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

Abstract

The application discloses a kind of multi-star coordinated continuous observation and real-time data unloading methods for dynamic target, it is related to satellite communication technical field, disclose the multi-star coordinated continuous observation and real-time data unloading methods for dynamic target, comprising: based on dynamic target, remote sensing satellite and communication satellite construct space information network architecture;Based on space information network architecture, observation constraint, link constraint and the dependent relationship constraint of observation and link are established;According to the position change information of dynamic target, observation constraint, link constraint and the dependent relationship constraint of observation and link, target integer programming problem is constructed and is solved, and remote sensing satellite switching and data unloading scheme are obtained;According to relay satellite switching condition and remote sensing satellite switching and data unloading scheme, the continuous observation and data unloading of dynamic target are completed.This scheme can be continuously observed to dynamic target, guarantee uninterrupted communication coverage to remote sensing satellite to support real-time data unloading.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite communication, in particular to a multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets. BACKGROUND

[0002] At present, the existing technology mainly cuts in from two aspects when solving the coverage problem of multiple satellites to dynamic targets. On the one hand, it studies the multi-satellite cooperative observation task planning problem. This kind of method emphasizes that multiple remote sensing satellites complete the cooperative observation of a target through attitude adjustment / beam pointing, including continuous observation in time domain, multiple observation or splicing observation in space, etc. However, this method often assumes that remote sensing satellites can only offload data when passing through the space above the ground station, which cannot realize real-time offloading of remote sensing data, greatly reducing the timeliness of data acquisition for users. On the other hand, it studies the multi-satellite cooperative communication coverage problem. This kind of method emphasizes that multiple communication satellites realize communication coverage of a certain area through satellite-ground link resource allocation, including continuous communication coverage in time domain and beam coverage in space. However, this method cannot solve the problem of continuous communication coverage for remote sensing satellites located at a lower orbit, especially for remote sensing satellites performing observation tasks.

[0003] In summary, the existing technology does not consider the multi-satellite cooperative observation and multi-satellite cooperative communication coverage as a whole, cannot realize continuous observation and real-time data offloading for dynamic targets, greatly reduces the timeliness of data, and is not conducive to real-time grasp of the situation of dynamic targets. How to continuously observe a dynamic target while ensuring uninterrupted communication coverage for remote sensing satellites performing observation tasks to support real-time data offloading has become a problem to be solved.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

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

[0006] To achieve the above-mentioned purpose, the present application provides a multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets, which comprises:

[0007] Constructing a space information network architecture based on dynamic targets, remote sensing satellites and communication satellites;

[0008] Establishing observation constraints, link constraints and dependent relationship constraints of observation and link based on the space information network architecture;

[0009] constructing a target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint and the dependent relationship constraint of the observation and the link, and solving the problem to obtain a remote sensing satellite switching and data offloading scheme;

[0010] completing continuous observation and data offloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data offloading scheme.

[0011] In an embodiment, the step of completing continuous observation and data offloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data offloading scheme comprises:

[0012] switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the remote sensing satellite observing the dynamic target meets the relay satellite switching condition;

[0013] obtaining observation data of the dynamic target of the switched remote sensing satellite, and offloading the observation data to the corresponding communication satellite through the cross-layer inter-satellite link.

[0014] In an embodiment, the meeting the relay satellite switching condition comprises end of a target visible window and switching of the cross-layer inter-satellite link;

[0015] The step of switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the remote sensing satellite observing the dynamic target meets the relay satellite switching condition comprises:

[0016] switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the target visible window of the remote sensing satellite observing the dynamic target ends;

[0017] switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the cross-layer inter-satellite link of the remote sensing satellite observing the dynamic target switches.

[0018] In an embodiment, the step of constructing a target integer programming problem according to the position change information of the dynamic target, the observation constraint, the link constraint and the dependent relationship constraint of the observation and the link, and solving the problem to obtain a remote sensing satellite switching and data offloading scheme comprises:

[0019] establishing observation decision variables and cross-layer link decision variables based on the space information network architecture;

[0020] constructing a target integer programming problem based on the observation decision variable, the cross-layer link decision variable, the observation constraint, the link constraint, and the observation and link dependency constraint;

[0021] 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 offloading scheme.

[0022] In an embodiment, the step of establishing the observation decision variable and the cross-layer link decision variable based on the spatial information network architecture comprises:

[0023] establishing the observation decision variable based on the observation of the dynamic target by the remote sensing satellite;

[0024] establishing the cross-layer link decision variable based on the communication between the remote sensing satellite and the communication satellite.

[0025] In an embodiment, the step of constructing the target integer programming problem based on the observation decision variable, the cross-layer link decision variable, the observation constraint, the link constraint, and the observation and link dependency constraint comprises:

[0026] establishing an optimization target of the number of remote sensing satellite switching times according to the observation decision variable, to obtain a target function;

[0027] constructing the target integer programming problem based on the target function, the observation decision variable, the cross-layer link decision variable, the observation constraint, the link constraint, and the observation and link dependency constraint.

[0028] In an embodiment, the step of establishing the observation constraint, the link constraint, and the observation and link dependency constraint based on the spatial information network architecture comprises:

[0029] determining a selection condition of a remote sensing satellite performing an observation task in the spatial information network architecture, to obtain an observation constraint;

[0030] determining a cross-layer inter-satellite link building condition of a remote sensing satellite and a communication satellite in the spatial information network architecture, to obtain a link constraint;

[0031] restricting the number of cross-layer inter-satellite links maintained by the remote sensing satellite performing the observation task, to obtain an observation and link dependency constraint.

[0032] In an embodiment, the step of determining the selection condition of the remote sensing satellite performing the observation task in the spatial information network architecture to obtain the observation constraint comprises:

[0033] determining a visible condition constraint based on the visibility of the dynamic target by the remote sensing satellite;

[0034] determining a continuous observation constraint based on a number of remote sensing satellites observing the dynamic target;

[0035] obtaining a selection condition of a remote sensing satellite performing an observation task in the spatial information network architecture according to the visible condition constraint and the continuous observation constraint, to obtain an observation constraint.

[0036] In an embodiment, the step of determining the cross-layer inter-satellite link establishment condition of the remote sensing satellite and the communication satellite in the spatial information network architecture comprises:

[0037] determining a link establishment condition constraint based on a cross-layer link establishment premise condition;

[0038] determining a link number constraint based on a number limit of the cross-layer inter-satellite link of the remote sensing satellite and the communication satellite;

[0039] determining a link switching interval constraint based on a link switching time interval requirement of the remote sensing satellite and the communication satellite;

[0040] obtaining a link constraint according to the link establishment condition constraint, the link number constraint, and the link switching interval constraint.

[0041] In an embodiment, the step of constructing the spatial information network architecture based on the dynamic target, the remote sensing satellite, and the communication satellite comprises:

[0042] respectively establishing a remote sensing satellite layer and a communication satellite layer based on a plurality of remote sensing satellites and a plurality of communication satellites, wherein the plurality of remote sensing satellites in the remote sensing satellite layer communicate with corresponding communication satellites through cross-layer inter-satellite links, and the plurality of communication satellites in the communication satellite layer communicate through intra-layer inter-satellite links;

[0043] constructing the spatial information network architecture based on the dynamic target, the remote sensing satellite layer, and the communication satellite layer, wherein the remote sensing satellite layer is used for relay observation of the dynamic target.

[0044] In addition, to achieve the above-mentioned purpose, the application further provides a multi-satellite cooperative continuous observation and real-time data offloading device for a dynamic target, which comprises:

[0045] an architecture construction module, configured to construct a spatial information network architecture based on a dynamic target, a remote sensing satellite, and a communication satellite;

[0046] a constraint establishment module, configured to establish an observation constraint, a link constraint, and a dependency relationship constraint of observation and link based on the spatial information network architecture;

[0047] a problem solving module, configured to construct a target integer programming problem and solve the problem according to the position change information of the dynamic target, the observation constraint, the link constraint and the dependent relationship constraint between the observation and the link, and obtain a remote sensing satellite switching and data offloading scheme;

[0048] a task execution module, configured to complete continuous observation and data offloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data offloading scheme.

[0049] In addition, to achieve the above-mentioned purpose, the present application further provides a multi-satellite cooperative continuous observation and real-time data offloading device for dynamic targets, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets as described above.

[0050] In addition, to achieve the above-mentioned purpose, the present application further provides a storage medium, which is a computer readable storage medium, and a computer program is stored on the storage medium, and the computer program is executed by a processor to implement the steps of the multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets as described above.

[0051] In addition, to achieve the above-mentioned purpose, the present application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets as described above.

[0052] The one or more technical solutions provided by the present application have at least the following technical effects:

[0053] Through the space information network architecture constructed based on the dynamic target, the remote sensing satellite and the communication satellite, relay observation of the remote sensing satellite on the dynamic target and real-time data offloading from the remote sensing satellite to the communication satellite can be supported, the observation constraint, the link constraint and the dependent relationship constraint between the observation and the link are established based on the space information network architecture, and the target integer programming problem is constructed, which can effectively realize unified planning of relay observation and real-time cross-layer data offloading, and the remote sensing satellite switching and data offloading scheme obtained by solving the target integer programming problem can timely switch the remote sensing satellite when the relay satellite switching condition is met, and can ensure uninterrupted communication coverage of the remote sensing satellite performing the observation task to support real-time data offloading while continuously observing the dynamic target. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0056] Figure 1 A flowchart provided by the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to Embodiment 1 of the present application;

[0057] Figure 2 A space information network architecture diagram provided by the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to Embodiment 1 of the present application;

[0058] Figure 3 A remote sensing satellite switching and data unloading diagram provided by the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to Embodiment 1 of the present application;

[0059] Figure 4 A flowchart provided by the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to Embodiment 2 of the present application;

[0060] Figure 5 A flowchart provided by the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to Embodiment 3 of the present application;

[0061] Figure 6 A remote sensing satellite switching and data unloading planning result diagram provided by the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to Embodiment 3 of the present application;

[0062] Figure 7 A brief flowchart of the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to Embodiment 3 of the present application;

[0063] Figure 8 A module structure diagram of the device for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to the embodiments of the present application;

[0064] Figure 9 A device structure diagram of the hardware running environment involved in the method for multi-satellite cooperative continuous observation and real-time data unloading of a dynamic target according to the embodiments of the present application.

[0065] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the drawings. DETAILED DESCRIPTION

[0066] It should be understood that the specific embodiments described herein are merely for the purpose of illustration of the technical solutions of the present application and are not intended to limit the present application.

[0067] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and specific embodiments.

[0068] The main solution of the embodiments 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 dependent relationship constraints of observation and link based on the space information network architecture; constructing a target integer programming problem and solving according to the position change information of the dynamic target, the observation constraints, the link constraints and the dependent relationship constraints of observation and link, to obtain a remote sensing satellite switching and data offloading scheme; completing continuous observation and data offloading of the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data offloading scheme.

[0069] Since the prior art fails to consider the multi-satellite cooperative observation and multi-satellite cooperative communication coverage in solving the coverage problem of multiple satellites on dynamic targets, it cannot realize continuous observation and real-time data offloading for dynamic targets, greatly reducing the data timeliness and being not conducive to real-time grasp of the situation of dynamic targets. How to ensure uninterrupted communication coverage of the task remote sensing satellite to support real-time data offloading while continuously observing a dynamic target becomes a problem to be solved.

[0070] The present application provides a solution based on a space information network architecture constructed based on dynamic targets, remote sensing satellites and communication satellites, which can support relay observation of remote sensing satellites on dynamic targets and real-time data offloading from remote sensing satellites to communication satellites. The establishment of observation constraints, link constraints and dependent relationship constraints of observation and link based on the space information network architecture, and the construction of a target integer programming problem can effectively realize the overall planning of relay observation and real-time cross-layer data offloading. The remote sensing satellite switching and data offloading scheme obtained by solving the target integer programming problem can switch the remote sensing satellite in time when the relay satellite switching condition is met, and can ensure uninterrupted communication coverage of the remote sensing satellite performing observation tasks to support real-time data offloading while continuously observing a dynamic target.

[0071] It should be noted that the execution subject of the present 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 cooperative continuous observation and real-time data offloading system for dynamic targets, etc. The following will take the multi-satellite cooperative continuous observation and real-time data offloading system for dynamic targets as an example to describe the present embodiment and each of the following embodiments.

[0072] Based on this, the embodiment of the present application provides a multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target. Referring to Figure 1 , Figure 1 FIG. 1 is a flowchart of a first embodiment of the multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target provided by the present application.

[0073] In this embodiment, the multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target comprises steps S10-S40:

[0074] Step S10: constructing a space information network architecture based on a dynamic target, remote sensing satellites and communication satellites;

[0075] It should be understood that the dynamic target is a target whose position changes over time during observation. In the space information network architecture constructed based on the dynamic target, remote sensing satellites and communication satellites, multiple remote sensing satellites realize uninterrupted observation of the dynamic target through relay, that is, when one remote sensing satellite finishes observing the target, another remote sensing satellite continues to observe to continuously acquire observation data. The remote sensing satellite performing the observation task transmits the acquired observation data to the corresponding communication satellite to realize real-time unloading of the observation data.

[0076] In a feasible implementation, step S10 can comprise: respectively establishing a remote sensing satellite layer and a communication satellite layer based on multiple remote sensing satellites and multiple communication satellites, wherein the multiple remote sensing satellites in the remote sensing satellite layer communicate with the corresponding communication satellites in the communication satellite layer through cross-layer inter-satellite links, and the multiple communication satellites in the communication satellite layer communicate through intra-layer inter-satellite links; constructing a space information network architecture based on the dynamic target, the remote sensing satellite layer and the communication satellite layer, wherein the remote sensing satellite layer is used for relay observation of the dynamic target.

[0077] It should be understood that the cross-layer inter-satellite link is a communication link connecting a remote sensing satellite in the remote sensing satellite layer and a communication satellite in the corresponding communication satellite layer. The intra-layer inter-satellite link is a communication link connecting each communication satellite in the communication satellite layer.

[0078] In a specific implementation, the space information network architecture can further comprise a ground station in addition to the dynamic target, remote sensing satellites and communication satellites. Please refer to Figure 2 , Figure 2 FIG. 2 is a space information network architecture diagram provided by the first embodiment of the multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target provided by the present application. As shown in FIG. 2, the space information network architecture comprises a dynamic target 201, a remote sensing satellite layer 202, a communication satellite layer 203 and a ground station 204. Figure 2As shown, multiple remote sensing satellites relay observation of a dynamic target, and the remote sensing satellite performing the observation task synchronously establishes a cross-layer inter-satellite link with the corresponding communication satellite, and the data is transmitted to the ground station in real time through the inter-satellite link in the communication satellite layer. In this scheme, it is assumed that there is a stable inter-satellite link in the communication satellite layer, and global seamless coverage can be achieved. For any data offloaded from the remote sensing satellite to the communication satellite, near real-time transmission can be achieved.

[0079] It should be noted that this scheme does not consider the routing algorithm and transmission strategy of the communication satellite layer, and only focuses on the relay observation of the dynamic target by the remote sensing satellite and the real-time data offloading from the remote sensing satellite to the communication satellite.

[0080] In this embodiment, through the relay observation of multiple remote sensing satellites in the remote sensing satellite layer, the problem of short observation time and limited coverage of a single remote sensing satellite can be effectively solved, and continuous tracking and monitoring of the dynamic target can be ensured, and the continuity of the observation data can be improved. At the same time, the observation data collected by the remote sensing satellite is transmitted to the corresponding communication satellite in the communication satellite layer through the cross-layer inter-satellite link, and then relayed and transmitted through the inter-satellite link in the communication satellite layer, and finally transmitted to the ground station through the feeder link, which can reduce the time delay of data transmission, enhance the stability of the space information network architecture, and improve the coverage capability of the satellite network.

[0081] Step S20, establishing observation constraints, link constraints, and dependency relationship constraints between observation and link based on the space information network architecture;

[0082] It should be noted that when the remote sensing satellite relays observation of the dynamic target, the remote sensing satellite objects and the number of remote sensing satellites that can be selected to perform the observation task in the space information network architecture need to be constrained to obtain the observation constraints. The cross-layer inter-satellite link building conditions, the number of links, and the switching link interval are constrained to obtain the link constraints. The dependency relationship between the link constraints and the observation and the link is constrained to obtain the link constraints and the dependency relationship between the observation and the link.

[0083] It should be understood that establishing the observation constraints, the link constraints, and the dependency relationship between the observation and the link can help improve the accuracy of the observation of the dynamic target and the reliability of the data transmission in the space information network architecture.

[0084] Step S30, constructing a target integer programming problem according to the position change information of the dynamic target, the observation constraints, the link constraints, and the dependency relationship between the observation and the link, and solving the target integer programming problem to obtain a remote sensing satellite switching and data offloading scheme;

[0085] It should be noted that the target integer programming problem is used to solve the remote sensing satellite switching and data offloading scheme that minimizes the number of remote sensing satellite switching in the entire time domain range of dynamic target operation. The decision variable defined in the target integer programming problem is used to determine whether each time slot of each remote sensing satellite in the space information network architecture observes the dynamic target, and whether each time slot of each remote sensing satellite in the space information network architecture establishes a cross-layer inter-satellite link with the corresponding communication satellite and offloads data in real time.

[0086] 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 range, which can be calculated in advance before running the target integer programming problem and used as an input parameter for solving the integer programming problem.

[0087] It should be understood that the optimization objective function that minimizes the number of remote sensing satellite switching can be constructed according to the defined decision variable, and the observation constraint, the link constraint, and the dependency constraint of observation and link are used as constraint conditions of the optimization objective function to obtain the target integer programming problem. The remote sensing satellite switching and data offloading scheme can be obtained by solving the target integer programming problem with the position change information of the dynamic target as an input parameter.

[0088] Step S40, according to the relay satellite switching condition and the remote sensing satellite switching and data offloading scheme, completing continuous observation and data offloading of the dynamic target.

[0089] It should be understood that after obtaining the remote sensing satellite switching and data offloading scheme, when the remote sensing satellite performing the observation task meets the relay satellite switching condition, one or more remote sensing satellites performing the observation task can be determined according to the remote sensing satellite switching and data offloading scheme, and a communication satellite establishing a cross-layer inter-satellite link with the one or more remote sensing satellites performing the observation task can be determined to complete continuous observation and data offloading of the dynamic target.

[0090] In a possible implementation, step S40 can include steps S41-S42:

[0091] Step S41, when the remote sensing satellite observing the dynamic target meets the relay satellite switching condition, switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme;

[0092] It should be understood that when the dynamic target is relayed, the cross-layer inter-satellite link needs to be switched multiple times due to the continuous change of the relative position of the communication satellite layer and the remote sensing satellite layer, and a certain laser terminal alignment time (about minutes) is required for each switching. In order to avoid the situation that the observation target is lost or the state update is not timely during the link switching, the relay satellite switching condition is set for the switching condition of the remote sensing satellite and the communication satellite.

[0093] In one feasible implementation, step S41 may include: when the target visibility 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 offloading scheme; when the inter-layer inter-satellite 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 offloading scheme.

[0094] It should be understood that the conditions for relay satellite handover include the end of the target visibility window and the switching of the inter-satellite link across layers. The target visibility window is the time period during which the remote sensing satellite can observe the dynamic target. That is, there are two conditions that trigger a remote sensing satellite handover: the remote sensing satellite can no longer see the dynamic target; or the remote sensing satellite can no longer establish a link with the original communication satellite. When either of these two conditions occurs, the remote sensing satellite performs the handover, and correspondingly, the communication satellite performing real-time data offloading is adjusted accordingly.

[0095] Step S42: Obtain the observation data of the remote sensing satellite on the dynamic target after switching, and offload the observation data to the corresponding communication satellite through the inter-satellite link.

[0096] It should be understood that after switching the remote sensing satellite performing the observation mission, the observation data of the switched remote sensing satellite on the dynamic target will be unloaded to the corresponding communication satellite in real time through the inter-layer inter-satellite link, so as to transmit the observation data to the communication satellite above the ground station through the intra-layer inter-satellite link, so as to achieve near real-time backhaul.

[0097] For example, please refer to Figure 3 , Figure 3 This diagram illustrates the remote sensing satellite switching and data unloading process provided in Embodiment 1 of the multi-satellite collaborative continuous observation and real-time data unloading method for dynamic targets presented 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 inter-satellite link with a communication satellite to offload data in real time. At time t5, since the target visibility window of remote sensing satellite 1 ends, remote sensing satellite 2 takes over the observation and simultaneously establishes a cross-layer inter-satellite link with a communication satellite to offload data in real time. At time t9, since remote sensing satellite 2 can no longer maintain the link connection with the original communication satellite, remote sensing satellite 3 takes over the observation and simultaneously establishes a cross-layer inter-satellite link with a communication satellite to offload data in real time. This process continues, enabling relay observation of the dynamic target throughout the entire time domain of its operation.

[0098] The space information network architecture constructed based on the dynamic target, the remote sensing satellite and the communication satellite can support relay observation of the remote sensing satellite on the dynamic target and real-time data offloading from the remote sensing satellite to the communication satellite. The observation constraint, the link constraint and the dependent relationship constraint of the observation and the link are established based on the space information network architecture, and the target integer programming problem constructed can effectively realize overall planning of the relay observation and the real-time data cross-layer offloading. The remote sensing satellite switching and data offloading scheme obtained by solving the target integer programming problem can timely switch the remote sensing satellite when the relay satellite switching condition is met, so that continuous observation on the dynamic target can be realized while uninterrupted communication coverage of the remote sensing satellite performing the observation task is ensured to support real-time data offloading.

[0099] Based on the first embodiment of the present application, the same or similar contents as the above embodiment one can be referred to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 4 , Figure 4 The flowchart provided in the second embodiment of the multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets of the present application can include steps S21-S23.

[0100] In step S21, the selection condition of the remote sensing satellite performing the observation task in the space information network architecture is determined, and the observation constraint is obtained.

[0101] It should be understood that when the remote sensing satellite performs relay observation on the dynamic target, the remote sensing satellite object and the number performing the observation task in the space information network architecture need to be constrained, and the observation constraint is obtained.

[0102] In a feasible implementation manner, step S21 can include steps S211-S213.

[0103] In step S211, the visible condition constraint is determined based on the visibility of the remote sensing satellite on the dynamic target.

[0104] It should be understood that the observation task can be performed only when the remote sensing satellite can see the dynamic target, that is, the visible condition constraint limits that only the remote sensing satellite whose target visible window has not ended in the space information network architecture can be selected to perform the observation task on the dynamic target in each time slot.

[0105] In step S212, the continuous observation constraint is determined based on the number of remote sensing satellites observing the dynamic target.

[0106] It should be understood that in order to ensure uninterrupted observation on the dynamic target, at least one remote sensing satellite observes the dynamic target in each time slot, that is, the continuous observation constraint limits that the remote sensing satellite performing the observation task in each time slot needs to be greater than or equal to 1.

[0107] Step S213, obtaining a selection condition of a remote sensing satellite performing an observation task in the spatial information network architecture according to the visible condition constraint and the continuous observation constraint, and obtaining an observation constraint.

[0108] It should be understood that the remote sensing satellite performing an observation task in the spatial information network architecture is limited according to the visible condition constraint and the continuous observation constraint, and the observation constraint is obtained.

[0109] Step S22, determining a cross-layer inter-satellite link building condition of a remote sensing satellite and a communication satellite in the spatial information network architecture, and obtaining a link constraint;

[0110] It should be noted that when the remote sensing satellite relays the observation of the dynamic target, the cross-layer inter-satellite link building condition, the number of built links, and the switching interval of the built links need to be constrained, and the link constraint is obtained.

[0111] In a feasible implementation, step S22 can include steps S221-S224:

[0112] Step S221, determining a buildable link constraint based on a cross-layer buildable link premise condition;

[0113] It should be understood that the buildable link constraint is used to ensure that the cross-layer inter-satellite link can be established between the remote sensing satellite and the communication satellite only when the cross-layer buildable link premise condition is met. In this scheme, the cross-layer buildable link premise condition can be simply understood as that there is a connectable communication satellite in the corresponding range of the remote sensing satellite, and in actual application, it also involves specific engineering conditions such as relative position, inter-satellite line-of-sight, signal strength, etc., which are not limited in this embodiment.

[0114] Step S222, determining a link number constraint based on a cross-layer inter-satellite link number limit of the remote sensing satellite and the communication satellite;

[0115] It should be understood that the link number constraint is used to ensure that each remote sensing satellite in the spatial information network architecture can only connect a limited number of communication satellites per time slot, and each communication satellite can only connect a limited number of remote sensing satellites per time slot.

[0116] For example, the limited number can be 1, which depends on the number of cross-layer laser terminals of the remote sensing satellite and the communication satellite, and is not limited in this embodiment.

[0117] Step S223, determining a link switching interval constraint based on a link switching time interval requirement of the remote sensing satellite and the communication satellite;

[0118] It should be understood that the link switching interval constraint is used to ensure that the remote sensing satellite switching the communication satellite has sufficient time, and the communication satellite switching the remote sensing satellite also has sufficient time.

[0119] Exemplarily, assuming that one set of cross-layer laser communication equipment is carried on each satellite, the time of single laser capture (link switching) is set to 60 seconds, and the link switching interval constraint can be specifically that the time of the remote sensing satellite switching the communication satellite is limited to 60s, and the time of the communication satellite switching the remote sensing satellite is limited to 60s, and the embodiment does not make specific limitations on this.

[0120] In step S224, the link constraint is obtained according to the buildable link condition constraint, the link number constraint, and the link switching interval constraint.

[0121] It should be understood that the connection and switching of the cross-layer inter-satellite link between the remote sensing satellite and the communication satellite in the spatial information network architecture of each time slot are limited according to the buildable link condition constraint, the link number constraint, and the link switching interval constraint, and the link constraint is obtained.

[0122] In step S23, the number of cross-layer inter-satellite links connected to the remote sensing satellite performing the observation task is constrained, and the observation-link dependency constraint is obtained.

[0123] It should be noted that when the remote sensing satellite relays the observation of the dynamic target, the link constraint and the observation-link dependency constraint need to be constrained. Specifically, the observation-link dependency constraint is used to limit that any remote sensing satellite performing the observation task must have at least one cross-layer inter-satellite link connected at the same time.

[0124] The embodiment helps to improve the accuracy of observation of the dynamic target and the reliability of data transmission in the spatial information network architecture by establishing the observation constraint, the link constraint, and the observation-link dependency constraint.

[0125] Based on the first and second embodiments of the present application, the same or similar contents as the above-mentioned first and second embodiments in the third embodiment of the present application can be referred to the above introduction, and will not be repeated hereinafter. On this basis, please refer to Figure 5 , Figure 5 The flowchart provided in the third embodiment of the multi-satellite cooperative continuous observation and real-time data unloading method for dynamic targets of the present application is shown in step S30, which can include steps S31-S33.

[0126] In step S31, observation decision variables and cross-layer link decision variables are established based on the spatial information network architecture.

[0127] It should be noted that when establishing the decision variable of the integer programming problem, an integer programming modeling method is used to define two decision variables, i.e., observation decision variable and cross-layer link decision variable, by using 0-1 variable. The observation decision variable is used to determine whether each remote sensing satellite in the spatial information network architecture observes the dynamic target in each time slot, and the cross-layer link decision variable is used to determine whether each remote sensing satellite in the spatial information network architecture establishes a cross-layer inter-satellite link with the corresponding communication satellite and unloads data in real time.

[0128] In a feasible implementation, step S31 can include steps S311-S312:

[0129] In step S311, an observation decision variable is established based on the observation of the remote sensing satellite on the dynamic target;

[0130] In a specific implementation, the observation decision variable is defined as , which represents whether the remote sensing satellite i observes the given dynamic target in the spatial information network architecture in the t time slot. When the value is “0”, it means that the remote sensing satellite does not observe the dynamic target, and when the value is “1”, it means that the remote sensing satellite observes the dynamic target.

[0131] In step S312, a cross-layer link decision variable is established based on the communication between the remote sensing satellite and the communication satellite.

[0132] In a specific implementation, the cross-layer link decision variable is defined as , which represents whether the remote sensing satellite i establishes a cross-layer inter-satellite link with the communication satellite j in the spatial information network architecture in the t time slot and unloads data in real time. When the value is “1”, it means that the cross-layer inter-satellite link is established and data is unloaded, and when the value is “0”, it means that the cross-layer inter-satellite link is not established.

[0133] In step S32, a target integer programming problem is constructed based on the observation decision variable, the cross-layer link decision variable, the observation constraint, the link constraint, and the dependence relationship constraint between the observation and the link.

[0134] It should be understood that the target function that minimizes the switching times of the remote sensing satellite can be constructed according to the defined observation decision variable and cross-layer link decision variable, and the target function is subject to the constraints of the established observation constraint, link constraint, and dependence relationship constraint between the observation and the link, to obtain the target integer programming problem.

[0135] It should be noted that for a continuous observation task of a given dynamic target, the switching of the remote sensing satellite will cause the corresponding change of the communication satellite for data unloading, and the routing of the communication satellite layer needs to be re-planned. Therefore, by minimizing the switching times of the remote sensing satellite, the complexity of the routing planning of the communication satellite can be effectively reduced.

[0136] In a feasible implementation, step S32 can include steps S321-S322:

[0137] Step S321, an optimization objective of the switching times of the remote sensing satellite is established according to the observation decision variable, and a target function is obtained;

[0138] In a specific implementation, for the observation decision variable , a vector is defined, and a difference value of the observation state of the remote sensing satellite between adjacent time slots is expressed as follows:

[0139]

[0140] According to the difference value of the observation state , the switching times of the remote sensing satellite in the entire time domain range of the dynamic target operation can be obtained as , and the target function can be obtained by taking the minimum switching times of the remote sensing satellite as the optimization objective.

[0141] Step S322, based on the target function, a target integer programming problem is constructed according to the observation decision variable, the cross-layer link decision variable, the observation constraint, the link constraint, and the dependence relationship constraint between the observation and the link.

[0142] It should be understood that after the target function taking the minimum switching times of the remote sensing satellite as the optimization objective is established, the target integer programming problem can be obtained by taking the observation constraint, the link constraint, and the dependence relationship constraint between the observation and the link as the constraint conditions of the target function.

[0143] Step S33, the target integer programming problem is solved according to the position change information of the dynamic target, and a remote sensing satellite switching and data offloading scheme is obtained.

[0144] It should be understood that the optimal solution of the minimum switching times of the remote sensing satellite can be obtained by solving the target integer programming problem by taking the position change information of the dynamic target as the input parameter, and the optimal scheme of the remote sensing satellite observation and the real-time data offloading of the cross-layer link , i.e., the remote sensing satellite switching and data offloading scheme, can be obtained.

[0145] Exemplarily, please refer to Figure 6 , Figure 6A remote sensing satellite switching and data offloading planning result schematic diagram is provided for the third embodiment of the multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets of the application. The number of remote sensing satellites and communication satellites of the space information network architecture is greater than 500, the orbit height of the remote sensing satellites is 500 km, and the orbit height of the communication satellites is 1000 km. Each satellite is equipped with one set of cross-layer laser communication equipment, and the time of single laser capture (link switching) is set to 60 seconds. The speed of the dynamic target is 1 km / s, and the simulation time is 100 minutes (min). The integer programming problem is solved to obtain the remote sensing satellite switching and data offloading planning scheme as shown in Figure 6 As can be seen from the figure, within the entire time domain of the dynamic target operation, at least one remote sensing satellite is always observing it, and at the same time, the cross-layer inter-satellite link is maintained to support real-time data offloading.

[0146] In this embodiment, the solution of the multi-satellite cooperative continuous observation and real-time data offloading optimization scheme for dynamic targets is modeled as an integer programming problem. Based on the space information network architecture, the observation decision variable and the cross-layer link decision variable are defined, and the objective function that minimizes the switching times of the remote sensing satellites is designed. The unified planning of relay observation of the remote sensing satellites on the dynamic target and real-time cross-layer data offloading can be effectively realized. By minimizing the switching times of the remote sensing satellites, the complexity of the communication satellite routing planning is reduced.

[0147] By way of example, in order to facilitate understanding of the implementation process of the multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets obtained after combining the above-mentioned first embodiment, please refer to Figure 7 , Figure 7 A brief process schematic diagram of the multi-satellite cooperative continuous observation and real-time data offloading method for dynamic targets provided in the third embodiment of the application is provided, specifically:

[0148] According to the network connection relationship of the dynamic target, the remote sensing satellite and the communication satellite, a space information network architecture used in the multi-satellite cooperative continuous observation and real-time data offloading method for the dynamic target is obtained. In consideration of the time for cross-layer inter-satellite switching, the satellite relay switching condition is determined, that is, the condition for switching of the remote sensing satellite and the communication satellite, so as to formulate a continuous observation and real-time data offloading strategy. Through a specific integer programming linear optimization model design, 0-1 decision variables are defined, observation decision variables and cross-layer link decision variables are established, and observation constraints, link constraints and dependent relationship constraints of observation and link are established based on the space information network architecture. A target function of the least number of remote sensing satellite switching is designed, and a target integer programming problem is obtained. The position change information of the dynamic target is taken as an input parameter, the target integer programming problem is solved, and a remote sensing satellite switching and data offloading scheme is obtained, so as to realize the continuous observation of multiple remote sensing satellites on a certain dynamic target and the continuous communication coverage of multiple communication satellites on the remote sensing satellite performing a task.

[0149] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the multi-satellite cooperative continuous observation and real-time data offloading method for the dynamic target of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0150] The present application also provides a multi-satellite cooperative continuous observation and real-time data offloading device for a dynamic target, which is described with reference to Figure 8 , and the multi-satellite cooperative continuous observation and real-time data offloading device for the dynamic target comprises:

[0151] An architecture construction module 10 is configured to construct a space information network architecture based on a dynamic target, a remote sensing satellite and a communication satellite;

[0152] A constraint establishment module 20 is configured to establish observation constraints, link constraints and dependent relationship constraints of observation and link based on the space information network architecture;

[0153] A problem solving module 30 is configured to construct a target integer programming problem and solve it according to the position change information of the dynamic target, the observation constraints, the link constraints and the dependent relationship constraints of observation and link, so as to obtain a remote sensing satellite switching and data offloading scheme;

[0154] A task execution module 40 is configured to complete continuous observation and data offloading on the dynamic target according to the relay satellite switching condition and the remote sensing satellite switching and data offloading scheme.

[0155] In an embodiment, the task execution module 40 is further configured to switch the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the remote sensing satellite observing the dynamic target meets the relay satellite switching condition; and obtain observation data of the dynamic target observed by the switched remote sensing satellite and offload the observation data to the corresponding communication satellite through the cross-layer inter-satellite link.

[0156] In an embodiment, the task execution module 40 is further configured to switch the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the target visibility window of the remote sensing satellite observing the dynamic target ends; and switch the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the cross-layer inter-satellite link of the remote sensing satellite observing the dynamic target is switched.

[0157] In an embodiment, the problem solving module 30 is further configured 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 observation and link dependency relationship constraints; and 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 offloading scheme.

[0158] In an embodiment, the problem solving module 30 is further configured to establish observation decision variables based on the observation of the dynamic target by the remote sensing satellite; and establish cross-layer link decision variables based on the communication between the remote sensing satellite and the communication satellite.

[0159] In an embodiment, the problem solving module 30 is further configured to establish an optimization target of the number of remote sensing satellite switching times based on the observation decision variables to obtain a target function; and construct a target integer programming problem based on the target function, the observation decision variables, the cross-layer link decision variables, the observation constraints, the link constraints, and the observation and link dependency relationship constraints.

[0160] In an embodiment, the constraint establishing module 20 is further configured to determine selection conditions of remote sensing satellites performing observation tasks in the spatial information network architecture to obtain observation constraints; determine cross-layer inter-satellite link building conditions of remote sensing satellites and communication satellites in the spatial information network architecture to obtain link constraints; and constrain the number of cross-layer inter-satellite links connected to the remote sensing satellites performing observation tasks to obtain observation and link dependency relationship constraints.

[0161] In an embodiment, the constraint establishing module 20 is further configured to determine a visibility condition constraint based on the visibility of the dynamic target by the remote sensing satellite, determine a continuous observation constraint based on the number of remote sensing satellites observing the dynamic target, and obtain a selection condition of the remote sensing satellite performing the observation task in the space information network architecture according to the visibility condition constraint and the continuous observation constraint, to obtain the observation constraint.

[0162] In an embodiment, the constraint establishing module 20 is further configured to determine a chainable condition constraint based on the cross-layer chainable premise condition, determine a link number constraint based on the number limit of the cross-layer inter-satellite link of the remote sensing satellite and the communication satellite, and determine a link switching interval constraint based on the link switching time interval requirement of the remote sensing satellite and the communication satellite, and obtain the link constraint according to the chainable condition constraint, the link number constraint, and the link switching interval constraint.

[0163] In an embodiment, the architecture constructing module 10 is further configured to establish a remote sensing satellite layer and a communication satellite layer based on a plurality of remote sensing satellites and a plurality of communication satellites respectively, wherein the plurality of remote sensing satellites in the remote sensing satellite layer communicate with the corresponding communication satellites through cross-layer inter-satellite links, and the plurality of communication satellites in the communication satellite layer communicate through intra-layer inter-satellite links; and construct a space information network architecture based on a dynamic target, the remote sensing satellite layer, and the communication satellite layer, wherein the remote sensing satellite layer is used for relay observation of the dynamic target.

[0164] The multi-satellite cooperative continuous observation and real-time data offloading device for a dynamic target provided in the present application adopts the multi-satellite cooperative continuous observation and real-time data offloading method for a dynamic target in the above embodiments, and can solve the technical problem of how to continuously observe a certain dynamic target while ensuring uninterrupted communication coverage of the remote sensing satellite performing the observation task to support real-time data offloading. Compared with the prior art, the multi-satellite cooperative continuous observation and real-time data offloading device for a dynamic target provided in the present application has the same beneficial effects as the multi-satellite cooperative continuous observation and real-time data offloading method for a dynamic target provided in the above embodiments, and other technical features of the multi-satellite cooperative continuous observation and real-time data offloading device for a dynamic target are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0165] The application provides a multi-satellite cooperative continuous observation and real-time data unloading device for a dynamic target. The multi-satellite cooperative continuous observation and real-time data unloading device for a dynamic target comprises at least one processor and a memory in communication connection with the at least one processor. The memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target in Embodiment I.

[0166] Reference will be made to the following drawings to Figure 9 which shows a structural diagram of the multi-satellite cooperative continuous observation and real-time data unloading device for a dynamic target suitable for implementing the embodiments of the application. The multi-satellite cooperative continuous observation and real-time data unloading device for a dynamic target in the embodiments of the application can include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (for example, vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 9 The multi-satellite cooperative continuous observation and real-time data unloading device for a dynamic target shown is only an example and should not bring any limitation to the functions and use range of the embodiments of the application.

[0167] As Figure 9As shown, the multi-satellite cooperative continuous observation and real-time data offloading device for dynamic targets can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a ROM (Read Only Memory) 1002 or programs loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. In the RAM 1004, various programs and data required for operation of the multi-satellite cooperative continuous observation and real-time data offloading device for dynamic targets are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, 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.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the multi-satellite cooperative continuous observation and real-time data offloading device for dynamic targets to communicate wirelessly or by wire with other devices to exchange data. Although the multi-satellite cooperative continuous observation and real-time data offloading device for dynamic targets with various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0168] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carrying computer program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0169] The device for continuous observation and real-time data unloading of multiple satellites facing dynamic targets provided by the application adopts the method for continuous observation and real-time data unloading of multiple satellites facing dynamic targets in the above embodiment, and can solve the technical problem of how to continuously observe a dynamic target while ensuring uninterrupted communication coverage of a remote sensing satellite performing an observation task to support real-time data unloading. Compared with the prior art, the device for continuous observation and real-time data unloading of multiple satellites facing dynamic targets provided by the application has the same beneficial effects as the method for continuous observation and real-time data unloading of multiple satellites facing dynamic targets provided by the above embodiment, and other technical features of the device for continuous observation and real-time data unloading of multiple satellites facing dynamic targets are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0170] It should be understood that various parts of the present application can be realized 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.

[0171] The above describes only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0172] The present application provides a computer readable storage medium having computer readable program instructions (i.e. computer programs) stored thereon, the computer readable program instructions being used to execute the method for continuous observation and real-time data unloading of multiple satellites facing dynamic targets in the above embodiment.

[0173] The computer readable storage medium provided in the application may be, for example, a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination of the above. More specific examples of the computer readable storage medium may include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the embodiment, the computer readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), and the like, or any suitable combination of the above.

[0174] The above computer readable storage medium may be contained in a multi-satellite cooperative continuous observation and real-time data unloading device for dynamic targets, or may exist independently without being assembled into the multi-satellite cooperative continuous observation and real-time data unloading device for dynamic targets.

[0175] The above computer readable storage medium carries one or more programs, which, when executed by the multi-satellite cooperative continuous observation and real-time data unloading device for dynamic targets, cause the multi-satellite cooperative continuous observation and real-time data unloading device for dynamic targets to: construct a space information network architecture based on a dynamic target, a remote sensing satellite, and a communication satellite; establish observation constraints, link constraints, and dependent relationship constraints of observation and link based on the space information network architecture; construct a target integer programming problem and solve it according to the position change information of the dynamic target, the observation constraints, the link constraints, and the dependent relationship constraints of observation and link, to obtain a remote sensing satellite switching and data unloading scheme; and complete continuous observation and data unloading of the dynamic target according to a relay satellite switching condition and the remote sensing satellite switching and data unloading scheme.

[0176] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0177] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0178] The modules involved in the embodiments of the present application can be implemented in software or hardware. In some cases, the names of the modules do not constitute a limitation on the modules themselves.

[0179] The readable storage medium provided by the application is a computer readable storage medium, and the computer readable storage medium stores computer readable program instructions (i.e., a computer program) for executing the above-mentioned multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target. The technical problem of how to continuously observe a dynamic target while ensuring uninterrupted communication coverage of a remote sensing satellite performing an observation task to support real-time data unloading can be solved. Compared with the prior art, the computer readable storage medium provided by the application has the same beneficial effects as the multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target provided by the above-mentioned embodiments, and details are not repeated here.

[0180] The application further provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the above-mentioned multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target.

[0181] The computer program product provided by the application can solve the technical problem of how to continuously observe a dynamic target while ensuring uninterrupted communication coverage of a remote sensing satellite performing an observation task to support real-time data unloading. Compared with the prior art, the computer program product provided by the application has the same beneficial effects as the multi-satellite cooperative continuous observation and real-time data unloading method for a dynamic target provided by the above-mentioned embodiments, and details are not repeated here.

[0182] The above-mentioned only some embodiments of the application, not therefore limit the patent scope of the application, any equivalent structural transformation made in the technical concept of the application, using the content of the application specification and drawings, or direct / indirect application in other related technical fields are included in the patent protection scope of the application.

Claims

1. A method for multi-satellite collaborative continuous observation and real-time data offloading for dynamic targets, characterized in that, The method includes: A remote sensing satellite layer and a communication satellite layer are established based on multiple remote sensing satellites and multiple communication satellites, respectively. The multiple remote sensing satellites in the remote sensing satellite layer communicate with the corresponding communication satellites through inter-layer inter-satellite links, and the multiple communication satellites in the communication satellite layer communicate with each other through intra-layer inter-satellite links. A spatial 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 observations of the dynamic targets; The selection criteria for remote sensing satellites performing observation tasks in the aforementioned spatial information network architecture are determined to obtain observation constraints, wherein at least one remote sensing satellite observes the dynamic target in each time slot; The conditions for establishing inter-satellite links between remote sensing satellites and communication satellites in the aforementioned space information network architecture are determined, and the link constraints are obtained. The number of inter-satellite links maintained by the remote sensing satellites performing the observation mission is constrained to obtain the dependency constraint between observation and links. The dependency constraint between observation and links is used to restrict that the remote sensing satellites performing the observation mission must have at least one inter-satellite link maintained at the same time. Based on the aforementioned spatial information network architecture, observation decision variables and cross-layer link decision variables are established. The observation decision variables are used to determine whether each remote sensing satellite in each time slot of the spatial information network architecture observes the dynamic target. Based on the observed decision variables, an optimization objective for the number of remote sensing satellite switching operations is established, resulting in the objective function: For the observed decision variables... Define vector The observation status difference between two adjacent time slot remote sensing satellites is expressed as follows: The number of times remote sensing satellites switched during the entire time domain of the dynamic target's operation was obtained based on the observed state difference expression. Minimizing the number of remote sensing satellite switching operations is taken as the optimization objective, resulting in the objective function. ; Based on the objective function, an objective 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 relationship constraints between observation and link. Based on the position change information of the dynamic target, the integer programming problem of the target is solved to obtain the remote sensing satellite switching and data offloading scheme; Based on 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 as described in claim 1, characterized in that, The steps for 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 offloading scheme include: When the remote sensing satellite observing the dynamic target meets the relay satellite switching conditions, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data offloading scheme; The system acquires the observation data of the remote sensing satellite on the dynamic target after the switch, and offloads the observation data to the corresponding communication satellite through the inter-satellite link.

3. The method as described in claim 2, characterized in that, The conditions for relay satellite handover include the end of the target visibility window and the handover of the inter-satellite link across layers. The step of switching the remote sensing satellite observing the dynamic target according to the remote sensing satellite switching and data offloading scheme when the remote sensing satellite observing the dynamic target meets the relay satellite switching conditions includes: When the target visibility window of the remote sensing satellite observing the dynamic target ends, the remote sensing satellite observing the dynamic target is switched according to the remote sensing satellite switching and data offloading scheme; When the inter-satellite 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 offloading scheme.

4. The method as described in claim 1, characterized in that, The steps for establishing observation decision variables and cross-layer link decision variables based on the spatial information network architecture include: Observation decision variables are established based on the observations of the dynamic target by the remote sensing satellite; Cross-layer link decision variables are established based on the communication status between the remote sensing satellite and the communication satellite.

5. The method as described in claim 1, characterized in that, The step of determining the selection criteria for remote sensing satellites performing observation tasks in the space information network architecture and obtaining observation constraints includes: Visibility constraints are determined based on the visibility of the dynamic target by the remote sensing satellite; Continuous observation constraints are determined based on the number of remote sensing satellites observing the dynamic target. Based on the visibility constraints and the continuous observation constraints, the selection conditions for remote sensing satellites performing observation tasks in the spatial information network architecture are obtained, thus obtaining the observation constraints.

6. The method as described in claim 1, characterized in that, The step of determining the inter-satellite link establishment conditions between remote sensing satellites and communication satellites in the space information network architecture, and obtaining the link constraints, includes: Determine the constraints on the conditions for building a chain based on the preconditions for building a chain across layers. The number of links is constrained based on the number of inter-satellite links between the remote sensing satellite and the communication satellite. The link switching interval constraint is determined based on the link switching time interval requirements of the remote sensing satellite and the communication satellite; Link constraints are obtained based on the constraints on the conditions for establishing links, the constraints on the number of links, and the constraints on the link switching interval.

Images