Multi-satellite cooperative continuous observation and real-time data unloading method for dynamic target

Abstract

The invention discloses a multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target, relates to the technical field of satellite communication, and discloses the multi-satellite cooperative continuous observation and real-time data unloading method for the dynamic target, which comprises the following steps: constructing a spatial information network architecture based on the dynamic target, a remote sensing satellite and a communication satellite; establishing an observation constraint, a link constraint and a dependency relationship constraint between observation and links based on a spatial information network architecture; constructing a target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint and the dependency relationship constraint of the observation and the link, and solving the target integer programming problem to obtain a remote sensing satellite switching and data unloading scheme; and completing continuous observation and data unloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data unloading scheme. According to the scheme, the uninterrupted communication coverage of the remote sensing satellite can be ensured to support the real-time unloading of the data while the dynamic target is continuously observed.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets. Background Art

[0002] At present, the existing technology mainly approaches the problem of multi-satellite coverage of dynamic targets from two aspects. On the one hand, it studies the problem of multi-satellite coordinated earth observation mission planning. This type of method emphasizes that multiple remote sensing satellites complete the coordinated observation of a certain target through attitude adjustment / beam pointing and other means, including continuous observation in the time domain, multiple observations in space, or spliced ​​observations. However, this method often assumes that the remote sensing satellite can only unload data when passing over the ground station, and cannot achieve real-time unloading of remote sensing data, which greatly reduces the timeliness of users' data acquisition. On the other hand, it studies the problem of multi-satellite coordinated earth communication coverage. This type of method emphasizes that multiple communication satellites achieve communication coverage of a certain area through satellite-to-ground link resource allocation, including continuous communication coverage in the time domain, beam coverage in space, etc. However, this method cannot solve the problem of continuous communication coverage of remote sensing satellites located in lower orbits, especially it cannot guarantee continuous communication coverage of remote sensing satellites performing observation tasks.

[0003] In summary, the existing technology fails to take into account the coordinated observation and communication coverage of multiple satellites, and cannot achieve continuous observation and real-time data unloading for dynamic targets, which greatly reduces the timeliness of data and is not conducive to real-time grasp of the dynamic target situation. How to ensure uninterrupted communication coverage of remote sensing satellites performing observation tasks to support real-time data unloading while continuously observing a dynamic target has become a problem to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets, aiming to solve the technical problem of how to ensure uninterrupted communication coverage for remote sensing satellites performing observation tasks to support real-time data unloading while continuously observing a certain dynamic target.

[0006] To achieve the above objectives, the present application proposes a multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets, the method comprising: Construct a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites; Establishing observation constraints, link constraints, and dependency constraints between observations and links based on the spatial information network architecture; According to the position change information of the dynamic target, the observation constraint, the link constraint and the dependency constraint between the observation and the link, a target integer programming problem is constructed and solved to obtain a remote sensing satellite switching and data unloading solution; According to the relay satellite switching conditions and the remote sensing satellite switching and data unloading scheme, continuous observation and data unloading of the dynamic target are completed.

[0007] In one embodiment, the step of completing continuous observation and data unloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data unloading scheme includes: When the remote sensing satellite observing the dynamic target meets the relay satellite switching condition, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data unloading scheme; The observation data of the remote sensing satellite on the dynamic target after switching is obtained, and the observation data is unloaded to the corresponding communication satellite through a cross-layer intersatellite link.

[0008] In one embodiment, the relay satellite switching condition includes the end of the target visible window and the occurrence of a cross-layer intersatellite link switching; The step of switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme when the remote sensing satellite observing the dynamic target meets the relay satellite switching condition comprises: When the target visible window of the remote sensing satellite observing the dynamic target ends, switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme; When the cross-layer intersatellite link of the remote sensing satellite observing the dynamic target is switched, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data unloading scheme.

[0009] In one embodiment, the step of constructing and solving a target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint, and the dependency constraint between the observation and the link to obtain a remote sensing satellite switching and data unloading solution includes: Establishing observation decision variables and cross-layer link decision variables based on the spatial information network architecture; Constructing a target integer programming problem based on the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the observation-link dependency constraints; The target integer programming problem is solved according to the position change information of the dynamic target to obtain a remote sensing satellite switching and data unloading solution.

[0010] In one embodiment, the step of establishing observation decision variables and cross-layer link decision variables based on the spatial information network architecture includes: Establishing observation decision variables based on the observation of the dynamic target by the remote sensing satellite; A cross-layer link decision variable is established based on the communication status of the remote sensing satellite and the communication satellite.

[0011] In one embodiment, the step of constructing a target integer programming problem based on the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the observation-link dependency constraints includes: Establishing an optimization target for the number of remote sensing satellite switching times according to the observed decision variables to obtain an objective function; Based on the objective function, a target integer programming problem is constructed according to the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the dependency constraints between the observations and the links.

[0012] In one embodiment, the step of establishing observation constraints, link constraints, and dependency constraints between observations and links based on the spatial information network architecture includes: Determining selection conditions of remote sensing satellites that perform observation tasks in the spatial information network architecture to obtain observation constraints; Determine the conditions for establishing inter-layer intersatellite links between remote sensing satellites and communication satellites in the space information network architecture to obtain link constraints; The number of inter-satellite links across layers that the remote sensing satellite performing the observation mission maintains connection is constrained to obtain a dependency constraint between the observation and the link.

[0013] In one embodiment, the step of determining the selection conditions of the remote sensing satellites that perform the observation task in the spatial information network architecture to obtain the observation constraints includes: Determining a visual condition constraint based on visibility of the dynamic target by the remote sensing satellite; determining a continuous observation constraint based on the number of remote sensing satellites observing the dynamic target; The selection conditions of the remote sensing satellite that performs the observation task in the spatial information network architecture are obtained according to the visual condition constraint and the continuous observation constraint, thereby obtaining the observation constraint.

[0014] In one embodiment, the step of determining the conditions for establishing a cross-layer intersatellite link between a remote sensing satellite and a communication satellite in the space information network architecture to obtain a link constraint includes: Determine the constraints of chain building conditions based on the prerequisites for cross-layer chain building; Determining a link number constraint based on a limit on the number of cross-layer intersatellite links between the remote sensing satellite and the communication satellite; Determining a link switching interval constraint based on link switching time interval requirements of the remote sensing satellite and the communication satellite; A link constraint is obtained according to the link buildable condition constraint, the link number constraint and the link switching interval constraint.

[0015] In one embodiment, the step of constructing a space information network architecture based on dynamic targets, remote sensing satellites, and communication satellites includes: A remote sensing satellite layer and a communication satellite layer are established based on multiple remote sensing satellites and multiple communication satellites respectively, wherein the multiple remote sensing satellites in the remote sensing satellite layer communicate with corresponding communication satellites through cross-layer intersatellite links, and the multiple communication satellites in the communication satellite layer communicate through intra-layer intersatellite links; A space information network architecture is constructed based on the dynamic target, the remote sensing satellite layer and the communication satellite layer, wherein the remote sensing satellite layer is used to perform relay observation of the dynamic target.

[0016] In addition, to achieve the above-mentioned purpose, the present application also proposes a multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets, and the multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets comprises: Architecture building module, used to build space information network architecture based on dynamic targets, remote sensing satellites and communication satellites; A constraint establishment module, used to establish observation constraints, link constraints and dependency constraints between observations and links based on the spatial information network architecture; A problem solving module, used for constructing and solving a target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint, and the dependency constraint between the observation and the link, to obtain a remote sensing satellite switching and data unloading solution; The task execution module is used to complete the continuous observation and data unloading of the dynamic target according to the relay satellite switching conditions and the remote sensing satellite switching and data unloading scheme.

[0017] In addition, to achieve the above-mentioned purpose, the present application also proposes a multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets as described above.

[0018] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets as described above are implemented.

[0019] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets as described above.

[0020] One or more technical solutions proposed in this application have at least the following technical effects: Through the space information network architecture constructed based on dynamic targets, remote sensing satellites and communication satellites, it is possible to support relay observation of dynamic targets by remote sensing satellites and real-time data unloading from remote sensing satellites to communication satellites. Observation constraints, link constraints and dependency constraints between observations and links are established based on the space information network architecture, and the target integer programming problem constructed can effectively realize the coordinated planning of relay observation and real-time cross-layer data unloading. The remote sensing satellite switching and data unloading scheme obtained by solving the target integer programming problem can switch the remote sensing satellite in time when the relay satellite switching conditions are met, and can achieve continuous observation of dynamic targets while ensuring uninterrupted communication coverage for the remote sensing satellite performing the observation task to support real-time data unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 A flowchart diagram of a first embodiment of a method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets provided by the present application; Figure 2 A spatial information network architecture diagram provided for the first embodiment of the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets of the present application; Figure 3 A schematic diagram of remote sensing satellite switching and data unloading provided in Example 1 of the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets of the present application; Figure 4 A flow chart of a second embodiment of a multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets provided by the present application; Figure 5 A flowchart diagram of a method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets provided in the third embodiment of the present application; Figure 6 A schematic diagram of remote sensing satellite switching and data offloading planning results provided in Example 3 of the multi-satellite coordinated continuous observation and real-time data offloading method for dynamic targets of the present application; Figure 7 A schematic diagram of a simplified process of a multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets provided in Example 3 of the present application; Figure 8 This is a schematic diagram of the module structure of a multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets according to an embodiment of the present application; Fig. 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets in an embodiment of the present application.

[0024] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0026] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0027] The main solution of the embodiment of the present application is: constructing a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites; establishing observation constraints, link constraints and dependency constraints between observations and links based on the space information network architecture; constructing and solving a target integer programming problem based on the position change information of the dynamic target, the observation constraints, the link constraints and the dependency constraints between observations and links to obtain a remote sensing satellite switching and data unloading scheme; completing continuous observation and data unloading of the dynamic target based on the relay satellite switching conditions and the remote sensing satellite switching and data unloading scheme.

[0028] Since existing technologies fail to take into account multi-satellite coordinated observation and multi-satellite coordinated communication coverage when solving the problem of multi-satellite coverage of dynamic targets, it is impossible to achieve continuous observation and real-time data unloading for dynamic targets, which greatly reduces the timeliness of data and is not conducive to real-time grasp of the dynamic target situation. How to ensure uninterrupted communication coverage of the mission remote sensing satellite while continuously observing a certain dynamic target to support real-time data unloading has become a problem to be solved.

[0029] The present application provides a solution, which is a space information network architecture constructed based on dynamic targets, remote sensing satellites and communication satellites, and can support relay observation of dynamic targets by remote sensing satellites, as well as real-time data unloading from remote sensing satellites to communication satellites. Observation constraints, link constraints and dependency constraints between observations and links are established based on the space information network architecture, and the target integer programming problem constructed can effectively realize the coordinated planning of relay observation and real-time cross-layer data unloading. The remote sensing satellite switching and data unloading scheme obtained by solving the target integer programming problem can switch the remote sensing satellite in time when the relay satellite switching conditions are met, and can realize continuous observation of dynamic targets while ensuring uninterrupted communication coverage of the remote sensing satellite performing the observation task to support real-time data unloading.

[0030] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a multi-satellite coordinated continuous observation and real-time data unloading system for dynamic targets, etc. The following takes the multi-satellite coordinated continuous observation and real-time data unloading system for dynamic targets as an example to illustrate this embodiment and the following embodiments.

[0031] Based on this, the embodiment of the present application provides a multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets of the present application.

[0032] In this embodiment, the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets includes steps S10 to S40: Step S10, constructing a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites; It should be understood that a dynamic target is a target whose position changes over time during observation. In the space information network architecture built based on dynamic targets, remote sensing satellites and communication satellites, multiple remote sensing satellites achieve uninterrupted observation of dynamic targets through relay, that is, when one remote sensing satellite observes the target, another remote sensing satellite continues to observe in relay to continuously obtain observation data. The remote sensing satellite performing the observation task will transmit the acquired observation data to the corresponding communication satellite to achieve real-time unloading of the observation data.

[0033] In a feasible implementation, step S10 may include: establishing a remote sensing satellite layer and a communication satellite layer based on multiple remote sensing satellites and multiple communication satellites, respectively, wherein the multiple remote sensing satellites in the remote sensing satellite layer communicate with corresponding communication satellites through cross-layer intersatellite links, and the multiple communication satellites in the communication satellite layer communicate through intra-layer intersatellite links; constructing a space information network architecture based on dynamic targets, the remote sensing satellite layer and the communication satellite layer, wherein the remote sensing satellite layer is used for relay observation of the dynamic targets.

[0034] It should be understood that the cross-layer intersatellite link is a communication link connecting a remote sensing satellite in the remote sensing satellite layer with a communication satellite in the corresponding communication satellite layer. The intra-layer intersatellite link is a communication link connecting each communication satellite in the communication satellite layer.

[0035] In specific implementation, the space information network architecture may include ground stations in addition to dynamic targets, remote sensing satellites, and communication satellites. Figure 2 , Figure 2 The spatial information network architecture diagram provided for the first embodiment of the method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets in this application. Figure 2 As shown in the figure, multiple remote sensing satellites relay to observe a dynamic target. The remote sensing satellites performing the observation task synchronously establish cross-layer intersatellite links with the corresponding communication satellites, and transmit the data back to the ground station in real time through the intra-layer intersatellite links of the communication satellites. In this scheme, it is assumed that there are stable intra-layer intersatellite links in the communication satellite layer, which can achieve global seamless coverage, and any data unloaded from the remote sensing satellite to the communication satellite can be transmitted back in near real time.

[0036] It should be noted that this scheme does not consider the routing algorithm and return strategy within the communication satellite layer, but only focuses on the relay observation of remote sensing satellites facing dynamic targets and the real-time unloading of data from remote sensing satellites to communication satellites.

[0037] In this embodiment, the relay observation of multiple remote sensing satellites at the remote sensing satellite layer can effectively make up for the short observation time and limited coverage of a single remote sensing satellite, ensure the continuous tracking and monitoring of dynamic targets, and improve the continuity of obtaining observation data. At the same time, the observation data collected by the remote sensing satellite is transmitted to the corresponding communication satellite of the communication satellite layer through the cross-layer intersatellite link, and then the intra-layer intersatellite link within the communication satellite layer is used for relaying and transmission. Finally, the observation data is transmitted to the ground station through the feeder link, which can reduce the delay of data transmission, enhance the stability of the space information network architecture, and improve the coverage capability of the satellite network.

[0038] Step S20, establishing observation constraints, link constraints, and dependency constraints between observations and links based on the spatial information network architecture; It should be noted that when remote sensing satellites conduct relay observations of dynamic targets, it is necessary to constrain the objects and numbers of remote sensing satellites that can be selected to perform observation tasks in the space information network architecture to obtain observation constraints. Constrain the link establishment conditions, link establishment number, and switching link establishment interval of cross-layer intersatellite links to obtain link constraints. Constrain the link constraints and the dependency relationship between observations and links to obtain link constraints and dependency constraints between observations and links.

[0039] It should be understood that establishing observation constraints, link constraints, and observation-link dependency constraints helps to improve the accuracy of dynamic target observation and the reliability of data transmission in the spatial information network architecture.

[0040] Step S30, constructing and solving a target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint, and the dependency constraint between the observation and the link, and obtaining a remote sensing satellite switching and data unloading solution; It should be noted that the target integer programming problem is used to solve the remote sensing satellite switching and data unloading scheme that minimizes the number of remote sensing satellite switching times in the entire time domain of the dynamic target operation. The decision variables defined in the target integer programming problem are used to determine whether each remote sensing satellite in each time slot in the space information network architecture observes the dynamic target, and whether each remote sensing satellite in each time slot in the space information network architecture establishes a cross-layer intersatellite link with the corresponding communication satellite and unloads data in real time.

[0041] It should be understood that the position change information of the dynamic target reflects the change of the position of the dynamic target over time in the entire time domain, and can be pre-calculated before running the target integer programming problem and used as an input parameter for solving the integer programming problem.

[0042] It should be understood that, based on the defined decision variables, an optimization objective function that minimizes the number of remote sensing satellite switching times can be constructed, and the established observation constraints, link constraints, and the dependency constraints between observations and links are used as constraints of the optimization objective function to obtain the target integer programming problem. The position change information of the dynamic target is used as an input parameter to solve the target integer programming problem to obtain a remote sensing satellite switching and data unloading solution.

[0043] Step S40, completing continuous observation and data unloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data unloading scheme.

[0044] It should be understood that after obtaining the remote sensing satellite switching and data unloading plan, when the remote sensing satellite performing the observation mission meets the relay satellite switching conditions, it is possible to determine to switch to one or more remote sensing satellites performing the observation mission according to the remote sensing satellite switching and data unloading plan, and determine the communication satellite to establish a cross-layer intersatellite link with the one or more remote sensing satellites performing the observation mission, so as to complete the continuous observation and data unloading of dynamic targets.

[0045] In a feasible implementation, step S40 may include steps S41-S42: Step S41, when the remote sensing satellite observing the dynamic target meets the relay satellite switching condition, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data unloading scheme; It should be understood that when conducting relay observation of dynamic targets, the cross-layer intersatellite links need to be switched multiple times due to the constant changes in the relative positions of the communication satellite layer and the remote sensing satellite layer. Each switch requires a certain amount of laser terminal alignment time (approximately minutes). In order to avoid the loss of observed targets or untimely status updates during link switching, relay satellite switching conditions are set for the conditions for switching between remote sensing satellites and communication satellites.

[0046] In a feasible implementation, step S41 may include: when the target visible window of the remote sensing satellite observing the dynamic target ends, switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme; when the cross-layer intersatellite link of the remote sensing satellite observing the dynamic target is switched, switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme.

[0047] It should be understood that the conditions for relay satellite switching include the end of the target visible window and the switching of the cross-layer intersatellite link. Among them, the target visible window is the time period in which the remote sensing satellite can observe the dynamic target. That is, there are two conditions for triggering the switching of the remote sensing satellite: the remote sensing satellite can no longer see the dynamic target; the remote sensing satellite can no longer establish a link with the original communication satellite. When any one of the above two conditions occurs, the remote sensing satellite switches, and accordingly, the communication satellite that performs real-time data unloading is adjusted accordingly.

[0048] Step S42, obtaining observation data of the remote sensing satellite on the dynamic target after switching, and unloading the observation data to the corresponding communication satellite through a cross-layer intersatellite link.

[0049] It should be understood that after switching the remote sensing satellite performing the observation mission, the observation data of the dynamic target of the switched remote sensing satellite will be unloaded to the corresponding communication satellite in real time through the cross-layer intersatellite link, so as to transmit the observation data to the communication satellite above the ground station through the intra-layer intersatellite link, so as to realize near real-time return transmission.

[0050] For example, please refer to Figure 3 , Figure 3 A schematic diagram of remote sensing satellite switching and data unloading provided in the first embodiment of the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets in this application. Figure 3 As shown, remote sensing satellite 1 observes a given dynamic target from time t1 to t5, and simultaneously establishes a cross-layer intersatellite link with a communication satellite to unload data in real time; at time t5, since the target visible window of remote sensing satellite 1 ends, it switches to remote sensing satellite 2 for relay observation, and simultaneously establishes a cross-layer intersatellite link with a communication satellite to unload data in real time; at time t9, since remote sensing satellite 2 can no longer maintain a link connection with the original communication satellite, it switches to remote sensing satellite 3 for relay observation, and simultaneously establishes a cross-layer intersatellite link with a communication satellite to unload data in real time, and so on, it can realize relay observation of dynamic targets within the entire time domain range of the dynamic target's operation.

[0051] The spatial information network architecture constructed in this embodiment based on dynamic targets, remote sensing satellites and communication satellites can support relay observation of dynamic targets by remote sensing satellites and real-time data unloading from remote sensing satellites to communication satellites. Observation constraints, link constraints and dependency constraints between observations and links are established based on the spatial information network architecture, and the target integer programming problem constructed can effectively realize the coordinated planning of relay observation and real-time cross-layer data unloading. The remote sensing satellite switching and data unloading scheme obtained by solving the target integer programming problem can switch the remote sensing satellite in time when the relay satellite switching conditions are met, and can achieve continuous observation of dynamic targets while ensuring uninterrupted communication coverage for the remote sensing satellite performing the observation task to support real-time data unloading.

[0052] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , Figure 4 The flowchart of the second embodiment of the method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets provided by the present application is as follows: Step S20 may include steps S21 to S23: Step S21, determining the selection conditions of the remote sensing satellites that perform the observation task in the spatial information network architecture to obtain the observation constraints; It should be understood that when remote sensing satellites conduct relay observations of dynamic targets, it is necessary to constrain the objects and numbers of remote sensing satellites that can be selected to perform observation tasks in the space information network architecture to obtain observation constraints.

[0053] In a feasible implementation, step S21 may include steps S211 to S213: Step S211, determining a visual condition constraint based on the visibility of the dynamic target by the remote sensing satellite; It should be understood that the observation task can only be performed when the dynamic target is visible to the remote sensing satellite, that is, the visual condition constraint restricts that only the remote sensing satellite whose target visible window in the space information network architecture has not ended can be selected to perform the observation task of the dynamic target in each time slot.

[0054] Step S212, determining a continuous observation constraint based on the number of remote sensing satellites observing the dynamic target; It should be understood that in order to ensure uninterrupted observation of dynamic targets, at least one remote sensing satellite is observing the dynamic target in each time slot, that is, the continuous observation constraint limits the number of remote sensing satellites performing observation tasks in each time slot to be greater than or equal to 1.

[0055] Step S213, obtaining a selection condition for a remote sensing satellite that performs an observation task in the spatial information network architecture according to the visual condition constraint and the continuous observation constraint, and obtaining an observation constraint.

[0056] It should be understood that the remote sensing satellites that perform observation tasks in each time slot spatial information network architecture are restricted according to the visual condition constraints and the continuous observation constraints to obtain the observation constraints.

[0057] Step S22, determining the conditions for establishing a cross-layer intersatellite link between the remote sensing satellite and the communication satellite in the space information network architecture, and obtaining a link constraint; It should be noted that when remote sensing satellites conduct relay observation of dynamic targets, it is necessary to constrain the link establishment conditions, link establishment quantity and switching link establishment interval of the cross-layer inter-satellite link to obtain link constraints.

[0058] In a feasible implementation, step S22 may include steps S221 to S224: Step S221, determining link establishment condition constraints based on cross-layer link establishment prerequisites; It should be understood that the link establishment condition constraint is used to ensure that the remote sensing satellite and the communication satellite can establish a cross-layer intersatellite link only when the cross-layer link establishment prerequisite is met. In this solution, the satisfaction of the cross-layer link establishment prerequisite can be simply understood as the existence of a connectable communication satellite within the corresponding range of the remote sensing satellite. In actual application, it also involves specific engineering conditions such as relative position, inter-satellite line of sight, signal strength, etc., which are not specifically limited in this embodiment.

[0059] Step S222, determining a link number constraint based on a limit on the number of cross-layer intersatellite links between the remote sensing satellite and the communication satellite; It should be understood that the link number constraint is used to ensure that each remote sensing satellite in the space information network architecture can only connect to a limited number of communication satellites per time slot, and each communication satellite can only connect to a limited number of remote sensing satellites per time slot.

[0060] Exemplarily, the finite number may be 1, depending on the number of cross-layer laser terminals of the remote sensing satellite and the communication satellite, and this embodiment does not impose any specific limitation on this.

[0061] Step S223, determining a link switching interval constraint based on the link switching time interval requirements of the remote sensing satellite and the communication satellite; It should be understood that the link switching interval constraint is used to ensure that the remote sensing satellite has sufficient time to switch to the communication satellite for link establishment, and the communication satellite also has sufficient time to switch to the remote sensing satellite for link establishment.

[0062] Exemplarily, assuming that each satellite is equipped with a set of cross-layer laser communication equipment, and the time of a single laser capture (link switching) is set to 60 seconds, the link switching interval constraint can specifically be to limit the time length for the remote sensing satellite to switch to the communication satellite for link establishment to 60 seconds, and the time length for the communication satellite to switch to the remote sensing satellite for link establishment to 60 seconds. This embodiment does not impose specific restrictions on this.

[0063] Step S224: obtaining a link constraint according to the link establishable condition constraint, the link number constraint, and the link switching interval constraint.

[0064] It should be understood that the link constraints are obtained by restricting the connection and switching of the cross-layer intersatellite links between the remote sensing satellite and the communication satellite in each time slot space information network architecture according to the link establishment condition constraints, link number constraints and link switching interval constraints.

[0065] Step S23, constraining the number of cross-layer inter-satellite links that the remote sensing satellite performing the observation mission maintains connection with, and obtaining a dependency constraint between the observation and the link.

[0066] It should be noted that when a remote sensing satellite conducts relay observation of a dynamic target, it is necessary to constrain the link constraint and the dependency relationship between the observation and the link, and obtain the link constraint and the dependency constraint between the observation and the link. Specifically, the dependency constraint between the observation and the link is used to restrict any remote sensing satellite performing an observation mission to have at least one cross-layer intersatellite link connected at the same time.

[0067] This embodiment helps to improve the accuracy of dynamic target observation and the reliability of data transmission in the spatial information network architecture by establishing observation constraints, link constraints, and observation-link dependency constraints.

[0068] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 5 , Figure 5 The flowchart of the third embodiment of the method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets provided by the present application is as follows: Step S30 may include steps S31 to S33: Step S31, establishing observation decision variables and cross-layer link decision variables based on the spatial information network architecture; It should be noted that when establishing the decision variables of the standard integer programming problem, the integer programming modeling method will be used to define two decision variables with 0-1 variables: observation decision variables and cross-layer link decision variables. The observation decision variable is used to determine whether each remote sensing satellite in each time slot in the space information network architecture observes the dynamic target, and the cross-layer link decision variable is used to determine whether each remote sensing satellite in each time slot in the space information network architecture establishes a cross-layer intersatellite link with the corresponding communication satellite and unloads data in real time.

[0069] In a feasible implementation, step S31 may include steps S311 to S312: Step S311, establishing observation decision variables based on the observation of the dynamic target by the remote sensing satellite; In the specific implementation, define is the observation decision variable, indicating whether remote sensing satellite i observes a given dynamic target at time slot t in the spatial information network architecture. When it is "0", it means no observation, and when it is "1", it means observation.

[0070] Step S312: establishing a cross-layer link decision variable based on the communication status between the remote sensing satellite and the communication satellite.

[0071] In the specific implementation, define is a cross-layer link decision variable, indicating whether remote sensing satellite i establishes a cross-layer intersatellite link with communication satellite j in time slot t and unloads data in real time in the space information network architecture. “1” indicates link establishment and data unloading, and “0” indicates no link establishment.

[0072] Step S32, constructing a target integer programming problem based on the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the observation-link dependency constraints; It should be understood that, based on the defined observation decision variables and cross-layer link decision variables, an objective function that minimizes the number of remote sensing satellite switching times can be constructed, and the established observation constraints, link constraints, and the dependency constraints between observations and links are used as constraints of the objective function to obtain the target integer programming problem.

[0073] It should be noted that for a given continuous observation mission of a dynamic target, each switching of the remote sensing satellite will cause a corresponding change in the communication satellite for data unloading, and the routing of the communication satellite layer needs to be replanned. Therefore, by minimizing the number of switching times of the remote sensing satellite, the complexity of the communication satellite routing planning can be effectively reduced.

[0074] In a feasible implementation, step S32 may include steps S321-S322: Step S321, establishing an optimization target for the number of remote sensing satellite switching times according to the observed decision variables to obtain an objective function; In the specific implementation, for the observed decision variables , define the vector is the observation state difference of the remote sensing satellite in two adjacent time slots. The expression of the observation state difference is as follows:

[0075] According to the observed state difference The expression can be used to obtain the number of times the remote sensing satellite switches occur in the entire time domain of the dynamic target operation. , taking minimizing the number of remote sensing satellite switching times as the optimization goal, we can get the objective function .

[0076] Step S322: Based on the objective function, a target integer programming problem is constructed according to the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the dependency constraints between the observations and the links.

[0077] It should be understood that after establishing the objective function with minimizing the number of remote sensing satellite switching times as the optimization goal, the target integer programming problem can be obtained by taking the observation constraints, link constraints and the dependency constraints between observations and links as the constraints of the objective function.

[0078] Step S33, solving the target integer programming problem according to the position change information of the dynamic target to obtain a remote sensing satellite switching and data unloading solution.

[0079] It should be understood that by using the position change information of the dynamic target as the input parameter to solve the target integer programming problem, the optimal solution with the minimum number of remote sensing satellite switching times can be obtained, and then the remote sensing satellite observation and cross-layer link real-time data offloading The optimal solution is the remote sensing satellite switching and data unloading solution.

[0080] For example, please refer to Figure 6 , Figure 6 A schematic diagram of the remote sensing satellite switching and data unloading planning results provided in Example 3 of the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets of the present application. The number of remote sensing satellites and communication satellites in the space information network architecture is greater than 500, the orbital altitude of the remote sensing satellite is 500km, and the orbital altitude of the communication satellite is 1000km. Each satellite is equipped with a set of cross-layer laser communication equipment, and the time for a single laser capture (link switching) is set to 60 seconds. The speed of the dynamic target is 1km / s, and the simulation time is 100 minutes (min). Digital simulation verification is carried out using this example, and the target integer programming problem is solved to obtain the remote sensing satellite switching and data unloading planning scheme as shown below Figure 6 As can be seen from the figure, in the entire time domain range of the dynamic target operation, there is always at least one remote sensing satellite observing it, and at the same time there is a cross-layer intersatellite link maintained to support real-time data offloading.

[0081] This embodiment models the solution of the multi-satellite coordinated continuous observation and real-time data offloading optimization solution for dynamic targets as an integer programming problem, gives the definition of observation decision variables and cross-layer link decision variables based on the space information network architecture, and designs an objective function that minimizes the number of remote sensing satellite switching times. This can effectively realize the coordinated planning of remote sensing satellite relay observation of dynamic targets and real-time cross-layer data offloading, and reduce the complexity of communication satellite routing planning by minimizing the number of remote sensing satellite switching times.

[0082] For example, in order to help understand the implementation process of the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 7 , Figure 7A brief flow chart of a multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets provided in Example 3 of the present application, specifically: According to the network connection relationship between dynamic targets, remote sensing satellites and communication satellites, the spatial information network architecture adopted by the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets is obtained. Considering the time of cross-layer inter-satellite switching, the conditions for switching between remote sensing satellites and communication satellites, that is, the satellite relay switching conditions, are determined to formulate continuous observation and real-time data unloading strategies. Through the design of a specific integer programming linear optimization model, 0-1 decision variables are defined, observation decision variables and cross-layer link decision variables are established, and observation constraints, link constraints and dependency constraints between observations and links are established based on the spatial information network architecture. The objective function with the least number of remote sensing satellite switching is designed to obtain the target integer programming problem. The position change information of the dynamic target is used as the input parameter, and the target integer programming problem is run to solve it, and the remote sensing satellite switching and data unloading scheme is obtained, thereby realizing the continuous observation of a dynamic target by multiple remote sensing satellites and the continuous communication coverage of multiple communication satellites on the remote sensing satellites performing the mission.

[0083] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0084] This application also provides a multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets. Please refer to Figure 8 The multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets comprises: An architecture building module 10 is used to build a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites; A constraint establishing module 20, used to establish observation constraints, link constraints and dependency constraints between observations and links based on the spatial information network architecture; The problem solving module 30 is used to construct and solve the target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint and the dependency constraint between the observation and the link, so as to obtain a remote sensing satellite switching and data unloading solution; The task execution module 40 is used to complete the continuous observation and data unloading of the dynamic target according to the relay satellite switching conditions and the remote sensing satellite switching and data unloading scheme.

[0085] In one embodiment, the task execution module 40 is also used to switch the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme when the remote sensing satellite observing the dynamic target meets the relay satellite switching conditions; obtain the observation data of the dynamic target by the remote sensing satellite after switching, and unload the observation data to the corresponding communication satellite through a cross-layer intersatellite link.

[0086] In one embodiment, the task execution module 40 is also used to switch the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme when the target visible window of the remote sensing satellite observing the dynamic target ends; when the cross-layer intersatellite link of the remote sensing satellite observing the dynamic target is switched, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data unloading scheme.

[0087] In one embodiment, the problem solving module 30 is also used to establish observation decision variables and cross-layer link decision variables based on the spatial information network architecture; construct a target integer programming problem based on the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the dependency constraints between the observations and the links; solve the target integer programming problem according to the position change information of the dynamic target to obtain a remote sensing satellite switching and data unloading solution.

[0088] In one embodiment, the problem solving module 30 is further used to establish observation decision variables based on the observation of the dynamic target by the remote sensing satellite; and to establish cross-layer link decision variables based on the communication status between the remote sensing satellite and the communication satellite.

[0089] In one embodiment, the problem-solving module 30 is also used to establish an optimization target for the number of remote sensing satellite switching times based on the observation decision variables to obtain an objective function; based on the objective function, a target integer programming problem is constructed according to the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the dependency constraints between the observations and the links.

[0090] In one embodiment, the constraint establishment module 20 is also used to determine the selection conditions of the remote sensing satellite that performs the observation task in the space information network architecture to obtain the observation constraint; determine the cross-layer inter-satellite link establishment conditions between the remote sensing satellite and the communication satellite in the space information network architecture to obtain the link constraint; constrain the number of cross-layer inter-satellite links that the remote sensing satellite that performs the observation task maintains connected to obtain the observation and link dependency constraint.

[0091] In one embodiment, the constraint establishment module 20 is also used to determine a visual condition constraint based on the visibility of the remote sensing satellite to the dynamic target; determine a continuous observation constraint based on the number of remote sensing satellites observing the dynamic target; and obtain a selection condition for the remote sensing satellite that performs the observation task in the space information network architecture based on the visual condition constraint and the continuous observation constraint to obtain an observation constraint.

[0092] In one embodiment, the constraint establishment module 20 is also used to determine the link establishment condition constraint based on the cross-layer link establishment prerequisite; determine the link number constraint based on the cross-layer inter-satellite link number limit between the remote sensing satellite and the communication satellite; determine the link switching interval constraint based on the link switching time interval requirement between the remote sensing satellite and the communication satellite; and obtain the link constraint based on the link establishment condition constraint, the link number constraint and the link switching interval constraint.

[0093] In one embodiment, the architecture construction module 10 is further used to establish a remote sensing satellite layer and a communication satellite layer based on multiple remote sensing satellites and multiple communication satellites, respectively, wherein the multiple remote sensing satellites in the remote sensing satellite layer communicate with corresponding communication satellites through cross-layer intersatellite links, and the multiple communication satellites in the communication satellite layer communicate through intra-layer intersatellite links; a space information network architecture is constructed based on dynamic targets, the remote sensing satellite layer and the communication satellite layer, wherein the remote sensing satellite layer is used to perform relay observation of the dynamic targets.

[0094] The multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets provided by the present application adopts the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets in the above-mentioned embodiment, which can solve the technical problem of how to ensure uninterrupted communication coverage of the remote sensing satellite performing the observation task to support real-time data unloading while continuously observing a certain dynamic target. Compared with the prior art, the beneficial effects of the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets provided by the present application are the same as the beneficial effects of the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets provided by the above-mentioned embodiment, and the other technical features of the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0095] The present application provides a multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets, and the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets in the above-mentioned embodiment one.

[0096] Reference below Fig. 9 , which shows a schematic diagram of the structure of a multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets suitable for implementing the embodiment of the present application. The multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0097] like Fig. 9As shown, the multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in a ROM (Read Only Memory) 1002 or the program loaded from a storage device 1003 to a RAM (Random Access Memory) 1004. Various programs and data required for the operation of the multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets to communicate wirelessly or wired with other devices to exchange data. Although the multi-satellite coordinated continuous observation and real-time data unloading device for dynamic targets with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0098] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0099] The multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets provided by the present application adopts the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets in the above-mentioned embodiment, which can solve the technical problem of how to ensure uninterrupted communication coverage of the remote sensing satellite performing the observation task to support real-time data unloading while continuously observing a certain dynamic target. Compared with the prior art, the beneficial effects of the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets provided by the present application are the same as the beneficial effects of the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets provided by the above-mentioned embodiment, and the other technical features of the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0100] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0101] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0102] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets in the above-mentioned embodiment.

[0103] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0104] The above-mentioned computer-readable storage medium may be included in the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets; or it may exist independently without being assembled into the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets.

[0105] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets, the multi-satellite collaborative continuous observation and real-time data unloading device for dynamic targets: constructs a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites; establishes observation constraints, link constraints and dependency constraints between observations and links based on the space information network architecture; constructs and solves a target integer programming problem based on the position change information of the dynamic target, the observation constraints, the link constraints and the dependency constraints between observations and links to obtain a remote sensing satellite switching and data unloading plan; and completes continuous observation and data unloading of the dynamic target based on the relay satellite switching conditions and the remote sensing satellite switching and data unloading plan.

[0106] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0107] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0108] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0109] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets, and can solve the technical problem of how to ensure uninterrupted communication coverage of remote sensing satellites performing observation tasks to support real-time data unloading while continuously observing a certain dynamic target. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets provided by the above-mentioned embodiments, and will not be repeated here.

[0110] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets.

[0111] The computer program product provided by the present application can solve the technical problem of how to ensure uninterrupted communication coverage of the remote sensing satellite performing the observation mission to support real-time data unloading while continuously observing a certain dynamic target. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the multi-satellite coordinated continuous observation and real-time data unloading method for dynamic targets provided by the above-mentioned embodiment, and will not be described in detail here.

[0112] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for multi-satellite coordinated continuous observation and real-time data unloading for dynamic targets, characterized in that: The method comprises: Construct a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites; Establishing observation constraints, link constraints, and dependency constraints between observations and links based on the spatial information network architecture; According to the position change information of the dynamic target, the observation constraint, the link constraint and the dependency constraint between the observation and the link, a target integer programming problem is constructed and solved to obtain a remote sensing satellite switching and data unloading solution; According to the relay satellite switching conditions and the remote sensing satellite switching and data unloading scheme, continuous observation and data unloading of the dynamic target are completed.

2. The method according to claim 1, characterized in that The step of completing the continuous observation and data unloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data unloading scheme includes: When the remote sensing satellite observing the dynamic target meets the relay satellite switching condition, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data unloading scheme; The observation data of the remote sensing satellite on the dynamic target after switching is obtained, and the observation data is unloaded to the corresponding communication satellite through a cross-layer intersatellite link.

3. The method according to claim 2, characterized in that The relay satellite switching conditions include the end of the target visible window and the switching of the cross-layer intersatellite link; The step of switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme when the remote sensing satellite observing the dynamic target meets the relay satellite switching condition comprises: When the target visible window of the remote sensing satellite observing the dynamic target ends, switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data unloading scheme; When the cross-layer intersatellite link of the remote sensing satellite observing the dynamic target is switched, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data unloading scheme.

4. The method according to claim 1, characterized in that The step of constructing and solving a target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint, and the dependency constraint between the observation and the link to obtain a remote sensing satellite switching and data unloading solution includes: Establishing observation decision variables and cross-layer link decision variables based on the spatial information network architecture; Constructing a target integer programming problem based on the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the observation-link dependency constraints; The target integer programming problem is solved according to the position change information of the dynamic target to obtain a remote sensing satellite switching and data unloading solution.

5. The method according to claim 4, characterized in that The step of establishing observation decision variables and cross-layer link decision variables based on the spatial information network architecture includes: Establishing observation decision variables based on the observation of the dynamic target by the remote sensing satellite; A cross-layer link decision variable is established based on the communication status of the remote sensing satellite and the communication satellite.

6. The method according to claim 4, characterized in that The step of constructing a target integer programming problem based on the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the observation-link dependency constraints comprises: Establishing an optimization target for the number of remote sensing satellite switching times according to the observed decision variables to obtain an objective function; Based on the objective function, a target integer programming problem is constructed according to the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the dependency constraints between the observations and the links.

7. The method according to claim 1, characterized in that The step of establishing observation constraints, link constraints, and observation-link dependency constraints based on the spatial information network architecture includes: Determining selection conditions of remote sensing satellites that perform observation tasks in the spatial information network architecture to obtain observation constraints; Determine the conditions for establishing inter-layer intersatellite links between remote sensing satellites and communication satellites in the space information network architecture to obtain link constraints; The number of inter-satellite links across layers that the remote sensing satellite performing the observation mission maintains connection is constrained to obtain a dependency constraint between the observation and the link.

8. The method according to claim 7, characterized in that The step of determining the selection conditions of the remote sensing satellites that perform the observation task in the spatial information network architecture to obtain the observation constraints includes: Determining a visual condition constraint based on visibility of the dynamic target by the remote sensing satellite; determining a continuous observation constraint based on the number of remote sensing satellites observing the dynamic target; The selection conditions of the remote sensing satellite that performs the observation task in the spatial information network architecture are obtained according to the visual condition constraint and the continuous observation constraint, thereby obtaining the observation constraint.

9. The method according to claim 7, characterized in that The step of determining the link establishment conditions of the cross-layer inter-satellite links between the remote sensing satellite and the communication satellite in the space information network architecture to obtain the link constraints includes: Determine the constraints of link building conditions based on the prerequisites for link building across layers; Determining a link number constraint based on a limit on the number of cross-layer intersatellite links between the remote sensing satellite and the communication satellite; Determining a link switching interval constraint based on link switching time interval requirements of the remote sensing satellite and the communication satellite; A link constraint is obtained according to the link buildable condition constraint, the link number constraint and the link switching interval constraint.

10. The method according to claim 1, characterized in that The steps of constructing a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites include: A remote sensing satellite layer and a communication satellite layer are established based on multiple remote sensing satellites and multiple communication satellites respectively, wherein the multiple remote sensing satellites in the remote sensing satellite layer communicate with corresponding communication satellites through cross-layer intersatellite links, and the multiple communication satellites in the communication satellite layer communicate through intra-layer intersatellite links; A space information network architecture is constructed based on the dynamic target, the remote sensing satellite layer and the communication satellite layer, wherein the remote sensing satellite layer is used to perform relay observation of the dynamic target.

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