Constellation collaborative observation task planning method for near space single target

Abstract

The invention provides a constellation collaborative observation task planning method for a near space single target, which comprises the following steps of: scheduling collaborative tracking observation resources in a type identification stage to obtain a type identification result and target tracking state information; in the high uncertainty maintaining stage, performing intention-based task planning on the cooperative tracking observation task based on the obtained type identification result and target tracking state information, and determining the maneuvering state of the target; and when target maneuvering is completed, entering a low-uncertainty handover stage, in the low-uncertainty handover stage, carrying out precision improvement-oriented task planning on a collaborative tracking observation task, determining an observation combination at a corresponding moment, and completing constellation collaborative observation task planning for a near space single target. The method can effectively complete the cooperative tracking observation task of the hypersonic flight vehicle in the near space, and has the advantages of double-satellite cooperation, high positioning precision, low target loss probability and the like.

Description

Technical Field

[0001] The present invention relates to the fields of aerospace, multi-satellite coordination technology and multi-satellite tracking technology, and in particular to a constellation coordination observation mission planning method for a single target in near space, and also to a corresponding planning system, a computer planning device and a computer-readable storage medium. Background Art

[0002] Near space refers to the space area with an altitude of 20 to 100 km above the ground. The altitude is between the upper limit of the operating altitude of traditional aircraft and the lower limit of the operating altitude of spacecraft, covering most areas of the stratosphere, the mesosphere and parts of the thermosphere. Near Space Hypersonic Vehicle (NSHV) refers to an aircraft that operates in near space, has a flight speed higher than Mach 5, and can use its own power or aerodynamic force to perform large-scale maneuvers. Faced with the high speed, near space airspace operating altitude and strong maneuverability of near hypersonic targets, traditional land / sea-based radars are affected by factors such as line of sight and ground obstruction, making it difficult to effectively detect targets at long distances. At the same time, near hypersonic targets can avoid the effective areas of multi-point distributed radars with their strong maneuverability, and fixed radar systems find it difficult to relay detection of them.

[0003] The space-based observation system uses in-orbit satellites as detection resources, which can effectively reduce the impact of geographical and environmental factors to achieve all-weather tracking and detection of targets. In order to achieve the rapid response needs for all-weather monitoring tasks around the world, firstly, the number of available satellites in the space-based observation system must be able to meet global multiple coverage at any time; secondly, in order to cope with the high-speed and highly maneuverable movement characteristics of nearby hypersonic targets, observation satellites need to be agile satellites with multiple degrees of freedom and rapid maneuverability. Therefore, in order to achieve the observation mission of near-space hypersonic targets, the space-based monitoring system is a large-scale constellation system composed of a large number of agile satellites. Existing planning technologies for large-scale constellation collaborative observation missions usually have the following technical problems:

[0004] 1. The large-scale constellation collaborative observation mission planning technology for ground static point targets and ballistic targets does not take into account the uncertainty characteristics of the targets and cannot be applied to near-space targets with high uncertainty and strong maneuverability.

[0005] 2. Existing planning technologies usually divide the task planning time into the entire life cycle of the target. However, the collaborative tracking and observation task of near-space targets has significant stage characteristics, and has different planning goals at different stages of the observation task. Existing technologies pay little attention to the stage characteristics of near-space targets. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the present invention provides a method for planning a constellation collaborative observation mission for a single target in near-space, and also provides a corresponding planning system, a computer planning device, and a computer-readable storage medium for planning large-scale constellation collaborative tracking and observation missions for near-space hypersonic aircraft.

[0007] According to one aspect of the present invention, a method for planning a constellation collaborative observation mission for a single target in near space is provided, comprising:

[0008] The large-scale constellation collaborative observation mission of a single target in near space is divided into the following three mission phases to be performed in sequence: type identification phase, high uncertainty maintenance phase and low uncertainty handover phase.

[0009] In the type identification stage, the collaborative tracking observation resources are scheduled to obtain type identification results and target tracking status information;

[0010] In the high uncertainty maintenance stage, based on the obtained type recognition result and target tracking state information, the collaborative tracking observation task is planned based on intent to determine the maneuvering state of the target;

[0011] When the target maneuver is completed, the low-uncertainty handover phase is entered. During the low-uncertainty handover phase, task planning for accuracy improvement is performed on the collaborative tracking observation task, the observation combination at the corresponding moment is determined, and the constellation collaborative observation task planning for a single target in near space is completed.

[0012] According to another aspect of the present invention, a system for planning a constellation collaborative observation mission for a single target in near space is provided, comprising:

[0013] Type recognition module, which is used to schedule collaborative tracking observation resources in the single target type recognition stage in near space, and obtain type recognition results and target tracking status information;

[0014] The high uncertainty maintenance module, based on the scheduling results, performs intention-based task planning for the collaborative tracking and observation task in the high uncertainty maintenance phase of a single target in near space to determine the maneuvering state of the target;

[0015] The low-uncertainty handover module enters the low-uncertainty handover phase for a single target in near space when the target maneuver is completed. During the low-uncertainty handover phase, it performs task planning for collaborative tracking and observation tasks aimed at improving accuracy and determines the observation combination at the corresponding moment.

[0016] According to a third aspect of the present invention, there is provided a computer planning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, can be used to execute any one of the methods described above in the present invention, or to run the system described above in the present invention.

[0017] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can be used to execute any of the methods described above in the present invention, or to run the system described above in the present invention.

[0018] Due to the adoption of the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0019] The constellation collaborative observation task planning method for a single target in near space provided by the present invention adopts a collaborative tracking resource scheduling scheme in the type recognition phase with single-step feedback, takes the single-step prediction of the filtering algorithm as the planning input and combines the collaborative observation error relationship of the observation system to realize efficient scheduling of satellite resources, and has the characteristics of high robustness and high timeliness.

[0020] The constellation collaborative observation mission planning method for a single target in near space provided by the present invention uses type recognition results and target tracking status information as initial planning moment inputs during the high uncertainty maintenance stage, performs target maintenance according to intentions and estimated trajectories, and completes collaborative observation planning based on the probability distribution of target potential positions and the observation system capability envelope, thus solving the collaborative observation planning problem caused by high uncertainty and strong mobility of the target.

[0021] The constellation collaborative observation task planning method for a single target in near space provided by the present invention adopts a collaborative observation task planning scheme oriented to accuracy improvement in the low-uncertainty handover stage, thereby improving the collaborative tracking observation accuracy of large-scale constellation near space targets in the low-uncertainty stage.

[0022] The constellation collaborative observation task planning method for a single target in near-space provided by the present invention can realize the effective allocation of large-scale observation constellation resources according to the characteristics of the observation task requirements of the target at different stages, and has the advantages of dual-satellite collaborative work, high positioning accuracy, and low probability of target loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0024] Figure 1 The present invention is a flowchart of a method for planning a constellation collaborative observation mission for a single target in near space in a preferred embodiment of the present invention.

[0025] Figure 2 This is a workflow diagram of the type identification stage in a preferred embodiment of the present invention.

[0026] Figure 3 This is a workflow diagram of the high uncertainty maintenance phase in a preferred embodiment of the present invention.

[0027] Figure 4 This is a workflow diagram for the low uncertainty handover stage in a preferred embodiment of the present invention.

[0028] Figure 5 It is a schematic diagram of the component modules of a constellation collaborative observation mission planning system for a single target in near space in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following is a detailed description of the embodiments of the present invention: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0030] An embodiment of the present invention provides a constellation collaborative observation mission planning method for a single target in near space. The method divides the large-scale constellation collaborative observation mission of a single target in near space into three mission stages through collaborative tracking and observation resource scheduling in the type identification stage, high-uncertainty maintenance stage mission planning based on intent, and low-uncertainty handover stage mission planning for accuracy improvement. In each mission stage, a corresponding planning method is adopted to complete the collaborative tracking and observation mission of a hypersonic aircraft in near space, thereby achieving the advantages of dual-satellite collaboration, high positioning accuracy, and low target loss probability of large-scale constellation collaborative observation mission planning.

[0031] Specifically, Figure 1 As shown, the constellation collaborative observation task planning method for a single target in near space provided by this embodiment may include the following operations:

[0032] S0, divides the near-space single-target large-scale constellation collaborative observation mission into the following three mission phases to be executed in sequence: type identification phase, high uncertainty maintenance phase, and low uncertainty handover phase;

[0033] S1, in the type identification stage, the collaborative tracking observation resources are scheduled to obtain the type identification results and target tracking status information;

[0034] S2, in the high uncertainty maintenance stage, based on the type recognition results and target tracking status information, the collaborative tracking observation task is planned based on intent to determine the maneuvering state of the target;

[0035] S3, when the target maneuver is completed, it enters the low-uncertainty handover stage. In the low-uncertainty handover stage, task planning for accuracy improvement is carried out for the collaborative tracking observation task, the observation combination at the corresponding moment is determined, and the constellation collaborative observation task planning for a single target in near space is completed.

[0036] In some preferred implementations, the optimization goal of the above S1, type recognition stage is to improve the positioning accuracy of the target during the observation process. For the observation system, at the task moment, according to the current position information of the target, the one-step prediction of the tracking filtering algorithm is used to obtain the target position at the single-step planning moment, and the observation combination with the smallest observation error is selected according to the target position to perform the observation task; after the observation action is executed, the measurement data is obtained as the update data of the filtering algorithm, and the filtering algorithm and resource scheduling are run alternately to complete the continuous tracking of the target and realize type recognition.

[0037] In some preferred implementations, the above S1, in the type identification stage, schedules the collaborative tracking observation resources to obtain the type identification result and the target tracking state information, and may further include the following operations:

[0038] like Figure 2 As shown in the figure, a single-step feedback collaborative tracking observation scheme is adopted. At the task planning time t sche , according to the predicted t sc h e +1 time target position and known observation system ephemeris, calculate the geometric position status of each satellite and target in the observation system at the next time, and output type recognition result and target tracking status information.

[0039] In some preferred implementations, the above-mentioned single-step feedback collaborative tracking observation scheme may further include:

[0040] S11, at the mission moment, according to the current position information of the target, a one-step prediction of the tracking filter algorithm is used to obtain the spatial positions of each satellite and target that need to be observed in the observation system at the next moment;

[0041] S12, selecting a set of observation candidate stars for resource scheduling based on the predicted spatial position and observation system ephemeris under effective observation constraints;

[0042] S13, calculate the observation errors under different observation candidate star combinations according to the principle of dual-star positioning error, select the minimum observation error combination as the update data of the next tracking filter algorithm for resource scheduling; alternately run the tracking filter algorithm and resource scheduling to obtain type recognition results and target tracking status information.

[0043] In a specific example, if Figure 2 As shown, the method for scheduling collaborative tracking observation resources includes:

[0044] Step 1: According to the constellation characteristics of the observation system and the one-step prediction position of the target, the candidate stars are screened based on the greedy strategy and the one-time effective observation constraint to obtain the N closest to the target. can Satellites form a candidate satellite set

[0045] Step 2: Under the dual-satellite observation constraint, the candidate satellite set can be divided into observation combinations, and obtain the observation combination set

[0046] Step 3: According to the principle of binary satellite positioning error, traverse the observation combination set O pair , and obtain the prediction measurement error set of each observation combination under the target one-step prediction position state Select minΣ based on greedy strategy m , get the observation resource scheduling plan;

[0047] Step 4: Perform the actual observation task according to the scheduling plan and obtain the target at t according to the principle of binary satellite geometric positioning. sche The measured position at time +1 is output to the particle filter.

[0048] In some preferred embodiments, the above S2, in the high uncertainty maintenance stage, based on the type recognition result and the target tracking state information, performs intention-based task planning for the collaborative tracking observation task, determines the maneuvering state of the target, and may further include the following operations:

[0049] S21, determining a planning cycle according to a target state; wherein the target state includes: a current speed of the target, a current height of the target, a single observation coverage capability of the observation system, and / or a distribution relationship of key areas, which can be calculated from measurement data obtained from satellite observation actions;

[0050] S22, based on the planning cycle, adopts the intention-based task planning observation scheme, and performs the observation task on the target based on the type recognition result and the target tracking status information;

[0051] S23, when it is detected that the target is performing lateral maneuvers, the intention-based mission planning observation scheme is immediately converted into the single-step feedback collaborative tracking observation scheme of the type recognition phase to determine the maneuvering state of the target.

[0052] In some preferred implementations, the above S2, performing the first planning based on the intention for the collaborative tracking and observation task, may further include the following operations:

[0053] The intent-based task planning observation scheme is forward connected to the single-step feedback collaborative tracking observation scheme, and the type recognition result and target tracking state information obtained by the single-step feedback collaborative tracking observation scheme are used as the initial planning moment input of the intent-based task planning observation scheme; at the same time, the target is maintained according to the intention and the estimated trajectory, and the target maneuvering state is detected. If the target does not maneuver within the planning cycle, the intent-based task planning observation scheme is re-called according to the target-related information at the current moment to obtain the target maintenance observation scheme for the next period; if the target is detected to be maneuvering, the single-step feedback collaborative tracking observation scheme is used again, and the low-uncertainty handover stage is entered when the target maneuver is completed.

[0054] in:

[0055] The intent-based mission planning observation scheme is used to obtain the satellite ID, mission start and end time of the observation mission on the target in a large-scale constellation.

[0056] Intent and estimated trajectory can be obtained through the following technical means: Intent can be obtained through dynamic Bayesian network reasoning based on target-related information, and estimated trajectory can be obtained through dynamic model extrapolation or neural network prediction based on target-related information.

[0057] Target related information, including target speed, altitude, maneuvering status, maneuvering margin, missile-target distance, heading angle distribution, and reachable area.

[0058] In a specific example, if Figure 3 As shown, the method for performing intention-based task planning for a collaborative tracking and observation task includes:

[0059] Step 1: Initialize the dynamic Bayesian network, infer the target intention based on the key area information, and obtain the target intention set at the current moment

[0060] Step 2: Calculate the target's speed set at each future moment based on the target's current height and speed, as well as the target's latest handover time LT in its current state and high collection

[0061] Step 3, according to IS tsche, EVS and EHS and type identification phase results α min ,α max ,σ min ,σ max Combined with key area location collection Calculate the latest maneuver time set for each key area

[0062] Step 4: Assume that the target is a uniformly distributed random variable at the future maneuvering moment to calculate the set of maneuvering estimated trajectories of the target at each moment.

[0063] Step 5: Calculate the minimum single-time covered airspace range obsAre according to the characteristics of the observation system min and the average multiple coverage number N in the near-space airspace height interval cov ;

[0064] Step 6: Calculate the target in [t sche ,LT] The potential location set at each time point in the time interval

[0065] Step 7: Calculate the target according to PPS at [t sche ,LT] The maximum distance set of potential distribution at each time point in the time interval PPMDS = {ppmd1, ppmd2, ..., ppmd LT};

[0066] Step 8: According to the observation system obsAre min 、N cov The maximum distance set of potential distribution PPMDS is used to calculate the dynamic programming cycle time Δt MT ;

[0067] Step 9: In the planning period [t sche ,t sche +Δt MT ], according to obsAre min Divide the target potential position PPS at each moment into N cov / 2 sets of areas to be observed

[0068] Step 10: In the planning period [t sche ,t sche +Δt MT ], obtain the total candidate satellite set at each moment according to TOS

[0069] Step 11, in the planning period [t sche ,t sche +Δt MT], if the number of target potential areas at the nth moment is less than Then use single-step feedback to allocate resources; otherwise, use a greedy strategy to allocate resources based on the principle of achieving maximum coverage of the target area; and obtain the resource allocation result;

[0070] Step 12: The planning phase of the target maintenance collaborative observation task based on the intention ends. The observation system executes the observation task according to the planning scheme and detects the target's maneuvering state. If the target does not maneuver before the execution of the planning scheme ends, steps 2-11 are repeated; otherwise, the collaborative tracking resource scheduling algorithm based on single-step feedback is called to continuously track and observe the target until the maneuver ends.

[0071] In some preferred implementations, the above S3, in the low uncertainty handover stage, performs task planning for accuracy improvement on the collaborative tracking observation task, determines the observation combination at the corresponding time, and obtains the measurement value at the corresponding time, and may further include the following operations:

[0072] A collaborative tracking and observation task planning scheme for precision improvement is adopted to carry out task planning for collaborative tracking and observation tasks, and the scheme includes: a collaborative observation task planning part and a target state estimation part; wherein, the input of the collaborative observation task planning part is the predicted trajectory of the target, and the output is the collaborative observation planning scheme for this trajectory; the input of the target state estimation part is the collaborative observation planning scheme, and when its measurement is updated, the observation combination (composed of two satellites in a large-scale constellation) in the collaborative observation planning scheme is used to observe the target to obtain the measurement value at the corresponding moment.

[0073] Among them, the predicted trajectory of the target is obtained in the accuracy improvement stage, and an aerodynamic model is constructed according to the observation results of the target (type recognition results, aerodynamic parameter distribution, maneuver margin) for extrapolation.

[0074] In a specific example, if Figure 4 As shown, the method for task planning for precision improvement of collaborative tracking observation tasks includes:

[0075] Step 1: Initialize the target state estimation algorithm; divide the target prediction trajectory according to the processing planning cycle Δt to obtain the prediction trajectory point set

[0076] Step 2, for pts n Based on the greedy strategy and one effective observation constraint, the candidate stars are screened to obtain the N closest to the target at the nth prediction point. can Satellites form a candidate satellite set

[0077] Step 3: Under the dual-satellite observation constraint, the candidate satellite set can be divided into observation combinations, and obtain the observation combination set

[0078] Step 4: randomly generate N es sampling points, get pts n Error sampling distribution point set of trajectory prediction points

[0079] Step 5: Connect the intersection of the earth's center and each point in the error sampling distribution point set with the earth's surface as the ground projection error distribution point, recorded as the set

[0080] Step 6: According to the principle of binary satellite positioning error, traverse the observation combination set Calculate pts n The average observation error under each observation combination Get the set of prediction measurement errors of each observation combination under the target one-step prediction position state Based on greedy strategy selection Get the observation resource scheduling plan for the nth prediction point

[0081] Step 7: loop through steps 2 to 6 to obtain the collaborative observation task planning scheme for the entire predicted trajectory.

[0082] Step 8: Run the tracking and positioning algorithm. First, the state is predicted based on the target motion model, and then the X sche The observation combination corresponding to the observation time in performs the observation and obtains the measurement y n , according to the measured particle weight update, followed by particle weight normalization and target state update;

[0083] Step 9: Repeat step 8 until the stage task is completed.

[0084] The technical solution provided by the above embodiment of the present invention is further described in detail below in conjunction with a specific verification example.

[0085] In this specific verification example, the scenario used is: the aerodynamic parameter settings of the near-space hypersonic vehicle, the mass is 907.185kg, and the aerodynamic reference area is 0.4839m 2 , the maximum heat flux is 7000kW / m 2The initial position of the target is set at 145° east longitude, 15° north latitude, 80km altitude, 6000m / s initial velocity, and 0° trajectory inclination. In the large-scale observation system, each satellite is at an altitude of 1000km, set to a circular orbit with an eccentricity of 0, an orbital inclination of 60°, a constellation configuration of Walker-σ, parameters of 256 / 16 / 0, a maximum effective detection range of 4000km, a half field of view of 1°, and an angular measurement error of 100μrad.

[0086] The specific verification example involves a large-scale constellation collaborative observation mission planning method for a single target in near space, which mainly includes the following three stages:

[0087] 1. The near-space single target type identification phase is used for collaborative tracking and observation resource scheduling. The specific implementation process is as follows: Figure 2 shown.

[0088] At the task planning time t sche , according to the predicted t sche The target position at time +1 and the known observation system ephemeris can be used to calculate the geometric position of each satellite and the target in the observation system at the next moment. The observation resource scheduling method first obtains the spatial position that needs to be observed at the next moment through the target one-step prediction, and then selects the set of observation candidate stars under the effective observation constraints based on the predicted position and the observation system ephemeris. Finally, the observation error under different observation combinations is calculated based on the principle of double-star positioning error, and the minimum observation error combination is selected as the next measurement input.

[0089] 2. The high uncertainty maintenance phase of a single target in near-space is used for the initial planning of collaborative tracking and observation tasks. The specific implementation process is as follows: Figure 3 shown.

[0090] During the high uncertainty maintenance phase mission, mission planning is a periodic dynamic decision-making process. At each planning moment, the planning cycle needs to be determined according to the different states of the target. The length of the planning cycle depends on the current speed of the target, the current height of the target, the single observation coverage capability of the observation system, the distribution relationship of key areas, etc. At the same time, the end mark of the high uncertainty maintenance mission is dynamic. When the target is observed according to the planning scheme, if the target is detected to have a lateral maneuver, the observation mode should be immediately converted to a single-step feedback collaborative tracking method because the maneuvering state of the target needs to be determined.

[0091] The intention-based task planning method forward connects the single-step feedback collaborative tracking observation method of the type recognition stage, and uses the type recognition result and target tracking state information as the initial planning moment input; at the same time, the target is maintained according to the intention and estimated trajectory, and the target maneuvering state is detected. If the target does not maneuver within the planning cycle, the intention-based task planning is re-called according to the target-related information at the current moment to obtain the target maintenance observation plan for the next period; if the target is detected to be maneuvering, the single-step feedback collaborative tracking method is used again, and the low-uncertainty target maintenance phase task is entered when the target maneuver is completed.

[0092] 3. Low-uncertainty handover phase for single target in near space, used for final planning of collaborative tracking and observation mission. The specific implementation process is as follows: Figure 4 shown.

[0093] In the low-uncertainty handover stage, the observation system knows the target's relatively accurate predicted trajectory, but it cannot meet the task handover accuracy. It is necessary to continuously track and observe the predicted trajectory to improve the position accuracy and trajectory prediction accuracy. Unlike the type identification stage of single-step feedback, the observation system has a relatively long-term predicted trajectory of the target in the handover stage. In the single-step feedback step, the filtering algorithm and resource scheduling run alternately, while the task planning method in the handover stage runs once at the initial moment to obtain the observation plan for a period of time in the future. If there is no subsequent event trigger, the task planning algorithm will no longer run.

[0094] The collaborative tracking observation task planning algorithm for precision improvement consists of two parts: collaborative observation task planning and target state estimation. The input of the collaborative observation task planning part is the predicted trajectory of the target, and the output is the collaborative observation planning scheme for this segment of the trajectory. The input of the target state estimation part is the collaborative observation planning scheme. During its measurement update step, the observation combination in the planning scheme is used to observe the target and obtain the measurement value at the corresponding moment. According to the Bayesian filtering theory, the accuracy of the target state estimation algorithm mainly depends on the accuracy of the target motion model and the measurement accuracy. At this stage, the task planning system needs to plan the observation combination at the corresponding moment based on the predicted trajectory of the target obtained in the low-uncertainty handover stage.

[0095] Through this specific verification example, it can be seen that the method provided by the above embodiment of the present invention can be used to achieve effective full-process tracking and observation of the target.

[0096] Based on the same inventive concept, an embodiment of the present invention also provides a constellation collaborative observation mission planning system for a single target in near space.

[0097] Specifically, Figure 5 As shown, the constellation collaborative observation mission planning system for a single target in near space provided by this embodiment may include the following modules:

[0098] Type recognition module, which is used to schedule collaborative tracking observation resources in the single target type recognition stage in near space, and obtain type recognition results and target tracking status information;

[0099] The high uncertainty maintenance module, based on the scheduling results, performs intention-based task planning for the collaborative tracking and observation task in the high uncertainty maintenance phase of a single target in near space to determine the maneuvering state of the target;

[0100] The low-uncertainty handover module enters the low-uncertainty handover phase for a single target in near space when the target maneuver is completed. During the low-uncertainty handover phase, it performs task planning for collaborative tracking and observation tasks aimed at improving accuracy and determines the observation combination at the corresponding moment.

[0101] It should be noted that the steps in the method provided by the present invention can be implemented by using corresponding modules, devices, units, etc. in the system. Those skilled in the art can refer to the technical solution of the method to realize the composition of the system, that is, the embodiments in the method can be understood as preferred examples for constructing the system, which will not be elaborated here.

[0102] An embodiment of the present invention further provides a computer planning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the device can be used to execute any method of the above-mentioned embodiments of the present invention, or to run any system of the above-mentioned embodiments of the present invention.

[0103] Optionally, the memory is used to store programs; the memory may include volatile memory (English: volatile lememory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories. And the above computer programs, computer instructions, data, etc. can be called by the processor.

[0104] The above-mentioned computer programs, computer instructions, etc. may be stored in one or more memories in partitions, and the above-mentioned computer programs, computer instructions, data, etc. may be called by a processor.

[0105] The processor is used to execute the computer program stored in the memory to implement the various steps of the method or various modules of the system involved in the above embodiments. For details, please refer to the relevant descriptions in the above method and system embodiments.

[0106] The processor and the memory may be independent structures or integrated structures. When the processor and the memory are independent structures, the memory and the processor may be coupled and connected via a bus.

[0107] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it can be used to execute any method of the above embodiments of the present invention, or to run any system of the above embodiments of the present invention.

[0108] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.

[0109] The above-mentioned embodiment of the present invention provides a constellation collaborative observation task planning method and system for a single target in near space. Through collaborative tracking and observation resource scheduling in the type identification phase, high-uncertainty maintenance phase task planning based on intent, and low-uncertainty handover phase task planning for accuracy improvement, the large-scale constellation collaborative observation task of a single target in near space is divided into three task phases. Corresponding planning methods are adopted in each task phase to complete the collaborative tracking and observation task of a hypersonic aircraft in near space. The method and system have the advantages of dual-satellite collaboration, high positioning accuracy, and low target loss probability.

[0110] All matters not covered in the above embodiments of the present invention are well known in the art.

[0111] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A method for planning a constellation collaborative observation mission for a single target in near space, characterized in that: include: The large-scale constellation collaborative observation mission of a single target in near space is divided into the following three mission phases to be performed in sequence: type identification phase, high uncertainty maintenance phase and low uncertainty handover phase. In the type identification stage, the collaborative tracking observation resources are scheduled to obtain type identification results and target tracking status information; In the high uncertainty maintenance stage, based on the obtained type recognition result and target tracking state information, the collaborative tracking observation task is planned based on intent to determine the maneuvering state of the target; When the target maneuver is completed, the low-uncertainty handover phase is entered. During the low-uncertainty handover phase, task planning for accuracy improvement is performed on the collaborative tracking observation task, the observation combination at the corresponding moment is determined, and the constellation collaborative observation task planning for a single target in near space is completed.

2. The method for planning a constellation collaborative observation mission for a single target in near space according to claim 1, characterized in that: In the type identification stage, the collaborative tracking observation resources are scheduled to obtain the type identification result and the target tracking state information, including: A single-step feedback collaborative tracking observation scheme is adopted. At the task planning time t sc h e , according to the predicted t sc h e +1 time target position and known observation system ephemeris, calculate the geometric position status of each satellite and target in the observation system at the next time, and output type recognition result and target tracking status information.

3. The method for planning a constellation collaborative observation mission for a single target in near space according to claim 2, characterized in that: The single-step feedback collaborative tracking observation scheme includes: At the mission moment, according to the current position information of the target, the one-step prediction of the tracking filter algorithm is used to obtain the spatial positions of each satellite and target that need to be observed in the observation system at the next moment; According to the predicted spatial position and observation system ephemeris, a set of observation candidate stars is selected for resource scheduling under effective observation constraints; According to the principle of binary star positioning error, the observation errors under different combinations of observation candidate stars are calculated, and the combination with the minimum observation error is selected as the update data of the next tracking filter algorithm for resource scheduling; the tracking filter algorithm and resource scheduling are run alternately to obtain the type recognition result and target tracking status information.

4. The method for planning a constellation collaborative observation mission for a single target in near space according to claim 1, characterized in that: In the high uncertainty maintenance stage, based on the obtained type recognition result and target tracking state information, the collaborative tracking observation task is planned based on intent to determine the maneuvering state of the target, including: Determine the planning cycle according to the target state; wherein the target state includes: the current speed of the target, the current height of the target, the single observation coverage capability of the observation system and / or the distribution relationship of key areas; Based on the planning cycle, an observation scheme based on the intention-based task planning is adopted, and an observation task is performed on the target based on the type recognition result and the target tracking state information; When a lateral maneuver of the target is detected, the intent-based mission planning observation scheme is immediately converted into a single-step feedback collaborative tracking observation scheme in the type recognition phase to determine the maneuvering state of the target.

5. The method for planning a constellation collaborative observation mission for a single target in near space according to claim 4, characterized in that: The intention-based task planning for the collaborative tracking and observation task also includes: The intention-based task planning observation scheme is forward connected to the single-step feedback collaborative tracking observation scheme, and the type recognition result and target tracking state information obtained by the single-step feedback collaborative tracking observation scheme are used as the initial planning moment input of the intention-based task planning observation scheme; at the same time, the target is maintained according to the intention and the estimated trajectory, and the target maneuvering state is detected. If the target does not maneuver within the planning cycle, the intention-based task planning observation scheme is re-called according to the target-related information at the current moment, and the intention-based task planning observation scheme that needs to be maintained in the next period is obtained; if the target is detected to be maneuvering, the single-step feedback collaborative tracking observation scheme is used again, and the low-uncertainty handover stage is entered when the target maneuver is completed.

6. The method for planning a constellation collaborative observation mission for a single target in near space according to claim 1, characterized in that: In the low-uncertainty handover stage, the collaborative tracking observation task is planned for accuracy improvement, the observation combination at the corresponding time is determined, and the measurement value at the corresponding time is obtained, including: A collaborative tracking and observation task planning scheme for precision improvement is adopted to carry out task planning for collaborative tracking and observation tasks, the scheme comprises: a collaborative observation task planning part and a target state estimation part; wherein, the input of the collaborative observation task planning part is the predicted trajectory of the target, and the output is the collaborative observation planning scheme for this segment of trajectory; the input of the target state estimation part is the collaborative observation planning scheme, and when its measurement is updated, the observation combination in the collaborative observation planning scheme is used to observe the target.

7. The method for planning a constellation collaborative observation mission for a single target in near space according to claim 6, characterized in that: The predicted trajectory of the target is obtained by constructing an aerodynamic model based on the observed structure of the target and performing extrapolation.

8. A constellation collaborative observation mission planning system for a single target in near space, characterized in that: include: Type recognition module, which is used to schedule collaborative tracking observation resources in the single target type recognition stage in near space, and obtain type recognition results and target tracking status information; The high uncertainty maintenance module, based on the scheduling results, performs intention-based task planning for the collaborative tracking and observation task in the high uncertainty maintenance phase of a single target in near space to determine the maneuvering state of the target; The low-uncertainty handover module enters the low-uncertainty handover phase for a single target in near space when the target maneuver is completed. During the low-uncertainty handover phase, it performs task planning for collaborative tracking and observation tasks aimed at improving accuracy and determines the observation combination at the corresponding moment.

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

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it can be used to perform the method described in any one of claims 1 to 7, or to run the system described in claim 8.

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