Multi-stage primary satellite selection method in large-scale constellation communication and cooperative coupling scenarios

Abstract

The application provides a multi-level master star selection method and system in a large-scale constellation communication and cooperative coupling scene, and the method comprises the following steps: in the process of cooperative observation task, for the known N-point area master star position, the distance between the area master star position and the target position is solved, and the minimum value of the distance is determined to determine the task master star; based on the determined task master star, any satellite with the minimum communication hop number between the task master star is selected as the area master star in the corresponding task area; based on the selected area master star and the observation resource allocation set related to the task area in the cooperative observation task planning scheme, any satellite with the minimum communication hop number with the area master star in the allocation set is selected as the cooperative observation data fusion master star, and the multi-level master star selection is completed. The application can effectively improve the master star selection efficiency in the normal mode and the task mode of the large-scale constellation for cooperative observation task, and reduce the total communication hop number of the task related satellites.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aerospace, multi-satellite cooperation and inter-satellite communication strategy, in particular to a multi-level master satellite selection method in a large-scale constellation communication and cooperation coupling scenario, and relates to a corresponding multi-level master satellite selection system, a computer terminal and a computer readable storage medium. BACKGROUND

[0002] In a large-scale constellation facing a cooperative observation task, in order to balance the complexity of communication tasks and cooperation planning, a multi-layer grouping logical architecture is adopted to logically layer the satellites in the observation system. During the cooperative observation task, different types of information will be transmitted within or between the logical layers. In a dynamic task scenario, in order to improve the efficiency of information transmission, a dynamic logical grouping strategy is needed to adapt to the information interaction characteristics in the process of cooperative observation task.

[0003] Meanwhile, in the cooperative observation task of large-scale constellation, the task planning system needs to take the relevant satellite state information, position information, etc. in the constellation as input when making decisions and allocating resources. In order to maintain timely response to the target task, such relevant basic information will be transmitted at a fixed frequency through inter-satellite links. Secondly, due to the observation task characteristics, multiple observation resources usually need to work simultaneously in an effective observation task, and in this process, the measurement data between different observation resources needs to be transmitted through inter-satellite links. In addition, due to the uncertain motion characteristics and wide-area distribution characteristics of the observed target, the observation task usually needs to be handed over between multiple different resources in the observation system. The task handover related information also needs to be transmitted through inter-satellite links. At the same time, the target faced by the large-scale constellation cooperative observation task usually has strong time-sensitive characteristics, and the task is highly sensitive to information delay. Therefore, in view of the above task characteristics, a large-scale constellation facing a cooperative observation task needs to build an efficient communication mode and strategy.

[0004] In the task mode, the communication resources of the satellites related to the task in the large-scale constellation are prioritized, so in the task mode, the transmission efficiency of each type of information needs to be considered. In the multi-level logical layer structure mode, the selection of task master satellites, regional master satellites and cooperative fusion master satellites will affect the complexity of communication and the degree of information interaction redundancy. During the task, due to the target distribution characteristics, the amount of information interaction between regions in the whole network at the same time will show a local burst characteristic. In order to reduce the communication complexity of the satellites related to the task execution, it is necessary to dynamically select the task master satellite, the regional master satellite and the cooperative observation data fusion master satellite according to the target distribution characteristics and the task planning scheme during the task execution.

[0005] At present, no similar technology to the present application has been found to be described or reported, and no similar domestic and foreign data has been collected. SUMMARY

[0006] The present application aims at the above-mentioned deficiencies in the prior art, and provides a multi-level master star selection method in a large-scale constellation communication and cooperative coupling scenario, and simultaneously provides a corresponding multi-level master star selection system, a computer terminal and a computer readable storage medium, aiming at realizing multi-level master star selection in a large-scale constellation cooperative tracking and observation task background of near space hypersonic aircraft.

[0007] According to one aspect of the present application, a multi-level master star selection method in a large-scale constellation communication and cooperative coupling scenario is provided, comprising:

[0008] In the cooperative observation task process, for the known N-point regional master star position, the distance between the regional master star position and the target position and the minimum distance are solved, and the task master star is determined.

[0009] Based on the determined task master star, any satellite with the minimum communication hop number between the task master star is selected as the regional master star in the corresponding task region.

[0010] Based on the selected regional master star and the observation resource pair distribution set involved in the related task region in the cooperative observation task planning scheme, any satellite with the minimum communication hop number with the regional master star in the distribution set is selected as the cooperative observation data fusion master star, and the multi-level master star selection is completed.

[0011] According to a second aspect of the present application, a multi-level master star selection system in a large-scale constellation communication and cooperative coupling scenario is provided, comprising:

[0012] The task master star selection module is used for, in the cooperative observation task process, for the known N-point regional master star position, solving the distance between the regional master star position and the target position and the minimum distance, and determining the task master star.

[0013] The regional master star selection module is based on the determined task master star, and selects any satellite with the minimum communication hop number between the task master star as the regional master star in the corresponding task region.

[0014] The cooperative observation data fusion master star selection module is based on the selected regional master star and the observation resource pair distribution set involved in the related task region in the cooperative observation task planning scheme, and selects any satellite with the minimum communication hop number with the regional master star in the distribution set as the cooperative observation data fusion master star.

[0015] According to a third aspect of the present application, a computer terminal is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, is configured to perform the method according to the above-mentioned aspects of the present application, or to run the system according to the above-mentioned aspects of the present application.

[0016] According to a fourth aspect of the present application, a computer-readable storage medium is provided, having stored thereon a computer program, wherein the computer program, when executed by a processor, is configured to perform the method according to the above-mentioned aspects of the present application, or to run the system according to the above-mentioned aspects of the present application.

[0017] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0018] The multi-level master star selection method in the large-scale constellation communication and cooperative coupling scenario provided by the present application can realize that the time complexity of the task master star y direction selection strategy is O (nlogn), the time complexity of the x direction selection strategy is O (n), the multi-level task master star with the optimal communication distance is obtained in a high timeliness task environment, and the efficiency of solving the master star selection problem is improved.

[0019] The multi-level master star selection method in the large-scale constellation communication and cooperative coupling scenario provided by the present application can effectively reduce the uncertainty caused by the existing optimization technology and improve the stability of the master star selection.

[0020] The multi-level master star selection method in the large-scale constellation communication and cooperative coupling scenario provided by the present application can effectively improve the master star selection efficiency in the normal mode and the task mode of the large-scale constellation for cooperative observation tasks, and reduce the total hop number of task-related satellite communication. BRIEF DESCRIPTION OF DRAWINGS

[0021] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0022] Figure 1 The workflow diagram of the multi-level master star selection method in the large-scale constellation communication and cooperative coupling scenario in an embodiment of the present application.

[0023] Figure 2 The task area diagram in the execution of the observation task in a preferred embodiment of the present application.

[0024] Figure 3 The six cooperative observation mode diagram in a preferred embodiment of the present application.

[0025] Figure 4A comparison chart of effects of the random strategy, strategy 1, strategy 1+strategy 2 and strategy 1+strategy 2+strategy 3 in a specific application example of the present application.

[0026] Figure 5 A comparison chart of effects of the random strategy, strategy 1, strategy 1+strategy 2 and strategy 1+strategy 2+strategy 3 in a specific application example of the present application.

[0027] Figure 6 A composition module schematic diagram of a multi-level master star selection system in a large-scale constellation communication and cooperative coupling scenario in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail as follows: The embodiments are implemented on the premise of the technical scheme of the present application, and detailed implementation manners and specific operation processes are given. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

[0029] An embodiment of the present application provides a multi-level master star selection method in a large-scale constellation communication and cooperative coupling scenario, which is aimed at multi-level master star selection of a large-scale constellation centralized cooperative observation task, and completes multi-level master star selection in a multi-layer logical hierarchical structure according to the coupling relationship between the large-scale constellation cooperative observation task and the communication task, and the communication task demand in a normal mode and a task mode, through a task master star selection strategy, a regional master star selection strategy and a cooperative observation data fusion master star selection strategy.

[0030] Specifically, as shown in the figure, Figure 1 The multi-level master star selection method in the large-scale constellation communication and cooperative coupling scenario provided by the embodiment can include the following operations:

[0031] S1, task master star selection strategy: in the cooperative observation task process, the distance between the regional master star position and the target position and the minimum distance are solved for the known N-point regional master star position, and the task master star is determined;

[0032] S2, regional master star selection strategy: based on the determined task master star, any satellite with the minimum communication hop number between the task master star is selected as the regional master star in the corresponding task region;

[0033] S3, cooperative observation data fusion master star selection strategy: based on the selected regional master star and the observation resource allocation set related to the task region in the cooperative observation task planning scheme, any satellite with the minimum communication hop number with the regional master star in the allocation set is selected as the cooperative observation data fusion master star, and the multi-level master star selection is completed.

[0034] In some preferred embodiments, the above-mentioned S1, during the collaborative observation mission, for the known positions of the primary stars in the N-point region, calculating the distance between the positions of the primary stars in the region and the target position, as well as the minimum distance, may further include the following operations:

[0035] During collaborative observation missions, the primary satellite of the mission interacts frequently with the regional primary satellites in the mission region where the observation mission is conducted. For example... Figure 2 In the local area shown, yellow dots represent mission-related regional primary satellites, and red dots in the mesh represent the original mission primary satellites. To reduce the communication hops between the mission primary satellite and mission-related regional primary satellites, the mission primary satellite needs to be adjusted based on the mission planning results. Specifically:

[0036] The problem involves selecting the primary star for a given mission. Essentially, this problem asks for the minimum distance between N points and the target location, given the positions of N points. In this context, it can be described as follows: Given a set of N regions containing the primary star positions {(x1,y1),(x2,y2),...,(x...y1)}... N ,y N To find the position of the primary satellite (x*, y*) such that the sum of communication hops to all regional primary satellites is minimized, we have:

[0037]

[0038] In some preferred embodiments, the above-mentioned S1, determining the mission primary star, may further include the following operations:

[0039] The problem of finding the minimum distance to N known points is addressed in continuous space. When N=3 and the distance metric is Euclidean distance, the minimum point is the Fermat point. When N>3, convex optimization methods are typically used for approximate solutions. However, in the mission master star selection problem, the number of mission-related regions is uncertain, and loops exist in the network's physical topology. Therefore, the mission master star selection problem is not equivalent to the Fermat–Torricelli problem. Due to the configuration characteristics of large-scale constellations, and considering the minimum hop count algorithm as the basic routing algorithm, the optimization focus for communication tasks in collaborative observation missions is on the total number of hops during information transmission. Therefore, the mission master star selection problem can be transformed as follows:

[0040] Since the optimization focuses on the total hop count, the communication resources of the entire network are discretized during the communication process. The coordinates of the satellites, defined eastward from the orbital plane closest to the Prime Meridian and the southernmost satellites within the ascending node segment of all orbital planes, are (1,1), (2,1), ..., (P,1), respectively, and northward are defined as...

[0041] In a communication mission, the positions of two satellites are represented by communication coordinates poc1 = (x1, y1) and poc2 = (x2, y2). Due to the existence of loops in the physical topology, the communication hop count between the two satellites can be expressed as formula (0-3):

[0042] dis m (poc1,poc2)=min(|x1-x2|,||x1-x2|-N / P)+|y1-y2| (0-3)

[0043] when At that time, the total number of communication hops between two satellites can be measured using the Manhattan distance; when The total number of hops in communication between two satellites needs to take into account the loop problem. The specific form of formula (0-3) is as follows:

[0044]

[0045] According to the problem transformation distance formula (0-4), it can be seen from the distance formula that the total number of hops of the communication task is independent in the x and y directions. Therefore, the strategy for selecting the mission master star can be divided into two parts: the first part is to determine the y-direction coordinate of the mission master star, and the second part is to determine the x-direction coordinate of the mission master star.

[0046] Mission primary star y-direction selection strategy:

[0047] For N mission-related regional primary stars, their y-coordinates are {y1, y2, ..., y3}. N Since the minimum hop count is used as the routing algorithm, satellites in the same orbital stage can be considered to have no loops in the y-direction in the physical topology. Therefore, the y-direction coordinates of the mission's primary satellite are... * Represented as:

[0048]

[0049] The y-coordinate of the mission master star represents the median of the master star coordinates in the principal direction across all mission-related regions, given the selected strategy for the mission master star. Considering the integer constraint of coordinate numbers, when N is even, the median value is rounded down to the nearest integer as the y-coordinate of the mission master star; when N is odd, the median value is used as the y-coordinate of the mission master star. Therefore:

[0050]

[0051] The median value is the optimal solution for the left half. Similarly, it can be proved that the median value is the optimal solution for the right half.

[0052] Mission primary star x-direction selection strategy:

[0053] For N mission-related regional primary stars, their x-direction coordinate set X = {xi |i∈{1,2,...,P}}, since there is a cycle in the x direction, when x N When -x1≤P / 2, the x-direction coordinates of the mission's primary star can be directly determined. * Represented as:

[0054]

[0055] The proof process is consistent with the y-direction.

[0056] When x N When -x1 > P / 2, it indicates that communication between the primary satellite and the mission-related region in the x-direction will occur via a loop. Since on-board algorithms require high efficiency, a trade-off between space and time complexity is considered, using a distance matrix to reduce computational time complexity. Specific steps:

[0057] During the collaborative observation mission, the entire network maintained the x-direction communication hop count matrix M. C for:

[0058]

[0059] Where, the element d in the i-th row and j-th column ij x represents i To x j Communication hop count, v i x represents i The row vector of communication hop counts to other satellites.

[0060] According to matrix M C The coordinates of the mission's primary star in the x-direction are determined as follows:

[0061]

[0062]

[0063] The time complexity of selecting a strategy in the y-direction of the primary star is O(n log n), and the time complexity of selecting a strategy in the x-direction is O(n), with a space complexity of O(n^2). 2 ).

[0064] In some preferred embodiments, S2 above, which selects any satellite with the smallest communication hop count with the mission master satellite within the corresponding mission area as the regional master satellite based on the determined mission master satellite, may further include the following operations:

[0065] S21, given that the mission primary star is clearly defined, the regional primary star can be any satellite within the corresponding mission region. The problem of selecting the regional primary star can be described as follows: Given the position of the mission primary star (x... m ,y m ), determine the location of the regional primary star (x) within the region.z * ,y z * ), such that the communication hop number from the regional master star position (x z * ,y z * ) to the task master star position (x m ,y m ) is minimum. The multi-regional master star selection problem can be decomposed into multiple single regional master star selection problems since the selection of different regional master stars is independent of each other, where x min ,x max and y min ,y max are regional constraints.

[0066]

[0067] where x i_min ,x i_max are x-direction constraints of the regional master star selection problem, and y i_min ,y i_max are y-direction constraints of the regional master star selection problem.

[0068] S22, solving the regional master star selection problem to obtain a satellite with minimum communication hop number between the satellite and the task master star in the corresponding task region as the regional master star.

[0069] In some preferred embodiments, the above S22, solving the regional master star selection problem to obtain a satellite with minimum communication hop number between the satellite and the task master star in the corresponding task region as the regional master star, can further include the following operations:

[0070] constructing a task-related region set ZS = {zs1, zs2,..., zs N} for N task-related regions;

[0071] calculating x-direction constraints x i_min ,x i_max and y-direction constraints y i_min ,y i_max for zs i ∈ ZS, respectively;

[0072] for the task-related region zs i , the x-direction coordinate of the related regional master star is:

[0073]

[0074] where x * is the x-direction coordinate of the task master star, and dis c () is the distance between two points in a loop.

[0075] For the task-related area zs i , the relevant area main star y direction coordinate is:

[0076]

[0077] Wherein, y * is the y direction coordinate of the task main star;

[0078] By obtaining the relevant area main star x direction coordinate and y direction coordinate, the corresponding satellite is selected as the area main star.

[0079] In some preferred embodiments, S3, based on the selected area main star and the observation resource pair allocation set involved in the cooperative observation task planning scheme of the relevant task area, the satellite with the smallest communication hop number with the area main star in the allocation set is selected as the cooperative observation data fusion main star, which can further include the following operations:

[0080] After the task main star and the area main star are selected, the cooperative observation data fusion main star selection strategy needs to be selected according to the task planning result. Under the current observation system multi-level hierarchical logical structure, the cooperative observation mode can be mainly divided into two categories: intra-regional cooperation and cross-regional cooperation, which includes six modes: 1, intra-regional cooperation in the same orbit plane; 2, intra-regional cooperation in the same phase; 3, intra-regional cooperation in different phases; 4, cross-regional cooperation in the same phase; 5, cross-regional cooperation in different phases; 6, cross-regional cooperation in the same orbit plane. As Figure 3 shown.

[0081] S31, the cooperative observation data fusion main star mainly communicates with the area main star in the task process. In the cooperative observation process, the cooperative satellite will send observation data to the fusion main star at a fixed frequency, and the fusion main star will also send processed target positioning information to the area main star at a fixed frequency. After the area main star is determined, the selection strategy of the cooperative observation data fusion main star will affect the hop number of the regional communication. The construction of the cooperative observation data fusion main star selection problem can be described as follows: given the position (x, y) of the area main star in a certain area and the observation resource pair allocation set OPS involved in the relevant area in the task planning scheme, determine the fusion main star in OPS, so that the communication hop number from the fusion main star to the area main star is the smallest. It can be described as formula:

[0082]

[0083] Wherein, is the position of the i th integration main star, is the x direction coordinate of the first satellite and the second satellite in the observation resource pair, is the y direction coordinate of the first satellite and the second satellite in the observation resource pair;

[0084] S32, solving the cooperative observation data fusion master star selection problem, obtaining the satellite with the minimum communication hop number and the regional master star in the distribution set as the cooperative observation data fusion master star.

[0085] In some preferred embodiments, the above S32, solving the cooperative observation data fusion master star selection problem, obtaining the satellite with the minimum communication hop number and the regional master star in the distribution set as the cooperative observation data fusion master star, can further include the following operations:

[0086] For N cooperative observation combinations, a cooperative observation combination set O is constructed pair = {pair1, pair2,... pair N}, wherein

[0087] For each pair i , determine the cooperative type:

[0088] If pair i is the same region cooperative, calculate the region to which the observation combination belongs, and obtain the regional master star coordinates

[0089] If pair i is the same region and same orbital plane cooperative mode, the cooperative observation data fusion master star coordinates are:

[0090]

[0091] If pair i is the same region and same phase cooperative mode, the cooperative observation data fusion master star coordinates are:

[0092]

[0093] If pair i is the same region and different phase cooperative mode, the cooperative observation data fusion master star coordinates are:

[0094]

[0095]

[0096] If pair i is the cross-region cooperative, the regions to which the different resources in the observation combination belong are calculated respectively, and the regional master star coordinates and

[0097] If pair i is the cross-region and same phase cooperative mode, the cooperative observation data fusion master star coordinates are:

[0098]

[0099] If pair i is a cross-region out-of-phase coordination mode, the main star coordinate of the cooperative observation data fusion is:

[0100]

[0101] If pair i is a cross-region same-orbit plane coordination mode, the main star coordinate of the cooperative observation data fusion is:

[0102]

[0103] By obtaining the main star coordinate of the cooperative observation data fusion, the corresponding satellite is selected as the main star of the cooperative observation data fusion.

[0104] The technical solutions provided by the above embodiments of the application will be further described in detail in combination with a specific application example.

[0105] In the specific application example, the following typical scenario is used: the height of each satellite in the large-scale observation system is 1000km, a circular orbit with an eccentricity of 0 is set, the orbit inclination is 60°, the constellation configuration is Walker-σ, the parameters are 256 / 16 / 0, each observation satellite has the ability to simultaneously establish four bidirectional links, and can maintain the link establishment relationship with the two satellites before and after the same orbit plane and the two satellites with the same phase in the adjacent orbit plane. Moreover, according to the analysis of the orbit period characteristics of the observation system, the whole network physical topology can be maintained stable within the orbit period.

[0106] The main star selection strategy is similar to the distribution of the Monte Carlo simulation results of the genetic algorithm, and both have good stability. As can be seen from the interquartile range of the box plot, the total hop count distribution of the whole network single information update obtained by using the strategy 1 (task main star selection strategy) and the genetic algorithm is uniform and has small variation; the upper and lower quartile ranges of the main star selection method using the random strategy are 6.8 times of those of strategy 1 and the genetic algorithm. As shown in Figure 4 .

[0107] Taking the random strategy as the basic comparison strategy, a total of 100 Monte Carlo experiments are performed, and the simulation results of the total hop count of the cooperative task information transmission communication under different strategy combinations in the task mode are as shown in Figure 5 .

[0108] In the task mode, the selection of the task master star, the area master star and the cooperative observation data fusion master star will affect the total communication hop count. Compared with the full random strategy, the use of strategy 1 (the task master star selection strategy) alone, the combination of strategy 1 and strategy 2 (the area master star selection strategy) and the use of all master star selection strategies in common will reduce the total communication hop count in turn. From the distribution analysis of the random strategy, strategy 1, and the combination of strategy 1 and strategy 2, the use of the task master star selection strategy and the area master star selection strategy can greatly reduce the dispersion degree of the total communication hop count, and the main random factor comes from the randomness of the cooperative master star. When the combination strategy of strategy 1 (the task master star selection strategy), strategy 2 (the area master star selection strategy) and strategy 3 (the cooperative observation data fusion master star strategy) is used, there is no random factor in the task-related communication resources, and the total hop count is a fixed value.

[0109] Based on the same inventive concept, an embodiment of the present application also provides a multi-level master star selection system in a large-scale constellation communication and cooperative coupling scenario.

[0110] Specifically, as shown in Figure 6 The multi-level master star selection system in a large-scale constellation communication and cooperative coupling scenario provided by this embodiment can include the following modules:

[0111] The task master star selection module is configured to determine the task master star by solving the distance between the area master star position and the target position and the minimum distance value in the cooperative observation task process.

[0112] The area master star selection module is configured to select any satellite with the minimum communication hop count between the task master star and the area master star in the corresponding task area as the area master star based on the determined task master star.

[0113] The cooperative observation data fusion master star selection module is configured to select any satellite with the minimum communication hop count between the area master star and the area master star in the corresponding task area as the area master star based on the determined task master star.

[0114] It should be noted that the steps in the method provided by the present application can be realized by corresponding modules, devices, units, etc. in the system, and those skilled in the art can refer to the technical solution of the method to realize the composition of the system, i.e., the embodiments in the method can be understood as preferred examples of constructing the system, which will not be described here.

[0115] The embodiment of the present application also provides a computer terminal, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to execute the method of any one of the above embodiments of the present application or run the system of any one of the above embodiments of the present application.

[0116] Optionally, the memory is used for storing programs; the memory can comprise volatile memory (for example, random-access memory (RAM), such as static random-access memory (SRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM) and the like) and non-volatile memory (for example, flash memory). The memory is used for storing computer programs (for example, application programs and functional modules for implementing the above method), computer instructions and the like; the above computer programs, computer instructions and the like can be stored in one or more memories in a partitioned manner. Furthermore, the above computer programs, computer instructions and data can be invoked by the processor.

[0117] The processor is used for executing the computer program stored in the memory to implement each step in the method or each module of the system according to the above embodiment. Details can be referred to the related description in the above method and system embodiment.

[0118] The processor and the memory can be an independent structure or an integrated structure. When the processor and the memory are an independent structure, the memory and the processor can be coupled and connected through a bus.

[0119] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by the processor to execute the method of any one of the above embodiments of the present application or run the system of any one of the above embodiments of the present application.

[0120] Among them, the computer readable medium includes computer storage medium and communication medium, wherein the communication medium includes any medium facilitating the transfer of computer programs from one place to another. The storage medium can be any available medium accessible by a general or special purpose computer. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also exist as discrete components in a communication device.

[0121] The multi-level master star selection method, system, terminal and medium provided by the above embodiments of the application can effectively improve the master star selection efficiency in the normal mode and task mode of the large-scale constellation for the multi-level master star selection task of the large-scale constellation centralized cooperative observation task, and reduce the total hop number of task-related satellite communication.

[0122] The details not described in the above embodiments of the application are known in the art.

[0123] The specific embodiments of the application are described above. It should be understood that the application is not limited to the above specific embodiments, and those skilled in the art can make various modifications or changes within the scope of the claims, which does not affect the essential content of the application.

Claims

1. A method for selecting a multi-level primary star in a large-scale constellation communication and cooperative coupling scenario, characterized in that, include: During the collaborative observation mission, given the known positions of the primary stars in a region of N points, the distance between the primary star positions and the target positions, as well as the minimum distance, are calculated to determine the mission's primary star. Based on the determined mission master satellite, any satellite with the smallest communication hop count with the mission master satellite within the corresponding mission area is selected as the regional master satellite; Based on the selected regional master star and the set of observation resource pairs allocated to the relevant mission areas in the collaborative observation mission planning scheme, any satellite in the allocation set with the smallest communication hop count with the regional master star is selected as the collaborative observation data fusion master star, thus completing the multi-level master star selection. The process of determining the distance between the main star positions in a known N-point region and the target position, as well as the minimum distance, includes: The problem of selecting the primary star for a mission is constructed. Given N points, the problem involves finding the distance between these N points and the target location, and finding the minimum distance. The problem is described as follows: Given a set of N primary star locations {(x1,y1),(x2,y2),...,(x...}... N ,y N )}, solve for the position of the primary star (x) of the mission. * ,y * To minimize the sum of communication hops to all regional primary stars, we have:

2. The method for selecting multi-level primary stars in large-scale constellation communication and cooperative coupling scenarios according to claim 1, characterized in that, The determination of the primary satellite for the mission includes: Taking the total number of hops in the information transmission process of a communication mission for collaborative observation as the optimization objective, the problem of selecting the primary satellite for the mission can be transformed as follows: During the communication process, the entire network's communication resources are discretized. The coordinates of the satellites, including the orbital plane closest to the Prime Meridian and the southernmost satellite within the ascending node segment of all orbital planes, are defined as (1,1), (2,1), ..., (P,1) to the east and (P,1) to the north. In the communication mission, the positions of two satellites are represented by communication coordinates poc1 = (x1, y1) and poc2 = (x2, y2). Due to the existence of loops in the physical topology, the communication hop count between the two satellites is expressed as: dis m (poc1,poc2)=min(|x1-x2|,||x1-x2|-N / P|)+|y1-y2| (0-1) when At that time, the total number of communication hops between the two satellites is measured using Manhattan distance; when The total number of hops in communication between two satellites needs to consider the issue of loops, and the formula (0-1) can be transformed into: According to the problem transformation distance formula (0-2), the total hop count of the communication task is independent in the x and y directions. Therefore, the strategy for selecting the primary satellite is divided into two parts: the first part is to determine the y-direction coordinates of the primary satellite, and the second part is to determine the x-direction coordinates of the primary satellite; where: For N mission-related regional primary stars, their y-coordinates are {y1, y2, ..., y3}. N Since the minimum hop count is used as the routing algorithm, satellites in the same orbital stage can be considered to have no loops in the y-direction in the physical topology. Therefore, the y-direction coordinates of the mission's primary satellite are... * Represented as: The y-coordinate of the mission master star represents the median of the principal direction coordinates of all mission-related regions for which the selected strategy for the mission master star is optimal in the y-direction. Considering the integer constraint of the coordinate numbers, when N is even, the median value is rounded down to the nearest integer as the y-coordinate of the mission master star; when N is odd, the median value is used as the y-coordinate of the mission master star. Therefore: For N mission-related regional primary stars, their x-direction coordinate set X = {x i |i∈{1,2,...,P}}, since there is a cycle in the x direction, when x N When -x1≤P / 2, the x-direction coordinates of the mission's primary star can be directly determined. * Represented as: When x N When -x1>P / 2, it indicates that communication between the primary satellite and the mission-related region in the x-direction will occur via a loop. Since on-board algorithms require high efficiency, a trade-off between space and time complexity is considered. A distance matrix is ​​used to reduce computational time complexity, resulting in: During the collaborative observation mission, the entire network maintained the x-direction communication hop count matrix M. C for: Where, the element d in the i-th row and j-th column ij x represents i To x j Communication hop count, v i x represents i The row vector of communication hop counts to other satellites; According to matrix M C The coordinates of the mission's primary star in the x-direction are determined as follows: The time complexity of selecting a strategy in the y-direction of the primary star is O(n log n), and the time complexity of selecting a strategy in the x-direction is O(n), with a space complexity of O(n log n). 2 ).

3. The method for selecting multi-level primary stars in a large-scale constellation communication and cooperative coupling scenario according to claim 1, characterized in that, The step of selecting any satellite with the smallest communication hop count to the designated mission master satellite within the corresponding mission region as the regional master satellite, based on the determined mission master satellite, includes: Construct a regional primary star selection problem, which is described as follows: Given the position of the mission's primary star (x... m ,y m ), determine the location of the regional primary star (x) within the region. z * ,y z * ), making the position of the regional primary star (x z * ,y z * ) to the mission's main star location (x m ,y m The communication hop count is minimized; the multi-region primary star selection problem is decomposed into multiple single-region primary star selection problems, where x min ,x max and y min ,y max For the region constraint, then: In the formula, x i_min, x i_max Select the x-direction constraint for the region's primary star, and the y-direction constraint for the problem. i_min, y i_max Select y-direction constraints for the regional primary star; The problem of selecting the regional primary satellite is solved to obtain the satellite with the smallest communication hop count between the satellite and the mission primary satellite within the corresponding mission area, which is then selected as the regional primary satellite.

4. The method for selecting multi-level primary stars in large-scale constellation communication and cooperative coupling scenarios according to claim 3, characterized in that, Solving the problem of selecting the regional primary satellite to obtain the satellite with the minimum communication hop number between itself and the mission primary satellite within the corresponding mission region as the regional primary satellite includes: Construct a set of task-related regions ZS = {zs1, zs2, ..., zs} for N task-related regions. N }; For zs i ∈ZS, calculate the x-direction constraint x for the regional primary star selection problem respectively. i_min, x i_max and y-direction constraint y i_min, y i_max ; For the task-related area zs i The x-coordinates of the primary star in the relevant region are: Where, x * Let dis be the x-coordinate of the mission's primary star. c () represents the distance between two points in the loop; For the task-related area zs i The y-axis coordinates of the primary star in the relevant region are: Among them, y * The coordinates of the mission's primary star in the y-direction; By obtaining the x-coordinates and y-coordinates of the relevant regional primary star, the corresponding satellite is selected as the regional primary star.

5. The method for selecting multi-level primary stars in large-scale constellation communication and cooperative coupling scenarios according to claim 1, characterized in that, The allocation set of observation resources related to the relevant mission area in the selected regional master satellite and the collaborative observation mission planning scheme includes selecting any satellite in the allocation set with the smallest communication hop count with the regional master satellite as the collaborative observation data fusion master satellite, including: The problem of selecting a primary star for collaborative observation data fusion is constructed. This problem is described as follows: Given the location (x, y) of a regional primary star within a certain region and the allocation set of observation resource pairs (OPS) involved in the relevant region according to the mission planning scheme, determine the fusion primary star in the OPS such that the sum of communication hops from the fusion primary star to the regional primary star is minimized. Then: in, Let i be the position of the fused primary star. To determine the x-coordinates of the first and second satellites in the observation resource pair, The y-coordinates of the first and second satellites in the observation resource pair; The problem of selecting the primary satellite for collaborative observation data fusion is solved to obtain the satellite with the smallest sum of communication hops with the regional primary satellite in the allocation set as the primary satellite for collaborative observation data fusion.

6. The method for selecting a multi-level primary star in a large-scale constellation communication and cooperative coupling scenario according to claim 5, characterized in that, Solving the problem of selecting the primary satellite for collaborative observation data fusion, and obtaining the satellite with the smallest sum of communication hops with the regional primary satellite in the allocation set as the primary satellite for collaborative observation data fusion, includes: For N cooperative observation combinations, construct a cooperative observation combination set O. pair ={pair1,pair2,…pair N },in For each pair i Determine the type of collaboration: If pair i To coordinate observations within the same region, the coordinates of the dominant star in that region are calculated within the region to obtain the regional coordinates. If pair i For a collaborative observation mode within the same region and orbital plane, the coordinates of the primary star fused from the collaborative observation data are: If pair i For a co-regional, co-phase collaborative observation mode, the coordinates of the primary star fused from the collaborative observation data are: If pair i For a co-location, different-phase co-operation mode, the coordinates of the primary star fused from the co-observation data are: If pair i For cross-regional collaboration, the coordinates of the primary star in each region are calculated separately for the regions belonging to different resources within the observation combination. and If pair i For a cross-regional in-phase collaborative mode, the coordinates of the primary star fused from the collaborative observation data are: If pair i For a cross-regional, out-of-phase collaborative observation model, the coordinates of the primary star fused from the collaborative observation data are: If pair i For a cross-regional, same-orbital-plane collaborative mode, the coordinates of the primary star fused from the collaborative observation data are: By fusing the coordinates of the primary satellite using the obtained collaborative observation data, the corresponding satellite is selected as the primary satellite for collaborative observation data fusion.

7. A multi-stage primary star selection system for large-scale constellation communication and cooperative coupling scenarios, characterized in that, include: Mission primary star selection module: This module is used to determine the mission primary star by solving for the distance between the primary star position in the region and the target position, as well as the minimum distance, given the known primary star positions in N-point regions during collaborative observation missions. Regional primary satellite selection module: Based on the determined mission primary satellite, this module selects any satellite within the corresponding mission region that has the smallest communication hop count with the mission primary satellite as the regional primary satellite; The collaborative observation data fusion master satellite selection module selects any satellite in the allocation set that has the smallest communication hop count with the regional master satellite as the collaborative observation data fusion master satellite, based on the selected regional master satellite and the observation resource pair allocation set involved in the relevant mission area in the collaborative observation mission planning scheme. The process of determining the distance between the main star positions in a known N-point region and the target position, as well as the minimum distance, includes: The problem of selecting the primary star for a mission is constructed. Given N points, the problem involves finding the distance between these N points and the target location, and finding the minimum distance. The problem is described as follows: Given a set of N primary star locations {(x1,y1),(x2,y2),…,(x...}... N ,y N )}, solve for the position of the primary star (x) of the mission. * ,y * To minimize the sum of communication hops to all regional primary stars, we have:

8. A computer terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it can be used to perform the method of any one of claims 1-6, or to run the system of claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program can be used to perform the method of any one of claims 1-6, or to run the system of claim 7.

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