Autonomous task planning system for optical agile remote sensing satellite task

Abstract

The invention provides an autonomous task planning system for an optical agile remote sensing satellite task, and the system comprises a conventional task planning module which is used for determining a visible time window of a conventional observation target according to the conventional observation target information, the satellite orbit information, and the pointing range of a satellite optical axis; performing conventional task planning according to the visible time window of the conventional observation target to obtain a conventional task sequence; the standby working module is used for executing tasks in sequence according to a conventional task sequence and acquiring execution states of subsystems and single machines on the satellite; the emergency task planning module is used for re-planning a first task which is not executed in the conventional task sequence to obtain an updated task sequence when the execution state is abnormal or temporary target injection is received; and the standby working module is also used for executing tasks in sequence according to the updated task sequence and acquiring execution states of each subsystem and each single machine on the satellite. According to the scheme, the control complexity of a satellite ground system is reduced, and the autonomous task planning capability of the optical agile remote sensing satellite is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous mission planning of spacecraft, and in particular to an autonomous mission planning system for optical agile remote sensing satellite missions. Background Art

[0002] Autonomous mission planning technology serves satellites that have extremely high requirements for autonomy, real-time, accuracy, and convenience in mission planning, such as Earth observation remote sensing satellites, space in-orbit service spacecraft, and deep space exploration patrol vehicles. Traditional satellite control is completed by the ground system to complete the task arrangement, generate instructions, and then send them to the satellite for execution. However, due to the limitations of the measurement and control window and the ground system, the satellite's autonomous mission planning is poor, the task adjustment is difficult, and it is difficult to adapt to the satellite real-time control mode that requires rapid response.

[0003] Traditional optical remote sensing satellites image non-subsatellite targets through side-swing attitude maneuvers, and the imaging strip is parallel to the subsatellite point trajectory. For optical agile remote sensing satellites with high imaging spatial resolution and wide observation range, the satellite attitude maneuverability is strong and has the ability to adjust attitude in any direction. Therefore, compared with the mission planning of traditional satellites, their mission planning is mainly different in the following aspects: (1) The time when the camera starts imaging the target is not a fixed time but can be selected within a time range; (2) The imaging direction of the target can be set arbitrarily in theory, rather than a fixed option of being parallel to the subsatellite point trajectory; (3) The number of times the target is imaged in a single pass can be 1 or multiple times. Therefore, while optical agile remote sensing satellites significantly improve satellite operation efficiency, their mission planning has also become more complex. The solution search space of satellite mission sequences is orders of magnitude higher than that of traditional satellites, which poses a great challenge to the implementation of autonomous mission planning systems on board. Therefore, it is urgent to provide an autonomous mission planning system for optical agile remote sensing satellite missions. Summary of the invention

[0004] The present invention provides an autonomous mission planning system for optical agile remote sensing satellite missions, which simplifies the control complexity of the satellite ground system, improves the optical agile remote sensing satellite's ability to quickly respond to sudden state changes, and improves the ability of autonomous mission planning on board.

[0005] In a first aspect, the present invention provides an autonomous mission planning device for an optical agile remote sensing satellite mission, comprising:

[0006] A conventional task planning module is used to determine the visible time window of the conventional observation target according to the conventional observation target information, satellite orbit information and the pointing range of the satellite optical axis; and to perform conventional task planning according to the visible time window of the conventional observation target to obtain a conventional task sequence;

[0007] A standby working module, used to execute tasks in sequence according to the conventional task sequence and obtain the execution status of each subsystem and each single machine on the satellite;

[0008] An emergency task planning module, used for re-planning the unexecuted first task in the conventional task sequence to obtain an updated task sequence when the execution state is abnormal or a temporary target injection is received;

[0009] The standby working module is also used to execute tasks in sequence according to the update task sequence and obtain the execution status of each subsystem and each single machine on the satellite.

[0010] In a second aspect, the present invention further provides an autonomous mission planning method for an optical agile remote sensing satellite mission, comprising:

[0011] Determine the visible time window of conventional observation targets based on conventional observation target information, satellite orbit information and the pointing range of the satellite optical axis;

[0012] Performing routine task planning according to the visible time window of the routine observation target to obtain a routine task sequence;

[0013] Execute tasks in sequence according to the conventional task sequence and obtain the execution status of each subsystem and each single machine on the satellite;

[0014] When the execution status is abnormal or a temporary target injection is received, the first task that has not been executed in the regular task sequence is replanned to obtain an updated task sequence, and tasks are executed in sequence according to the updated task sequence and the execution status of each subsystem and each single machine on the satellite is obtained.

[0015] In a third aspect, the present invention further provides a computing device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements any of the above-mentioned autonomous mission planning methods for optical agile remote sensing satellite missions.

[0016] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed in a computer, the computer is enabled to execute any of the above-mentioned autonomous mission planning methods for optical agile remote sensing satellite missions.

[0017] In a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method described in any first aspect of this specification.

[0018] The present invention provides an autonomous task planning system for optical agile remote sensing satellite tasks, the system includes a conventional task planning module, a standby work module and an emergency task planning module, the conventional task planning module performs conventional task planning on conventional observation target information according to satellite orbit information and the pointing range of the satellite optical axis, ensuring the daily business operation of the optical agile remote sensing satellite; at the same time, the emergency task planning module can respond quickly when an abnormality occurs in the execution state in the standby work module or when a temporary target injection is received from the user, and realize task re-planning, thereby ensuring the executability of temporary tasks for temporary targets and unexecuted original conventional tasks. In this way, the present invention improves the accuracy of autonomous task planning of optical agile remote sensing satellites based on the pointing range of the satellite optical axis, and performs autonomous task planning on optical agile remote sensing satellites through the interaction of three working states of conventional task planning, task execution and detection of execution status, and re-planning, realizing task planning in various situations, thereby improving the autonomous task planning capability of optical agile remote sensing satellites and reducing the control complexity of satellite ground systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a structural diagram of an autonomous mission planning system for optical agile remote sensing satellite missions provided by an embodiment of the present invention;

[0021] Figure 2 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0022] Figure 3 It is a flow chart of an autonomous mission planning method for an optical agile remote sensing satellite mission provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] like Figure 1As shown, this embodiment provides an autonomous mission planning system for optical agile remote sensing satellite missions, including:

[0025] The conventional task planning module 100 is used to determine the visible time window of the conventional observation target according to the conventional observation target information, satellite orbit information and the pointing range of the satellite optical axis; and to perform conventional task planning according to the visible time window of the conventional observation target to obtain a conventional task sequence;

[0026] The standby working module 102 is used to execute tasks in sequence according to the conventional task sequence and obtain the execution status of each subsystem and each single machine on the satellite;

[0027] The emergency task planning module 104 is used to re-plan the unexecuted first task in the regular task sequence to obtain an updated task sequence when the execution state is abnormal or a temporary target injection is received;

[0028] The standby working module 102 is also used to execute tasks in sequence according to the update task sequence and obtain the execution status of each subsystem and each single machine on the satellite.

[0029] In the present invention, the autonomous task planning system includes a conventional task planning module, a standby work module and an emergency task planning module. The conventional task planning module performs conventional task planning on conventional observation target information according to satellite orbit information and the pointing range of the satellite optical axis to ensure the daily business operation of the optical agile remote sensing satellite; at the same time, the emergency task planning module can respond quickly when an abnormality occurs in the execution state in the standby work module or when a temporary target injection is received from the user, and realize task re-planning, thereby ensuring the executability of temporary tasks for temporary targets and unexecuted original conventional tasks. In this way, the present invention improves the accuracy of autonomous task planning of optical agile remote sensing satellites based on the pointing range of the satellite optical axis, and performs autonomous task planning on optical agile remote sensing satellites through the interaction of three working states: conventional task planning, task execution and detection of execution status, and re-planning, to realize task planning in various situations, thereby improving the autonomous task planning capability of optical agile remote sensing satellites and reducing the control complexity of satellite ground systems.

[0030] In some specific implementations, the conventional task planning module 100 is further configured to perform the following operations:

[0031] Determine the relative distance based on conventional observation target information and satellite orbit information;

[0032] Get the time interval when the relative distance is greater than zero;

[0033] At the initial moment and the end moment of the time interval, the angle between the line connecting the conventional observation target to the satellite and the line connecting the center of the earth to the satellite is determined according to the conventional observation target information and the satellite orbit information respectively;

[0034] Determine whether the included angle at the initial moment and the included angle at the end moment are both within the pointing range of the satellite optical axis;

[0035] If the judgment results are all negative, then the initial time is increased until the included angle at the initial time is within the pointing range of the satellite optical axis, and the ending time is decreased until the included angle at the ending time is within the pointing range of the satellite optical axis;

[0036] If the judgment results are all yes, the visible time window will be obtained according to the current initial time and end time.

[0037] Specifically, according to the satellite orbit information and the conventional observation target information, the position vector r from the center of the earth to the target in the earth-fixed coordinate system is determined. pe , using a large step search method, the time interval when the relative distance λ>0 is obtained as [ts,te], and the t i Relative distance at time r sate (t i ) is the i The position vector from the center of the earth to the satellite in the earth-fixed coordinate system at time t i ∈[ts,te], the position vector from the satellite to the target is represented by r es (t i )=r sate (t i )-r pe The angle between the line from the conventional observation target to the satellite and the line from the center of the earth to the satellite is determined by the following formula: The pointing range of the satellite optical axis is θ VA If θ ts >θ VA , then gradually increase to update the value of ts until θ is satisfied ts ≤θ VA If θ te >θ VA , then gradually decrease to update the value of te until θ is satisfied te ≤θ VA It should be noted that when obtaining the visible time window, θ i ≤θ VA ; and all areas where the satellite is above the local horizon.

[0038] In the present invention, since the starting moment of imaging of visible conventional targets by optically agile remote sensing satellites is a time range and the number of times of imaging the targets is at least once, after obtaining the time interval during which the targets are visible by analyzing the visibility of the targets, the visibility and visible time window of the optically agile remote sensing satellites are accurately determined by considering the pointing range of the satellite optical axis, thereby ensuring a significant improvement in the operating efficiency of the satellite.

[0039] In some specific implementations, the conventional task planning module 100 is further used to perform the following operations: determine the imaging target and imaging time interval within the current planning period according to the visible time window of the conventional target and the preset target priority order, and generate an initial imaging task sequence;

[0040] Determine whether the initial imaging task sequence meets the preset execution constraint condition, if so, take the initial imaging task sequence as the imaging task sequence, otherwise adjust the initial imaging task sequence to obtain an imaging task sequence that meets the preset execution constraint condition;

[0041] According to the imaging task sequence and the payload data that has not been downloaded, the data transmission task sequence is obtained by planning the data transmission task;

[0042] Determine the task sequence of erasing the fixed storage according to the fixed storage capacity on board and the data transmission task sequence;

[0043] Generate a general task sequence based on the imaging task sequence, the data transmission task sequence and the persistent storage erasing task sequence.

[0044] Specifically, conventional mission planning is triggered autonomously according to a fixed planning cycle. For example, the planning cycle can be one orbital cycle or one day. ΔT before the start of a new round of planning cycle PRE Seconds to start routine task planning and get the routine task sequence. PRE Determined by the time required to complete the conventional mission planning. The conventional mission planning mode completes the orbit calculation in the subsequent planning cycle. It should be noted that the preset execution constraints include constraints on energy balance in the current planning cycle, constraints that the total size of data records cannot exceed the storage capacity, etc.

[0045] In the present invention, for all visible conventional targets with visible visibility, the imaging targets and imaging time intervals of the current planning cycle are determined according to their visible time windows and the preset target priority order, and the file number of the imaging data record is assigned to each imaging target to form an initial imaging task sequence. At the same time, the constraint satisfaction degree of the initial imaging task sequence is checked according to the preset execution constraint conditions. If the initial imaging task sequence does not meet the preset execution constraint conditions, the tasks with lower priorities are deleted one by one according to the preset target priority order from low to high until the initial imaging task sequence meets the preset execution constraint conditions, and the final imaging task sequence is obtained. Then, based on the imaging task sequence and the existing undownloaded payload data on the current satellite, the data transmission task is planned to form a data transmission task sequence. Finally, based on the on-board fixed storage capacity, the data transmission task sequence and the undownloaded payload data, the fixed storage erasure task is planned to generate a fixed storage erasure task sequence. After that, the instructions and data blocks for the execution of each task are generated and stored in the task planning computer, and the satellite enters the standby working module to execute the task and detect the execution status.

[0046] In the present invention, an imaging task sequence that meets preset execution constraints is generated first, and then a data transmission task sequence is planned according to the currently undownloaded load data within the planning time. Finally, the solid storage erasure task sequence is determined based on the solid storage capacity and the data transmission task sequence. In this way, each task in the imaging task sequence, the data transmission task sequence, and the solid storage erasure task sequence is arranged in chronological order to obtain a regular task sequence.

[0047] In some specific implementations, the standby working module 102 is used to execute tasks in sequence according to a regular task sequence or an updated task sequence, and simultaneously monitor the execution status of each subsystem and each single machine on the satellite during the execution process. At this time, the satellite is in a task execution state.

[0048] In some specific embodiments, after the execution state is abnormal or a temporary target injection is received, the standby working module 102 is also used to determine whether the current state of the satellite is in a mission execution state; the current state includes a regular mission planning state, a mission execution state, and a re-planning state; and if the judgment result is yes, the emergency mission planning module 104 re-plans the first task that has not been executed in the regular mission sequence; if the judgment result is no, and the current state is in the regular mission planning state, after the regular mission planning module 100 obtains the regular task sequence, the emergency mission planning module 104 re-plans the first task that has not been executed in the regular task sequence; and if the judgment result is no, and the current state is in a re-planning state, after the emergency mission planning module 104 obtains the updated task sequence, the updated task sequence is re-planned.

[0049] It should be noted that the abnormal execution status includes when each subsystem and / or each single machine fails or does not meet expectations, affecting the execution of subsequent tasks, etc. The first task refers to the task that has not been executed in the current task sequence.

[0050] In the present invention, when the execution state is abnormal or a temporary target injection is received, in order to further improve the satellite's autonomous task planning capability, it is also necessary to judge the satellite's current state in advance. Different operations need to be performed for different states to finally complete the re-planning, ensure the normal operation of the current state and the current task, and realize autonomous task planning for abnormal situations and temporary target injection situations.

[0051] In some specific implementations, the emergency task planning module 104 is further configured to retain the current task being executed in the regular task sequence until an updated task sequence is obtained when the execution state is abnormal or a temporary target injection is received;

[0052] The standby working module 102 is used to execute tasks in sequence according to the updated task sequence obtained by the emergency task planning module 104 after the current task is completed, and obtain the execution status of each subsystem and each single machine on the satellite.

[0053] In the present invention, when the satellite is in a re-planning state, it is necessary to retain the currently executed task until the updated task sequence is obtained. For example, at time T0, if the execution state is detected to be abnormal or a temporary target injection is received, and the time required to update the task sequence is Δt, the currently executed task needs to be retained within T0+Δt. In this way, the utilization rate of the planning time can be fully improved, while ensuring that more tasks can run stably, thereby improving the operating efficiency of the satellite.

[0054] In some specific implementations, the emergency task planning module 104 is further configured to perform the following operations:

[0055] Upon receiving the temporary target injection, determining the earliest visible time window of the temporary target by the satellite and the target imaging time interval;

[0056] Determine whether the target imaging time interval overlaps with the execution time of the first imaging task that has not been executed in the regular task sequence;

[0057] If the judgment result is yes, the overlapping first imaging task is deleted from the regular task sequence to obtain the unexecuted second imaging task, and the second imaging task and the target imaging time interval are merged to obtain the initial updated imaging task sequence;

[0058] If the judgment result is no, the first imaging task and the target imaging time interval are combined to obtain an initial updated imaging task sequence;

[0059] Adjusting the initial imaging task sequence to obtain an imaging task sequence that satisfies preset execution constraints;

[0060] According to the updated imaging task sequence and the payload data that is not currently downloaded, the data transmission task is planned to obtain the updated data transmission task sequence;

[0061] Determine the task sequence of updating the fixed storage and erasing the fixed storage according to the fixed storage capacity on the satellite and the task sequence of updating the data transmission;

[0062] An update task sequence is generated based on an update imaging task sequence, an update data transmission task sequence and an update persistent storage erasure task sequence.

[0063] It should be noted that when an abnormality occurs in the execution state, it is only necessary to re-plan the unexecuted tasks according to the current state of the satellite. However, when a temporary target injection is received, it is also necessary to add the temporary task for the temporary target to the unexecuted tasks.

[0064] Specifically, when the satellite receives a temporary target injection in the re-planning state, after retaining the currently executed task, it is necessary to adjust the subsequent unexecuted imaging task sequence, and delete the subsequent unexecuted data transmission task sequence and the persistent storage erasure task sequence. First, the earliest visible time window of the satellite to the temporary target is calculated by the above method to determine the target imaging time interval of the visible temporary target. After that, it is determined whether there is a conflict between the imaging time interval of the first imaging task in the unexecuted conventional imaging task and the temporary imaging task of the temporary target. If there is a conflict, the conventional first imaging task or the old temporary imaging task is deleted to ensure that there is no conflict in the execution time of the temporary imaging task; then the target imaging time interval of the temporary imaging task is merged with the second imaging task sequence to form a new initial update imaging task sequence, and then the update imaging task sequence that meets the preset execution constraint is obtained by adjustment, and then the data transmission task planning and the persistent storage erasure task planning are performed in sequence to obtain the update data transmission task sequence and the update persistent storage erasure task sequence, and finally the update task sequence including the update imaging task sequence, the update data transmission task sequence and the update persistent storage erasure task sequence is obtained.

[0065] In the present invention, the optical agile remote sensing satellite has the ability to perform autonomous on-board calculations on the three major tasks involved in the execution of daily on-board tasks, including imaging, data transmission, and storage erasure, without ground intervention, so that users do not need to master complex satellite control and complicated task execution constraints, and only need to focus on the acquisition of targets of interest. Once an imaging task request for a target is issued, all remaining on-board actions can be completed autonomously by the task planning system, greatly simplifying ground operations. At the same time, the autonomous task planning system of the present invention also provides a re-planning mode for handling temporary emergency goals of users, thereby improving the timeliness and flexibility of data acquisition for users. At the same time, the execution status of on-board tasks is monitored in real time during the execution of tasks. Once the satellite execution status does not meet expectations and affects the execution of subsequent tasks, re-planning can be used to ensure that when problems occur in the execution of individual tasks, subsequent tasks can still be executed normally, thereby improving the reliability of the system.

[0066] like Figure 1 , Figure 2 As shown, the embodiment of the present invention provides an autonomous mission planning system for optical agile remote sensing satellite missions. The system embodiment can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, Figure 1 As shown in the figure, as a logical system, the CPU of the computing device reads the corresponding computer program in the non-volatile memory into the memory and runs it. From the hardware level, Figure 2 As shown, a hardware architecture diagram of a computing device in which an autonomous mission planning system for optical agile remote sensing satellite missions provided by an embodiment of the present invention is located, except Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device where the system is located in the embodiment may generally include other hardware, such as a forwarding chip responsible for processing messages, etc.

[0067] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on an autonomous mission planning system for optical agile remote sensing satellite missions. In other embodiments of the present invention, an autonomous mission planning system for optical agile remote sensing satellite missions may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0068] The information interaction, execution process and other contents between the modules in the above-mentioned system are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0069] Please refer to Figure 3The embodiment of the present invention further provides an autonomous task planning method for an optical agile remote sensing satellite task, comprising:

[0070] Step 300, determining the visible time window of the conventional observation target according to the conventional observation target information, satellite orbit information and the pointing range of the satellite optical axis;

[0071] Step 302, performing routine task planning according to the visible time window of the routine observation target to obtain a routine task sequence;

[0072] Step 304, executing tasks in sequence according to the conventional task sequence and obtaining the execution status of each subsystem and each single machine on the satellite;

[0073] Step 306, when the execution status is abnormal or a temporary target injection is received, the first task that is not executed in the regular task sequence is re-planned to obtain an updated task sequence, and the tasks are executed in sequence according to the updated task sequence and the execution status of each subsystem and each stand-alone machine on the satellite is obtained.

[0074] In some specific implementations, the regular mission planning module 100 may be used to execute the above steps 300 and 302 , the standby work module 102 may be used to execute the above step 304 , and the emergency mission planning module 104 may be used to execute the above step 306 .

[0075] Described below Figure 3 How the various steps are performed.

[0076] In step 300, determining the visible time window of the conventional observation target according to the conventional observation target information, the satellite orbit information and the pointing range of the satellite optical axis includes:

[0077] Determine the relative distance based on conventional observation target information and satellite orbit information;

[0078] Get the time interval when the relative distance is greater than zero;

[0079] At the initial moment and the end moment of the time interval, the angle between the line connecting the conventional observation target to the satellite and the line connecting the center of the earth to the satellite is determined according to the conventional observation target information and the satellite orbit information respectively;

[0080] Determine whether the included angle at the initial moment and the included angle at the end moment are both within the pointing range of the satellite optical axis;

[0081] If the judgment results are all negative, then the initial time is increased until the included angle at the initial time is within the pointing range of the satellite optical axis, and the ending time is decreased until the included angle at the ending time is within the pointing range of the satellite optical axis;

[0082] If the judgment results are all yes, the visible time window will be obtained according to the current initial time and end time.

[0083] In step 302, conventional task planning is performed according to the visible time window of the conventional observation target to obtain a conventional task sequence, including:

[0084] According to the visible time window of conventional targets and the preset target priority order, the imaging targets and imaging time intervals within the current planning cycle are determined, and the initial imaging task sequence is generated;

[0085] Determine whether the initial imaging task sequence meets the preset execution constraint condition, if so, take the initial imaging task sequence as the imaging task sequence, otherwise adjust the initial imaging task sequence to obtain an imaging task sequence that meets the preset execution constraint condition;

[0086] According to the imaging task sequence and the payload data that has not been downloaded, the data transmission task sequence is obtained by planning the data transmission task;

[0087] Determine the task sequence of erasing the fixed storage according to the fixed storage capacity on board and the data transmission task sequence;

[0088] Generate a general task sequence based on the imaging task sequence, the data transmission task sequence and the persistent storage erasing task sequence.

[0089] In step 304, the satellite is in a task execution state, and is used to execute tasks in sequence according to a conventional task sequence or an updated task sequence, and simultaneously monitor the execution state of each subsystem and each single machine on the satellite during the execution process.

[0090] With respect to step 306, after the execution state is abnormal or a temporary target injection is received, the following is further included:

[0091] Determine whether the current state of the satellite is in the mission execution state; the current state includes the conventional mission planning state, the mission execution state and the re-planning state;

[0092] If the judgment result is yes, re-planning the first task that has not been executed in the regular task sequence;

[0093] If the judgment result is no, and the current state is in the conventional task planning state, then after obtaining the conventional task sequence, the first task that has not been executed in the conventional task sequence is re-planned;

[0094] If the judgment result is no, and the current state is in the re-planning state, after obtaining the update task sequence, the update task sequence is re-planned.

[0095] In step 306, when the execution state is abnormal or a temporary target injection is received, the first task that is not executed in the regular task sequence is replanned to obtain an updated task sequence, including:

[0096] When the execution state is abnormal or a temporary target injection is received, the current task being executed in the regular task sequence is retained until an updated task sequence is obtained;

[0097] After the current task is completed, the tasks are executed in sequence according to the update task sequence and the execution status of each subsystem and each single machine on the satellite is obtained.

[0098] In step 306, the first task that is not executed in the conventional task sequence is replanned, including:

[0099] Upon receiving the temporary target injection, determining the earliest visible time window of the temporary target by the satellite and the target imaging time interval;

[0100] Determine whether the target imaging time interval overlaps with the execution time of the first imaging task that has not been executed in the regular task sequence;

[0101] If the judgment result is yes, the overlapping first imaging task is deleted from the regular task sequence to obtain the unexecuted second imaging task, and the second imaging task and the target imaging time interval are merged to obtain the initial updated imaging task sequence;

[0102] If the judgment result is no, the first imaging task and the target imaging time interval are combined to obtain an initial updated imaging task sequence;

[0103] Adjusting the initial imaging task sequence to obtain an imaging task sequence that satisfies preset execution constraints;

[0104] According to the updated imaging task sequence and the payload data that is not currently downloaded, the data transmission task is planned to obtain the updated data transmission task sequence;

[0105] Determine the task sequence of updating the fixed storage and erasing the fixed storage according to the fixed storage capacity on the satellite and the task sequence of updating the data transmission;

[0106] An update task sequence is generated based on an update imaging task sequence, an update data transmission task sequence and an update persistent storage erasure task sequence.

[0107] An embodiment of the present invention also provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, an autonomous mission planning method for an optical agile remote sensing satellite mission in any embodiment of the present invention is implemented.

[0108] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes an autonomous mission planning method for an optical agile remote sensing satellite mission in any embodiment of the present invention.

[0109] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes an autonomous mission planning method for an optical agile remote sensing satellite mission as described in any of the above embodiments.

[0110] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0111] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0112] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0113] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0114] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0115] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0116] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An autonomous mission planning system for optical agile remote sensing satellite missions, characterized in that: include: A conventional mission planning module is used to determine the visible time window of conventional observation targets based on conventional observation target information, satellite orbit information and the pointing range of the satellite optical axis; and performing conventional task planning according to the visible time window of the conventional observation target to obtain a conventional task sequence; A standby working module, used to execute tasks in sequence according to the conventional task sequence and obtain the execution status of each subsystem and each single machine on the satellite; An emergency task planning module, used for re-planning the unexecuted first task in the conventional task sequence to obtain an updated task sequence when the execution state is abnormal or a temporary target injection is received; The standby working module is also used to execute tasks in sequence according to the update task sequence and obtain the execution status of each subsystem and each single machine on the satellite.

2. The system according to claim 1, characterized in that The conventional mission planning module determines the visible time window of the conventional observation target according to the conventional observation target information, satellite orbit information and the pointing range of the satellite optical axis, including: Determining a relative distance according to the conventional observation target information and the satellite orbit information; Obtaining a time interval when the relative distance is greater than zero; At the initial moment and the end moment of the time interval, determining the angle between the line from the conventional observation target to the satellite and the line from the center of the earth to the satellite according to the conventional observation target information and the satellite orbit information respectively; Determine whether the angle at the initial moment and the angle at the end moment are both within the pointing range of the satellite optical axis; If the judgment results are all negative, then increasing the initial time until the angle at the initial time is within the pointing range of the satellite optical axis, and decreasing the end time until the angle at the end time is within the pointing range of the satellite optical axis; If the judgment results are all yes, the visible time window will be obtained according to the current initial time and end time.

3. The system according to claim 1, characterized in that The conventional task planning module performs conventional task planning according to the visible time window of the conventional observation target to obtain a conventional task sequence, including: Determine the imaging target and imaging time interval within the current planning cycle according to the visible time window of the conventional target and the preset target priority order, and generate an initial imaging task sequence; Determine whether the initial imaging task sequence meets the preset execution constraint condition, if so, use the initial imaging task sequence as the imaging task sequence, otherwise adjust the initial imaging task sequence to obtain an imaging task sequence that meets the preset execution constraint condition; Performing data transmission task planning according to the imaging task sequence and the payload data that is not currently being downloaded to obtain a data transmission task sequence; Determine a persistent storage erasing task sequence according to the on-board persistent storage capacity and the data transmission task sequence; The conventional task sequence is generated based on the imaging task sequence, the data transmission task sequence and the persistent storage erasing task sequence.

4. The system according to claim 1, characterized in that The standby working module is also used to determine whether the current state of the satellite is in the task execution state; the current state includes the regular task planning state, the task execution state and the re-planning state; and if the judgment result is yes, the emergency task planning module re-plans the first task that has not been executed in the regular task sequence; when the judgment result is no and the current state is in the regular task planning state, after the regular task planning module obtains the regular task sequence, the emergency task planning module re-plans the first task that has not been executed in the regular task sequence; and when the judgment result is no and the current state is in the re-planning state, after the emergency task planning module obtains the updated task sequence, the updated task sequence is re-planned.

5. The system according to claim 1, characterized in that The emergency task planning module is also used to retain the current task being executed in the regular task sequence until an updated task sequence is obtained when the execution state is abnormal or a temporary target injection is received; The standby working module is also used to execute tasks in sequence and obtain the execution status of each subsystem and each single machine on the satellite according to the updated task sequence obtained by the emergency task planning module after the current task is completed.

6. The system according to any one of claims 1 to 5, characterized in that: The emergency task planning module performs re-planning of the first task that is not executed in the conventional task sequence, including: Upon receiving the temporary target injection, determining the earliest visible time window of the temporary target by the satellite and the target imaging time interval; Determining whether the target imaging time interval overlaps with an execution time of a first imaging task that is not executed in the conventional task sequence; If the judgment result is yes, then deleting the overlapping first imaging task from the conventional task sequence to obtain the unexecuted second imaging task, and merging the second imaging task with the target imaging time interval to obtain an initial updated imaging task sequence; If the judgment result is no, merging the first imaging task and the target imaging time interval to obtain an initial updated imaging task sequence; Adjusting the initial imaging task sequence to obtain an imaging task sequence that satisfies a preset execution constraint; Performing data transmission task planning according to the updated imaging task sequence and the payload data that is not currently downloaded to obtain an updated data transmission task sequence; Determine an update persistent storage erasure task sequence according to the on-board persistent storage capacity and the update data transmission task sequence; The update task sequence is generated based on the update imaging task sequence, the update data transmission task sequence and the update persistent storage erasure task sequence.

7. An autonomous mission planning method for optical agile remote sensing satellite missions, characterized in that: include: Determine the visible time window of conventional observation targets based on conventional observation target information, satellite orbit information and the pointing range of the satellite optical axis; Performing routine task planning according to the visible time window of the routine observation target to obtain a routine task sequence; Execute tasks in sequence according to the conventional task sequence and obtain the execution status of each subsystem and each single machine on the satellite; When the execution status is abnormal or a temporary target injection is received, the first task that has not been executed in the regular task sequence is replanned to obtain an updated task sequence, and tasks are executed in sequence according to the updated task sequence and the execution status of each subsystem and each single machine on the satellite is obtained.

8. The method according to claim 7, characterized in that The conventional task planning is performed according to the visible time window of the conventional observation target to obtain a conventional task sequence, including: Determine the imaging target and imaging time interval within the current planning cycle according to the visible time window of the conventional target and the preset target priority order, and generate an initial imaging task sequence; Determine whether the initial imaging task sequence meets the preset execution constraint condition, if so, use the initial imaging task sequence as the imaging task sequence, otherwise adjust the initial imaging task sequence to obtain an imaging task sequence that meets the preset execution constraint condition; Performing data transmission task planning according to the imaging task sequence and the payload data that is not currently being downloaded to obtain a data transmission task sequence; Determine a persistent storage erasing task sequence according to the on-board persistent storage capacity and the data transmission task sequence; The conventional task sequence is generated based on the imaging task sequence, the data transmission task sequence and the persistent storage erasing task sequence.

9. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to claim 7 or 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method of claim 7 or 8.

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