Rolling optimization method for dynamic division of spatiotemporal subdomains in heterogeneous satellite networks

Abstract

The present application discloses a rolling optimization method for dynamically dividing space-time subdomains in a synaesthesia heterogeneous satellite network, which relates to the field of satellite network planning technology, specifically including: based on the extrapolated time of the trajectory of the dynamic target, the complete runtime space domain of the dynamic target is evenly divided into several sub-time domains; based on the visible relationship between the dynamic target and the sensing star in the current sub-time domain, the division of the current sub-time domain is adaptively adjusted; based on the visible relationship between the dynamic target and the sensing star, the linkable relationship between the sensing star and the transmission star, and the associated last sub-time domain end data, the space subdomain of the current sub-time domain is split out; constellation task planning is performed in the space subdomain of the current sub-time domain to obtain the planning result of the current sub-time domain. Through the above method, the division of the sub-time domain is adaptively adjusted, the space subdomain associated with the dynamic target is split out, the constellation task is planned in the space subdomain, and the planning result of the current sub-time domain is obtained, thereby reducing the planning complexity and improving the planning efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of satellite network planning, and in particular to a rolling optimization method for dynamically dividing spatiotemporal subdomains in a heterogeneous satellite network. Background Art

[0002] When planning satellite networks, a rolling time domain approach can be used to meet the timeliness requirements of some emergency tasks. This involves slicing the timeline according to a certain threshold and decomposing the problem into multiple subintervals. This approach can transform large-scale, long-time domain scheduling problems into small-scale, short-time domain problems, reducing planning complexity. It can also dynamically respond to events with smaller time steps, improving planning efficiency. However, most of these approaches are based on single-layer constellations and are insufficiently adaptable to heterogeneous satellite networks composed of remote sensing and communication constellations. In particular, they offer poor support for continuous tasks requiring uninterrupted observation and communication links. Their shortcomings are primarily reflected in the following two aspects: first, the sub-time domain divisions are fixed, failing to consider the coupling relationship between the remote sensing and communication tasks in the preceding and subsequent sub-time domains, which can easily lead to communication link interruptions. Second, the spatial subdomains are not divided according to mission requirements, resulting in an excessive number of satellites involved in planning and unnecessary computational overhead. This slows planning in large-scale constellation systems and makes it difficult to meet timeliness requirements.

[0003] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network, aiming to solve the technical problems of high planning complexity and slow planning speed of the synaesthesia heterogeneous satellite network in the prior art.

[0005] To achieve the above objectives, the present application provides a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network, the method comprising:

[0006] Based on the extrapolation time of the trajectory of the dynamic target, the complete runtime domain of the dynamic target is evenly divided into several sub-time domains;

[0007] Adaptively adjusting the division of the current sub-time domain based on the visible relationship between the dynamic target and the perception star in the current sub-time domain;

[0008] Splitting the spatial subdomain of the current subdomain based on the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the associated end data of the previous subdomain;

[0009] Perform constellation mission planning in the spatial subdomain of the current subtime domain to obtain a planning result of the current subtime domain.

[0010] In one embodiment, the step of adaptively adjusting the division of the current sub-time domain based on the visibility relationship between the dynamic target and the perceived star in the current sub-time domain includes:

[0011] Adding the end time slot of the previous sub-time domain to a preset value to obtain the start time slot of the current sub-time domain, and determining the original end time slot of the current sub-time domain based on the index value of the current sub-time domain and the number of trajectory extrapolation time slots corresponding to the trajectory extrapolation time;

[0012] Adding the original end time slot of the current sub-time domain to a preset value to obtain the original start time slot of the next sub-time domain, and using the original end time slot of the current sub-time domain and the original start time slot of the next sub-time domain as the time slots to be confirmed;

[0013] Determining the number of sensing stars of the visible target in the time slot to be confirmed based on the visibility relationship between the dynamic target and the sensing stars in the time slot to be confirmed;

[0014] When the number of the sensing stars of the visible target in the time slot to be confirmed is equal to the preset number threshold, the original end time slot of the current sub-time domain is adjusted to obtain the end time slot of the current sub-time domain.

[0015] In one embodiment, the step of adjusting the original end slot of the current sub-time domain to obtain the end slot of the current sub-time domain includes:

[0016] Subtracting the original end time slot of the current sub-time domain from a preset adjustment value to obtain an adaptively adjusted time slot;

[0017] Determining the perception star of the visible target in the adaptive adjustment time slot based on the visibility relationship between the dynamic target and the perception star in the adaptive adjustment time slot;

[0018] When the number of the perceived stars of the visible target in the adaptive adjustment time slot is greater than the preset number threshold, the adaptive adjustment time slot is used as the end slot of the current sub-time domain.

[0019] In one embodiment, the data at the end of the previous sub-time domain includes at least an index value of an observed perception star at the end of the previous sub-time domain, a link-established perception star at the end of the previous sub-time domain, and a link-established transmission star at the end of the previous sub-time domain. The step of splitting the spatial sub-domain of the current sub-time domain based on the visible relationship between the dynamic target and the perception star, the linkable relationship between the perception star and the transmission star, and the associated data at the end of the previous sub-time domain includes:

[0020] Determining a perception satellite subdomain based on a visible relationship between the dynamic target and the perception satellite in the current sub-time domain and the link-established perception satellite at the end of the previous sub-time domain;

[0021] Based on the index value of the observed perception star at the end of the previous sub-time domain, marking the position of the observed perception star at the end of the previous sub-time domain in the perception star sub-domain, and updating the initial value of the observation state of the observed perception star at the end of the previous sub-time domain in the current sub-time domain to a preset marking value;

[0022] Determine a transmission star sub-domain based on the linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain and the linked transmission star at the end of the previous sub-time domain;

[0023] Based on the sensing satellite sub-domain and the transmitting satellite sub-domain, a spatial sub-domain of the current sub-time domain is obtained.

[0024] In one embodiment, the step of determining the perception satellite subdomain based on the visibility relationship between the dynamic target and the perception satellite in the current sub-time domain and the link-established perception satellite at the end of the previous sub-time domain includes:

[0025] Determining the perception star of the visible target in the current sub-time domain based on the visibility relationship between the dynamic target and the perception star in the current sub-time domain;

[0026] The chain-building sensing stars at the end of the previous sub-time domain and the sensing stars of visible targets in the current sub-time domain are merged to obtain the sensing star sub-domain.

[0027] In one embodiment, the step of determining the transmission star sub-domain based on the linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain and the linked transmission star at the end of the previous sub-time domain includes:

[0028] Determining a linkable transmission satellite in the current sub-time domain based on a linkable relationship between the sensing satellite sub-domain and the transmission satellite in the current sub-time domain;

[0029] Determine a linkable transmission satellite in the associated time domain of the current sub-time domain based on a linkable relationship between the sensing satellite sub-domain in the current sub-time domain and the linkable transmission satellite at the end of the previous sub-time domain;

[0030] The transmission satellites that can be linked to the current sub-time domain and the transmission satellites that can be linked to the associated time domain are merged to obtain the transmission satellite sub-domain.

[0031] In one embodiment, the planning result includes at least an optimal observation planning result and an optimal link establishment planning result. The step of performing constellation mission planning in the spatial subdomain of the current sub-time domain and obtaining the planning result of the current sub-time domain includes:

[0032] Acquiring the initial value of the observation state of the sensing satellite in the spatial subdomain, the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the initial value of the linking state;

[0033] Based on the initial value of the observation state of the sensing satellite in the spatial subdomain, the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the initial value of the linking state, constellation task planning is performed to determine the optimal result of the observation planning of the sensing satellite in the current sub-time domain and the optimal result of the linking planning between the sensing satellite and the transmission satellite.

[0034] In one embodiment, after the step of performing constellation mission planning in the spatial subdomain of the current sub-time domain and obtaining the planning result of the current sub-time domain, the step further includes:

[0035] Acquire an actual link establishment state of an end time slot of the current sub-time domain, and update the initial value of the link establishment state to the actual link establishment state;

[0036] Acquire the link-building sensing satellite, link-building transmission satellite, and observation sensing satellite of the end time slot of the current sub-time domain, and update the initial time domain data based on the link-building sensing satellite, link-building transmission satellite, and observation sensing satellite of the end time slot of the current sub-time domain;

[0037] The current sub-time domain is updated, and the step of adaptively adjusting the division of the current sub-time domain based on the visible relationship between the dynamic target and the perception star in the current sub-time domain is returned to be executed.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a rolling optimization device for dynamically dividing time and space subdomains in a synaesthesia heterogeneous satellite network. The rolling optimization device for dynamically dividing time and space subdomains in a synaesthesia heterogeneous satellite network includes:

[0039] An adaptive partitioning module, configured to evenly divide the complete runtime domain of the dynamic target into a plurality of sub-domains based on the extrapolated time of the trajectory of the dynamic target;

[0040] The adaptive division module is further configured to adaptively adjust the division of the current sub-time domain based on the visibility relationship between the dynamic target and the perception star in the current sub-time domain;

[0041] A spatial subdomain splitting module is used to split the spatial subdomain of the current sub-time domain based on the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the associated end data of the previous sub-time domain;

[0042] The task planning module is used to perform constellation task planning in the spatial subdomain of the current sub-time domain and obtain a planning result of the current sub-time domain.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a rolling optimization device for dynamically dividing space-time subdomains in a synesthetic heterogeneous satellite network. The rolling optimization device for dynamically dividing space-time subdomains in a synesthetic heterogeneous satellite network includes: a memory, a processor, and a computer program stored in the memory and runnable on the processor. The computer program is configured to implement the steps of the rolling optimization method for dynamically dividing space-time subdomains in a synesthetic heterogeneous satellite network as described above.

[0044] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the steps of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network as described above are implemented.

[0045] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network as described above.

[0046] The present application provides a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network. The method includes the following steps: based on the extrapolated time of the trajectory of a dynamic target, the complete runtime spatiotemporal subdomain of the dynamic target is evenly divided into several sub-time domains; based on the visible relationship between the dynamic target and the sensing satellite in the current sub-time domain, the division of the current sub-time domain is adaptively adjusted; based on the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the associated end data of the previous sub-time domain, the spatial subdomain of the current sub-time domain is split; and constellation mission planning is performed within the spatial subdomain of the current sub-time domain to obtain a planning result for the current sub-time domain. This application divides the complete time domain of the target operation into several uniform sub-time domains according to the extrapolated time of the trajectory, and then adaptively adjusts the division of the sub-time domains in combination with the continuous tracking requirements, thereby avoiding dividing the time window in which only one sensing satellite can see the target into two front and back sub-time domains, ensuring that the transmission link is not interrupted while observing the target, associating the current sub-time domain with the system state at the end of the previous sub-time domain, and splitting the spatial sub-domain associated with the dynamic target according to the visible / linkable relationship in the current sub-time domain, and then planning the constellation task in the spatial sub-domain to obtain the planning result of the current sub-time domain. This can reduce the planning complexity, speed up the solution speed, improve the planning speed, and improve the planning efficiency in the synaesthesia heterogeneous satellite network, and can support continuous tasks, solving the technical problems of high planning complexity and slow planning speed in the synaesthesia heterogeneous satellite network. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 Schematic diagram of the flow of embodiment 1 of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network of the present application;

[0050] Figure 2 A schematic diagram of adaptive sub-time domain division of a rolling optimization method for dynamically dividing time-space sub-domains in a synaesthesia heterogeneous satellite network provided in the first embodiment of the present application;

[0051] Figure 3 A schematic diagram of the overall algorithm flow of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network provided in Example 1 of the present application;

[0052] Figure 4 Schematic diagram of the flow of embodiment 2 of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network of the present application;

[0053] Figure 5 A schematic diagram of a sub-time domain adaptive partitioning algorithm flow for a rolling optimization method for dynamically partitioning time and space sub-domains in a synaesthesia heterogeneous satellite network provided in the second embodiment of the present application;

[0054] Figure 6 Schematic diagram of the flow of embodiment 3 of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network of the present application;

[0055] Figure 7 A schematic diagram of a sub-time domain adaptive partitioning algorithm flow for a rolling optimization method for dynamically partitioning time and space sub-domains in a synaesthesia heterogeneous satellite network provided in the third embodiment of the present application;

[0056] Figure 8 A schematic diagram of a simplified process flow of a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network provided in the third embodiment of the present application;

[0057] Figure 9 This is a schematic diagram of the module structure of a rolling optimization device for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network according to an embodiment of the present application;

[0058] Figure 10 Schematic diagram of the device structure of the hardware operating environment involved in the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network in an embodiment of the present application.

[0059] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0060] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not intended to limit the present application.

[0061] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0062] The main solutions of the embodiments of the present application are: based on the extrapolated time of the trajectory of the dynamic target, the complete runtime domain of the dynamic target is evenly divided into several sub-domains; based on the visibility relationship between the dynamic target and the perception satellite in the current sub-domain, the division of the current sub-domain is adaptively adjusted; based on the visibility relationship between the dynamic target and the perception satellite, the linkable relationship between the perception satellite and the transmission satellite, and the associated end data of the previous sub-domain, the spatial sub-domain of the current sub-domain is split; constellation task planning is performed in the spatial sub-domain of the current sub-domain to obtain the planning result of the current sub-domain.

[0063] At present, the rolling time domain methods used in satellite network planning are mostly based on single-layer constellations. They are not adaptable enough in heterogeneous satellite networks composed of remote sensing constellations and communication constellations, especially for continuous tasks that require uninterrupted observation and communication links.

[0064] The present application provides a solution. First, the complete time domain of the target operation is divided into several uniform sub-time domains according to the extrapolated time of the trajectory. Then, in combination with the continuous tracking requirements, the division of the sub-time domains is adaptively adjusted to avoid dividing the time window of the target visible to only one sensing satellite into two sub-time domains before and after, ensuring that the transmission link is not interrupted while the target is observed. Secondly, the current sub-time domain is associated with the system state at the end of the previous sub-time domain, and the spatial sub-domain associated with the dynamic target is split according to the visible / linkable relationship in the current sub-time domain. Finally, the constellation task is planned in the spatial sub-domain to obtain the planning result of the current sub-time domain, which can reduce the planning complexity, speed up the solution speed, improve the planning speed, improve the planning efficiency, and support continuous tasks in the synaesthesia heterogeneous satellite network. The technical problems of high planning complexity and slow planning speed of the synaesthesia heterogeneous satellite network are solved.

[0065] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the aforementioned functions, or a rolling optimization device for dynamically partitioning spatiotemporal subdomains in a synaesthesia-heterogeneous satellite network. This embodiment is not specifically limited to this. This embodiment and the following embodiments are described below using a rolling optimization device for dynamically partitioning spatiotemporal subdomains in a synaesthesia-heterogeneous satellite network as an example.

[0066] The embodiment of the present application provides a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a heterogeneous satellite network according to the present application.

[0067] In this embodiment, the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network includes steps S10 to S40:

[0068] Step S10, based on the extrapolated time of the trajectory of the dynamic target, the complete runtime domain of the dynamic target is evenly divided into a plurality of sub-time domains;

[0069] It should be noted that the inter-sensing heterogeneous satellite network is usually composed of a perception layer and a transmission layer, wherein the remote sensing constellation constitutes the perception layer and the communication constellation constitutes the transmission layer. The satellites in the perception layer are called perception stars and the satellites in the transmission layer are called transmission stars. In this embodiment, the dynamic targets are the transmission stars that need to be observed / tracked. The perception stars observe / track these transmission stars. The specific number of perception stars and transmission stars is determined according to the actual situation. Defined as the set of all perceptual stars, Defined as the set of all transmitting stars. Extrapolation can be used to predict the future trajectory of a dynamic target. The trajectory extrapolation time (trajectory extrapolation duration) is the maximum interval between the future time point corresponding to the dynamic target's trajectory that can be predicted using the extrapolation method and the current time point, for example, 10 minutes.

[0070] It is understood that the complete runtime domain is the complete time domain of the dynamic target. Since the extrapolable time of the trajectory of the dynamic target is usually limited, this embodiment evenly divides the complete runtime domain into several sub-time domains according to the extrapolable time of the trajectory.

[0071] In a feasible implementation, step S10 may include: determining the target total number of operating time slots based on the time slot length and the target total operating time; determining the number of trajectory extrapolated time slots based on the trajectory extrapolated time and the time slot length; determining the number of sub-time domains based on the target total number of operating time slots and the number of trajectory extrapolated time slots; and evenly dividing the complete operating time domain into several sub-time domains based on the number of sub-time domains.

[0072] It should be noted that the time slot length refers to the length of a time slot, for example, 1 minute, and the total target run duration refers to the total duration of the dynamic target run, for example, 100 minutes. The total number of target run time slots refers to the total number of time slots included in the total target run duration. Based on the time slot length and the total target run duration, the total number of target run time slots can be calculated: total number of target run time slots = total target run duration / time slot length. The number of trajectory extrapolable time slots refers to the number of time slots included in the trajectory extrapolable time. Based on the trajectory extrapolable time and the time slot length, the number of trajectory extrapolable time slots can be calculated: number of trajectory extrapolable time slots = trajectory extrapolable time / time slot length. The number of sub-time domains is the number of sub-time domains that need to be divided. In this embodiment, the extrapolable time of a trajectory is used as a sub-time domain. It can be seen that the number of time slots contained in each sub-time domain is equal to the number of extrapolable time slots of the trajectory. Based on the total number of target operation time slots and the number of extrapolable time slots of the trajectory, the number of sub-time domains can be calculated: number of sub-time domains = total number of target operation time slots / number of extrapolable time slots of the trajectory.

[0073] For example, assuming that the time slot length is 1 minute, the total target running time is 100 minutes, and the trajectory can be extrapolated for 10 minutes, then the total target running time slot number is =100, the number of time slots that the trajectory can be extrapolated is 10, the number of sub-time domains .

[0074] It can be understood that after the number of sub-time domains is calculated, the complete time domain is evenly divided according to the number of sub-time domains, thereby obtaining corresponding sub-time domains.

[0075] Step S20, adaptively adjusting the division of the current sub-time domain based on the visibility relationship between the dynamic target and the perception star in the current sub-time domain;

[0076] It should be noted that the current sub-time domain is the current sub-time domain, the end time slot of the current sub-time domain is the last time slot of the current sub-time domain, and the start time slot of the current sub-time domain is the first time slot of the current sub-time domain. Generally speaking, the start time slot is usually recorded as , the end slot is usually recorded as .

[0077] In addition, it should be noted that the visibility relationship between the dynamic target and the sensing satellite is a parameter used to describe whether the sensing satellite can observe the dynamic target in a certain time slot, which is usually recorded as ,in, For visible relationships, is the set of all sensing stars in the network, is the set of all time slots. Is a 0-1 variable, when the parameter When it is 1, it means the sensor star In the time slot Visible target, i.e. perception star In the time slot Dynamic targets can be observed. When the parameter When it is 0, it means the sensor star In the time slot Invisible target, i.e. perception star In the time slot Dynamic targets cannot be observed.

[0078] It is understandable that after the sub-time domain is divided, it is usually fixed. This method does not take into account the coupling relationship between the remote sensing task and the communication task in the two sub-time domains, which may easily lead to interruption of the communication link. Figure 2 , in the figure The time slot is the end slot of the current sub-time domain. The time slot is the starting time slot of the next sub-time domain. Time slot and There is only one sensing star in each time slot ( ) is visible to dynamic targets. The atomic time domain division position (the original division position between the current sub-time domain and the next sub-time domain) is in At the end of the time slot, the sensory star Can be used with transmission star Build a chain, and you can also connect to the transmission star There is no difference between the two. exist Cannot always communicate with the sensory star within the time slot Build a chain, that is, once the sensor star With Transmission Star exist Time slot chain building, when planning the task in the next sub-time domain, the satellite is sensed The link will inevitably be interrupted. To avoid this situation, the time window in which only one sensing satellite can see the target should not be divided into two sub-time domains. Therefore, this embodiment adaptively adjusts the division of the current sub-time domain, that is, adjusts the end slot of the current sub-time domain forward so that the time slot in which only one sensing satellite can see the target is included in the next sub-time domain. For example, the end slot of the current sub-time domain can be adjusted to , that is, adjust the division position between the current sub-time domain and the next sub-time domain to At the end of the time slot, after this adjustment, Time slot and The time slots can be planned together in the next sub-time domain, so that the sensing star With Transmission Star Establish a link to ensure that the transmission link is not interrupted while the target is being observed, so as to achieve continuous tracking of dynamic targets.

[0079] Step S30: splitting the spatial subdomain of the current subdomain based on the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the associated end data of the previous subdomain;

[0080] It should be noted that the link-building relationship between the sensing satellite and the transmission satellite is a parameter used to describe whether the sensing satellite and the transmission satellite can establish a link in a certain time slot, which is usually recorded as ,in, For a linkable relationship, is the set of all sensing stars in the network, is the set of all transmission stars in the network, is the set of all time slots. Is a 0-1 variable, when the parameter When it is 1, it means the sensor star and transmission stars In the time slot Can build a chain, when the parameter When it is 0, it means the sensor star and transmission stars In the time slot Cannot create a chain.

[0081] In addition, it should be noted that the data at the end of the previous sub-time domain is the satellite status at the end of the previous sub-time domain. The end of the previous sub-time domain can usually be considered as the end slot of the previous sub-time domain. The data at the end of the previous sub-time domain at least includes the index value of the observed perception satellite at the end of the previous sub-time domain. , the chain sensing star at the end of the previous sub-time domain and the link transmission star at the end of the previous sub-time domain The observed sensor satellite at the end of the previous sub-time domain is the sensor satellite that performed the observation task at the end of the previous sub-time domain. The index value of the observed sensor satellite at the end of the previous sub-time domain is the index value of the sensor satellite that performed the observation task at the end of the previous sub-time domain. The observed sensor satellite at the end of the previous sub-time domain can be determined using the index value of the observed sensor satellite at the end of the previous sub-time domain. For example, assuming that the index values ​​of the observed sensor satellite at the end of the previous sub-time domain are 2 and 5, the observed sensor satellites at the end of the previous sub-time domain are the second and fifth sensor satellites in the network. The link-building sensor satellite at the end of the previous sub-time domain is the sensor satellite that participated in link building at the end of the previous sub-time domain. The link-building transmission satellite at the end of the previous sub-time domain is the transmission satellite that participated in link building at the end of the previous sub-time domain. The observed sensor satellite at the end of the previous sub-time domain can reflect the observation situation at the end of the previous sub-time domain. The observed sensor satellite at the end of the previous sub-time domain and the link-building transmission satellite at the end of the previous sub-time domain can reflect the link building situation at the end of the previous sub-time domain.

[0082] It can be understood that since the satellite state at the end of the previous sub-time domain is the initial value of the current sub-time domain, this embodiment associates the observation status and link establishment status in the previous sub-time domain with the current sub-time domain, thereby ensuring that the relevant constraints on observation and data transmission can still be met across sub-time domains.

[0083] It should be understood that the spatial subdomain includes the perception satellite subdomain and the transmission satellite subdomain. In other words, the spatial subdomain in this embodiment is composed of the perception satellite subdomain and the transmission satellite subdomain. In specific implementation, the perception satellite subdomain associated with the dynamic target is split based on the visibility relationship within the current sub-time domain. Then, the transmission satellite subdomain associated with the perception satellite subdomain is split based on the linkable relationship within the current sub-time domain, thereby obtaining the spatial subdomain of the current sub-time domain.

[0084] Step S40 , performing constellation task planning in the spatial subdomain of the current sub-time domain to obtain a planning result of the current sub-time domain.

[0085] It should be noted that the planning results include at least the optimal results of observation planning and link establishment planning. The observation status is a parameter used to describe the observation status of the sensing satellite. A value of 1 indicates that the sensing satellite participates in the observation, and a value of 0 indicates that the sensing satellite does not participate in the observation. The optimal result of observation planning is the optimal solution for the observation status of the sensing satellite in each time slot obtained by the final plan. The link establishment status is a parameter used to describe the link establishment status between the sensing satellite and the transmission satellite. A value of 1 indicates that a link is established between the sensing satellite and the transmission satellite, and a value of 0 indicates that a link is not established between the sensing satellite and the transmission satellite. The optimal result of link establishment planning is the optimal solution for the link establishment status between the sensing satellite and the transmission satellite in each time slot obtained by the final plan.

[0086] In a feasible implementation, step S40 may include: obtaining the initial value of the observation state of the sensing satellite in the spatial subdomain, the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the initial value of the linking state; performing constellation task planning based on the initial value of the observation state of the sensing satellite in the spatial subdomain, the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the initial value of the linking state, and determining the optimal result of the observation planning of the sensing satellite in the current sub-time domain and the optimal result of the linking planning between the sensing satellite and the transmission satellite.

[0087] It should be noted that the initial value of the observation state is the initial value of the observation state, and the initial value of the link state is the initial value of the link state. The link state at the end of the previous sub-time domain can be used as the initial value of the link state for the spatial sub-domain. The initial value of the observation state in the spatial sub-domain is determined based on the observation state at the end of the previous sub-time domain.

[0088] It can be understood that the constellation task is planned in the spatial subdomain of the current sub-time domain, which is written as a function The time subdomain of the current subdomain is , the spatial subdomain of the current sub-time domain is ,in, is the starting time slot of the current sub-time domain, is the end slot of the current sub-time domain, To perceive the star sub-domain, For the transmission star subdomain. Within this spatial subdomain, enter the visible relationship between the perception star and the transmission star , the linkable relationship between the sensing satellite and the transmission satellite , initial value of chain establishment status , initial value of observation state , then run the constellation mission planning algorithm to output the observation status of the sensing star And the link status between the sensing satellite and the transmission satellite The optimal solution of .

[0089] Furthermore, after step S40, the method further includes: obtaining the actual link establishment state of the end time slot of the current sub-time domain, and updating the initial value of the link establishment state to the actual link establishment state; obtaining the link establishment perception satellite, link establishment transmission satellite, and observation perception satellite of the end time slot of the current sub-time domain, and updating the end data of the previous sub-time domain based on the link establishment perception satellite, link establishment transmission satellite, and observation perception satellite of the end time slot of the current sub-time domain; updating the current sub-time domain, and returning to execute the step of adaptively adjusting the division of the current sub-time domain based on the visible relationship between the dynamic target and the perception satellite in the current sub-time domain.

[0090] It should be noted that the actual link establishment state, namely the actual link establishment state in the end slot of the current sub-time domain, is usually based on the planning result, but temporary changes are not excluded.

[0091] Understandably, the reference Figure 3 After the current sub-time domain ends, the satellite status within the current sub-time domain end slot is marked, that is, the actual link establishment status within the current sub-time domain end slot is recorded. , assign the initial value of the chain state , as the initial value of the link state of the next sub-time domain, and record the sensing satellites participating in the link establishment at the end of the current sub-time domain. ; Record the transmission satellite participating in the link establishment at the end of the current sub-time domain , record the index value of the sensing star participating in the observation at the end of the current sub-time domain Then, the next sub-time domain is used as the current sub-time domain, and steps S20 to S40 are continued to be executed until the planning of all sub-time domains is completed.

[0092] This embodiment provides a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network. The method includes: dividing the complete runtime spacetime of a dynamic target into several subtime domains evenly based on the extrapolated time of the dynamic target's trajectory; adaptively adjusting the division of the current subtime domain based on the visible relationship between the dynamic target and the sensing satellite within the current subtime domain; splitting the spatial subdomains of the current subtime domain based on the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the associated end data of the previous subtime domain; and performing constellation mission planning within the spatial subdomains of the current subtime domain to obtain a planning result for the current subtime domain. This embodiment divides the complete time domain of the target operation into several uniform sub-time domains according to the extrapolable time of the trajectory, and then adaptively adjusts the division of the sub-time domains in combination with the continuous tracking requirement, thereby avoiding dividing the time window in which only one sensing satellite can see the target into two consecutive sub-time domains, ensuring that the transmission link is not interrupted while observing the target. The current sub-time domain is associated with the system state at the end of the previous sub-time domain, and the spatial sub-domain associated with the dynamic target is split according to the visible / linkable relationship in the current sub-time domain. Then, the constellation task is planned in the spatial sub-domain to obtain the planning result of the current sub-time domain. This can reduce the planning complexity, accelerate the solution speed, improve the planning speed, and enhance the planning efficiency in the synaesthesia heterogeneous satellite network, and can support continuous tasks.

[0093] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment can be referred to the above introduction and will not be described in detail later. Figure 4 , step S20 may include steps S201 to S204:

[0094] Step S201: Add the end time slot of the previous sub-time domain to a preset value to obtain the start time slot of the current sub-time domain, and determine the original end time slot of the current sub-time domain based on the index value of the current sub-time domain and the number of trajectory extrapolation time slots corresponding to the trajectory extrapolation time;

[0095] It should be noted that the original end slot of the current sub-time domain is the end slot of the current sub-time domain obtained by the original division / preliminary division in step S10. The original end slot of the current sub-time domain is calculated based on the index value of the current sub-time domain and the number of time slots that can be extrapolated from the trajectory. Assume that the original end slot of the current sub-time domain is , the index value of the current sub-time domain is , the number of time slots that the trajectory can be extrapolated is ,but The preset value is usually 1. The start time slot of the current sub-time domain is calculated based on the end time slot of the previous sub-time domain. Assuming that the start time slot of the current sub-time domain is , the end slot of the previous sub-time domain is ,but .

[0096] Step S202: Add the original end time slot of the current sub-time domain to a preset value to obtain the original start time slot of the next sub-time domain, and use the original end time slot of the current sub-time domain and the original start time slot of the next sub-time domain as the time slots to be confirmed;

[0097] It should be noted that the original start time slot of the next sub-time domain is the start time slot of the next sub-time domain obtained by the original division / preliminary division in step S10. Assuming that the original end time slot of the current sub-time domain is , then the original starting time slot of the next sub-time domain is The time slot to be confirmed is used to determine whether the time slot of the sub-time domain needs to be adjusted. In this embodiment, the original end time slot of the current sub-time domain and the original start time slot of the next sub-time domain are used as the time slot to be confirmed to determine whether the division of the current sub-time domain needs to be adaptively adjusted.

[0098] Step S203, determining the number of sensing satellites of the visible target in the time slot to be confirmed based on the visibility relationship between the dynamic target and the sensing satellites in the time slot to be confirmed;

[0099] It should be noted that the perception star of a visible target is a perception star that can see a dynamic target.

[0100] It can be understood that if the value corresponding to the visible relationship between the sensing star A and the dynamic target in the time slot to be confirmed is 1, it means that the sensing star A can observe the dynamic target in the time slot to be confirmed, that is, the sensing star A can observe the dynamic target in the original end time slot of the current sub-time domain, and can also observe the dynamic target in the original start time slot of the next sub-time domain. At this time, the sensing star A can be considered to be the sensing star of the visible target in the time slot to be confirmed.

[0101] Step S204: When the number of the sensing stars of the visible target in the time slot to be confirmed is equal to the preset number threshold, the original end time slot of the current sub-time domain is adjusted to obtain the end time slot of the current sub-time domain.

[0102] It should be noted that the preset number threshold, that is, the threshold that the number of sensing satellites of the visible target needs to meet, is usually 1. If the number of sensing satellites of the visible target in the time slot to be confirmed is 1, it means that only one sensing satellite can observe the dynamic target in the time slot to be confirmed, that is, only one sensing satellite can observe the dynamic target in the original end slot of the current sub-time domain, and only one sensing satellite can observe the dynamic target in the original start time slot of the next sub-time domain. Since the next sub-time domain and the current sub-time domain are two sub-time domains respectively, the time window in which only one sensing satellite can see the target is divided into two sub-time domains, which is likely to cause the transmission link to be interrupted. Therefore, in this case, this embodiment adjusts the original end slot of the current sub-time domain, thereby realizing adaptive adjustment of the sub-time domain division. If the number of sensing satellites of the visible target in at least one time slot of the original end slot of the current sub-time domain and the original start time slot of the next sub-time domain is not equal to 1, no adjustment is made.

[0103] In a feasible implementation manner, the step of adjusting the original end slot of the current sub-time domain to obtain the end slot of the current sub-time domain includes: subtracting the original end slot of the current sub-time domain from a preset adjustment value to obtain an adaptive adjustment time slot; determining the number of perception stars of visible targets in the adaptive adjustment time slot based on the visibility relationship between dynamic targets and perception stars in the adaptive adjustment time slot; when the number of perception stars of visible targets in the adaptive adjustment time slot is greater than the preset number threshold, using the adaptive adjustment time slot as the end slot of the current sub-time domain.

[0104] It should be noted that the preset adjustment value is the value used to adjust the end slot, which is usually 1. The adaptive adjustment time slot is the time slot obtained after adjustment. Assume that the original end slot of the current sub-time domain is , then the adaptive adjustment time slot is At this point, the adaptively adjusted time slot cannot be directly used as the end slot of the current sub-time domain, and further judgment is required.

[0105] It can be understood that if the number of sensing stars of visible targets in the adaptive adjustment time slot is greater than 1, it means that at least two sensing stars in the adaptive adjustment time slot can observe dynamic targets. At this time, the adaptive adjustment time slot can be used as the end slot of the current sub-time domain, so that all the time slots to be confirmed with the number of sensing stars of visible targets of 1 are divided into the next sub-time domain for joint planning, avoiding dividing the time window with only one sensing star that can see the target into two sub-time domains before and after, so as to ensure that the transmission link is not interrupted while the target is observed. If the number of sensing stars of visible targets in the adaptive adjustment time slot is still 1, it means that there is still only one sensing star that can observe the transmission star in the adaptive adjustment time slot. At this time, the preset adjustment value is subtracted from the adaptive adjustment time slot to obtain a new adaptive adjustment time slot, that is, , continue to judge the number of perception stars of the visible target. If the number is still 1, continue to decrease until the number of perception stars of the visible target is greater than 1.

[0106] In the specific implementation, refer to Figure 5 , That is, the sub-time domain adaptive division algorithm, the input parameter is the index value of the current sub-time domain , the number of time slots that can be extrapolated from the trajectory , the end slot of the previous sub-time domain , the output parameter is the starting time slot of the current sub-time domain , the end slot of the current sub-time domain , in step 3 of the algorithm, determine and Is there only one sensor star that can see the target in the time slot? If so, then decrease the time slot in steps 4 to 6 until the time slot after the decrease. There are no less than 2 perception stars that can see the target. As the end slot of the current sub-time domain after adaptive adjustment.

[0107] This embodiment provides a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network. The method includes adding the end slot of the previous subtime domain to a preset value to obtain the start slot of the current subtime domain, and determining the original end slot of the current subtime domain based on the index value of the current subtime domain and the number of trajectory extrapolation time slots corresponding to the trajectory extrapolation time. The original end slot of the current subtime domain is added to the preset value to obtain the original start slot of the next subtime domain. The original end slot of the current subtime domain and the original start slot of the next subtime domain are used as the time slots to be confirmed. The method also determines the number of satellites perceiving targets visible in the time slot to be confirmed based on the visibility relationship between dynamic targets and perceiving satellites in the time slot to be confirmed. When the number of perceiving targets visible in the time slot to be confirmed equals a preset number threshold, the original end slot of the current subtime domain is adjusted to obtain the end slot of the current subtime domain. This embodiment divides the complete time domain of the target's operation into several uniform sub-time domains based on the trajectory extrapolation time. Combined with the continuous tracking requirement, the sub-time domain division is adaptively adjusted to avoid dividing the time window where only one sensing satellite can see the target into two front and back sub-time domains, ensuring that the transmission link is not interrupted while the target is being observed.

[0108] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiment can be referred to the above introduction and will not be described in detail later. Figure 6 , step S30 may include steps S301 to S304:

[0109] Step S301, determining a perception satellite subdomain based on the visibility relationship between the dynamic target and the perception satellite in the current sub-time domain and the link-established perception satellite at the end of the previous sub-time domain;

[0110] It should be noted that, in this embodiment, the perception star sub-domain associated with the dynamic target is split according to the visibility relationship in the current sub-time domain.

[0111] In a feasible implementation, step S301 may include: determining the perception stars of the visible targets in the current sub-time domain based on the visible relationship between the dynamic targets and the perception stars in the current sub-time domain; merging the chain-established perception stars at the end of the previous sub-time domain and the perception stars of the visible targets in the current sub-time domain to obtain the perception star sub-domain.

[0112] It can be understood that according to the visible relationship between the dynamic target and the perception star in the current sub-time domain, the perception star of the visible target in the current sub-time domain is found, and the perception star of the visible target in the current sub-time domain is merged with the chain-building perception star at the end of the previous sub-time domain to obtain the perception star sub-domain. .

[0113] Step S302: Based on the index value of the observed perception star at the end of the previous sub-time domain, mark the position of the observed perception star at the end of the previous sub-time domain in the perception star sub-domain, and update the initial value of the observation state of the observed perception star at the end of the previous sub-time domain in the current sub-time domain to a preset mark value;

[0114] It can be understood that, according to the index value of the observed sensor star at the end of the previous sub-time domain, the sensor star (observed sensor star) performing the observation task at the end of the previous sub-time domain is found, and the position of the observed sensor star at the end of the previous sub-time domain in the sensor star sub-domain is marked. The initial observation state value of all sensor stars in the current sub-time domain is initialized, that is, the initial observation state value of all sensor stars in the current sub-time domain is updated to 0. The preset mark value is a pre-set value used to indicate that the sensor star participated in the observation, usually 1. The initial observation state value of the observed sensor star at the end of the previous sub-time domain in the current sub-time domain is updated to 1.

[0115] Step S303: determining a transmission satellite sub-domain based on the linkable relationship between the sensing satellite sub-domain and the transmission satellite in the current sub-time domain and the linked transmission satellite at the end of the previous sub-time domain;

[0116] It should be noted that, in this embodiment, the transmission satellite sub-domain is split according to the linkable relationship between the sensing satellite and the transmission satellite.

[0117] In a feasible implementation, step S303 includes: determining a linkable transmission star in the current sub-time domain based on a linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain; determining a linkable transmission star in an associated time domain of the current sub-time domain based on a linkable relationship between the sensing star sub-domain in the current sub-time domain and the linkable transmission star at the end of the previous sub-time domain; and merging the linkable transmission stars in the current sub-time domain and the linkable transmission stars in the associated time domain to obtain the transmission star sub-domain.

[0118] It can be understood that according to the linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain, the transmission star that did not participate in the link building in the previous sub-time domain and can still be linked in the current sub-time domain (the transmission star that can be linked in the associated time domain) is found, and the link-building transmission star at the end of the previous sub-time domain and the transmission star that can be linked in the associated time domain are merged to obtain the transmission star sub-domain. .

[0119] Step S304: obtaining a spatial subdomain of the current sub-time domain based on the sensing satellite subdomain and the transmitting satellite subdomain.

[0120] It is understandable that by perceiving the star sub-domain and the Transmission Star Sub-domain Together they constitute a spatial subdomain. For specific implementation, refer to Figure 7 , That is, the algorithm that associates satellite states between sub-time domains and splits the spatial sub-domains. Function The index of the non-zero element in the array can be output. In steps 1 and 2, the sensing satellites of the visible targets in the current sub-time domain and the sensing satellites that did not participate in the chain establishment in the previous sub-time domain are classified into the sensing satellite sub-domain; steps 3 to 6 mark the positions of the sensing satellites that did not participate in the observation in the previous sub-time domain in the current sub-time domain and determine the initial value of the sensing satellite observation state in the current sub-time domain; steps 7 to 12 classify the transmission satellites that participated in the chain establishment at the end of the previous sub-time domain and the transmission satellites that participated in the chain establishment at the end of the previous sub-time domain and can still be linked in the current sub-time domain into the transmission satellite sub-domain. In step 13, the spatial sub-domain parameters and the initial value of the observation state are output. The input parameter is the starting time slot of the current sub-time domain. , the end slot of the current sub-time domain , the sensing satellites that participated in the link establishment at the end of the previous sub-time domain , the transmission satellite participating in the link establishment at the end of the previous sub-time domain , the index value of the sensing star that performs the observation task at the end of the previous sub-time domain ; The output parameter is the set of sensing stars participating in planning in the current sub-time domain (Perception star subdomain), the set of transmission stars participating in planning in the current sub-time domain (Transmission star subdomain), initial value of the perception star observation state of the space subdomain .

[0121] This embodiment provides a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network. The method determines a perception star subdomain based on the visible relationship between dynamic targets and perception stars in the current subdomain and the linked perception stars at the end of the previous subdomain. The method marks the position of the observed perception star at the end of the previous subdomain in the perception star subdomain based on the index value of the observed perception star at the end of the previous subdomain, and updates the initial observation state value of the observed perception star at the end of the previous subdomain in the current subdomain to a preset marking value. The method determines a transmission star subdomain based on the linkable relationship between the perception star subdomain and the transmission star in the current subdomain and the linked transmission star at the end of the previous subdomain. The method also obtains a spatial subdomain of the current subdomain based on the perception star subdomain and the transmission star subdomain. This embodiment divides the complete time domain of the target operation into several sub-time domains based on the trajectory extrapolation time, associates the current sub-time domain with the system state at the end of the previous sub-time domain, and splits the spatial sub-domain associated with the dynamic target based on the visible / linkable relationship within the current sub-time domain. Then, constellation tasks are planned within the spatial sub-domain to obtain the planning results of the current sub-time domain. This can reduce planning complexity, accelerate solution speed, improve planning speed, and enhance planning efficiency in a synaesthesia heterogeneous satellite network, and can support continuous tasks.

[0122] For example, to help understand the implementation process of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network obtained by combining this embodiment with the above-mentioned embodiment 3, please refer to Figure 8 , Figure 8 This paper provides a brief flowchart of a rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network. Specifically:

[0123] Assume that the number of perception layer satellites (number of perception stars) is 520, the number of transmission layer satellites (number of transmission stars) is 576, the perception layer orbit altitude is 500 km, the transmission layer orbit altitude is 980 km, the time slot length is 1 minute, the total target operation time is 100 minutes, and the trajectory can be extrapolated for 10 minutes.

[0124] Step 1: Input parameters and initialize. Definition is the set of all perceptual stars, with 520 elements; definition is the set of all transmission stars, with 576 elements; definition It is a set of all time slots, with 100 elements; set the total number of time slots for dynamic target operation =100, the number of time slots that the trajectory can be extrapolated is 10, so the number of sub-time domains The number of time slots that can be extrapolated from the input trajectory , number of sub-time domains , parameter set of visible relationship , a set of parameters for establishing link relationships Initialize the last sub-time domain end slot to 0, the set of sensing satellites participating in the link establishment at the last sub-time domain end slot to an empty set, the set of transmission satellites participating in the link establishment at the last sub-time domain end slot to an empty set, the index value of the sensing satellite performing the observation task at the last sub-time domain end slot to 0, and the link establishment status between any sensing satellite and transmission satellite to 0.

[0125] Step 2: Adaptive division of sub-time domain. The input parameter is the index value of the current sub-time domain. , the number of time slots that can be extrapolated from the trajectory , the end slot of the previous sub-time domain , the output parameter is the starting time slot of the current sub-time domain , the end slot of the current sub-time domain ,judge and Is there only one sensor star visible in the time slot? If so, the number of stars will be decreased one by one until the next time slot. There are no less than 2 perception stars that can see the target. As the adaptively adjusted end slot of the current sub-time domain, it ensures the continuity of tasks across sub-time domains.

[0126] Step 3: Associate the satellite status at the end of the previous sub-time domain and split the space sub-domain. Since the satellite status at the end of the previous sub-time domain is the initial value of the current sub-time domain, the satellite status between the sub-time domains is associated, and the perception satellite sub-domain associated with the dynamic target is split according to the visible relationship within the current sub-time domain. Then, the transmission satellite sub-domain is split according to the linkable relationship between the perception layer and the transmission layer. The perception satellite sub-domain and the transmission satellite sub-domain together constitute the space sub-domain. The input parameter is the starting time slot of the current sub-time domain. , the end slot of the current sub-time domain , the sensing satellites that participated in the link establishment at the end of the previous sub-time domain , the transmission satellite participating in the link establishment at the end of the previous sub-time domain , the index value of the sensing star that performs the observation task at the end of the previous sub-time domain The visible target sensing stars of the current sub-time domain and the sensing stars that participated in the chain building at the end of the previous sub-time domain are divided into the sensing star sub-domain, the positions of the sensing stars that participated in the observation at the end of the previous sub-time domain in the current sub-time domain are marked, and the initial value of the sensing star observation state of the current sub-time domain is determined. The transmission stars that participated in the chain building at the end of the previous sub-time domain and the transmission stars that participated in the chain building at the end of the previous sub-time domain and can still be linked in the current sub-time domain are divided into the transmission star sub-domain. The output parameter is the set of sensing stars participating in the planning of the current sub-time domain. (Perception star subdomain), the set of transmission stars participating in planning in the current sub-time domain (Transmission star subdomain), initial value of the perception star observation state of the space subdomain This ensures that the relevant constraints on observation and data transmission can still be met across sub-time domains.

[0127] Step 4: Plan the constellation mission in the current space subdomain. The time subdomain is , the spatial subdomain is The visible relationship between the input perception star and the transmission star , the linkable relationship between the sensing satellite and the transmission satellite , initial value of chain establishment status , initial value of observation state , then run the constellation mission planning algorithm to output the observation status of the sensing star And the link status between the sensing satellite and the transmission satellite The optimal solution of .

[0128] Step 5: Mark the system status at the end of the sub-time domain. Record the link establishment status at the end of the current sub-time domain slot. , assigned to , as the initial value of the next sub-time domain link state, record the set of sensing satellites participating in the link establishment at the end of the current sub-time domain, and record it as , record the set of transmission satellites participating in link building at the end of the current sub-time domain, denoted as , record the index value of the perception star participating in the observation at the end of the current sub-time domain, recorded as .

[0129] Step 6: Output the current sub-time domain planning result obtained in Step 4. Continue to perform Steps 2 to 5 until the task is completed.

[0130] Compared to the SolveILP method, which directly executes step 4, the average number of sensor satellites participating in planning per sub-domain is 520, and the average number of transmission satellites participating in planning per sub-domain is 576. Using the rolling algorithm of this embodiment, the average number of sensor satellites participating in planning per sub-domain is 7.8, and the average number of transmission satellites participating in planning per sub-domain is 321.1. This shows that the rolling algorithm used in this embodiment significantly reduces the number of sensor and transmission satellites participating in planning per sub-domain, significantly reducing algorithm complexity. In a sub-domain with the same number of time slots (10), this embodiment completes mission planning in only 15.08 seconds, while SolveILP requires 1637.6 seconds, approximately 108.6 times the time required by this embodiment. Therefore, this embodiment significantly shortens planning solution time by dynamically dividing spatiotemporal sub-domains, effectively supporting time-sensitive services.

[0131] This application also provides a rolling optimization device for dynamically dividing time and space subdomains in a synaesthesia heterogeneous satellite network. Please refer to Figure 9 The rolling optimization device for dynamically dividing spatiotemporal subdomains in a heterogeneous satellite network includes:

[0132] An adaptive division module 10 is configured to evenly divide the complete runtime domain of the dynamic target into a plurality of sub-domains based on the extrapolated time of the trajectory of the dynamic target;

[0133] The adaptive division module 10 is further configured to adaptively adjust the division of the current sub-time domain based on the visibility relationship between the dynamic target and the perception star in the current sub-time domain;

[0134] The spatial subdomain splitting module 20 is configured to split the spatial subdomain of the current sub-time domain based on the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the associated end data of the previous sub-time domain;

[0135] The mission planning module 30 is configured to perform constellation mission planning in the spatial subdomain of the current sub-time domain and obtain a planning result of the current sub-time domain.

[0136] In a feasible implementation manner, the adaptive division module 10 is further configured to add the end time slot of the previous sub-time domain to a preset value to obtain the start time slot of the current sub-time domain, and determine the original end time slot of the current sub-time domain based on the index value of the current sub-time domain and the number of trajectory extrapolation time slots corresponding to the trajectory extrapolation time;

[0137] Adding the original end time slot of the current sub-time domain to a preset value to obtain the original start time slot of the next sub-time domain, and using the original end time slot of the current sub-time domain and the original start time slot of the next sub-time domain as the time slots to be confirmed;

[0138] Determining the number of sensing stars of the visible target in the time slot to be confirmed based on the visibility relationship between the dynamic target and the sensing stars in the time slot to be confirmed;

[0139] When the number of the sensing stars of the visible target in the time slot to be confirmed is equal to the preset number threshold, the original end time slot of the current sub-time domain is adjusted to obtain the end time slot of the current sub-time domain.

[0140] In a feasible implementation manner, the adaptive division module 10 is further configured to subtract the original end time slot of the current sub-time domain from a preset adjustment value to obtain an adaptively adjusted time slot;

[0141] Determining the perception star of the visible target in the adaptive adjustment time slot based on the visibility relationship between the dynamic target and the perception star in the adaptive adjustment time slot;

[0142] When the number of the perceived stars of the visible target in the adaptive adjustment time slot is greater than the preset number threshold, the adaptive adjustment time slot is used as the end slot of the current sub-time domain.

[0143] In a feasible implementation, the data at the end of the previous sub-time domain includes at least the index value of the observed perception satellite at the end of the previous sub-time domain, the linked perception satellite at the end of the previous sub-time domain, and the linked transmission satellite at the end of the previous sub-time domain. The spatial sub-domain splitting module 20 is further configured to determine the perception satellite sub-domain based on the visible relationship between the dynamic target and the perception satellite in the current sub-time domain and the linked perception satellite at the end of the previous sub-time domain.

[0144] Determining the observed perceptual star at the end of the previous sub-time domain based on the index value of the observed perceptual star at the end of the previous sub-time domain, marking the position of the observed perceptual star at the end of the previous sub-time domain in the perceptual star sub-domain, and updating the initial value of the observation state of the observed perceptual star at the end of the previous sub-time domain in the current sub-time domain to a preset mark value;

[0145] Determine the transmission star sub-domain based on the linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain and the linked transmission star at the end of the previous sub-time domain;

[0146] Based on the sensing satellite sub-domain and the transmitting satellite sub-domain, a spatial sub-domain of the current sub-time domain is obtained.

[0147] In a feasible implementation manner, the spatial sub-domain splitting module 20 is further configured to determine the perception star of the visible target in the current sub-time domain based on the visibility relationship between the dynamic target and the perception star in the current sub-time domain;

[0148] The chain-building sensing stars at the end of the previous sub-time domain and the sensing stars of visible targets in the current sub-time domain are merged to obtain the sensing star sub-domain.

[0149] In a feasible implementation manner, the spatial sub-domain splitting module 20 is further configured to determine a linkable transmission satellite in the current sub-time domain based on a linkable relationship between the sensing satellite sub-domain and the transmission satellite in the current sub-time domain;

[0150] Determine a linkable transmission satellite in the associated time domain of the current sub-time domain based on a linkable relationship between the sensing satellite sub-domain in the current sub-time domain and the linkable transmission satellite at the end of the previous sub-time domain;

[0151] The transmission satellites that can be linked to the current sub-time domain and the transmission satellites that can be linked to the associated time domain are merged to obtain the transmission satellite sub-domain.

[0152] In a feasible implementation, the planning result includes at least an optimal value of the observation state and an optimal value of the link establishment state. The mission planning module 30 is further configured to obtain an initial value of the observation state of the sensing satellite in the spatial subdomain, a visibility relationship between the dynamic target and the sensing satellite, a link establishment relationship between the sensing satellite and the transmission satellite, and an initial value of the link establishment state.

[0153] Based on the initial value of the observation state of the sensing satellite in the spatial subdomain, the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the initial value of the linking state, constellation task planning is performed to determine the optimal result of the observation planning of the sensing satellite in the current sub-time domain and the optimal result of the linking planning between the sensing satellite and the transmission satellite.

[0154] In a feasible implementation manner, the task planning module 30 is further configured to obtain an actual link establishment state of the end time slot of the current sub-time domain, and update the initial value of the link establishment state to the actual link establishment state;

[0155] Acquire the link-building sensing satellite, link-building transmission satellite, and observation sensing satellite of the end time slot of the current sub-time domain, and update the initial time domain data based on the link-building sensing satellite, link-building transmission satellite, and observation sensing satellite of the end time slot of the current sub-time domain;

[0156] The current sub-time domain is updated, and the step of adaptively adjusting the division of the current sub-time domain based on the visible relationship between the dynamic target and the perception star in the current sub-time domain is returned to be executed.

[0157] The rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network, provided in this application, employs the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network described in the aforementioned embodiments, thereby resolving the technical issues of high planning complexity and slow planning speed in synesthetic heterogeneous satellite networks. Compared to the prior art, the beneficial effects of the rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network provided in this application are the same as those of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network described in the aforementioned embodiments. Other technical features of the rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network are the same as those disclosed in the aforementioned embodiments and are not further elaborated upon here.

[0158] The present application provides a rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network. The rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network in the first embodiment.

[0159] Reference below Figure 10 , which shows a schematic structural diagram of a rolling optimization device suitable for implementing the dynamic division of spatiotemporal subdomains in a synaesthesia-heterogeneous satellite network according to an embodiment of the present application. The rolling optimization device for dynamically dividing spatiotemporal subdomains in a synaesthesia-heterogeneous satellite network according to an embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 10The rolling optimization device for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0160] like Figure 10 As shown, the rolling optimization device for dynamically partitioning spatiotemporal subdomains in a synaesthesia-heterogeneous satellite network may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a ROM (Read Only Memory) 1002 or programs loaded from a storage device 1003 into a RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the rolling optimization device for dynamically partitioning spatiotemporal subdomains in a synaesthesia-heterogeneous satellite network. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. Communication devices 1009 may allow the rolling optimization device for dynamically partitioning spatiotemporal subdomains in a heterogeneous satellite network to communicate wirelessly or wired with other devices to exchange data. While the figure illustrates the rolling optimization device for dynamically partitioning spatiotemporal subdomains in a heterogeneous satellite network with various systems, it should be understood that implementation or presence of all illustrated systems is not required. More or fewer systems may alternatively be implemented or present.

[0161] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0162] The rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network, provided in this application, employs the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network described in the aforementioned embodiment, thereby resolving the technical issues of high planning complexity and slow planning speed in synesthetic heterogeneous satellite networks. Compared to the prior art, the rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network provided in this application has the same beneficial effects as the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network provided in the aforementioned embodiment. Other technical features of the rolling optimization device for dynamically dividing spatiotemporal subdomains in a synesthetic heterogeneous satellite network are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0163] It should be understood that the various parts disclosed in this application can be implemented using 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.

[0164] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0165] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, and the computer-readable program instructions are used to execute the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network in the above-mentioned embodiment.

[0166] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0167] The computer-readable storage medium may be included in the rolling optimization device for dynamically dividing time and space subdomains in a synaesthesia heterogeneous satellite network; or it may exist independently without being assembled into the rolling optimization device for dynamically dividing time and space subdomains in a synaesthesia heterogeneous satellite network.

[0168] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a rolling optimization device for dynamically dividing spacetime subdomains in a synaesthesia heterogeneous satellite network, the rolling optimization device for dynamically dividing spacetime subdomains in a synaesthesia heterogeneous satellite network: based on the extrapolated time of the trajectory of the dynamic target, evenly divides the complete runtime domain of the dynamic target into several sub-domains; based on the visible relationship between the dynamic target and the perception satellite in the current sub-domain, adaptively adjusts the division of the current sub-domain; based on the visible relationship between the dynamic target and the perception satellite, the linkable relationship between the perception satellite and the transmission satellite, and the associated end data of the previous sub-domain, splits the spatial subdomain of the current sub-domain; and performs constellation task planning in the spatial subdomain of the current sub-domain to obtain a planning result for the current sub-domain.

[0169] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0170] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0171] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0172] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned rolling optimization method for dynamically partitioning spatiotemporal subdomains in a heterogeneous satellite network. This method can address the technical issues of high planning complexity and slow planning speed in heterogeneous satellite networks. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the rolling optimization method for dynamically partitioning spatiotemporal subdomains in a heterogeneous satellite network provided in the aforementioned embodiments, and are not further elaborated here.

[0173] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network.

[0174] The computer program product provided in this application can address the technical issues of high planning complexity and slow planning speed in heterogeneous satellite networks. Compared to the prior art, the computer program product provided in this application offers the same beneficial effects as the rolling optimization method for dynamically partitioning spatiotemporal subdomains in heterogeneous satellite networks provided in the aforementioned embodiments, and will not be further elaborated here.

[0175] The above are only some embodiments of the present application and are not intended to limit the patent scope of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network, characterized in that: The method comprises: Based on the extrapolation time of the trajectory of the dynamic target, the complete runtime domain of the dynamic target is evenly divided into several sub-time domains; Adaptively adjusting the division of the current sub-time domain based on the visible relationship between the dynamic target and the perception star in the current sub-time domain; Splitting the spatial subdomain of the current subdomain based on the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the associated end data of the previous subdomain; Perform constellation mission planning in the spatial subdomain of the current subtime domain to obtain a planning result of the current subtime domain; The step of adaptively adjusting the division of the current sub-time domain based on the visible relationship between the dynamic target and the perceived star in the current sub-time domain includes: Adding the end time slot of the previous sub-time domain to a preset value to obtain the start time slot of the current sub-time domain, and determining the original end time slot of the current sub-time domain based on the index value of the current sub-time domain and the number of trajectory extrapolation time slots corresponding to the trajectory extrapolation time; Adding the original end time slot of the current sub-time domain to a preset value to obtain the original start time slot of the next sub-time domain, and using the original end time slot of the current sub-time domain and the original start time slot of the next sub-time domain as the time slots to be confirmed; Determining the number of sensing stars of the visible target in the time slot to be confirmed based on the visibility relationship between the dynamic target and the sensing stars in the time slot to be confirmed; When the number of sensing stars of the visible target in the time slot to be confirmed is equal to a preset number threshold, adjusting the original end time slot of the current sub-time domain to obtain the end time slot of the current sub-time domain; The data at the end of the previous sub-time domain at least includes an index value of an observed perception star at the end of the previous sub-time domain, a link-established perception star at the end of the previous sub-time domain, and a link-established transmission star at the end of the previous sub-time domain. The step of splitting the spatial sub-domain of the current sub-time domain based on the visible relationship between the dynamic target and the perception star, the linkable relationship between the perception star and the transmission star, and the associated data at the end of the previous sub-time domain includes: Determining a perception satellite subdomain based on a visible relationship between the dynamic target and the perception satellite in the current sub-time domain and the link-established perception satellite at the end of the previous sub-time domain; Based on the index value of the observed perception star at the end of the previous sub-time domain, marking the position of the observed perception star at the end of the previous sub-time domain in the perception star sub-domain, and updating the initial value of the observation state of the observed perception star at the end of the previous sub-time domain in the current sub-time domain to a preset marking value; Determine the transmission star sub-domain based on the linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain and the linked transmission star at the end of the previous sub-time domain; Based on the sensing satellite sub-domain and the transmitting satellite sub-domain, a spatial sub-domain of the current sub-time domain is obtained.

2. The method according to claim 1, wherein The step of adjusting the original end slot of the current sub-time domain to obtain the end slot of the current sub-time domain includes: Subtracting the original end time slot of the current sub-time domain from a preset adjustment value to obtain an adaptively adjusted time slot; Determining the number of perception stars of visible targets in the adaptively adjusted time slot based on the visibility relationship between the dynamic targets and the perception stars in the adaptively adjusted time slot; When the number of the perceived stars of the visible target in the adaptive adjustment time slot is greater than the preset number threshold, the adaptive adjustment time slot is used as the end slot of the current sub-time domain.

3. The method according to claim 1, wherein The step of determining the perception satellite subdomain based on the visible relationship between the dynamic target and the perception satellite in the current sub-time domain and the link-established perception satellite at the end of the previous sub-time domain includes: Determining the perception star of the visible target in the current sub-time domain based on the visibility relationship between the dynamic target and the perception star in the current sub-time domain; The chain-building sensing stars at the end of the previous sub-time domain and the sensing stars of visible targets in the current sub-time domain are merged to obtain the sensing star sub-domain.

4. The method according to claim 1, wherein The step of determining the transmission star sub-domain based on the linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain and the link-established transmission star at the end of the previous sub-time domain includes: Determining a linkable transmission satellite in the current sub-time domain based on a linkable relationship between the sensing satellite sub-domain and the transmission satellite in the current sub-time domain; Determine a linkable transmission satellite in the associated time domain of the current sub-time domain based on a linkable relationship between the sensing satellite sub-domain in the current sub-time domain and the linkable transmission satellite at the end of the previous sub-time domain; The transmission satellites that can be linked to the current sub-time domain and the transmission satellites that can be linked to the associated time domain are merged to obtain the transmission satellite sub-domain.

5. The method according to claim 1, wherein The planning result includes at least an optimal result of observation planning and an optimal result of link establishment planning. The step of performing constellation mission planning in the spatial subdomain of the current sub-time domain and obtaining the planning result of the current sub-time domain includes: Acquiring the initial value of the observation state of the sensing satellite in the spatial subdomain, the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the initial value of the linking state; Based on the initial value of the observation state of the sensing satellite in the spatial subdomain, the visible relationship between the dynamic target and the sensing satellite, the linkable relationship between the sensing satellite and the transmission satellite, and the initial value of the linking state, constellation task planning is performed to determine the optimal result of the observation planning of the sensing satellite in the current sub-time domain and the optimal result of the linking planning between the sensing satellite and the transmission satellite.

6. A rolling optimization device for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network, characterized in that: The device comprises: An adaptive partitioning module, configured to evenly divide the complete runtime domain of the dynamic target into a plurality of sub-domains based on the extrapolated time of the trajectory of the dynamic target; The adaptive division module is further configured to adaptively adjust the division of the current sub-time domain based on the visibility relationship between the dynamic target and the perception star in the current sub-time domain; A spatial subdomain splitting module is configured to split the spatial subdomain of the current sub-time domain based on the visible relationship between the dynamic target and the perception satellite, the linkable relationship between the perception satellite and the transmission satellite, and the associated end data of the previous sub-time domain, wherein the end data of the previous sub-time domain at least includes the index value of the observed perception satellite at the end of the previous sub-time domain, the link-building perception satellite at the end of the previous sub-time domain, and the link-building transmission satellite at the end of the previous sub-time domain; a mission planning module, configured to perform constellation mission planning in a spatial subdomain of the current subtime domain and obtain a planning result of the current subtime domain; The adaptive division module is further configured to add the end time slot of the previous sub-time domain to a preset value to obtain the start time slot of the current sub-time domain, and determine the original end time slot of the current sub-time domain based on the index value of the current sub-time domain and the number of trajectory extrapolation time slots corresponding to the trajectory extrapolation time; Adding the original end time slot of the current sub-time domain to a preset value to obtain the original start time slot of the next sub-time domain, and using the original end time slot of the current sub-time domain and the original start time slot of the next sub-time domain as the time slots to be confirmed; Determining the number of sensing stars of the visible target in the time slot to be confirmed based on the visibility relationship between the dynamic target and the sensing stars in the time slot to be confirmed; When the number of sensing stars of the visible target in the time slot to be confirmed is equal to a preset number threshold, adjusting the original end time slot of the current sub-time domain to obtain the end time slot of the current sub-time domain; The spatial subdomain splitting module is further configured to determine a perception satellite subdomain based on a visibility relationship between dynamic targets and perception satellites in the current sub-time domain and a link-established perception satellite at the end of the previous sub-time domain; Based on the index value of the observed perception star at the end of the previous sub-time domain, marking the position of the observed perception star at the end of the previous sub-time domain in the perception star sub-domain, and updating the initial value of the observation state of the observed perception star at the end of the previous sub-time domain in the current sub-time domain to a preset marking value; Determine the transmission star sub-domain based on the linkable relationship between the sensing star sub-domain and the transmission star in the current sub-time domain and the linked transmission star at the end of the previous sub-time domain; Based on the sensing satellite sub-domain and the transmitting satellite sub-domain, a spatial sub-domain of the current sub-time domain is obtained.

7. A rolling optimization device for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the rolling optimization method for dynamically dividing spatiotemporal subdomains in a synaesthesia heterogeneous satellite network according to any one of claims 1 to 5 are implemented.

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