A method and device for realizing regional coverage of remote sensing tasks by satellite cluster collaboration

Abstract

The present invention discloses a method and device for regional coverage of a satellite cluster to achieve remote sensing tasks in collaboration, and relates to the field of satellite remote sensing technology. In the method, after the satellite detects the mission area, it establishes a first coverage map, and when an obstacle is detected, it releases pheromones at the location of the obstacle to mark the obstacle, and then generates a first pheromone map 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 by the communication to obtain a third coverage map and a third pheromone map. The third coverage map and the third pheromone map are then combined to determine the uncovered area of ​​the satellite cluster, and the target area is selected from the uncovered area as the next coverage area of ​​the satellite, so as to solve the technical problems of low coverage rate and high repeated coverage rate caused by the inability to efficiently avoid unknown obstacles and uncovered areas in the current multi-satellite collaborative coverage technology.

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 achieving regional coverage of remote sensing tasks through collaborative satellite cluster collaboration. Background Art

[0002] Low-Earth orbit remote sensing missions are used in a variety of fields, including environmental monitoring, disaster relief, and agricultural surveillance. These missions often require efficient and comprehensive coverage of the target area to obtain accurate data. Traditional coverage models using a single satellite or a small number of satellites struggle to achieve efficient coverage due to viewing angle and position limitations. Therefore, multi-satellite coordinated coverage is becoming a new technological trend.

[0003] Currently, multi-satellite collaborative coverage technology leverages the collective power of multiple satellites to provide distributed coverage of the mission area. Compared to a single satellite, a multi-satellite system can monitor a wider area in real time through multiple satellites distributed across different locations, improving coverage efficiency and mission response speed. Multi-satellite collaborative systems are typically based on the control theory of multi-agent systems. Each satellite acts as an independent agent, capable of independent movement, detection, and communication based on mission requirements. These agents achieve collective collaboration through local interactions, thereby improving overall mission efficiency and reliability.

[0004] However, when executing these missions, complex environmental factors such as unknown obstacles, uncovered areas, and classified areas often arise, significantly increasing the difficulty of achieving coverage. A key challenge facing multi-satellite collaborative systems is how to achieve effective coordination among the various agents without a global controller. This is especially true when unknown obstacles or uncovered areas exist in the target area. How to efficiently avoid these obstacles or uncovered areas while ensuring the integrity of the constellation's coverage becomes a key challenge. Summary of the Invention

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

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for achieving 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. The method includes:

[0008] Acquire a first coverage map established by the satellite detecting the mission area through a coverage detector;

[0009] When the satellite detects an obstacle, it releases pheromones at the location of the obstacle to mark the obstacle, and generates a first pheromone map based on the location of the obstacle and the release time of the pheromone;

[0010] receiving, within the communication range, a second coverage map and a second pheromone map transmitted by other satellites in the satellite cluster, wherein the second coverage map is constructed by the other satellites based on coverage of the mission area, and the second pheromone map is generated based on the locations of detected obstacles and the release time of released pheromones;

[0011] updating the first coverage map based on the second coverage map to obtain the coverage map, and updating the first pheromone map based on the second pheromone map to obtain a third pheromone map;

[0012] The third coverage map and the third pheromone map are combined to determine uncovered areas of the satellite cluster, and a target area is selected from the uncovered areas as the next coverage area of ​​the satellite.

[0013] In conjunction with the first aspect, in a possible design, determining the uncovered area of ​​the satellite cluster in combination with the third coverage map and the third pheromone map includes:

[0014] Determining coverage status information of the satellite cluster over the mission area from the third coverage map;

[0015] The covered area indicated by the coverage status information and the area marked with the pheromone are removed from the mission area to obtain the uncovered area of ​​the satellite cluster.

[0016] In conjunction with the first aspect, in a possible design manner, selecting a target area from the uncovered area as the next coverage area of ​​the satellite includes:

[0017] Calculating the distance between the satellite and each of the uncovered areas;

[0018] The uncovered area with the smallest distance is used as the next coverage area of ​​the satellite.

[0019] In combination with the first aspect, in one possible design, the method further includes:

[0020] Constructing a first obstacle map based on environmental information of the area where the satellite is located, obtained by the satellite through an obstacle detector;

[0021] The generating of the first pheromone map based on the position of the obstacle and the release time of the pheromone includes:

[0022] 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.

[0023] In combination with the first aspect, in one possible design, 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.

[0024] In combination with the first aspect, in a possible design, the method further includes: receiving a second obstacle map sent by other satellites in the satellite cluster within a communication range;

[0025] Updating the first obstacle map based on the second obstacle map to obtain a third obstacle map;

[0026] 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:

[0027] According to the coverage area coordinate 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 :

[0028] ;

[0029] ;

[0030] 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 that measures the distance between the satellite and the next coverage area, λ i (q x,y ) is:

[0031] ;

[0032] 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;

[0033] 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:

[0034] ;

[0035] Wherein, t+1 is the next moment, and Q is the maximum coordinate value of the information map.

[0036] In combination with the first aspect, in one possible design, the method further includes:

[0037] generating a trajectory from the current position of the satellite at a current moment to the next coverage area for the purpose of avoiding the area marked by the pheromone in the third pheromone map;

[0038] The satellite is controlled to move along the trajectory at the current moment.

[0039] 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.

[0040] In a second aspect, an embodiment of the present application provides a regional coverage device for achieving remote sensing tasks through collaboration of a constellation of satellites, the device comprising:

[0041] A coverage detection module 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 by detecting the mission area through a coverage detector;

[0042] a pheromone marking module, configured to release pheromones at the location of an 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;

[0043] a local communication module, configured to receive, within a communication range, a second coverage map and a second pheromone map transmitted by other satellites in the satellite cluster, wherein the second coverage map is constructed by the other satellites based on coverage of the mission area, and the second pheromone map is generated based on the locations of detected obstacles and the release time of released pheromones;

[0044] 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;

[0045] The detection area generating module is used to determine the uncovered area of ​​the satellite cluster by combining 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.

[0046] In a third aspect, an embodiment of the present application provides a storage medium storing a computer program, wherein the computer program is configured to execute the method of the first aspect and its possible design methods when running.

[0047] Compared to the prior art, the embodiments of the present application provide a method and apparatus for achieving regional coverage of remote sensing missions through satellite cluster collaboration. This method utilizes a satellite cluster to perform a remote sensing mission on a given mission area. For any satellite in the satellite cluster, after detecting the mission area, it establishes a first coverage map. Upon detecting an obstacle, it releases pheromones at the obstacle's location to mark the obstacle. A first pheromone map is then generated based on the obstacle's location and the pheromone release time. Within its communication range, the satellite can establish communication with other satellites and receive a second coverage map and a second pheromone map sent by the other satellites. The satellite then updates the first coverage map and the first pheromone map based on the maps obtained through communication, obtaining a third coverage map and a third pheromone map. The third coverage map and the third pheromone map are then combined to determine uncovered areas within the satellite cluster. A target area is selected from the uncovered areas as the satellite's next coverage area, ensuring that the next coverage area is neither covered by other satellites nor an obstacle area. This results in a more efficient execution of the remote sensing mission by the satellite cluster as a whole, with a lower coverage duplication rate for each satellite, achieving efficient regional coverage in complex environments.

[0048] The 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

[0049] 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:

[0050] Figure 1 A schematic diagram of a method for achieving regional coverage of remote sensing tasks by collaborative satellite clusters provided in an embodiment of the present application is shown;

[0051] Figure 2 A hardware structure block diagram of an electronic device provided in an embodiment of the present application is shown;

[0052] Figure 3 A flowchart of a method for achieving regional coverage of remote sensing tasks through collaboration of a constellation of satellites is shown in an embodiment of the present application;

[0053] Figure 4 A communication diagram of a satellite cluster provided in an embodiment of the present application is shown;

[0054] Figure 5 A flowchart of another method for achieving regional coverage of remote sensing tasks through collaboration of a constellation of satellites provided in an embodiment of the present application is shown;

[0055] Figure 6 A schematic diagram of a satellite detecting obstacles provided by an embodiment of the present application is shown;

[0056] Figure 7 A schematic diagram of the hardware structure of a regional coverage device for realizing remote sensing tasks through collaboration of a constellation of stars provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0057] 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.

[0058] Unless otherwise defined, technical or scientific terms used in this application shall have the ordinary meanings as understood by persons of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," "these," and similar expressions in this application do not denote limitations on quantity and may be singular or plural. The terms "comprise," "include," "have," and any variations thereof, as used in this application, are intended to cover non-exclusive inclusions. For example, a process, method, 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 other steps or modules (units) inherent to the process, method, product, or device. The terms "connected," "connected," "coupled," and similar expressions used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. As used in this application, "plurality" means two or more. "And / or" describes an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" may mean: A exists alone; A and B exist simultaneously; or B exists alone. Generally, the character " / " indicates that the objects in the preceding and following relationship are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0059] In a multi-satellite collaborative system, since each satellite operates independently, optimal collective coverage must be achieved while maintaining its autonomy. To this end, distributed control technology has become one of the core technologies in this field. Distributed control systems typically consist of multiple relatively independent control units, which achieve overall collaboration and target mission completion through local information exchange. Each satellite relies solely on local communication, not a global controller, enabling rapid distribution within the target area. In recent years, research on distributed control has been widely applied in multi-agent systems, ranging from robot swarms to drone formations to satellite swarms, demonstrating high adaptability and robustness. Distributed control algorithms enable satellites to independently calculate optimal motion paths while maintaining a safe distance from each other, thereby reducing the risk of mission overlap and collisions. Furthermore, distributed control can improve the system's real-time performance and coverage efficiency by adjusting the frequency and type of information shared between agents.

[0060] In order to achieve higher coverage, especially efficient area coverage in complex environments, the embodiment of the present application first has each satellite detect and establish its own local map, and use the pheromone mechanism to record the location of obstacles during the detection process, and spread the pheromone and local map to the surrounding area 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 coverage efficiency, reducing coverage blind spots and repeated paths, improving the system's adaptability and scalability, ensuring the continuity and stability of remote sensing missions, and being suitable for low-Earth orbit remote sensing missions in various fields.

[0061] The pheromone mechanism involved in the embodiments of this 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 embodiments of this application provide a low-computational complexity solution for distributed communication and collaboration between intelligent agents based on the pheromone mechanism. Specifically, in multi-satellite collaborative coverage missions, the pheromone mechanism can help satellites mark the location of obstacles and the status of coverage areas. Whenever a satellite detects an obstacle, it releases a pheromone mark on an information map. The concentration of the pheromone decays or diffuses over time, allowing other satellites to perceive the obstacle's location through local communication. This approach significantly improves the efficiency of satellite collaborative coverage and reduces the probability of repeated detection and coverage overlap. In the embodiments of this application, when a satellite detects an obstacle during a coverage mission, the pheromone mechanism enables the satellite to quickly record and share obstacle information, allowing other satellites to efficiently avoid it. In addition, a coverage map is generated based on the satellite's coverage status for each area. Sharing the coverage map allows satellites to disperse while moving along uncovered areas and covering them, effectively avoiding coverage blind spots and mission overlap.

[0062] Please refer to Figure 1 , Figure 1 A schematic diagram of a method for realizing regional coverage of remote sensing tasks by using a constellation of satellites in collaboration is shown in the embodiment of the present application. Figure 1 As shown, each satellite corresponds to a coverage area and performs detection tasks 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.

[0063] This method can be applied to environmental monitoring, disaster relief, agricultural monitoring, and other fields. The following example illustrates environmental monitoring. After each satellite in a satellite constellation has moved to a target area and completed its coverage, the constellation comprehensively monitors environmental changes. For example, observing the state of the atmosphere, clouds, and oceans through the constellation can help predict important data such as climate change, temperature fluctuations, humidity, and air pressure. Another example is that a satellite constellation can monitor large-scale forest fires in real time, providing information such as the location and intensity of the fire, supporting firefighting operations and post-disaster assessments. Another example is that a satellite constellation can monitor water, air, and soil pollution, promptly identifying pollution sources and assisting environmental protection departments in remediation efforts.

[0064] The method can be executed in an electronic device, a computer or a similar test system. For example, Figure 2 FIG1 shows a hardware structure block diagram of an electronic device provided in an embodiment of the present application. Figure 2As shown, the electronic device may include one or more ( Figure 2 The electronic device may further include a transmission device 206 and an input / output device 208 for communication functions. It will 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 than shown, or with Figure 2 Different configurations shown.

[0065] Memory 204 can be used to store computer programs, such as software programs and modules of application software. Processor 202 executes the computer programs stored in memory 204 to execute various functional applications and data processing, thereby implementing the above-mentioned method. Memory 204 can be used to store data, such as coverage maps, pheromone maps, and obstacle maps. Memory 204 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 204 may further include memory remotely located from processor 202, and such remote memory may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0066] Transmission device 206 is used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the electronic device's communications provider. In one embodiment, transmission device 206 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 206 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0067] Please refer to Figure 3 , Figure 3 A flowchart of a method for realizing regional coverage of remote sensing tasks through collaboration of a constellation of satellites is shown in an embodiment of the present application. Figure 3 As shown, the method includes steps S301 to S305.

[0068] Step S301: Acquire a first coverage map established by a satellite through a coverage detector detecting a mission area.

[0069] Among them, the coverage detector refers to the sensor, camera or other measuring equipment on the satellite, and the satellite collects images or other types of data of the ground or atmosphere through the coverage detector. Among them, the satellite is one of the satellites in the satellite cluster that performs 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 has covered 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, with 1 indicating covered and 0 indicating uncovered.

[0070] 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 the area covered by other satellites.

[0071] To ensure coverage, the satellite prioritizes uncovered or insufficiently covered areas as priority targets and covers them. However, planning a satellite's trajectory based solely on the first coverage map established by the satellite can lead to overlapping trajectories and coverage with other satellites. Therefore, after step S301, step S303 enables the satellite to exchange information with other satellites.

[0072] Step S302: When the satellite detects an obstacle, it releases pheromones at the location of the obstacle to mark the obstacle, and generates a first pheromone map based on the location of the obstacle and the release time of the pheromone.

[0073] When performing exploration missions, satellites often encounter complex environmental factors, such as unknown obstacles, unreachable areas, and classified areas. These factors significantly increase the difficulty of coverage missions. The obstacles in this step refer to targets that the satellite needs to orbit, including unknown obstacles, unreachable areas, and classified areas.

[0074] Specifically, pheromones have the characteristics of diffusion and evaporation, meaning their concentration decreases over time. The first pheromone map indicates the location of each obstacle and the concentration of each pheromone. Since the concentration of a pheromone can be determined by the release time of the pheromone, the first pheromone map also indicates the location of each obstacle and the release time of each pheromone. By combining the release time and the current moment, the pheromone concentration can be calculated.

[0075] In some embodiments, the satellite also constructs a first obstacle map, which indicates the environmental information detected by the satellite. Specifically, the satellite uses obstacle detectors to obtain environmental information for each area it passes through and constructs the first obstacle map based on this environmental information. It will be appreciated that each time the satellite passes through an area, the detected environmental information is annotated in the first obstacle map, enabling real-time updates of the first obstacle map.

[0076] Obstacle detectors include range sensors and angle detectors. Environmental information is generated based on the detection results of the satellite's range and angle sensors, which include the location, size, and shape of obstacles. Based on these detection results, the satellite can map obstacles on a first obstacle map to identify them. The purpose of constructing the first obstacle map is to, on the one hand, enable the generation of a first pheromone map based on the first obstacle map, and, on the other hand, to provide a more intuitive display of obstacles.

[0077] The following describes how the satellite generates the first pheromone map based on the first obstacle map. The satellite obtains the locations of obstacles from the first obstacle map and records the release times of pheromones. Combining these information, the first pheromone map generates the first pheromone map. In addition to marking the locations of obstacles, the first pheromone map also identifies the time each time the satellite encounters an obstacle. A higher pheromone concentration significantly impacts the satellite's trajectory, while a lower pheromone concentration significantly impacts the satellite's trajectory.

[0078] In this step, when a satellite detects an obstacle, it releases pheromones and marks them on 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.

[0079] Step S303: Receive a second coverage map and a second pheromone map sent by other satellites in the satellite cluster within the communication range.

[0080] Satellites in a satellite cluster can communicate locally with each other. This means that as long as the distance between two satellites is within communication range, they can communicate. For example, two satellites can establish a radio link to transmit data, commands, or information, such as a second coverage map and a second pheromone map. Alternatively, satellites can use laser beams (i.e., light waves) to transmit data between them. This describes point-to-point communication between satellites. In other embodiments, other satellites can broadcast messages, which satellites receive and extract the second coverage map and second pheromone map.

[0081] 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 pheromones.

[0082] 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 their maps based on the received information and replan their routes.

[0083] When the satellite constructs the first obstacle map, the satellite may also receive a second obstacle map sent by other satellites through local communication.

[0084] 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.

[0085] This step uses local communication to allow the satellite to obtain information about the mission area and obstacle detection by other satellites, and updates this information to the first coverage map and first pheromone map generated by the satellite to regenerate the third coverage map and third pheromone map. This prevents the satellite from repeatedly detecting the same obstacle and covering the same area in subsequent missions.

[0086] Please refer to Figure 4 , Figure 4 FIG. 1 shows a communication diagram of a satellite cluster provided by an embodiment of the present application. Figure 4 As shown, the first satellite constructs an information map, including a coverage map generated through coverage detection, a pheromone map generated through obstacle detection, and an obstacle map. The second, third, and fourth satellites construct their own information maps by detecting the environment. The second, third, and fourth satellites communicate with each other to update their data. Within their communication range, the second, third, and fourth satellites communicate locally with the first satellite, and the first satellite updates its information map based on the received information.

[0087] Step S305: Determine uncovered areas of the satellite cluster by combining the third coverage map and the third pheromone map, and select a target area from the uncovered areas as the next coverage area of ​​the satellite.

[0088] 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.

[0089] By selecting target areas from uncovered areas for coverage, the satellite does not have to repeatedly detect obstacles already detected by other satellites, nor does it have to repeat the areas already covered by other satellites. The coverage efficiency and coverage rate of the mission area will be higher.

[0090] In some 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.

[0091] In some 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.

[0092] In this embodiment, the shortest satellite motion path is used as a criterion for selecting the next satellite coverage area, and a target area is selected from the uncovered area.

[0093] The uncovered area can be represented by coordinates on the map, and the satellite's current position can also be represented by coordinates. The uncovered area and the satellite's current area are based on the same coordinate system. This way, when comparing the distance between the dangerous and uncovered areas, only the distance between the two coordinates needs to be compared, which improves the simplicity of calculation. More specifically, the map can be a third pheromone map, which can be represented as a grid. In addition to marking the location of obstacles and the release time of pheromones, the third pheromone map can also display each area grid and the coverage status of each area grid. Alternatively, the map can be a coverage map, which displays each area grid and the coverage status of each area grid. By combining the coverage map and the pheromone map, the satellite can determine the uncovered area.

[0094] In steps S301 to S305 above, an embodiment of the present application provides a method for achieving regional coverage of a remote sensing mission through satellite cluster collaboration. A remote sensing mission is performed on a given mission area by a satellite cluster. For any satellite in the satellite cluster, after detecting the mission area, a first coverage map is established. When an obstacle is detected, pheromones are released at the location 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. Within the communication range, the satellite can establish communication with other satellites and receive a second coverage map and a second pheromone map sent by other satellites. The satellite then updates the first coverage map and the first pheromone map based on the maps obtained through communication to obtain a third coverage map and a third pheromone map. The third coverage map and the third pheromone map are then combined to determine the uncovered area of ​​the satellite cluster. A target area is selected from the uncovered area as the next coverage area of ​​the satellite, so that the next coverage area is neither an area covered by other satellites nor an obstacle area. This allows the satellite cluster to perform the remote sensing mission more efficiently as a whole, and the coverage repetition rate of each satellite is lower, thereby achieving efficient regional coverage in complex environments.

[0095] In some embodiments, when a satellite detects an obstacle, it will perform obstacle avoidance. Specifically, when an obstacle is detected, the satellite calculates the tangent position of the obstacle based on the position of the obstacle and adjusts the satellite's trajectory along the tangent position.

[0096] When a satellite communicates with other satellites and obtains the location of obstacles detected by other satellites, it will also bypass the obstacles, avoiding repeated detection of obstacles and ensuring mission continuity. Specifically, when planning the satellite's trajectory, a trajectory is generated for the satellite from its current location to the next coverage area, with the goal of avoiding the areas marked by pheromones in the third pheromone map. It can be understood that because this trajectory avoids the locations of obstacles detected by other satellites, it effectively avoids repeated detection of obstacles by the satellite and improves the efficiency of the satellite's movement to the next coverage area.

[0097] 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 collaboration of satellite clusters provided in 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.

[0098] Step S501: Environmental information modeling.

[0099] Each satellite uses obstacle detectors to perceive the environmental information of its area in real time, including the location, size and shape of obstacles, and constructs this information into an obstacle map.

[0100] 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.

[0101] Step S502: Pheromone transmission.

[0102] 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 the pheromones and determine the location of these obstacles.

[0103] Specifically, after a satellite detects an obstacle, it first generates an obstacle map and then converts the obstacle map into a pheromone map. The obstacle map, pheromone map, and coverage map are then shared with other satellites through local communication.

[0104] 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 the obstacle, the pheromone concentration will gradually decay over time t, refer to expression (1):

[0105] ;

[0106] 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 pheromone ph i (q x,y ) to nearby satellites and receives pheromones from neighboring satellites, allowing the entire constellation to form a consistent understanding of the environment. At the same time, the pheromone concentration decays over time to dynamically reflect environmental changes and ensure the real-time performance of the system.

[0107] Step S503: Intelligent collaborative coverage.

[0108] Each satellite uses the coverage map, obstacle map, and pheromone map to work together and assign their own coverage tasks based on the anti-dispersion algorithm to minimize overlapping 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 follows: (2) to (5).

[0109] According to the coverage area coordinate 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 :

[0110] ;

[0111] ;

[0112] 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 that measures the distance between the satellite and the next coverage area, λ i (q x,y ) is:

[0113] ;

[0114] Among them, σ1 is the second constant, σ2 is the third constant, q x,y It 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.

[0115] 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:

[0116] ;

[0117] Among them, t+1 is the next moment, and Q is the maximum coordinate value of the information map.

[0118] In expression (5), satellite i will Select Maximize location.

[0119] During this step, each satellite exchanges coverage and obstacle information in real time through local communication. The next coverage area is determined based on an objective function. This objective function calculates the optimal next coverage area based on time interval, location distance, and pheromone concentration to ensure efficient completion of the coverage mission. The coverage path is dynamically adjusted to maximize coverage efficiency. Coordinated control of each satellite enables each to make autonomous decisions based on local information to achieve the overall coverage goal of the constellation.

[0120] Step S504: obstacle avoidance and trajectory replanning.

[0121] 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 beams, it calculates a detour path based on the boundary tangent to achieve obstacle avoidance.

[0122] The Bug algorithm can be expressed by expression (6):

[0123] Assume that 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.

[0124] ;

[0125] Among them, matrix A is used to transform the position vector of the obstacle Change to tangent position , thus ensuring the satellite's safe obstacle avoidance. Whenever a satellite approaches an obstacle, it replans its path to circumvent the obstacle and continue its coverage mission. Aided by pheromones, other satellites can also sense the obstacle and avoid approaching this dangerous area, ensuring the overall safety and efficiency of the system.

[0126] Step S505: Dynamic coverage.

[0127] The system controlling the satellite cluster dynamically adjusts the task allocation of each satellite based on the real-time coverage situation, ensuring full coverage of the target area. The system also ensures coordination between satellites through distributed control based on local communication. It also utilizes pheromone maps and coverage maps to dynamically adjust task allocation, minimizing overlap and gaps in coverage areas, as well as reducing duplicate detection of obstacles.

[0128] This step dynamically evaluates the coverage status of the mission area and selects uncovered or insufficiently covered areas as priority targets. Through a 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.

[0129] Please refer to Figure 7 , Figure 7 FIG. 1 shows a hardware structure diagram of a regional coverage device for realizing remote sensing tasks in collaboration with a constellation of satellites provided in an embodiment of the present application. Figure 7 As shown, the device includes:

[0130] 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 in a given mission area by detecting the mission area through a coverage detector.

[0131] The pheromone marking module 702 is configured to release pheromones at the location of an 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.

[0132] The local communication module 703 is configured to receive the second coverage map and the second pheromone map sent by other satellites in the satellite cluster within the communication range.

[0133] The map updating module 704 is 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.

[0134] The detection area generating module 705 is configured to determine uncovered areas of the satellite cluster by combining the third coverage map and the third pheromone map, and select a target area from the uncovered areas as the next coverage area of ​​the satellite.

[0135] In some embodiments, the detection area generation module 705 is further 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.

[0136] In some embodiments, the detection area generation module 705 is further configured to calculate the distance between the satellite and each uncovered area; and to select the uncovered area with the smallest distance as the next coverage area of ​​the satellite.

[0137] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0138] In addition, in conjunction with the methods provided in the above embodiments, a storage medium may also be provided in this embodiment to implement the method. The storage medium stores a computer program; when executed by a processor, the computer program implements any of the methods for achieving regional coverage of remote sensing tasks through satellite cluster collaboration in the above embodiments.

[0139] It should be understood that the specific embodiments described herein are only used to explain this application and are not used 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 scope of protection of this application.

[0140] Obviously, the accompanying drawings are merely examples or embodiments of the present application. A person skilled in the art can also apply the present application to other similar situations based on these drawings without inventive effort. Furthermore, it is understandable that, although the work involved in this development process may be complex and lengthy, certain design, manufacturing, or production changes based on the technical content disclosed in this application are merely routine technical means for a person skilled in the art and should not be considered to constitute a deficiency in the disclosure of the present application.

[0141] The term "embodiment" as used in this application refers to specific features, structures, or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily mean that the embodiment is the same, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is understood, either explicitly or implicitly, by those skilled in the art that the embodiments described in this application can be combined with other embodiments when there is no conflict.

[0142] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended 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; Determine an uncovered area of ​​the satellite cluster by combining the third coverage map and the third pheromone map, and select a target area from the uncovered area as a next coverage area of ​​the satellite; 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.

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 : ； ； Where ph1 is the fixed value of pheromone concentration, i represents the ith satellite, t is the current time, η is the first constant, ph(q x,y , t) is the pheromone concentration that gradually decays with time t after the satellite detects the obstacle, 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, p i is the detection distance of the obstacle detector; 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: 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.

8. 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; a detection area generating module, configured to determine an 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 a next coverage area of ​​the satellite; 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.

9. 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 7 when running.

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