A modeling method for intersatellite collaborative situational mission based on observability and controllability analysis

Abstract

A method for modeling intersatellite collaborative situational tasks based on observability and controllability analysis includes: defining and clarifying intersatellite collaborative task planning constraints; processing user-updated intersatellite collaborative tasks and data transmission windows, determining intersatellite collaborative task periods and available data transmission playback periods, and obtaining information about intersatellite collaborative tasks and effective data transmission window constraints; defining intersatellite guidance tasks received within the intersatellite collaborative task period as primary situational tasks; and perceiving and classifying primary situational tasks based on their non-deterministic characteristics, outputting observable and controllable secondary situational tasks. The method proposed in this invention has strong versatility and can be applied to satellites with autonomous mission planning capabilities used in intersatellite guidance task scenarios.

Description

Technical Field

[0001] This invention relates to an inter-satellite collaborative situational awareness modeling method based on observability and controllability analysis, belonging to the field of satellite on-board autonomous mission planning technology. Background Technology

[0002] With the rapid development of space constellation technology, inter-satellite collaborative missions have become increasingly complex and diverse. To fully utilize constellation resources and enable multiple satellites within the constellation to collaborate efficiently, onboard autonomous mission planning has become an essential function for such satellites. Under the scheduling of onboard autonomous mission planning, after entering the inter-satellite collaborative mission period, the satellite receives inter-satellite guidance missions distributed in real time by the guidance satellite through the inter-satellite link, performs collaborative mission planning, and drives the entire satellite to execute exploration missions. This greatly improves the autonomy of the satellite and even the constellation while ensuring high timeliness.

[0003] Autonomous mission planning primarily involves, based on the satellite's mission requirements, the current status of its onboard subsystems, its operational mode, and payload characteristics, and under various constraints, autonomously selecting a series of ordered activities to form a planning scheme to accomplish a specific space mission. However, inter-satellite situational awareness missions are inherently unpredictable and require high timeliness; traditional mission planning systems handle this type of mission less frequently.

[0004] Therefore, it is necessary to establish a method to effectively process inter-satellite situational awareness missions, better meet the needs of complex exploration missions, improve mission execution efficiency and reliability, reduce execution risks, and facilitate the effective observation of multiple mission objectives. Summary of the Invention

[0005] The technical problem to be solved by this invention is to overcome the shortcomings of the existing technology and propose an inter-satellite cooperative situational mission modeling method based on observability and controllability analysis. This method effectively utilizes the state information of the control system, organically combines the target being detected with the control capability of the control system, better meets the requirements of complex detection missions, improves mission execution efficiency and reliability, reduces execution risks, and is conducive to the effective observation of multiple mission targets.

[0006] The objective of this invention is achieved through the following technical solutions:

[0007] An inter-satellite cooperative situational awareness modeling method based on observability and controllability analysis includes:

[0008] 1) Definition of Inter-Satellite Collaborative Mission Planning Constraints

[0009] 11) Constraint 1, Single-star task constraint S = {IMTask_t, Vad, SEA, Mvk, SWATH, SDC, FILE};

[0010] Where IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera swath width, SDC represents the storage capacity, and FILE represents the record file number.

[0011] 12) Constraint 2, Inter-satellite cooperative mission start time constraint CorpTs;

[0012] 13) Constraint 3, Inter-satellite collaborative mission duration constraint CorpTd;

[0013] 14) Constraint 4, Inter-satellite cooperative mission rolling frequency constraint f;

[0014] 14) Constraint 5, Cooperative data transmission window constraint DTWin;

[0015] 2) Inter-satellite collaboration task confirmation: Process the inter-satellite collaboration tasks and data transmission windows uploaded by users, determine the inter-satellite collaboration task time period and the available time period for data transmission playback, and obtain the constraint information of inter-satellite collaboration tasks and valid data transmission windows;

[0016] Furthermore, the inter-satellite cooperative mission constraint information mentioned in step 2) specifically includes:

[0017] CorpTs={ts1,ts2,...,ts i CorpTd = {dt1,dt2,...,dt} i}, f∈(f min ,f max );

[0018] The effective data transmission window constraint mentioned in step 2) is specifically as follows:

[0019] DTWin={Dtwin1[ts1,te1],Dtwin2[ts2,te2],...,Dtwin i [ts i ,te i ]}.

[0020] 3) Definition of Level 1 Situation Task: When a satellite enters the inter-satellite coordination task period described in step 2), it receives inter-satellite guidance tasks through the inter-satellite link, which is defined as a Level 1 situation task;

[0021] Furthermore, the first-level situational awareness task described in step 3) is characterized by uncertainty, while the task information itself is clear, and its quantity dynamically increases within an indefinite period, specifically as follows:

[0022] Basic information attributes: (δ,λ,h), t c , PRI, CONF;

[0023] Motion attribute: v;

[0024] Situational task type: Type;

[0025] Where (δ,λ,h) represents the geographic longitude, geographic latitude, and geographic altitude of the target point in the Earth-Fixed System, and t c The transient time of target observation is represented by PRI, target priority is represented by CONF, and target confidence is represented by v. The target velocity vector describes the dynamic attributes of the input task. Type is used as an index to match target features in the situation task database. It is a user-defined target attribute, including target type feature information, target coverage area information, etc.

[0026] 4) Based on the nondeterministic characteristics of the primary situational awareness task described in step 3), perform perception classification on it and output the secondary situational awareness task that can be observed and controlled;

[0027] 41) Perform observability analysis on the first-level situation task. The observability is defined as the ability to achieve full coverage of the target. The observability is determined by the processing methods of fixed point targets, quadrilateral area targets, strip targets and circular area targets respectively. Combined with the single-satellite task constraint S described in step 1), the observability of the input task is judged by the visibility analysis calculation, the effective task set is output, and the visible time interval of each task in each orbit is calculated.

[0028] Furthermore, the effective task set mentioned in step 41) is defined as: Task Vaild ={T1,T2,T3...T i};

[0029] The visible time interval mentioned in step 41) is located as TaskJudge, specifically as follows:

[0030] TaskJudge={SubTask1[t_os_f1,t_os_m1,t_os_h1],

[0031] SubTask2[t_os_f2,t_os_m2,t_os_h2],...,

[0032] SubTask i [t_os_f i ,t_os_m i ,t_os_h i ]};

[0033] Where t_os_f represents the earliest start time of the observation task, t_os_m represents the midpoint time of the observation task, and t_os_h represents the latest start time of the observation task.

[0034] 42) For the effective task set and the visible time interval of each task in each orbital orbit as described in step 41), combined with the single-star task constraint S described in step 1), the task controllability analysis process is calculated using the processing methods of fixed point targets, quadrilateral area targets, strip targets and circular area targets respectively. If the processing is successful, the task is controllable, and the classification of the first-level situation task is output and defined as the second-level situation task.

[0035] Furthermore, the controllability analysis process described in step 42) specifically includes:

[0036] (1) For fixed-point target tasks, calculate the pose of the target point using TaskJudge;

[0037] (2) Perform region segmentation processing for quadrilateral region tasks: Combine TaskJudge and SWATH to determine the segmentation direction and the number of segmentation strips, prioritize the segmentation direction with fewer segmentation strips, and calculate the pose of the strip endpoints;

[0038] (3) Perform splicing processing on spliced ​​target tasks: Combine TaskJudge and SWATH to determine the splicing group relationship of strip tasks, determine the strip push sweep direction and calculate the attitude of strip endpoints;

[0039] (4) Perform circular region segmentation processing on the circular region target task: Combine TaskJudge and SWATH to determine the segmentation direction and the number of segmentation strips, prioritize the segmentation direction with fewer segmentation strips, and calculate the pose of the strip endpoints.

[0040] (5) Confirm the processing results in (1-4), classify the situation task, i.e., the secondary situation task: T = {Ta, Tb, Tc, Td}, and update the Task. Vaild And TaskJudge.

[0041] 43) For the secondary situation task described in step 42), determine the corresponding processing strategy based on the task type characteristics.

[0042] Furthermore, the secondary situational awareness task described in step 43) is defined as:

[0043] (1) Central transient fixed state, T a ={δ,λ,h,PRI,CONF};

[0044] (2) Regional transient fixed state

[0045] T b ={δ1,λ1,h1,δ2,λ2,h2,δ3,λ3,h3,δ4,λ4,h4,PRI,CONF};

[0046] (3) Center-oriented motion state, T c ={δ s ,λ s ,h s ,δ e ,λ e ,h e ,t s ,t e ,v c ,PRI,CONF};

[0047] (4) Central non-directional motion state, T d ={δ,λ,h,t c ,v d ,PRI,CONF};

[0048] The priority of the task type is defined as: highest T d Second highest T c Second lowest T b minimum T a ;

[0049] Where δ1,λ1,h1~δ4,λ4,h4 represent the latitude, longitude, and altitude of the target vertex in the quadrilateral region; δ s ,λ s ,h s Indicates the target's initial position (latitude, longitude, and altitude), δ e ,λ e ,h e Indicates the latitude, longitude, and altitude of the target endpoint, t s Indicates the start time of the broken line sweep, t e Indicates the end time of the line sweep, v c v represents the velocity of a moving target in its directional motion. d This indicates the non-directional velocity of a moving target.

[0050] Furthermore, the processing strategy for the secondary situation task described in step 43) is as follows:

[0051] (1) The central transient fixed situation is observed as a stationary point target and processed as a fixed point target task;

[0052] (2) Regional transient fixed situation, the observed target transient is a stationary quadrilateral regional target, and is treated as a fixed regional target task;

[0053] (3) The central orientation motion situation, the observed target has a relatively fixed speed and direction, and the motion trajectory is processed into a broken line target task according to the coordinates of the target's starting and ending points;

[0054] (4) The central non-directional motion situation, the observed target has a relatively uncertain motion direction, and is processed into a circular area target task with the transient coordinates as the center and the motion distance as the radius according to the transient coordinates, the magnitude of the transient motion speed and the transient time of the observation.

[0055] An electronic device, comprising:

[0056] Processor; and

[0057] Memory is used to store computer program instructions;

[0058] When the computer program instructions are loaded and run by the processor, the processor executes the inter-satellite cooperative situational awareness modeling method based on observability and controllability analysis.

[0059] A computer program product stored on a non-transitory computer-readable medium, the computer program product comprising program code for implementing the inter-satellite cooperative situational awareness mission modeling method based on observability and controllability analysis.

[0060] Compared with the prior art, the present invention has the following advantages:

[0061] (1) This invention quantifies and classifies inter-satellite situational missions, and quantifies the first-level situational missions of inter-satellite guidance with uncertain descriptions into second-level situational missions.

[0062] (2) This invention confirms the situation task based on observability and controllability analysis. First, it calculates and obtains the observability analysis results of the situation task within the coordination period. Then, under the premise that the task is observable, it completes the controllability calculation of the secondary situation task based on the maneuverability of the control system, and finally forms four types of tasks. Attached Figure Description

[0063] Figure 1 This is a flowchart of the inter-satellite cooperative situational awareness and classification process of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0065] An inter-satellite cooperative situational awareness modeling method based on observability and controllability analysis includes: defining inter-satellite cooperative task planning constraints; processing user-uploaded inter-satellite cooperative tasks and data transmission windows, determining the inter-satellite cooperative task time period and the available data transmission playback time period, and obtaining inter-satellite cooperative task and effective data transmission window constraint information; defining inter-satellite guidance tasks received within the inter-satellite cooperative task time period as first-level situational awareness tasks; and based on the non-deterministic characteristics of first-level situational awareness tasks, performing perception classification and outputting observable and controllable second-level situational awareness tasks. The method proposed in this invention has strong versatility and can be applied to satellites with autonomous task planning capabilities in inter-satellite guidance task scenarios.

[0066] More specifically, it includes the following steps:

[0067] 1) Definition of Inter-Satellite Collaborative Mission Planning Constraints

[0068] 11) Constraint 1, Single-star task constraint S = {IMTask_t, Vad, SEA, Mvk, SWATH, SDC, FILE};

[0069] Where IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera swath width, SDC represents the storage capacity, and FILE represents the record file number.

[0070] 12) Constraint 2, Inter-satellite cooperative mission start time constraint CorpTs;

[0071] 13) Constraint 3, Inter-satellite collaborative mission duration constraint CorpTd;

[0072] 14) Constraint 4, Inter-satellite cooperative mission rolling frequency constraint f;

[0073] 14) Constraint 5, Cooperative data transmission window constraint DTWin;

[0074] 2) Inter-satellite collaboration task confirmation: Process the inter-satellite collaboration tasks and data transmission windows uploaded by users, determine the inter-satellite collaboration task time period and the available time period for data transmission playback, and obtain the constraint information of inter-satellite collaboration tasks and valid data transmission windows;

[0075] Furthermore, the inter-satellite cooperative mission constraint information mentioned in step 2) specifically includes:

[0076] CorpTs={ts1,ts2,...,ts i}, where ts1~ts i Indicates the start time of inter-satellite cooperation missions 1 to i;

[0077] CorpTd={dt1,dt2,...,dti}, where dt1~dt i Indicates the mission duration of inter-satellite cooperation missions 1 to i;

[0078] f∈(f min ,f max ), where f min and f max These represent the minimum and maximum values ​​of the inter-satellite cooperative mission rolling frequency, respectively.

[0079] The effective data transmission window constraint mentioned in step 2) is specifically as follows:

[0080] DTWin={Dtwin1[ts1,te1],Dtwin2[ts2,te2],...,Dtwin i [ts i ,te i ]}, where Dtwin1~Dtwin i This represents data transmission windows 1 to i, ts1 to ts. i and ts1~ts i These represent the start and end times of data transmission windows 1 through i, respectively.

[0081] 3) Definition of Level 1 Situation Task: When a satellite enters the inter-satellite coordination task period described in step 2), it receives inter-satellite guidance tasks through the inter-satellite link, which is defined as a Level 1 situation task;

[0082] Furthermore, the first-level situational awareness task described in step 3) is characterized by uncertainty, while the task information itself is clear, and its quantity dynamically increases within an indefinite period, specifically as follows:

[0083] Basic information attributes: (δ,λ,h), t c , PRI, CONF;

[0084] Motion attribute: v;

[0085] Situational task type: Type;

[0086] Where (δ,λ,h) represents the geographic longitude, geographic latitude, and geographic altitude of the target point in the Earth-Fixed System, and t c The transient time of target observation is represented by PRI, target priority is represented by CONF, and target confidence is represented by v. The target velocity vector describes the dynamic attributes of the input task. Type is used as an index to match target features in the situation task database. It is a user-defined target attribute, including target type feature information, target coverage area information, etc.

[0087] 4) Based on the nondeterministic characteristics of the primary situational awareness task described in step 3), perform perception classification on it and output the secondary situational awareness task that can be observed and controlled;

[0088] 41) Perform observability analysis on the first-level situation task. The observability is defined as the ability to achieve full coverage of the target. The observability is determined by the processing methods of fixed point targets, quadrilateral area targets, strip targets and circular area targets respectively. Combined with the single-satellite task constraint S described in step 1), the observability of the input task is judged by the visibility analysis calculation, the effective task set is output, and the visible time interval of each task in each orbit is calculated.

[0089] The visibility analysis calculation process is as follows:

[0090] (1) Calculate L i The binary search method is used to obtain the orbital interval where ur_s_ep is located. When the target interval is less than min, it is considered that the orbital interval where the target is located has been found.

[0091] (2) Obtain the orbital data r of point i in the bisection method using interpolation, and calculate...

[0092] (3) Calculation

[0093] (4) Calculation Va Li =arccos(L i );

[0094] (5) Determine if Va Li When the value is greater than Li_Vad_angle, setting Va to an invalid value is not allowed.

[0095] (6) Determine whether the visibility condition is satisfied when Va is less than Vad;

[0096] Among them, L i ur_s_ep represents the distance between the Earth-fixed system satellite unit vector and the target unit vector at the Earth's center, min represents the threshold parameter, Re represents the Earth's radius, r represents the distance at the Earth's center, a represents the semi-major axis of the orbit, and Va represents the imaging field of view.

[0097] Furthermore, the effective task set mentioned in step 41) is defined as:

[0098] Task V aild = {T1, T2, T3... Ti}, where T1 ~ T i This indicates a valid task determined through observability.

[0099] The visible time interval mentioned in step 41) is located as TaskJudge, specifically as follows:

[0100] TaskJudge={SubTask1[t_os_f1,t_os_m1,t_os_h1],

[0101] SubTask2[t_os_f2,t_os_m2,t_os_h2],...,

[0102] SubTask i [t_os_f i ,t_os_m i ,t_os_h i ]};

[0103] Among them, SubTask1~SubTask i Denotes observation subtasks 1 to i, t_os_f1 to t_os_f i This represents the earliest start time of observation subtasks 1 to i, t_os_m1 to t_os_m i This represents the midpoint time of observation subtasks 1 to i, t_os_h1 to t_os_h i The values ​​from 1 to i represent the latest start time of the sub-observation task.

[0104] 42) For the effective task set and the visible time interval of each task in each orbital orbit as described in step 41), combined with the single-star task constraint S described in step 1), the task controllability analysis process is calculated using the processing methods of fixed point targets, quadrilateral area targets, strip targets and circular area targets respectively. If the processing is successful, the task is controllable, and the classification of the first-level situation task is output and defined as the second-level situation task.

[0105] Furthermore, the controllability analysis process described in step 42) specifically includes:

[0106] (1) For fixed-point target tasks, calculate the pose of the target point using TaskJudge;

[0107] (2) Perform region segmentation processing for quadrilateral region tasks: Combine TaskJudge and SWATH to determine the segmentation direction and the number of segmentation strips, prioritize the segmentation direction with fewer segmentation strips, and calculate the pose of the strip endpoints;

[0108] (3) Perform splicing processing on spliced ​​target tasks: Combine TaskJudge and SWATH to determine the splicing group relationship of strip tasks, determine the strip push sweep direction and calculate the attitude of strip endpoints;

[0109] (4) Perform circular region segmentation processing on the circular region target task: Combine TaskJudge and SWATH to determine the segmentation direction and the number of segmentation strips, prioritize the segmentation direction with fewer segmentation strips, and calculate the pose of the strip endpoints.

[0110] (5) Confirm the processing results in (1-4), classify the situation task, i.e., the secondary situation task: T = {Ta, Tb, Tc, Td}, and update the Task. Vaild And TaskJudge.

[0111] 43) For the secondary situation task described in step 42), determine the corresponding processing strategy based on the task type characteristics.

[0112] Furthermore, the secondary situational awareness task described in step 43) is defined as:

[0113] (1) Central transient fixed state, T a ={δ,λ,h,PRI,CONF};

[0114] (2) Regional transient fixed state

[0115] T b ={δ1,λ1,h1,δ2,λ2,h2,δ3,λ3,h3,δ4,λ4,h4,PRI,CONF};

[0116] (3) Center-oriented motion state, T c ={δ s ,λ s ,h s ,δ e ,λ e ,h e ,t s ,t e ,v c ,PRI,CONF};

[0117] (4) Central non-directional motion state, T d ={δ,λ,h,t c ,v d ,PRI,CONF};

[0118] The priority of the task type is defined as: highest T d Second highest T c Second lowest T b minimum T a ;

[0119] Where δ1,λ1,h1~δ4,λ4,h4 represent the latitude, longitude, and altitude of the target vertex in the quadrilateral region; δ s ,λ s ,h s Indicates the target's initial position (latitude, longitude, and altitude), δ e ,λ e ,h e Indicates the latitude, longitude, and altitude of the target endpoint, ts Indicates the start time of the broken line sweep, t e Indicates the end time of the line sweep, v c v represents the velocity of a moving target in its directional motion. d This indicates the non-directional velocity of a moving target.

[0120] Furthermore, the processing strategy for the secondary situation task described in step 43) is as follows:

[0121] (1) The central transient fixed situation is observed as a stationary point target and processed as a fixed point target task;

[0122] (2) Regional transient fixed situation, the observed target transient is a stationary quadrilateral regional target, and is treated as a fixed regional target task;

[0123] (3) The central orientation motion situation, the observed target has a relatively fixed speed and direction, and the motion trajectory is processed into a broken line target task according to the coordinates of the target's starting and ending points;

[0124] (4) The central non-directional motion situation, the observed target has a relatively uncertain motion direction, and is processed into a circular area target task with the transient coordinates as the center and the motion distance as the radius according to the transient coordinates, the magnitude of the transient motion speed and the transient time of the observation.

[0125] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0126] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for modeling inter-satellite cooperative situational awareness missions based on observability and controllability analysis, characterized in that, include: S1. Define the constraints for inter-satellite collaborative mission planning, including: Constraint 1, Single-star task constraint S = {IMTask_t, Vad, SEA, Mvk, SWATH, SDC, FILE}; Where IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera swath width, SDC represents the storage capacity, and FILE represents the record file number. Constraint 2, Inter-satellite cooperative mission start time constraints CorpTs; Constraint 3: Inter-satellite collaborative mission duration constraint CorpTd; Constraint 4, Inter-satellite cooperative mission rolling frequency constraint f; Constraint 5, Cooperative data transmission window constraint DTWin; S2. Confirm Inter-Satellite Collaboration Task: Process the inter-satellite collaboration task and data transmission window bet by the user, determine the inter-satellite collaboration task time period and the available time period for data transmission playback, and obtain the inter-satellite collaboration task start time constraint CorpTs, inter-satellite collaboration task duration constraint CorpTd, inter-satellite collaboration task rolling frequency constraint f and collaboration data transmission window constraint DTWin. S3. When the satellite enters the inter-satellite collaborative mission period described in S2, it receives the inter-satellite guidance mission through the inter-satellite link, which is defined as a first-level situation mission. S4. Based on the single-satellite mission constraint S, perform observability analysis on the first-level situation mission, output the effective mission set, and calculate the visible time interval of each mission in each orbital orbit; then perform mission controllability analysis to output observable and controllable second-level situation missions; for the second-level situation missions, determine the corresponding processing strategy based on the mission type characteristics.

2. The inter-satellite cooperative situational awareness modeling method according to claim 1, characterized in that, The mission information for Level 1 situational awareness tasks is clearly defined and characterized by a dynamic increase in quantity over indefinite periods. Specifically: Basic information attributes: (δ,λ,h), t c , PRI, CONF; Motion attribute: v; Situational task type: Type; Where (δ,λ,h) represents the geographic longitude, geographic latitude, and geographic altitude of the target point in the Earth-Fixed System, and t c PRI represents the target observation transient time, CONF represents the target priority, and v represents the target motion velocity vector, describing the dynamic attributes of the input task. Type is used as an index to match target features in the situation task database, and is a user-defined target detection attribute, including target type feature information and target coverage area information.

3. The inter-satellite cooperative situational awareness modeling method according to claim 1, characterized in that, Observability analysis is performed on the first-level situational awareness mission. Observability is defined as the ability to achieve full coverage of the target. The analysis considers the processing methods for fixed point targets, quadrilateral area targets, strip targets, and circular area targets, combined with the single-satellite mission constraint S. The observability of the input mission is judged through visibility analysis calculation, and the effective mission set is output. The visibility time interval of each mission in each orbital orbit is also calculated.

4. The inter-satellite cooperative situational awareness modeling method according to claim 3, characterized in that, The visibility analysis calculation process is as follows: (1) Calculate L i The binary search method is used to obtain the orbital interval where ur_s_ep is located. When the target interval is less than min, it is considered that the orbital interval where the target is located has been found. (2) Obtain the orbital data r of point i in the bisection method using interpolation, and calculate... (3) Calculation (4) Calculation Va Li =arccos(L i ); (5) When Va Li When the value is greater than Li_Vad_angle, setting Va to an invalid value is not allowed. (6) When Va is less than Vad, the visibility condition is satisfied; Among them, L i ur_s_ep represents the distance between the Earth-fixed system satellite unit vector and the target unit vector at the Earth's center, min represents the threshold parameter, Re represents the Earth's radius, r represents the distance at the Earth's center, a represents the semi-major axis of the orbit, and Va represents the imaging field of view.

5. The inter-satellite cooperative situational awareness modeling method according to claim 3, characterized in that, The visible time interval is positioned as TaskJudge, specifically: TaskJudge={SubTask1[t_os_f1,t_os_m1,t_os_h1], SubTask2[t_os_f2,t_os_m2,t_os_h2],..., SubTask i [t_os_f i ,t_os_m i ,t_os_h i ]}; Among them, SubTask1~SubTask i Denotes observation subtasks 1 to i, t_os_f1 to t_os_f i This represents the earliest start time of observation subtasks 1 to i, t_os_m1 to t_os_m i This represents the midpoint time of observation subtasks 1 to i, t_os_h1 to t_os_h i The values ​​from 1 to i represent the latest start time of the sub-observation task.

6. The inter-satellite cooperative situational awareness modeling method according to claim 5, characterized in that, The controllability analysis process is as follows: (1) For fixed-point target tasks, calculate the pose of the target point using TaskJudge; (2) Perform region segmentation processing for quadrilateral region tasks: Combine TaskJudge and SWATH to determine the segmentation direction and the number of segmentation strips, select the segmentation direction with fewer segmentation strips, and calculate the pose of the strip endpoints; (3) Perform splicing processing on spliced ​​target tasks: Combine TaskJudge and SWATH to determine the splicing group relationship of strip tasks, determine the strip push sweep direction and calculate the attitude of strip endpoints; (4) Perform circular region segmentation on the circular target task: Combine TaskJudge and SWATH to determine the segmentation direction and the number of segmentation strips, select the segmentation direction with fewer segmentation strips, and calculate the pose of the strip endpoints; (5) Confirm the processing results in (1-4), classify the situation task, i.e., the secondary situation task: T = {Ta, Tb, Tc, Td}, and update the Task. Vaild And TaskJudge.

7. The inter-satellite cooperative situational awareness modeling method according to claim 1, characterized in that, The second-level situational awareness mission is defined as follows: (1) Central transient fixed state, T a ={δ,λ,h,PRI,CONF}; (2) Regional transient fixed state T b ={δ1,λ1,h1,δ2,λ2,h2,δ3,λ3,h3,δ4,λ4,h4,PRI,CONF}; (3) Center-oriented motion state, T c ={δ s ,λ s ,h s ,δ e ,λ e ,h e ,t s ,t e ,v c ,PRI,CONF}; (4) Central non-directional motion state, T d ={δ,λ,h,t c ,v d ,PRI,CONF}; The priority of the task type is defined as: highest T d Second highest T c Second lowest T b minimum T a ; Where δ1,λ1,h1~δ4,λ4,h4 represent the latitude, longitude, and altitude of the target vertex in the quadrilateral region; δ s ,λ s ,h s Indicates the target's initial position (latitude, longitude, and altitude), δ e ,λ e ,h e Indicates the latitude, longitude, and altitude of the target endpoint, t s Indicates the start time of the broken line sweep, t e Indicates the end time of the line sweep, v c v represents the velocity of a moving target in its directional motion. d This indicates the non-directional velocity of a moving target.

8. The inter-satellite cooperative situational awareness modeling method according to claim 1, characterized in that, The specific strategy for handling Level 2 situational awareness tasks is as follows: (1) The central transient fixed situation is observed as a stationary point target and processed as a fixed point target task; (2) Regional transient fixed situation, the observed target transient is a stationary quadrilateral regional target, and is treated as a fixed regional target task; (3) The central orientation motion situation, the observed target has a relatively fixed speed and direction, and the motion trajectory is processed into a broken line target task according to the coordinates of the target's starting and ending points; (4) The central non-directional motion situation, the observed target has a relatively uncertain motion direction, and is processed into a circular area target task with the transient coordinates as the center and the motion distance as the radius according to the transient coordinates, the magnitude of the transient motion speed and the transient time of the observation.

9. An electronic device, comprising: processor; as well as Memory is used to store computer program instructions; When the computer program instructions are loaded and run by the processor, the processor performs the method as described in any one of claims 1 to 8.

10. A computer program product stored on a non-transitory computer-readable medium, the computer program product comprising program code for performing the method as described in any one of claims 1 to 8.

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