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

Abstract

This application provides a multi-target imaging mission planning method, system, and computer-readable storage medium, comprising: arranging the imaging order of multiple acquired sudden targets and generating multiple arrangement sequences; sequentially performing imaging judgment on the multiple arrangement sequences according to a satellite attitude maneuverability table, wherein the satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle ranges and multiple shortest times required for satellite attitude maneuvers, and the imaging judgment includes determining the number of sudden targets that can be imaged in the arrangement sequences; obtaining a first arrangement sequence with the most imageable sudden targets based on the number of imageable sudden targets corresponding to the multiple arrangement sequences; and sequentially imaging the sudden targets with imaging opportunities in the first arrangement sequence. This application, by arranging the imaging order of multiple sudden targets before performing imaging judgment, obtains as many imaging sequences as possible for sudden targets, thereby increasing the number of sudden targets imaged by the satellite.

Description

Technical Field

[0001] This 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 Technology

[0002] With the continuous advancement of aerospace technology, satellites are playing an increasingly important role in various fields. Among related technologies, satellites can integrate multi-sensor technology to accurately locate and image targets. After obtaining the location information of a ground-based target, the satellite can adjust the field of view of its remote sensing sensors via a high-speed turntable or satellite attitude maneuver to point them at the target's location, thereby achieving imagery. When targeting a known target, the satellite can adjust the high-speed turntable in a timely manner based on ground mission planning, or combine historical orbit information to predict the satellite's orbit and calculate the imaging time and attitude at that moment. However, when targeting unexpected targets, such as sudden natural disasters, wars, or hotspots during satellite detection, or when the satellite receives unexpected ground-based missions during detection, the extremely high speed of the satellite limits the visible area it passes over, increasing the difficulty of imaging unexpected targets.

[0003] When a satellite faces an unexpected target, high-speed turntables are expensive due to their weight and energy requirements. Furthermore, the presence of moving parts on a high-speed turntable poses a significant reliability risk. Satellite attitude maneuvering, which adjusts the satellite's attitude to align the remote sensing sensor's field of view with the target, can improve reliability without increasing costs. However, when facing an unexpected target, attitude maneuvering and stabilization require time. The satellite needs to recursively determine its attitude for imaging the unexpected target. During this recursive attitude calculation, both the satellite's and the target's attitudes are constantly changing. In some cases, the satellite detects more than one unexpected target. The satellite needs to continuously adjust its attitude to image multiple targets. However, since attitude adjustment and stabilization take time, and the opportunity to image an unexpected target is fleeting, attitude adjustments alone may not be sufficient to achieve timely imaging of the unexpected target.

[0004] When multiple sudden targets are detected, the satellite needs to continuously adjust its attitude to image them. However, since both attitude adjustment and stabilization 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, embodiments of this application aim to provide a multi-target imaging task planning method and a computer-readable storage medium.

[0006] Firstly, a multi-target imaging mission planning method is provided. This method includes: arranging the imaging order of multiple acquired sudden targets and generating multiple arrangement sequences; sequentially performing imaging judgments on the multiple arrangement sequences according to a satellite attitude maneuverability table, which includes a one-to-one correspondence between multiple attitude angle ranges and multiple shortest times required for satellite attitude maneuvers; the imaging judgment includes determining the number of sudden targets that can be imaged in the arrangement sequences; obtaining a first arrangement sequence with the largest number of imageable sudden targets based on the number of imageable sudden targets corresponding to the multiple arrangement sequences; and sequentially imaging the sudden targets with imaging opportunities in the first arrangement sequence.

[0007] According to the first aspect, the multiple sudden targets include a first sudden target, the position vector of the first sudden target is the first target position vector, and the imaging judgment of multiple sudden targets in multiple permutations is performed sequentially according to the satellite attitude maneuver capability table, including: obtaining one of the multiple shortest times required for satellite attitude maneuvering as the first maneuver time; determining the first time based on the first maneuver time and the current time; calculating the first satellite position vector of the satellite using the Lagrange multiplier method based on the first time; judging whether the first sudden target can be imaged based on the angle between the first satellite position vector and the first target position vector; if the first sudden target can be imaged, the satellite maneuver duration corresponding to the first sudden target is set as the first maneuver duration; if the first sudden target cannot be imaged, a time different from the first maneuver time is selected from the multiple shortest times required for satellite attitude maneuvering as the second maneuver time; the second satellite position vector of the satellite is determined based on the second maneuver time; and the first sudden target can be imaged based on the angle between the second satellite position vector and the first target position vector; if the first sudden target cannot be imaged during all of the multiple shortest times required for satellite attitude maneuvering, it is judged that the first sudden target cannot be imaged, and the satellite maneuver duration corresponding to the first sudden target is 0.

[0008] According to the first aspect, or any implementation of the first aspect above, in the satellite attitude maneuverability table, the first maneuver 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, then the first sudden target can be imaged within the first maneuver 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, then the first sudden target cannot be imaged within the first maneuver time.

[0009] According to the first aspect, or any implementation of the first aspect above, the multiple sudden targets also include a second sudden target. The position vector of the second sudden target is the second target position vector. After determining whether the first sudden target can be imaged, one of the times required for multiple satellite attitude maneuvers is obtained as the third maneuver time. Based on the third maneuver time, the current time, and the first maneuver duration, the second time is determined. Based on the second time, the Lagrange multiplier method is used to calculate the third satellite position vector of the satellite. The angle between the third satellite position vector and the second target position vector is used to determine whether the second sudden target can be imaged. If the second sudden target can be imaged, the satellite maneuver duration corresponding to the second sudden target is set as the second maneuver duration. If the second sudden target cannot be imaged, a time different from the third maneuver time is selected from the shortest times required for multiple satellite attitude maneuvers as the fourth maneuver time. The fourth satellite position vector of the satellite is determined based on the fourth maneuver time, and the angle between the fourth satellite position vector and the second target position vector is used to determine whether the second sudden target can be imaged. If the second sudden target cannot be imaged during all the shortest times required for multiple satellite attitude maneuvers, it is determined that the second sudden target cannot be imaged, and the satellite maneuver duration corresponding to the second sudden target is 0.

[0010] According to the first aspect, or any of the above implementations of the first aspect, the first moment can also be determined based on the imaging duration, which represents the time from when the satellite begins to image 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 sudden target is determined based on the first satellite position vector and the first target position vector. The imaging attitude includes one or more of the following: roll angle; pitch angle; yaw angle.

[0012] According to the first aspect, or any implementation of the first aspect above, an imaging probability table of multiple sudden targets is generated based on the imaging probability table corresponding to multiple permutation sequences. A first permutation sequence is determined based on the imaging probability table, wherein the imaging probability table includes one or more of the following: the number of imaging sudden targets corresponding to multiple permutation sequences; the identifiers of imaging sudden targets corresponding to multiple permutation sequences; and the identifiers of non-imageable sudden targets corresponding to multiple permutation sequences.

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

[0014] Secondly, this application provides a multi-target imaging mission planning system, which includes: a sorting module for arranging the imaging order of multiple acquired sudden targets and generating multiple sorting sequences; an imaging judgment module for sequentially judging the imaging of the multiple sorting sequences according to a satellite attitude maneuverability table, wherein the satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle ranges and multiple shortest times required for satellite attitude maneuvering, and the imaging judgment includes judging the number of sudden targets that can be imaged in the sorting sequences; and obtaining a first sorting sequence with the most imageable sudden targets based on the number of imageable sudden targets corresponding to the multiple sorting sequences. An imaging module is used to sequentially image the sudden targets with imaging opportunities in the first sorting sequence.

[0015] Thirdly, this application provides a computer-readable storage medium storing program code for computer execution, the program code including a multi-target imaging task planning method for performing any of the possible implementations of the first aspect.

[0016] Fourthly, embodiments of this application provide a computer program including instructions for executing the multi-target imaging task planning method in the first aspect and any possible implementation thereof.

[0017] This application can arrange the imaging order of multiple sudden targets and make imaging judgments based on the generated multiple arrangement sequences, thereby ensuring that as many arrangement sequences (equivalent to the first arrangement sequence) as possible can be obtained within the limited visible range of the satellite, thus increasing the number of sudden targets imaged by the satellite. Attached Figure Description

[0018] Figure 1 This is a schematic flowchart illustrating a multi-target imaging task planning method provided in an embodiment of this application.

[0019] Figure 2 A schematic flowchart illustrating another multi-target imaging task planning method provided in an embodiment of this application.

[0020] Figure 3 This is a schematic diagram of the satellite detection range and target distribution provided in the embodiments of this application.

[0021] Figure 4 Another spatial geometric relationship between a satellite and a target is provided for an embodiment of this application.

[0022] Figure 5 A schematic flowchart illustrating another multi-target imaging task planning method provided in an embodiment of this application.

[0023] Figure 6A schematic flowchart illustrating another multi-target imaging task planning method provided in an embodiment of this application.

[0024] Figure 7 This is a schematic flowchart of a multi-target imaging task planning system provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0026] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0027] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first target object" and "second target object," etc., are used to distinguish different target objects, not to describe a specific order of target objects.

[0028] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0029] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0030] With the continuous advancement of aerospace technology, satellites are playing an increasingly important role in various fields, including environmental monitoring, disaster early warning, agricultural management, urban planning, and resource exploration. To enhance the effectiveness of these applications, satellite design is increasingly incorporating multiple sensor technologies.

[0031] In related technologies, satellites can integrate multi-sensor technologies to accurately locate and image targets. For example, a satellite can combine a wide-swath sensor and a remote sensing sensor. The wide-swath sensor can provide location information for a large area of ​​ground targets, while a high-resolution optical or synthetic aperture radar (SAR) remote sensing sensor can provide detailed imaging of these ground targets.

[0032] Once a satellite obtains the location information of a ground-based target, it can use a high-speed turntable to adjust the field of view of its remote sensing sensor, pointing it towards the target's location, thus achieving image formation. A high-speed turntable can contain one or more rotation axes and can simulate various attitude angle movements of the satellite. However, high-speed turntables are generally heavy and require more energy to operate, resulting in higher costs. Furthermore, the presence of moving parts poses a significant reliability risk. Therefore, imaging sudden targets using a high-speed turntable faces both high costs and considerable potential risks.

[0033] Satellites can also image ground targets through attitude maneuvers. Attitude maneuvers refer to the process of adjusting the satellite's attitude from a known attitude to a desired attitude. This process typically requires changing the satellite's orientation relative to a reference coordinate system. Once the satellite obtains the position information of the ground target, it can adjust its attitude to point the remote sensing sensor's field of view towards the target's location. Attitude maneuvers, by adjusting the satellite's attitude to point the remote sensing sensor's field of view towards the target, can improve reliability without increasing additional costs.

[0034] When a satellite targets a sudden, unexpected event, such as a natural disaster, war, or hotspot, or when it receives an unexpected mission from the ground during its detection process, the satellite's extremely high speed (approximately 7 kilometers per second) means that the visible area of ​​the target is very limited, typically only on the order of 1 to 2 minutes. This significantly increases the difficulty of imaging sudden, unexpected targets.

[0035] Meanwhile, satellite attitude adjustment and stabilization require a certain amount of time. When facing a planned mission on the ground, the satellite can allow sufficient time margin to ensure attitude maneuvering and stability before imaging the planned target. However, when facing 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 it can image the sudden target. However, during the attitude recursion process, the attitudes of both the satellite and the sudden target are changing in real time, requiring immediate determination of the imaging time and the required attitude maneuvering and stabilization time. Moreover, in some cases, the satellite may detect multiple sudden targets simultaneously during detection. In this case, the satellite needs to continuously adjust its attitude to achieve imaging of multiple targets.

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

[0037] To address the problem of limited satellite visibility, making it difficult for satellites to image multiple sudden targets within a short timeframe, this application proposes an approach. The imaging order of the acquired sudden targets is arranged, and imaging judgments are performed sequentially on multiple generated sequences based on the satellite's attitude maneuverability table. This imaging judgment includes determining the number of sudden targets that can be imaged within each sequence; obtaining a first sequence with the highest number of imageable sudden targets based on the number of imageable sudden targets corresponding to the multiple sequences; and then imaging the sudden targets with imaging opportunities in the first sequence sequentially. Based on this, this application, by arranging the imaging order of multiple sudden targets and performing imaging judgments based on the generated sequences, ensures that as many sequences as possible can be imaged of sudden targets within the satellite's limited field of vision, thereby increasing the number of sudden targets imaged by the satellite.

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

[0039] Figure 1 The method shown can image more emerging targets within the satellite's limited field of view by planning imaging missions for multiple targets. Multiple targets can be understood as the multiple emerging targets mentioned above. For example, emerging targets can be those suddenly discovered by the satellite during detection, or emerging target missions suddenly inserted into the satellite's detection mission by ground-based planning.

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

[0041] Step S110: Arrange the imaging order of the acquired multiple sudden targets and generate multiple arrangement sequences.

[0042] In some embodiments, a satellite can simultaneously detect multiple sudden targets during its detection process. To image more sudden targets within the satellite's limited field of view, these targets can be sequentially ordered. For example, if a satellite simultaneously detects two sudden targets, P1 and P2, arranging these two targets sequentially can generate multiple permutation sequences, such as P1P2 and P2P1.

[0043] In some embodiments, multiple sudden targets can be sequentially permuted. A permutation refers to randomly selecting m (m≤n) elements from n distinct elements and arranging them in a certain order. When m=n, all possible permutations are called full permutations.

[0044] For example, the multiple permutation sequences generated by arranging the imaging order of multiple burst targets can include all permutation sequences in the full permutation sequence. Optionally, it can also include partial permutation sequences in the full permutation sequence. For example, when there are 3 burst targets, performing a full permutation on these three burst targets can generate: P1P2P3, P2P1P3, P1P3P2, P2P3P1, P3P1P2, P3P2P1.

[0045] Step S120: Based on the satellite attitude maneuverability table, imaging judgment is performed on multiple permutation sequences in sequence. The satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle ranges and multiple shortest times required for satellite attitude maneuvering. Imaging judgment includes determining the number of sudden targets that can be imaged in the permutation sequence.

[0046] A satellite attitude maneuverability table describes a satellite's ability to adjust its attitude in space. In some embodiments, the table may include parameters such as the time required for the satellite to complete a specific attitude change. For example, the table may include multiple attitude angle ranges and multiple minimum times required for satellite attitude maneuvers, where each attitude angle range corresponds one-to-one with the minimum time required for that maneuver. Taking Table 1 as an example, when the satellite's attitude maneuvering angle range is within [a...], ... i―1 ,a i Within the range, the shortest time required for satellite attitude maneuvering is b. i It can achieve the attitude stability required for imaging.

[0047] Table 1 Satellite Attitude Maneuverability

[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 according to the satellite attitude maneuverability table. The specific judgment process will be described in detail below and will not be repeated here.

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

[0051] Step S130: Based on the number of imageable burst targets corresponding to multiple permutation sequences, obtain the first permutation sequence with the largest number of imageable burst targets.

[0052] According to step S120, the number of imageable burst targets in multiple permutation sequences can be obtained. Based on the number of imageable burst targets, the permutation sequence with the largest number of imaged burst targets is obtained, which can be called the first permutation sequence. For example, when there are 2 burst targets, the generated permutation sequences are P1P2 and P2P1. When performing burst target imaging judgment based on the P1P2 sequence, the number of imaged burst targets is 1; when performing burst target imaging judgment based on the P2P1 sequence, the number of imaged burst targets is 2. Therefore, P2P1 can be the first permutation sequence.

[0053] In some embodiments, if it is determined that all burst targets in the current permutation sequence can be imaged, then the current permutation sequence can be the first permutation sequence. For example, when the number of burst targets is 2, if the number of imaged burst targets is 2 when performing burst target imaging judgment based on the P1P2 order, then the first permutation sequence can be P1P2. Optionally, when all burst targets in the current permutation sequence can be imaged, it is not necessary to perform imaging judgment on other orders. For example, it is not necessary to perform imaging judgment on P2P1, and imaging can start directly based on the first permutation sequence.

[0054] In some embodiments, an imaging probability table of multiple burst targets can be generated based on the imageable burst targets corresponding to multiple permutation sequences.

[0055] In some embodiments, the imaging probability table may include one or more of the following: the number of imageable burst targets corresponding to multiple permutation sequences; the identifiers of imageable burst targets corresponding to multiple permutation sequences; and the identifiers of non-imageable burst targets corresponding to multiple permutation sequences.

[0056] Table 2 is an example of an imaging probability table provided in an embodiment of this application, wherein the number of sudden targets in the imaging probability table is 2. When the number of sudden targets is 2, the generated permutation sequence can be P1P2 and P2P1.

[0057] Table 2 Imaging Possibilities

[0058]

[0059] The imaging probability table includes two permutation sequences, P1P2 and P2P1, and the number of imaging potential targets corresponding to these two permutations. Table 2 shows that P1P2 may result in simultaneous imaging, imaging of one potential target, or imaging of neither potential target. In Table 2, √ indicates that the attitude maneuverability requirement is met, and imaging is possible; √ can be understood as an identifier for potential targets corresponding to multiple permutations. × indicates that the attitude maneuverability requirement is not met, and imaging is not possible; × can be understood as an identifier for potential targets corresponding to multiple permutations.

[0060] In some embodiments, a first permutation sequence can be determined based on the imaging probability table. For example, as described in Table 2, when the imaging determination flag for P1P2 is A or E, both P1P2 and P2P1 can be in the first permutation sequence. In some embodiments, when both P1P2 and P2P1 are in the first permutation sequence, imaging can be performed in the order of P1P2.

[0061] In some embodiments, when imaging judgments are performed separately for P1P2 and P2P1, and it is impossible to image the two sudden targets simultaneously, the following situations may also be included:

[0062] 1) When flag == B or flag == F, it indicates that no matter the order, only P1 has the opportunity to be imaged. In this case, P1P2 and P2P1 can both be the first permutation sequence.

[0063] 2) When flag == C or flag == G, it indicates that no matter the order, only P2 has the opportunity to be imaged. In this case, P1P2 and P2P1 can both be the first permutation sequence.

[0064] 3) When flag == D or flag == H, it indicates that P1 and P2 cannot be imaged regardless of the order.

[0065] In some embodiments, if imaging of multiple sudden targets fails to be achieved when performing imaging judgments based on multiple permutation sequences (i.e., a first permutation sequence cannot be generated), it can be understood that imaging of multiple sudden targets is not possible at this time. In other words, this multi-target imaging mission is complete, and the satellite awaits the next imaging mission.

[0066] In some embodiments, when imaging is performed based on multiple permutation sequences, a first permutation sequence can be generated, and then the process jumps to step S140.

[0067] Step S140: Imaging is performed sequentially on the sudden targets in the first sequence that have imaging opportunities.

[0068] When the first permutation sequence is determined based on step S130, the sudden targets with imaging opportunities in the first permutation sequence can be imaged sequentially. For example, taking the imaging probability table in Table 2 as an example, if there are two sudden targets, imaging the sudden targets with imaging opportunities in the first permutation sequence can be performed in the following ways:

[0069] 1) When flag == A or flag == E, the first permutation sequence can be either P1P2 or P1P2. Optionally, if both sudden targets are determined to be imageable regardless of their order, imaging can be performed preferentially according to the order of P1P2;

[0070] 2) When flag == B or flag == F, it indicates that regardless of the order, only P1 has an imaging opportunity. In this case, both P1P2 and P2P1 can be the first permutation sequence. Optionally, imaging can be performed preferentially in the order of P1P2.

[0071] 3) When flag == C or flag == G, it indicates that only P2 has an imaging opportunity regardless of the order. In this case, both P1P2 and P2P1 can be the first permutation sequence. Optionally, imaging can be performed preferentially according to the order of P1P2.

[0072] When faced with multiple sudden targets, due to the limited field of view of the satellite, it is difficult for the satellite to image multiple sudden targets in a short period of time. This application can solve the problem by sorting the detected multiple sudden targets and judging the imaging opportunity of each of the sorted sudden targets to obtain a first sequence. This ensures that as many sequences of sudden targets as possible can be imaged within the limited field of view of the satellite, thereby increasing the number of sudden targets imaged by the satellite.

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

[0074] Understandably, when a satellite detects multiple sudden targets, the position vectors of these targets can be obtained using the wide-swath detector mentioned above. For example, such as... Figure 3 As shown, when the satellite's camera coordinate system coincides with the satellite's coordinate system, the satellite's instantaneous detection range angle is ±α. Within the ±α detection range, two targets, P1 and P2, are detected. Among them, P1 can be considered the first sudden target. The WGS84 coordinate system position vector of P1 is... Converting P1 to a position vector in the J2000 coordinate system can yield the first target position vector. Where R IF R is the transformation matrix from the conventional Earth coordinate system to the instantaneous true celestial coordinate system (the effect of polar motion can be ignored in this process); MI R is the transformation matrix from the instantaneous true celestial coordinate system to the instantaneous mean celestial coordinate system (i.e., considering the nutation angle); JM This is the transformation matrix from the instantaneous mean celestial coordinate system to the J2000 coordinate system (i.e., considering the precession angle).

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

[0076] Step S210: Obtain one of the shortest times required for satellite attitude maneuvering as the first maneuver time.

[0077] For example, the maneuver angle interval [a0, a1] can be taken from Table 1, and the shortest time b1 required for the attitude maneuver corresponding to this interval can be the first maneuver time.

[0078] Step S220: Based on the first maneuver time and the current time, determine the first time.

[0079] For example, at time T0, the satellite detects two targets P1 and P2 within its detection range, where P1 can be considered the first sudden target. The current time can be T0, and the first time can be represented as t. i =T0+b i .

[0080] In some embodiments, the first moment can also be determined based on the imaging duration, which can represent the time from when the satellite begins imaging the sudden target to when the imaging ends.

[0081] For example, if the imaging duration of the first sudden target can be ΔT, then the first moment can be represented as t. i =T0+b i+ΔT / 2. The first moment is determined based on the imaging duration, which allows the satellite to be in the optimal shooting posture for sudden targets after attitude adjustment is completed, thus improving the accuracy of satellite attitude imaging.

[0082] In step S230, based on the first moment, the Lagrange multiplier method can be used to calculate the satellite's first satellite position vector.

[0083] In some embodiments, the satellite orbit can be calculated using the Lagrange multiplier method based on the current satellite orbit. Since orbit calculation is only time-dependent, the orbit extrapolation 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 in the satellite J2000 coordinate system velocity vector

[0085] The Lagrange multiplier method can be used to calculate the satellite's position at time t. i =T0+b i Extrapolated satellite orbit at +ΔT / 2 time As shown below:

[0086]

[0087] in,

[0088]

[0089] The first satellite position vector can be

[0090] Step S240: Determine whether the first sudden target can be imaged based on the angle between the first satellite position vector and the first target position vector.

[0091] For example, combined Figure 4 At time T0, the position vector of the first sudden target P1 in the J2000 coordinate system can be obtained. The Lagrange multiplier method can be used to obtain the satellite's position at time t. i =T0+b i The first satellite position vector at +ΔT / 2 time 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 maneuver time corresponds one-to-one with the first attitude angle range. For example, the first maneuver time can be b1, and the corresponding maneuver angle range 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 attitude angle range [a i―1 ,a i Within the first maneuver time, the first sudden target can be imaged. For example, when γ i ≤a i This means that it is not longer than b. i Within a given time period, the satellite's attitude angle maneuver angle γ i Not greater than a i This can be understood as the satellite possessing the attitude maneuvering conditions to image target P1.

[0094] In some embodiments, when the first sudden target can be imaged within the first maneuver time, the imaging attitude of the first sudden target can be determined based on the first satellite position vector and the first target position vector. The imaging attitude may include one or more of the following: roll angle; pitch angle; yaw angle, thereby ensuring accurate imaging of the first sudden target by the satellite and improving the imaging effect.

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

[0096]

[0097] Then, the velocity vector of the first sudden target relative to the center of mass orbital coordinate system can be calculated. and roll angle Obtain the deflection angle ψ

[0098]

[0099] It is understandable that the satellite imaged the first sudden target P1 in the XYZ order, where the imaging attitudes were roll angles, respectively. The pitch angle is θ, and the yaw angle is ψ. The satellite can image the first emerging target based on this imaging attitude.

[0100] In some embodiments, if the angle γ between the first satellite position vector and the first target position vector is... i Not within the first attitude angle range [a i―1 ,a i Within [the first instance], the first sudden target cannot be imaged during the first maneuver time. For example, γ i >a i This means that in b i Within a certain timeframe, the satellite needs to perform gamma ray tests. i Angle-based attitude maneuvers, but the maximum attitude maneuver capability of a satellite is a. i Therefore, the first sudden target does not have the conditions for imaging.

[0101] As discussed above, the angle between the first satellite position vector and the first target position vector is determined by performing time-based orbit calculations on the satellite and combining this with the position of the first sudden target. This method offers the advantages of simple and reliable calculation. Without requiring high-precision orbital extrapolation, it is possible to quickly determine whether the first sudden target presents an imaging opportunity, and more accurate calculations of the imaging attitude can be performed.

[0102] In some embodiments, if the first sudden target can be imaged, the satellite maneuver duration corresponding to the first sudden target can be set as the first maneuver duration. For example, the angle γ between the first satellite position vector and the first target position vector can be considered as... i First attitude angle range b i Internal. The satellite maneuver duration b corresponding to the first sudden target. i It can be set to the first maneuver duration.

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

[0104] As shown in Table 1, in this embodiment, the satellite attitude maneuvering capability can be precisely segmented to form a satellite attitude maneuvering capability table. The satellite attitude maneuvering capability table can be configured with different attitude maneuvering times for different attitude angle ranges. Whether a first sudden target can be imaged can be determined based on the shortest time required for attitude maneuvering corresponding to the first maneuvering angle range in the satellite attitude maneuvering capability table. If it is determined that the target cannot be imaged, imaging determination can continue based on the second stage in Table 1.

[0105] For example, in the satellite attitude maneuverability table, when i = 1, the first maneuver time can be b1. After calculation through the above embodiment, γ1 > a1 is obtained. This can be understood as meaning that imaging of the first sudden target is impossible within the interval [a0, a1]. When i = 2, the second maneuver time can be b2, and γ2 is calculated. At this time, when γ2 ≤ a2, it means that the first sudden target can be imaged; when γ2 > a2, it means that imaging of the first sudden target is impossible. If imaging is still impossible when i = 2, i can be set to i = i + 1, and imaging judgment can continue.

[0106] In some embodiments, if the first sudden target cannot be imaged for any of the shortest possible times required for satellite attitude maneuvering, it can be determined that the first sudden target cannot be imaged, and the satellite maneuvering duration corresponding to the first sudden target is 0. In the above embodiments, if the first sudden target cannot be imaged, i can be set to i = i + 1, and imaging judgment can continue. However, after i has traversed the satellite maneuvering attitude capability table, the result obtained is always γ. i >a i If so, it can be assumed that the first sudden target cannot be imaged in the determined sequence. In this case, the satellite maneuver duration corresponding to the first sudden target is 0.

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

[0108] In the embodiments of this application, by segmenting the satellite's attitude maneuvering capability and matching different attitude maneuvering times with different attitude angle ranges for each segment, imaging and judgment of the first sudden target are performed, so that the satellite attitude maneuvering can be accurately matched with the satellite attitude, thereby improving the accuracy of imaging and judgment of the first sudden target.

[0109] In some embodiments, the plurality of sudden targets further includes a second sudden target, the position vector of which is the position vector of the second target. The second sudden target is arranged after the first sudden target in the sequence, that is, it is expected that the first sudden target will be imaged and judged first, and then the second sudden target will be imaged and judged.

[0110] by Figure 4 For example, when a satellite detects two targets P1 and P2 within its instantaneous detection range of ±α, P1 can be considered the first sudden target, and P2 can be considered the second sudden target. The position vector of P2 in the WGS84 coordinate system is... The position vector of target P2 transformed into the J2000 coordinate system can be the position vector of the second target, that is...

[0111] After determining whether the first sudden target can be imaged, the imaging assessment of the second sudden target begins. Figure 5 An embodiment of this application illustrates a method for multi-target imaging task planning, which may include steps S510 to S540.

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

[0113] For example, the angle interval maneuvering angle interval [a0, a1] can be taken from Table 1, and the shortest time b1 required for the attitude maneuvering corresponding to this interval can be the third maneuvering time.

[0114] Step S520: Based on the third maneuver time, the current time, and the first maneuver duration, determine the second time.

[0115] For example, when the first sudden target is determined to be imageable, it is understood that the duration of the first maneuver is not zero at this time. Based on the duration of the first maneuver, the second moment 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 time step can be t. j =T0+t P1 +b j +ΔT / 2.

[0117] In step S530, based on the second time point, the Lagrange coefficient method can be used to calculate the satellite's third satellite position vector.

[0118] For example, when the duration of the first maneuver of the first sudden target is t P1 The Lagrange multiplier method was used to calculate the satellite's position at t. j =T0+t P1 +b j Extrapolated satellite orbit at +ΔT / 2 time

[0119]

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

[0121] Step S540: Determine whether the second sudden target can be imaged based on 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 sudden target P2 in the J2000 coordinate system can be obtained. The Lagrange multiplier method can be used to obtain the satellite's position at time t. j =T0+t P1 +b j The second satellite position vector at +ΔT / 2 time 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 range [a j―1 ,a j Within [a certain timeframe], the second sudden target can be imaged during the third maneuver time. For example, when γ j ≤a j This means that it is not longer than b. j Within a given time period, the satellite's attitude angle maneuver angle γ j Not greater than a j This can be understood as the satellite possessing the attitude maneuvering conditions to image 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 within the attitude angle range [a j―1 ,a j Within this timeframe, the second sudden target cannot be imaged during the third maneuver time. For example, γ j >a j This means that in b j Within a certain timeframe, the satellite needs to perform gamma ray tests. j Angle-based attitude maneuvers, but the maximum attitude maneuver capability of a satellite is a. j Therefore, the first sudden target does not have the conditions for imaging.

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

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

[0127] For example, it can be understood that the determination of whether a second sudden target can be imaged is based on the time required for attitude maneuvering corresponding to the first maneuvering angle interval in the satellite attitude maneuvering capability table. If it is determined that the second sudden target cannot be imaged, imaging determination can continue based on the second stage in Table 1.

[0128] For example, in the satellite attitude maneuver capability table, when j=1, the third maneuver time can be b1. After calculation through the above embodiment, γ1>a1 is obtained. This can be understood as meaning that imaging of the second sudden target is impossible within the interval [a0,a1]. When j=2, the fourth maneuver time can be b2, and γ2 is calculated. At this time, when γ2≤a2, it means that the second sudden target can be imaged; when γ2>a2, it means that imaging of the second sudden target is impossible. If imaging is still impossible when j=2, j can be set to j=j+1, and imaging judgment can continue.

[0129] In some embodiments, if the second sudden target cannot be imaged for the entire duration of the time required for multiple satellite attitude maneuvers, it is determined that the second sudden target cannot be imaged, and the satellite maneuver duration corresponding to the second sudden target is 0. In the above embodiments, if the second sudden target cannot be imaged, j can be set to j = j + 1, and imaging judgment can continue. However, after i traverses all satellite maneuver attitude capability tables, the result obtained is always γ. j >a j If so, it can be assumed that the second sudden target cannot be imaged in the determined permutation sequence.

[0130] In some embodiments, the plurality of sudden targets may also include a third sudden target. The process of imaging and judging the third sudden target can refer to the method mentioned above, and will not be elaborated here.

[0131] It is understood that, in this embodiment of the application, for on-board sudden targets, such as the first sudden target and the second sudden target, the satellite's attitude maneuvering capability is matched with its detection range. If it is determined 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, without additional flight waiting time or attitude preparation time, after imaging and determining the first sudden target, the second sudden target can be determined based on the determination of the first sudden target. This planning has extremely high rapid response capability and improves the efficiency of imaging and determining sudden targets.

[0132] The following is based on Figure 6 Taking an example, the embodiments of this application will be described in detail. Figure 6 This is a multi-target imaging task planning method proposed in the embodiments of this application.

[0133] Figure 6 The current time is T0, and the satellite's position vector in the J2000 coordinate system is... velocity vector is The satellite attitude maneuverability is shown in Table 1. It can be understood that when the satellite attitude is at a... i―1 ,a i When the range is defined, the shortest required maneuver time is... It can also achieve the attitude stability required for imaging.

[0134] The satellite camera's coordinate system coincides with the satellite's coordinate system. The satellite's instantaneous detection range angle is ±α. Within the ±α detection range, two sudden targets, P1 and P2, are detected. 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: Make an imaging judgment based on P1P2.

[0138] Following the imaging order P1 and P2, first determine whether target P1 can be imaged, and then determine whether target P2 can be imaged.

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

[0140] (1) When i = 1, the Lagrange multiplier method is used to calculate the satellite's position at t. i =T0+b i Extrapolated satellite orbit at +ΔT / 2 time

[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 R is the transformation matrix from the conventional Earth coordinate system to the instantaneous true celestial coordinate system (the effect of polar motion can be ignored in this process); MI R is the transformation matrix from the instantaneous true celestial coordinate system to the instantaneous mean celestial coordinate system (i.e., considering the nutation angle); JMThis is the transformation matrix from the instantaneous mean celestial coordinate system to the J2000 coordinate system (i.e., considering the precession angle).

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

[0147]

[0148] (4) Calculate the satellite's position at t i =T0+b i Position vector at time +ΔT / 2 and The included angle γ i

[0149]

[0150] (5) If γ i ≤a i This means that it is not longer than b. i Within a given time period, the satellite's attitude angle maneuver angle γ i Not greater than a i That is, the satellite has the attitude maneuvering conditions to image target P1, and the maneuvering time t required to image P1 is recorded. P1 =b i , and t i =T0+b i +ΔT / 2 time Vector in the centroid orbit coordinate system in, R OI This is the transformation matrix from the J2000 coordinate system to the centroid orbital coordinate system.

[0151] If γ i >a i Then in b i Within a certain timeframe, the satellite needs to perform gamma ray tests. i Angle-based attitude maneuvers, but the maximum attitude maneuver capability of a satellite is a. i Therefore, the imaging conditions are not met, i = i + 1, and the judgment continues; if i > n and the angle judgment conditions are still not met, it indicates that P1 does not meet the imaging conditions.

[0152] 2) After the satellite completes its imaging assessment of the first sudden target P1, it determines whether it can image the second sudden target P2.

[0153] (1) When j = 1, the Lagrange multiplier method is used to calculate the satellite's position at t. j =T0+t P1 +bj Extrapolated satellite orbit at +ΔT / 2 time

[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 R is the transformation matrix from the conventional Earth coordinate system to the instantaneous true celestial coordinate system (the effect of polar motion can be ignored in this process); MI R is the transformation matrix from the instantaneous true celestial coordinate system to the instantaneous mean celestial coordinate system (i.e., considering the nutation angle); JM This is the transformation matrix from the instantaneous mean celestial coordinate system to the J2000 coordinate system (i.e., considering the precession angle).

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

[0159]

[0160] (4) Transform to the coordinate system of the center of mass orbit, i.e. R OI This is the transformation matrix from the J2000 coordinate system to the centroid orbital coordinate system.

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

[0162]

[0163] (6) If γ j ≤a j This means that it is not longer than b. j Within a given time period, the satellite's attitude angle maneuver angle γ j Not greater than a jThat is, the satellite has the attitude maneuvering conditions to image 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 a certain timeframe, the satellite needs to perform gamma ray tests. j Angle-based attitude maneuvers, but the maximum attitude maneuver capability of a satellite is a. j Therefore, the imaging conditions are not met, j = j + 1, and the judgment continues; if j > n and the angle judgment conditions are still not met, it indicates that P2 does not meet the imaging conditions.

[0165] Step S620: Image judgment is performed based on P2P1.

[0166] Imaging is performed sequentially from P2 to P1, meaning that the first burst target P2 is first determined to be imageable, and then the second burst target P1 is determined to be imageable. The specific calculation is as described in step S610, and will not be elaborated here.

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

[0168] After steps S610 and S620, the imaging probability tables for P1 and P2 can be obtained. Refer to Table 2. Based on the imaging probability tables, the first permutation sequence is obtained.

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

[0170] (a) When flag==A or flag==E, it indicates that P1 and P2 have 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 P1 can only be imaged regardless of the order.

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

[0173] (d) When flag==D or flag==H, it indicates that P1 and P2 cannot be imaged regardless of the order.

[0174] Assuming that both targets meet the imaging conditions, with P1 and P2 as the first permutation sequence, proceed to step S640.

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

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

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

[0178]

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

[0180]

[0181] (3) Calculate the camera optical axis vector corresponding to the satellite's roll and pitch attitude maneuvers.

[0182]

[0183] (4) Calculate the satellite's center of mass orbit coordinate system The vector corresponding to the intersection with the Earth's surface Where R OI This 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 orbital coordinate system. Earth's rotational angular velocity

[0186]

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

[0188] (6) Calculate the velocity vector of the target point relative to the orbital coordinate system of the centroid.

[0189]

[0190] (7) According to Calculation and roll angle Obtain the deflection angle ψ

[0191]

[0192] In summary, the satellite images target P1 in the XYZ order, with the imaging attitudes being roll angles, respectively. The pitch angle is θ, and the yaw angle is ψ. The initial attitude maneuver time is T0, and the duration of the attitude maneuver is b. i The imaging range is [t i ―ΔT / 2,t i +ΔT / 2].

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

[0194] In t∈[t j ―ΔT / 2,t j +ΔT / 2], the corresponding satellite orbit is According to t j =T0+t P1 +b j At time +ΔT / 2, 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 maneuver time of P2 is T0+t. P1 The attitude maneuver duration is b j The imaging range 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 range are calculated. Refer to step S610.

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

[0197] The method embodiments of this application have been described in detail above. Based on the above, this application also proposes a multi-target imaging task planning system, which will be discussed below in conjunction with... Figure 7 The system embodiments of this application are described in detail below. It should be understood that the descriptions of the method embodiments above correspond to the descriptions of the system embodiments; therefore, any parts not described in detail can be referred to the foregoing method embodiments.

[0198] Figure 7 This 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 multiple acquired sudden targets and generate multiple arrangement sequences;

[0200] The imaging judgment module 720 is used to perform imaging judgment on the plurality of arranged sequences in sequence according to the satellite attitude maneuverability table. The satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle ranges and multiple shortest times required for satellite attitude maneuvering. The imaging judgment includes judging the number of sudden targets that can be imaged in the arranged sequence.

[0201] Based on the number of imageable burst targets corresponding to the multiple permutation sequences, the first permutation sequence with the largest number of imageable burst targets is obtained.

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

[0203] In some embodiments, the plurality of sudden targets includes a first sudden target, the position vector of the first sudden target is a first target position vector, and imaging judgment is performed on the plurality of sudden targets in the plurality of permutations according to the satellite attitude maneuver capability table, including: obtaining one of the plurality of shortest times required for satellite attitude maneuvering as a first maneuver time; determining a first time based on the first maneuver time and the current time; calculating the first satellite position vector of the satellite using the Lagrange multiplier method based on the first time; determining whether the first sudden target can be imaged based on 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 maneuver duration corresponding to the first sudden target as the first maneuver duration; if the first sudden target cannot be imaged, selecting a time different from the first maneuver time from the plurality of shortest times required for satellite attitude maneuvering as a second maneuver time; determining the second satellite position vector of the satellite based on the second maneuver time; and determining whether the first sudden target can be imaged based on the angle between the second satellite position vector and the first target position vector; if the first sudden target cannot be imaged for all of the plurality of shortest times required for satellite attitude maneuvering, determining that the first sudden target cannot be imaged, and the satellite maneuver duration corresponding to the first sudden target is 0.

[0204] In some embodiments, the first maneuver time corresponds to the first attitude angle range in the satellite attitude maneuver capability table. If the angle between the first satellite position vector and the first target position vector is within the first attitude angle range, the first sudden target can be imaged within the first maneuver 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 maneuver time.

[0205] In some embodiments, the plurality of sudden targets further includes a second sudden target, the position vector of which is the second target position vector. After determining whether the first sudden target can be imaged, one of the times required for multiple satellite attitude maneuvers is obtained as the third maneuver time. Based on the third maneuver time, the current time, and the first maneuver duration, the second time is determined. Based on the second time, the Lagrange multiplier method is used to calculate the third satellite position vector of the satellite. The angle between the third satellite position vector and the second target position vector is used to determine whether the second sudden target can be imaged. If the second sudden target can be imaged, the satellite maneuver duration corresponding to the second sudden target is set as the second maneuver duration. If the second sudden target cannot be imaged, a time different from the third maneuver time is selected from the shortest times required for multiple satellite attitude maneuvers as the fourth maneuver time. The fourth satellite position vector of the satellite is determined based on the fourth maneuver time, and the angle between the fourth satellite position vector and the second target position vector is used to determine whether the second sudden target can be imaged. If the second sudden target cannot be imaged during all the shortest times required for multiple satellite attitude maneuvers, it is determined that the second sudden target cannot be imaged, and the satellite maneuver duration corresponding to the second sudden target is 0.

[0206] In some embodiments, the first moment can also be determined based on the imaging duration, which represents the time from when the satellite begins imaging the sudden target to when the 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. The imaging attitude includes one or more of the following: roll angle; pitch angle; yaw angle of the satellite.

[0208] In some embodiments, an imaging probability table of multiple burst targets is generated based on the imageable burst targets corresponding to multiple permutation sequences, and a first permutation sequence is determined based on the imaging probability table, wherein the imaging probability table includes one or more of the following: the number of imageable burst targets corresponding to the multiple permutation sequences; the identifiers of imageable burst targets corresponding to the multiple permutation sequences; and the identifiers of non-imageable burst targets corresponding to the multiple permutation sequences.

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

[0210] Furthermore, this application also proposes a computer-readable storage medium storing a computer program. When the computer program is executed by a computer, it implements the operations in the multi-target imaging task planning method provided in the above embodiments. The specific steps will not be described in detail here.

[0211] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0212] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant details can be found in the description of the method embodiments. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of this application. Those skilled in the art can understand and implement this without creative effort.

[0213] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0214] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, television, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0215] The above are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A multi-target imaging task planning method, characterized in that, include: The imaging order of multiple sudden targets is fully permuted, and multiple permutation sequences are generated; Imaging judgment is performed on the multiple sequences according to the satellite attitude maneuverability table. The satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle ranges and multiple shortest times required for satellite attitude maneuvering. The imaging judgment includes determining the number of sudden targets that can be imaged in the sequence. The shortest time is the shortest time for the satellite to achieve the attitude stability required for imaging. Based on the number of imageable burst targets corresponding to the multiple permutation sequences, the first permutation sequence with the largest number of imageable burst targets is obtained. Imaging is performed sequentially on the sudden targets that have imaging opportunities in the first arrangement sequence; For any given permutation sequence, the imaging determination includes: Based on the current time and the satellite maneuver time consumed in imaging the previous sudden target, a reference time for imaging the current sudden target is determined; based on the reference time, the satellite attitude maneuver capability table is used to determine whether the current sudden target can be imaged, and the satellite maneuver time corresponding to when imaging is possible is recorded.

2. The method according to claim 1, characterized in that, The plurality of sudden targets includes a first sudden target, the position vector of which is a first target position vector. The step of imaging and judging the multiple sudden targets in the multiple permutation sequences according to the satellite attitude maneuverability table includes: The first maneuver time is one of the multiple shortest times required for the satellite attitude maneuver. The first moment is determined based on the first maneuver time and the current moment; Based on the first moment, the satellite's first satellite position vector is obtained by calculating the satellite using the Lagrange multiplier method. The angle between the first satellite position vector and the first target position vector is used to determine whether the first sudden target can be imaged. If the first sudden target can be imaged, the satellite maneuvering time corresponding to the first sudden target is set as the first maneuvering time. If the first sudden target cannot be imaged, the time different from the first maneuvering time is selected from the shortest time required for multiple satellite attitude maneuvers as the second maneuvering time. The second satellite position vector of the satellite is determined based on the second maneuvering time. The angle between the second satellite position vector and the first target position vector is used to determine whether the first sudden target can be imaged. If the first sudden target cannot be imaged during all of the shortest possible times required for the satellite attitude maneuver, then it is determined that the first sudden target cannot be imaged, and the satellite maneuver duration corresponding to the first sudden target is 0.

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

4. The method according to claim 2, characterized in that, The plurality of sudden targets also includes a second sudden target, the position vector of which is the position vector of a second target. After determining whether the first sudden target can be imaged, one of the times required for the attitude maneuvers of the multiple satellites is obtained as the third maneuver time; The second moment is determined based on the third maneuver time, the current moment, and the first maneuver duration; Based on the second time point, the satellite's third position vector is obtained by calculating the satellite's position using the Lagrange multiplier method. The angle between the third satellite position vector and the second target position vector is used to determine whether the second sudden target can be imaged. If the second sudden target can be imaged, the satellite maneuver duration corresponding to the second sudden target is set as the second maneuver duration. If the second sudden target cannot be imaged, a time different from the third maneuver time is selected from the multiple satellite attitude maneuver times as the fourth maneuver time. The fourth satellite position vector of the satellite is determined based on the fourth maneuver time. The angle between the fourth satellite position vector and the second target position vector is used to determine whether the second sudden target can be imaged. If the second sudden target cannot be imaged during the entire time required for the attitude maneuvers of the multiple satellites, it is determined that the second sudden target cannot be imaged, and the satellite maneuver duration corresponding to the second sudden target is 0.

5. The method according to claim 2, characterized in that, The first moment can also be determined based on the imaging duration, which represents the time from when the satellite begins to image the sudden target to when the imaging ends.

6. The method according to claim 2, characterized in that, Based on the first satellite position vector and the first target position vector, the imaging attitude of the first sudden target is determined, wherein the imaging attitude includes one or more of the following aspects of the satellite: Roll angle; Pitch angle; Yaw angle.

7. The method according to claim 1, characterized in that, Based on the imageable burst targets corresponding to the plurality of permutation sequences, an imaging probability table for the plurality of burst targets is generated. Based on the imaging probability table, a first permutation sequence is determined. The imaging probability table includes one or more of the following: The number of burst targets that can be imaged corresponding to the multiple permutation sequences; The identifiers of the imaging burst targets corresponding to the multiple permutation sequences; The multiple permutation sequences correspond to the identifiers of sudden targets that cannot be imaged.

8. The method according to claim 1, characterized in that, The step of obtaining the first permutation sequence with the largest number of imageable sudden targets based on the multiple permutation sequences includes: If all sudden targets in the currently determined permutation sequence can be imaged, then the first permutation sequence is the currently determined permutation sequence.

9. A multi-target imaging task planning system, characterized in that, include: The sorting module is used to perform a full permutation of the imaging order of multiple acquired sudden targets and generate multiple permutation sequences; The imaging judgment module is used to sequentially perform imaging judgments on the multiple permutation sequences according to the satellite attitude maneuverability table. The satellite attitude maneuverability table includes a one-to-one correspondence between multiple attitude angle ranges and multiple shortest times required for satellite attitude maneuvers. The imaging judgment includes determining the number of sudden targets that can be imaged in the permutation sequence. The shortest time is the shortest time for the satellite to achieve the attitude stability required for imaging. Based on the number of imageable burst targets corresponding to the multiple permutation sequences, the first permutation sequence with the largest number of imageable burst targets is obtained. An imaging module is used to sequentially image the sudden targets that have imaging opportunities in the first arrangement sequence; The imaging judgment module is also used to determine a reference time for imaging the current sudden target based on the current time and the satellite maneuvering time consumed in imaging the previous sudden target; based on the reference time, it uses the satellite attitude maneuvering capability table to determine whether the current sudden target can be imaged, and records the satellite maneuvering time corresponding to when it can be imaged.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a multi-target imaging task planning program, which, when executed by a processor, implements the multi-target imaging task planning method as described in any one of claims 1 to 8.

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