of visible time intervals for autonomous missions on board multiple targets, and only one target is used as an example here.

[0034] With respect to step 102, determining a first visible time interval within the orbital cycle according to the target position information, the satellite position information at each time grid point included in the orbital cycle, and the preset detection distance includes:

[0035] S1: Fitting each time grid point within the planning time and the satellite position information at each time grid point to obtain a fitting curve; the fitting curve is a mapping relationship curve between the time grid point and the satellite position information;

[0036] S2: arbitrarily determine a number of time points from the fitting curve, and calculate the relative distance between the satellite and the target at the time point according to the satellite position information and the target position information at the time point; wherein the time interval between adjacent time points is less than the time interval between adjacent time grid points;

[0037] S3: According to the time sequence of the multiple time points, determine whether the relative distance at the initial time point is greater than the preset detection distance and whether the relative distance at the next time point adjacent to the initial time point is not greater than the preset detection distance; if so, execute step S4, otherwise execute step S5;

[0038] S4: Determine the next time point adjacent to the initial time point as the initial moment of the first visible time interval, and execute step S6;

[0039] S5: taking the next time point adjacent to the initial time point as the initial time point of the next iteration, and returning to step S3 to perform a judgment operation;

[0040] S6: taking the next time point adjacent to the initial time point as the update time point, and judging whether the relative distance at the update time point is not greater than the preset detection distance and whether the relative distance at the next time point adjacent to the update time point is greater than the preset detection distance, if so, executing step S7, otherwise executing step S8;

[0041] S7: Determine that the update time point is the end time of the first visible time interval, obtain the initial time and the end time of the current track cycle; and determine whether the last track cycle has been reached; if so, end the current process, otherwise execute step S9;

[0042] S8: taking the next time point adjacent to the update time point as the update time point of the next iteration, and returning to step S6;

[0043] S9: Use the next time point adjacent to the update time point as the initial time point of the next iteration, and return to step S3 to perform the judgment operation.

[0044] It should be noted that orbital cycles refer to the orbital cycles of the satellite when the target is visible within the planned time. For example, if the planning time is 1 day, the satellite can orbit 10 times within the planning time, and the target is visible when the satellite orbits the 2nd, 5th, and 8th times. The orbital cycles during which the target is visible are the 2nd, 5th, and 8th times. However, due to the load capacity constraint, the specific visible time interval of the target in the orbital cycles needs to be further determined.

[0045] It should be noted that when fitting, a fitting is performed once for every three time grid points to obtain a sub-fitting curve, and then the sub-fitting curves are connected end to end in sequence to obtain the fitting curve within the orbital circle. For example, the orbital circle includes 5 time grid points a, b, c, d, and e, then fitting is performed based on a, b, and c to obtain the ac sub-fitting curve, and fitting is performed based on c, d, and e to obtain the ce sub-fitting curve, and then these two sub-fitting curves are connected end to end to obtain the ae fitting curve. In this way, the fitting accuracy of the fitting curve is improved through segmented fitting, and the accuracy of the relative distance of each time point calculated by the interpolation method can be further improved, thereby improving the accuracy of the first visible time interval. It should be noted that, for example, the time grid points are 6:00 a.m., 6:10 a.m., 6:20 a.m., 6:30 a.m...., then the time points can be 6:00 a.m., 6:02 a.m., 6:04 a.m., 6:06 a.m., 6:08 a.m., 6:10 a.m....; if the initial time point is 6:00 a.m., then the next time point adjacent to the initial time point can be 6:02 a.m.

[0046] Specifically, the satellite position information r at each time grid point is used s (t I ), and t is obtained by fitting I and r s (t I ) is mapped to a fitting curve, and the time point t is arbitrarily determined by using the dichotomy method from the fitting curve. i , and determine the satellite position information r at each time point s (ti ), calculate the tth i The relative distance d between the satellite and the target at a time point ps,i =||r s (t i )-r EP ||. t in chronological order 0 ,t 1 ,t 2 ,t 3 …t N-1 ,t N At the same time point, calculate the relative distance at each time point. First, for the initial time point t 0 , execute step S3 to determine d ps,0 >d es (preset detection distance) and d ps,1 ≤d es , if the judgment result is no, let t 0 =t 1 , and returns to step S3; when the iteration reaches the initial time point t k When d ps,k >d es And d ps,k+1 ≤d es If the judgment result is yes, the initial time t of the first visible time interval ds =t k+1 ; If the judgment result is no, let t k =t k+1 , and returns to step S3. When the iteration reaches the update time point t j When d ps,j+1 >d es And d ps,j ≤d es If the judgment result is yes, then the end time of the first visible time interval is t de =t j ; If the judgment result is no, let t j =t j+1 , and returns to step S6. For example, d ps,0 >d es d ps,1 >d es d ps,2 >d es d ps,3 ≤d es d ps,4 ≤d es ,…,d ps,30 ≤d es d ps,31 >d es d ps,32 >des , ..., then the initial time t of the first visible time interval of the first orbital cycle ds =t 3 , end time t de =t 30 When the result of the judgment in step S7 is yes, the current process ends, that is, the initial time and the end time of the first visible time interval of each track circle are obtained.

[0047] In the present invention, the first visible time interval that satisfies the preset detection distance of the satellite payload in each orbital circle is further determined through step 102. In the present invention, the fitting curve and the data of each time point obtained by fitting are not stored, but the final first visible time interval is obtained by using these process data, so that the amount of stored data can be reduced.

[0048] In step 104, according to the field of view of the satellite, a second visible time interval satisfying the field of view angle constraint is determined from the first visible time interval, and the initial time and the end time of the second visible time interval need to be determined respectively.

[0049] In a preferred embodiment, determining the initial time of the second visible time interval includes:

[0050] A1: Take the average of the initial time and the end time of the first visible time interval to obtain the central time;

[0051] A2: Use interpolation method to obtain satellite position information and target position information at the center time;

[0052] A3: Calculate the angle between the line between the satellite and the target and the satellite's payload field of view axis based on the satellite position information and the target position information;

[0053] A4: Determine whether the included angle at the center moment is greater than the field of view angle; if so, execute step A5; otherwise, execute step A6;

[0054] A5: Determine the initial moment of the first visible time interval of the next iteration as the central moment of the current iteration;

[0055] A6: Determine the end time of the first visible time interval of the next iteration as the center time of the current iteration;

[0056] A7: Determine whether the absolute value of the difference between the end time of the first visible time interval of the next iteration and the initial time is greater than the preset time accuracy. If so, return to step A1; otherwise, execute step A8;

[0057] A8: Determine the end time of the first visible time interval of the next iteration as the initial time of the second visible time interval.

[0058] It should be noted that, in this preferred embodiment, it is considered that the first visible time interval does not satisfy the viewing angle constraint, and therefore a second visible time interval satisfying the constraint needs to be further determined from the first visible time interval.

[0059] Specifically, the first visible time interval is [t ds ,t de ], and perform the following iterative calculation according to the principle of dichotomy:

[0060] A1: Initial time t for the first visible time interval ds and the end time t de Perform the mean operation to obtain the central time t a =(t ds +t de ) / 2;

[0061] A2: Use interpolation to obtain the value at the central time t a Satellite position information s (t a );

[0062] A3: Calculate the angle θ between the line connecting the satellite and the target and the satellite's payload field of view axis a =arccos(r s T (t a )r EP / ||r s (t a )|| / ||r EP ||);

[0063] A4: Determine whether there is an angle θ at the center moment a >θ smax ; If yes, go to step A5; otherwise go to step A6;

[0064] A5: Adjust the initial time of the first visible time interval of the next iteration, and let t ds =t a ;

[0065] A6: Adjust the end time of the first visible time interval of the next iteration, and let t de =t a ;

[0066] A7: Determine the absolute value of the difference between the end time of the first visible time interval of the next iteration and the initial time |t de -t ds |Is it greater than the preset time accuracy δ? If |t de -t ds|>δ, the first visible time interval of the next iteration is returned to execute step A1; otherwise, step A8 is executed;

[0067] A8: The iteration ends, and the end time of the first visible time interval of the next iteration is determined as the initial time of the second visible time interval, t ps =t de .

[0068] In a preferred embodiment, determining the end time of the second visible time interval includes:

[0069] B1: Take the average of the initial time and the end time of the first visible time interval to obtain the central time;

[0070] B2: Use interpolation method to obtain satellite position information at the central time;

[0071] B3: Calculate the angle between the line between the satellite and the target and the satellite's payload field of view axis based on the satellite position information and the target position information;

[0072] B4: Determine whether the included angle at the center moment is greater than the field of view angle; if so, execute step B5; otherwise, execute step B6;

[0073] B5: Determine the end time of the first visible time interval of the next iteration as the center time of the current iteration;

[0074] B6: Determine the start time of the first visible time interval of the next iteration as the center time of the current iteration;

[0075] B7: Determine whether the absolute value of the difference between the end time of the first visible time interval of the next iteration and the initial time is greater than the preset time accuracy. If so, return to step B1; otherwise, execute step B8;

[0076] B8: Determine the start time of the first visible time interval of the next iteration as the end time of the second visible time interval.

[0077] Specifically, the method for determining the end time of the second visible time interval is based on the same principle as the method for determining the initial time of the second visible time interval.

[0078] In the present invention, the first visible time interval that meets the payload detection distance constraint is further constrained by the binary search method, and the interval range can be reduced in each iteration, so that the second time interval that meets the field of view angle constraint is determined through iteration. This method is not only efficient and simple, but also has low time complexity. Therefore, the calculation efficiency and calculation accuracy of determining the visible time interval of the onboard autonomous mission under the payload capacity constraint are further improved.

[0079] After step 104 and before step 106, the method further includes:

[0080] Determine whether the difference between the end time and the initial time of the second visible time interval is greater than a preset visible window minimum threshold;

[0081] If the judgment result is yes, the satellite is visible to the target within the second visible time interval;

[0082] If the judgment result is no, the satellite is not visible to the target during the second visible time interval.

[0083] It should be noted that if the judgment result is yes, then step 106 is continued to be executed; if the judgment result is no, then the current process is terminated.

[0084] In step 106, a third visible time interval satisfying the payload clock angle constraint is determined from the second visible time interval according to the payload clock angle range of the satellite, including determining an initial time and an end time of the third visible time interval.

[0085] In a preferred embodiment, determining the initial time of the third visible time interval includes:

[0086] C1: The clock angle of the satellite at any moment is calculated based on the satellite position information and the target position information at that moment;

[0087] C2: Determine whether the clock angle at the initial moment of the second visible time interval is within the load clock angle range, if so, execute step C3; otherwise, execute step C4;

[0088] C3: determining the initial time of the second visible time interval as the initial time of the third visible time interval;

[0089] C4: perform mean calculation on the initial moment and the end moment of the second visible time interval to obtain the central moment; and determine whether the clock angle of the central moment is within the load clock angle range; if so, execute step C5; otherwise, execute step C6;

[0090] C5: Determine the end time of the second visible time interval of the next iteration as the center time of the current iteration;

[0091] C6: Determine the initial moment of the second visible time interval of the next iteration as the central moment of the current iteration;

[0092] C7: Determine whether the absolute value of the difference between the end time of the second visible time interval of the next iteration and the initial time is greater than the preset time accuracy, if so, return to step C4; otherwise, execute step C8;

[0093] C8: Determine the end time of the second visible time interval of the next iteration as the initial time of the third visible time interval.

[0094] Specifically, the second visible time interval is [t ps ,t pe ],

[0095] C1: The satellite clock angle at any time is determined by the following formula:

[0096] θ c (t i ) = arctan(r SE (t i )[1] / r SE (t i )[0])

[0097] r SE (t i )=r EP -r S (t i )

[0098] Among them, r s (t i ) is the tth i The satellite position information of the satellite in the earth's fixed coordinate system at a time point; EP is the target position information in the earth fixed coordinate system; r SE (t i ) is the tth i The vector of the satellite pointing to the target at a time point, r SE (t i )[1]、r SE (t i )[0] are r SE (t i ) are respectively r in the satellite orbit coordinate system. SE (t i ) on the y-axis and on the x-axis; θ c (t i ) is the tth i The satellite's clock angle at a point in time;

[0099] C2: Determine whether there is a clock angle θ at the initial moment of the second visible time interval c (t ps )∈[θ cmin ,θ cmax ], if yes, go to step C3; otherwise go to step C4;

[0100] C3: Determine the initial time t of the third visible time intervalcs , let t cs =t ps ;

[0101] C4: Perform the following iterative calculation based on the dichotomy principle: For the initial time t of the second visible time interval ps and the end time t pe Perform the mean operation to obtain the central time t b =(t ps +t pe ) / 2; and determine the clock angle θ at the central moment c (t b )∈[θ cmin ,θ cmax ]; if yes, go to step C5; otherwise go to step C6;

[0102] C5: Adjust the end time of the second visible time interval of the next iteration, let t pe =t b ;

[0103] C6: Adjust the initial time of the second visible time interval of the next iteration, let t ps =t b ;

[0104] C7: Determine the absolute value of the difference between the end time of the second visible time interval of the next iteration and the initial time |t pe -t ps |Is it greater than the preset time accuracy δ? If |t pe -t ps |>δ, the second visible time interval of the next iteration is returned to execute step C4; otherwise, step C8 is executed;

[0105] C8: The iteration ends, and the end time of the second visible time interval of the next iteration is determined as the initial time of the third visible time interval, that is, t cs =t pe .

[0106] In a preferred embodiment, determining the end time of the third visible time interval includes:

[0107] D1: The satellite clock angle at any moment is calculated based on the satellite position information and target position information at that moment;

[0108] D2: Determine whether the clock angle at the end of the second visible time interval is within the load clock angle range, if so, execute step D3; otherwise, execute step D4;

[0109] D3: determining the end time of the second visible time interval as the end time of the third visible time interval;

[0110] D4: Calculate the mean of the initial moment and the end moment of the second visible time interval to obtain the center moment; and determine whether the clock angle of the center moment is within the load clock angle range; if so, execute step D5; otherwise, execute step D6;

[0111] D5: Determine the initial moment of the second visible time interval of the next iteration as the central moment of the current iteration;

[0112] D6: Determine the end time of the second visible time interval of the next iteration as the center time of the current iteration;

[0113] D7: Determine whether the absolute value of the difference between the end time of the second visible time interval of the next iteration and the initial time is greater than the preset time accuracy, if so, return to step D4; otherwise, execute step D8;

[0114] D8: Determine the initial time of the second visible time interval of the next iteration as the end time of the third visible time interval.

[0115] Specifically, the method for determining the end time of the third visible time interval is based on the same principle as the method for determining the initial time of the third visible time interval.

[0116] In the present invention, the second visible time interval that satisfies the payload detection distance constraint and the field of view angle constraint is further constrained by using the dichotomy method, and the interval range is gradually reduced through each iteration, so as to finally determine the third time interval that satisfies the payload clock angle constraint, that is, determine the visible time interval of the on-board autonomous mission that satisfies the three constraints at the same time. This method is not only efficient and simple, but also has low time complexity, which further improves the calculation efficiency and calculation accuracy of determining the visible time interval of the on-board autonomous mission under the payload capacity constraint.

[0117] In order to meet the requirements of on-board computing resource constraints, the present invention autonomously and quickly determines the visible window of the mission target on orbit according to the payload field of view angle parameters, preset detection distance, payload clock angle range and mission target information provided by the user. First, the orbit interpolation calculation is performed based on the planning time with equal spacing, the orbit is discretized, and the data is stored to avoid the huge amount of data caused by continuous calculation. Secondly, according to the relevant state information of the satellite and the target, the starting time and the ending time of the payload under the detection distance constraint are quickly determined by the dichotomy method; then, further according to the payload field of view angle, the starting time and the ending time under the payload detection distance constraint are used as the starting search range, and the dichotomy method is used for local search to quickly determine the starting time and the ending time of the satellite visible to the target under the satellite payload field of view constraint; finally, according to the payload clock angle constraint, the starting time and the ending time of the satellite visible to the target under the payload field of view constraint are used as the starting search range, and the starting time and the ending time of the satellite visible to the target under the payload clock angle constraint are quickly determined, that is, the visible time interval that meets the payload capacity constraint is finally determined. The method proposed in the present invention is computationally efficient and versatile, can be adapted to all loads under the same capacity constraints through load capacity parameter configuration, and can also be extended to other types of loads.

[0118] like Figure 2 , Figure 3 As shown, an embodiment of the present invention provides a device for quickly determining visibility of autonomous missions on a satellite under payload capacity constraints. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 2 As shown, a hardware architecture diagram of a computing device where a device for quickly determining visibility of an autonomous mission on a satellite under a load capacity constraint is provided in an embodiment of the present invention includes Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a device for quickly determining the visibility of autonomous tasks on a satellite under the load capacity constraint, and the device includes:

[0119] The acquisition module 300 is used to obtain the target position information, the satellite position information and orbit information at the time grid points at equal intervals within the planning time;

[0120] The first constraint module 302 is used to determine the orbital circle in which the target is visible within the planning time according to the orbital information, and determine the first visible time interval within the orbital circle according to the target position information, the satellite position information at each time grid point included in the orbital circle and the preset detection distance;

[0121] A second constraint module 304 is used to determine a second visible time interval that satisfies the view angle constraint from the first visible time interval according to the view angle of the satellite;

[0122] The third constraint module 306 is used to determine a third visible time interval satisfying the payload clock angle constraint from the second visible time interval according to the payload clock angle range of the satellite.

[0123] In some specific implementations, the acquisition module 300 may be used to execute the above step 100 , the first constraint module 302 may be used to execute the above step 102 , the second constraint module 304 may be used to execute the above step 104 , and the third constraint module 306 may be used to execute the above step 106 .

[0124] In one embodiment of the present invention, the first constraint module 302 is further configured to perform the following operations:

[0125] S1: Fitting each time grid point within the planning time and the satellite position information at each time grid point to obtain a fitting curve; the fitting curve is a mapping relationship curve between the time grid point and the satellite position information;

[0126] S2: arbitrarily determine a number of time points from the fitting curve, and calculate the relative distance between the satellite and the target at the time point according to the satellite position information and the target position information at the time point; wherein the time interval between adjacent time points is less than the time interval between adjacent time grid points;

[0127] S3: According to the time sequence of the multiple time points, determine whether the relative distance at the initial time point is greater than the preset detection distance and whether the relative distance at the next time point adjacent to the initial time point is not greater than the preset detection distance; if so, execute step S4, otherwise execute step S5;

[0128] S4: Determine the next time point adjacent to the initial time point as the initial moment of the first visible time interval, and execute step S6;

[0129] S5: taking the next time point adjacent to the initial time point as the initial time point of the next iteration, and returning to step S3 to perform a judgment operation;

[0130] S6: taking the next time point adjacent to the initial time point as the update time point, and judging whether the relative distance at the update time point is not greater than the preset detection distance and whether the relative distance at the next time point adjacent to the update time point is greater than the preset detection distance, if so, executing step S7, otherwise executing step S8;

[0131] S7: Determine that the update time point is the end time of the first visible time interval, obtain the initial time and the end time of the current track cycle; and determine whether the last track cycle has been reached; if so, end the current process, otherwise execute step S9;

[0132] S8: taking the next time point adjacent to the update time point as the update time point of the next iteration, and returning to step S6;

[0133] S9: Use the next time point adjacent to the update time point as the initial time point of the next iteration, and return to step S3 to perform the judgment operation.

[0134] In one embodiment of the present invention, the second constraint module 304 is further configured to perform the following operations:

[0135] A1: Take the average of the initial time and the end time of the first visible time interval to obtain the central time;

[0136] A2: Use interpolation to obtain satellite position information at the central time;

[0137] A3: Calculate the angle between the line between the satellite and the target and the satellite's payload field of view axis based on the satellite position information and the target position information;

[0138] A4: Determine whether the included angle at the center moment is greater than the field of view angle; if so, execute step A5; otherwise, execute step A6;

[0139] A5: Determine the initial moment of the first visible time interval of the next iteration as the central moment of the current iteration;

[0140] A6: Determine the end time of the first visible time interval of the next iteration as the center time of the current iteration;

[0141] A7: Determine whether the absolute value of the difference between the end time of the first visible time interval of the next iteration and the initial time is greater than the preset time accuracy. If so, return to step A1; otherwise, execute step A8;

[0142] A8: Determine the end time of the first visible time interval of the next iteration as the initial time of the second visible time interval.

[0143] In one embodiment of the present invention, the second constraint module 304 is further configured to perform the following operations:

[0144] B1: Take the average of the initial time and the end time of the first visible time interval to obtain the central time;

[0145] B2: Use interpolation method to obtain satellite position information at the central time;

[0146] B3: Calculate the angle between the line between the satellite and the target and the satellite's payload field of view axis based on the satellite position information and the target position information;

[0147] B4: Determine whether the included angle at the center moment is greater than the field of view angle; if so, execute step B5; otherwise, execute step B6;

[0148] B5: Determine the end time of the first visible time interval of the next iteration as the center time of the current iteration;

[0149] B6: Determine the start time of the first visible time interval of the next iteration as the center time of the current iteration;

[0150] B7: Determine whether the absolute value of the difference between the end time of the first visible time interval of the next iteration and the initial time is greater than the preset time accuracy. If so, return to step B1; otherwise, execute step B8;

[0151] B8: Determine the start time of the first visible time interval of the next iteration as the end time of the second visible time interval.

[0152] In one embodiment of the present invention, the device further includes a verification module, which is used to perform the following operations:

[0153] Determine whether the difference between the end time and the initial time of the second visible time interval is greater than a preset visible window minimum threshold;

[0154] If the judgment result is yes, the satellite is visible to the target within the second visible time interval;

[0155] If the judgment result is no, the satellite is not visible to the target during the second visible time interval.

[0156] In one embodiment of the present invention, the third constraint module 306 is further configured to perform the following operations:

[0157] C1: The clock angle of the satellite at any moment is calculated based on the satellite position information and the target position information at that moment;

[0158] C2: Determine whether the clock angle at the initial moment of the second visible time interval is within the load clock angle range, if so, execute step C3; otherwise, execute step C4;

[0159] C3: determining the initial time of the second visible time interval as the initial time of the third visible time interval;

[0160] C4: perform mean calculation on the initial moment and the end moment of the second visible time interval to obtain the central moment; and determine whether the clock angle of the central moment is within the load clock angle range; if so, execute step C5; otherwise, execute step C6;

[0161] C5: Determine the end time of the second visible time interval of the next iteration as the center time of the current iteration;

[0162] C6: Determine the initial moment of the second visible time interval of the next iteration as the central moment of the current iteration;

[0163] C7: Determine whether the absolute value of the difference between the end time of the second visible time interval of the next iteration and the initial time is greater than the preset time accuracy, if so, return to step C4; otherwise, execute step C8;

[0164] C8: Determine the end time of the second visible time interval of the next iteration as the initial time of the third visible time interval.

[0165] In one embodiment of the present invention, the third constraint module 306 is further configured to perform the following operations:

[0166] D1: The satellite clock angle at any moment is calculated based on the satellite position information and target position information at that moment;

[0167] D2: Determine whether the clock angle at the end of the second visible time interval is within the load clock angle range, if so, execute step D3; otherwise, execute step D4;

[0168] D3: determining the end time of the second visible time interval as the end time of the third visible time interval;

[0169] D4: Calculate the mean of the initial moment and the end moment of the second visible time interval to obtain the center moment; and determine whether the clock angle of the center moment is within the load clock angle range; if so, execute step D5; otherwise, execute step D6;

[0170] D5: Determine the initial moment of the second visible time interval of the next iteration as the central moment of the current iteration;

[0171] D6: Determine the end time of the second visible time interval of the next iteration as the center time of the current iteration;

[0172] D7: Determine whether the absolute value of the difference between the end time of the second visible time interval of the next iteration and the initial time is greater than the preset time accuracy, if so, return to step D4; otherwise, execute step D8;

[0173] D8: Determine the initial time of the second visible time interval of the next iteration as the end time of the third visible time interval.

[0174] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a device for quickly determining visibility of an autonomous mission on a satellite under a payload capacity constraint. In other embodiments of the present invention, a device for quickly determining visibility of an autonomous mission on a satellite under a payload capacity constraint may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0175] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0176] An embodiment of the present invention also provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for quickly determining the visibility of an on-board autonomous mission under a payload capacity constraint in any embodiment of the present invention is implemented.

[0177] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a method for quickly determining the visibility of an on-board autonomous mission under a payload capacity constraint in any embodiment of the present invention.

[0178] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes a method for quickly determining the visibility of an on-board autonomous mission under a payload capacity constraint as described in any of the above embodiments.

[0179] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0180] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0181] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0182] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling the operating system on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0183] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0184] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0185] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for quickly determining visibility of autonomous missions on board a satellite under payload capacity constraints, characterized in that: include: Obtain target location information, satellite location information and orbit information at equally spaced time grid points within the planning time; Determine an orbital circle in which the target is visible within the planned time according to the orbital information, and determine a first visible time interval within the orbital circle according to the target position information, satellite position information at each of the time grid points included in the orbital circle, and a preset detection distance; Determining, from the first visible time interval, a second visible time interval satisfying a view angle constraint according to the view angle of the satellite; According to the payload clock angle range of the satellite, a third visible time interval satisfying the payload clock angle constraint is determined from the second visible time interval.

2. The method according to claim 1, characterized in that The determining, according to the target position information, the satellite position information at each of the time grid points included in the orbital circle, and the preset detection distance, of a first visible time interval within the orbital circle comprises: S1: Fitting the time grid points and the satellite position information at the time grid points within the planning time to obtain a fitting curve; the fitting curve is a mapping relationship curve between the time grid points and the satellite position information; S2: arbitrarily determine a number of time points from the fitting curve, and calculate the relative distance between the satellite and the target at the time point according to the satellite position information and the target position information at the time point; wherein the time interval between adjacent time points is less than the time interval between adjacent time grid points; S3: according to the time sequence of the time points, determine whether the relative distance at the initial time point is greater than the preset detection distance and whether the relative distance at the next time point adjacent to the initial time point is not greater than the preset detection distance; if so, execute step S4, otherwise execute step S5; S4: determining the next time point adjacent to the initial time point as the initial moment of the first visible time interval, and executing step S6; S5: taking the next time point adjacent to the initial time point as the initial time point of the next iteration, and returning to step S3 to perform a judgment operation; S6: taking the next time point adjacent to the initial time point as the update time point, and judging whether the relative distance at the update time point is not greater than the preset detection distance and whether the relative distance at the next time point adjacent to the update time point is greater than the preset detection distance, if so, executing step S7, otherwise executing step S8; S7: Determine that the update time point is the end time of the first visible time interval, obtain the initial time and the end time of the current track cycle; and determine whether the last track cycle is reached; if so, end the current process, otherwise execute step S9; S8: taking the next time point adjacent to the update time point as the update time point for the next iteration, and returning to step S6; S9: Use the next time point adjacent to the update time point as the initial time point of the next iteration, and return to step S3 to perform the judgment operation.

3. The method according to claim 1, characterized in that The determining, according to the field of view angle of the satellite, from the first visible time interval, a second visible time interval that satisfies the field of view angle constraint comprises: A1: averaging the initial time and the end time of the first visible time interval to obtain a central time; A2: Obtaining the satellite position information at the central time by using an interpolation method; A3: Calculate the angle between the line between the satellite and the target and the payload field of view axis of the satellite according to the satellite position information and the target position information; A4: Determine whether the angle at the center moment is greater than the field of view angle; if so, execute step A5; otherwise, execute step A6; A5: Determine the initial moment of the first visible time interval of the next iteration as the central moment of the current iteration; A6: Determine the end time of the first visible time interval of the next iteration as the central time of the current iteration; A7: Determine whether the absolute value of the difference between the end time of the first visible time interval of the next iteration and the initial time is greater than the preset time accuracy. If so, return to step A1; otherwise, execute step A8; A8: Determine the end time of the first visible time interval of the next iteration as the initial time of the second visible time interval.

4. The method according to claim 1, characterized in that: The determining, according to the field of view angle of the satellite, from the first visible time interval, a second visible time interval that satisfies the field of view angle constraint comprises: B1: taking the average of the initial time and the end time of the first visible time interval to obtain the center time; B2: Obtaining the satellite position information at the central time by using an interpolation method; B3: Calculating the angle between the line between the satellite and the target and the payload field of view axis of the satellite according to the satellite position information and the target position information; B4: Determine whether the angle at the center moment is greater than the field of view angle; if so, execute step B5; otherwise, execute step B6; B5: Determine the end time of the first visible time interval of the next iteration as the central time of the current iteration; B6: Determine the start time of the first visible time interval of the next iteration as the central time of the current iteration; B7: Determine whether the absolute value of the difference between the end time of the first visible time interval of the next iteration and the initial time is greater than the preset time accuracy. If so, return to step B1; otherwise, execute step B8; B8: Determine the start time of the first visible time interval of the next iteration as the end time of the second visible time interval.

5. The method according to claim 1, characterized in that After determining a second visible time interval satisfying the field of view angle constraint from the first visible time interval, and before determining a third visible time interval satisfying the payload clock angle constraint from the second visible time interval according to the payload clock angle range of the satellite, the method further includes: Determine whether the difference between the end time and the initial time of the second visible time interval is greater than a preset visible window minimum threshold; If the judgment result is yes, the satellite is visible to the target within the second visible time interval; If the determination result is no, then the satellite is not visible to the target during the second visible time interval.

6. The method according to claim 1, characterized in that The step of determining, according to the payload clock angle range of the satellite, a third visible time interval satisfying the payload clock angle constraint from the second visible time interval comprises: C1: Calculate the satellite clock angle at any moment according to the satellite position information and the target position information at that moment; C2: Determine whether the clock angle at the initial moment of the second visible time interval is within the load clock angle range, if so, execute step C3; otherwise, execute step C4; C3: determining the initial time of the second visible time interval as the initial time of the third visible time interval; C4: performing an average operation on the initial moment and the end moment of the second visible time interval to obtain a central moment; and determining whether the clock angle of the central moment is within the load clock angle range; if so, executing step C5; otherwise, executing step C6; C5: Determine the end time of the second visible time interval of the next iteration as the central time of the current iteration; C6: Determine the initial moment of the second visible time interval of the next iteration as the central moment of the current iteration; C7: Determine whether the absolute value of the difference between the end time of the second visible time interval of the next iteration and the initial time is greater than the preset time accuracy, if so, return to step C4; otherwise, execute step C8; C8: Determine the end time of the second visible time interval of the next iteration as the initial time of the third visible time interval.

7. The method according to any one of claims 1 to 6, characterized in that: The step of determining, according to the payload clock angle range of the satellite, a third visible time interval satisfying the payload clock angle constraint from the second visible time interval comprises: D1: Calculate the satellite clock angle at any moment according to the satellite position information and the target position information at that moment; D2: Determine whether the clock angle at the end of the second visible time interval is within the load clock angle range, if so, execute step D3; otherwise, execute step D4; D3: determining the end time of the second visible time interval as the end time of the third visible time interval; D4: taking the average of the initial moment and the end moment of the second visible time interval to obtain the central moment; and determining whether the clock angle of the central moment is within the load clock angle range; if so, executing step D5; otherwise, executing step D6; D5: Determine the initial moment of the second visible time interval of the next iteration as the central moment of the current iteration; D6: Determine the end time of the second visible time interval of the next iteration as the central time of the current iteration; D7: Determine whether the absolute value of the difference between the end time of the second visible time interval of the next iteration and the initial time is greater than the preset time accuracy, if so, return to step D4; otherwise, execute step D8; D8: Determine the initial time of the second visible time interval of the next iteration as the end time of the third visible time interval.

8. A device for quickly determining visibility of autonomous missions on a satellite under payload capacity constraints, characterized in that: include: An acquisition module is used to obtain target location information, satellite location information and orbit information at equally spaced time grid points within a planning time; A first constraint module is used to determine the orbital circle in which the target is visible within the planning time according to the orbital information, and determine the first visible time interval within the orbital circle according to the target position information, the satellite position information at each time grid point included in the orbital circle, and a preset detection distance; A second constraint module, configured to determine, from the first visible time interval, a second visible time interval satisfying a view angle constraint according to the view angle of the satellite; The third constraint module is used to determine a third visible time interval that meets the payload clock angle constraint from the second visible time interval according to the payload clock angle range of the satellite.

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

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

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