Multi-target imaging task planning method and system and computer readable storage medium

Abstract

The invention provides a multi-target imaging task planning method and system and a computer readable storage medium, and the method comprises the steps: arranging the imaging sequence of a plurality of obtained burst targets, and generating a plurality of arrangement sequences; according to a satellite attitude maneuver capability table, imaging judgment is carried out on the plurality of arrangement sequences in sequence, the satellite attitude maneuver capability table comprises a one-to-one correspondence relationship between a plurality of attitude angle intervals and a plurality of shortest time required by satellite attitude maneuver, and the imaging judgment comprises judgment of the number of emergent targets capable of imaging in the arrangement sequences; according to the number of the emergent targets which can be imaged and correspond to the plurality of arrangement sequences, obtaining a first arrangement sequence in which the number of the emergent targets which can be imaged is maximum; and imaging the burst targets with the imaging opportunities in the first arrangement sequence in sequence. According to the method, imaging judgment is carried out after the multiple burst target imaging sequences are arranged, so that the burst target imaging sequences are obtained as many as possible, and the number of burst target imaging of a satellite is increased.

Description

Technical Field

[0001] The present application relates to the field of satellite attitude maneuvering technology, and in particular to a multi-target imaging mission planning method and a computer-readable storage medium. Background Art

[0002] With the continuous advancement of aerospace technology, satellites are playing an increasingly important role in many fields. In related technologies, satellites can integrate multi-sensor technology to accurately locate and image the detection target. After the satellite obtains the location information of the ground detection target, the satellite can adjust the field of view of the remote sensing sensor through a high-speed turntable or satellite attitude maneuvering to point it to the position of the ground detection target, thereby realizing the imaging of the ground detection target. When the satellite targets a known detection target, the high-speed turntable can be adjusted in time based on the planning of the ground mission, or the satellite can be combined with the historical orbital information of the satellite to predict the satellite orbit and calculate the imaging time of the satellite to the detection target and the attitude of the satellite at this time. When the satellite targets a sudden target, such as during the satellite detection process, the location of a sudden natural disaster, war, hot spot target, etc., or the satellite receives a sudden task inserted from the ground during the detection process. Because the satellite flies at an extremely high speed, the visible area of ​​the satellite flying over the target is very limited, which increases the difficulty of the satellite imaging sudden targets.

[0003] When a satellite faces a sudden target, the high-speed turntable is heavy and requires more energy to operate, so the cost of the high-speed turntable is also high. At the same time, there are moving parts in the high-speed turntable, which poses a greater reliability risk. Satellite attitude maneuvering is to adjust the satellite attitude so that the remote sensing sensor field of view points to the target, which can improve reliability without adding additional costs. However, when a satellite faces a sudden target, it takes a certain amount of time to adjust the satellite attitude maneuvering and stabilize the satellite attitude. The satellite needs to perform attitude recursion based on the sudden target to determine the attitude at which the satellite can image the sudden target. However, in the process of recursive satellite attitude, the attitudes of the satellite and the sudden target are changing in real time. At the same time, in some cases, the satellite detects more than one sudden target. The satellite needs to constantly adjust its attitude to achieve imaging of multiple detection targets. However, since it takes a certain amount of time to adjust the satellite attitude and stabilize the attitude, and the imaging opportunity of the sudden target is fleeting, the satellite attitude adjustment may not be able to adjust the satellite attitude in time to achieve the purpose of imaging the sudden target.

[0004] When multiple sudden targets are detected, the satellite needs to continuously adjust its attitude to image the sudden targets. However, since satellite attitude adjustment and satellite attitude stabilization both take time, it is difficult for the satellite to image multiple sudden targets in a short period of time. Summary of the invention

[0005] In view of this, the embodiments of the present application are directed to providing a multi-target imaging mission planning method and a computer-readable storage medium.

[0006] In a first aspect, a multi-target imaging task planning method is provided, the method comprising: arranging the imaging order of multiple acquired burst targets and generating multiple arrangement sequences; performing imaging judgments on the multiple arrangement sequences in turn according to a satellite attitude maneuverability table, the satellite attitude maneuverability table comprising a one-to-one correspondence between multiple attitude angle intervals and multiple shortest times required for satellite attitude maneuvers, the imaging judgment comprising judging the number of burst targets that can be imaged in the arrangement sequence; obtaining a first arrangement sequence with the largest number of burst targets that can be imaged according to the number of burst targets that can be imaged corresponding to the multiple arrangement sequences; and imaging the burst targets that have imaging opportunities in the first arrangement sequence in turn.

[0007] According to a first aspect, multiple burst targets include a first burst target, the position vector of the first burst target is a first target position vector, and imaging judgment is performed on multiple burst targets in multiple arrangement sequences in sequence according to a satellite attitude maneuverability table, including: obtaining one of multiple shortest times required for satellite attitude maneuvering as a first maneuvering time; determining at a first moment based on the first maneuvering time and the current moment; calculating the satellite based on the first moment using the Lagrange coefficient method to obtain a first satellite position vector of the satellite; judging whether the first burst target can be imaged according to an angle between the first satellite position vector and the first target position vector; if the first burst target can be imaged, setting the satellite maneuvering duration corresponding to the first burst target as the first maneuvering duration; if the first burst target cannot be imaged, selecting a time different from the first maneuvering time from the multiple shortest times required for satellite attitude maneuvers as a second maneuvering time, determining a second satellite position vector of the satellite based on the second maneuvering time, and judging whether the first burst target can be imaged according to the angle between the second satellite position vector and the first target position vector; if the first burst target cannot be imaged during all of the multiple shortest times required for satellite attitude maneuvers, judging that the first burst target cannot be imaged, and the satellite maneuvering duration corresponding to the first burst target is 0.

[0008] According to the first aspect, or any implementation method of the first aspect above, in the satellite attitude maneuverability table, the first maneuvering time corresponds to the first attitude angle interval, if the angle between the first satellite position vector and the first target position vector is within the first attitude angle interval, the first sudden target can be imaged within the first maneuvering time; and / or if the angle between the first satellite position vector and the first target position vector is not within the first attitude angle interval, the first sudden target cannot be imaged within the first maneuvering time.

[0009] According to the first aspect, or any implementation of the first aspect above, the multiple burst targets also include a second burst target, the position vector of the second burst target is the second target position vector, after determining whether the first burst target can be imaged, obtaining one of the multiple satellite attitude maneuvers required as a third maneuvering time; based on the third maneuvering time, the current time and the first maneuvering duration, determining the second time; based on the second time, using the Lagrange coefficient method to calculate the satellite to obtain the third satellite position vector of the satellite; judging whether the second burst target can be imaged according to the angle between the third satellite position vector and the second target position vector, if the second burst target can be imaged, then setting the satellite maneuvering duration corresponding to the second burst target as the second maneuvering duration, if the second burst target cannot be imaged, then selecting a time different from the third maneuvering time from the shortest times required for multiple satellite attitude maneuvers as a fourth maneuvering time, determining the fourth satellite position vector of the satellite based on the fourth maneuvering time, and judging whether the second burst target can be imaged according to the angle between the fourth satellite position vector and the second target position vector; if the second burst target cannot be imaged during all the shortest times required for multiple satellite attitude maneuvers, then judging that the second burst target cannot be imaged, and the satellite maneuvering duration corresponding to the second burst target is 0.

[0010] According to the first aspect, or any implementation of the first aspect above, the first moment can also be determined based on the imaging duration, where the imaging duration indicates the time from when the satellite starts imaging the sudden target to when the imaging ends.

[0011] According to the first aspect, or any implementation of the first aspect above, the imaging attitude of the first burst target is determined based on the first satellite position vector and the first target position vector, and the imaging attitude includes one or more of the following contents of the satellite: roll angle; pitch angle; yaw angle.

[0012] According to the first aspect, or any implementation of the first aspect above, an imaging possibility table of multiple burst targets is generated according to burst targets that can be imaged corresponding to multiple arrangement sequences, and a first arrangement sequence is determined based on the imaging possibility table, wherein the imaging possibility table includes one or more of the following: the number of burst targets that can be imaged corresponding to multiple arrangement sequences; the identification of burst targets that can be imaged corresponding to multiple arrangement sequences; and the identification of burst targets that cannot be imaged corresponding to multiple arrangement sequences.

[0013] According to the first aspect, or any implementation of the first aspect above, a first arrangement sequence with the largest number of burst targets imaged is obtained based on burst targets that can be imaged corresponding to multiple arrangement sequences, including: if all burst targets in the currently judged arrangement sequence can be imaged, then the first arrangement sequence is the currently judged arrangement sequence.

[0014] In the second aspect, the present application provides a multi-target imaging mission planning system, which includes: a sorting module, which is used to arrange the imaging order of multiple acquired burst targets and generate multiple arrangement sequences; an imaging judgment module, which is used to perform imaging judgments on multiple arrangement sequences in turn according to the satellite attitude maneuverability table, the satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle intervals and multiple shortest times required for satellite attitude maneuvers, and the imaging judgment includes judging the number of burst targets that can be imaged in the arrangement sequence; according to the number of burst targets that can be imaged corresponding to the multiple arrangement sequences, a first arrangement sequence with the largest number of burst targets that can be imaged is obtained. The imaging module is used to image the burst targets with imaging opportunities in the first arrangement sequence in turn.

[0015] In a third aspect, the present application provides a computer-readable storage medium storing a program code for computer execution, wherein the program code includes a multi-target imaging mission planning method for executing any one of the possible implementations of the first aspect.

[0016] In a fourth aspect, an embodiment of the present application provides a computer program comprising instructions for executing the multi-target imaging task planning method in the first aspect and any possible implementation of the first aspect.

[0017] The present application can arrange the imaging order of multiple burst targets and make imaging judgments based on the generated multiple arrangement sequences, thereby ensuring that within the limited visible range of the satellite, an arrangement sequence (equivalent to the first arrangement sequence) for imaging as many burst targets as possible can be obtained, thereby increasing the number of burst targets imaged by the satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flowchart of a multi-target imaging task planning method provided in an embodiment of the present application.

[0019] Figure 2 A schematic flowchart of another multi-target imaging mission planning method provided in an embodiment of the present application.

[0020] Figure 3 Schematic diagram of satellite detection range and target distribution provided in an embodiment of the present application.

[0021] Figure 4 Another spatial geometric relationship between a satellite and a target provided in an embodiment of the present application.

[0022] Figure 5 A schematic flowchart of another multi-target imaging mission planning method provided in an embodiment of the present application.

[0023] Figure 6A schematic flowchart of another multi-target imaging mission planning method provided in an embodiment of the present application.

[0024] Figure 7 A schematic flowchart of a multi-target imaging mission planning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0026] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0027] The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects rather than to describe a specific order of objects. For example, a first target object and a second target object are used to distinguish different target objects rather than to describe a specific order of target objects.

[0028] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0029] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] With the continuous advancement of aerospace technology, satellites are playing an increasingly important role in many fields, including environmental monitoring, disaster warning, agricultural management, urban planning, and resource exploration. In order to improve the application effects in these fields, satellite design has begun to tend to integrate a variety of sensor technologies.

[0031] In related technologies, satellites can integrate multi-sensor technologies to accurately locate detection targets and perform high-resolution imaging of detection targets. For example, satellites can combine wide-band detection sensors and remote sensing sensors, where the wide-band detection sensors can provide location information of ground detection targets over a wide range, while high-resolution optical or synthetic aperture radar (SAR) remote sensing sensors can perform detailed imaging of these ground detection targets.

[0032] After the satellite obtains the position information of the ground detection target, the satellite can adjust the field of view of the remote sensing sensor through a high-speed turntable to point it to the position of the ground detection target, thereby realizing imaging of the ground detection target. The high-speed turntable can include one or more rotating axes, and the high-speed turntable can simulate various attitude angle movements of the satellite. After the satellite obtains the position information of the ground detection target, the field of view of the remote sensing sensor can be pointed to the position of the ground detection target through the high-speed turntable. However, in general, the weight of the high-speed turntable is large, and because the operation of the high-speed turntable requires more energy, the cost of the high-speed turntable is also high. At the same time, the high-speed turntable has moving parts and there is a greater reliability risk. Therefore, imaging of sudden targets based on a high-speed turntable faces high costs and a greater possibility risk.

[0033] Satellites can also image ground detection targets through satellite attitude maneuvers. Satellite attitude maneuvers refer to the process of adjusting the satellite's own attitude from a known attitude to another desired attitude. This process usually requires changing the direction of the satellite relative to a reference coordinate system. After the satellite obtains the position information of the ground detection target, it can adjust the satellite attitude to point the field of view of the remote sensing sensor to the position of the ground detection target. Satellite attitude maneuvers are to adjust the satellite attitude to make the field of view of the remote sensing sensor point to the target, which can improve reliability without adding additional costs.

[0034] When a satellite targets a sudden target, such as a natural disaster, war, or hotspot during the satellite detection process, or when the satellite receives a sudden mission from the ground during the detection process, the satellite flies at an extremely high speed of about 7 kilometers per second (km / s). Therefore, the visible area of ​​the target when the satellite flies over is very limited, generally only 1 to 2 minutes, which increases the difficulty of satellite imaging of sudden targets.

[0035] At the same time, it takes a certain amount of time for the satellite to adjust its attitude and stabilize its attitude. When facing a planned mission on the ground, the satellite can reserve sufficient time margin to ensure the satellite's attitude maneuverability and stability before imaging the planned target. However, when the satellite faces a sudden target, the imaging opportunity is fleeting and the imaging time is unknown. The satellite needs to perform attitude recursion based on the sudden target to determine the attitude at which the satellite can image the sudden target. However, in the process of recursively calculating the satellite's attitude, the attitudes of the satellite and the sudden target are changing in real time, and the satellite's imaging time and the required attitude maneuverability and stabilization time need to be immediately clarified. Moreover, in some cases, the satellite will detect multiple sudden targets at the same time during the detection process. At this time, the satellite needs to constantly adjust its attitude to achieve imaging of multiple detection targets.

[0036] When multiple sudden targets are detected, the satellite needs to continuously adjust its attitude to image the sudden targets. However, since satellite attitude adjustment and satellite attitude stabilization both take time, it is difficult for the satellite to image multiple sudden targets in a short period of time.

[0037] In order to solve the above-mentioned problem that when facing multiple sudden targets, it is difficult for the satellite to image multiple sudden targets in a short time due to the limited visible range of the satellite, in the present application, the imaging order of the acquired multiple sudden targets can be arranged, and the imaging judgment of the generated multiple arrangement sequences can be performed in turn according to the satellite attitude maneuverability table. The imaging judgment includes judging the number of sudden targets that can be imaged in the arrangement sequence; obtaining the first arrangement sequence with the largest number of sudden targets that can be imaged according to the number of sudden targets that can be imaged corresponding to the multiple arrangement sequences; and imaging the sudden targets with imaging opportunities in the first arrangement sequence in turn. Based on this, the present application can arrange the imaging order of multiple sudden targets and perform imaging judgment based on the generated multiple arrangement sequences, thereby ensuring that as many sequences as possible for imaging sudden targets can be obtained within the limited visible range of the satellite, thereby increasing the number of sudden targets imaged by the satellite.

[0038] Figure 1 It is a schematic flowchart of a multi-target imaging task planning method provided in an embodiment of the present application to solve the above-mentioned problems.

[0039] Figure 1 The method shown can image more sudden targets within the limited visible range of the satellite by planning imaging missions for multiple targets. Multiple targets can be understood as the multiple sudden targets mentioned above. Exemplarily, a sudden target can be a sudden discovery by the satellite during the detection process, or a sudden target mission suddenly inserted into the satellite detection mission by ground planning.

[0040] Figure 1The method shown may include steps S110 to S140.

[0041] Step S110 , arranging the imaging order of the acquired multiple burst targets and generating multiple arrangement sequences.

[0042] In some embodiments, the satellite may detect multiple burst targets simultaneously during the detection process. In order to image more burst targets within the limited visual range of the satellite, the multiple burst targets may be sorted in sequence. For example, the satellite detects two burst targets at the same time, and the two burst targets are P1 and P2. The two burst targets are arranged in sequence to generate multiple arrangement sequences, such as P1P2 and P2P1.

[0043] In some embodiments, multiple burst targets may be fully permuted in sequence. Full permutation refers to taking m (m≤n) elements from n different elements at random and arranging them in a certain order, which is called a permutation of taking m elements from n different elements. When m=n, all permutations are called full permutations.

[0044] Exemplarily, the multiple arrangement sequences generated by arranging the imaging order of multiple burst targets may include all the arrangement sequences in the full arrangement sequence. Optionally, some arrangement sequences in the full arrangement sequence may also be included. For example, when there are three burst targets, the three burst targets are fully arranged to generate: P1P2P3, P2P1P3, P1P3P2, P2P3P1, P3P1P2, P3P2P1.

[0045] Step S120, imaging judgment is performed on multiple arrangement sequences in turn according to the satellite attitude maneuverability table. The satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle intervals and multiple shortest times required for satellite attitude maneuvers. The imaging judgment includes judging the number of burst targets that can be imaged in the arrangement sequence.

[0046] The satellite attitude maneuverability table is used to describe the satellite's ability to adjust its attitude in space. In some embodiments, the satellite attitude maneuverability table may include parameters such as the time required for the satellite to complete a specific attitude change. For example, the satellite attitude maneuverability table may include multiple attitude angle intervals and multiple minimum times required for satellite attitude maneuvers, where each attitude angle interval corresponds to the shortest time required for the satellite attitude maneuver. Taking Table 1 as an example, when the satellite attitude maneuverability angle interval is in [a i―1 ,a i ], then the shortest time required for satellite attitude maneuvering is b i , which can achieve the posture stability required for imaging.

[0047] Table 1 Satellite attitude maneuverability table

[0048]

[0049] In some embodiments, based on the multiple permutation sequences generated in step S110, imaging judgment can be performed on all sudden targets in each permutation sequence in turn according to the satellite attitude maneuverability table. The specific judgment process is described in detail below and will not be repeated here.

[0050] In some embodiments, the imaging judgment can be understood as judging whether each burst target in the arrangement sequence can be imaged. Optionally, the imaging judgment can also include judging the number of burst targets that can be imaged in the arrangement sequence. For example, when there are two burst targets P1 and P2, the imaging judgment of P1 can be performed first according to the satellite attitude maneuverability table, and after the judgment is completed, the imaging judgment of P2 can be performed according to the satellite attitude maneuverability table.

[0051] Step S130 , obtaining a first arrangement sequence having the largest number of burst targets that can be imaged according to the numbers of burst targets that can be imaged corresponding to the plurality of arrangement sequences.

[0052] According to step S120, the number of burst targets that can be imaged of multiple arrangement sequences can be obtained. According to the number of burst targets that can be imaged, the arrangement sequence with the largest number of imaged burst targets can be obtained, and this arrangement sequence can be called the first arrangement sequence. For example, when the number of burst targets is 2, the generated arrangement sequences can be obtained as: P1P2 and P2P1. When the burst target imaging judgment is performed based on the P1P2 sequence, the number of imaged burst targets is 1; when the burst target imaging judgment is performed based on the P2P1 sequence, the number of imaged burst targets is 2. Therefore, P2P1 can be the first arrangement sequence.

[0053] In some embodiments, if it is determined that all burst targets in the current arrangement sequence can be imaged, the arrangement sequence currently determined can be the first arrangement sequence. For example, when the number of burst targets is 2, if burst target imaging determination is performed based on the P1P2 sequence, the number of imaged burst targets is 2, then the first arrangement sequence can be P1P2. Optionally, when all burst targets in the currently determined arrangement sequence can be imaged, it is not necessary to perform imaging determination on other sequences, for example, it is not necessary to perform imaging determination on P2P1, and imaging can be directly started based on the first arrangement sequence.

[0054] In some embodiments, an imaging possibility table of multiple burst targets may be generated according to burst targets that can be imaged corresponding to multiple arrangement sequences.

[0055] In some embodiments, the imaging possibility table may include one or more of the following: the number of burst targets that can be imaged corresponding to multiple arrangement sequences; the identification of burst targets that can be imaged corresponding to multiple arrangement sequences; and the identification of burst targets that cannot be imaged corresponding to multiple arrangement sequences.

[0056] Table 2 is an example of an imaging possibility table provided in an embodiment of the present application, in which the number of burst targets is 2. When the number of burst targets is 2, the generated permutation sequences are: P1P2 and P2P1.

[0057] Table 2 Imaging possibility table

[0058]

[0059] The imaging possibility table includes two permutation sequences, P1P2 and P2P1, and includes the number of burst targets that can be imaged corresponding to these two permutation sequences. From Table 2, it can be seen that P1P2 may have simultaneous imaging, or imaging of one burst target, or both burst targets cannot be imaged. In Table 2, √ indicates that the attitude maneuverability is satisfied and imaging is possible, which can be understood as the identification of burst targets that can be imaged corresponding to multiple permutation sequences; × indicates that the attitude maneuverability is not satisfied and imaging is not possible, which can be understood as the identification of burst targets that cannot be imaged corresponding to multiple permutation sequences.

[0060] In some embodiments, the first arrangement sequence may be determined based on the imaging possibility table. For example, as described in Table 2, when the P1P2 imaging judgment compliance flag is A or E, both P1P2 and P2P1 may be the first arrangement sequence. In some embodiments, when both P1P2 and P2P1 may be the first arrangement sequence, imaging may be performed in the order of P1P2.

[0061] In some embodiments, when imaging judgment is performed on the P1P2 and P2P1 sequences respectively, if two burst targets cannot be imaged simultaneously, the following situations may also be included:

[0062] 1) When flag == B or flag == F, it indicates that no matter in which order, only P1 has an imaging opportunity, and at this time, both P1P2 and P2P1 can be the first arrangement sequence.

[0063] 2) When flag == C or flag == G, it indicates that no matter in which order, only P2 has the imaging opportunity, then both P1P2 and P2P1 can be the first arrangement sequence.

[0064] 3) When flag == D or flag == H, it indicates that P1 and P2 cannot be imaged no matter in what order.

[0065] In some embodiments, when imaging judgment is performed based on multiple arrangement sequences, multiple burst targets cannot be imaged, that is, the first arrangement sequence cannot be generated, it can be understood that multiple burst targets cannot be imaged this time. That is, the multi-target imaging mission is completed this time, and the satellite waits for the next imaging mission.

[0066] In some embodiments, when imaging judgment is performed according to multiple arrangement sequences, a first arrangement sequence may be generated, and the process jumps to step S140.

[0067] Step S140: sequentially image the burst targets having imaging opportunities in the first arrangement sequence.

[0068] When the first arrangement sequence is determined based on step S130, the burst targets with imaging opportunities in the first arrangement sequence may be imaged sequentially. For example, taking the imaging possibility table in Table 2, there are two burst targets as an example, and imaging the burst targets with imaging opportunities in the first arrangement sequence may have the following situations:

[0069] 1) When flag == A or flag == E, the first arrangement sequence can be P1P2 or P1P2. Optionally, when the two burst targets are judged to be imageable in any order, imaging can be performed preferentially in the order of P1P2;

[0070] 2) When flag==B or flag==F, it indicates that no matter in which order, only P1 has the imaging opportunity, then both P1P2 and P2P1 can be the first arrangement sequence. Optionally, imaging can be performed in the order of P1P2;

[0071] 3) When flag==C or flag==G, it indicates that no matter in which order, only P2 has the imaging opportunity, then both P1P2 and P2P1 can be the first arrangement sequence. Optionally, imaging can be performed preferentially in the order of P1P2.

[0072] When faced with multiple sudden targets, it is difficult for the satellite to image multiple sudden targets in a short period of time due to the limited visual range of the satellite. The present application can obtain a first arrangement sequence by sorting the multiple sudden targets detected and judging the imaging opportunities of the sudden targets in the sorting, thereby ensuring that a sequence for imaging as many sudden targets as possible is obtained within the limited visual range of the satellite, thereby increasing the number of sudden targets imaged by the satellite.

[0073] In some embodiments, the plurality of burst targets include a first burst target, and the position vector of the first burst target is a first target position vector.

[0074] It is understandable that when the satellite detects multiple sudden targets, the position vector of the sudden target can be obtained through the wide-band detector mentioned above. Figure 3 As shown in Figure 1, when the satellite's camera body coordinate system coincides with the satellite body coordinate system, the satellite's instantaneous detection range angle is ±α. Two targets P1 and P2 are found within the ±α detection range, of which P1 can be used as the first burst target. The WGS84 coordinate system position vector of P1 is The position vector converted from P1 to the J2000 coordinate system can be the first target position vector Where R IF is the conversion matrix from the protocol earth coordinate system to the instantaneous true celestial coordinate system (the influence of polar motion can be ignored in this process); R MI is the transformation matrix from the instantaneous true celestial spherical coordinate system to the instantaneous mean celestial spherical coordinate system (i.e., taking the nutation angle into account); R JM is the transformation matrix from the instantaneous mean celestial coordinate system to the J2000 coordinate system (i.e. taking the precession angle into account).

[0075] In some embodiments, imaging judgments may be performed on multiple burst targets in multiple arrangement sequences in sequence according to the satellite attitude maneuverability table in Table 1. Figure 2 The method shown can perform imaging judgment on multiple burst targets, including steps S210 to S240.

[0076] Step S210: obtaining one of the multiple shortest times required for satellite attitude maneuvers as a first maneuvering time.

[0077] Exemplarily, the maneuvering angle interval [a0, a1] may be taken from Table 1, and the shortest time b1 required for the posture maneuvering corresponding to the interval may be the first maneuvering time.

[0078] Step S220, based on the first maneuvering time and the current time, determine at the first time.

[0079] For example, at time T0, the satellite finds two targets P1 and P2 within the detection range, where P1 can be used as the first burst target, and the current time can be T0, then the first time can be expressed as t i =T0+b i .

[0080] In some embodiments, the first moment may also be determined based on the imaging duration, where the imaging duration may represent the duration from the start of the satellite imaging of the sudden target to the end of the imaging.

[0081] For example, the imaging duration of the first burst target may be ΔT, and the first moment may be expressed as t i =T0+b i+ΔT / 2. The first moment is determined based on the imaging duration, so that after the satellite attitude adjustment is completed, it can be in the best shooting posture for the sudden target, thereby improving the accuracy of satellite attitude imaging.

[0082] Step S230: Based on the first moment, a Lagrange coefficient method may be used to calculate the satellite to obtain a first satellite position vector of the satellite.

[0083] In some embodiments, the satellite orbit at the current moment may be used to calculate the satellite orbit using the Lagrange coefficient method. Since orbit calculation is only related to time, the orbit extrapolation calculation process is relatively simple and can adapt to the orbit calculation accuracy of short-term sudden targets.

[0084] For example, at time T0, the position vector of the satellite in the J2000 coordinate system is Velocity Vector

[0085] The Lagrange coefficient method can be used to calculate the satellite i =T0+b i Extrapolated satellite orbit at time +ΔT / 2 As shown below:

[0086]

[0087] in,

[0088]

[0089] The first satellite position vector may be

[0090] Step S240: judging whether the first sudden target can be imaged according to the angle between the first satellite position vector and the first target position vector.

[0091] For example, in combination Figure 4 At time T0, the first target position vector of the first burst target P1 in the J2000 coordinate system can be obtained. The Lagrange coefficient method can be used to obtain the satellite i =T0+b i The first satellite position vector at time +ΔT / 2 like Figure 4 As shown, the angle between the first satellite position vector and the first target position vector can be γ i .

[0092] In some embodiments, the first maneuvering time corresponds to the first posture angle interval one by one. For example, the first maneuvering time may be b1, and the corresponding maneuvering angle interval is [a0, a1].

[0093] If the angle between the first satellite position vector and the first target position vector is γ i , in the first posture angle interval [a i―1 ,a i ], the first burst target can be imaged within the first maneuvering time. i ≤a i , it means that in no longer than b i During this time, the satellite attitude angle maneuver angle γ i Not greater than a i , which can be understood as the satellite having the attitude maneuvering conditions to image the target P1.

[0094] In some embodiments, when the first sudden target can be imaged within the first maneuvering time, the imaging attitude of the first sudden target can be determined according to the first satellite position vector and the first target position vector. The imaging attitude may include one or more of the following contents of the satellite: roll angle; pitch angle; yaw angle, thereby ensuring that the satellite accurately images the first sudden target and improving the imaging effect.

[0095] For example, when it is determined that the first burst target is imageable, at t∈[t i ―ΔT / 2,t i +ΔT / 2], the corresponding satellite orbit can be In t i =T0+b i +ΔT / 2 time, the vector from the satellite to the target P1 for You can Convert to the center-of-mass orbital coordinate system Calculate the roll angle The pitch angle θ is given by:

[0096]

[0097] Afterwards, the velocity vector of the first sudden target relative to the center of mass orbit coordinate system can be calculated based on and roll angle Get the deviation angle ψ

[0098]

[0099] It can be understood that the satellite images the first burst target P1 in the XYZ sequence, where the imaging attitudes are respectively the rolling angle The pitch angle is θ, and the yaw angle is ψ. The satellite can complete imaging of the first burst target based on the imaging attitude.

[0100] In some embodiments, if the angle γ between the first satellite position vector and the first target position vector i Not in the first posture angle interval [a i―1 ,a i ], the first sudden target cannot be imaged during the first maneuvering time. i >a i , it means that in b i Within this time, the satellite needs to conduct γ i The maximum attitude maneuverability of the satellite is a i , so the first burst target does not meet the imaging conditions.

[0101] As can be seen from the above, the angle between the first satellite position vector and the first target position vector is determined by calculating the satellite's orbit based on time and combining it with the position of the first sudden target, which has the advantages of simple and reliable calculation. Without the need for high-precision orbit numerical extrapolation, it is possible to quickly determine whether the first sudden target has an imaging opportunity, and the imaging attitude can be calculated more accurately.

[0102] In some embodiments, if the first burst target can be imaged, the satellite maneuvering duration corresponding to the first burst target can be set as the first maneuvering duration. For example, the angle γ between the first satellite position vector and the first target position vector can be considered to be i In the first posture angle interval b i The satellite maneuver duration corresponding to the first burst target is b i Can be set as the first maneuver duration.

[0103] In some embodiments, if the first sudden target cannot be imaged, a time different from the first maneuvering time is selected from the shortest times required for multiple satellite attitude maneuvers as a second maneuvering time. A second satellite position vector of the satellite is determined based on the second maneuvering time, and whether the first sudden target can be imaged is determined based on the angle between the second satellite position vector and the first target position vector.

[0104] As can be seen from Table 1, in the embodiment of the present application, the satellite attitude maneuverability can be accurately segmented to form a satellite attitude maneuverability table. The satellite attitude maneuverability table can configure different attitude maneuvering times for different attitude angle intervals. The first burst target can be imaged based on the shortest time required for the attitude maneuver corresponding to the first maneuvering angle interval in the satellite attitude maneuverability table. When it is judged that imaging is not possible, the imaging judgment can continue to be performed based on the second stage of Table 1.

[0105] Exemplarily, in the satellite attitude maneuverability table, when i=1, the first maneuvering time can be b1. After the calculation of the above embodiment, it is obtained that γ1>a1. It can be understood that in the interval [a0,a1], the first burst target cannot be imaged. When i=2, the second maneuvering time can be b2, and γ2 is calculated. At this time, when γ2≤a2, it means that the first burst target can be imaged; when γ2>a2, it means that the first burst target cannot be imaged. If imaging is still not possible when i=2, i can be set to i=i+1, and the imaging judgment continues.

[0106] In some embodiments, if the first burst target cannot be imaged in all of the multiple shortest times required for the satellite attitude maneuver, it can be determined that the first burst target cannot be imaged, and the satellite maneuver duration corresponding to the first burst target is 0. In the above embodiment, if the first burst target cannot be imaged, i can be set to i=i+1, and the imaging judgment is continued. However, after i traverses the satellite maneuver attitude capability table, the results obtained are all γ i >a i , it can be considered that the first burst target cannot be imaged in the determined arrangement sequence. At this time, the satellite maneuvering time corresponding to the first burst target is 0.

[0107] In some embodiments, it can also be understood that when the satellite maneuvering duration corresponding to the first burst target is 0, the first burst target cannot be imaged.

[0108] In an embodiment of the present application, by segmenting the satellite attitude maneuverability, different attitude angle intervals are used to match different attitude maneuvering times in each segment, and imaging judgment is performed on the first sudden target, so that the satellite attitude maneuver can be accurately matched with the satellite attitude, thereby improving the accuracy of imaging judgment of the first sudden target.

[0109] In some embodiments, the plurality of burst targets further include a second burst target, and the position vector of the second burst target is a second target position vector. The second burst target is arranged after the first burst target in the arrangement sequence, that is, it is expected to perform imaging judgment on the first burst target first, and then perform imaging judgment on the second burst target.

[0110] by Figure 4 For example, when the satellite detects two targets P1 and P2 within the instantaneous detection range of ±α, P1 can be used as the first burst target and P2 can be used as the second burst target. The position vector of P2 in the WGS84 coordinate system is The position vector of the target P2 converted to the J2000 coordinate system can be the second target position vector, that is,

[0111] After determining whether the first burst target can be imaged, the second burst target imaging determination begins. Figure 5 A method for multi-target imaging task planning provided by an embodiment of the present application is shown, and the method may include steps S510 to S540.

[0112] Step S510: acquiring one of the times required for multiple satellite attitude maneuvers as a third maneuvering time.

[0113] Exemplarily, the angle interval maneuvering angle interval [a0, a1] may be taken from Table 1, and the shortest time b1 required for the posture maneuvering corresponding to the interval may be the third maneuvering time.

[0114] Step S520, based on the third maneuvering time, the current time and the first maneuvering duration, determine the second time.

[0115] Exemplarily, when the first sudden target is determined to be imageable, it can be understood that at this time the first maneuvering duration is not 0. Based on the first maneuvering duration, the second time can be determined.

[0116] For example, when the first burst target can be imaged, the first duration can be t P1 , optionally, t P1 =b i The second moment can be t j =T0+t P1 +b j +ΔT / 2.

[0117] Step S530: Based on the second moment, a Lagrange coefficient method may be used to calculate the satellite to obtain a third satellite position vector of the satellite.

[0118] For example, when the first maneuver duration of the first sudden target is t P1 , the Lagrange coefficient method is used to calculate the satellite j =T0+t P1 +b j Extrapolated satellite orbit at time +ΔT / 2

[0119]

[0120] As above, the third satellite position vector of the satellite can be

[0121] Step S540: judging whether the second sudden target can be imaged according to the angle between the third satellite position vector and the second target position vector.

[0122] For example, at time T0, the first target position vector of the first burst target P2 in the J2000 coordinate system can be obtained: The Lagrange coefficient method can be used to obtain the satellite j =T0+t P1 +b j The second satellite position vector at time +ΔT / 2 The angle between the first satellite position vector and the first target position vector can be γ j .

[0123] In some embodiments, if the angle between the third satellite position vector and the second target position vector is γ j , in the attitude angle interval [a j―1 ,a j ], the second burst target can be imaged within the third maneuvering time. j ≤a j , it means that in no longer than b j During this time, the satellite attitude angle maneuver angle γ j Not greater than a j , which can be understood as the satellite having the attitude maneuvering conditions to image the target P2.

[0124] In some embodiments, if the angle between the third satellite position vector and the second target position vector is γ j , not in the attitude angle interval [a j―1 ,a j ], the second burst target cannot be imaged within the third maneuvering time. j >a j , it means that in b j Within this time, the satellite needs to conduct γ j The maximum attitude maneuverability of the satellite is a j , so the first burst target does not meet the imaging conditions.

[0125] In some embodiments, if the second burst target can be imaged, the satellite maneuvering duration corresponding to the second burst target can be set to the second maneuvering duration.

[0126] In some embodiments, if the second sudden target cannot be imaged, a time different from the third maneuvering time can be selected as a fourth maneuvering time from among multiple satellite attitude maneuvers required, and a fourth satellite position vector of the satellite can be determined based on the fourth maneuvering time. Based on the angle between the fourth satellite position vector and the second target position vector, it can be determined whether the second sudden target can be imaged.

[0127] Exemplarily, it can be understood that the second burst target determines whether the second burst target can be imaged based on the attitude maneuvering time corresponding to the first maneuvering angle interval in the satellite attitude maneuvering capability table. When it is determined that the second burst target cannot be imaged, the imaging judgment can continue to be performed based on the second stage of Table 1.

[0128] Exemplarily, in the satellite attitude maneuverability table, when j=1, the third maneuvering time can be b1. After the calculation of the above embodiment, it is obtained that γ1>a1. It can be understood that in the interval [a0,a1], the second burst target cannot be imaged. When j=2, the fourth maneuvering time can be b2, and γ2 is calculated. At this time, when γ2≤a2, it means that the second burst target can be imaged; when γ2>a2, it means that the second burst target cannot be imaged. If imaging is still not possible when j=2, j can be set to j=j+1, and the imaging judgment continues.

[0129] In some embodiments, if the second burst target cannot be imaged during all the times required for multiple satellite attitude maneuvers, it is determined that the second burst target cannot be imaged, and the satellite maneuvering duration corresponding to the second burst target is 0. In the above embodiment, if the second burst target cannot be imaged, j can be set to j=j+1, and the imaging judgment is continued. However, after i traverses the satellite maneuvering attitude capability table, the results obtained are all γ j >a j , it can be considered that the second burst target cannot be imaged in the determined arrangement sequence.

[0130] In some embodiments, the multiple burst targets further include a third burst target. The process of performing imaging judgment on the third burst target may refer to the method mentioned above, which will not be described in detail here.

[0131] It can be understood that in the embodiment of the present application, for sudden targets on the satellite, such as the first sudden target and the second sudden target, the satellite attitude maneuverability matches the detection range. If it is judged that the first sudden target can be imaged, the attitude maneuvering time of the first sudden target can be set to the initial moment, and the attitude maneuvering time of the second sudden target can be the moment when the imaging of the first sudden target ends. Therefore, there is no need for additional flight waiting time or attitude preparation time. After the imaging judgment of the first sudden target, the second sudden target can continue to be judged based on the judgment of the first sudden target. Such planning has extremely high rapid response capability and improves the efficiency of imaging judgment of sudden targets.

[0132] Below Figure 6 Take the embodiment of the present application as an example to describe in detail. Figure 6 A multi-target imaging task planning method is proposed in an embodiment of the present application.

[0133] Figure 6 The current time in is T0, and the position vector of the satellite in the J2000 coordinate system is The velocity vector is The satellite attitude maneuverability is shown in Table 1. It can be understood that when the satellite attitude is a i―1 ,a i , range, the shortest maneuvering time required And it can achieve the posture stability required for imaging.

[0134] The satellite camera coordinate system coincides with the satellite coordinate system. The satellite instantaneous detection range angle is ±α. Two sudden targets P1 and P2 are found within the ±α detection range. The first sudden target is P1 and the second sudden target is P2. The position vectors of these two sudden targets in the WGS84 coordinate system are

[0135]

[0136] Figure 6 The method shown includes steps S610 to S640.

[0137] Step S610, performing imaging judgment based on P1P2.

[0138] According to the imaging sequence P1, P2, first determine whether the target P1 can be imaged, and then determine whether the target P2 can be imaged.

[0139] 1) Determine whether the satellite has imaged the first burst target P1.

[0140] (1) When i = 1, the Lagrange coefficient method is used to calculate the satellite at t i =T0+b i Extrapolated satellite orbit at time +ΔT / 2

[0141]

[0142] in

[0143]

[0144] (2) Calculate the position vector of the first sudden target P1 in the J2000 coordinate system

[0145] Where R IF is the conversion matrix from the protocol earth coordinate system to the instantaneous true celestial coordinate system (the influence of polar motion can be ignored in this process); R MI is the transformation matrix from the instantaneous true celestial spherical coordinate system to the instantaneous mean celestial spherical coordinate system (i.e., taking the nutation angle into account); R JMis the transformation matrix from the instantaneous mean celestial coordinate system to the J2000 coordinate system (i.e. taking the precession angle into account).

[0146] (3) Calculate t i =T0+b i +ΔT / 2 time, reference Figure 4 , the vector from the satellite to the first burst target P1

[0147]

[0148] (4) Calculate the satellite at t i =T0+b i Position vector at time +ΔT / 2 and The angle γ i

[0149]

[0150] (5) If γ i ≤a i , it means that in no longer than b i During this time, the satellite attitude angle maneuver angle γ i Not greater than a i , that is, the satellite has the attitude maneuvering conditions to image the target P1, and the maneuvering time t required to image P1 is recorded P1 =b i , and t i =T0+b i +ΔT / 2 The vector in the mass-center orbital coordinate system in, R OI is the transformation matrix from the J2000 coordinate system to the barycenter orbit coordinate system.

[0151] If γ i >a i , then in b i Within this time, the satellite needs to conduct γ i The maximum attitude maneuverability of the satellite is a i , so the imaging condition is not met, i=i+1, continue to judge; if i>n still does not meet the angle judgment condition, it means that P1 does not meet the imaging condition.

[0152] 2) After the satellite completes imaging of the first burst target P1, it determines whether the second burst target P2 can be imaged.

[0153] (1) When j = 1, the Lagrange coefficient method is used to calculate the satellite at t j =T0+t P1 +bj Extrapolated satellite orbit at time +ΔT / 2

[0154]

[0155] Where Δt = t P1 +b j +ΔT / 2.

[0156] (2) Calculate the position vector of the second sudden target P2 in the J2000 coordinate system

[0157] Where R IF is the conversion matrix from the protocol earth coordinate system to the instantaneous true celestial coordinate system (the influence of polar motion can be ignored in this process); R MI is the transformation matrix from the instantaneous true celestial spherical coordinate system to the instantaneous mean celestial spherical coordinate system (i.e., taking the nutation angle into account); R JM is the transformation matrix from the instantaneous mean celestial coordinate system to the J2000 coordinate system (i.e. taking the precession angle into account).

[0158] (3) Calculate t j =T0+t P1 +b j +ΔT / 2 time, the vector from the satellite to the target P2

[0159]

[0160] (4) Convert to the center-of-mass orbit coordinate system, that is R OI is the transformation matrix from the J2000 coordinate system to the barycenter orbit coordinate system.

[0161] (5) Calculate satellite t i =T0+b i +ΔT / 2 time vector With t j =T0+t P1 +b j +ΔT / 2 The angle γ j

[0162]

[0163] (6) If γ j ≤a j , it means that in no longer than b j During this time, the satellite attitude angle maneuver angle γ j Not greater than a j, that is, the satellite has the attitude maneuvering conditions to image the target P2, and the maneuvering time t required to image P2 is recorded P2 =b j .

[0164] If γ j >a j , then in b j Within this time, the satellite needs to conduct γ j The maximum attitude maneuverability of the satellite is a j , so the imaging condition is not met, j=j+1, continue to judge; if j>n and the angle judgment condition is still not met, it means that P2 does not meet the imaging condition.

[0165] Step S620: Perform imaging judgment based on P2P1.

[0166] The imaging judgment is performed in the order P2P1, that is, firstly judging whether the first burst target P2 can be imaged, and then judging whether the second burst target P1 can be imaged. The specific calculation is as in step S610, which will not be described in detail here.

[0167] Step S630: Obtain a first permutation sequence.

[0168] After step S610 and step S620, the imaging possibility table of P1 and P2 can be obtained. Refer to Table 2. Based on the imaging possibility table, a first arrangement sequence is obtained.

[0169] Based on the imaging possibility table in Table 2, there are the following imaging judgment combinations:

[0170] (a) When flag == A or flag == E, it indicates that P1 and P2 meet the imaging conditions regardless of their order, and imaging can be performed preferentially in the order of P1 and P2.

[0171] (b) When flag == B or flag == F, it indicates that only P1 can be imaged regardless of the order.

[0172] (c) When flag == C or flag == G, it indicates that only P2 can be imaged regardless of the order.

[0173] (d) When flag == D or flag == H, it indicates that P1 and P2 cannot be imaged no matter in what order.

[0174] Assuming that both targets meet the imaging conditions, the order of P1 and P2 is used as the first arrangement sequence, and the process jumps to step S640.

[0175] Step S640, imaging the sudden target based on the first arrangement sequence, can be understood as calculating the imaging attitude angle and the imaging interval.

[0176] 1) Calculate the imaging posture and imaging range of target P1.

[0177] (1) At t∈[t i ―ΔT / 2,t i +ΔT / 2], the corresponding satellite orbit is In t i =T0+b i +ΔT / 2 time, the vector from the satellite to the target P1 for

[0178]

[0179] (2) Convert to the center-of-mass orbital coordinate system Calculate the roll angle Pitch angle θ

[0180]

[0181] (3) Calculate the camera optical axis vector corresponding to the satellite roll and pitch maneuvers:

[0182]

[0183] (4) Calculate the satellite center of mass orbit coordinate system The vector corresponding to the intersection with the Earth's surface Where R OI is the transformation matrix from the J2000 coordinate system to the satellite orbit coordinate system,

[0184]

[0185] (5) Calculate the orbital angular velocity in the satellite orbit coordinate system Earth's rotation speed

[0186]

[0187] Among them, w e =7.2921158×10 ―5 .

[0188] (6) Calculate the velocity vector of the target point relative to the center of mass orbit coordinate system

[0189]

[0190] (7) According to Calculate and roll angle Get the deviation angle ψ

[0191]

[0192] In summary, the satellite images the target P1 in the XYZ order, and the imaging attitudes are respectively the rolling angle The pitch angle is θ and the yaw angle is ψ. The initial attitude maneuvering time is T0 and the attitude maneuvering duration is b. i , the imaging interval is [t i ―ΔT / 2,t i +ΔT / 2].

[0193] 2) Calculate the imaging posture and imaging range of target P2.

[0194] At t∈[t j ―ΔT / 2,t j +ΔT / 2], the corresponding satellite orbit is According to t j =T0+t P1 +b j +ΔT / 2 time, the vector from the satellite to the target P2 Referring to the calculation in step S6410, the imaging roll angle of target P2 can be obtained: The pitch angle is θ, the yaw angle is ψ, and the initial attitude maneuvering time of P2 is T0+t P1 , the attitude maneuver duration is b j , the imaging interval is [t j ―ΔT / 2,t j +ΔT / 2].

[0195] In some embodiments, when only one target meets the imaging conditions, the target imaging attitude angle and imaging interval are calculated. Please refer to step S610.

[0196] As can be seen from the above, the present application can arrange the imaging order of multiple burst targets and make imaging judgments based on multiple arrangement sequences, thereby ensuring that within the limited visible range of the satellite, as many sequences as possible for imaging burst targets can be obtained, thereby increasing the number of burst targets imaged by the satellite.

[0197] The method embodiments of the present application are described in detail above. Based on the above content, the present application also proposes a multi-target imaging task planning system. Figure 7 The system embodiment of the present application is described in detail. It should be understood that the description of the above method embodiment corresponds to the description of the system embodiment, so the parts not described in detail can refer to the above method embodiment.

[0198] Figure 7 The present application provides a multi-target imaging task planning system 700 , which may include: a sorting module 710 , an imaging judgment module 720 , and an imaging module 730 .

[0199] The sorting module 710 is used to arrange the imaging order of the acquired multiple burst targets and generate multiple arrangement sequences;

[0200] An imaging judgment module 720 is used to perform imaging judgment on the multiple arrangement sequences in sequence according to a satellite attitude maneuverability table, wherein the satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle intervals and multiple shortest times required for satellite attitude maneuvers, and the imaging judgment includes judging the number of burst targets that can be imaged in the arrangement sequence;

[0201] According to the number of burst targets that can be imaged corresponding to the multiple arrangement sequences, a first arrangement sequence having the largest number of burst targets that can be imaged is obtained.

[0202] The imaging module 730 is used to sequentially image the burst targets having imaging opportunities in the first arrangement sequence.

[0203] In some embodiments, the multiple burst targets include a first burst target, the position vector of the first burst target is a first target position vector, and imaging judgment is performed on multiple burst targets in multiple arrangement sequences in sequence according to a satellite attitude maneuverability table, including: obtaining one of multiple shortest times required for satellite attitude maneuvering as a first maneuvering time; determining at a first moment based on the first maneuvering time and the current moment; calculating the satellite based on the first moment using the Lagrange coefficient method to obtain a first satellite position vector of the satellite; judging whether the first burst target can be imaged according to an angle between the first satellite position vector and the first target position vector; if the first burst target can be imaged, setting the satellite maneuvering duration corresponding to the first burst target as the first maneuvering duration; if the first burst target cannot be imaged, selecting a time different from the first maneuvering time from the multiple shortest times required for satellite attitude maneuvers as a second maneuvering time, determining a second satellite position vector of the satellite based on the second maneuvering time, and judging whether the first burst target can be imaged according to the angle between the second satellite position vector and the first target position vector; if the first burst target cannot be imaged during all of the multiple shortest times required for satellite attitude maneuvers, judging that the first burst target cannot be imaged, and the satellite maneuvering duration corresponding to the first burst target is 0.

[0204] In some embodiments, in the satellite attitude maneuverability table, the first maneuvering time corresponds to the first attitude angle interval. If the angle between the first satellite position vector and the first target position vector is within the first attitude angle interval, the first sudden target can be imaged within the first maneuvering time; and / or if the angle between the first satellite position vector and the first target position vector is not within the first attitude angle interval, the first sudden target cannot be imaged within the first maneuvering time.

[0205] In some embodiments, the multiple burst targets also include a second burst target, and the position vector of the second burst target is the second target position vector. After determining whether the first burst target can be imaged, one of the multiple satellite attitude maneuvers is obtained as a third maneuvering time; based on the third maneuvering time, the second time is determined based on the current time and the first maneuvering duration; based on the second time, the Lagrange coefficient method is used to calculate the satellite to obtain a third satellite position vector of the satellite; based on the angle between the third satellite position vector and the second target position vector, it is determined whether the second burst target can be imaged. If the second burst target can be imaged, the satellite maneuvering duration corresponding to the second burst target is set to the second maneuvering duration. If the second burst target cannot be imaged, a time different from the third maneuvering time is selected from the shortest times required for multiple satellite attitude maneuvers as a fourth maneuvering time, and a fourth satellite position vector of the satellite is determined based on the fourth maneuvering time. According to the angle between the fourth satellite position vector and the second target position vector, it is determined whether the second burst target can be imaged; if the second burst target cannot be imaged during all the shortest times required for multiple satellite attitude maneuvers, it is determined that the second burst target cannot be imaged, and the satellite maneuvering duration corresponding to the second burst target is 0.

[0206] In some embodiments, the first moment may also be determined based on imaging duration, where the imaging duration refers to the time from when the satellite starts imaging the sudden target to when imaging ends.

[0207] In some embodiments, the imaging attitude of the first sudden target is determined based on the first satellite position vector and the first target position vector, and the imaging attitude includes one or more of the following contents of the satellite: roll angle; pitch angle; yaw angle.

[0208] In some embodiments, an imaging possibility table of multiple burst targets is generated according to burst targets that can be imaged corresponding to multiple arrangement sequences, and a first arrangement sequence is determined based on the imaging possibility table, wherein the imaging possibility table includes one or more of the following: the number of burst targets that can be imaged corresponding to the multiple arrangement sequences; the identification of burst targets that can be imaged corresponding to the multiple arrangement sequences; and the identification of burst targets that cannot be imaged corresponding to the multiple arrangement sequences.

[0209] In some embodiments, a first arrangement sequence with the largest number of burst targets imaged is obtained based on burst targets that can be imaged corresponding to multiple arrangement sequences, including: if all burst targets in the currently determined arrangement sequence can be imaged, then the first arrangement sequence is the currently determined arrangement sequence.

[0210] In addition, an embodiment of the present application also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a computer, the operations in the multi-target imaging task planning method provided in the above embodiment are implemented. The specific steps will not be repeated here.

[0211] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system 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 system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0212] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is only schematic, and the units described as separate components may or may not be physically separated. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present application scheme. Those of ordinary skill in the art can understand and implement it without paying creative work.

[0213] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0214] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, TV, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0215] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A multi-target imaging mission planning method, characterized in that: include: Arranging the imaging order of the acquired multiple burst targets and generating multiple arrangement sequences; Performing imaging judgment on the plurality of arrangement sequences in sequence according to a satellite attitude maneuverability table, the satellite attitude maneuverability table including a one-to-one correspondence between a plurality of attitude angle intervals and a plurality of shortest times required for satellite attitude maneuvers, the imaging judgment including judging the number of burst targets that can be imaged in the arrangement sequence; According to the number of burst targets that can be imaged corresponding to the multiple arrangement sequences, a first arrangement sequence having the largest number of burst targets that can be imaged is obtained; The burst targets having imaging opportunities in the first arrangement sequence are imaged sequentially.

2. The method according to claim 1, characterized in that The multiple burst targets include a first burst target, the position vector of the first burst target is a first target position vector, The step of sequentially performing imaging judgment on the multiple sudden targets in the multiple arrangement sequences according to the satellite attitude maneuverability table includes: Acquire one of the multiple shortest times required for the satellite attitude maneuver as a first maneuvering time; Based on the first maneuvering time and the current time, determined at the first time; Based on the first moment, calculating the satellite using a Lagrange coefficient method to obtain a first satellite position vector of the satellite; judging whether the first sudden target can be imaged according to the angle between the first satellite position vector and the first target position vector, if the first sudden target can be imaged, setting the satellite maneuvering time corresponding to the first sudden target as the first maneuvering time, if the first sudden target cannot be imaged, selecting a time different from the first maneuvering time as a second maneuvering time from the shortest times required for the multiple satellite attitude maneuvers, determining the second satellite position vector of the satellite based on the second maneuvering time, and judging whether the first sudden target can be imaged according to the angle between the second satellite position vector and the first target position vector; If the first burst target cannot be imaged within all of the multiple shortest times required for the satellite attitude maneuver, it is determined that the first burst target cannot be imaged, and the satellite maneuver duration corresponding to the first burst target is 0.

3. The method according to claim 2, characterized in that In the satellite attitude maneuverability table, the first maneuvering time corresponds to the first attitude angle interval, If the angle between the first satellite position vector and the first target position vector is within the first attitude angle interval, the first sudden target can be imaged within the first maneuvering time; and / or If the angle between the first satellite position vector and the first target position vector is not within the first attitude angle range, the first sudden target cannot be imaged within the first maneuvering time.

4. The method according to claim 2, characterized in that: The plurality of burst targets further include a second burst target, the position vector of the second burst target being a second target position vector, After determining whether the first sudden target can be imaged, obtaining one of the plurality of satellite attitude maneuvering times as a third maneuvering time; Determined at a second time based on the third maneuvering time, the current time, and the first maneuvering duration; Based on the second moment, calculating the satellite using a Lagrange coefficient method to obtain a third satellite position vector of the satellite; judging whether the second burst target can be imaged according to the angle between the third satellite position vector and the second target position vector, if the second burst target can be imaged, setting the satellite maneuvering duration corresponding to the second burst target to the second maneuvering duration, if the second burst target cannot be imaged, selecting a time different from the third maneuvering time as a fourth maneuvering time from among the times required for the multiple satellite attitude maneuvers, determining a fourth satellite position vector of the satellite based on the fourth maneuvering time, and judging whether the second burst target can be imaged according to the angle between the fourth satellite position vector and the second target position vector; If the second burst target cannot be imaged during all of the times required for the multiple satellite attitude maneuvers, it is determined that the second burst target cannot be imaged, and the satellite maneuver duration corresponding to the second burst target is 0.

5. The method according to claim 2, characterized in that: The first moment may also be determined based on an imaging duration, where the imaging duration indicates the duration from when the satellite starts imaging the sudden target to when imaging ends.

6. The method according to claim 2, characterized in that Determine an imaging attitude of the first burst target according to the first satellite position vector and the first target position vector, wherein the imaging attitude includes one or more of the following contents of the satellite: Roll angle; Pitch angle; Yaw angle.

7. The method according to claim 1, characterized in that According to the burst targets that can be imaged corresponding to the multiple arrangement sequences, an imaging possibility table of the multiple burst targets is generated, and based on the imaging possibility table, a first arrangement sequence is determined, Wherein, the imaging possibility table includes one or more of the following: The number of burst targets capable of being imaged corresponding to the multiple arrangement sequences; Identifications of burst targets capable of imaging corresponding to the multiple arrangement sequences; The multiple arrangement sequences correspond to identifications of burst targets that cannot be imaged.

8. The method according to claim 1, characterized in that The obtaining, according to the burst targets capable of being imaged corresponding to the plurality of arrangement sequences, a first arrangement sequence having the largest number of burst targets imaged comprises: If all the burst targets in the currently determined arrangement sequence can be imaged, then the first arrangement sequence is the currently determined arrangement sequence.

9. A multi-target imaging mission planning system, characterized in that: include: A sorting module, used for arranging the imaging order of the acquired multiple burst targets and generating multiple arrangement sequences; An imaging judgment module is used to perform imaging judgment on the multiple arrangement sequences in sequence according to a satellite attitude maneuverability table, wherein the satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle intervals and multiple shortest times required for satellite attitude maneuvers, and the imaging judgment includes judging the number of burst targets that can be imaged in the arrangement sequence. According to the number of burst targets that can be imaged corresponding to the multiple arrangement sequences, a first arrangement sequence having the largest number of burst targets that can be imaged is obtained; An imaging module is used to sequentially image the burst targets having imaging opportunities in the first arrangement sequence.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a multi-target imaging task planning program, and when the multi-target imaging task planning program is executed by a processor, the multi-target imaging task planning method according to any one of claims 1 to 8 is implemented.

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