Regional coverage method and device for realizing remote sensing task through satellite group cooperation

Abstract

The invention discloses an area coverage method and device for realizing a remote sensing task through satellite group cooperation, and relates to the technical field of satellite remote sensing, and the method comprises the steps: building a first coverage map after a satellite detects a task area, and when an obstacle is detected, releasing pheromones at the position of the obstacle to mark the obstacle, a first pheromone map is then generated based on the location of the obstacle and the release time of the pheromone. The satellite can establish communication with other satellites within the communication range, and the first coverage map and the first pheromone map are updated based on the map obtained through communication to obtain a third coverage map and a third pheromone map. Determining an uncovered area of the satellite cluster by combining the third coverage map and the third pheromone map, and selecting a target area from the uncovered area as a next coverage area of the satellite; the technical problems that the coverage rate is low and the repeated coverage rate is high due to the fact that unknown obstacles and non-coverage areas cannot be efficiently avoided in the current multi-satellite cooperative coverage technology are solved.

Description

Technical Field

[0001] The present application relates to the field of satellite remote sensing technology, and in particular to a method and device for realizing regional coverage of remote sensing tasks through collaboration of a satellite cluster. Background Art

[0002] The application scenarios of low-Earth orbit remote sensing missions cover many fields such as environmental monitoring, disaster relief, and agricultural monitoring. These tasks usually require efficient and comprehensive coverage of the target area to obtain accurate data. The traditional coverage mode of a single satellite or a few satellites is difficult to achieve efficient coverage due to the limitations of viewing angle and position, so the multi-satellite collaborative coverage method has gradually become a new technical trend.

[0003] At present, multi-satellite collaborative coverage technology uses the collective power of multiple satellites to cover the mission area in a distributed manner. Compared with a single satellite, a multi-satellite system can monitor a wider area in real time through multiple satellites distributed in different locations, improving coverage efficiency and mission response speed. Multi-satellite collaborative systems are usually based on the control theory of multi-agent systems. Each satellite acts as an independent agent and can move, detect and communicate independently according to mission requirements. These agents achieve collective collaboration through local interactions, thereby improving overall mission efficiency and reliability.

[0004] However, when performing these tasks, complex environmental factors are often encountered, such as unknown obstacles, uncovered areas or confidential areas, which significantly increase the difficulty of coverage tasks. The main challenge facing multi-satellite collaborative systems is how to achieve effective collaboration among various intelligent agents without a global controller. Especially when there are unknown obstacles or uncovered areas in the target area, how to efficiently avoid unknown obstacles or uncovered areas and ensure the integrity of the satellite cluster coverage becomes a key problem. Summary of the invention

[0005] In the embodiments of the present application, a method and device for regional coverage of remote sensing tasks through satellite cluster collaboration are provided to solve the technical problems of low coverage and high repeated coverage rate caused by the inability to efficiently avoid unknown obstacles and non-covered areas in the current multi-satellite collaborative coverage technology.

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions: In a first aspect, an embodiment of the present application provides a method for realizing regional coverage of a remote sensing mission through collaboration of a satellite cluster, which is applied to each satellite in a satellite cluster that performs a remote sensing mission in a given mission area, and the method includes: Acquire a first coverage map established by the satellite detecting the mission area through a coverage detector; When the satellite detects an obstacle, pheromone is released at the location of the obstacle to mark the obstacle, and a first pheromone map is generated based on the location of the obstacle and the release time of the pheromone; Receiving a second coverage map and a second pheromone map sent by other satellites in the satellite cluster within the communication range, wherein the second coverage map is constructed by the other satellites based on the coverage of the mission area, and the second pheromone map is generated based on the location of the detected obstacle and the release time of the released pheromone; Update the first coverage map based on the second coverage map to obtain the coverage map, and update the first pheromone map based on the second pheromone map to obtain a third pheromone map; The uncovered area of ​​the satellite cluster is determined by combining the third coverage map and the third pheromone map, and a target area is selected from the uncovered area as the next coverage area of ​​the satellite.

[0007] In combination with the first aspect, in a possible design manner, determining the uncovered area of ​​the satellite cluster in combination with the third coverage map and the third pheromone map includes: Determining coverage status information of the mission area by the satellite cluster from the third coverage map; The covered area indicated by the coverage status information and the area marked with pheromone are removed from the mission area to obtain the uncovered area of ​​the satellite cluster.

[0008] In combination with the first aspect, in a possible design manner, selecting a target area from the uncovered area as a next coverage area of ​​the satellite includes: Calculating the distance between the satellite and each of the uncovered areas; The uncovered area with the smallest distance is used as the next coverage area of ​​the satellite.

[0009] In combination with the first aspect, in a possible design manner, the method further includes: Constructing a first obstacle map based on environmental information of the area where the satellite is located, which is acquired by the satellite through an obstacle detector; The generating a first pheromone map based on the position of the obstacle and the release time of the pheromone includes: The position of the obstacle is obtained from the first obstacle map, and the first obstacle is converted into the first pheromone map in combination with the release time of the pheromone.

[0010] In combination with the first aspect, in a possible design method, the obstacle detector includes a distance sensor and an angle detector, and the environmental information is generated based on the detection results of the distance sensor and the angle detector of the satellite, and the detection results include the position, size and shape of the obstacle.

[0011] In combination with the first aspect, in a possible design manner, the method further includes: receiving a second obstacle map sent by other satellites in the satellite cluster within a communication range; Updating the first obstacle map based on the second obstacle map to obtain a third obstacle map; The determining the uncovered area of ​​the satellite cluster by combining the third coverage map and the third pheromone map, and selecting a target area from the uncovered area as the next coverage area of ​​the satellite, comprises: According to the coverage area coordinates m in the third coverage map i (q x,y ), obstacle coordinates in the third obstacle map and the pheromone concentration pH in the third pheromone map i (q x,y ), combined with the following objective function , calculate the next coverage area of ​​the satellite : ; ; Among them, ph1 is the fixed value of pheromone concentration, i represents the i-th satellite, t is the current time, η is the first constant, λ i (q x,y ) is a function to measure the distance between the satellite and the next coverage area, λ i (q x,y ) is: ; Among them, σ1 is the second constant, σ2 is the third constant, q x,y is the coordinate of a grid in the information map; The next coverage area corresponding to the satellite at the next moment is represented by the maximum value of each objective function calculated by the satellite at the current moment: ; Wherein, t+1 is the next moment, and Q is the maximum coordinate value of the information map.

[0012] In combination with the first aspect, in a possible design manner, the method further includes: For the purpose of avoiding the area marked with pheromones in the third pheromone map, generating a trajectory from the current position of the satellite at the current moment to the next coverage area; The satellite is controlled to move along the trajectory at the current moment.

[0013] In combination with the first aspect, in a possible design, when an obstacle is detected, the method further includes: calculating a tangent position of the obstacle based on the position of the obstacle, and adjusting the trajectory of the satellite along the tangent position.

[0014] In a second aspect, an embodiment of the present application provides a regional coverage device for realizing remote sensing tasks through collaboration of a star cluster, the device comprising: A coverage detection module, used for acquiring a first coverage map established by each satellite in a satellite cluster that performs a remote sensing mission on a given mission area by detecting the mission area through a coverage detector; a pheromone marking module, configured to release pheromones at the location of the obstacle to mark the obstacle when the satellite detects the obstacle, and generate a first pheromone map based on the location of the obstacle and the release time of the pheromone; A local communication module, configured to receive a second coverage map and a second pheromone map sent by other satellites in the satellite cluster within a communication range, wherein the second coverage map is constructed by the other satellites based on the coverage of the mission area, and the second pheromone map is generated based on the location of the detected obstacle and the release time of the released pheromone; A map updating module, configured to update the first coverage map based on the second coverage map to obtain a third coverage map, and to update the first pheromone map based on the second pheromone map to obtain the pheromone map; The detection area generation module is used to determine the uncovered area of ​​the satellite cluster in combination with the third coverage map and the third pheromone map, and select a target area from the uncovered area as the next coverage area of ​​the satellite.

[0015] In a third aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the method of the first aspect and possible design methods thereof when running.

[0016] Compared with the prior art, the embodiment of the present application provides a method and device for realizing regional coverage of remote sensing tasks by using a star cluster in collaboration, and provides a method for realizing regional coverage of remote sensing tasks by using a star cluster in collaboration, wherein a remote sensing task is performed on a given task area by using a satellite cluster, and for any satellite in the satellite cluster, after detecting the task area, a first coverage map is established, and when an obstacle is detected, pheromones are released at the location of the obstacle to mark the obstacle, and then a first pheromone map is generated based on the location of the obstacle and the release time of the pheromone. Within the communication range, the satellite can establish communication with other satellites, and receive the second coverage map and the second pheromone map sent by other satellites, and then the satellite updates the first coverage map and the first pheromone map based on the map obtained by communication, and obtains the third coverage map and the third pheromone map. The uncovered area of ​​the satellite cluster is determined in combination with the third coverage map and the third pheromone map, and a target area is selected from the uncovered area as the next coverage area of ​​the satellite, so that the next coverage area is not an area covered by other satellites, nor an obstacle area, so that the overall efficiency of the satellite cluster in performing remote sensing tasks is higher, and the coverage repetition rate of each satellite is lower, and efficient regional coverage in a complex environment is achieved.

[0017] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of a method for realizing regional coverage of remote sensing tasks by means of satellite cluster collaboration provided in an embodiment of the present application is shown; Figure 2 A hardware structure block diagram of an electronic device provided in an embodiment of the present application is shown; Figure 3 A flow chart of a method for realizing regional coverage of remote sensing tasks through collaboration of a satellite cluster provided in an embodiment of the present application is shown; Figure 4 A communication schematic diagram of a satellite cluster provided in an embodiment of the present application is shown; Figure 5 A flowchart of another method for realizing regional coverage of remote sensing tasks through collaboration of a satellite cluster provided in an embodiment of the present application is shown; Figure 6 A schematic diagram of a satellite detecting obstacles provided by an embodiment of the present application is shown; Figure 7A schematic diagram of the hardware structure of a regional coverage device for realizing remote sensing tasks in collaboration with a star cluster provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0019] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0020] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with general skills in the technical field to which this application belongs. The words "one", "a", "the", "these" and the like in this application do not indicate a quantitative limitation, and they may be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships, for example, "A and / or B" may mean: A exists alone, A and B exist at the same time, and B exists alone. Generally, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0021] In a multi-satellite collaborative system, since each satellite operates independently, it is necessary to achieve the collective optimal coverage effect under the premise of ensuring its autonomy. To this end, distributed control technology has become one of the core technologies in this field. Distributed control systems are usually composed of multiple relatively independent control units, which achieve overall collaboration and completion of target tasks through local information exchange. Each satellite only relies on local communication, not on the global controller, and can achieve rapid distribution in the target area. In recent years, the research on distributed control has been widely used in multi-agent systems, with application fields ranging from robot clusters to drone formations to satellite clusters, and has high adaptability and robustness. Distributed control algorithms enable satellites to independently calculate the optimal motion path while ensuring a safe distance between each other, thereby reducing the risk of task overlap and collision. In addition, distributed control can improve the real-time performance and coverage efficiency of the system by adjusting the frequency and type of information sharing between agents.

[0022] In order to achieve a higher coverage rate, especially to achieve efficient regional coverage in complex environments, in the embodiment of the present application, each satellite first detects and establishes its own local map, and uses the pheromone mechanism to record the location of obstacles during the detection process, and spreads the pheromones and local maps to the surrounding areas through local communication, so that other satellites can obtain the spatial distribution information of obstacles and the areas that the satellite has detected in real time, avoiding multiple detections of the same detection object and repeated coverage of the same area, thereby greatly improving the coverage efficiency, reducing coverage blind spots and repeated paths, improving the adaptability and scalability of the system, ensuring the continuity and stability of remote sensing missions, and being suitable for low-Earth orbit remote sensing missions in a variety of fields.

[0023] The pheromone mechanism involved in the embodiment of the present application originated from the behavior of ant colonies in nature. Ants release pheromones to mark the location of food sources, and other ants can navigate by sensing the concentration of pheromones. Therefore, the embodiment of the present application provides a low computational complexity solution for distributed communication and collaboration between intelligent agents based on the pheromone mechanism. Specifically, in a multi-satellite collaborative coverage task, the pheromone mechanism can help satellites mark the location of obstacles and the status of the coverage area. Whenever a satellite detects an obstacle, it releases a pheromone mark on the information map. The concentration of the pheromone decays or diffuses over time, allowing other satellites to perceive the location of the obstacle through local communication. This method significantly improves the efficiency of satellite collaborative coverage and reduces the probability of repeated detection and coverage overlap. In an embodiment of the present application, when a satellite detects an obstacle in a coverage task, the pheromone mechanism enables the satellite to quickly record and share obstacle information, allowing other satellites to avoid it efficiently. In addition, a coverage map is generated in combination with the coverage status of each area by the satellite. The shared coverage map enables the satellite to move along the uncovered area while dispersing and cover the uncovered area, which effectively avoids coverage blind spots and task overlaps.

[0024] Please refer to Figure 1 , Figure 1 A schematic diagram of a method for realizing regional coverage of remote sensing tasks by means of satellite cluster collaboration provided in an embodiment of the present application is shown. Figure 1 As shown, each satellite corresponds to a coverage area and performs detection tasks on the area within its coverage area. Multiple satellites within the communication range can communicate with each other and exchange information, such as obstacle maps, pheromone maps, and coverage maps. Through the collaborative work of multiple satellites, the monitoring task of the ground area can be completed efficiently and extensively.

[0025] This method can be applied to environmental monitoring, disaster relief, agricultural monitoring and other fields. The following is an example of environmental monitoring. When each satellite in the satellite cluster moves to the target area to complete the detection coverage of the area, the satellite cluster conducts a comprehensive monitoring of environmental changes. For example, by observing the state of the atmosphere, clouds and oceans through the satellite constellation, it can help predict important data such as climate change, temperature change, humidity and air pressure. For another example, the satellite cluster can monitor a large area of ​​forest fires in real time, provide information such as the location of the fire and the change of the fire, and provide support for fire fighting operations and post-disaster assessments. For another example, the satellite cluster can monitor the pollution of water, air and soil, find the source of pollution in a timely manner, and help the environmental protection department to deal with it.

[0026] The method can be executed in an electronic device, a computer or a similar test system. Taking running on an electronic device as an example, Figure 2 FIG. 1 shows a hardware structure block diagram of an electronic device provided in an embodiment of the present application. Figure 2 As shown, the electronic device may include one or more ( Figure 2 Only one is shown in the figure) processor 202, and memory 204 for storing data. Processor 202 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above electronic device may also include a transmission device 206 and an input and output device 208 for communication functions. It can be understood by those skilled in the art that Figure 2 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 2 More or fewer components as shown, or with Figure 2 Different configurations are shown.

[0027] The memory 204 can be used to store computer programs, for example, software programs and modules of application software. The processor 202 executes various functional applications and data processing by running the computer programs stored in the memory 204, that is, to implement the above method. The memory 204 can be used to store data, for example, coverage maps, pheromone maps, and obstacle maps. The memory 204 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 204 may further include a memory remotely arranged relative to the processor 202, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0028] The transmission device 206 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the electronic device. In one example, the transmission device 206 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 206 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0029] Please refer to Figure 3 , Figure 3 A flowchart of a method for realizing regional coverage of remote sensing tasks through collaboration of a satellite cluster provided in an embodiment of the present application is shown. Figure 3 As shown, the method includes steps S301 to S305.

[0030] Step S301: Acquire a first coverage map established by a satellite through a coverage detector detecting a mission area.

[0031] Among them, the coverage detector refers to the sensor, camera or other measuring equipment on the satellite, and the satellite collects images of the ground or atmosphere or other types of data through the coverage detector. Among them, the satellite is one of the satellite clusters that perform remote sensing tasks in a given mission area. The satellite independently detects the mission area and marks the detected area. If there is a mark, it means that the satellite covers the area. As an example, the coverage of the mission area is represented by establishing a grid information map, and the networked information map is the first coverage map. Each grid represents an area in the mission area, and the position of each grid can be represented by a coordinate point. The coverage status of each area is recorded in the first coverage map, such as the coverage status includes covered and uncovered, or the coverage status includes 1 and 0, 1 represents covered, and 0 represents uncovered.

[0032] During the movement of the satellite, it can exchange information with other satellites within the communication range. It can be understood that if the satellite has not communicated with other satellites, then the covered area in the first coverage map is covered by the satellite performing the detection mission; if the satellite has communicated with other satellites, then the first coverage map can include areas covered by other satellites.

[0033] In order to ensure coverage, the satellite will give priority to uncovered or insufficiently covered areas as priority targets and cover the priority targets. However, if the satellite trajectory is planned only through the first coverage map established by the satellite, there will be problems of overlapping trajectories and coverage with other satellites. Therefore, after step S301, the satellite exchanges information with other satellites through step S303.

[0034] Step S302: When the satellite detects an obstacle, pheromone is released at the location of the obstacle to mark the obstacle, and a first pheromone map is generated based on the location of the obstacle and the release time of the pheromone.

[0035] When performing detection missions, satellites often encounter complex environmental factors, such as unknown obstacles, uncovered areas, or confidential areas, which significantly increase the difficulty of coverage missions. The obstacles in this step refer to targets that satellites need to orbit, including unknown obstacles, uncovered areas, and confidential areas.

[0036] Specifically, pheromones have diffusion and evaporation characteristics, that is, the concentration of pheromones decreases over time. The location of each obstacle and the concentration of each pheromone are marked in the first pheromone map, and the concentration of pheromones can be determined by the release time of the pheromone. Therefore, the location of each obstacle and the release time of each pheromone can also be marked in the first pheromone map, and the concentration of pheromones can be calculated by combining the release time and the current time.

[0037] In some embodiments, the satellite also constructs a first obstacle map, which is used to indicate the environmental information that the satellite has detected. Specifically, the satellite obtains environmental information of each area that the satellite passes through through an obstacle detector, and constructs the first obstacle map based on the environmental information. It can be understood that each time the satellite passes through an area, the detected environmental information is marked in the first obstacle map to achieve real-time updating of the first obstacle map.

[0038] The obstacle detector includes a distance sensor and an angle detector. The environmental information is generated based on the detection results of the satellite's distance sensor and angle detector. The detection results include the location, size and shape of the obstacle. The satellite can draw the obstacle on the first obstacle map based on the detection results to mark the obstacle. The purpose of the satellite constructing the first obstacle map is, on the one hand, to generate the first pheromone map based on the first obstacle map, and on the other hand, to make the display of obstacles more intuitive through the first obstacle map.

[0039] The following is an explanation of the satellite generating the first pheromone map based on the first obstacle map. The satellite obtains the location of the obstacle from the first obstacle map, and records the release time when releasing pheromones, and generates the first pheromone map by combining the location of the obstacle and the release time. In addition to marking the location of the obstacle, the first pheromone map also additionally marks the time when the satellite encounters an obstacle each time, compared to the first obstacle map. The greater the pheromone concentration, the greater the weight of the impact on the satellite trajectory, and the smaller the pheromone concentration, the smaller the weight of the impact on the satellite trajectory.

[0040] In this step, when the satellite detects an obstacle, it releases pheromones and marks them in the pheromone map. The diffusion and evaporation characteristics of pheromones enable the obstacle location information to be transmitted within a certain range, and the concentration decreases over time. Through the local communication module, other satellites in the satellite group can receive the pheromone information, thereby avoiding repeated detection of already detected obstacles.

[0041] Step S303: receiving a second coverage map and a second pheromone map sent by other satellites in the satellite cluster within the communication range.

[0042] The satellites in the satellite cluster can communicate locally with each other, that is, when the distance between two satellites reaches the communication range, the two satellites can communicate once. As an example, two satellites can establish a radio link and transmit data, commands or information through the radio link, such as transmitting the second coverage map and the second pheromone map. Alternatively, data can also be transmitted between satellites through laser beams (i.e., light waves). The above introduces the point-to-point communication method between satellites. In other embodiments, other satellites can also broadcast messages, and the satellites receive the broadcast messages and extract the second coverage map and the second pheromone map from them.

[0043] The second coverage map is constructed by other satellites based on the coverage of the mission area, and the second pheromone map is generated based on the locations of detected obstacles and the release time of the pheromones.

[0044] It is understandable that in addition to receiving information, satellites can also send information during data exchange between satellites, that is, a satellite can send a first coverage map and a first pheromone map to other satellites so that other satellites can update maps based on the received information and re-plan routes.

[0045] When the satellite constructs the first obstacle map, the satellite may also receive the second obstacle map sent by other satellites through local communication.

[0046] Step S304: Update the first coverage map based on the second coverage map to obtain a third coverage map, and update the first pheromone map based on the second pheromone map to obtain a third pheromone map.

[0047] This step enables the satellite to obtain information about the mission area and obstacles detected by other satellites through local communication, and updates it to the first coverage map and the first pheromone map generated by the satellite to regenerate the third coverage map and the third pheromone map. This prevents the satellite from repeatedly detecting the same obstacle and repeatedly covering the same area in subsequent missions.

[0048] Please refer to Figure 4 , Figure 4FIG. 1 shows a communication schematic diagram of a satellite cluster provided in an embodiment of the present application. Figure 4 As shown, the first satellite constructs an information map, including a coverage map generated by coverage detection, a pheromone map and an obstacle map generated by obstacle detection. The second satellite, the third satellite and the fourth satellite respectively construct information maps corresponding to each satellite by detecting the environment. And the second satellite, the third satellite and the fourth satellite will communicate with each other to update the data. Within the communication range, the second satellite, the third satellite and the fourth satellite communicate locally with the first satellite, and the first satellite updates its information map based on the received information.

[0049] Step S305: Determine the uncovered area of ​​the satellite cluster in combination with the third coverage map and the third pheromone map, and select a target area from the uncovered area as the next coverage area of ​​the satellite.

[0050] In this step, the uncovered area is an area where the satellite and other satellites do not perform detection tasks, which includes the area where coverage is not performed and obstacles that are not detected.

[0051] By selecting target areas from uncovered areas for coverage, the satellite does not have to repeatedly detect obstacles already detected by other satellites, or repeat the areas already covered by other satellites, so the coverage efficiency and coverage rate of the mission area will be higher.

[0052] In some of the embodiments, step S305 includes: determining the coverage status information of the satellite cluster for the mission area from the third coverage map; removing the areas indicated as covered by the coverage status information and the areas marked with pheromones from the mission area to obtain the uncovered areas of the satellite cluster.

[0053] In some of the embodiments, step S305 includes: calculating the distance between the satellite and each uncovered area; and taking the uncovered area with the smallest distance as the next coverage area of ​​the satellite.

[0054] In this embodiment, the shortest satellite motion path is used as a criterion for selecting the next coverage area of ​​the satellite, and the target area is selected from the uncovered area.

[0055] Among them, the uncovered area can be represented by coordinates on the map, and the current position of the satellite can also be represented by coordinates. The uncovered area and the current area of ​​the satellite are based on the same coordinate system. In this way, when comparing the distance between the dangerous and uncovered areas, it is only necessary to compare the distance between the two coordinates, which improves the simplicity of calculation. More specifically, the map can be a third pheromone map, and the third pheromone map can be represented by a grid. In addition to marking the location of obstacles and the release time of pheromones, the third pheromone map can also display the grids of each area and the coverage status of each area grid. Alternatively, the map can be a coverage map, and the coverage map displays the grids of each area and the coverage status of each area grid. Combining the coverage map and the pheromone map, the satellite can determine the uncovered area.

[0056] In the above steps S301 to S305, the embodiment of the present application provides a method for realizing regional coverage of remote sensing tasks by using a satellite cluster to perform remote sensing tasks on a given task area. For any satellite in the satellite cluster, after detecting the task area, a first coverage map is established, and when an obstacle is detected, pheromones are released at the location of the obstacle to mark the obstacle, and then a first pheromone map is generated based on the location of the obstacle and the release time of the pheromone. Within the communication range, the satellite can establish communication with other satellites and receive the second coverage map and the second pheromone map sent by other satellites. Then, the satellite updates the first coverage map and the first pheromone map based on the map obtained by communication to obtain a third coverage map and a third pheromone map. Combined with the third coverage map and the third pheromone map, the uncovered area of ​​the satellite cluster is determined, and the target area is selected from the uncovered area as the next coverage area of ​​the satellite, so that the next coverage area is not an area covered by other satellites, nor an obstacle area. Then, the satellite cluster as a whole performs remote sensing tasks more efficiently, and the coverage repetition rate of each satellite is lower, achieving efficient regional coverage in complex environments.

[0057] In some embodiments, when the satellite detects an obstacle, it will avoid the obstacle. Specifically, when the obstacle is detected, the satellite calculates the tangent position of the obstacle based on the position of the obstacle and adjusts the trajectory of the satellite along the tangent position.

[0058] When a satellite communicates with other satellites and obtains the location of obstacles detected by other satellites, the satellite will also bypass the obstacles, avoiding repeated detection of obstacles and ensuring the continuity of the mission. Specifically, when planning the trajectory of the satellite, the satellite will generate a trajectory from its current position to the next coverage area with the purpose of avoiding the area marked with pheromones in the third pheromone map. It can be understood that since the trajectory avoids the location of obstacles detected by other satellites, it effectively avoids the satellite's repeated detection of obstacles and improves the efficiency of the satellite moving to the next coverage area.

[0059] The following is a specific example to illustrate the method provided in the embodiment of the present application. Figure 5 , Figure 5 A flowchart of another method for realizing regional coverage of remote sensing tasks through satellite cluster collaboration provided by an embodiment of the present application is shown. Figure 5 As shown, the method includes five aspects: environmental information modeling, pheromone distribution mechanism, intelligent agent collaborative coverage, obstacle avoidance and replanning, and dynamic coverage. Each aspect is explained one by one below.

[0060] Step S501: Environmental information modeling.

[0061] Each satellite uses obstacle detectors to perceive the environmental information of the area in real time, including the location, size and shape of obstacles, and constructs this information into an obstacle map.

[0062] The satellite detects obstacles through obstacle detectors such as Figure 6 As shown, Figure 6 A schematic diagram of a satellite detecting obstacle provided by an embodiment of the present application is shown. Figure 6 As can be seen in the figure, the obstacle detector has a certain detection distance. The length of the line segment represents the distance of the obstacle detector. Within the detection distance, the obstacle detector obtains obstacle information by calculating the effective detection angle θ and the detection direction, and generates an obstacle map based on the obstacle information.

[0063] Step S502: pheromone transmission.

[0064] When a satellite detects an obstacle, it releases pheromones and marks its location on the pheromone map. Through local communication, other satellites in the constellation can obtain pheromones to determine the location of these obstacles.

[0065] Specifically, after the satellite detects an obstacle, it first generates an obstacle map and then converts the obstacle map into a pheromone map, and then shares the obstacle map, pheromone map and coverage map with other satellites through local communication.

[0066] The following formula explains this step. When satellite i detects an obstacle, it will calculate the position of the obstacle according to the obstacle’s position θ. i Release pheromone pH α and mark it on the obstacle map as pheromone ph i (q x,y ). After detecting an obstacle, the pheromone concentration will gradually decay over time t, refer to expression (1): ; in, is the evaporation rate, is the diffusion rate, d(q x,y ,t) is the pheromone diffused from the adjacent grid. The satellite will i (q x,y ) to nearby satellites, and receive pheromones transmitted by nearby satellites, so that the entire constellation forms a consistent understanding of the environment. At the same time, the pheromone concentration will decay over time to dynamically reflect changes in the environment and ensure the real-time performance of the system.

[0067] Step S503: Intelligent collaborative coverage.

[0068] Each satellite uses the coverage map, obstacle map and pheromone map to work together and allocate their own coverage tasks based on the anti-dispersion algorithm to minimize repeated coverage and blank areas, and to ensure a safe distance between satellites to avoid mutual interference. The goal of the anti-dispersion algorithm is to enable each satellite to dynamically adjust its trajectory, maintain sufficient spatial separation, and maximize the coverage efficiency of the entire satellite network. The anti-dispersion algorithm is expressed as the following expressions (2) to (5).

[0069] According to the coverage area coordinates m in the third coverage map i (q x,y ), obstacle coordinates in the third obstacle map and the pheromone concentration pH in the third pheromone map i (q x,y ), combined with the following objective function , to dynamically select the next coverage area of ​​the satellite : ; ; Among them, ph1 is the fixed value of pheromone concentration, i represents the i-th satellite, t is the current time, η is the first constant, λ i (q x,y ) is a function to measure the distance between the satellite and the next coverage area, λ i (q x,y ) is: ; Among them, σ1 is the second constant, σ2 is the third constant, q x,y is the coordinate of a grid in the information map, which is any one of the above coverage map, pheromone map and obstacle map. It can be understood that in order to improve the convenience of calculation, the coverage map, pheromone map and obstacle map share the same coordinate system, so the coordinates of the same position in the above three maps are the same.

[0070] The next coverage area corresponding to the satellite at the next moment is represented by the maximum value of each objective function calculated by the satellite at the current moment: ; Among them, t+1 is the next moment, and Q is the maximum coordinate value of the information map.

[0071] In expression (5), satellite i will Select Maximize location.

[0072] In this step, each satellite exchanges coverage information and obstacle information in real time through local communication, and determines the next coverage area in combination with the objective function. The objective function calculates the optimal next coverage area based on the time interval, location distance and pheromone concentration to ensure the efficient completion of the coverage task. The coverage path is dynamically adjusted to ensure the maximum coverage efficiency. The coordinated control of each satellite enables each satellite to make autonomous decisions based on local information to achieve the overall coverage goal of the constellation.

[0073] Step S504: obstacle avoidance and trajectory replanning.

[0074] Based on the detected obstacle information, each satellite adopts an obstacle avoidance strategy based on the Bug algorithm. Specifically, the Bug algorithm means that after the satellite detects the obstacle boundary through multiple detection lines, it will calculate a detour path based on the boundary tangent to achieve obstacle avoidance.

[0075] The Bug algorithm can be expressed by expression (6): Assume the detection distance of the obstacle detector is ρ i , when ρ i Less than the set safety distance r s When , the satellite will calculate the orbit path through expression (6) and move based on the orbit path to avoid obstacles.

[0076] ; Among them, matrix A is used to transform the obstacle position vector Change to tangent position , thus ensuring the safety of the satellite in avoiding obstacles. Whenever a satellite approaches an obstacle, it replans its path to bypass the obstacle area and continue to complete the coverage mission. With the help of pheromones, other satellites can also sense the obstacle area and avoid approaching this dangerous area, ensuring the overall safety and efficiency of the system.

[0077] Step S505: Dynamic coverage.

[0078] The system that controls the satellite cluster dynamically adjusts the task allocation of each satellite according to the real-time situation of regional coverage to ensure full coverage of the target area. The system ensures the collaboration between satellite clusters through distributed control based on local communication, and dynamically adjusts the task allocation using pheromone maps and coverage maps to minimize overlap and blank areas in the coverage area, as well as reduce repeated detection of obstacles.

[0079] This step dynamically evaluates the coverage status of the mission area and selects uncovered or insufficiently covered areas as priority targets; through the coordinated strategy of distributed control and pheromone concentration, the coverage task allocation of each satellite is adjusted so that the satellite gradually covers the remaining blank areas and reduces the repeated coverage rate; when the coverage task is completed or the preset coverage rate threshold is reached, the satellite trajectory adjustment is stopped.

[0080] Please refer to Figure 7 , Figure 7 FIG. 1 shows a schematic diagram of the hardware structure of a regional coverage device for realizing remote sensing tasks in collaboration with a star cluster provided in an embodiment of the present application. Figure 7 As shown, the device comprises: The coverage detection module 701 is used to obtain a first coverage map established by each satellite in a satellite cluster that performs a remote sensing mission on a given mission area through a coverage detector detecting the mission area.

[0081] The pheromone marking module 702 is used to release pheromones at the location of the obstacle to mark the obstacle when the satellite detects the obstacle, and generate a first pheromone map based on the location of the obstacle and the release time of the pheromone.

[0082] The local communication module 703 is used to receive the second coverage map and the second pheromone map sent by other satellites in the satellite cluster within the communication range.

[0083] The map updating module 704 is used to update the first coverage map based on the second coverage map to obtain a third coverage map, and to update the first pheromone map based on the second pheromone map to obtain a third pheromone map.

[0084] The detection area generation module 705 is used to determine the uncovered area of ​​the satellite cluster in combination with the third coverage map and the third pheromone map, and select a target area from the uncovered area as the next coverage area of ​​the satellite.

[0085] In some of the embodiments, the detection area generation module 705 is also used to determine the coverage status information of the satellite cluster for the mission area from the third coverage map; remove the areas indicated as covered by the coverage status information and the areas marked with pheromones from the mission area to obtain the uncovered areas of the satellite cluster.

[0086] In some of the embodiments, the detection area generation module 705 is further used to calculate the distance between the satellite and each uncovered area; and to use the uncovered area with the smallest distance as the next coverage area of ​​the satellite.

[0087] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0088] In addition, in combination with the method provided in the above embodiment, a storage medium may be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by a processor, any one of the above embodiments of the method for realizing the regional coverage of remote sensing tasks by the collaboration of a constellation of stars may be implemented.

[0089] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0090] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0091] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0092] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A method for realizing regional coverage of remote sensing tasks by satellite cluster collaboration, characterized in that: Applied to each satellite in a satellite cluster performing a remote sensing mission for a given mission area, the method comprises: Acquire a first coverage map established by the satellite detecting the mission area through a coverage detector; When the satellite detects an obstacle, pheromone is released at the location of the obstacle to mark the obstacle, and a first pheromone map is generated based on the location of the obstacle and the release time of the pheromone; Receiving a second coverage map and a second pheromone map sent by other satellites in the satellite cluster within the communication range, wherein the second coverage map is constructed by the other satellites based on the coverage of the mission area, and the second pheromone map is generated based on the location of the detected obstacle and the release time of the released pheromone; updating the first coverage map based on the second coverage map to obtain a third coverage map, and updating the first pheromone map based on the second pheromone map to obtain a third pheromone map; The third coverage map and the third pheromone map are combined to determine the uncovered area of ​​the satellite cluster, and a target area is selected from the uncovered area as the next coverage area of ​​the satellite.

2. The method for realizing regional coverage of remote sensing tasks by satellite cluster collaboration according to claim 1, characterized in that: Determining the uncovered area of ​​the satellite cluster in combination with the third coverage map and the third pheromone map includes: Determining coverage status information of the mission area by the satellite cluster from the third coverage map; The covered area indicated by the coverage status information and the area marked with pheromone are removed from the mission area to obtain the uncovered area of ​​the satellite cluster.

3. The method for realizing regional coverage of remote sensing tasks by satellite cluster collaboration according to claim 1, characterized in that: The selecting a target area from the uncovered area as a next coverage area of ​​the satellite comprises: Calculating the distance between the satellite and each of the uncovered areas; The uncovered area with the smallest distance is used as the next coverage area of ​​the satellite.

4. The method for realizing regional coverage of remote sensing tasks by satellite cluster collaboration according to claim 1, characterized in that: The method further comprises: Constructing a first obstacle map based on environmental information of the area where the satellite is located, which is acquired by the satellite through an obstacle detector; The generating a first pheromone map based on the position of the obstacle and the release time of the pheromone includes: The position of the obstacle is obtained from the first obstacle map, and the first obstacle is converted into the first pheromone map in combination with the release time of the pheromone.

5. The method for realizing regional coverage of remote sensing tasks by satellite cluster collaboration according to claim 4, characterized in that: The obstacle detector includes a distance sensor and an angle detector, and the environmental information is generated based on detection results of the distance sensor and the angle detector of the satellite, and the detection results include the position, size and shape of the obstacle.

6. The method for realizing regional coverage of remote sensing tasks by satellite cluster collaboration according to claim 4, characterized in that: The method further includes: receiving a second obstacle map sent by other satellites in the satellite cluster within the communication range; Updating the first obstacle map based on the second obstacle map to obtain a third obstacle map; The determining the uncovered area of ​​the satellite cluster by combining the third coverage map and the third pheromone map, and selecting a target area from the uncovered area as the next coverage area of ​​the satellite, comprises: According to the coverage area coordinates m in the third coverage map i (q x,y ), obstacle coordinates in the third obstacle map and the pheromone concentration pH in the third pheromone map i (q x,y ), combined with the following objective function , calculate the next coverage area of ​​the satellite : ； ； Among them, ph1 is the fixed value of pheromone concentration, i represents the i-th satellite, t is the current time, η is the first constant, λ i (q x,y ) is a function to measure the distance between the satellite and the next coverage area, λ i (q x,y ) is: ； Among them, σ1 is the second constant, σ2 is the third constant, q x,y is the coordinate of a grid in the information map; The next coverage area corresponding to the satellite at the next moment is represented by the maximum value of each objective function calculated by the satellite at the current moment: ； Among them, t+1 is the next moment, and Q is the maximum coordinate value of the information map.

7. The method for realizing regional coverage of remote sensing tasks through satellite cluster collaboration according to any one of claims 1 to 6, characterized in that: The method further comprises: For the purpose of avoiding the area marked with pheromones in the third pheromone map, generating a trajectory from the current position of the satellite at the current moment to the next coverage area; The satellite is controlled to move along the trajectory at the current moment.

8. The method for realizing regional coverage of remote sensing tasks through satellite cluster collaboration according to any one of claims 1 to 6, characterized in that: When an obstacle is detected, the method further includes: calculating a tangent position of the obstacle based on the position of the obstacle, and adjusting the trajectory of the satellite along the tangent position.

9. A regional coverage device for realizing remote sensing tasks by satellite cluster collaboration, characterized in that: The device comprises: A coverage detection module, used for acquiring a first coverage map established by each satellite in a satellite cluster that performs a remote sensing mission on a given mission area by detecting the mission area through a coverage detector; a pheromone marking module, configured to release pheromones at the location of the obstacle to mark the obstacle when the satellite detects the obstacle, and generate a first pheromone map based on the location of the obstacle and the release time of the pheromone; A local communication module, configured to receive a second coverage map and a second pheromone map sent by other satellites in the satellite cluster within a communication range, wherein the second coverage map is constructed by the other satellites based on the coverage of the mission area, and the second pheromone map is generated based on the location of the detected obstacle and the release time of the released pheromone; A map updating module, configured to update the first coverage map based on the second coverage map to obtain a third coverage map, and to update the first pheromone map based on the second pheromone map to obtain a third pheromone map; The detection area generation module is used to determine the uncovered area of ​​the satellite cluster in combination with the third coverage map and the third pheromone map, and select a target area from the uncovered area as the next coverage area of ​​the satellite.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the regional coverage method for realizing remote sensing tasks through collaboration of a star cluster as described in any one of claims 1 to 8 when running.

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