Cooperative transit control method and device based on multiple satellites, terminal equipment and storage medium

Abstract

The invention discloses a multi-satellite-based collaborative transit control method and device, terminal equipment and a storage medium, and belongs to the technical field of multi-satellite collaborative transit, and the method comprises the steps: enabling each sub-region to be capable of achieving the multi-satellite-based collaborative transit control on the premise of guaranteeing a certain coverage degree when a satellite is preliminarily screened for each sub-transit region; satellites with high observation efficiency are used for observation, then secondary screening is carried out in combination with the processing priorities of the sub-transit areas to obtain final collaborative transit satellites, and a final transit strategy is generated. According to the method, the observation efficiency of the satellite on the local area and the coverage rate of the satellite on the local area can be comprehensively considered for different local sub-areas during primary screening, and secondary screening is further performed by combining the processing priorities of the sub-areas, so that accurate and efficient observation of the whole transit area can be realized; by implementing the method and the device, the problem that the whole transit area cannot be accurately and efficiently observed in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-satellite coordinated transit, and in particular to a multi-satellite coordinated transit control method, apparatus, terminal equipment and storage medium. Background Art

[0002] By coordinating multiple satellites to observe specific transit areas, high-quality, comprehensive observation data can be obtained, meeting the observation information needs of various application scenarios such as military reconnaissance, Earth resource monitoring, and weather forecasting. A reasonable multi-satellite coordinated transit strategy can significantly improve the utilization efficiency of satellite resources and avoid blindness and duplication in satellite observations.

[0003] However, traditional multi-satellite coordinated transit technology usually regards the entire area to be observed or the area to be transited as a whole, and then selects multiple satellites for coordinated transit observation based on the satellite's observation capability of the entire transit area. The entire transit area is not subdivided into regions and then the satellite observation capability analysis is performed in each subdivided region. Moreover, when analyzing the satellite's observation capability of the entire transit area, only the satellite's coverage of the entire transit area is analyzed. For example, satellites with a large coverage area are selected to observe the entire area, without considering whether the observation efficiency of these satellites in the local area is optimal. Therefore, traditional technology cannot comprehensively consider the satellite's observation efficiency and coverage rate of the local area for different local areas, and cannot achieve accurate and efficient observation of the entire transit area, which reduces the overall effectiveness of multi-satellite coordinated transit and cannot well meet the requirements for data accuracy of multi-satellite coordinated observation in actual business. Summary of the Invention

[0004] The embodiments of the present invention provide a method, apparatus, terminal device and storage medium based on multi-satellite coordinated transit control, which can divide the entire area to be transited into several local sub-areas, so as to comprehensively consider the observation efficiency of the satellite in the local area and the coverage rate of the local area for different local areas, thereby achieving accurate and efficient observation of the entire transit area. This can effectively solve the problem in the prior art that the observation efficiency of the satellite in the local area and the coverage rate of the local area cannot be comprehensively considered for different local areas, and thus accurate and efficient observation of the entire transit area cannot be achieved.

[0005] An embodiment of the present invention provides a multi-satellite coordinated transit control method, comprising:

[0006] Obtaining satellite transit data corresponding to each sub-transit area in the area to be transited and a processing priority corresponding to each sub-transit area; wherein the satellite transit data includes: transit observation parameters corresponding to each transit satellite;

[0007] For each transit satellite in each sub-transit area, an observation value for measuring the observation efficiency of the transit satellite over the sub-transit area is calculated based on the transit observation parameters of the transit satellite;

[0008] For each sub-transit area, a number of transit satellites are selected in descending order based on the observed values as the first target satellites corresponding to the sub-transit area: wherein the total coverage of all the first target satellites is not less than the preset area coverage threshold;

[0009] Selecting a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite;

[0010] A transit strategy corresponding to the area to be transited is generated according to transit observation parameters of a plurality of second target satellites; and according to the transit strategy, each second target satellite is controlled to perform a coordinated transit in the area to be transited.

[0011] Preferably, the transit observation parameters include: coverage arc length, side swing angle and resolution;

[0012] The calculation of the observation value used to measure the observation efficiency of the transit satellite over the sub-transit area based on the transit observation parameter of the transit satellite includes:

[0013] The observation value of the transit satellite is calculated according to the following formula:

[0014]

[0015] Where z is the observation value of the transiting satellite, w is the coverage arc length, α is the roll angle, h is the orbital altitude of the transiting satellite, μ is the resolution, and μ' represents the corrected resolution after the resolution μ is corrected based on atmospheric refraction or observation angle.

[0016] Preferably, the selecting of a plurality of transit satellites in descending order based on the respective observation values as a plurality of first target satellites corresponding to the sub-transit areas comprises:

[0017] Sort each observation value in descending order to generate an initial observation set;

[0018] The transit satellite corresponding to the highest observation value in the initial observation set is used as the initial transit satellite, and the initial transit satellite is added to the initial satellite set;

[0019] Repeating the coverage range determination operation to output a plurality of first target satellites corresponding to the sub-transit area;

[0020] The coverage range determination operation includes:

[0021] Determine whether the total coverage of all transiting satellites in the current satellite set is not less than a preset regional coverage threshold; wherein, initially, the initial satellite set is used as the current satellite set;

[0022] If yes, take each transiting satellite in the current satellite set as the first target satellite:

[0023] If not, the observation value corresponding to the current transit satellite is deleted from the current observation set, and then the observation values that have not been deleted are re-sorted in descending order to generate an updated observation set; wherein, initially, the initial transit satellite is used as the current transit satellite, and the initial observation set is used as the current observation set;

[0024] The transit satellite corresponding to the highest observation value in the updated observation set is used as the updated transit satellite; the updated transit satellite is added to the current satellite set to generate an updated satellite set;

[0025] The updated transit satellite is used as the current transit satellite for the next coverage determination operation, and the updated satellite set is used as the current satellite set for the next coverage determination operation.

[0026] Preferably, the transit observation parameters further include: a transit time window;

[0027] The step of selecting a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite comprises:

[0028] For each sub-transit area, generating a satellite list corresponding to the sub-transit area according to each first target satellite corresponding to the sub-transit area;

[0029] The first target satellite that appears repeatedly in multiple sub-transit areas and has overlapping transit time windows is used as a shared satellite;

[0030] For each shared satellite, the sub-transit area with the highest priority among the sub-transit areas corresponding to the shared satellite is selected as a reserved sub-transit area; for the non-reserved sub-transit area corresponding to the shared satellite, the shared satellite in the satellite list corresponding to the non-reserved sub-transit area is replaced with a candidate transit satellite to generate an updated satellite list; wherein the difference in observation values between the candidate transit satellite and the shared satellite is less than the difference in observation values between the shared satellite and any transit satellite other than the shared satellite in the satellite transit data;

[0031] A plurality of second target satellites are output according to the satellite list corresponding to each sub-transit area, the satellite list corresponding to each reserved sub-transit area, and the updated satellite list corresponding to each non-reserved sub-transit area.

[0032] Preferably, after generating the transit strategy corresponding to the transit area, the method further includes:

[0033] Calculate the total coverage area of each second target satellite in the transit strategy;

[0034] Determining whether the total coverage area of each second target satellite is less than a preset area coverage threshold;

[0035] If so, mark the transit satellites that have not been selected in the satellite transit data as transit satellites to be selected; select a single transit satellite to be selected or multiple transit satellites to be selected in descending order based on the observation values of each transit satellite to be selected as transit satellites to be merged, add each transit satellite to be merged to the transit strategy, and generate an updated transit strategy; wherein the total coverage area of the satellites in the updated transit strategy is not less than the preset regional coverage threshold;

[0036] If not, the transit strategy is not updated.

[0037] Preferably, the generation of the side swing angle of the transit satellite includes:

[0038] The roll angle of the transit satellite is determined based on the half-viewing angle of the satellite sensor carried by the transit satellite, the radius of the earth, the maximum roll angle of the transit satellite, the orbit altitude of the transit satellite and the coverage arc length of the transit satellite.

[0039] Preferably, the side swing angle of the transiting satellite is determined according to the following formula:

[0040]

[0041] Among them, α is the side swing angle of the transit satellite, θ is the half field of view angle of the satellite sensor, r is the radius of the earth, and α max is the maximum side swing angle of the transit satellite, h is the orbital height of the transit satellite, l n is the coverage arc length of the transiting satellite.

[0042] Based on the above method embodiments, the present invention provides corresponding device embodiments.

[0043] An embodiment of the present invention provides a multi-satellite coordinated transit control device, comprising: a data acquisition module, an observation value calculation module, a first satellite screening module, a second satellite screening module, and a coordinated transit control module;

[0044] The data acquisition module is used to obtain satellite transit data corresponding to each sub-transit area in the transit area and the processing priority corresponding to each sub-transit area; wherein the satellite transit data includes: transit observation parameters corresponding to each transit satellite;

[0045] The observation value calculation module is used to calculate, for each transit satellite in each sub-transit area, an observation value used to measure the observation efficiency of the transit satellite over the sub-transit area based on the transit observation parameters of the transit satellite;

[0046] The first satellite screening module is configured to select, for each sub-transit area, a number of transit satellites in descending order based on the respective observation values as a number of first target satellites corresponding to the sub-transit area, wherein the total coverage of all the first target satellites is not less than a preset area coverage threshold;

[0047] The second satellite screening module is configured to screen a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite;

[0048] The coordinated transit control module is used to generate a transit strategy corresponding to the area to be transited based on the transit observation parameters of several second target satellites; and control each second target satellite to perform a coordinated transit in the area to be transited based on the transit strategy.

[0049] Based on the above method embodiments, the present invention provides corresponding terminal device embodiments.

[0050] Another embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the multi-satellite coordinated transit control method described in the above-mentioned embodiment of the invention.

[0051] Based on the above method embodiments, the present invention provides corresponding storage medium embodiments.

[0052] Another embodiment of the present invention provides a storage medium, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the multi-satellite coordinated transit control method described in the above-mentioned embodiment of the invention.

[0053] The following beneficial effects are achieved by implementing the present invention:

[0054] The embodiment of the present invention provides a method, apparatus, terminal device and storage medium based on multi-satellite coordinated transit control, firstly obtaining satellite transit data and processing priority corresponding to each sub-transit area in the area to be transited, then the present invention can subdivide the area to be transited into multiple sub-transit areas, and can obtain more targeted satellite transit data for each local sub-transit area, such as transit observation parameters corresponding to each transit satellite; for each transit satellite in each sub-transit area, the observation value of the observation efficiency is calculated according to the transit observation parameters, so that the observation efficiency of the satellite for each sub-transit area can be quantified, and when selecting a satellite for each sub-transit area, not only a number of transit satellites are selected as the first target satellite in order from high to low, but also The sum of the coverage rates of all first-target satellites is greater than the preset regional coverage rate threshold, so that each sub-region can be observed using a satellite with high observation efficiency while ensuring a certain degree of coverage. The present invention can then divide the entire area to be transited into several local sub-regions, thereby comprehensively considering the satellite's observation efficiency and coverage rate for each local region for different local regions. Unlike traditional technologies that only focus on the satellite's coverage of the entire region, the present invention can evaluate the observation efficiency and coverage of each satellite in the local sub-region, so that satellites can be preliminarily and accurately screened based on the observation efficiency and coverage, and then the final satellites are screened based on the processing priority of the sub-transit region to obtain the final transit strategy. Not only does it take into account the satellite's observation capability for the local region, but it also combines the processing priority of the sub-region. This allows for priority protection of the observation needs of high-priority sub-regions when resources are limited, further optimizing the allocation of satellite resources in different local regions, improving the efficiency and effectiveness of the overall observation, and avoiding the problem of unreasonable satellite resource allocation in traditional technologies. Compared with the existing technology, the present invention can comprehensively consider the observation efficiency, coverage and processing priority of each sub-transit area, thereby realizing accurate and efficient observation of the entire transit area, solving the problem that traditional technology cannot meet the actual business requirements for data accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a flow chart of a multi-satellite coordinated transit control method provided by one embodiment of the present invention.

[0056] Figure 2 This is a schematic diagram of the geometric relationship structure of satellites in an observation scenario provided by an embodiment of the present invention.

[0057] Figure 3 This is a structural diagram of a multi-satellite coordinated transit control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] like Figure 1 As shown, in order to solve the problem in the prior art that the observation efficiency and coverage of the satellite in different local areas cannot be comprehensively considered for the local areas, and thus the entire transit area cannot be accurately and efficiently observed, an embodiment of the present invention provides a multi-satellite coordinated transit control method, including:

[0060] Step S1: Obtaining satellite transit data corresponding to each sub-transit area in the transit area and the processing priority corresponding to each sub-transit area; wherein the satellite transit data includes: transit observation parameters corresponding to each transit satellite;

[0061] Illustratively, to determine the optimal transit strategy for a transit area, the present invention can first divide the transit area into multiple sub-transit areas and then collect satellite transit data, such as geometric coverage data, for each sub-transit area. Furthermore, a processing priority for each sub-transit area can be determined, with different sub-transit areas corresponding to different priorities, such as high, medium, and low.

[0062] By subdividing the area to be transited into sub-transit areas, more detailed and targeted satellite transit data can be obtained for each local area, including the transit observation parameters corresponding to each transit satellite, thereby providing a basis for subsequent analysis of the satellite's observation efficiency and coverage of each sub-area, so that the analysis can be more in line with the characteristics of each local area, rather than only considering the overall area as traditional technology does.

[0063] Step S2: for each transit satellite in each sub-transit area, calculating an observation value used to measure the observation efficiency of the transit satellite over the sub-transit area according to the transit observation parameters of the transit satellite;

[0064] Illustratively, observation efficiency values are calculated based on transit observation parameters, quantifying the satellite's observation efficiency for each sub-transit area. Unlike traditional techniques that focus solely on the satellite's coverage of the entire area, this method accurately assesses each satellite's observation effectiveness (e.g., observation efficiency) in a specific sub-area. This allows for satellite selection based on observation efficiency, prioritizing satellites with high observation efficiency for a specific area, thus improving the pertinence and effectiveness of observations in that area.

[0065] Illustratively, in this embodiment of the present invention, geometric coverage data directly reflects the satellite's coverage area and range of a specific sub-transit region. Generally speaking, the greater the satellite's coverage area over a given period of time, the more likely it is to obtain information about that region, and thus, its observation efficiency is relatively high. For example, if a satellite's geometric coverage data indicates that it covers a large portion of a sub-transit region, it will have more opportunities to observe that region during a single transit, resulting in higher observation efficiency than a satellite that only covers a smaller portion of the region. Based on this geometric coverage data, the actual observation efficiency of the satellite can be derived.

[0066] Step S3: For each sub-transit area, select a number of transit satellites in descending order based on the observed values as the first target satellites corresponding to the sub-transit area, wherein the total coverage of all the first target satellites is not less than the preset area coverage threshold;

[0067] Schematically, based on observation values and coverage, a preliminary screening of transit satellites can be performed to select multiple first-target satellites. When selecting first-target satellites for each sub-transit area, the sum of the coverage rates of all first-target satellites must be greater than a preset regional coverage threshold. This ensures that each sub-transit area receives adequate observation coverage, avoiding the potential for under-observation of some local areas encountered with traditional technologies. Furthermore, a single or multiple transit satellites are selected one by one in descending order of observation values for coverage calculation. This allows each sub-area to be observed using satellites with higher observation efficiency, while ensuring a certain level of coverage, thereby achieving comprehensive and accurate observation of the local area.

[0068] Step S4: selecting a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite;

[0069] Illustratively, during secondary screening, the embodiment of the present invention not only takes into account the satellite's observation capabilities for local areas, but also combines the processing priorities of sub-areas, so that when resources are limited, the observation needs of high-priority sub-areas can be prioritized, further optimizing the allocation of satellite resources in different local areas, improving the efficiency and effectiveness of overall observation, and avoiding the problem of unreasonable satellite resource allocation in traditional technologies.

[0070] Step S5: generating a transit strategy corresponding to the area to be transited according to the transit observation parameters of the plurality of second target satellites; and controlling the second target satellites to coordinately transit the area to be transited according to the transit strategy.

[0071] In schematic form, for the second target satellites obtained after the secondary screening, the transit observation parameters of these second target satellites are used as the final transit strategy, so that a multi-satellite coordinated transit observation plan can be formed. The multi-satellite coordinated transit observation plan obtained through the primary screening and secondary screening schemes of the present invention not only comprehensively considers the observation efficiency, coverage and processing priority of each sub-transit area, but also can make reasonable satellite arrangements for different local areas. Based on the obtained transit strategy, the present invention can control each second target satellite to coordinate transit in the area to be transited, thereby realizing comprehensive, accurate and efficient observation of the entire transit area, solving the problem that traditional technology cannot meet the actual business requirements for data accuracy.

[0072] In step S1, in a preferred embodiment, the present invention can use a grid method to divide the transit area into a plurality of sub-transit areas according to preset longitude and latitude. In an exemplary embodiment, the non-rectangular areas after the division can be filled with circumscribed rectangles to serve as sub-transit areas.

[0073] It's understandable that the grid method is an effective way to regularize irregular observation areas. Because satellite observation areas can be complex and diverse, directly analyzing satellite transits is difficult. Dividing them into grids and completing the bounding rectangles makes subsequent calculations and analysis more regular and convenient.

[0074] First, select the appropriate latitude and longitude intervals to divide the grid based on the observation needs and actual conditions. For example, if the observation area is large and the accuracy requirements are not extremely high, a 1°×1° interval can be selected; if the observation area is small and detailed analysis is required, a smaller interval such as 0.1°×0.1° can be selected.

[0075] Based on the selected latitude and longitude intervals, a grid is drawn on the irregular observation area to divide it into many small grid cells. Each grid cell can be regarded as a relatively independent observation sub-area.

[0076] For each non-rectangular grid cell, find its bounding rectangle. For example, if a grid cell is an irregular polygon, calculate the latitude and longitude ranges of its vertices to determine a minimum rectangle that contains the polygon. This rectangle is the bounding rectangle, and the bounding rectangle will serve as the sub-transit area for subsequent satellite transit information calculations.

[0077] Furthermore, after obtaining each sub-transit area, the process of generating the roll angle of each transit satellite in each sub-transit area specifically includes:

[0078] The roll angle of the transit satellite is determined based on the half-viewing angle of the satellite sensor carried by the transit satellite, the radius of the earth, the maximum roll angle of the transit satellite, the orbit altitude of the transit satellite and the coverage arc length of the transit satellite.

[0079] In principle, the side swing angle of the transiting satellite can be determined according to the following formula:

[0080]

[0081] Among them, α is the side swing angle of the transit satellite, θ is the half field of view angle of the satellite sensor, r is the radius of the earth, and α max is the maximum side swing angle of the transit satellite, h is the orbital height of the transit satellite, l n is the coverage arc length of the transiting satellite.

[0082] Schematically, when calculating the roll angle of each transiting satellite, the present invention comprehensively considers multiple key parameters such as the half-field angle of the satellite sensor carried by the transiting satellite, the radius of the earth, the maximum roll angle, the orbital altitude, and the coverage arc length. These parameters can affect the satellite's observation geometry from different dimensions. By integrating these parameters to determine the roll angle, the actual attitude of the satellite during the observation process can be more accurately reflected. For example, the half-field angle determines the angular range of satellite observation, the radius of the earth and the orbital altitude affect the relative position of the satellite and the observation area, the maximum roll angle limits the extreme degree of the satellite's roll, and the coverage arc length is related to the size of the area actually observed by the satellite. The embodiment of the present invention calculates the roll angle by combining these parameters. Compared with considering only a single or a few parameters, it can more accurately determine the roll angle of the satellite during observation, and provide more accurate data support for the subsequent calculation of observation efficiency and satellite screening.

[0083] In a preferred embodiment, Figure 2 As shown, it shows the geometric relationship of the transit satellite in the observation scene, so that the transit observation parameters corresponding to the transit satellite can be determined based on the geometric relationship of the satellite observing the target area, and the relationship between different parameters can be determined.

[0084] Indicative, such as Figure 2 As shown in , F represents the satellite, which can refer to the satellite code, β represents the difference between the maximum roll angle and the current roll angle, α represents the roll angle, h represents the orbital altitude of the transiting satellite, P represents the straight length of the observation area, n represents the maximum arc length of the observation area in opposite directions (such as the east and west directions), θ represents the half-field angle of the satellite sensor carried by the transiting satellite, and θ′ represents the angle between the center of the earth and a certain direction of the observation area, such as the angle between the center of the earth and the east direction of the observation area, or the angle between the center of the earth and the west direction of the observation area;

[0085] Specifically, we can first calculate the maximum detectable arc length l of the transiting satellite AA′ :

[0086]

[0087] Furthermore, the coverage arc length l of the transit satellite can be obtained by calculating the topological intersection of the satellite's scanning band and the observation area. n :

[0088]

[0089] From the above two equations, we can get θ′:

[0090]

[0091] Then the length l between the subsatellite point and arc segment n is n’ , which can be calculated as follows:

[0092]

[0093] Based on the above parameters, the satellite side swing angle α is calculated:

[0094]

[0095] Among them, α is the side swing angle of the transit satellite, θ is the half field of view angle of the satellite sensor, r is the radius of the earth, and α max is the maximum side swing angle of the transit satellite, h is the orbital height of the transit satellite, l n is the coverage arc length of the transiting satellite.

[0096] Regarding step S2, in a preferred embodiment, the transit observation parameters include: coverage arc length, side swing angle, and resolution;

[0097] The present invention can calculate the observation value of the transit satellite according to the following formula:

[0098]

[0099] Where z is the observation value of the transiting satellite, w is the coverage arc length, α is the roll angle, h is the orbital altitude of the transiting satellite, μ is the resolution, and μ' represents the corrected resolution after the resolution μ is corrected based on atmospheric refraction or observation angle.

[0100] In principle, the observation value is used to measure the quality of satellite coverage, thereby measuring the observation efficiency of the transit satellite over the sub-transit area. The higher the observation value z, the better the satellite's observation performance in the area.

[0101] The coverage arc length of a satellite refers to the length of the ground area that can be effectively covered by a single satellite pass, reflecting the satellite's observation coverage range.

[0102] The satellite's roll angle, that is, the angle at which the satellite sensor deviates from the sub-satellite point, can affect aspects such as observation stability and energy consumption.

[0103] The orbital altitude of a transiting satellite is a basic parameter in satellite orbit-related calculations. Different altitudes will affect the satellite's coverage range, resolution and other characteristics.

[0104] The resolution of a satellite represents its ability to observe ground details. The smaller the resolution value, the clearer the observed details.

[0105] Schematically, the present invention integrates a number of important parameters closely related to satellite observation, including coverage arc length, roll angle, orbital altitude and resolution, which can comprehensively reflect the observation performance of the satellite in the sub-transit area. The coverage arc length reflects the satellite's observation coverage range, the roll angle affects the observation stability and energy consumption, the orbital altitude is related to characteristics such as coverage range and resolution, and the resolution determines the detail ability of the observation. Taking these parameters into consideration, the observation value can more accurately measure the satellite's observation efficiency, avoiding the one-sidedness of evaluating the satellite observation effect based on only a single parameter. For example, a satellite may have a large coverage arc length but a low resolution, or a large roll angle may lead to increased energy consumption. Through the above calculation formula, the observation efficiency of the transit satellite in a certain sub-transit area can be more comprehensively evaluated, which can assist in the subsequent steps to obtain the satellite with the largest coverage area, the smallest roll angle and the highest resolution among the transit satellites, so as to obtain the best observation satellite and transit plan.

[0106] In a preferred embodiment, when the present invention calculates the observation efficiency of the satellite in the sub-transit area based on the coverage arc length, side swing angle, orbital altitude and resolution, it also ensures that each selected first target satellite complies with the operation constraints of each satellite, such as: land satellite payload usage constraint check, meteorological satellite payload usage constraint check, ocean satellite payload usage constraint check, military satellite payload usage constraint check, commercial satellite payload usage constraint check, international cooperation satellite payload usage constraint and other constraints.

[0107] Regarding step S3, in a preferred embodiment, the present invention can perform a preliminary screening of all transit satellites in each sub-transit area to obtain a number of first target satellites corresponding to each sub-transit area, and then:

[0108] The method of selecting, according to each observation value, a plurality of transit satellites in descending order as a plurality of first target satellites corresponding to the sub-transit area specifically includes:

[0109] Sort each observation value in descending order to generate an initial observation set;

[0110] The transit satellite corresponding to the highest observation value in the initial observation set is used as the initial transit satellite, and the initial transit satellite is added to the initial satellite set;

[0111] Repeating the coverage range determination operation to output a plurality of first target satellites corresponding to the sub-transit area;

[0112] The coverage range determination operation includes:

[0113] Determine whether the total coverage of all transiting satellites in the current satellite set is not less than a preset regional coverage threshold; wherein, initially, the initial satellite set is used as the current satellite set;

[0114] If yes, take each transiting satellite in the current satellite set as the first target satellite:

[0115] If not, the observation value corresponding to the current transit satellite is deleted from the current observation set, and then the observation values that have not been deleted are re-sorted in descending order to generate an updated observation set; wherein, initially, the initial transit satellite is used as the current transit satellite, and the initial observation set is used as the current observation set;

[0116] The transit satellite corresponding to the highest observation value in the updated observation set is used as the updated transit satellite; the updated transit satellite is added to the current satellite set to generate an updated satellite set;

[0117] The updated transit satellite is used as the current transit satellite for the next coverage determination operation, and the updated satellite set is used as the current satellite set for the next coverage determination operation.

[0118] Illustratively, this embodiment of the present invention continuously determines whether the total coverage of the current satellite set is no less than a preset regional coverage threshold. This ensures that the first target satellite ultimately selected meets the basic coverage requirements of the sub-transit area, thereby avoiding under-observation of some sub-areas and ensuring comprehensive observation. For example, when observing a large urban area, only when the total coverage of the selected satellites encompasses all important parts of the city can complete urban information be obtained to meet observation requirements.

[0119] In the process of determining whether the selected satellites meet the coverage rate, the embodiment of the present invention selects transit satellites in order of observation values from high to low, that is, the satellites with the highest observation values can be preferentially included in the initial satellite set, which means that on the premise of meeting the coverage range, the present invention can be more inclined to select satellites with high observation efficiency, thereby improving the overall observation effect.

[0120] When the total coverage of the current satellite set does not meet a preset threshold, embodiments of the present invention delete the observation values corresponding to the currently transiting satellites and reorder them so that the observation values of the subsequently selected satellites are suboptimal. This ensures that the resulting satellite set meets both coverage requirements and has high observation efficiency. For example, in some cases, the initially selected satellite may have high observation values, but due to its limited coverage, it may not be able to meet the coverage requirements of a sub-area. In this case, through dynamic adjustment, satellites with relatively high observation values can still be selected after the observation value ranking is subsequently updated, thereby better achieving a satellite set with high observation efficiency and comprehensive coverage.

[0121] Illustratively, the present invention can perform screening in different sub-transit areas according to the same method to obtain a relatively stable and reliable first target satellite set.

[0122] Specifically, after obtaining the information of all transit satellites, the present invention can calculate the quality of satellite coverage of the transit satellites based on the largest coverage area, the smallest side swing, and the highest resolution, that is, obtain the observation value of the satellite, and then sort the observation value, and obtain the sorting sequence number of the satellite observation quality. After obtaining the order of the satellite observation quality sorting, the observation satellites are preliminarily screened.

[0123] For step S4, after the present invention performs a preliminary screening of each sub-transit area, it can further perform a secondary screening to select the second target satellites based on the processing priority of the sub-transit area and the transit observation parameters of each first target satellite, so as to derive the optimal transit strategy based on each second target satellite.

[0124] In a preferred embodiment, the transit observation parameters further include: a transit time window;

[0125] The step of selecting a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite comprises:

[0126] For each sub-transit area, generating a satellite list corresponding to the sub-transit area according to each first target satellite corresponding to the sub-transit area;

[0127] The first target satellite that appears repeatedly in multiple sub-transit areas and has overlapping transit time windows is used as a shared satellite;

[0128] For each shared satellite, the sub-transit area with the highest priority among the sub-transit areas corresponding to the shared satellite is selected as a reserved sub-transit area; for the non-reserved sub-transit area corresponding to the shared satellite, the shared satellite in the satellite list corresponding to the non-reserved sub-transit area is replaced with a candidate transit satellite to generate an updated satellite list; wherein the difference in observation values between the candidate transit satellite and the shared satellite is less than the difference in observation values between the shared satellite and any transit satellite other than the shared satellite in the satellite transit data;

[0129] A plurality of second target satellites are output according to the satellite list corresponding to each sub-transit area, the satellite list corresponding to each reserved sub-transit area, and the updated satellite list corresponding to each non-reserved sub-transit area.

[0130] It is understandable that the present invention can generate a satellite list for each sub-transit area according to its corresponding first target satellite;

[0131] The first target satellites that appear in multiple sub-transit areas and have overlapping transit time windows are found and defined as shared satellites.

[0132] For each shared satellite, the sub-transit area with the highest priority is selected from its corresponding sub-transit areas as the reserved sub-transit area.

[0133] For non-reserved sub-transit regions corresponding to shared satellites, the shared satellites are replaced with candidate transit satellites in the satellite list, generating an updated satellite list. Specifically, the candidate transit satellite must have an observation value difference with the shared satellite that is smaller than the observation value difference between the shared satellite and any other transiting satellite. This indicates that the observation value of the candidate transit satellite is closest to that of the shared satellite. Therefore, a candidate transit satellite with a second-best performance compared to the shared satellite can be selected as a replacement. This ensures that even when a shared satellite is deleted, the observation efficiency and quality of the updated satellite list are still maintained.

[0134] Finally, the satellite list corresponding to each sub-transit area, the satellite list corresponding to the reserved sub-transit area, and the updated satellite list corresponding to the non-reserved sub-transit area are integrated to output a number of second target satellites.

[0135] Schematically, in multi-satellite collaborative observation, the transit time windows of satellites may overlap, especially those shared satellites that have observation tasks in multiple sub-areas. The present invention treats the first target satellite that appears repeatedly and has overlapping time windows as a shared satellite and performs targeted processing, which can effectively solve the time conflict problem when satellites observe in different sub-areas.

[0136] Furthermore, for shared satellites, after determining the reserved and non-reserved sub-transit areas, corresponding satellite replacement operations can be performed. This ensures that each sub-area is observed at the appropriate time, preventing certain areas from being unobserved due to satellite time conflicts, thereby ensuring the continuity and integrity of observations across the entire transit area. By comparing the difference in observation values between candidate transit satellites and shared satellites and other satellites, the candidate transit satellite closest to the shared satellite's observation value is selected for replacement. This minimizes the loss of observation efficiency caused by satellite replacement while maintaining overall observation results. This ensures that the final selected second target satellite combination meets the priority observation needs of each sub-area while also achieving the optimal observation results.

[0137] Specifically, the present invention can resolve conflict scenarios where the same satellite is selected by multiple regions and the time overlaps. That is, the priorities of the conflicting regions are first compared, and the key region tasks are reserved first (that is, the shared transit satellite in the sub-transit region with the highest priority is reserved), while the common region (that is, the non-reserved sub-transit region corresponding to the shared satellite) will trigger an alternative process. For example, the next satellite with a z value close to that of the shared satellite is selected from the candidate satellite list (that is, the list of transit satellites in each satellite transit data except the shared satellite) as the candidate transit satellite.

[0138] Indicatively, if the sub-transit areas corresponding to the shared satellites are all ordinary areas (i.e., they belong to the same priority), the observation values of the shared satellites in each area can be compared, and the areas with higher observation values can be retained. For example, if the observation value z of shared satellite 1 in area A is z = 0.7 and the observation value z of area B is z = 0.5, the task of shared satellite 1 in area A is retained, and then the next satellite with a z value close to that of shared satellite 1 is selected from the candidate satellite list as a candidate transit satellite.

[0139] Therefore, the present invention can set the key observation area as the highest priority, thereby ensuring the highest satellite coverage and observation efficiency of the key observation area in the secondary screening process, and then consider other low-priority observation areas, thereby realizing the generation of the overall optimal observation plan.

[0140] Indicatively, shared satellites will be given priority for observation tasks in key areas to ensure that key areas can obtain high-quality observation data, reasonably allocate limited satellite resources, and avoid insufficient observations in key areas due to average distribution.

[0141] In non-reserved sub-transit areas, shared satellites are replaced by standby transit satellites, and the observation values of the standby satellites are close to those of the shared satellites. This not only meets the observation requirements of different areas, but also avoids the use of satellites with large differences in observation performance, reduces resource waste, and improves the overall utilization efficiency of satellite resources.

[0142] Therefore, embodiments of the present invention can resolve satellite time conflicts, accurately identifying shared satellites that repeatedly appear in multiple transit sub-regions with overlapping transit time windows, and then addressing these issues in a targeted manner. By identifying reserved and non-reserved transit sub-regions, this resolves time conflicts when observing multiple regions for the same satellite, ensuring that satellite observation missions in each region proceed in an orderly manner.

[0143] Moreover, when a time conflict occurs in a shared satellite, a backup satellite will be used to replace it to ensure that each sub-area can be observed on time, avoid observation omissions due to time conflicts, and ensure the continuity and integrity of observations in the entire area to be transited.

[0144] In a preferred embodiment, the present invention can also update the transit strategy to obtain an updated transit strategy to achieve a better multi-satellite coordinated transit effect, which is:

[0145] After generating the transit strategy corresponding to the transit area, the following steps are also included:

[0146] Calculate the total coverage area of each second target satellite in the transit strategy;

[0147] Determining whether the total coverage area of each second target satellite is less than a preset area coverage threshold;

[0148] If so, mark the transit satellites that have not been selected in the satellite transit data as transit satellites to be selected; select a single transit satellite to be selected or multiple transit satellites to be selected in descending order based on the observation values of each transit satellite to be selected as transit satellites to be merged, add each transit satellite to be merged to the transit strategy, and generate an updated transit strategy; wherein the total coverage area of the satellites in the updated transit strategy is not less than the preset regional coverage threshold;

[0149] If not, the transit strategy is not updated.

[0150] In an illustrative manner, after obtaining the transit strategy, the present invention can perform a coverage compliance check to calculate the total coverage area of the entire region of the current transit strategy to see whether it reaches the regional coverage threshold (such as 95%). If not, a reshooting mechanism is triggered. For example, unoccupied satellites are filtered out from the unselected satellites in each sub-region in descending order of z value, and then added to the global plan to obtain an updated transit strategy to achieve better multi-satellite coordinated transit.

[0151] Therefore, the present invention dynamically determines whether the current transit strategy meets the coverage requirements for the observation area by calculating the total coverage area of each secondary target satellite in the transit strategy and comparing it with a preset regional coverage threshold. If the total coverage area is less than the threshold, timely adjustments are taken to ensure that the final transit strategy fully covers the observation area and avoid observation blind spots.

[0152] Furthermore, the embodiment of the present invention marks unselected transit satellites as transit satellites to be selected and screens them based on their observation values, making full use of all available satellite resources. Based on the original second target satellite, suitable transit satellites to be merged can be further selected and added to the transit strategy, thus avoiding the idle waste of some satellite resources and improving the overall utilization efficiency of satellite resources. When selecting transit satellites to be merged, they are selected in descending order of observation values, which not only ensures that the total coverage area meets the standards but also takes into account the observation efficiency to a certain extent. Giving priority to satellites with high observation values can increase the coverage area while minimizing the negative impact on the overall observation effect, thus achieving a balance between coverage range and observation efficiency.

[0153] In step S5, in a preferred embodiment, the transit strategy corresponding to the transit area to be transited may include: the sub-transit area served by each second target satellite, the time window, observation parameters (coverage arc length, roll angle, resolution), and z-value. The transit strategy may also include global indicators such as total coverage, average z-value, and resource utilization (number of satellites in use / total number of candidate satellites).

[0154] Illustratively, the embodiment of the present invention can also calculate the satellite entry time, end time and coverage rate of the transit strategy, thereby obtaining the optimal overall observation plan corresponding to the area to be transited.

[0155] like Figure 3 As shown, based on the above-mentioned various embodiments of the multi-satellite coordinated transit control method, the present invention provides corresponding device embodiments;

[0156] An embodiment of the present invention provides a multi-satellite coordinated transit control device, comprising: a data acquisition module, an observation value calculation module, a first satellite screening module, a second satellite screening module, and a coordinated transit control module;

[0157] The data acquisition module is used to obtain satellite transit data corresponding to each sub-transit area in the transit area and the processing priority corresponding to each sub-transit area; wherein the satellite transit data includes: transit observation parameters corresponding to each transit satellite;

[0158] The observation value calculation module is used to calculate, for each transit satellite in each sub-transit area, an observation value used to measure the observation efficiency of the transit satellite over the sub-transit area based on the transit observation parameters of the transit satellite;

[0159] The first satellite screening module is configured to select, for each sub-transit area, a number of transit satellites in descending order based on the respective observation values as a number of first target satellites corresponding to the sub-transit area, wherein the total coverage of all the first target satellites is not less than a preset area coverage threshold;

[0160] The second satellite screening module is configured to screen a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite;

[0161] The coordinated transit control module is used to generate a transit strategy corresponding to the area to be transited based on the transit observation parameters of several second target satellites; and control each second target satellite to perform a coordinated transit in the area to be transited based on the transit strategy.

[0162] It should be noted that the device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, and may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, in the drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art can understand and implement the present invention without paying any creative effort.

[0163] Those skilled in the art can clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0164] Based on the above-mentioned various embodiments of the multi-satellite coordinated transit control method, the present invention provides corresponding terminal equipment embodiments.

[0165] An embodiment of the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements a multi-satellite collaborative transit control method described in any method embodiment of the present invention.

[0166] The terminal device may be a computing terminal device such as a desktop computer, a notebook computer, a palmtop computer, a cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0167] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the terminal device, connecting various parts of the entire terminal device using various interfaces and lines.

[0168] The memory can be used to store the computer program, and the processor implements various functions of the terminal device by running or executing the computer program stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created based on the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device or other volatile solid-state storage device.

[0169] Based on the above-mentioned various embodiments of the multi-satellite coordinated transit control method, the present invention provides corresponding storage medium embodiments.

[0170] An embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a multi-satellite coordinated transit control method described in any method embodiment of the present invention.

[0171] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. The computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0172] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-satellite coordinated transit control method, characterized in that: include: Obtaining satellite transit data corresponding to each sub-transit area in the area to be transited and a processing priority corresponding to each sub-transit area; wherein the satellite transit data includes: transit observation parameters corresponding to each transit satellite; For each transit satellite in each sub-transit area, an observation value for measuring the observation efficiency of the transit satellite over the sub-transit area is calculated based on the transit observation parameters of the transit satellite; For each sub-transit area, a number of transit satellites are selected in descending order based on the observed values as the first target satellites corresponding to the sub-transit area: wherein the total coverage of all the first target satellites is not less than the preset area coverage threshold; Selecting a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite; A transit strategy corresponding to the area to be transited is generated according to transit observation parameters of a plurality of second target satellites; and according to the transit strategy, each second target satellite is controlled to perform a coordinated transit in the area to be transited.

2. The multi-satellite coordinated transit control method according to claim 1, characterized in that: The transit observation parameters include: coverage arc length, side swing angle, and resolution; The calculation of the observation value used to measure the observation efficiency of the transit satellite over the sub-transit area based on the transit observation parameter of the transit satellite includes: The observation value of the transit satellite is calculated according to the following formula: Where z is the observation value of the transiting satellite, w is the coverage arc length, α is the roll angle, h is the orbital altitude of the transiting satellite, μ is the resolution, and μ' represents the corrected resolution after the resolution μ is corrected based on atmospheric refraction or observation angle.

3. The multi-satellite coordinated transit control method according to claim 2, characterized in that: The method of selecting a plurality of transit satellites in descending order based on the respective observation values as a plurality of first target satellites corresponding to the sub-transit areas includes: Sort each observation value in descending order to generate an initial observation set; The transit satellite corresponding to the highest observation value in the initial observation set is used as the initial transit satellite, and the initial transit satellite is added to the initial satellite set; Repeating the coverage range determination operation to output a plurality of first target satellites corresponding to the sub-transit area; The coverage range determination operation includes: Determine whether the total coverage of all transiting satellites in the current satellite set is not less than a preset regional coverage threshold; wherein, initially, the initial satellite set is used as the current satellite set; If yes, take each transiting satellite in the current satellite set as the first target satellite: If not, the observation value corresponding to the current transit satellite is deleted from the current observation set, and then the observation values that have not been deleted are re-sorted in descending order to generate an updated observation set; wherein, initially, the initial transit satellite is used as the current transit satellite, and the initial observation set is used as the current observation set; The transit satellite corresponding to the highest observation value in the updated observation set is used as the updated transit satellite; the updated transit satellite is added to the current satellite set to generate an updated satellite set; The updated transit satellite is used as the current transit satellite for the next coverage determination operation, and the updated satellite set is used as the current satellite set for the next coverage determination operation.

4. The multi-satellite coordinated transit control method according to claim 3, wherein: The transit observation parameters also include: a transit time window; The step of selecting a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite comprises: For each sub-transit area, generating a satellite list corresponding to the sub-transit area according to each first target satellite corresponding to the sub-transit area; The first target satellite that appears repeatedly in multiple sub-transit areas and has overlapping transit time windows is used as a shared satellite; For each shared satellite, the sub-transit area with the highest priority among the sub-transit areas corresponding to the shared satellite is selected as a reserved sub-transit area; for the non-reserved sub-transit area corresponding to the shared satellite, the shared satellite in the satellite list corresponding to the non-reserved sub-transit area is replaced with a candidate transit satellite to generate an updated satellite list; wherein the difference in observation values between the candidate transit satellite and the shared satellite is less than the difference in observation values between the shared satellite and any transit satellite other than the shared satellite in the satellite transit data; A plurality of second target satellites are output according to the satellite list corresponding to each sub-transit area, the satellite list corresponding to each reserved sub-transit area, and the updated satellite list corresponding to each non-reserved sub-transit area.

5. The multi-satellite coordinated transit control method according to claim 4, characterized in that: After generating the transit strategy corresponding to the transit area, the following steps are also included: Calculate the total coverage area of each second target satellite in the transit strategy; Determining whether the total coverage area of each second target satellite is less than a preset area coverage threshold; If so, mark the transit satellites that have not been selected in the satellite transit data as transit satellites to be selected; select a single transit satellite to be selected or multiple transit satellites to be selected in descending order based on the observation values of each transit satellite to be selected as transit satellites to be merged, add each transit satellite to be merged to the transit strategy, and generate an updated transit strategy; wherein the total coverage area of the satellites in the updated transit strategy is not less than the preset regional coverage threshold; If not, the transit strategy is not updated.

6. The multi-satellite coordinated transit control method according to claim 5, characterized in that: The generation of the side swing angle of the transiting satellite includes: The roll angle of the transit satellite is determined based on the half-viewing angle of the satellite sensor carried by the transit satellite, the radius of the earth, the maximum roll angle of the transit satellite, the orbit altitude of the transit satellite and the coverage arc length of the transit satellite.

7. The multi-satellite coordinated transit control method according to claim 5, characterized in that: The side swing angle of the transiting satellite is determined according to the following formula: Among them, α is the side swing angle of the transit satellite, θ is the half field of view angle of the satellite sensor, r is the radius of the earth, and α max is the maximum side swing angle of the transit satellite, h is the orbital height of the transit satellite, l n is the coverage arc length of the transiting satellite.

8. A multi-satellite coordinated transit control device, characterized in that: include: Data acquisition module, observation value calculation module, first satellite screening module, second satellite screening module and coordinated transit control module; The data acquisition module is used to obtain satellite transit data corresponding to each sub-transit area in the transit area and the processing priority corresponding to each sub-transit area; wherein the satellite transit data includes: transit observation parameters corresponding to each transit satellite; The observation value calculation module is used to calculate, for each transit satellite in each sub-transit area, an observation value used to measure the observation efficiency of the transit satellite over the sub-transit area based on the transit observation parameters of the transit satellite; The first satellite screening module is configured to select, for each sub-transit area, a number of transit satellites in descending order based on the respective observation values as a number of first target satellites corresponding to the sub-transit area, wherein the total coverage of all the first target satellites is not less than a preset area coverage threshold; The second satellite screening module is configured to screen a plurality of second target satellites from each first target satellite according to the processing priority of each sub-transit area and the transit observation parameters of each first target satellite; The coordinated transit control module is used to generate a transit strategy corresponding to the area to be transited based on the transit observation parameters of several second target satellites; and control each second target satellite to perform a coordinated transit in the area to be transited based on the transit strategy.

9. A terminal device, characterized in that: The system comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the method for multi-satellite coordinated transit control according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute a multi-satellite coordinated transit control method according to any one of claims 1 to 7.

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