Satellite-borne multi-source point trajectory fusion batch system

Abstract

The invention provides a satellite-borne multi-source-point trajectory fusion batch system, multi-source-point trajectory fusion is applied to the field of satellite remote sensing, association fusion is performed on target trajectories, and a trajectory library is established for targets to form target tracking and task guidance for other satellites. Different types of satellites detect a plurality of targets to realize trajectory association, and target association fails due to high difficulty of multi-target association in different time and different spaces. According to the dynamic threshold-based satellite-borne point trajectory association method provided by the invention, the association accuracy and timeliness can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of satellite onboard multi-source data fusion, and in particular, relates to a satellite-borne multi-source point trajectory fusion batch system. Background Art

[0002] In the field of satellite remote sensing, single-satellite target detection and recognition has matured, but multi-satellite target detection data fusion is a difficult problem that needs to be solved urgently.

[0003] Patent document CN113985909A obtains instantaneous orbit telemetry data collected by at least one satellite observation terminal for a target satellite at the current moment, combines it with the historical orbit data at the previous moment, performs multi-source data filtering and fusion on each instantaneous orbit telemetry data, and obtains instantaneous orbit fusion data; based on the instantaneous orbit fusion data, the satellite trajectory of the target satellite is predicted.

[0004] However, when different types of satellites detect multiple targets and realize trajectory association, the target association will fail because of the difficulty of multi-target association at different times and spaces. The reason is that the spatial position association of multiple moving targets at different times and spaces can only be achieved by multiple satellites observing the same area to accumulate observation data and associate and fuse them to form a target trajectory library, which is not conducive to improving the efficiency of satellite use. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide a satellite-borne multi-source point trajectory fusion batch system.

[0006] A satellite-borne multi-source point trajectory fusion batching system provided by the present invention comprises:

[0007] Onboard exchange module: receiving and sending point trajectory data and fusion result data;

[0008] Trajectory fusion module: Based on point trajectory data, the target trajectory is associated and fused to obtain fusion result data. Among them, a trajectory library is established for the target to form target tracking and mission guidance for other satellites.

[0009] Preferably, the data received by the onboard exchange module include: the output trajectory of the payload of the local satellite and the output trajectory of the payload of other satellites received between satellites; wherein, the output trajectory includes: the source of the trajectory data and the satellite ID in the constellation, the payload positioning error, the longitude and latitude of the target point, and the target detection time information.

[0010] Preferably, the satellite-borne exchange module sends the fusion result to the intersatellite link to guide other satellites to perform mission observation, and transmits the fusion result to the ground for storage in the trajectory library; the fusion result includes the target ID, target longitude and latitude, target speed, and target heading information in the target library.

[0011] Preferably, the trajectory fusion module includes:

[0012] Miller projection coordinate conversion module: expand the point position under the longitude and latitude coordinates into the plane XY coordinate system;

[0013] Deduplication module for different payloads of the same target: When the same target is seen by multiple payloads at the same time, the exploration data with higher target positioning accuracy is extracted for trajectory association to deduplicate targets in target association;

[0014] Trajectory association module based on dynamic threshold: dynamically adjust the threshold range between point traces, where the threshold is dynamically calculated based on the speed and heading of the target point and the target sampling time point. The point traces that meet the dynamic threshold range are considered to be successfully associated, otherwise the association fails.

[0015] Preferably, the trajectory fusion module internally stores information parameters of payloads within the satellite constellation, the information parameters including: satellite number, payload number, payload positioning error, payload target detection rate; the information parameters have the ability to be modified on-orbit.

[0016] The threshold range between point traces is dynamically adjustable; the threshold is dynamically calculated according to the speed and heading of the target point and the target sampling time point; the new target collected by the remote sensing payload has time, X coordinate, and Y coordinate information, which is calculated with the target point information in the trajectory library to obtain the sector threshold area. If the new target point meets the sector area threshold, the association is successful, otherwise the association fails; wherein the target point information in the trajectory library includes X coordinate, Y coordinate information, speed, navigation, and time;

[0017] The trajectory association module based on dynamic threshold adopts trajectory library association; trajectory library association is a trajectory association method based on Kalman filter; among them, the observation matrix parameters, prediction matrix parameters and coefficients of Kalman filter can be modified.

[0018] Preferably, the onboard switching module and the trajectory fusion module exchange data via the GTX interface of the FPGA.

[0019] Preferably, the core processing chip of the trajectory fusion module is used for receiving and unpacking point trajectory data, framing and sending fusion results, and the CPU end of the core processing chip completes Miller projection coordinate conversion, deduplication of different payloads of the same target, and trajectory association functions based on dynamic thresholds.

[0020] Preferably, the trajectory library establishes a maintenance and exit mechanism;

[0021] The parameters of the new track and exit track mechanism can be modified online.

[0022] According to a satellite-borne multi-source point trajectory fusion batching method provided by the present invention, the satellite-borne multi-source point trajectory fusion batching system is used to perform trajectory fusion.

[0023] A satellite provided according to the present invention comprises the on-board multi-source point trajectory fusion batch system.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention applies multi-source point trajectory fusion to the field of satellite remote sensing, and performs correlation fusion on the target trajectory, which can improve the correlation accuracy and timeliness.

[0026] 2. The present invention establishes a trajectory library for the target for tracking the target and guiding other satellites. An accurate target trajectory library is beneficial to improving satellite utilization efficiency, planning satellite observation tasks, and saving unnecessary satellite observation resources.

[0027] 3. The present invention expands the point position under the longitude and latitude coordinates into a plane XY coordinate system. After expansion, the distance difference between the two coordinate points can be increased, which is conducive to judging whether the two points are associated according to the distance difference threshold. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0029] Figure 1 This is the block diagram of the multi-source point trajectory fusion system;

[0030] Figure 2 This is the block diagram of Miller projection principle;

[0031] Figure 3 It is a block diagram of the trajectory association system based on dynamic threshold;

[0032] Figure 4 This is the experimental result of multi-source point trajectory data fusion;

[0033] Figure 5 This is the schematic diagram of the dynamic threshold algorithm. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0035] According to the present invention, a satellite-borne multi-source point trajectory fusion batching system includes: a satellite-borne switching module and a trajectory fusion module. The satellite-borne switching module and the trajectory fusion module exchange data through the high-speed GTX interface of the FPGA.

[0036] Onboard exchange module, receiving and sending point trajectory data and fusion result data.

[0037] The trajectory fusion module includes: Miller projection coordinate conversion module, same target different load deduplication module, and dynamic threshold based trajectory association module.

[0038] The data received by the satellite exchange module include: the trajectory target of the payload data point of the satellite and the trajectory data of other satellite points received between satellites.

[0039] The point trajectory target information includes: the source of trajectory data and the satellite ID in the constellation, payload positioning error, target point longitude and latitude, target detection time and other information.

[0040] The data receiving physical interface of the onboard switching module includes: LVDS, 2711, network port, optical port and the like.

[0041] The data sent by the satellite exchange module includes: the fusion result goes to the intersatellite link to guide other satellites to perform mission observation, and the fusion result is transmitted to the ground for track library storage. The data transmission physical interface of the satellite exchange module includes: LVDS, 2711, network port, optical port and other forms.

[0042] The output information of the point trajectory fusion result includes the target ID, target longitude and latitude, target speed, target heading and other information in the target library.

[0043] The core processing chip of the trajectory fusion module is used for receiving and unpacking point trajectory data, framing and sending fusion results. The CPU of the core processing chip completes functions such as Miller projection coordinate conversion, deduplication of different payloads of the same target, and trajectory association based on dynamic thresholds.

[0044] The Miller projection coordinate conversion is to expand the point position under the longitude and latitude coordinates into the plane XY coordinate system. Its advantage is that after expansion, the distance difference between the two coordinate points can be increased, which is conducive to judging whether the two points are associated according to the distance difference threshold. After the association is successful, the plane coordinate XY is converted to longitude and latitude.

[0045] The deduplication of different payloads for the same target is specifically: when the same target is seen by two payloads at the same time, target deduplication needs to be performed in target association. The deduplication principle follows the principle of extracting exploration data with high target positioning accuracy for trajectory association.

[0046] Furthermore, the trajectory fusion module internally stores information parameters of payloads in the satellite constellation, including satellite number, payload number, payload positioning error, and payload target detection rate. The information parameters have the ability to be modified on-orbit. The deduplication of different payloads of the same target is to select target points with higher positioning accuracy and detection rate according to different payload positioning errors and detection rates for trajectory association fusion. The higher means higher than the set threshold.

[0047] The dynamic threshold-based association refers to the dynamically adjustable threshold range between point traces. The threshold is dynamically calculated based on the speed and heading of the target point and the target sampling time point. The point traces that meet the dynamic threshold range are considered to be successfully associated, otherwise the association fails.

[0048] Furthermore, the dynamic threshold-based association adopts a trajectory association method based on a Kalman filter. The Kalman filter observation matrix parameters, prediction matrix parameters, coefficients, etc. can all be modified.

[0049] The track library establishes a maintenance and exit mechanism. The parameters of the mechanism such as adding new tracks and exiting tracks can be modified.

[0050] The present invention will be described in more detail below.

[0051] The working principle of trajectory fusion of the present invention is:

[0052] In the dynamic threshold-based association algorithm, the threshold sector between points can be adjusted dynamically. The threshold is dynamically calculated based on the speed and heading of the target point and the target sampling time point. The figure above shows the dynamic threshold calculation method. The new target New Target collected by the remote sensing payload has time, X coordinate, and Y coordinate information. It is calculated with the target point PointTarget information in the trajectory library (X coordinate XCoordinate, Y coordinate information YCoordinate, speed speed, navigation Course, time Time) to obtain the sector threshold area. If the new target point meets the sector area threshold, the association is successful, otherwise the association fails. The principle diagram of the dynamic threshold is as follows: Figure 5 shown.

[0053] The dynamic threshold association algorithm trajectory library association is a trajectory association method based on the Kalman filter. The Kalman filter observation matrix parameters, prediction matrix parameters, coefficients, etc. can be modified. The satellite-borne multi-source point trajectory fusion batch system has a trajectory library establishment, maintenance and exit mechanism. The mechanism parameters such as adding new trajectories and exiting trajectories can be modified. The trajectory association effect diagram is as follows Figure 3 shown.

[0054] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A satellite-borne multi-source point trajectory fusion batching system, characterized in that: include: Onboard exchange module: receiving and sending point trajectory data and fusion result data; Trajectory fusion module: Based on point trajectory data, the target trajectory is associated and fused to obtain fusion result data. Among them, a trajectory library is established for the target to form target tracking and mission guidance for other satellites.

2. The satellite-borne multi-source point trajectory fusion batching system according to claim 1 is characterized in that: The data received by the satellite exchange module include: the output trajectory of the payload of the satellite and the output trajectory of the payload of other satellites received between satellites; wherein the output trajectory includes: the source of the trajectory data and the satellite ID in the constellation, the payload positioning error, the longitude and latitude of the target point, and the target detection time information.

3. The satellite-borne multi-source point trajectory fusion batching system according to claim 1 is characterized in that: The satellite exchange module sends the fusion result to the intersatellite link to guide other satellites to perform mission observation, and transmits the fusion result to the ground for track library storage; the fusion result includes the target ID, target longitude and latitude, target speed, and target heading information in the target library.

4. The satellite-borne multi-source point trajectory fusion batching system according to claim 1 is characterized in that: The trajectory fusion module includes: Miller projection coordinate conversion module: expand the point position under longitude and latitude coordinates into the plane XY coordinate system; Deduplication module for different payloads of the same target: When the same target is seen by multiple payloads at the same time, the exploration data with higher target positioning accuracy is extracted for trajectory association to deduplicate the target in the target association; Trajectory association module based on dynamic threshold: dynamically adjust the threshold range between point traces, where the threshold is dynamically calculated based on the speed and heading of the target point and the target sampling time point. The point traces that meet the dynamic threshold range are considered to be successfully associated, otherwise the association fails.

5. The satellite-borne multi-source point trajectory fusion batching system according to claim 4 is characterized in that: The trajectory fusion module stores information parameters of payloads in the satellite constellation, including satellite number, payload number, payload positioning error, and payload target detection rate; the information parameters have the ability to be modified on-orbit; The threshold range between point traces is dynamically adjustable; the threshold is dynamically calculated according to the speed and heading of the target point and the target sampling time point; the new target collected by the remote sensing payload has time, X coordinate, and Y coordinate information, which is calculated with the target point information in the trajectory library to obtain the sector threshold area. If the new target point meets the sector area threshold, the association is successful, otherwise the association fails; wherein the target point information in the trajectory library includes X coordinate, Y coordinate information, speed, navigation, and time; The trajectory association module based on dynamic threshold adopts trajectory library association; trajectory library association is a trajectory association method based on Kalman filter; among them, the observation matrix parameters, prediction matrix parameters and coefficients of Kalman filter can be modified.

6. The satellite-borne multi-source point trajectory fusion batching system according to claim 1 is characterized in that: The onboard switching module and trajectory fusion module exchange data through the GTX interface of the FPGA.

7. The satellite-borne multi-source point trajectory fusion batching system according to claim 1 is characterized in that: The core processing chip of the trajectory fusion module is used for receiving and unpacking point trajectory data, framing and sending fusion results, and the CPU of the core processing chip completes Miller projection coordinate conversion, deduplication of different payloads of the same target, and trajectory association functions based on dynamic thresholds.

8. The satellite-borne multi-source point trajectory fusion batching system according to claim 1 is characterized in that: The trajectory library establishes maintenance and exit mechanisms; The parameters of the new track and exit track mechanism can be modified online.

9. A satellite-borne multi-source point trajectory fusion batching method, characterized in that: The satellite-borne multi-source point trajectory fusion batch system according to any one of claims 1 to 8 is used to perform trajectory fusion.

10. A satellite, characterized in that: A satellite-borne multi-source point trajectory fusion batch system comprising any one of claims 1 to 8.

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