Agile remote sensing satellite on-satellite full-autonomous task planning system

Abstract

The invention discloses an on-satellite full-autonomous task planning system for an agile remote sensing satellite. Comprising an imaging target database module, a high-precision orbit prediction and orbit calculation module, a target visible arc section calculation module, an imaging task preprocessing module, a subsystem constraint model module, an imaging task planning module, a data transmission task planning module, a solid memory autonomous erasing module, an instruction data block generation module and a satellite state real-time monitoring module. By carrying out constraint modeling on subsystems or single machines such as load, data transmission, control and the like, an on-satellite full-autonomous operation process from receiving of subsystem or single machine instruction blocks from user requirements is established, satellite control is effectively simplified, and remote control uploading efficiency and on-satellite autonomous operation capacity are improved. And through a satellite state real-time monitoring module, the execution condition of tasks on the satellite, satellite state changes and the like are monitored in real time, task execution stopping, whole satellite sun-facing or re-planning are further triggered, task requirements and environment changes are quickly responded, task plans are formulated and adjusted in real time, and the task execution efficiency is improved.

Description

Technical Field

[0001] The invention relates to a fully autonomous mission planning system on an agile remote sensing satellite, belonging to the field of spacecraft autonomous mission planning. Background Art

[0002] With the improvement of the attitude maneuverability of imaging satellites and the increase in demand for remote sensing images, satellites need to continuously improve their attitude maneuverability and have the ability to image targets that deviate from the subsatellite point by adjusting the optical axis direction of the camera. In the arrangement of imaging tasks, it is necessary to consider multiple constraints such as the camera, data transmission subsystem, and attitude maneuverability to ensure the correct execution of the task. In the arrangement of tasks, it is also necessary to optimize the task execution path to achieve a single pass and as much imaging as possible to improve the satellite operation efficiency.

[0003] The long-term on-orbit operation of satellites includes the arrangement of imaging tasks, data playback tasks, recording and releasing tasks, and storage erasure tasks. Traditional satellites have weak on-board autonomy. Generally, all task arrangements are completed on the ground, and then satellite control instructions are generated and injected into the satellite. The satellite only passively executes ground instructions. Traditional satellite control methods are limited by measurement and control windows, ground planning system response time, etc. The satellite has weak autonomy and low flexibility in task adjustment, making it difficult to cope with complex space environments and changes in mission requirements.

[0004] With the continuous improvement of satellite attitude maneuverability and the number of satellites in orbit, the mission execution capability of satellite systems is becoming stronger and stronger, and the demand for satellites' autonomous mission execution capability is urgent. Therefore, the traditional satellite control method based on ground-based instructions is difficult to adapt, and new solutions need to be found. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose an on-board fully autonomous task planning system for an agile remote sensing satellite, which is oriented to user imaging needs and long-term autonomous execution of normalized task settings on the satellite, and realizes on-board fully autonomous task planning for agile remote sensing satellites.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An agile remote sensing satellite on-board fully autonomous mission planning system, comprising: an imaging target database module, a high-precision orbit prediction and orbit calculation module, a target visible arc calculation module, an imaging task preprocessing module, a subsystem constraint model module, an imaging task planning module, a data transmission task planning module, a fixed storage autonomous erasure module, a command data block generation module, and a satellite status real-time monitoring module;

[0008] The imaging target database module is used to store and manage the observation targets registered by the user;

[0009] The high-precision orbit prediction and orbit calculation module is used to predict the orbit data of the remote sensing satellite in a future planning period, and pre-store the predicted remote sensing satellite orbit data according to a certain step size;

[0010] The target visible arc calculation module is used to calculate the visible windows of all observation targets in the imaging target database that can be observed by the satellite payload within the planning period to form an imaging target task set to be planned;

[0011] The imaging task preprocessing module is used to judge the validity of the visible window of the imaging target, perform strip segmentation on the regional target, convert the imaging targets in the task set to be planned into the imaging tasks to be planned and sorted, and initially allocate the execution time file number of the imaging task;

[0012] The subsystem constraint model module is used to establish an attitude angle calculation model, an attitude maneuvering time calculation model, a camera subsystem mode conversion time requirement calculation model, and a data transmission subsystem mode conversion time requirement calculation model;

[0013] The imaging task planning module arranges the imaging tasks to be planned and sorted obtained by the imaging task preprocessing module based on the model established by the subsystem constraint model module, and obtains an imaging task sequence executable by the agile remote sensing satellite within a planning cycle;

[0014] The data transmission task planning module calculates the satellite operation attitude according to a certain step length based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module; calculates the visibility of the data transmission antenna to the ground station during the data transmission window according to the satellite operation attitude, and forms a subwindow that can be used to play back files; and for the planned executable imaging task sequence, for the imaging files located before the current data transmission window, arranges the playback of the files in order according to the priority of the tasks and the order of the imaging time when the priorities are the same, so as to form a file playback task sequence;

[0015] The autonomous storage erasure module obtains the occupation of file numbers and the occupation of corresponding storage capacity according to the executable imaging task sequence; obtains the replayed file numbers and the corresponding file number sizes according to the file playback plan, and generates a file erasure task sequence for the replayed files;

[0016] The instruction data block generation module generates subsystem or single-machine executable instructions according to the generated imaging task sequence, file playback task sequence and file erasure task sequence and task attributes, and outputs them to the subsystem or single-machine for execution according to time to complete the planning;

[0017] The satellite status real-time monitoring module monitors the operating status of the satellite, including: the control subsystem working mode, the working status of the control subsystem actuator, the emergency task injection status, and the power status of the energy subsystem.

[0018] Further, in the imaging target database module, the observed targets include point targets, broken line targets, curve targets, circular area targets and polygonal area targets;

[0019] The user can add, delete and modify the properties of the observation target by means of command annotation;

[0020] Each independent observation target can be set to be long-term valid or to have a certain life cycle; an observation target set to be long-term valid can only be modified by deletion, and an observation target set to have a certain life cycle will be automatically removed from the queue to be planned after the target reaches its life cycle.

[0021] Furthermore, the orbit data stored in the high-precision orbit prediction and orbit calculation module include: orbit semi-major axis a, orbit eccentricity e, orbit inclination i, orbit amplitude u, orbit ascending node equator Ω, orbit true anomaly f, orbit geocentric distance r, satellite unit vector in the ground-fixed system

[0022] Furthermore, in the target visible arc segment calculation module, each visible window is described by (ts tm te), where ts is the start time of the window, tm is the center time of the window, and te is the end time of the window.

[0023] Furthermore, the validity of the visible window of the imaging target is judged, specifically: determine that all visible windows are within the current planning time window, and calculate the minimum solar altitude angle of the imaging target in the visible window: if the minimum solar altitude angle is less than β SEA0 , select the infrared camera for imaging; otherwise, select the visible light camera for imaging; where the threshold β SEA0 >0, and the specific value is determined according to the design parameters of the camera;

[0024] The regional target is segmented into strips, specifically: according to the camera imaging angle θ VA , and the distance of the regional target from the sub-satellite point, determine the minimum width of the satellite when imaging the target; divide the regional target into strips according to the minimum width to form target strips that can be covered by a single imaging of one or more cameras;

[0025] The execution time file number of the imaging task is initially allocated, specifically: select a file number that is not occupied or has been planned to be erased before the imaging time point, and allocate it to the current preprocessing imaging target; if the file number allocation is unsuccessful, the current imaging target preprocessing is unsuccessful, and the imaging target is deleted.

[0026] Furthermore,

[0027] The specific calculation model of attitude maneuver time is: Model input variables θ0, ψ0 represent the satellite three-axis attitude before the attitude maneuver. θ1 and ψ1 represent the three-axis attitude of the satellite after the attitude maneuver. The model output variable t m The shortest time required for the satellite to complete the corresponding attitude maneuver; f ATT is the attitude maneuver time calculation function;

[0028] The camera subsystem mode conversion time requirement calculation model is as follows: the camera subsystem is divided into three working modes: shutdown, visible light camera imaging, and infrared camera imaging. The shortest mode conversion time between different modes and between consecutive same modes is established to obtain the camera subsystem mode conversion time requirement calculation model;

[0029] The specific calculation model of the mode conversion time requirement of the digital transmission subsystem is as follows: the digital transmission subsystem is divided into four working modes: shutdown, record, playback, and erase. The shortest mode conversion time between different modes and between consecutive identical modes is established to obtain the calculation model of the mode conversion time requirement of the digital transmission subsystem.

[0030] Furthermore, the imaging tasks to be planned and sorted are arranged, and an optimization algorithm is used to determine the task arrangement result. The optimization algorithm includes a genetic algorithm, a differential evolution algorithm, and a simulated annealing algorithm.

[0031] Furthermore, in the autonomous erasure module of the solid storage, when the number of used file numbers exceeds 1 / 2 of the total number of solid storage files, or the occupied solid storage size exceeds 1 / 2 of the total solid storage capacity, the autonomous erasure of the solid storage is initiated, the played back files are selected, and the files with the earliest playback time are preferably erased first.

[0032] Furthermore,

[0033] When the control subsystem working mode shows an abnormal working mode, the triggered mission will stop immediately; after waiting for the control subsystem to return to the normal working mode, the satellite will autonomously re-plan the mission to ensure the normal execution of the attitude maneuver mission.

[0034] When the number of working actuators of the control subsystem changes, the attitude maneuverability of the agile remote sensing satellite will change, which will immediately trigger mission re-planning and rearrange the mission according to the latest attitude maneuverability to ensure that the attitude maneuverability mission matches the satellite's attitude maneuverability.

[0035] When an emergency task is detected, task re-planning is triggered immediately, and tasks are rearranged in a priority manner to ensure that emergency tasks are executed first.

[0036] When it is detected that the energy subsystem is low on power, the mission is triggered to stop immediately; the mission planning system sends a solar directional control instruction to the control subsystem, implements the solar directional mode, and charges the battery; the system power is monitored in real time, and when the satellite power reaches full power, the mission re-planning is triggered and the mission is rearranged to ensure the satellite energy security.

[0037] Compared with the existing technology, the present invention has the following technical innovations:

[0038] (1) The present invention proposes a fully autonomous on-board mission planning method and system, including functions and specific implementations such as imaging mission planning, data playback mission planning, and stored data management, to achieve fully autonomous on-board business operations.

[0039] (2) The user of the present invention can focus on submitting imaging target requirements and receiving data, without having to pay too much attention to the complicated process of executing on-board missions, as well as daily operation steps such as persistent file management and file erasure that are not related to user data acquisition.

[0040] (3) The onboard fully autonomous mission planning system of the present invention simplifies the injection of remote control instructions. It only needs to inject mission information such as the longitude and latitude of the designated target, thus avoiding the need to inject all mission execution instructions in the traditional satellite control method.

[0041] (4) The fully autonomous mission planning system on the agile remote sensing satellite of the present invention can perform autonomous mission planning and adjustment according to the real-time status, thereby improving the autonomy and adaptability of the satellite and reducing dependence on ground stations.

[0042] (5) The fully autonomous mission planning system on the agile remote sensing satellite of the present invention can quickly respond to mission requirements and environmental changes, formulate and adjust mission plans in real time, reduce communication and waiting time with the ground station, and improve mission execution efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a flowchart of the method of the present invention;

[0044] Figure 2 To monitor and trigger the re-planning flow chart of the control subsystem working mode;

[0045] Figure 3 To monitor the number of working units of the control subsystem actuators and trigger the re-planning flow chart;

[0046] Figure 4 Inject monitoring trigger re-planning flow chart into emergency tasks;

[0047] Figure 5 A flowchart of the re-planning process triggered by power monitoring of the energy subsystem. DETAILED DESCRIPTION

[0048] like Figure 1 As shown, the present invention proposes an on-board fully autonomous mission planning system for agile remote sensing satellites, including: an imaging target database module, a high-precision orbit prediction and orbit calculation module, a target visible arc calculation module, an imaging task preprocessing module, a subsystem constraint model module, an imaging task planning module, a data transmission task planning module, a fixed storage autonomous erasure module, an instruction data block generation module, and a satellite status real-time monitoring module;

[0049] The imaging target database module is used to store and manage the observation targets registered by the user;

[0050] The high-precision orbit prediction and orbit calculation module is used to predict the orbit data of the remote sensing satellite in a future planning period, and pre-store the predicted remote sensing satellite orbit data according to a certain step size;

[0051] The target visible arc calculation module is used to calculate the visible windows of all observation targets in the imaging target database that can be observed by the satellite payload within the planning period to form an imaging target task set to be planned;

[0052] The imaging task preprocessing module is used to judge the validity of the visible window of the imaging target, perform strip segmentation on the regional target, convert the imaging targets in the task set to be planned into the imaging tasks to be planned and sorted, and initially allocate the execution time file number of the imaging task;

[0053] The subsystem constraint model module is used to establish an attitude angle calculation model, an attitude maneuvering time calculation model, a camera subsystem mode conversion time requirement calculation model, and a data transmission subsystem mode conversion time requirement calculation model;

[0054] The imaging task planning module arranges the imaging tasks to be planned and sorted obtained by the imaging task preprocessing module based on the model established by the subsystem constraint model module, and obtains an imaging task sequence executable by the agile remote sensing satellite within a planning cycle;

[0055] The data transmission task planning module calculates the satellite operation attitude according to a certain step length based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module; calculates the visibility of the data transmission antenna to the ground station during the data transmission window according to the satellite operation attitude, and forms a subwindow that can be used to play back files; and for the planned executable imaging task sequence, for the imaging files located before the current data transmission window, arranges the playback of the files in order according to the priority of the tasks and the order of the imaging time when the priorities are the same, so as to form a file playback task sequence;

[0056] The autonomous storage erasure module obtains the occupation of file numbers and the occupation of corresponding storage capacity according to the executable imaging task sequence; obtains the replayed file numbers and the corresponding file number sizes according to the file playback plan, and generates a file erasure task sequence for the replayed files;

[0057] The instruction data block generation module generates subsystem or single-machine executable instructions according to the generated imaging task sequence, file playback task sequence and file erasure task sequence and task attributes, and outputs them to the subsystem or single-machine for execution according to time to complete the planning;

[0058] The satellite status real-time monitoring module monitors the operating status of the satellite, including: the control subsystem working mode, the working status of the control subsystem actuator, the emergency task injection status, and the power status of the energy subsystem.

[0059] Furthermore, in the imaging target database module, the observation targets include point targets, broken line targets, curve targets, circular area targets and polygonal area targets; the user can add, delete and modify the attributes of the observation targets by means of command annotation; each independent observation target can be set to be long-term valid or to have a certain life cycle; the observation targets set to be long-term valid can only be modified by deletion, and the observation targets set to have a certain life cycle will be autonomously removed from the queue to be planned after the target reaches its life cycle.

[0060] The high-precision orbit prediction and orbit calculation module is used to predict the high-precision orbit data of the remote sensing satellite in the future planning cycle, and store the predicted satellite orbit in advance according to a certain step size. The orbit data stored in the high-precision orbit prediction and orbit calculation module include: orbit semi-major axis a, orbit eccentricity e, orbit inclination i, orbit amplitude angle u, orbit ascending node equator Ω, orbit true anomaly f, orbit geocentric distance r, satellite unit vector in the ground-fixed system

[0061] The target visible arc calculation module is used to calculate the visible windows of all targets in the imaging target database within the planning period. Each visible window is described by [ts tm te], which represents the start time of the window, the center time of the window, and the end time of the window. Through the target visible arc calculation module, all targets in the imaging target database that can be observed by the satellite payload and the corresponding visible windows are obtained to form a set of tasks to be planned.

[0062] The imaging task preprocessing module is used to judge the validity of the visible window of the imaging target, perform strip segmentation on the regional target, convert the imaging targets in the task set to be planned into imaging tasks to be planned and sorted, and initially allocate the execution time file number of the imaging task.

[0063] a. Determine the validity of the visible window of the imaging target, specifically: determine that all visible windows are within the current planning time window, and calculate the minimum solar altitude angle of the imaging target within the visible window: if the minimum solar altitude angle is less than β SEA0 , select the infrared camera for imaging; otherwise, select the visible light camera for imaging; where the threshold β SEA0 >0, and the specific value is determined according to the design parameters of the camera;

[0064] b. Perform strip segmentation on the regional target, specifically: according to the camera imaging angle θ VA , and the distance of the regional target from the sub-satellite point, determine the minimum width of the satellite when imaging the target; divide the regional target into strips according to the minimum width to form target strips that can be covered by a single imaging of one or more cameras;

[0065] c. Initially allocate the execution time file number of the imaging task, specifically: select the file number that is not occupied or has been planned to be erased before the imaging time point, and allocate it to the current pre-processing imaging target; if the file number allocation is unsuccessful, the current imaging target pre-processing is unsuccessful, and the imaging target is deleted.

[0066] The subsystem constraint model module includes attitude angle calculation model, attitude maneuvering time calculation model, camera subsystem mode conversion time requirement calculation model, data transmission subsystem mode conversion time requirement calculation model, real-time processing unit processing time requirement model, etc. The number of models in the subsystem constraint model module can be increased or decreased according to the number of subsystems carried by the satellite.

[0067] Specifically, several models are described as follows:

[0068] The specific calculation model of attitude maneuver time is: Model input variables θ0, ψ0 represent the satellite three-axis attitude before the attitude maneuver. θ1 and ψ1 represent the three-axis attitude of the satellite after the attitude maneuver. The model output variable t m The shortest time required for the satellite to complete the corresponding attitude maneuver; f ATT is the attitude maneuver time calculation function;

[0069] The camera subsystem mode conversion time requirement calculation model is as follows: the camera subsystem is divided into three working modes: shutdown, visible light camera imaging, and infrared camera imaging. The shortest mode conversion time between different modes and between consecutive same modes is established to obtain the camera subsystem mode conversion time requirement calculation model;

[0070] The specific calculation model of the mode conversion time requirement of the digital transmission subsystem is as follows: the digital transmission subsystem is divided into four working modes: shutdown, record, playback, and erase. The shortest mode conversion time between different modes and between consecutive identical modes is established to obtain the calculation model of the mode conversion time requirement of the digital transmission subsystem.

[0071] The imaging task planning module inputs the imaging tasks to be planned obtained by the imaging task preprocessing module, obtains the imaging task sequence executable by the agile remote sensing satellite based on the subsystem constraint model, and determines the attitude maneuver start time, imaging attitude, imaging time period, imaging data consumption, energy consumption, etc. of each imaging task. For task sorting, optimization algorithms, including genetic algorithms, differential evolution algorithms, simulated annealing algorithms, etc., are used to determine the task scheduling results. The imaging task planning module completes the scheduling of all tasks to be planned and obtains all executable imaging task sequences within a planning cycle.

[0072] The data transmission task planning module calculates the satellite operation attitude according to a certain step length based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module; calculates the visibility of the data transmission antenna to the ground station during the data transmission window according to the satellite operation attitude, and forms a sub-window that can be used to play back files; and for the planned executable imaging task sequence, for the imaging files located before the current data transmission window, arranges the playback of the files in order according to the priority of the tasks and the order of imaging time when the priorities are the same, to form a file playback task sequence.

[0073] The autonomous storage erasure module obtains the occupancy of file numbers and the corresponding storage capacity according to the imaging tasks autonomously generated on the satellite. According to the file playback plan, the corresponding file number size of the played back file number is obtained. In order to ensure that the occupancy of file numbers and storage capacity does not affect the task scheduling of the subsequent or next planning cycle, the files that have been played back are erased in time. According to the design, when the number of used file numbers exceeds 1 / 2 of the total number of stored files, or the occupied storage size exceeds 1 / 2 of the total storage capacity, the autonomous erasure of the stored storage is started. When erasing files, select the files that have been played back, and give priority to erasing files with earlier playback times.

[0074] The instruction data block generation module generates instructions executable by the subsystem or single machine according to the generated imaging tasks, file playback tasks and persistent storage erasure tasks, based on the task attributes, and outputs them to the subsystem or single machine for execution according to time to complete the planning.

[0075] The satellite status real-time monitoring module monitors the satellite's operating status, including: control subsystem working mode, control subsystem actuator working status, emergency task injection status, energy subsystem power status, etc.

[0076] like Figure 2 As shown in the figure, when the control subsystem working mode shows an abnormal working mode, the triggered task stops immediately. After waiting for the control subsystem to return to the normal working mode, the satellite autonomously replans the task to ensure the normal execution of the attitude maneuvering task.

[0077] like Figure 3 As shown in the figure, when the number of working actuators of the control subsystem changes, the attitude maneuverability of the agile remote sensing satellite will generally change. Immediately trigger system re-planning and reschedule tasks according to the latest attitude maneuverability to ensure that the attitude maneuvering task matches the satellite's attitude maneuverability.

[0078] like Figure 4 As shown in the figure, when an emergency task is detected, re-planning is triggered immediately, and tasks are rearranged in a way that the emergency task is given priority, ensuring that the emergency task is executed first.

[0079] like Figure 5 As shown in the figure, when the energy subsystem is detected to be low on power, the mission is triggered to stop immediately. The planning and control subsystem implements the solar orientation mode to charge the battery. The system power is monitored in real time. When the satellite power reaches full, the system is triggered to re-plan and re-schedule the mission to ensure the satellite energy security.

[0080] The present invention establishes a fully autonomous on-board operation process from receiving user requirements to generating subsystem or single-machine instruction blocks by constraining modeling of payload, data transmission, control, etc., effectively simplifying satellite control, improving remote control injection efficiency and on-board autonomous operation capabilities. And through the satellite status real-time monitoring module, the execution of on-board tasks and satellite status changes are monitored in real time, and further triggering task execution stop, whole-satellite sun alignment or re-planning, quickly responding to task requirements and environmental changes, and formulating and adjusting task plans in real time to improve task execution efficiency.

[0081] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An agile remote sensing satellite on-board fully autonomous mission planning system, characterized in that include: Imaging target database module, high-precision orbit prediction and orbit calculation module, target visible arc calculation module, imaging task preprocessing module, subsystem constraint model module, imaging task planning module, data transmission task planning module, fixed storage autonomous erasure module, instruction data block generation module, satellite status real-time monitoring module; The imaging target database module is used to store and manage the observation targets registered by users; The high-precision orbit prediction and orbit calculation module is used to predict the orbit data of the remote sensing satellite in a future planning period, and pre-store the predicted remote sensing satellite orbit data according to a certain step size; The target visible arc calculation module is used to calculate the visible windows of all observation targets in the imaging target database that can be observed by the satellite payload within the planning period to form an imaging target task set to be planned; The imaging task preprocessing module is used to judge the validity of the visible window of the imaging target, perform strip segmentation on the regional target, convert the imaging targets in the task set to be planned into the imaging tasks to be planned and sorted, and initially allocate the execution time file number of the imaging task; The subsystem constraint model module is used to establish an attitude angle calculation model, an attitude maneuvering time calculation model, a camera subsystem mode conversion time requirement calculation model, and a data transmission subsystem mode conversion time requirement calculation model; The imaging task planning module arranges the imaging tasks to be planned and sorted obtained by the imaging task preprocessing module based on the model established by the subsystem constraint model module, and obtains an imaging task sequence executable by the agile remote sensing satellite within a planning cycle; The data transmission task planning module calculates the satellite operation attitude according to a certain step length based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module; calculates the visibility of the data transmission antenna to the ground station during the data transmission window according to the satellite operation attitude, and forms a subwindow that can be used to play back the file; For the planned executable imaging task sequence, for the imaging files located before the current data transmission window, the playback of the files is arranged in order according to the priority of the tasks, and the order of imaging time when the priorities are the same, to form a file playback task sequence; The autonomous storage erasure module obtains the occupation of file numbers and the occupation of corresponding storage capacity according to the executable imaging task sequence; obtains the replayed file numbers and the corresponding file number sizes according to the file playback plan, and generates a file erasure task sequence for the replayed files; The instruction data block generation module generates subsystem or single-machine executable instructions according to the generated imaging task sequence, file playback task sequence and file erasure task sequence and task attributes, and outputs them to the subsystem or single-machine for execution according to time to complete the planning; The satellite status real-time monitoring module monitors the operating status of the satellite, including: the control subsystem working mode, the working status of the control subsystem actuator, the emergency task injection status, and the power status of the energy subsystem.

2. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: In the imaging target database module, the observed targets include point targets, broken line targets, curve targets, circular area targets and polygonal area targets; The user can add, delete and modify the properties of the observation target by means of command annotation; Each independent observation target can be set to be long-term valid or to have a certain life cycle; an observation target set to be long-term valid can only be modified by deletion, and an observation target set to have a certain life cycle will be automatically removed from the queue to be planned after the target reaches its life cycle.

3. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: The orbit data stored in the high-precision orbit prediction and orbit calculation module include: orbit semi-major axis a, orbit eccentricity e, orbit inclination i, orbit amplitude u, orbit ascending node equator Ω, orbit true anomaly f, orbit geocentric distance r, satellite unit vector in the ground-fixed system 4. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: In the target visible arc calculation module, each visible window is described by (ts tm te), where ts is the start time of the window, tm is the center time of the window, and te is the end time of the window.

5. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: The validity of the visible window of the imaging target is judged, specifically: determine that all visible windows are within the current planning time window, and calculate the minimum solar altitude angle of the imaging target in the visible window: if the minimum solar altitude angle is less than β SEA0 , select the infrared camera for imaging; otherwise, select the visible light camera for imaging; where the threshold β SEA0 >0, and the specific value is determined according to the design parameters of the camera; The regional target is segmented into strips, specifically: according to the camera imaging angle θ VA , and the distance of the regional target from the sub-satellite point, determine the minimum width of the satellite when imaging the target; divide the regional target into strips according to the minimum width to form target strips that can be covered by a single imaging of one or more cameras; The execution time file number of the imaging task is initially allocated, specifically: select a file number that is not occupied or has been planned to be erased before the imaging time point, and allocate it to the current preprocessing imaging target; if the file number allocation is unsuccessful, the current imaging target preprocessing is unsuccessful, and the imaging target is deleted.

6. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: The specific calculation model of attitude maneuver time is: Model input variables θ0, ψ0 represent the satellite three-axis attitude before the attitude maneuver. θ1 and ψ1 represent the three-axis attitude of the satellite after the attitude maneuver. The model output variable t m The shortest time required for the satellite to complete the corresponding attitude maneuver; f ATT is the attitude maneuver time calculation function; The camera subsystem mode conversion time requirement calculation model is as follows: the camera subsystem is divided into three working modes: shutdown, visible light camera imaging, and infrared camera imaging. The shortest mode conversion time between different modes and between consecutive same modes is established to obtain the camera subsystem mode conversion time requirement calculation model; The specific calculation model of the mode conversion time requirement of the digital transmission subsystem is as follows: the digital transmission subsystem is divided into four working modes: shutdown, record, playback, and erase. The shortest mode conversion time between different modes and between consecutive identical modes is established to obtain the calculation model of the mode conversion time requirement of the digital transmission subsystem.

7. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: The imaging tasks to be planned and sorted are arranged, and the task arrangement results are determined by using optimization algorithms, including genetic algorithms, differential evolution algorithms, and simulated annealing algorithms.

8. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: In the persistent storage autonomous erasure module, when the number of used file numbers exceeds 1 / 2 of the total number of persistent storage files, or the occupied persistent storage size exceeds 1 / 2 of the total persistent storage capacity, the persistent storage autonomous erasure is initiated, the played back files are selected, and the files with the earliest playback time are erased first.

9. The fully autonomous mission planning system on an agile remote sensing satellite according to claim 1, characterized in that: When the control subsystem working mode shows an abnormal working mode, the triggered mission will stop immediately; after waiting for the control subsystem to return to the normal working mode, the satellite will autonomously re-plan the mission to ensure the normal execution of the attitude maneuver mission. When the number of working actuators of the control subsystem changes, the attitude maneuverability of the agile remote sensing satellite will change, which will immediately trigger mission re-planning and rearrange the mission according to the latest attitude maneuverability to ensure that the attitude maneuverability mission matches the satellite's attitude maneuverability. When an emergency task is detected, task re-planning is triggered immediately, and tasks are rearranged in a priority manner to ensure that emergency tasks are executed first. When it is detected that the energy subsystem is low on power, the mission is triggered to stop immediately; the mission planning system sends a solar directional control instruction to the control subsystem, implements the solar directional mode, and charges the battery; the system power is monitored in real time, and when the satellite power reaches full power, the mission re-planning is triggered and the mission is rearranged to ensure the satellite energy security.

Images