Spaceborne autonomous mission planning method based on heat map

Abstract

On-orbit autonomous mission planning method based on heat map, comprising: obtaining ground remote control instructions, including the first start time T S0 , planned duration T P and heat map sub-data, including heat map sub-files and a set of heat value growth functions; the task management module reads the reference time T b and T S0 , and starts on-orbit autonomous planning; the heat map sub-management module parses the heat map sub-files and updates the heat values to the T S0 moment; the autonomous mission planning unit filters the grids greater than the heat threshold and performs mission planning, and the planning data includes observation tasks and power-on intervals ΔT; after receiving the data, the task control management module powers off the autonomous mission planning unit to complete the task execution; obtains the status of the task execution in the previous cycle and calculates the start running time T S1 of the autonomous planning unit for the next start; the autonomous mission planning unit updates the heat values of the heat grids observed in the previous cycle. This application can significantly reduce the dependence of satellite observation mission planning on the TT&C link within a certain period.

Description

Technical Field

[0001] The present invention relates to the field of satellite payload technology, and in particular to a satellite-borne autonomous mission planning method based on a thermal map. Background Art

[0002] With the increase in the number of satellite launches and the scale of on-orbit deployment, large-scale satellite constellations / clusters are gradually capable of autonomous on-orbit planning.

[0003] When performing earth observation missions, the traditional mission planning method relies on centralized ground planning, and the ground measurement and control stations are used to uniformly manage and allocate satellite measurement and control resources and data transmission resources. Specifically, the ground system needs to determine the allocation of related resources such as the injection of measurement and control instructions, the timing of satellite observation missions, and the downlink of observation data, and then control the satellite's attitude, payload pointing, and power on and off time by sending measurement and control instructions, thereby achieving comprehensive planning and management of satellite missions.

[0004] Since the extrapolation accuracy of satellite orbits is affected by many factors, including atmospheric conditions, environmental disturbances, changes in the satellite's own dynamic model and orbital environment, the orbit extrapolation accuracy will gradually decrease as the extrapolation time span increases. In addition, satellite measurement and control is difficult to achieve real-time measurement and control due to regional restrictions on the deployment of measurement and control station networks. At present, my country's mission planning for earth observation satellites adopts short-cycle scheduled measurement and control (the extrapolation cycle generally does not exceed 48 hours) to implement command injection to ensure that the orbit extrapolation accuracy is maintained within a reasonable error range and to ensure the smooth execution of satellite observation missions. The shorter the cycle, the more frequent the need for orbit extrapolation and measurement and control command injection to maintain the orbit extrapolation accuracy, and therefore the greater the reliance on ground measurement and control.

[0005] It has the following limitations:

[0006] 1. Mission planning is initiated by the ground station, and the control range of the satellite is limited by the signal coverage of the ground station. Outside the radiation range of the ground station, the control and communication capabilities of the satellite may be limited, thus affecting the execution of the mission.

[0007] 2. Management becomes complex and challenging when coordinating and scheduling between multiple satellites and ground stations, especially when the satellites are in different orbits. This complexity can lead to reduced operational efficiency and inadequate resource utilization, affecting overall system performance.

[0008] 3. Mission planning usually requires manual intervention for business planning. As the number of satellites increases, manual-based mission planning methods may become an efficiency bottleneck, affecting the rapid response and optimization of missions.

[0009] 4. Traditional satellite missions are usually triggered manually. When there is no mission, the satellite is in an "idle" state. As the number of satellites increases, this manual triggering mode may lead to a low effective utilization rate of satellites during their service life, affecting the overall utilization efficiency of resources. Summary of the invention

[0010] The present invention provides a method for satellite-borne autonomous mission planning based on a heat map, which solves the problem of ground measurement and control dependence in satellite observation mission planning.

[0011] In order to achieve the above objectives, this application adopts the following technical solutions:

[0012] A method for spaceborne autonomous mission planning based on a heat map is provided, comprising:

[0013] S1, obtain the ground remote control command through the satellite-to-ground link, the ground remote control command includes the first start time T S0 , Single cycle planning duration T P and thermal submap data; wherein the thermal submap data includes a thermal submap file generated based on a ground station and a set of thermal value growth functions corresponding to the grids of the thermal submap;

[0014] S2, the satellite mission management module reads the reference time T b and first start time T S0 , drive the autonomous mission planning unit to power on and start onboard autonomous planning;

[0015] S3, the thermal sub-map management module parses the thermal sub-map file, reads the thermal value growth function f(t) of each grid in the thermal sub-map file, and updates the thermal value to T S0 time;

[0016] S4, the autonomous task planning unit screens the thermal values ​​of all current thermal sub-graphs, obtains grids greater than the set thermal threshold and performs task planning on them, calculates and obtains task planning data and sends it to the task control management module; the task planning data includes: observation tasks and priorities, and the next cycle is the time interval ΔT for the autonomous task planning unit to be powered on;

[0017] S5, after receiving the task planning data, the task control management module powers off the autonomous task planning unit, and performs accurate planning according to the task planning data, and drives the observation payload to complete the task execution of the successfully planned observation task on time;

[0018] S6, the task control management module obtains the task list TL of the task execution status of the previous cycle, and plans the duration T of the single cycle according to the PThe start time T of the next start of the autonomous task planning unit is calculated by using the time interval ΔT. S1 ; in T S1 The parameters include: the task list TL of the task execution status of the previous cycle, the time T of the current startup unit, S1 ;

[0019] S7, the autonomous task planning unit updates the thermal value of the thermal grid observed in the previous period to obtain the current thermal value;

[0020] S8, repeat steps S4 to S7.

[0021] In a first possible implementation, the generation of a thermal submap includes the following steps:

[0022] Based on the global grid partitioning method, the mission objectives are converted into regular grids, and each thermal grid is weighted with a thermal value growth function f(t) to obtain the thermal map corresponding to the global objectives.

[0023] The thermal map corresponding to the global target is discretized and split to generate a thermal submap file as the grid task that the satellite needs to shoot within a period; wherein the thermal submap file is a list of a group of thermal grids discretely distributed around the world.

[0024] Based on the first possible implementation manner, in a second possible implementation manner, the only independent variable of f(t) is time t.

[0025] In a third possible implementation, the autonomous task planning unit updates the thermal value of the thermal grid observed in the previous period to obtain the current thermal value, including:

[0026] Read the task list TL of the task execution status of the previous period, and obtain the corresponding relationship mapping table Tab between the thermal grid ID and the observation task ID;

[0027] Based on the completion time of each observation task in the previous cycle as the reference time, the thermal value of the thermal grid corresponding to each observation task is reset to zero;

[0028] Calculate ΔT' from the zeroing moment to the current moment, substitute it into the grid thermal value growth function after zeroing, and get the current thermal value f(ΔT').

[0029] Based on any possible implementation method, in a fourth possible implementation method, according to the task execution feedback of the previous cycle, the f(t) function parameters of the thermal grid in the next cycle are adjusted to achieve control of the target observation cycle.

[0030] Based on any possible implementation method, in a fifth possible implementation method, the discretization splitting strategy is controlled according to actual conditions to achieve control of the uniformity of global target observations.

[0031] In a first possible implementation, the thermal submap data is first initialized to a local storage unit, and the autonomous task planning unit reads the thermal submap file from its local storage after startup.

[0032] The thermal map-based satellite autonomous mission planning method of the present invention has the following advantages:

[0033] The satellite-borne autonomous task planning method based on heat map of the present application can be implemented by injecting the periodic and long-interval heat map list and the heat growth function f(t) corresponding to each grid into the satellite-borne autonomous task planning device. As time t changes, the heat value of each grid increases differentially. After reaching the threshold, the satellite can be driven to autonomously plan and execute tasks for the target within a certain period, thereby converting the traditional ground-based centralized task planning method into distributed satellite autonomous on-orbit planning, which can significantly reduce the dependence of satellite observation task planning on the measurement and control link within a certain period. Especially in the process of realizing autonomous on-orbit task planning of large-scale constellations, the dependence of traditional ground planning on manual and measurement and control links is significantly reduced, and the efficiency of autonomous on-orbit operation of satellites is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the structural framework of a space-borne autonomous mission planning device based on a heat map provided in an embodiment of the present application;

[0035] Figure 2 A schematic flow chart of a method for spaceborne autonomous mission planning based on a heat map provided in an embodiment of the present application;

[0036] Figure 3 A schematic flowchart of another method for satellite-borne autonomous mission planning based on a heat map provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the technical solutions in the embodiments of the present application are clearly described. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present application.

[0038] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0039] The description of the method flow in the specification of the present application and the steps of the flowchart in the drawings of the present specification do not have to be strictly executed according to the step numbers, and the method steps can be executed in a different order. Moreover, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0040] The following is a detailed description of the thermal map-based satellite autonomous mission planning method, device, equipment and medium provided in the embodiments of the present application in combination with the accompanying drawings and preferred embodiments.

[0041] First, the application scenario of the thermal map-based satellite autonomous mission planning method of the embodiment of the present application is described in detail.

[0042] The framework of the onboard autonomous mission planning device is as follows Figure 1 As shown, the device includes an autonomous task planning unit, an interface control unit, a storage unit, a power control module, a low-speed transmission interface (RS422), a high-speed transmission interface (PCLE), etc. The autonomous task planning unit is connected to the interface control unit through the PCIE high-speed interface to transmit application business data, and the interface control unit stably transmits command control through the RS422 low-speed interface.

[0043] The autonomous mission planning unit supports deployment based on multiple processors such as CPU and DSP. It includes the mission control management module, including module service initialization, external interface communication and other functions; the space constraint calculation module, including satellite orbit prediction, access window calculation, load constraint matching and other functions; the thermal sub-graph management module, including thermal value analysis, thermal value update and other functions; the satellite mission management module, including observation mission planning, observation mission cancellation, mission instruction generation and other functions. It can be connected to the interface control unit through the Ethernet interface and PCIe interface.

[0044] Autonomous mission planning unit startup condition setting:

[0045] The embodiments of the present application support an on-orbit normal-powered usage mode and an on-orbit emergency-powered usage mode of an autonomous mission planning unit.

[0046] For the constant power-on mode, the autonomous mission planning unit regularly drives the autonomous planning on orbit, and interacts with the platform mission control unit to form a certain execution mission.

[0047] For the emergency power-on mode, the satellite service receives the ground command to start or the satellite service starts it at a scheduled time. The former is initiated by the ground personnel (user) through the remote control command, and the satellite service on the satellite analyzes the command parameters and starts the autonomous mission planning unit; the latter is initiated by the satellite service, and the autonomous mission planning unit is started on time by periodically planning the startup time.

[0048] When the autonomous mission planning unit is in the normal power-on state, the autonomous mission planning is triggered by the unit's autonomous timing, and the triggering interval can be set by parameterization of the measurement and control link; when the autonomous mission planning unit is in the emergency power-on state, the autonomous mission planning unit is started by the platform satellite service, and the startup cycle is determined by the single planning cycle of the autonomous mission planning unit. The autonomous mission planning unit informs the platform satellite service of the next power-on time before powering off.

[0049] See also Figure 2-3 , the embodiment of the present application provides a method for spaceborne autonomous mission planning based on a heat map, such as Figure 2-3 As shown, the task planning method of the embodiment of the present application includes:

[0050] Step S1, obtaining ground remote control instructions through the satellite-to-ground link, the ground remote control instructions include the first start time T S0 , Single cycle planning duration T P And thermal submap data; wherein the thermal submap data includes a thermal submap file generated based on a ground station and a set of thermal value growth functions corresponding one by one to the grids of the thermal submap.

[0051] The generation of thermal submap includes the following steps:

[0052] Step S101, based on the global grid partitioning method, the task target is converted into a regular grid, each thermal grid is weighted with a thermal value growth function f(t), and a thermal map corresponding to the global target is obtained; wherein the only independent variable of f(t) is time t.

[0053] The existing global grid partitioning method is used to convert the mission objectives into regular grids, and f(t) corresponds to each grid one by one, ensuring that the thermal value of each thermal grid can automatically increase over time in orbit and dynamically update the thermal value.

[0054] Step S102, discretize and split the heat map corresponding to the global target to generate a heat sub-map file as the grid task that the satellite needs to shoot within a period; wherein the heat sub-map file is a list of a group of heat grids discretely distributed around the world.

[0055] Exemplarily, the thermal sub-map data also includes a storage address (M a ), thermal sub-map file name (M N ), thermal sub-graph size (M S ), thermal value growth function set and other information.

[0056] Step S2: The satellite mission management module reads the reference time T b and first start time T S0 , drive the autonomous mission planning unit to power on and start on-board autonomous planning.

[0057] The satellite service receives and analyzes the remote control command from the ground, and according to the "first start time (T S0 )”, “Single cycle planning duration T P " and other parameters, perform system time synchronization, and when the time defined in the parameters is reached, drive the autonomous mission planning unit to power on and start the onboard autonomous planning process.

[0058] Step S3: The thermal submap management module parses the thermal submap file, reads the thermal value growth function f(t) of each grid in the thermal submap file, and updates the thermal value to T S0 time.

[0059] In some possible implementations, the thermal submap data is first initialized to a local storage unit, and the autonomous task planning unit reads the thermal submap file from its local storage after startup.

[0060] Step S4, the autonomous task planning unit screens the thermal values ​​of all current thermal sub-maps, obtains the grids that are greater than the set thermal threshold and carries out task planning for them, calculates and obtains the task planning data and sends it to the satellite task management module; the task planning data includes: observation tasks and priorities, and the time interval ΔT for the next cycle to power on the autonomous task planning unit.

[0061] Step S5, after receiving the mission planning data, the satellite mission management module powers off the autonomous mission planning unit, and performs precise planning according to the mission planning data, and drives the observation payload to complete the mission execution of the successfully planned observation mission on time.

[0062] In this step, the satellite triggers the execution of mission planning. First, rough planning is performed to determine whether the thermal grid within the set period has an observation window; then precise planning is performed on the thermal grid with an observation window to generate the actual observation mission.

[0063] See also Figure 2 ,Precise planning includes satellite attitude orbit extrapolation calculation, satellite observation constraint ,update, target access calculation, and payload operating parameters.

[0064] Step S6: The satellite task management module obtains the task list TL of the task execution status of the previous cycle, and plans the duration T of the single cycle. P The start time T of the next autonomous task planning unit is calculated by using the time interval ΔT. S1 ; in T S1 The parameters are transmitted at all times to start the autonomous task planning unit; the parameters include: the task list TL of the task execution status of the previous cycle, the time T of the current start unit S1 .

[0065] Step S7: the autonomous task planning unit updates the thermal value of the thermal grid observed in the previous period to obtain the current thermal value.

[0066] Update the thermal value of the thermal grid observed in the previous period to obtain the current thermal value, including:

[0067] Step S701, read the task list TL of the task execution status of the previous period, and obtain the corresponding relationship mapping table Tab between the thermal grid ID and the observation task ID;

[0068] Step S702: Based on the completion time of each observation task in the previous cycle as the reference time, the thermal value of the thermal grid corresponding to each observation task is reset to zero, so as to achieve the periodic growth of the thermal value of the thermal grid over time.

[0069] Step S703, calculate ΔT' from the zeroing time to the current time, bring it into the grid thermal value growth function after zeroing, and obtain the current thermal value f(ΔT').

[0070] Step S8, repeat steps S4 to S7.

[0071] In the above steps S1 to S7, according to the task execution feedback of the previous cycle, the f(t) function parameters of the thermal grid in the next cycle can be adjusted to achieve control of the target observation cycle; the discretization splitting strategy is controlled according to the actual situation to achieve control of the uniformity of global target observation.

[0072] The onboard autonomous task planning method based on heat map in the embodiment of the present application can be implemented by injecting the periodic and long-interval heat map list and the heat growth function f(t) corresponding to each grid into the onboard autonomous task planning device. As time t changes, the heat value of each grid increases differentially. After reaching the threshold, the satellite can be driven to autonomously plan and execute tasks for the target within a certain period, thereby converting the traditional ground-based centralized task planning method into distributed satellite autonomous on-orbit planning, which can significantly reduce the dependence of satellite observation task planning on the measurement and control link within a certain period. Especially in the process of realizing on-orbit autonomous task planning of large-scale constellations, the dependence of traditional ground planning on manual and measurement and control links is significantly reduced, and the efficiency of autonomous operation of satellites on-orbit is improved.

[0073] In the specific implementation process, for example, a satellite-borne autonomous mission planning device based on a thermal map includes a PCB board, an autonomous mission planning unit on the board, an interface control unit, a storage unit, a power control module, a low-speed transmission interface, a high-speed transmission interface, etc.

[0074] The autonomous task planning unit supports deployment based on multiple processors such as CPU and DSP.

[0075] The storage unit can be used to store thermal sub-map data packets, device status engineering parameters, etc., and can pre-load a mapping library table of global regular grids and grid center point coordinates before entering orbit. The library table can be updated and managed on-orbit through measurement and control instructions.

[0076] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0077] It can be understood that the embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive, and those skilled in the art are aware that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, those of ordinary skill in the art can modify these features and embodiments to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention under the inspiration or teaching of the present application. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope protected by the present invention.

Claims

1. A spaceborne autonomous mission planning method based on a heat map, characterized in that: include: S1, obtain the ground remote control command through the satellite-to-ground link, the ground remote control command includes the first start time T S0 , Single cycle planning duration T P and thermal submap data; wherein the thermal submap data includes a thermal submap file generated based on a ground station and a set of thermal value growth functions corresponding to the grids of the thermal submap; S2, the satellite mission management module reads the reference time T b and first start time T S0 , drive the autonomous mission planning unit to power on and start onboard autonomous planning; S3, the thermal sub-map management module parses the thermal sub-map file, reads the thermal value growth function f(t) of each grid in the thermal sub-map file, and updates the thermal value to T S0 time; S4, the autonomous task planning unit screens the thermal values ​​of all current thermal sub-graphs, obtains grids greater than the set thermal threshold and performs task planning on them, calculates and obtains task planning data and sends it to the satellite task management module; the task planning data includes: observation tasks and priorities, and the next cycle is the time interval ΔT for powering on the autonomous task planning unit; S5, after receiving the mission planning data, the satellite mission management module powers off the autonomous mission planning unit, and performs accurate planning according to the mission planning data, and drives the observation payload to complete the mission execution of the successfully planned observation mission on time; S6, the satellite task management module obtains the task list TL of the task execution status of the previous cycle, and plans the duration T of the single cycle according to the P The start time T of the next start of the autonomous task planning unit is calculated by using the time interval ΔT. S1 ; in T S1 The parameters include: the task list TL of the task execution status of the previous cycle, the time T of the current startup unit, S1 ; S7, the autonomous task planning unit updates the thermal value of the thermal grid observed in the previous period to obtain the current thermal value; S8, repeat steps S4 to S7.

2. The method for spaceborne autonomous mission planning based on heat map according to claim 1, characterized in that: The generation of thermal submap includes the following steps: Based on the global grid partitioning method, the mission objectives are converted into regular grids, and each thermal grid is weighted with a thermal value growth function f(t) to obtain the thermal map corresponding to the global objectives. The thermal map corresponding to the global target is discretized and split to generate a thermal submap file as the grid task that the satellite needs to shoot within a period; wherein the thermal submap file is a list of a group of thermal grids discretely distributed around the world.

3. The method for spaceborne autonomous mission planning based on heat map according to claim 2, characterized in that: The only independent variable of f(t) is time t.

4. The method for spaceborne autonomous mission planning based on heat map according to claim 1, characterized in that: The autonomous task planning unit updates the thermal value of the thermal grid observed in the previous period to obtain the current thermal value, including: Read the task list TL of the task execution status of the previous period, and obtain the corresponding relationship mapping table Tab between the thermal grid ID and the observation task ID; Based on the completion time of each observation task in the previous cycle as the reference time, the thermal value of the thermal grid corresponding to each observation task is reset to zero; Calculate ΔT' from the zeroing moment to the current moment, substitute it into the grid thermal value growth function after zeroing, and get the current thermal value f(ΔT').

5. The method for spaceborne autonomous mission planning based on a heat map according to any one of claims 1 to 4, characterized in that: According to the task execution feedback of the previous cycle, the f(t) function parameters of the thermal grid in the next cycle are adjusted to achieve control of the target observation cycle.

6. The method for spaceborne autonomous mission planning based on a heat map according to any one of claims 1 to 4, characterized in that: The discretization splitting strategy is controlled according to the actual situation to achieve control of the uniformity of global target observation.

7. The method for spaceborne autonomous mission planning based on heat map according to claim 1, characterized in that: The thermal submap data is first initialized to a local storage unit, and the autonomous task planning unit reads the thermal submap file from its local storage after startup.

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