A fully autonomous onboard mission planning system for agile remote sensing satellites

Abstract

A fully autonomous onboard mission planning system for an agile remote sensing satellite includes an imaging target database module, a high-precision orbit prediction and calculation module, a target visible arc calculation module, an imaging mission preprocessing module, a subsystem constraint model module, an imaging mission planning module, a data transmission mission planning module, a data storage autonomous erasure module, a command data block generation module, and a satellite status real-time monitoring module. By constraining and modeling subsystems or individual units such as payloads, data transmission, and control, a fully autonomous onboard operation process is established from user requirement reception to the generation of command blocks from subsystems or individual units. This effectively simplifies satellite control and improves remote control uploading efficiency and onboard autonomous operation capabilities. Furthermore, the real-time satellite status monitoring module monitors the execution status of onboard missions and changes in satellite status in real time, and can further trigger mission execution stoppage, satellite-wide solar alignment, or replanning, rapidly responding to mission requirements and environmental changes, and formulating and adjusting mission plans in real time to improve mission execution efficiency.

Description

Technical Field

[0001] This invention relates to an agile remote sensing satellite onboard fully autonomous mission planning system, belonging to the field of spacecraft autonomous mission planning. Background Technology

[0002] With the increasing attitude maneuverability of imaging satellites and the growing demand for remote sensing images, satellites need to continuously improve their attitude maneuverability and acquire the ability to image targets off-center by adjusting the camera's optical axis. The planning of imaging missions requires consideration of various constraints, including those related to the camera, data transmission subsystem, and attitude maneuverability, to ensure successful mission execution. Furthermore, mission planning necessitates optimizing the mission path to achieve maximum imaging in a single pass, thereby enhancing satellite operational efficiency.

[0003] Long-term on-orbit operation of satellites includes the scheduling of imaging missions, data playback missions, simultaneous recording and playback missions, and data erasure missions. Traditional satellites have relatively weak onboard autonomy, typically completing all mission scheduling on the ground before generating satellite control commands and uploading them to the satellite. The satellite then passively executes these ground commands. Traditional satellite control methods are limited by constraints such as the telemetry and control window and the response time of ground planning systems, resulting in weak satellite autonomy, low flexibility in mission adjustments, and difficulty in coping with complex space environments and changing mission requirements.

[0004] With the continuous improvement of satellite attitude maneuverability and the increasing number of satellites in orbit, satellite systems are becoming increasingly capable of performing missions, creating an urgent need for autonomous mission execution capabilities. Therefore, traditional satellite control methods relying primarily on ground-based command transmission are no longer adequate, necessitating the search for new solutions. Summary of the Invention

[0005] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an agile remote sensing satellite on-board fully autonomous mission planning system, which is designed to meet user imaging needs and set up routine long-term autonomous on-board missions, and realizes on-board fully autonomous mission planning for agile remote sensing satellites.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A fully autonomous onboard mission planning system for an agile remote sensing satellite includes: an imaging target database module, a high-precision orbit prediction and orbit calculation module, a target visible arc segment calculation module, an imaging mission preprocessing module, a subsystem constraint model module, an imaging mission planning module, a data transmission mission planning module, a 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 uploaded by the user;

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

[0010] The target visible arc segment calculation module is used to calculate the visible window of all observation targets in the imaging target database that can be observed by the satellite payload within the planning period, forming a set of imaging target tasks to be planned;

[0011] The imaging task preprocessing module is used to determine 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 assign the execution time file number of the imaging task.

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

[0013] The imaging task planning module, based on the model established by the subsystem constraint model module, arranges the imaging tasks to be planned and sorted obtained by the imaging task preprocessing module, and obtains a sequence of imaging tasks that the agile remote sensing satellite can execute within a planning period.

[0014] The data transmission task planning module calculates the satellite's operating attitude according to a certain step size based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module. Based on the satellite's operating attitude, it calculates the visibility of the data transmission antenna to the ground station during the data transmission window, forming a sub-window that can be used for file playback. For the planned executable imaging task sequence, for the imaging files located before the current data transmission window, it arranges the playback of the files in order of task priority, and, if the priorities are the same, the order of imaging time, forming a file playback task sequence.

[0015] The solid storage autonomous erasure module obtains the file number occupancy and corresponding solid storage capacity occupancy based on the executable imaging task sequence; it also obtains the file number of the played file and its corresponding file number size based on the file playback plan, and generates a file erasure task sequence for the played file.

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

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

[0018] Furthermore, in the imaging target database module, the observed targets include point targets, polyline targets, curved targets, circular area targets, and polygonal area targets;

[0019] Users can add, delete, and modify the attributes of observed targets by uploading commands;

[0020] Each independent observation target can be set to be long-term valid or have a certain lifespan. Observation targets set to be long-term valid can only be modified by deletion, while observation targets set to have a certain lifespan will be automatically removed from the queue of targets to be planned after the target reaches the end of its lifespan.

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

[0022] Furthermore, in the target visible arc segment calculation module, each visible window is described using (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 determined, specifically: ensuring that the entire visible window is within the current planned time window, and calculating the minimum solar altitude angle of the imaging target within the visible window: if the minimum solar altitude angle is less than β... SEA0 If an infrared camera is selected for imaging, then an infrared camera is selected; otherwise, a visible light camera is selected; where the threshold β... SEA0 >0, and determine the specific value based on the camera's design parameters;

[0024] The target area is segmented into strips, specifically based on the camera's imaging angle θ. VA The minimum swath width for satellite imaging of the target is determined by the distance of the regional target from the nadir point; the regional target is then segmented into strips according to the minimum swath width to form target strips that can be covered by one or more cameras in a single imaging session.

[0025] The execution time file number of the imaging task is initially allocated as follows: select an unused file number or a file number that 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 fails, the preprocessing of the current imaging target fails, and the imaging target is deleted.

[0026] Furthermore,

[0027] The specific model for calculating attitude maneuver time is as follows: Model input variables θ0 and ψ0 represent the satellite's three-axis attitude before attitude maneuvering. θ1 and ψ1 represent the satellite's three-axis attitude after attitude maneuvering, and the model output variable t m The minimum time required for the satellite to complete the corresponding attitude maneuver; f ATT It is the function for calculating attitude maneuver time;

[0028] The specific calculation model for camera subsystem mode switching time requirement is as follows: The camera subsystem is divided into three working modes: power off, visible light camera imaging, and infrared camera imaging. The shortest mode switching time between different modes and between consecutive identical modes is established to obtain the calculation model for camera subsystem mode switching time requirement.

[0029] The specific calculation model for the mode switching time requirement of the data transmission subsystem is as follows: The data transmission subsystem is divided into four working modes: power off, recording, playback, and erasure. The shortest mode switching time between different modes and between consecutive identical modes is established to obtain the calculation model for the mode switching time requirement of the data transmission subsystem.

[0030] Furthermore, the imaging tasks to be planned and sorted are arranged, and optimization algorithms are used to determine the task arrangement results. The optimization algorithms include genetic algorithms, differential evolution algorithms, and simulated annealing algorithms.

[0031] Furthermore, in the fixed storage self-erasure module, when the number of used file numbers exceeds 1 / 2 of the total number of fixed storage files, or when the occupied fixed storage size exceeds 1 / 2 of the total fixed storage capacity, the fixed storage self-erasure is initiated, and files that have been played back are selected, with priority given to erasing files with earlier playback times.

[0032] Furthermore,

[0033] When the control subsystem displays an abnormal working mode, the trigger task is immediately stopped; after the control subsystem returns to the normal working mode, the satellite autonomously replans the task to ensure the normal execution of attitude maneuvering tasks.

[0034] When the number of working actuators in the control subsystem changes, the attitude maneuvering capability of the agile remote sensing satellite will change, immediately triggering mission replanning. The mission will be rearranged according to the latest attitude maneuvering capability to ensure that the attitude maneuvering mission matches the satellite's attitude maneuvering capability.

[0035] When an emergency task is detected, task replanning is immediately triggered, and tasks are rearranged according to the priority of emergency tasks to ensure that emergency tasks are executed first.

[0036] When the power of the energy subsystem is detected to be insufficient, the mission is immediately stopped; the mission planning system sends a sun-oriented control command to the control subsystem to implement the sun-oriented mode and charge the battery; the system power is monitored in real time, and when the satellite power reaches full charge, the mission is replanned and the mission is rearranged to ensure the satellite's energy security.

[0037] Compared with existing technologies, this invention has the following technological innovations:

[0038] (1) This invention proposes a fully autonomous mission planning method and system for satellites, including functions and specific implementations such as imaging mission planning, data playback mission planning and fixed data management, to realize fully autonomous satellite operations.

[0039] (2) With this invention, users 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 routine operation steps unrelated to user data acquisition, such as solid file management and file erasure.

[0040] (3) The fully autonomous on-board mission planning system of the present invention simplifies the input of remote control commands. Only the latitude and longitude of the specified target and other mission information need to be input, which avoids the need to input all mission execution commands in the traditional satellite control method.

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

[0042] (5) The fully autonomous onboard mission planning system of 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 ground stations, and improve mission execution efficiency. Attached Figure Description

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

[0044] Figure 2 Flowchart for monitoring and triggering replanning of the control subsystem's operating mode;

[0045] Figure 3 The flowchart for monitoring and triggering replanning to control the number of working mechanisms in the subsystem is shown below;

[0046] Figure 4 Introduce a monitoring-triggered replanning process flowchart for emergency missions;

[0047] Figure 5 A flowchart for the replanning process triggered by power monitoring in the energy subsystem. Detailed Implementation

[0048] like Figure 1 As shown, this invention proposes an onboard 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 segment calculation module, an imaging mission preprocessing module, a subsystem constraint model module, an imaging mission planning module, a data transmission mission planning module, a solid-state 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 uploaded by the user;

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

[0051] The target visible arc segment calculation module is used to calculate the visible window of all observation targets in the imaging target database that can be observed by the satellite payload within the planning period, forming a set of imaging target tasks to be planned;

[0052] The imaging task preprocessing module is used to determine 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 assign the execution time file number of the imaging task.

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

[0054] The imaging task planning module, based on the model established by the subsystem constraint model module, arranges the imaging tasks to be planned and sorted obtained by the imaging task preprocessing module, and obtains a sequence of imaging tasks that the agile remote sensing satellite can execute within a planning period.

[0055] The data transmission task planning module calculates the satellite's operating attitude according to a certain step size based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module. Based on the satellite's operating attitude, it calculates the visibility of the data transmission antenna to the ground station during the data transmission window, forming a sub-window that can be used for file playback. For the planned executable imaging task sequence, for the imaging files located before the current data transmission window, it arranges the playback of the files in order of task priority, and, if the priorities are the same, the order of imaging time, forming a file playback task sequence.

[0056] The solid storage autonomous erasure module obtains the file number occupancy and corresponding solid storage capacity occupancy based on the executable imaging task sequence; it also obtains the file number of the played file and its corresponding file number size based on the file playback plan, and generates a file erasure task sequence for the played file.

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

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

[0059] Furthermore, in the imaging target database module, the observation targets include point targets, polyline targets, curve targets, circular area targets, and polygonal area targets; users can add, delete, and modify the attributes of observation targets through command annotation; each independent observation target can be set to be long-term valid or have a certain lifespan; observation targets set to be long-term valid can only be modified by deletion, while observation targets set to have a certain lifespan are automatically removed from the queue to be planned after the target reaches the end of its lifespan.

[0060] The high-precision orbit prediction and calculation module is used to predict high-precision orbit data for remote sensing satellites over a future planning period, and pre-stores the predicted satellite orbits according to a certain step size. The orbit data stored in the high-precision orbit prediction and calculation module includes: orbit semi-major axis a, orbit eccentricity e, orbit inclination i, orbit argument u, orbit ascending node right axis Ω, orbit true anomaly f, orbit geocentric distance r, and satellite unit vector in Earth-fixed system.

[0061] The target visibility arc calculation module is used to calculate the visibility windows of all targets in the imaging target database within the planning period. Each visibility window is described using [ts tm te], representing the start, center, and end times of the window, respectively. Through this module, all targets in the imaging target database that can be observed by the satellite payload and their corresponding visibility windows are obtained, forming a set of tasks to be planned.

[0062] The imaging task preprocessing module is used to determine 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 assign the execution time file number of the imaging task.

[0063] a. Determine the validity of the visible window of the imaging target, specifically: ensure that the entire visible window is within the current planned 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 If an infrared camera is selected for imaging, then an infrared camera is selected; otherwise, a visible light camera is selected; where the threshold β... SEA0 >0, and determine the specific value based on the camera's design parameters;

[0064] b. Segment the target area, specifically by: dividing the target area into strips based on the camera's imaging angle θ. VA The minimum swath width for satellite imaging of the target is determined by the distance of the regional target from the nadir point; the regional target is then segmented into strips according to the minimum swath width to form target strips that can be covered by one or more cameras in a single imaging session.

[0065] c. Initially allocate the execution time file number for the imaging task. Specifically, select an unused file number or one that 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 fails, the preprocessing of the current imaging target will fail, and the imaging target will be deleted.

[0066] The subsystem constraint model module includes an attitude angle calculation model, an attitude maneuver time calculation model, a camera subsystem mode transition time requirement calculation model, a data transmission subsystem mode transition time requirement calculation model, and a real-time processing unit processing time requirement model. The number of models in the subsystem constraint model module can be added or removed according to the number of subsystems carried by the satellite.

[0067] Specifically, the models are described below:

[0068] The specific model for calculating attitude maneuver time is as follows: Model input variables θ0 and ψ0 represent the satellite's three-axis attitude before attitude maneuvering. θ1 and ψ1 represent the satellite's three-axis attitude after attitude maneuvering, and the model output variable t m The minimum time required for the satellite to complete the corresponding attitude maneuver; f ATT It is the function for calculating attitude maneuver time;

[0069] The specific calculation model for camera subsystem mode switching time requirement is as follows: The camera subsystem is divided into three working modes: power off, visible light camera imaging, and infrared camera imaging. The shortest mode switching time between different modes and between consecutive identical modes is established to obtain the calculation model for camera subsystem mode switching time requirement.

[0070] The specific calculation model for the mode switching time requirement of the data transmission subsystem is as follows: The data transmission subsystem is divided into four working modes: power off, recording, playback, and erasure. The shortest mode switching time between different modes and between consecutive identical modes is established to obtain the calculation model for the mode switching time requirement of the data transmission subsystem.

[0071] The imaging task planning module takes the imaging tasks to be planned obtained from the imaging task preprocessing module and, based on the subsystem constraint model, obtains a sequence of executable imaging tasks for the agile remote sensing satellite. It determines the attitude maneuver start time, imaging attitude, imaging time period, imaging data consumption, and energy consumption for each imaging task. For task sequencing, optimization algorithms, including genetic algorithms, differential evolution algorithms, and simulated annealing algorithms, are used to determine the task arrangement result. The imaging task planning module completes the arrangement of all tasks to be planned, obtaining a sequence of all executable imaging tasks within a planning cycle.

[0072] The data transmission task planning module calculates the satellite's operating attitude according to a certain step size, based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module. Based on the satellite's operating attitude, it calculates the visibility of the data transmission antenna to the ground station during the data transmission window, forming a sub-window that can be used for file playback. For the planned executable imaging task sequence, for the imaging files located before the current data transmission window, it arranges the playback of the files in order of task priority, and, if the priorities are the same, the order of imaging time, forming a file playback task sequence.

[0073] The auto-erasure module obtains the file number usage and corresponding solid memory capacity usage based on the imaging tasks generated autonomously on-board. According to the file playback plan, it obtains the file number size corresponding to the played-out file numbers. To ensure that file number and solid memory capacity usage do not affect the scheduling of subsequent or next planning cycles, played-out files are erased promptly. By design, auto-erasure is initiated when the number of used file numbers exceeds half of the total number of files in solid memory, or when the occupied solid memory size exceeds half of the total solid memory capacity. During file erasure, played-out files are selected, with priority given to files played back earlier.

[0074] The instruction data block generation module generates executable instructions for subsystems or stand-alone machines based on the generated imaging tasks, file playback tasks, and solid-state erasure tasks, according to the task attributes, and outputs them to the subsystems or stand-alone machines for execution according to time, thus completing the planning.

[0075] The satellite status real-time monitoring module monitors the satellite's operational status, including: the operating mode of the control subsystem, the working status of the control subsystem actuators, the emergency mission injection status, and the power status of the energy subsystem.

[0076] like Figure 2 As shown, when the control subsystem displays an abnormal operating mode, the triggered mission immediately stops. After the control subsystem returns to normal operating mode, the satellite autonomously replans the mission to ensure the attitude maneuver mission executes normally.

[0077] like Figure 3 As shown, when the number of actuators operating in the control subsystem changes, the attitude maneuverability of the agile remote sensing satellite will generally change. Immediately trigger system replanning, rescheduling tasks according to the latest attitude maneuverability. Ensure that the attitude maneuvering tasks match the satellite's attitude maneuverability.

[0078] like Figure 4 As shown, when an emergency task is detected, a replanning process is immediately triggered, and tasks are reassigned according to the priority of emergency tasks, ensuring that emergency tasks are executed first.

[0079] like Figure 5 As shown, when the energy subsystem's power is detected to be insufficient, the mission is immediately stopped. The planning and control subsystem implements a sun-oriented mode to charge the battery. The system's power level is monitored in real time, and when the satellite's power reaches full, the system is triggered to replan and reschedule the mission to ensure the satellite's energy security.

[0080] This invention establishes a fully autonomous on-board operation process from receiving user requirements to generating instruction blocks from subsystems or individual units by constraining the modeling of subsystems, data transmission, and control components. This effectively simplifies satellite control and improves remote control uploading efficiency and on-board autonomous operation capabilities. Furthermore, a real-time satellite status monitoring module monitors the execution of on-board missions and changes in satellite status in real time, and can further trigger mission execution stoppage, satellite-wide solar alignment, or replanning, enabling rapid response to mission requirements and environmental changes, real-time formulation and adjustment of mission plans, and improved mission execution efficiency.

[0081] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A fully autonomous on-board mission planning system for an agile remote sensing satellite, characterized in that... include: The system includes an imaging target database module, a high-precision orbit prediction and orbit calculation module, a target visible arc calculation module, an imaging mission preprocessing module, a subsystem constraint model module, an imaging mission planning module, a data transmission mission planning module, a solid memory autonomous erasure module, an instruction data block generation module, and a satellite status real-time monitoring module. The imaging target database module is used to store and manage the observation targets uploaded by the user; The high-precision orbit prediction and orbit calculation module is used to predict the orbit data of remote sensing satellites for a future planning cycle, and to pre-store the predicted remote sensing satellite orbit data according to a certain step size. The target visible arc segment calculation module is used to calculate the visible window of all observation targets in the imaging target database that can be observed by the satellite payload within the planning period, forming a set of imaging target tasks to be planned; The imaging task preprocessing module is used to determine 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 assign the execution time file number of the imaging task. The subsystem constraint model module is used to establish attitude angle calculation model, attitude maneuver time calculation model, camera subsystem mode conversion time requirement calculation model, and data transmission subsystem mode conversion time requirement calculation model. The imaging task planning module, based on the model established by the subsystem constraint model module, arranges the imaging tasks to be planned and sorted obtained by the imaging task preprocessing module, and obtains a sequence of imaging tasks that the agile remote sensing satellite can execute within a planning period. The data transmission task planning module calculates the satellite's operating attitude according to a certain step size, based on the available data transmission window injected by the user and the executable imaging task sequence obtained by the imaging task planning module; based on the satellite's operating attitude, it calculates the visibility of the data transmission antenna to the ground station during the data transmission window, forming a sub-window 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 files are played back in order of priority, and if the priorities are the same, the order of imaging time, forming a file playback task sequence. The solid storage autonomous erasure module obtains the file number occupancy and corresponding solid storage capacity occupancy based on the executable imaging task sequence; it also obtains the file number of the played file and its corresponding file number size based on the file playback plan, and generates a file erasure task sequence for the played file. The instruction data block generation module generates subsystem or stand-alone executable instructions based on the generated imaging task sequence, file playback task sequence, and file erasure task sequence, according to the task attributes, and outputs them to the subsystem or stand-alone for execution according to time to complete the planning. The satellite status real-time monitoring module monitors the satellite's operational status, including: the operating mode of the control subsystem, the working status of the control subsystem actuators, the emergency mission injection status, and the power status of the energy subsystem.

2. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: In the imaging target database module, the observed targets include point targets, polyline targets, curved targets, circular area targets, and polygonal area targets; Users can add, delete, and modify the attributes of observed targets by uploading commands; Each independent observation target can be set to be long-term valid or have a certain lifespan. Observation targets set to be long-term valid can only be modified by deletion, while observation targets set to have a certain lifespan will be automatically removed from the queue of targets to be planned after the target reaches the end of its lifespan.

3. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: The orbital data stored in the high-precision orbit prediction and calculation module includes: orbital semi-major axis a, orbital eccentricity e, orbital inclination i, orbital argument u, orbital ascending node right axis Ω, orbital true anomaly f, orbital geocentric distance r, and satellite unit vector in the Earth-fixed system.

4. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: 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.

5. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: The validity of the visible window of the imaging target is determined by: ensuring that the entire visible window is within the current planned time window, and calculating the minimum solar altitude angle of the imaging target within the visible window; if the minimum solar altitude angle is less than β... SEA0 If an infrared camera is selected for imaging, then an infrared camera is selected; otherwise, a visible light camera is selected; where the threshold β... SEA0 >0, and determine the specific value based on the camera's design parameters; The target area is segmented into strips, specifically based on the camera's imaging angle θ. VA The minimum swath width for satellite imaging of the target is determined by the distance of the regional target from the nadir point; the regional target is then segmented into strips according to the minimum swath width to form target strips that can be covered by one or more cameras in a single imaging session. The execution time file number of the imaging task is initially allocated as follows: select an unused file number or a file number that 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 fails, the preprocessing of the current imaging target fails, and the imaging target is deleted.

6. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: The specific model for calculating attitude maneuver time is as follows: Model input variables θ0 and ψ0 represent the satellite's three-axis attitude before attitude maneuvering. θ1 and ψ1 represent the satellite's three-axis attitude after attitude maneuvering, and the model output variable t m The minimum time required for the satellite to complete the corresponding attitude maneuver; f ATT It is the function for calculating attitude maneuver time; The specific calculation model for camera subsystem mode switching time requirement is as follows: The camera subsystem is divided into three working modes: power off, visible light camera imaging, and infrared camera imaging. The shortest mode switching time between different modes and between consecutive identical modes is established to obtain the calculation model for camera subsystem mode switching time requirement. The specific calculation model for the mode switching time requirement of the data transmission subsystem is as follows: The data transmission subsystem is divided into four working modes: power off, recording, playback, and erasure. The shortest mode switching time between different modes and between consecutive identical modes is established to obtain the calculation model for the mode switching time requirement of the data transmission subsystem.

7. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: The imaging tasks to be planned and sorted are arranged, and optimization algorithms are used to determine the task arrangement results. The optimization algorithms include genetic algorithm, differential evolution algorithm, and simulated annealing algorithm.

8. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: In the automatic erase module, when the number of used file numbers exceeds 1 / 2 of the total number of files in the fixed storage, or when the size of the fixed storage exceeds 1 / 2 of the total capacity of the fixed storage, the automatic erase module is activated. It selects the files that have been played back and prioritizes the files with the earliest playback time for erasure.

9. The agile remote sensing satellite on-board fully autonomous mission planning system according to claim 1, characterized in that: When the control subsystem displays an abnormal working mode, the trigger task is immediately stopped; after the control subsystem returns to the normal working mode, the satellite autonomously performs task replanning to ensure the normal execution of attitude maneuvering tasks. When the number of working actuators in the control subsystem changes, the attitude maneuvering capability of the agile remote sensing satellite will change, immediately triggering mission replanning. The mission will be rearranged according to the latest attitude maneuvering capability to ensure that the attitude maneuvering mission matches the satellite's attitude maneuvering capability. When an emergency task is detected, task replanning is immediately triggered, and tasks are rearranged according to the priority of emergency tasks to ensure that emergency tasks are executed first. When the power of the energy subsystem is detected to be insufficient, the mission is immediately stopped; the mission planning system sends a sun-oriented control command to the control subsystem to implement the sun-oriented mode and charge the battery; the system power is monitored in real time, and when the satellite power reaches full charge, the mission is replanned and the mission is rearranged to ensure the satellite's energy security.

Images