Over-the-ground imaging autonomous task planning method, device and equipment based on orbit forecast

Abstract

The invention provides an earth imaging autonomous task planning method, device and equipment based on orbit forecasting, and relates to the technical field of spaceflight, and the method comprises the steps: obtaining a preset side view angle range of a satellite and an orbit parameter at a current moment; according to the orbit parameters of the satellite at the current moment, the position and speed of the satellite in the forecasting time period are forecasted; determining an observable area of the satellite in the forecasting time period based on a preset side view angle range and the position speed of the satellite in the forecasting time period; and if the to-be-observed target point of the satellite is located in the observable area, determining a target side view angle required when the satellite observes the target point so as to realize earth imaging autonomous task planning of the satellite. According to the method, the satellite autonomy and the task planning real-time performance in the process of planning the earth target imaging task can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a method, device and equipment for autonomous earth imaging mission planning based on orbit prediction. Background Art

[0002] At present, satellite imaging missions for earth targets are generally planned through ground stations. Specifically, the ground stations plan the location information and time information of the target observation points based on the target observation points, and upload the above planning results to the satellite, which leads to weak autonomy and real-time planning of satellite imaging missions for earth targets. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, device and equipment for autonomous mission planning of earth imaging based on orbit prediction, which can significantly improve the satellite autonomy and real-time performance of mission planning in the process of planning earth target imaging missions.

[0004] In a first aspect, an embodiment of the present invention provides a method for autonomous mission planning of earth imaging based on orbit prediction, the method being applied to a satellite, comprising:

[0005] Obtain the preset side viewing angle range of the satellite and its orbital parameters at the current moment;

[0006] According to the satellite's orbital parameters at the current moment, the satellite's position and velocity in the forecast period are predicted;

[0007] Determine the observable area of ​​the satellite during the forecast period based on the preset side viewing angle range and the position speed of the satellite during the forecast period;

[0008] If the target point to be observed by the satellite is located within the observable area, the target side viewing angle required for the satellite to observe the target point is determined to realize the satellite's autonomous mission planning for earth imaging.

[0009] In one embodiment, determining the observable area of ​​the satellite during the forecast period based on a preset side viewing angle range and the position velocity of the satellite during the forecast period includes:

[0010] Based on the position velocity of the satellite at the forecast start time in the forecast period, the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range is determined respectively;

[0011] and, based on the position velocity of the satellite at the forecast end time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range;

[0012] Determine the observable area of ​​the satellite during the forecast period based on the observable position information;

[0013] The forecast start time is determined based on a preset first time difference and the current time, and the forecast end time is determined based on a preset second time difference and the current time, and the first time difference is smaller than the second time difference.

[0014] In one embodiment, based on the position velocity of the satellite at the forecast start time in the forecast period, determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle or the minimum side viewing angle in the preset side viewing angle range, respectively, includes:

[0015] Based on the position velocity of the satellite at the forecast start time in the forecast period, determining the earth-fixed system velocity projection of the satellite at the forecast start time;

[0016] According to the maximum side viewing angle in the preset side viewing angle range, the vector pointing from the satellite to the center of the earth is rotated around the earth fixed system velocity projection to obtain a first observation vector, and the observable position information corresponding to the first observation vector is solved;

[0017] And, according to the minimum side viewing angle in the preset side viewing angle range, the vector pointing to the center of the earth from the satellite is rotated around the earth fixed velocity projection to obtain a second observation vector, and the observable position information corresponding to the second observation vector is solved.

[0018] In one embodiment, according to the maximum side viewing angle in the preset side viewing angle range, the projection of the vector of the satellite pointing to the center of the earth around the earth fixed system velocity is rotated to obtain the first observation vector, including:

[0019] According to the maximum side viewing angle in the preset side viewing angle range, the unit vector corresponding to the projection of the vector of the satellite pointing to the center of the earth around the earth fixed system velocity is rotated to obtain a rotation matrix;

[0020] A first observation vector is determined based on the position information and the rotation matrix of the satellite at the forecast start time in the forecast period.

[0021] In one embodiment, if the target point to be observed by the satellite is located within the observable area, before determining the target side viewing angle required for the satellite to observe the target point, the method further includes:

[0022] Determine the target point vector of the target point to be observed by the satellite in the earth-fixed system, and the vertex vectors of the four vertices of the observable area in the earth-fixed system;

[0023] Determine four side normal vectors of the observable area based on the four vertex vectors;

[0024] Perform dot multiplication on the target point vector and the four side normal vectors respectively. If the signs of the dot product results are all positive, it is determined that the target point is located inside the observable area.

[0025] In one implementation, if the target point to be observed by the satellite is located within the observable area, determining the target side viewing angle required when the satellite observes the target point includes:

[0026] Determine the side view angle when the satellite observes the target point;

[0027] Based on the side view angle and the satellite's position information during the forecast period, the value and direction of the target side view angle required for the satellite to observe the target point are determined.

[0028] In a second aspect, an embodiment of the present invention further provides an autonomous mission planning device for earth imaging based on orbit prediction, the device being applied to a satellite, comprising:

[0029] A parameter acquisition module is used to obtain the preset side viewing angle range of the satellite and its orbital parameters at the current moment;

[0030] The position and speed prediction module is used to predict the position and speed of the satellite in the prediction period according to the orbital parameters of the satellite at the current moment;

[0031] An observable area determination module is used to determine the observable area of ​​the satellite during the forecast period based on a preset side viewing angle range and the position speed of the satellite during the forecast period;

[0032] The side viewing angle determination module is used to determine the target side viewing angle required for the satellite to observe the target point if the target point to be observed by the satellite is within the observable area, so as to realize the satellite's autonomous mission planning for earth imaging.

[0033] In one implementation, the observable area determination module is specifically used to:

[0034] Based on the position velocity of the satellite at the forecast start time in the forecast period, the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range is determined respectively;

[0035] and, based on the position velocity of the satellite at the forecast end time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range;

[0036] Determine the observable area of ​​the satellite during the forecast period based on the observable position information;

[0037] The forecast start time is determined based on a preset first time difference and the current time, and the forecast end time is determined based on a preset second time difference and the current time, and the first time difference is smaller than the second time difference.

[0038] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement any one of the methods provided in the first aspect.

[0039] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement any one of the methods provided in the first aspect.

[0040] The embodiment of the present invention provides a method, device and equipment for autonomous mission planning of earth imaging based on orbit prediction, which is applied to a satellite. First, the preset side viewing angle range of the satellite and its orbital parameters at the current moment are obtained to predict the position and speed of the satellite in the forecast period according to the orbital parameters of the satellite at the current moment; then, based on the preset side viewing angle range and the position and speed of the satellite in the forecast period, the observable area of ​​the satellite in the forecast period is determined; finally, if the target point to be observed by the satellite is located inside the observable area, the target side viewing angle required for the satellite to observe the target point is determined to realize the autonomous mission planning of the satellite for earth imaging. The above method obtains the position and speed of the satellite in the forecast period through orbit prediction, and determines the observable area of ​​the satellite in the forecast period in combination with the preset side viewing angle range, and determines the target side viewing angle required for observing the target point when the target point is located inside the observable area, so as to realize the autonomous mission planning of the satellite for earth imaging. The embodiment of the present invention performs autonomous mission planning on the satellite by the earth observation satellite, gets rid of the dependence on the ground station, improves the autonomy of the earth observation satellite in orbit operation and the real-time performance of the earth target imaging mission planning.

[0041] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of a flow chart of an autonomous mission planning method for earth imaging based on orbit prediction provided by an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of position information observable from a side angle provided by an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of an observable area provided in an embodiment of the present invention;

[0047] Figure 4 A schematic diagram of target point observation provided by an embodiment of the present invention;

[0048] Figure 5 A schematic diagram of the structure of an autonomous mission planning device for earth imaging based on orbit prediction provided by an embodiment of the present invention;

[0049] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] At present, the existing technical means for planning satellite earth imaging missions have the problems of weak autonomy and real-time performance. Based on this, the present invention provides a method, device and equipment for planning autonomous earth imaging missions based on orbit prediction, which can significantly improve the satellite autonomy and task planning real-time performance in the process of planning earth target imaging missions.

[0052] To facilitate understanding of this embodiment, firstly, a method for autonomous mission planning for earth imaging based on orbit prediction disclosed in an embodiment of the present invention is described in detail. The method is applied to a satellite, see Figure 1 The flowchart of a method for autonomous mission planning of earth imaging based on orbit prediction is shown, and the method mainly includes the following steps S102 to S108:

[0053] Step S102, obtaining a preset side viewing angle range of the satellite and its orbital parameters at the current moment.

[0054] The preset side viewing angle range is an interval consisting of a maximum side viewing angle and a minimum side viewing angle, and the orbit parameter is also the mean root of the orbital number.

[0055] Step S104, predicting the position and velocity of the satellite during the forecast period according to the orbital parameters of the satellite at the current moment.

[0056] The forecast period is a time interval consisting of a forecast start time and a forecast end time, the forecast start time is determined based on a preset first time difference and the current time, the forecast end time is determined based on a preset second time difference and the current time, and the first time difference is less than the second time difference; the position and velocity of the satellite in the forecast period includes position information and velocity information. In one example, the position and velocity of the satellite in the fixed system at a certain time in the future are predicted in combination with the orbital parameters at the current time. For example, the first time difference is recorded as ΔT1, and the second time difference is recorded as ΔT2. According to the current time T cur The orbital parameters of the prediction start time T cur +ΔT1 and forecast end time T cur +ΔT2 position velocity of the ground-fixed system and Make a forecast.

[0057] Step S106, determining the observable area of ​​the satellite during the forecast period based on the preset side viewing angle range and the position speed of the satellite during the forecast period.

[0058] First, solve the projection of the satellite inertial system velocity in the earth-fixed coordinate system. Specifically, the projection of the satellite inertial system velocity in the earth-fixed coordinate system can be solved by using the position velocity of the earth-fixed system obtained from the orbit prediction and the angular velocity of the earth's rotation Then, the position that can be observed by the side angle of the payload is solved according to the side angle, and the side angle is the maximum side angle α1 or the minimum side angle α2 in the preset side angle range. Specifically, according to the side angle, the vector from the satellite position to the center of the earth is projected around Rotate to obtain the observation vector, and solve the position that the observation vector can observe.

[0059] Specifically, according to the satellite at the forecast starting time T cur Position velocity at time +ΔT1 The maximum side viewing angle α1 or the minimum side viewing angle α2 in the preset side viewing angle range is solved to obtain the observable position information PA image ,PB image Similarly, according to the satellite at the end of the forecast time T cur Position velocity at time +ΔT2 The maximum side viewing angle α1 or the minimum side viewing angle α2 in the preset side viewing angle range is solved to obtain the observable position information PD image,PC image .

[0060] Step S108, if the target point to be observed by the satellite is located within the observable area, the target side viewing angle required for the satellite to observe the target point is determined to achieve autonomous mission planning of the satellite's earth imaging.

[0061] First, determine whether the target point is within the observable area. Using the relevant knowledge of solid geometry, determine whether the target point Tar is within the PA image PB image PC image PD image The interior of the observable area.

[0062] Then, if the target point is inside the observable area, the target point is visible, and the target side angle ang required to observe the target point is solved. image .

[0063] The method for autonomous mission planning for earth imaging based on orbit prediction provided by the embodiment of the present invention obtains the position and velocity of the satellite in the forecast period through orbit prediction, determines the observable area of ​​the satellite in the forecast period in combination with a preset side viewing angle range, and determines the target side viewing angle required for observing the target point when the target point is located inside the observable area, thereby realizing the satellite's autonomous mission planning for earth imaging. The embodiment of the present invention performs on-board autonomous mission planning by the earth observation satellite, gets rid of the dependence on ground stations, improves the autonomy of the earth observation satellite in orbit and the real-time performance of earth target imaging mission planning.

[0064] In one implementation, the purpose of the embodiment of the present invention is to get rid of the dependence on the ground and perform on-orbit judgment of visibility and observation parameters of imaging targets on the ground based on orbit prediction. The embodiment of the present invention solves the problem of autonomous on-board planning of imaging of ground targets, ensures the real-time performance on orbit, and improves the autonomy and redundancy of the satellite.

[0065] For ease of understanding, an embodiment of the present invention provides a specific implementation of a method for autonomous mission planning of earth imaging based on orbit prediction.

[0066] With respect to the aforementioned step S104, the embodiment of the present invention provides a specific implementation method for predicting the position velocity of the satellite in the prediction period according to the orbital parameters of the satellite at the current moment.

[0067] The mean root of the orbital elements obtained from the on-board navigation information at the current moment is:

[0068] Ele cur =[a cur e cur incl cur Ωcur ω cur M cur ];

[0069] Among them, a cur is the current time T cur The semi-major axis, e cur is the current time T cur The eccentricity, incl cur is the current time T cur The orbital inclination, Ω cur is the current time T cur The right ascension of the ascending node, ω cur is the current time T cur Argument of perigee, M cur is the current time T cur The mean anomaly angle.

[0070] Considering the perturbation of J2, the rate of change of the orbital elements is:

[0071]

[0072]

[0073] in p=a(1-e 2 ), where n is the orbital angular velocity, μ is the Earth's gravitational constant, and p is.

[0074] Take any forecast time T pre For example, given the forecast time T pre With the current time T cur The time difference ΔT is then the forecast time T pre The square root number of is:

[0075] a pre =a cur ,e pre =e cur ,incl pre =incl cur ;

[0076]

[0077] Among them, a pre is the forecast time T pre The semi-major axis, e pre is the forecast time T pre The eccentricity, incl pre is the forecast time T pre The orbital inclination, Ω pre is the forecast time T pre The right ascension of the ascending node, ω preis the forecast time T pre Argument of perigee, M pre is the forecast time T pre The average anomaly angle of pre =[a pre e pre incl pre Ω pre ω pre M pre ] is converted into the position velocity of the earth-fixed system

[0078] Based on this, the forecast starting time T can be cur +ΔT1 and forecast end time T cur +ΔT2 position velocity of the ground-fixed system and Make a forecast.

[0079] For the aforementioned step S106, an embodiment of the present invention provides an implementation method for determining an observable area of ​​a satellite during a forecast period based on a preset side viewing angle range and a position velocity of the satellite during the forecast period, including:

[0080] (1) based on the position velocity of the satellite at the forecast start time in the forecast period, determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range;

[0081] (2) based on the position and velocity of the satellite at the end of the forecast period, determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range;

[0082] (3) Determine the observable area of ​​the satellite during the forecast period based on the observable position information;

[0083] In the specific implementation, for the forecast start time and the forecast end time, the observable position information when the satellite's side viewing angle is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range is determined respectively, a total of four observable position information constitute the observable area of ​​the satellite in the forecast period.

[0084] For ease of understanding, the embodiment of the present invention takes the forecast start time as an example and provides a specific implementation method for determining observable position information, including the following (1.1) to (1.3):

[0085] (1.1) Based on the position velocity of the satellite at the forecast start time in the forecast period, the Earth-fixed velocity projection of the satellite at the forecast start time is determined.

[0086] For any forecast time, solve the projection of the velocity of the inertial system on the earth fixed system The process of ground-fixed velocity projection is as follows:

[0087] The Earth's rotation angular velocity vector:

[0088] where ω e is the angular velocity of the Earth's rotation.

[0089] Implicate speed

[0090] in:

[0091] Then the projection of the velocity of the inertial system on the earth fixed system is:

[0092] in:

[0093] Based on this, the forecast starting time T can be solved cur +ΔT1 Projection of the velocity of the inertial system on the earth-fixed system Similarly, the forecast end time T can be solved cur +ΔT2 Projection of the velocity of the inertial system on the earth-fixed system

[0094] (1.2) According to the maximum side viewing angle in the preset side viewing angle range, the vector pointing from the satellite to the center of the earth is rotated around the earth fixed velocity projection to obtain the first observation vector, and the observable position information corresponding to the first observation vector is solved.

[0095] (1.3) According to the minimum side viewing angle in the preset side viewing angle range, the vector pointing from the satellite to the center of the earth is rotated around the earth fixed velocity projection to obtain a second observation vector, and the observable position information corresponding to the second observation vector is solved.

[0096] In the specific implementation, according to the maximum side angle α1 and the minimum side angle α2, the vector pointing to the center of the earth by the satellite is projected around Rotate to obtain the first observation vector and the second observation vector; similarly, according to the maximum side angle α1 and the minimum side angle α2, the vector pointing to the center of the earth by the satellite is projected around The third observation vector and the fourth observation vector are obtained by rotation, and the observable position information corresponding to each observation vector is solved respectively.

[0097] Take any side view as an example, see Figure 2 A schematic diagram of observable position information from a side view is shown, and the process of solving the observable position information is as follows:

[0098] projection The unit vector of is:

[0099] Calculation of the rotation matrix: The rotation matrix of the vector rotation α is:

[0100]

[0101] The vector direction of the side view is:

[0102] Unit vector for the side view vector direction:

[0103] A=1;

[0104]

[0105]

[0106] x=t·m+rx fixed ;

[0107] y=t·n+ry fixed ;

[0108] z=t·p+rz fixed ;

[0109] Among them, A, B, C, and t are intermediate parameters and have no practical meaning. Then the side angle α and the inertial system velocity are projected on the ground fixed system Calculate the position of the observation point on the ground fixed system (that is, the observable position information) P image for:

[0110] P image =[xyz].

[0111] Based on this, the observable area is determined by the orbital parameters at the current moment and the side viewing angle range α1~α2, such as Figure 3 A schematic diagram of an observable area is shown, including: the position of the ground fixed system after forecasting ΔT1 The observation point PA is obtained from the side angle α1 image , the observation point PB is obtained from the side angle α2 image ; Predict the position of the ground anchor after ΔT2 The observation point PD is obtained from the side angle α1 image , the observation point PC is obtained from the side angle α2 image .

[0112] Specifically, according to the maximum side angle α1, the velocity projection of the satellite vector pointing to the center of the earth around the earth is The corresponding unit vector is rotated to obtain the rotation matrix M1; based on the satellite at the forecast starting time T cur Position information at +ΔT1 and the rotation matrix M1 to determine the first observation vector And solve for the first observation vector The corresponding observable position information PA image Similarly, according to the minimum side angle α2, the projection of the satellite's vector velocity around the Earth's fixed system is The corresponding unit vector is rotated to obtain the rotation matrix M2; based on the satellite at the forecast starting time T cur Position information at +ΔT1 and the rotation matrix M2 to determine the first observation vector And solve for the first observation vector The corresponding observable position information PB image Similarly, according to the maximum side angle α1, the projection of the satellite's vector velocity around the Earth's fixed system pointing to the center of the Earth is The corresponding unit vector is rotated to obtain the rotation matrix M3; based on the satellite at the forecast end time T cur Position information at +ΔT2 and the rotation matrix M3 to determine the first observation vector And solve for the first observation vector The corresponding observable position information PD image Similarly, according to the minimum side angle α2, the projection of the satellite's vector velocity around the Earth's fixed system is The corresponding unit vector is rotated to obtain the rotation matrix M4; based on the satellite at the forecast starting time T cur Position information at +ΔT2 and the rotation matrix M4 to determine the first observation vector And solve for the first observation vector Corresponding observable position information PC image .

[0113] For the aforementioned step S108, the embodiment of the present invention further provides an implementation method for determining whether the target point Tar is within the observable area, such as Figure 4 The target point observation schematic diagram shown in FIG. 1 includes the following steps (a) to (c):

[0114] (a) Determine the target point vector of the target point to be observed by the satellite in the earth-fixed system, and the vertex vectors of the four vertices of the observable area in the earth-fixed system.

[0115] In one example, the vector of the target point Tar in the Earth-fixed coordinate system is:

[0116] In one case, PA image PB image 、PC image , PD imageThe vector of a point in the earth-fixed coordinate system is:

[0117] (b) Determine the four side normal vectors of the observable area based on the four vertex vectors.

[0118] (c) Perform dot product of the target point vector and the four side normal vectors respectively. If the signs of the dot product results are all positive, it is determined that the target point is located inside the observable area.

[0119] In one example, the normal vectors of the four sides are calculated and The dot product of:

[0120]

[0121] If the signs of d1, d2, d3, and d4 are all positive, it means that the target point Tar is at point PA image PB image 、PC image , PD image If the target point Tar is inside the observable area, it means that the target point Tar is observable (visible); otherwise, the target point Tar is unobservable (invisible).

[0122] For the aforementioned step S108, the embodiment of the present invention further provides an implementation method for determining the target side viewing angle required when the satellite observes the target point, including the following (i) to (ii):

[0123] (a) Determine the side view angle when the satellite observes the target point.

[0124] If it is observable, then the current moment will pass the target point after ΔT2. and Calculate the side view angle to the target

[0125]

[0126] (ii) Based on the side-view angle and the position information of the satellite during the forecast period, determine the value and direction of the target side-view angle required when the satellite observes the target point.

[0127] Determine the value ang of the target side angle according to the following formula:

[0128]

[0129] Determine the direction of the target side view according to the following formula:

[0130]

[0131] If: tmp<0, it means left view, ang imaga=ang; otherwise, it means right side view, ang imaga =-ang.

[0132] In summary, an embodiment of the present invention provides an autonomous mission planning method for earth imaging based on orbit prediction, including: projection of the velocity of the satellite inertial system on the earth fixed system, determination of the position of the point that can be observed by the observation angle, demarcation of the observable area, determination of whether the target point is within the observable area, and determination of the time and side angle at which the target can be observed. An embodiment of the present invention provides a set of special calculation methods that can autonomously calculate the time and side angle of earth imaging in orbit. An embodiment of the present invention solves the problem of autonomously calculating the time of passing and the side angle of view for a given target observation point when performing autonomous mission planning on the satellite, thereby getting rid of dependence on the ground and improving the autonomy of the satellite in orbit.

[0133] Based on the above embodiments, the present invention provides an autonomous mission planning device for earth imaging based on orbit prediction, which is applied to a satellite. Figure 5 The schematic diagram of the structure of an autonomous mission planning device for earth imaging based on orbit prediction is shown, and the device mainly includes the following parts:

[0134] The parameter acquisition module 502 is used to acquire the preset side viewing angle range of the satellite and its orbital parameters at the current moment;

[0135] The position and speed prediction module 504 is used to predict the position and speed of the satellite in the prediction period according to the orbital parameters of the satellite at the current moment;

[0136] An observable area determination module 506 is used to determine the observable area of ​​the satellite in the forecast period based on a preset side viewing angle range and the position speed of the satellite in the forecast period;

[0137] The side viewing angle determination module 508 is used to determine the target side viewing angle required for the satellite to observe the target point if the target point to be observed by the satellite is located within the observable area, so as to realize the satellite's autonomous mission planning for earth imaging.

[0138] The device for autonomous mission planning of earth imaging based on orbit prediction provided by the embodiment of the present invention obtains the position velocity of the satellite in the forecast period through orbit prediction, determines the observable area of ​​the satellite in the forecast period in combination with a preset side viewing angle range, and determines the target side viewing angle required for observing the target point when the target point is located inside the observable area, thereby realizing the satellite's autonomous mission planning of earth imaging. The embodiment of the present invention performs on-board autonomous mission planning by the earth observation satellite, gets rid of the dependence on ground stations, improves the autonomy of the earth observation satellite in orbit and the real-time performance of earth target imaging mission planning.

[0139] In one implementation, the observable area determination module 506 is specifically configured to:

[0140] Based on the position velocity of the satellite at the forecast start time in the forecast period, the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range is determined respectively;

[0141] and, based on the position velocity of the satellite at the forecast end time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range;

[0142] Determine the observable area of ​​the satellite during the forecast period based on the observable position information;

[0143] The forecast start time is determined based on a preset first time difference and the current time, and the forecast end time is determined based on a preset second time difference and the current time, and the first time difference is smaller than the second time difference.

[0144] In one implementation, the observable area determination module 506 is specifically configured to:

[0145] Based on the position velocity of the satellite at the forecast start time in the forecast period, determining the earth-fixed system velocity projection of the satellite at the forecast start time;

[0146] According to the maximum side viewing angle in the preset side viewing angle range, the vector pointing from the satellite to the center of the earth is rotated around the earth fixed system velocity projection to obtain a first observation vector, and the observable position information corresponding to the first observation vector is solved;

[0147] And, according to the minimum side viewing angle in the preset side viewing angle range, the vector pointing to the center of the earth from the satellite is rotated around the earth fixed velocity projection to obtain a second observation vector, and the observable position information corresponding to the second observation vector is solved.

[0148] In one implementation, the observable area determination module 506 is specifically configured to:

[0149] According to the maximum side viewing angle in the preset side viewing angle range, the unit vector corresponding to the projection of the vector of the satellite pointing to the center of the earth around the earth fixed system velocity is rotated to obtain a rotation matrix;

[0150] A first observation vector is determined based on the position information and the rotation matrix of the satellite at the forecast start time in the forecast period.

[0151] In one implementation, the side viewing angle determination module 508 is further configured to:

[0152] Determine the target point vector of the target point to be observed by the satellite in the earth-fixed system, and the vertex vectors of the four vertices of the observable area in the earth-fixed system;

[0153] Determine four side normal vectors of the observable area based on the four vertex vectors;

[0154] Perform dot multiplication on the target point vector and the four side normal vectors respectively. If the signs of the dot product results are all positive, it is determined that the target point is located inside the observable area.

[0155] In one implementation, the side viewing angle determination module 508 is specifically configured to:

[0156] Determine the side view angle when the satellite observes the target point;

[0157] Based on the side view angle and the satellite's position information during the forecast period, the value and direction of the target side view angle required for the satellite to observe the target point are determined.

[0158] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0159] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above-mentioned implementation methods.

[0160] Figure 6 A structural diagram of an electronic device provided in an embodiment of the present invention, the electronic device 100 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the processor 60 is used to execute an executable module stored in the memory 61, such as a computer program.

[0161] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0162] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0163] Among them, the memory 61 is used to store programs, and the processor 60 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0164] The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 60. The above processor 60 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0165] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be referred to the previous method embodiments, which will not be repeated here.

[0166] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0167] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for autonomous mission planning of earth imaging based on orbit prediction, characterized in that: The method is applied to a satellite, comprising: Obtaining a preset side viewing angle range of the satellite and its orbital parameters at the current moment; Predicting the position velocity of the satellite in a forecast period according to the orbital parameters of the satellite at the current moment; Determining an observable area of ​​the satellite during the forecast period based on the preset side viewing angle range and the position speed of the satellite during the forecast period; If the target point to be observed by the satellite is located within the observable area, the target side viewing angle required for the satellite to observe the target point is determined to achieve autonomous mission planning of the satellite's earth imaging.

2. The method for autonomous mission planning of earth imaging based on orbit prediction according to claim 1, characterized in that: Determining an observable area of ​​the satellite in the forecast period based on the preset side viewing angle range and the position speed of the satellite in the forecast period includes: Based on the position speed of the satellite at the forecast start time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range; and, based on the position speed of the satellite at the forecast end time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range; Determine the observable area of ​​the satellite in the forecast period according to the observable position information; The forecast start time is determined based on a preset first time difference and the current time, and the forecast end time is determined based on a preset second time difference and the current time, and the first time difference is smaller than the second time difference.

3. The method for autonomous mission planning of earth imaging based on orbit prediction according to claim 2, characterized in that: Based on the position speed of the satellite at the forecast start time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle or the minimum side viewing angle in the preset side viewing angle range, including: Determine, based on the position velocity of the satellite at the forecast start time in the forecast period, a ground-fixed system velocity projection of the satellite at the forecast start time; According to the maximum side viewing angle in the preset side viewing angle range, the vector pointing from the satellite to the center of the earth is rotated around the earth-fixed velocity projection to obtain a first observation vector, and the observable position information corresponding to the first observation vector is solved; And, according to the minimum side viewing angle in the preset side viewing angle range, the vector pointing to the center of the earth from the satellite is rotated around the earth-fixed velocity projection to obtain a second observation vector, and the observable position information corresponding to the second observation vector is solved.

4. The method for autonomous mission planning of earth imaging based on orbit prediction according to claim 3, characterized in that: According to the maximum side viewing angle in the preset side viewing angle range, the vector pointing to the center of the earth from the satellite is rotated around the earth-fixed velocity projection to obtain a first observation vector, including: According to the maximum side viewing angle in the preset side viewing angle range, the vector pointing from the satellite to the center of the earth is rotated around the unit vector corresponding to the velocity projection of the earth-fixed system to obtain a rotation matrix; A first observation vector is determined based on the position information of the satellite at the forecast start time in the forecast period and the rotation matrix.

5. The method for autonomous mission planning of earth imaging based on orbit prediction according to claim 1, characterized in that: If the target point to be observed by the satellite is located within the observable area, before determining the target side viewing angle required for the satellite to observe the target point, the method further includes: Determine a target point vector of the target point to be observed by the satellite in the earth-fixed system, and vertex vectors of four vertices of the observable area in the earth-fixed system; Determine four side normal vectors of the observable area based on the four vertex vectors; Dot products are performed on the target point vector and the four side normal vectors respectively. If the signs of the dot product results are all positive, it is determined that the target point is located inside the observable area.

6. The method for autonomous mission planning of earth imaging based on orbit prediction according to claim 5, characterized in that: If the target point to be observed by the satellite is located within the observable area, determining the target side viewing angle required for the satellite to observe the target point includes: Determining a side view angle when the satellite observes the target point; Based on the side viewing angle and the position information of the satellite in the forecast period, the value and direction of the target side viewing angle required for the satellite to observe the target point are determined.

7. An autonomous mission planning device for earth imaging based on orbit prediction, characterized in that: The device is applied to a satellite and comprises: A parameter acquisition module, used to acquire a preset side viewing angle range of the satellite and its orbital parameters at the current moment; A position and speed prediction module, used to predict the position and speed of the satellite in a prediction period according to the orbital parameters of the satellite at the current moment; An observable area determination module, configured to determine an observable area of ​​the satellite in the forecast period based on the preset side viewing angle range and the position speed of the satellite in the forecast period; The side viewing angle determination module is used to determine the target side viewing angle required for the satellite to observe the target point if the target point to be observed by the satellite is located within the observable area, so as to realize the autonomous mission planning of the satellite for earth imaging.

8. The device for autonomous mission planning of earth imaging based on orbit prediction according to claim 7, characterized in that: The observable area determination module is specifically used for: Based on the position speed of the satellite at the forecast start time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range; and, based on the position speed of the satellite at the forecast end time in the forecast period, respectively determining the observable position information when the side viewing angle of the satellite is the maximum side viewing angle and the minimum side viewing angle in the preset side viewing angle range; Determine the observable area of ​​the satellite in the forecast period according to the observable position information; The forecast start time is determined based on a preset first time difference and the current time, and the forecast end time is determined based on a preset second time difference and the current time, and the first time difference is smaller than the second time difference.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 6.

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