A constellation design method considering coverage of earth observation and limb observation

Abstract

The application provides a constellation design method considering the coverage of earth observation and edge detection, and the method comprises the following steps: S10, acquiring the spatial position of each satellite; S20, dividing a target area into a plurality of grid points through grid division; S30, judging the visibility of each satellite to each grid point to obtain the coverage multiplicity of each grid point; S40, acquiring the coverage capacity of the target area under the current constellation configuration and constellation parameters; S50, judging whether the traversal of all constellation parameters under the current constellation configuration is completed, if yes, turning to S60, otherwise, repeating S10-S50 to traverse the next constellation parameter; S60, judging whether the traversal of all constellation configurations is completed, if yes, obtaining the optimal constellation, otherwise, repeating S10-S60 to traverse the next constellation configuration. The application can solve the technical problem that the constellation design in the prior art cannot simultaneously meet the demand for the coverage of earth observation and edge detection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of constellation design, and particularly relates to a constellation design method considering coverage of earth observation and edge detection comprehensively. BACKGROUND

[0002] In recent years, satellites play an important role in the fields of agriculture, ocean, meteorology, national defense and the like. Coverage is an important index for measuring the performance of a satellite. Due to the limited coverage capacity of a single satellite, a plurality of satellites are required to form a constellation to improve the overall coverage. In addition to earth observation, edge detection capacity of a constellation is also required for tasks such as near-space target detection and starlight navigation. Therefore, the design of a satellite constellation needs to consider indexes such as coverage of earth observation and edge detection.

[0003] In the prior art, the constellation design method for coverage of earth observation is relatively mature, and a related design method for the minimum size of a constellation under satellite edge detection is also proposed. However, there is still a lack of an optimal constellation design method considering coverage of earth observation and edge detection, and further research is still required.

[0004] Therefore, in view of the fact that the constellation design in the prior art cannot meet the requirements of coverage of earth observation and edge detection, it is necessary to develop an optimal constellation design method considering coverage of earth observation and edge detection. SUMMARY

[0005] The present application provides a constellation design method considering coverage of earth observation and edge detection comprehensively, which can solve the technical problem that the constellation design in the prior art cannot meet the requirements of coverage of earth observation and edge detection.

[0006] According to an aspect of the present application, a constellation design method considering coverage of earth observation and edge detection comprehensively is provided, and the method comprises the following steps:

[0007] S10. Obtaining the spatial positions of each satellite based on a current constellation configuration and a certain constellation parameter in the current constellation configuration;

[0008] S20. Dividing a target region into a plurality of grid points, wherein the target region comprises an earth observation region and an edge detection region;

[0009] S30. Judging the visibility of each satellite to each grid point based on the spatial positions of each satellite and the positions of each grid point, and obtaining the coverage multiplicity of each grid point;

[0010] S40. Obtaining the coverage capacity of the target region of the current constellation configuration under the current constellation parameter based on the coverage multiplicity of each grid point;

[0011] S50, judging whether the traversal of all constellation parameters under the current constellation configuration is completed, if yes, turning to S60, otherwise, repeating S10-S50 to traverse the next constellation parameter;

[0012] S60, judging whether the traversal of all constellation configurations is completed, if yes, taking the constellation configuration and the constellation parameters corresponding to the maximum coverage ability of the target region in all traversal results as the optimal constellation, otherwise, repeating S10-S60 to traverse the next constellation configuration.

[0013] Preferably, the spatial position of each satellite based on the current constellation configuration and a constellation parameter in the current constellation configuration comprises:

[0014] Supposing the current constellation is Walker constellation, the Walker constellation configuration is N / P / F, wherein N is the total number of satellites, P is the number of orbital planes, and F is a phase factor, F=0, 1,..., P-1;

[0015] obtaining the longitude of ascending node of each orbital plane in the constellation and the argument of perigee of each satellite in each orbital plane in the constellation;

[0016] obtaining the longitude and latitude of each satellite based on the longitude of ascending node of each orbital plane in the constellation, the argument of perigee of each satellite in each orbital plane in the constellation and the orbit inclination of the satellite;

[0017] obtaining the three-dimensional coordinates of each satellite in the earth-fixed system based on the longitude and latitude of each satellite and the orbit altitude of each satellite, thereby obtaining the spatial position of each satellite.

[0018] Preferably, the longitude of ascending node of each orbital plane in the constellation is obtained by the following formula:

[0019]

[0020] the argument of perigee of each satellite in each orbital plane in the constellation is obtained by the following formula:

[0021]

[0022] the longitude and latitude of each satellite are obtained by the following formula:

[0023] latitude=sin -1 (sin(u)·sin(i));

[0024]

[0025] longitude=Ω+Δlongitude;

[0026] the three-dimensional coordinates of each satellite in the earth-fixed system are obtained by the following formula:

[0027] x = H cos(latitude) cos(longitude);

[0028] y = H cos(latitude) sin(longitude);

[0029] z = H sin(latitude);

[0030] wherein Ω is the right ascension of the ascending node of the lth orbital plane, Ω0 is the right ascension of the ascending node of the first orbital plane, u is the argument of perigee of the jth satellite in the lth orbital plane, u0 is the argument of perigee of the first satellite in the first orbital plane, latitude is the latitude of the satellite, i is the inclination of the orbit, mod(u, 360) is the remainder of u divided by 360, Δlongitude is the difference between the longitude of the satellite and the longitude of the right ascension of the ascending node, longitude is the longitude of the satellite, H is the orbital height of the satellite, x is the x-axis coordinate of the satellite in the ground-fixed system, y is the y-axis coordinate of the satellite in the ground-fixed system, and z is the z-axis coordinate of the satellite in the ground-fixed system.

[0031] Preferably, the target area is divided into a plurality of grid points by grid division, including:

[0032] the target area is divided into a plurality of grid points by grid division along the height direction at equal intervals;

[0033] each height layer is divided into a plurality of grid points by grid division.

[0034] Preferably, the target area is divided into a plurality of grid points by grid division along the height direction at equal intervals;

[0035] Preferably, the target area is divided into a plurality of grid points by grid division along the height direction at equal intervals;

[0036] Preferably, the visibility of each satellite to each grid point is determined based on the spatial position of each satellite and the position of each grid point, including:

[0037] S31, determining whether the distance between the current satellite and the current grid point is less than the detection distance, if yes, going to S32, otherwise, going to S35;

[0038] S32, determining whether the current grid point belongs to the earth observation area or the edge detection area, if the current grid point belongs to the earth observation area, going to S33, if the current grid point belongs to the edge detection area, going to S34;

[0039] S33, judging whether the field of view angle of the current grid point is less than the maximum field of view angle of the earth observation sensor, if yes, the current grid point can be seen by the current satellite, otherwise, going to S35;

[0040] S34, judging whether the field of view angle of the current grid point is greater than the field of view angle corresponding to the lower edge of the field of view of the limb detection sensor, if yes, the current grid point can be seen by the current satellite, otherwise, going to S35;

[0041] S35, the current grid point cannot be seen by the current satellite;

[0042] S36, repeating S31-S35 until the traversal of all satellites and all grid points is completed.

[0043] Preferably, the coverage capability of the target area under the current constellation parameter of the current constellation configuration is obtained based on the coverage multiplicity of each grid point, and the coverage capability of the target area under the current constellation parameter of the current constellation configuration is obtained based on the coverage multiplicity of each grid point.

[0044] The m-fold coverage proportion of the target area under the current constellation parameter of the current constellation configuration is obtained based on the coverage multiplicity of each grid point, wherein m=1, 2,..., M, and M is the maximum coverage multiplicity.

[0045] The coverage capability of the target area under the current constellation parameter of the current constellation configuration is obtained based on the m-fold coverage proportion of the target area.

[0046] Preferably, the coverage capability of the target area under the current constellation parameter of the current constellation configuration is obtained by the following formula:

[0047]

[0048] In the formula, cov is the coverage capability of the target area, percent_cov m is the m-fold coverage proportion of the target area, k m is the weight factor of the m-fold coverage proportion.

[0049] According to another aspect of the present application, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements any of the above-mentioned methods when executing the computer program.

[0050] By designing the optimal constellation satisfying the performance index, the technical scheme of the present application can simultaneously consider the coverage requirements of the earth observation and the limb detection, satisfy various coverage indexes such as coverage proportion and coverage multiplicity, satisfy the arbitrary multiple coverage performance of the constellation, and adjust the relative weight according to the importance of the earth observation and the limb detection, so as to realize the lowest cost of the constellation. The design method of the present application is simple in calculation, small in operation amount, and convenient to implement. BRIEF DESCRIPTION OF DRAWINGS

[0051] The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is readily apparent to one skilled in the art that the accompanying drawings typically illustrate only a few of numerous embodiments of the application, and are therefore not to be considered limiting of the scope of the application, for the drawings themselves can be used in conjunction with the description to accomplish still other embodiments of the application.

[0052] Figure 1 A flow chart of a constellation design method considering earth observation and limb detection coverage is shown according to an embodiment of the present application;

[0053] Figure 2 A schematic diagram of a grid division method is shown according to an embodiment of the present application;

[0054] Figure 3 A field of view range of an earth observation sensor and a limb detection sensor carried by a single satellite is shown according to an embodiment of the present application;

[0055] Figure 4a A constellation earth observation double coverage proportion diagram obtained by STK simulation is shown according to an embodiment of the present application;

[0056] Figure 4b A constellation limb detection double coverage proportion diagram obtained by STK simulation is shown according to an embodiment of the present application. DETAILED DESCRIPTION

[0057] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The description of the at least one example embodiment is actually only illustrative, but not intended to limit the application or use of the present application in any way. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0058] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the example embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of the features, steps, operations, devices, components and / or combinations thereof.

[0059] The relative arrangement of parts and steps illustrated and described with respect to the embodiments presented herein are not intended to limit the scope of the present application. Rather, the depicted and described embodiments are intended to be illustrative and not restrictive. It will be apparent to those having ordinary skill in the art that certain substitutions, modifications and changes can be made to the embodiments presented without departing from the scope of the present application. For example, the relative sizes of the various portions shown in the drawings are not necessarily to scale. Also, certain features, characteristics, components, methods, devices, and / or mechanisms, known to those having ordinary skill in the art can not be discussed in great detail, but are intended as being incorporated herewith. It is intended that any textual reference herein shall be construed in the context of this description.

[0060] As Figure 1 illustrated, the present application provides a constellation design method considering coverage of earth observation and edge detection comprehensively, the method comprising:

[0061] S10, obtaining spatial positions of each satellite based on a current constellation configuration and a certain constellation parameter in the current constellation configuration;

[0062] S20, performing grid division on a target region to obtain a plurality of grid points; wherein the target region comprises an earth observation region and an edge detection region;

[0063] S30, judging visibility of each satellite to each grid point based on the spatial positions of each satellite and positions of each grid point to obtain coverage multiplicity of each grid point;

[0064] S40, obtaining coverage capability of the target region of the current constellation configuration under the current constellation parameter based on the coverage multiplicity of each grid point;

[0065] S50, judging whether traversal of all constellation parameters under the current constellation configuration is completed, if yes, turning to S60, otherwise, repeating S10-S50 to traverse a next constellation parameter;

[0066] S60, judging whether traversal of all constellation configurations is completed, if yes, taking a constellation configuration and a constellation parameter corresponding to a maximum value of coverage capability of the target region in all traversal results as an optimal constellation, otherwise, repeating S10-S60 to traverse a next constellation configuration.

[0067] In the present application, all constellation parameters refer to all constellation parameters in a preset constellation parameter range, and all constellation configurations refer to all constellation configurations in a preset constellation configuration range.

[0068] The application can simultaneously consider the coverage requirements of the earth observation and the edge detection, meet various coverage indexes such as coverage ratio and coverage multiplicity, meet the arbitrary coverage performance of the constellation, and can adjust the relative weight according to the importance of the earth observation and the edge detection, and realize the lowest cost of the constellation. The design method of the application is simple in calculation, small in operation amount, and convenient to implement.

[0069] According to an embodiment of the application, in S10 of the application, the spatial positions of the satellites are obtained based on the current constellation configuration and a certain constellation parameter in the current constellation configuration, and the spatial positions of the satellites include:

[0070] S11, assuming that the current constellation is a Walker constellation, and the Walker constellation configuration is N / P / F, wherein N is the total number of satellites, P is the number of orbital planes, and F is a phase factor, F=0, 1,..., P-1;

[0071] S12, obtaining the ascending node right ascension of each orbital plane in the constellation and the perigee amplitude angle of each satellite in each orbital plane in the constellation;

[0072] S13, obtaining the longitude and latitude of each satellite based on the ascending node right ascension of each orbital plane in the constellation, the perigee amplitude angle of each satellite in each orbital plane in the constellation, and the satellite orbit inclination;

[0073] S14, obtaining the three-dimensional coordinates of each satellite in the earth-fixed system based on the longitude and latitude of each satellite and the orbital height of each satellite, so as to obtain the spatial position of each satellite.

[0074] Specifically, in S12 of the application, the ascending node right ascension of each orbital plane in the constellation is obtained by the following formula:

[0075]

[0076] In S12 of the application, the perigee amplitude angle of each satellite in each orbital plane in the constellation is obtained by the following formula:

[0077]

[0078] In S13 of the application, the longitude and latitude of each satellite are obtained by the following formula:

[0079] latitude=sin -1 (sin(u)·sin(i));

[0080]

[0081] longitude=Ω+Δlongitude;

[0082] In S14 of the present application, the three-dimensional coordinates of each satellite in the earth-fixed system are obtained by the following formula:

[0083] x = H cos(latitude) cos(longitude);

[0084] y = H cos(latitude) sin(longitude);

[0085] z = H sin(latitude);

[0086] In the formula, Ω is the right ascension of the ascending node of the lth orbit plane, Ω0 is the right ascension of the ascending node of the first orbit plane, u is the argument of perigee of the jth satellite in the lth orbit plane, u0 is the argument of perigee of the first satellite in the first orbit plane, latitude is the latitude of the satellite, i is the orbit inclination, mod(u, 360) is the remainder obtained by dividing u by 360, Δlongitude is the difference in longitude between the longitude of the satellite and the right ascension of the ascending node, longitude is the longitude of the satellite, H is the orbital height of the satellite, x is the x-axis coordinate of the satellite in the earth-fixed system, y is the y-axis coordinate of the satellite in the earth-fixed system, and z is the z-axis coordinate of the satellite in the earth-fixed system.

[0087] In this embodiment, the constellation configuration is pre-set, and the spatial positions of the satellites can also be set artificially.

[0088] According to an embodiment of the present application, in S20 of the present application, the target region is divided into a grid to obtain a plurality of grid points, including:

[0089] S21, the target region is divided into a grid along the height direction at equal intervals;

[0090] S22, each height layer is divided into a grid to obtain a plurality of grid points, as shown in Figure 2 .

[0091] Specifically, in S22 of the present application, each height layer is divided into a grid to obtain a plurality of grid points, including: using an equal latitude-longitude interval division method to divide each height layer into a grid to obtain a plurality of grid points.

[0092] Specifically, in S22 of the present application, each height layer is divided into a grid to obtain a plurality of grid points, including: using a grid area equal division method to divide each height layer into a grid to obtain a plurality of grid points.

[0093] In this embodiment, the target region can be a global region or a local region; STK can be used for grid generation.

[0094] According to an embodiment of the present application, in S30 of the present application, determining the visibility of each satellite to each grid point based on the spatial position of each satellite and the position of each grid point comprises:

[0095] S31, determining whether the distance between the current satellite and the current grid point is less than the detection distance, if yes, going to S32, otherwise, going to S35;

[0096] S32, determining whether the current grid point belongs to the earth observation area or the edge detection area, if the current grid point belongs to the earth observation area, going to S33, if the current grid point belongs to the edge detection area, going to S34;

[0097] S33, determining whether the field of view angle of the current grid point is less than the maximum field of view angle of the earth observation sensor, if yes, the current grid point can be seen by the current satellite, otherwise, going to S35;

[0098] S34, determining whether the field of view angle of the current grid point is greater than the field of view angle corresponding to the lower edge of the field of view of the edge detection sensor, if yes, the current grid point can be seen by the current satellite, otherwise, going to S35;

[0099] S35, the current grid point cannot be seen by the current satellite;

[0100] S36, repeating S31-S35 until the traversal of all satellites and all grid points is completed.

[0101] In this embodiment, each satellite is equipped with an earth observation sensor and an edge detection sensor at the same time, and the field of view range is as shown in Figure 3 .

[0102] Specifically, in S31 of the present application, the maximum detection distance d1 of the earth observation sensor can be set to 4000km, and the maximum detection distance d2 of the edge detection sensor can be set to 6000km;

[0103] In S33 of the present application, the field of view angle of the grid point is obtained by the following formula:

[0104]

[0105] In S33 of the present application, the maximum field of view angle of the earth observation sensor is obtained by the following formula:

[0106] α1=sin -1 ((Re+H1) / (Re+H));

[0107] In S34 of the present application, the field of view angle corresponding to the lower edge of the field of view of the edge detection sensor is obtained by the following formula:

[0108] α2=sin -1(Re / (Re+H));

[0109] In the formula, a is the field of view angle of the grid point, dot represents dot product, norm represents Euclidean norm, (x1, y1, z1) represents the coordinates of the grid point, (x2, y2, z2) represents the coordinates of the satellite, a1 is the maximum field of view angle of the earth observation sensor, Re is the radius of the earth, H1 is the maximum height of the earth observation target, H is the orbit height of the satellite, and a2 is the field of view angle corresponding to the lower edge of the field of view of the limb detection sensor.

[0110] According to an embodiment of the present application, in S40 of the present application, the coverage capability of the current constellation configuration to the target area under the current constellation parameter is obtained based on the coverage multiplicity of each grid point, and the coverage capability of the current constellation configuration to the target area under the current constellation parameter includes:

[0111] S41, the m-fold coverage ratio of the target area under the current constellation configuration under the current constellation parameter is obtained based on the coverage multiplicity of each grid point; wherein m = 1, 2,..., M, M is the maximum coverage multiplicity, that is, the number of visible satellites, and the m-fold coverage ratio is the proportion of the grid points with coverage multiplicity greater than or equal to m.

[0112] S42, the coverage capability of the target area under the current constellation configuration under the current constellation parameter is obtained based on the m-fold coverage ratio of the target area.

[0113] Specifically, in S41 of the present application, the m-fold coverage ratio of the target area can be the m-fold coverage ratio of the entire target area, or the m-fold coverage ratio of a specific height of the target area.

[0114] In S42 of the present application, the coverage capability of the target area under the current constellation configuration under the current constellation parameter is obtained by the following formula:

[0115]

[0116] In the formula, cov is the coverage capability of the target area, percent_cov m is the m-fold coverage ratio of the target area, k m is the weight factor of the m-fold coverage ratio.

[0117] In this embodiment, different tasks have different requirements for the coverage capability of earth observation and limb detection, that is, different requirements for the m-fold coverage ratio of the constellation. The present application adjusts the weight factor of the m-fold coverage ratio to realize the calculation of the comprehensive coverage capability, so as to maximize cov to realize the task requirements.

[0118] In order to further understand the present application, the following will be described in detail Figure 1 -FIG. 4 for the constellation design method of the present application.

[0119] In the embodiment, the target height of the ground observation is set to 0-250 km, and the target height of the limb detection is set to 80-2000 km. The selected objective function is the minimum percent_cov2(ground) of the ground observation and the minimum percent_cov2(space) of the limb detection for all height levels. It is assumed that the constellation configuration is a Walker constellation, the satellite height range is 500-2000 km, the inclination range is 60-90°, the number of orbital planes is 3-5, the number of satellites in the orbital plane is 6-10, and the phase factor range is 0-2. Since the method is fast in calculation, the percent_cov2(ground) and the percent_cov2(space) under each set of parameters are calculated by traversing the parameters in the embodiment, and a specific optimization method is not used. It is worth noting that although the embodiment does not use an optimization algorithm, the method is suitable for common multi-objective (and single-objective) optimization algorithms.

[0120] Table 1 shows the constellation parameters with the maximum weighted sum of percent_cov2(ground) and percent_cov2(space) when the total number of satellites is fixed. The optimal constellation parameters are selected according to the table, that is, the constellation parameters with the maximum coverage capability are selected. Further, in order to reduce the cost, the constellation parameters with the least number of satellites can be selected for different index requirements.

[0121] Table 1

[0122]

[0123] The constellation parameters with the least number of satellites are selected for different index requirements. FIG. 4 shows the ground observation double coverage ratio at a height of 0 km and the limb detection double coverage ratio at a height of 80 km of the 32 / 4 / 1 constellation in Table 1 calculated by STK simulation. The simulation results are similar to the calculation results (84.5%, 90.7%) of the method, which illustrates the accuracy of the design method.

[0124] The application also provides a computer device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements any of the above methods when executing the computer program.

[0125] In summary, the application provides a constellation design method considering the coverage of earth observation and edge detection comprehensively, which can meet the coverage requirements of earth observation and edge detection by selecting the optimal constellation meeting the performance index, meet various coverage indexes such as coverage proportion and coverage multiplicity, meet the arbitrary coverage performance of the constellation, and can adjust the relative weight according to the importance of earth observation and edge detection, and realize the lowest cost of the constellation. The design method of the application is simple in calculation, small in operation amount, and convenient to implement.

[0126] The part of the application not described in detail is the technology known by the person skilled in the art.

[0127] In the description of the application, it should be understood that the orientation words such as 'front, rear, upper, lower, left, right', 'transverse, vertical, perpendicular, horizontal' and 'top, bottom' and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the application and simplifying the description, and do not indicate and imply that the indicated device or element must have a particular orientation or be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the protection scope of the application; the orientation words 'inner, outer' refer to the inner and outer of the contour of each component itself.

[0128] For the convenience of description, spatial relative terms such as 'over', 'above', 'upper surface', 'upper' and the like can be used herein to describe the spatial positional relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as 'above' or 'over' other devices or structures will be positioned 'below' or 'under' other devices or structures. Thus, the exemplary term 'above' can include both 'above' and 'below' orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0129] In addition, it should be noted that the use of the words 'first','second' and the like to define parts only facilitates the differentiation of the corresponding parts, and the above words have no special meaning unless otherwise stated, therefore cannot be understood as a limitation on the protection scope of the application.

[0130] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A constellation design method considering coverage of earth observation and limb observation, characterized in that, The method comprises: S10, acquiring spatial positions of each satellite based on a current constellation configuration and a certain constellation parameter in the current constellation configuration; S20, performing grid division on a target region to obtain a plurality of grid points; wherein the target region comprises a ground observation region and a limb detection region; S30, judging the visibility of each satellite to each grid point based on the spatial positions of each satellite and the positions of each grid point, to obtain the coverage multiplicity of each grid point; S40, acquiring the coverage capability of the target region of the current constellation configuration under the current constellation parameter based on the coverage multiplicity of each grid point; S50, judging whether the traversal of all constellation parameters under the current constellation configuration is completed, if yes, proceeding to S60, otherwise, repeating S10-S50 to traverse the next constellation parameter; S60, judging whether the traversal of all constellation configurations is completed, if yes, taking the constellation configuration and the constellation parameter corresponding to the maximum coverage capability of the target region in all traversal results as the optimal constellation, otherwise, repeating S10-S60 to traverse the next constellation configuration; wherein the grid division on the target region to obtain a plurality of grid points comprises: dividing the target region along the height direction at equal intervals; performing grid division on each height layer to obtain a plurality of grid points; judging the visibility of each satellite to each grid point based on the spatial positions of each satellite and the positions of each grid point comprises: S31, judging whether the distance between the current satellite and the current grid point is less than the detection distance, if yes, proceeding to S32, otherwise, proceeding to S35; S32, judging whether the current grid point belongs to the ground observation region or the limb detection region, if the current grid point belongs to the ground observation region, proceeding to S33, if the current grid point belongs to the limb detection region, proceeding to S34; S33, judging whether the field of view angle of the current grid point is less than the maximum field of view angle of the ground observation sensor, if yes, the current grid point can be seen by the current satellite, otherwise, proceeding to S35; S34, judging whether the field of view angle of the current grid point is greater than the field of view angle corresponding to the lower edge of the field of view of the limb detection sensor, if yes, the current grid point can be seen by the current satellite, otherwise, proceeding to S35; S35, the current grid point cannot be seen by the current satellite; S36, repeating S31-S35 until the traversal of all satellites and all grid points is completed; the coverage capability of the target region of the current constellation configuration under the current constellation parameter is acquired by the following formula: where cov is the coverage capability of the target area, percent_cov m is the m-fold coverage ratio of the target area, k m is the weight factor of the m-fold coverage ratio, m = 1, 2,..., M, and M is the maximum coverage fold.

2. The method of claim 1, wherein, acquiring the spatial positions of each satellite based on the current constellation configuration and a certain constellation parameter in the current constellation configuration comprises: assuming that the current constellation is Walker constellation, the Walker constellation configuration is N / P / F, wherein N is the total number of satellites, P is the number of orbital planes, and F is a phase factor, F=0, 1,..., P-1; acquiring the right ascension of the ascending node of each orbital plane in the constellation and the argument of perigee of each satellite in each orbital plane in the constellation; acquiring the longitude and latitude of each satellite based on the right ascension of the ascending node of each orbital plane in the constellation, the argument of perigee of each satellite in each orbital plane in the constellation, and the inclination of the satellite orbit; The three-dimensional coordinates of each satellite in the earth-fixed system are obtained based on the latitude and longitude of each satellite and the orbital height of each satellite, so as to obtain the spatial position of each satellite.

3. The method of claim 2, wherein, The longitude of the ascending node of each orbit plane in the constellation is obtained by: The argument of perigee of each satellite in each orbit plane in the constellation is obtained by: The latitude and longitude of each satellite are obtained by: latitude = sin -1 (sin(u) · sin(i)); longitude = Ω + Δlongitude; The three-dimensional coordinates of each satellite in the earth-fixed system are obtained by: x = H cos(latitude) cos(longitude); y = H cos(latitude) sin(longitude); z = H sin(latitude); In the formula, Ω is the longitude of the ascending node of the lth orbit plane, Ω0 is the longitude of the ascending node of the first orbit plane, u is the argument of perigee of the jth satellite in the lth orbit plane, u0 is the argument of perigee of the first satellite in the first orbit plane, latitude is the latitude of the satellite, i is the orbital inclination, mod(u, 360) is the remainder obtained by dividing u by 360, Δlongitude is the longitude difference between the longitude of the satellite and the longitude of the ascending node, longitude is the longitude of the satellite, H is the orbital height of the satellite, x is the x-axis coordinate of the satellite in the earth-fixed system, y is the y-axis coordinate of the satellite in the earth-fixed system, and z is the z-axis coordinate of the satellite in the earth-fixed system.

4. The method of claim 1, wherein, The grid division of each height layer to obtain a plurality of grid points comprises: using an equal latitude and longitude interval division method to divide each height layer into a plurality of grid points.

5. The method of claim 1, wherein, The grid division of each height layer to obtain a plurality of grid points comprises: using a grid area equal division method to divide each height layer into a plurality of grid points.

6. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method of any one of claims 1 to 5 when executing the computer program. The processor implements the method of any one of claims 1 to 5 when executing the computer program.

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