Space-borne antenna beam position scheduling planning method based on target prior information

Abstract

The invention provides a spaceborne antenna beam position scheduling planning method based on target prior information, which comprises the following steps: step 1, inputting information for scheduling planning, and executing steps 2-6 based on the information; 2, calculating an airspace clustering threshold value corresponding to the working frequency; step 3, constructing a multi-target undirected graph and an adjacent matrix based on the spatial domain clustering threshold; step 4, splitting the undirected graph into a plurality of sub-graphs to form complete coverage of all targets, the sub-graphs being target clusters; step 5, reordering the target clusters to obtain a scanning sequence of the target clusters; and step 6, sequentially carrying out beam position scheduling according to the scanning sequence of the target clusters. According to the method, the satellite wave position scheduling efficiency can be improved, and the multi-frequency-point and multi-target-oriented wave position scheduling planning can be efficiently completed.

Description

Technical Field

[0001] The present invention relates to the field of satellite equipment system mission planning and resource management, and in particular to a satellite-borne antenna wave position scheduling planning method based on target prior information. Background Art

[0002] Satellites have significant advantages such as wide instantaneous coverage and all-weather coverage, and are one of the important means of information acquisition and remote communication. With the demand and development of information applications, antenna technology is showing a trend of broadband, high gain, and narrow beam, among which antenna wave position scheduling is an important prerequisite and key factor affecting information acquisition and transmission.

[0003] In practical applications, satellites often face a variety of mission requirements. In order to give full play to the system performance, it is necessary to design an efficient beam scheduling algorithm for specific application requirements to carry out work tasks. Due to the high-speed movement of low-orbit satellites, the beam coverage changes rapidly with the movement and attitude of the satellite. For the acquisition and transmission of multi-frequency and multi-target information, how to design an efficient beam scheduling planning scheme is a key issue to be considered in system mission planning. Summary of the invention

[0004] The present invention aims to provide a satellite-borne antenna wave position scheduling planning method based on target prior information, so as to efficiently complete the wave position scheduling planning for multiple frequency points and multiple targets.

[0005] The present invention provides a satellite antenna wave position scheduling planning method based on target prior information, comprising the following steps:

[0006] Step 1, input information for scheduling planning, and execute steps 2 to 6 based on the information;

[0007] Step 2, calculating the spatial domain clustering threshold corresponding to the working frequency;

[0008] Step 3, constructing a multi-target undirected graph and adjacency matrix based on the spatial clustering threshold;

[0009] Step 4, splitting the undirected graph into multiple subgraphs to form a complete coverage of all targets, and the subgraphs are target clusters;

[0010] Step 5, reordering the target clusters to obtain a target cluster scanning order;

[0011] Step 6: Perform wave position scheduling in sequence according to the target cluster scanning order.

[0012] In some embodiments, in step 1, the information used for scheduling planning includes:

[0013] The satellite equipment can set the operating frequency, the bandwidth corresponding to the operating frequency, the number of beam positions, the off-axis angle of all beam positions, the starting azimuth, the azimuth interval, the beam width, and the beam dwell time ΔT;

[0014] Frequency domain and spatial domain information of M targets, working frequencies of multiple targets and position coordinates in the WGS84 coordinate system;

[0015] The mission starts at time T1, and in the WGS84 coordinate system, the satellite device's position, speed, and satellite device attitude information corresponding to time T1; the satellite device attitude information includes yaw angle, pitch angle, and roll angle.

[0016] In some embodiments, in step 2, for each operating frequency F of the satellite device i , calculate the spatial clustering threshold d corresponding to the working frequency according to the wave position coverage diameter pointed by its normal line i , expressed as:

[0017]

[0018] α=arccos(((R+h) 2 +R 2 -dist 2 )) / (2R(R+h)))

[0019] R θ =Rαπ / 180

[0020] d i =2R θ

[0021] Where R is the semi-major axis of the Earth, θ represents the minimum half-beam width of the operating frequency, h is the satellite orbit altitude, and α is the angle of the line connecting the center of the Earth to the sub-satellite wave position coverage radius.

[0022] In some embodiments, step 3 includes:

[0023] Take all targets as nodes to construct an undirected graph G containing M nodes, and calculate whether there is an edge connection between any two nodes based on the spatial clustering threshold;

[0024] Calculate the M×M dimensional adjacency matrix E, where the elements of the adjacency matrix E are either 0 or 1, and the value is 1 if and only if there is an edge between the nodes.

[0025] In some embodiments, whether there is an edge connection between any two nodes requires satisfying the following two conditions:

[0026] Condition 1: In the frequency domain, the operating frequencies of the two nodes can be covered by the same operating frequency and corresponding bandwidth of the satellite equipment;

[0027] Condition 2: In the airspace, the distance between two nodes is less than the airspace clustering threshold corresponding to the operating frequency of the satellite device.

[0028] In some embodiments, in step 4, the number of subgraphs u=0 is initialized, the remaining node set is R={1, ..., M} and the loop variable m=1, and the following steps are performed to solve multiple subgraphs to obtain a complete coverage of all targets:

[0029] Step 4.1: For node m, if m∈R, execute step 4.2; otherwise, jump to step 4.4;

[0030] Step 4.2: Set the number of subgraphs u = u + 1 and construct the subgraph G u ={m}; if It means that node m is not connected to other nodes, jump to step 4.3; otherwise, for each node m′≠m, m′∈R, if node m′ is connected to any node m″∈G in the subgraph u There is an edge connection, that is, E(m′,m″)=1, then add node m′ to subgraph G u middle;

[0031] Step 4.3: Remove the nodes contained in the subgraph from the remaining node set, that is, update R = R\G u ;

[0032] Step 4.4: Let m=m+1. If m≤M, jump to step 4.1; otherwise, exit the current loop and jump to step 5.

[0033] In some embodiments, step 5 includes the following sub-steps:

[0034] Step 5.1: Calculate the center coordinates of the target cluster in the WGS84 coordinate system;

[0035] Step 5.2: In the WGS84 coordinate system, calculate the distance D between the position of the satellite device at time T1 and the center coordinates of the target cluster. u ;

[0036] Step 5.3: Based on the satellite position, speed and attitude information, convert the center coordinates of the target cluster into the on-board coordinate system coordinates

[0037] Step 5.4: Based on the distance D u and coordinates The corresponding out-of-view distance is calculated, and the target cluster number is added to the scanning order list M based on the out-of-view distance.

[0038] In some embodiments, step 5.4 includes:

[0039] According to the calculation method in step 2, according to the satellite scanning range coverage angle θ s calculate and Determine if the conditions are met:

[0040] Condition 1:

[0041] Condition 2:

[0042] If one of the above conditions is met, the corresponding distance away from the field of view is calculated as

[0043]

[0044] In some embodiments, in step 5.4, the distance o of the obtained target cluster from the field of view is calculated. u Reorder the scan order list M from smallest to largest.

[0045] In some embodiments, k=1 and u=1 are initialized, and step 6 includes the following sub-steps:

[0046] Step 6.1: Based on the satellite equipment position and velocity corresponding to the starting time T1, use the orbit extrapolation method to predict the k Satellite equipment position and speed at the moment;

[0047] Step 6.2: Calculate T in WGS84 coordinate system k Satellite device position and target cluster G at the moment u The direction vector corresponding to the center;

[0048] Step 6.3: Based on the forecast to T k The satellite equipment position, speed and attitude information at the moment, calculate the rotation matrix R from the WGS84 coordinate system to the satellite orbit coordinate system w,o And the rotation matrix R that transforms the satellite orbit coordinate system to the satellite body coordinate system o,b ; Among them, the rotation matrix R for converting the satellite orbit coordinate system to the satellite body coordinate system o,b ;

[0049] Step 6.4: Based on the rotation matrix R w,o and the rotation matrix R o,b , the satellite device position in the WGS84 coordinate system is compared with the target cluster G u The direction vector corresponding to the center is converted to the off-axis angle in the satellite body coordinate system and azimuth

[0050] Step 6.5: Scan the satellite equipment operating frequency used by the u-th target cluster; first, calculate the off-axis angle value according to the wave position pointing corresponding to the operating frequency. The nearest wave position off-axis angle is taken; then, according to the working frequency j * The azimuth step and starting azimuth of the circle wave position are used to calculate the distance The nearest wave position azimuth value;

[0051] Step 6.6: outputting the optimal wave position selected at the current moment, including the wave position off-axis angle value and the wave position azimuth angle value;

[0052] Step 6.7: Update u = u + 1. If u ≤ U, the update time is T. k+1 =T k +ΔT and k=k+1, then jump to step 6.1 to continue execution; otherwise, exit the loop and the current work task ends.

[0053] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0054] The present invention regards the target as a node in an undirected graph, constructs an adjacency matrix of the graph based on the frequency domain and spatial domain information of the target, then solves multiple subgraphs (i.e., target clusters) to form a complete coverage of all targets, and then selects the optimal wave position to cover the corresponding target clusters according to the order in which the target clusters leave the satellite field of view, thereby improving the satellite wave position scheduling efficiency and efficiently completing the wave position scheduling planning for multiple frequency points and multiple targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 The present invention is a flowchart of a satellite antenna wave position scheduling planning method based on target prior information in an embodiment of the present invention.

[0056] Figure 2 Schematic diagram of spatial clustering threshold calculation in an embodiment of the present invention.

[0057] Figure 3a It is a two-dimensional latitude and longitude map of the simulated satellite trajectory in an embodiment of the present invention.

[0058] Figure 3b Schematic diagram of multiple frequency points and multiple targets in an embodiment of the present invention.

[0059] Figure 4a Schematic diagram of the wave position coverage and effective field of view of the satellite device operating frequency 1100 MHz in an embodiment of the present invention.

[0060] Figure 4b The figure is a schematic diagram of the wave position coverage and effective field of view of the satellite equipment with an operating frequency of 1300 MHz in an embodiment of the present invention.

[0061] Figure 4c The figure is a schematic diagram of the wave position coverage and effective field of view of the satellite equipment with an operating frequency of 1500 MHz in an embodiment of the present invention.

[0062] Figure 4d Schematic diagram of the wave position coverage and effective field of view of the satellite device operating frequency 1700 MHz in an embodiment of the present invention.

[0063] Figure 4e Schematic diagram of the wave position coverage and effective field of view of the satellite device operating frequency 1900 MHz in an embodiment of the present invention.

[0064] Figure 5 This is a curve chart showing the percentage reduction in the total number of wave position scheduling times using the method proposed in the present invention compared to the sequential scheduling method. DETAILED DESCRIPTION

[0065] 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, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0066] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] Example

[0068] like Figure 1 As shown, this embodiment proposes a satellite antenna wave position scheduling planning method based on target prior information, including the following steps:

[0069] Step 1, input information for scheduling planning, and execute steps 2 to 6 based on the information;

[0070] In some embodiments, the information used for scheduling planning includes:

[0071] (1) Satellite equipment can set N operating frequencies F i ,i∈{1,…,N}(sorted by small to large by default), where the bandwidth corresponding to the i-th operating frequency is ΔF i 、The number of wave positions is n i Circle, let the off-axis angle of all wave positions in the jth circle be θ i,j , the starting azimuth is The azimuth interval is The beam width is w i,j , and the beam dwell time is ΔT;

[0072] (2) Frequency domain and spatial domain information of M targets, where the operating frequency of the mth target is f m , the position coordinates in the WGS84 coordinate system are

[0073] (3) Mission start time T1, the position of the satellite equipment at time T1 in the WGS84 coordinate system speed Satellite equipment attitude information; the satellite equipment attitude information includes yaw angle θ y , pitch angle θ p and the rolling angle θ r .

[0074] Step 2: Calculate the spatial clustering threshold corresponding to the working frequency;

[0075] In some embodiments, Figure 2 As shown, step 2 is specifically as follows: for each operating frequency F of the satellite equipment i , calculate the spatial clustering threshold d corresponding to the working frequency according to the wave position coverage diameter pointed by its normal line i for:

[0076]

[0077] α=arccos(((R+h) 2 +R 2 -dist 2 )) / (2R(R+h)))

[0078] R θ =Rαπ / 180

[0079] d i =2R θ

[0080] Wherein, R=6378137m is the semi-major axis of the Earth, θ represents the minimum half-beam width of the operating frequency (unit: degree), h is the satellite orbit altitude (unit: meter), and α is the angle of the line connecting the center of the Earth corresponding to the coverage radius of the sub-satellite wave position (unit: degree);

[0081] Step 3: constructing a multi-target undirected graph and adjacency matrix based on the spatial clustering threshold;

[0082] In some embodiments, step 3 includes:

[0083] Take all targets as nodes to construct an undirected graph G containing M nodes, and calculate whether there is an edge connection between any two nodes, where there is an edge between target m1 and target m2 if and only if the following two conditions are met:

[0084] Condition 1: In the frequency domain, the operating frequency of target m1 is and the target operating frequency of m2 Can be used by satellite equipment on the same operating frequency And the corresponding bandwidth Coverage, that is

[0085]

[0086] Condition 2: In the airspace, the distance between target m1 and target m2 is less than the airspace clustering threshold corresponding to the operating frequency of the satellite equipment, that is,

[0087] Then, calculate the M×M dimensional adjacency matrix E, where the element E(m1,m2) in the m1th row and m2th column takes the value of 0 or 1, and E(m1,m2)=E(m2,m1)=1 if and only if there is an edge between the target m1 and the target m2;

[0088] Step 4: Split the undirected graph into multiple subgraphs to form a complete coverage of all targets

[0089] In some embodiments, the number of subgraphs u is initialized to 0, the remaining node set is R = {1, ..., M} and the loop variable m = 1, and the following steps are performed to solve multiple subgraphs to obtain a complete coverage of all targets:

[0090] Step 4.1: For node m, if m∈R, execute step 4.2; otherwise, jump to step 4.4;

[0091] Step 4.2: Set the number of subgraphs u = u + 1 and construct the subgraph G u ={m}; if It means that node m is not connected to other nodes, jump to step 4.3; otherwise, for each node m′≠m, m′∈R, if node m′ is connected to any node m″∈G in the subgraph u There is an edge connection, that is, E(m′,m″)=1, then add node m′ to subgraph G u middle;

[0092] Step 4.3: Remove the nodes contained in the subgraph from the remaining node set, that is, update R = R\G u ;

[0093] Step 4.4: Let m=m+1. If m≤M, jump to step 4.1; otherwise, exit the current loop and jump to step 5.

[0094] The multiple subgraphs obtained in this step are the target clusters, that is, the clusters of the targets jointly clustered in the frequency domain and the spatial domain. Without loss of generality, this step obtains a total of U target clusters G1, ..., G U , where the satellite equipment operating frequency corresponding to the u-th target cluster is

[0095] Step 5: reorder the target clusters to obtain a target cluster scanning order;

[0096] According to the satellite scanning range coverage angle θ s It can be calculated and The calculation method is shown in step 2; initialize the target cluster scanning order list M to be empty, and for each target cluster G u Perform the following steps:

[0097] Step 5.1: Calculate the target cluster G in the WGS84 coordinate system u The center coordinates of

[0098]

[0099] Here, |·| represents the cardinality of the set.

[0100] Step 5.2: Calculate the position of the satellite device at time T1 in the WGS84 coordinate system and the center coordinates of the target cluster The distance D u :

[0101]

[0102] Step 5.3: Based on the satellite position, velocity and attitude information, the target cluster center is coordinate in the WGS84 coordinate system. Convert to the coordinates of the satellite body coordinate system

[0103] Step 5.4: If condition 1 is met: Or if condition 2 is met: Then the corresponding distance away from the field of view is calculated as And add the target cluster number u to the scanning order list M based on the distance from the field of view;

[0104] According to step 5, the distance o of different target clusters from the field of view is calculated. u Rearrange M from small to large (i.e., the smaller the distance from the field of view, the earlier it is scanned). Without loss of generality, the scanning order of the obtained target clusters is recorded as 1,…,U;

[0105] Step 6: Perform wave position scheduling in sequence according to the target cluster scanning order.

[0106] In some embodiments, k=1 and u=1 are initialized, and step 6 is to loop through the following steps:

[0107] Step 6.1: Based on the satellite device position corresponding to the starting time T1 and speed The orbit extrapolation method is used to predict the k Satellite device position at the moment and speed Among them, the orbit extrapolation method is a prior art and will not be described in detail here.

[0108] Step 6.2: Calculate T in WGS84 coordinate system k Satellite device position at the moment and the target cluster G u The direction vector p corresponding to the center k,u :

[0109]

[0110] Step 6.3: Based on the forecast to T k Satellite device position at the moment speed And satellite equipment attitude information (yaw angle, pitch angle and roll angle), calculate the rotation matrix R from the WGS84 coordinate system to the satellite orbit coordinate system w,o And the rotation matrix R that transforms the satellite orbit coordinate system to the satellite body coordinate system o,b , the specific calculation is as follows:

[0111]

[0112] in, The rotation matrix R for transforming the satellite orbit coordinate system to the satellite body coordinate system o,b There are 6 possible rotation sequences of the coordinate axes, including: 1-2-3, 1-3-2, 2-1-3, 2-3-1, 3-1-2 and 3-2-1, where 1 represents roll, 2 represents pitch, and 3 represents yaw. In practical applications, one of the 6 rotation methods can be selected. Taking the 1-2-3 rotation sequence as an example, R o,b The calculation is as follows:

[0113]

[0114] Step 6.4: Based on the rotation matrix R w,o and the rotation matrix R o,b, the satellite device and target cluster direction vector p in the WGS84 coordinate system k,u Convert to the off-axis angle in the satellite body coordinate system and azimuth Right now:

[0115]

[0116] Step 6.5: As described in step 4.4, the satellite device operating frequency used to scan the u-th target cluster is First, the off-axis angle corresponding to the operating frequency is taken. Calculate The nearest wave position off-axis angle value in Then, according to the operating frequency j * Azimuth stepping of the circle position and starting azimuth Calculate The nearest wave position azimuth value for:

[0117]

[0118] in, Operating frequency for satellite equipment No. * The total number of circle wave positions, round(·) is the rounding operation;

[0119] Step 6.6: Output the optimal wave position selected at the current moment, including the off-axis angle value of the wave position and wave position azimuth value and other information;

[0120] Step 6.7: Update u = u + 1. If u ≤ U, the update time is T. k+1 =T k +ΔT and k=k+1, then jump to step 6.1 to continue execution; otherwise, exit the loop and the current work task ends.

[0121] An example:

[0122] Scenario description: The satellite orbit parameter simulation is used to generate the second data of the satellite position and speed in the WGS84 coordinate system, the multiple working frequencies and bandwidths used by the satellite equipment antenna and other satellite equipment working task input parameters, and multi-frequency points and multiple targets are randomly generated within the given frequency domain and spatial domain; then the satellite-borne antenna wave position scheduling planning method based on the target prior information provided in the above embodiment is used to process to obtain the optimal wave position scheduling planning.

[0123] Data source: This example simulates satellite orbits and generates satellite position and velocity information in the WGS84 coordinate system per second. The generated orbits are as follows: Figure 3a As shown, the circle and square marks represent the starting position and the ending position, respectively. To verify the performance of the method, comparative analysis is performed under a variety of different target frequency domain / spatial domain distribution situations. Specifically: in the spatial domain, the longitude of the regional center is set to 152° and the latitude is set to 21°. When the regional width Δ ranges from 2 to 20 and the step is 2, multiple targets are uniformly generated from the region [21-Δ / 2, 21+Δ / 2]×[152-Δ / 2, 152+Δ / 2], and the number of targets obeys the Poisson distribution with a mean of 50; in the frequency domain, the target operating frequency range is set to 900MHz~2100MHz, and multiple operating frequency points are uniformly generated for each target within this range, and the number of operating frequency points obeys the Poisson distribution with a mean of 4; Figure 3b This is a schematic diagram of multiple frequency points and multiple targets generated by a Monte Carlo experiment, where the triangle marks represent the targets. In this task, the satellite equipment antenna has five operating frequencies and the bandwidth is 400MHz, which are 1100MHz and step 200MHz to 1900MHz. The corresponding wave positions are 5, 10, 15, 19 and 30 respectively. The corresponding beam pointing to the wave position coverage formed on the earth's surface is as follows Figure 4a , Figure 4b , Figure 4c , Figure 4d , Figure 4e shown.

[0124] Evaluation indicators: The percentage reduction of the total number of wave scheduling times is used as an indicator to evaluate the performance of the method. The specific definition is: let the number of wave scheduling times required for Algorithm 1 and Algorithm 2 to execute the work task from the beginning to the end be N1 and N2 respectively, then the percentage reduction of the total number of wave scheduling times of Algorithm 1 compared with Algorithm 2 is (N2-N1) / N2×100%.

[0125] Comparison algorithm: For a given multi-frequency point and multi-target, this example compares the task planning efficiency of the sequential scheduling and the method proposed in the present invention, wherein the sequential scheduling method schedules the wave positions in sequence according to the given multi-frequency point and multi-target sequence.

[0126] Effect analysis: Figure 5The results of 200 Monte Carlo experiments are averaged to show the percentage change in the total number of wave scheduling reductions compared to the sequential scheduling method as the width of the region where the target is generated (i.e., the target distribution range) changes. In general, the wave scheduling planning efficiency of the method of the present invention is significantly better than the sequential scheduling method; as the width of the region where the target is generated increases, the target is more dispersed in the airspace, and the total number of wave scheduling required to execute the task will increase, but the wave scheduling planning efficiency of the method of the present invention is still better than the sequential scheduling method.

[0127] Test conclusion: The satellite antenna beam position scheduling planning method based on target prior information proposed in the present invention can be used for the beam position scheduling planning of satellite systems with multiple frequencies and multiple targets, thereby improving the beam position scheduling efficiency of satellite systems.

[0128] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for scheduling and planning the beam position of a satellite antenna based on target prior information, characterized in that: The steps include: Step 1, input information for scheduling planning, and execute steps 2 to 6 based on the information; Step 2, calculating the spatial domain clustering threshold corresponding to the working frequency; Step 3, constructing a multi-target undirected graph and adjacency matrix based on the spatial clustering threshold; Step 4, splitting the undirected graph into multiple subgraphs to form a complete coverage of all targets, and the subgraphs are target clusters; Step 5, reordering the target clusters to obtain a target cluster scanning order; Step 6: Perform wave position scheduling in sequence according to the target cluster scanning order.

2. The satellite antenna wave position scheduling planning method based on target prior information according to claim 1 is characterized in that: In step 1, the information used for scheduling planning includes: The satellite equipment can set the operating frequency, the bandwidth corresponding to the operating frequency, the number of beam positions, the off-axis angle of all beam positions, the starting azimuth, the azimuth interval, the beam width, and the beam dwell time ΔT; Frequency domain and spatial domain information of M targets, working frequencies of multiple targets and position coordinates in the WGS84 coordinate system; The mission starts at time T1, and in the WGS84 coordinate system, the satellite device's position, speed, and satellite device attitude information corresponding to time T1; the satellite device attitude information includes yaw angle, pitch angle, and roll angle.

3. The satellite antenna wave position scheduling planning method based on target prior information according to claim 2 is characterized in that: In step 2, for each operating frequency F of the satellite equipment i , calculate the spatial clustering threshold d corresponding to the working frequency according to the wave position coverage diameter pointed by its normal line i , expressed as: α=arccos(((R+h) 2 +R 2 -dist 2 )) / (2R(R+h))) R θ =Rap / 180 d i =2R θ Where R is the semi-major axis of the Earth, θ represents the minimum half-beam width of the operating frequency, h is the satellite orbit altitude, and α is the angle of the line connecting the center of the Earth to the sub-satellite wave position coverage radius.

4. The satellite antenna wave position scheduling planning method based on target prior information according to claim 3 is characterized in that: Step 3 includes: Take all targets as nodes to construct an undirected graph G containing M nodes, and calculate whether there is an edge connection between any two nodes based on the spatial clustering threshold; Calculate the M×M dimensional adjacency matrix E, where the elements of the adjacency matrix E are either 0 or 1, and the value is 1 if and only if there is an edge between the nodes.

5. The satellite antenna wave position scheduling planning method based on target prior information according to claim 4 is characterized in that: Whether there is an edge connection between any two nodes requires the following two conditions to be met: Condition 1: In the frequency domain, the operating frequencies of the two nodes can be covered by the same operating frequency and corresponding bandwidth of the satellite equipment; Condition 2: In the airspace, the distance between two nodes is less than the airspace clustering threshold corresponding to the operating frequency of the satellite device.

6. The satellite antenna wave position scheduling planning method based on target prior information according to claim 4 is characterized in that: In step 4, the number of subgraphs u=0 is initialized, the remaining node set is R={1,…,M} and the loop variable m=1, and the following steps are performed to solve multiple subgraphs to obtain a complete coverage of all targets: Step 4.1: For node m, if m∈R, execute step 4.2; otherwise, jump to step 4.4; Step 4.2: Set the number of subgraphs u = u + 1 and construct the subgraph G u ={m}; if It means that node m is not connected to other nodes, jump to step 4.3; otherwise, for each node m′≠m, m′∈R, if node m′ is connected to any node m″∈G in the subgraph u There is an edge connection, that is, E(m′,m″)=1, then add node m′ to subgraph G u middle; Step 4.3: Remove the nodes contained in the subgraph from the remaining node set, that is, update R = R\G u ; Step 4.4: Let m = m + 1. If m ≤ M, jump to step 4.

1. Otherwise, exit the current loop and jump to step 5.

7. The method for satellite antenna wave position scheduling planning based on target prior information according to claim 6 is characterized in that: Step 5 includes the following sub-steps: Step 5.1: Calculate the center coordinates of the target cluster in the WGS84 coordinate system; Step 5.2: In the WGS84 coordinate system, calculate the distance D between the position of the satellite device at time T1 and the center coordinates of the target cluster. u ; Step 5.3: Based on the satellite position, speed and attitude information, convert the center coordinates of the target cluster into the on-board coordinate system coordinates Step 5.4: Based on the distance D u and coordinates The corresponding out-of-view distance is calculated, and the target cluster number is added to the scanning order list M based on the out-of-view distance.

8. The satellite antenna wave position scheduling planning method based on target prior information according to claim 7 is characterized in that: Step 5.4 includes: According to the calculation method in step 2, according to the satellite scanning range coverage angle θ s calculate and Determine if the conditions are met: Condition 1: Condition 2: If one of the above conditions is met, the corresponding distance away from the field of view is calculated as 9. The satellite antenna wave position scheduling planning method based on target prior information according to claim 7 is characterized in that: In step 5.4, the distance o of the target cluster from the field of view is calculated. u Reorder the scan order list M from smallest to largest.

10. The method for satellite antenna wave position scheduling planning based on target prior information according to claim 7, characterized in that: Initializing k=1 and u=1, step 6 includes the following sub-steps: Step 6.1: Based on the satellite equipment position and velocity corresponding to the starting time T1, use the orbit extrapolation method to predict the k Satellite equipment position and speed at the moment; Step 6.2: Calculate T in WGS84 coordinate system k Satellite device position and target cluster G at the moment u The direction vector corresponding to the center; Step 6.3: Based on the forecast to T k The satellite equipment position, speed and attitude information at the moment, calculate the rotation matrix R from the WGS84 coordinate system to the satellite orbit coordinate system w,o And the rotation matrix R that transforms the satellite orbit coordinate system to the satellite body coordinate system o,b ; Among them, the rotation matrix R for converting the satellite orbit coordinate system to the satellite body coordinate system o,b ; Step 6.4: Based on the rotation matrix R w,o and the rotation matrix R o,b , the satellite device position in the WGS84 coordinate system is compared with the target cluster G u The direction vector corresponding to the center is converted to the off-axis angle in the satellite body coordinate system and azimuth Step 6.5: Scan the satellite equipment operating frequency used by the u-th target cluster; first, calculate the off-axis angle value according to the wave position pointing corresponding to the operating frequency. The nearest wave position off-axis angle is taken; then, according to the working frequency j * The azimuth step and starting azimuth of the circle wave position are used to calculate the distance The nearest wave position azimuth value; Step 6.6: outputting the optimal wave position selected at the current moment, including the wave position off-axis angle value and the wave position azimuth angle value; Step 6.7: Update u = u + 1. If u ≤ U, the update time is T. k+1 =T k +ΔT and k=k+1, then jump to step 6.1 to continue execution; otherwise, exit the loop and the current work task ends.

Images