Multi-satellite task scheduling method and system based on uniform revisit routine and emergency observation integration

Abstract

The invention provides a multi-satellite task scheduling method and system based on uniform revisit routine and emergency observation integration, and belongs to the technical field of remote sensing satellite task planning and autonomous scheduling. The method comprises the following steps: dividing a ground area into a plurality of observation grids based on orbit parameters and imaging parameters of a remote sensing satellite; traversing orbit time sequences of all satellites under a unified time axis, and dynamically planning conventional observation tasks of all satellites according to sub-satellite point positions of the satellites and grid observation marks; when an emergency observation request of a specific area is received, performing emergency observation task replanning according to a current satellite conventional observation task; and obtaining a satellite joint scheduling plan including a conventional observation task and an emergency observation task. The method has the advantages of high scheduling fairness, controllable attitude adjustment, high response speed and the like, and is suitable for an efficient task joint scheduling scene of a large-scale low-orbit remote sensing constellation in conventional and emergency states.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite observation mission planning, and relates to a multi-satellite mission scheduling method and system, and in particular to a multi-satellite mission scheduling method and system based on the integration of uniform revisit routine and emergency observation. Background Art

[0002] With the continuous advancement of low-orbit remote sensing satellite technology and the expansion of constellation deployment, multi-satellite joint observation has gradually become an important model for Earth remote sensing. The coordinated operation of multiple satellites can not only improve the frequency of observations and spatial coverage capabilities, but also provide strong support for tasks such as monitoring Earth surface changes, resource surveys, and disaster response. In conventional task scheduling, the system usually allocates observation tasks based on preset priorities and visibility conditions. However, in the absence of a long-term observation balance strategy, some areas may be frequently observed while other areas lack coverage for long periods of time, resulting in uneven distribution of observation data in time and space, making it difficult to meet the requirements of global data services.

[0003] On the other hand, when faced with emergencies such as earthquakes, typhoons, and forest fires, remote sensing satellites, as a crucial means of acquiring space information, bear the crucial responsibility of providing immediate imagery support. However, existing scheduling systems often initiate temporary scheduling processes in response to emergency requests, lacking strategies for integrating with regular tasks. This results in inefficient emergency task insertion, long response delays, and the inability to form an efficient closed-loop emergency service. Furthermore, rapid attitude adjustment is crucial for emergency observations, but its feasibility is not only limited by the current state of the satellite but also involves attitude maneuvering time, angular velocity constraints, and conflict assessments between tasks. Existing systems generally lack real-time evaluation mechanisms for attitude adjustments, which can easily lead to observation failures or scheduling conflicts.

[0004] Most existing routine and emergency scheduling systems are managed using independent modules, lacking a unified timeline and resource control strategy. This makes it impossible to globally coordinate satellite observation opportunities, limiting the scheduling capabilities of multi-satellite systems in environments with concurrent missions and dynamically changing resources. Therefore, a multi-satellite observation system is urgently needed that can integrate routine and emergency observation tasks within a unified framework, achieve both global scheduling fairness and rapid emergency response through efficient task priority adjustment and attitude feasibility assessment. Summary of the Invention

[0005] In order to solve the above problems, the present invention provides a multi-satellite mission scheduling method and system based on the integration of uniform revisit routine and emergency observation.

[0006] The technical solution adopted in the present invention is as follows:

[0007] A multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observations includes the following steps:

[0008] The ground area is divided into several observation grids based on the orbital parameters and imaging parameters of the remote sensing satellite;

[0009] Traverse the orbital time series of each satellite under a unified time axis, and dynamically plan the routine observation tasks of each satellite based on the satellite sub-satellite point position and grid observation mark;

[0010] When receiving an emergency observation request for a specific area, the emergency observation mission is replanned according to the current satellite routine observation mission;

[0011] Obtain a satellite joint scheduling plan that includes routine observation tasks and emergency observation tasks.

[0012] Furthermore, the ground area is divided into several observation grids based on the orbital parameters and imaging parameters of the remote sensing satellite, specifically including: calculating the ground coverage bandwidth according to the satellite's push-broom imaging capability, combined with the satellite orbit altitude and the sensor field of view angle; setting the latitude division step, adjusting the longitude step according to the latitude change and the bandwidth, and dividing the ground area into several observation grids.

[0013] Furthermore, the orbital time series of each satellite is traversed under a unified time axis, and the routine observation tasks of each satellite are dynamically planned according to the sub-satellite point position and grid observation mark of the satellite. Specifically, the steps include:

[0014] Input satellite orbit position, attitude data and ground grid division data;

[0015] At each time point t within the mission time, the grid observation flag is initialized and all satellites are traversed;

[0016] For each satellite, all grids in the candidate area are traversed. Within the range of unobserved grids, the grid closest to the current satellite's subsatellite point and meeting the constraints is selected for observation.

[0017] Construct the corresponding observation task record, update the scheduling plan, the set of observed grids and the number of grid observations.

[0018] Furthermore, for each satellite, if no grid meeting the conditions is found in the first traversal, all grids in the candidate area are reset to unobserved and the traversal is performed again.

[0019] Furthermore, the grid observation flags are initialized, specifically, by setting the flags of the observed grids as observed according to the number of grid observations, and setting the flags of the remaining grids as unobserved.

[0020] Furthermore, the emergency observation mission re-planning is performed based on the current satellite routine observation mission, and the specific steps include:

[0021] Get the grid set where the conventional observation task ground grid intersects with the emergency area;

[0022] Import the orbital position and attitude data of each satellite during the emergency scheduling period and the observation task sequence during regular scheduling;

[0023] At each moment in the emergency time period, all satellites are traversed to perform judgment and task allocation until all grids in the emergency area are covered, and the routine and emergency observation task sequences are output.

[0024] Furthermore, the execution judgment and task allocation are specifically as follows:

[0025] The following operations are performed for each satellite: Detect whether there is a regular observation task at the current moment. If so, further determine whether the grid corresponding to the regular observation task is in the emergency area grid set;

[0026] If it is in the emergency area grid set, the conventional observation task is converted into an emergency observation task and the original planning parameters are maintained;

[0027] If it is not in the emergency area grid set and the current time is not equal to the start time of the emergency time period, the emergency task re-planning process is started. The emergency task re-planning process is to select the emergency area grid closest to the current satellite sub-satellite point position and satisfying the constraints for observation;

[0028] If there is no regular observation task at the current moment, the emergency task adding process is directly entered. The emergency task adding process uses the same grid screening rules as the emergency replanning process to create a new task.

[0029] Furthermore, the constraints include satellite field of view angle constraints and attitude rotation constraints.

[0030] Furthermore, the attitude rotation constraint judgment method is: obtaining the ground coordinates of the observation target between the current task and the previous task, calculating the satellite attitude adjustment rotation quaternion and angular velocity based on the current satellite position, and judging whether the angular velocity exceeds the threshold.

[0031] A multi-satellite mission scheduling system based on the integration of uniform revisit and emergency observation, comprising:

[0032] Ground grid generation module: used to divide the ground area into several observation grids based on the orbit parameters and imaging parameters of the remote sensing satellite;

[0033] Conventional task scheduling module: used to traverse the orbital time series of each satellite under a unified time axis, and dynamically plan the conventional observation tasks of each satellite according to the satellite sub-satellite point position and grid observation mark;

[0034] Emergency mission access module: used to re-plan emergency observation missions based on current satellite routine observation missions upon receiving emergency observation requests for specific areas;

[0035] Joint mission recording module: used to record satellite joint scheduling plans including routine observation missions and emergency observation missions.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The proposed multi-satellite mission scheduling method, based on the integration of uniform revisit routine and emergency observations, enables unified scheduling and management of both routine and emergency missions, resolving technical issues such as uneven routine observation coverage, delayed emergency response, and uncontrollable attitude in existing solutions. By dynamically scheduling multiple satellites on a unified timeline, the method achieves a reasonable allocation of observation opportunities and a balanced observation load. Furthermore, a quaternion attitude assessment model based on historical attitude states is introduced to ensure the attitude feasibility of newly added emergency missions, effectively avoiding scheduling failures and mission conflicts.

[0038] This system features fast access, predictable attitude, and globally optimized scheduling. It can reconfigure emergency scheduling within minutes without significantly interfering with conventional mission scheduling, significantly improving the efficiency of remote sensing satellite constellations in responding to emergencies. The system outputs complete scheduling logs and visualized task sequence diagrams, facilitating subsequent simulation verification, performance evaluation, and task execution replication. It has broad engineering practical value and potential for widespread adoption. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic diagram of the module flow design of the method in an embodiment of the present invention.

[0040] Figure 2 This is a flowchart of conventional task planning in an embodiment of the present invention.

[0041] Figure 3 Schematic diagram of satellite attitude rotation in an embodiment of the present invention.

[0042] Figure 4 This is a flowchart of emergency task planning in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific examples.

[0044] A multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observations includes the following steps:

[0045] The ground area is divided into several observation grids based on the orbital parameters and imaging parameters of the remote sensing satellite;

[0046] Traverse the orbital time series of each satellite under a unified time axis, and dynamically plan the routine observation tasks of each satellite based on the satellite sub-satellite point position and grid observation mark;

[0047] When receiving an emergency observation request for a specific area, the emergency observation mission is replanned according to the current satellite routine observation mission;

[0048] Obtain a satellite joint scheduling plan that includes routine observation tasks and emergency observation tasks.

[0049] Furthermore, the ground area is divided into several observation grids based on the orbital parameters and imaging parameters of the remote sensing satellite, specifically including: calculating the ground coverage bandwidth according to the satellite's push-broom imaging capability, combined with the satellite orbit altitude and the sensor field of view angle; setting the latitude division step, adjusting the longitude step according to the latitude change and the bandwidth, and dividing the ground area into several observation grids to keep the ground area of ​​each grid as consistent as possible. The grid has a unique grid number, is represented in a quadrilateral frame format, and supports rapid geometric intersection judgment with the emergency area.

[0050] Furthermore, the orbital time series of each satellite is traversed under a unified time axis, and the routine observation tasks of each satellite are dynamically planned according to the sub-satellite point position and grid observation mark of the satellite. Specifically, the steps include:

[0051] Input satellite orbit position, attitude data and ground grid division data;

[0052] At each time point t within the mission time, the grid observation flag is initialized and all satellites are traversed;

[0053] For each satellite, all grids in the candidate area are traversed. Within the range of unobserved grids, the grid closest to the current satellite's subsatellite point and meeting the constraints is selected for observation.

[0054] Construct the corresponding observation task record, update the scheduling plan, the set of observed grids and the number of grid observations.

[0055] Furthermore, for each satellite, if no grid meeting the conditions is found in the first traversal, all grids in the candidate area are reset to unobserved and the traversal is performed again.

[0056] Furthermore, the grid observation flags are initialized, specifically, by setting the flags of the observed grids as observed according to the number of grid observations, and setting the flags of the remaining grids as unobserved.

[0057] Furthermore, the emergency observation mission re-planning is performed based on the current satellite routine observation mission, and the specific steps include:

[0058] Get the grid set where the conventional observation task ground grid intersects with the emergency area;

[0059] Import the orbital position and attitude data of each satellite during the emergency scheduling period and the observation task sequence during regular scheduling;

[0060] At each moment in the emergency time period, all satellites are traversed to perform judgment and task allocation until all grids in the emergency area are covered, and the routine and emergency observation task sequences are output.

[0061] Furthermore, the execution judgment and task allocation are specifically as follows:

[0062] The following operations are performed for each satellite: Detect whether there is a regular observation task at the current moment. If so, further determine whether the grid corresponding to the regular observation task is in the emergency area grid set;

[0063] If it is in the emergency area grid set, the conventional observation task is converted into an emergency observation task and the original planning parameters are maintained;

[0064] If it is not in the emergency area grid set and the current time is not equal to the start time of the emergency time period, the emergency task re-planning process is started. The emergency task re-planning process is to select the emergency area grid closest to the current satellite sub-satellite point position and satisfying the constraints for observation;

[0065] If there is no regular observation task at the current moment, the emergency task adding process is directly entered. The emergency task adding process uses the same grid screening rules as the emergency replanning process to create a new task.

[0066] Furthermore, the constraints include satellite field of view angle constraints and attitude rotation constraints.

[0067] Furthermore, the attitude rotation constraint judgment method is: obtaining the ground coordinates of the observation target between the current task and the previous task, calculating the satellite attitude adjustment rotation quaternion and angular velocity based on the current satellite position, and judging whether the angular velocity exceeds the threshold.

[0068] like Figure 1As shown, in one embodiment provided by the present invention, a multi-satellite task scheduling system based on the integration of uniform revisit routine and emergency observation is provided, which is used to implement a multi-satellite task scheduling method based on the integration of uniform revisit routine and emergency observation. The system can be divided into a ground grid generation module, a conventional task scheduling module, an emergency task access module, an attitude judgment and adjustment module, and a joint task recording module.

[0069] Ground grid generation module: used to construct a global ground grid model based on the imaging parameters and orbital altitude of the remote sensing satellite, and calculate the observable area of ​​each grid in combination with the satellite push-scan imaging field of view, and further extract the grid set that intersects with the observation target area to provide basic spatial division and constraint boundaries for scheduling tasks.

[0070] Conventional task scheduling module: It is used to execute the conventional task scheduling algorithm based on observation uniformity and attitude adjustment constraints on the basis of a given time axis and multiple satellite orbit data, dynamically select insufficiently observed areas for observation task allocation, and ensure that each area is revisited evenly within the scheduling cycle.

[0071] Emergency task access module: After receiving an emergency observation request, it is used to evaluate the current execution status of routine tasks, dynamically insert emergency tasks, support target replacement mechanisms based on visibility and posture constraints, and achieve rapid response and high coverage of the observation area.

[0072] Attitude judgment and adjustment module: used to calculate the required attitude rotation quaternion, direction cosine matrix and angular velocity based on the spatial relationship between the satellite's current attitude state and the target observation direction, determine whether the attitude maneuver is within the set constraints, guide whether to perform the corresponding observation action and update the satellite attitude state.

[0073] Joint mission recording module: used to record all observation missions and emergency replacement records generated during the scheduling process, including information such as time, target grid, mission type and attitude parameters, and supports the output of scheduling logs for subsequent simulation evaluation, system verification and observation coverage effect analysis.

[0074] The following is a step-by-step introduction to the multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observations in this implementation:

[0075] First, according to the task requirements, initiate s The initial 300 satellites S = {s1,s2,...,s b}(where b represents the number of satellites, currently designed to be 300) is a global satellite routine observation mission plan with a period of two hours.

[0076] Where S represents the set of all satellites in orbit, and the attributes of a single satellite are as follows: s1 = {SatId, SatTLE}, where SatId represents the satellite number and SatTLE represents the number of satellite roots.

[0077] By using the SGP4 model orbit prediction algorithm based on satellite TLE, two lines of orbit data for each satellite are input, and the SGP4 model is used to predict the satellite orbit, and the position vector and velocity vector of each satellite at each moment are obtained:

[0078]

[0079] Through the conversion of orbital parameters, the basic information of the satellite is: s1 = {SatId, r1, v1}.

[0080] Then, the time series position and velocity information in the remote sensing satellite orbit data is used to calculate the attitude direction cosine matrix R of the satellite in the inertial reference frame at each moment. oi , represents the attitude direction of the satellite body coordinate system relative to the inertial coordinate system. In this embodiment, the initial satellite body coordinate system is equivalent to the orbital coordinate system.

[0081] So first calculate the orbit coordinate attitude matrix, and the three axes are defined as follows:

[0082] According to the definition, the Z axis of the orbital coordinate system points to the center of the earth, and its unit direction vector is defined as:

[0083]

[0084] Define an auxiliary vector k = [0,0,1] to represent the vertical direction in the inertial reference frame. Construct a direction in the orbital plane by cross-producting the velocity vector with the vertical direction, and further cross-product it with Z to obtain the X-axis direction vector of the orbital coordinate system:

[0085]

[0086] According to the right-hand coordinate system definition, the Y axis of the orbital coordinate system is obtained by the cross product of Z and X:

[0087] Y=Z×X

[0088] Stacking the above three orthogonal unit vectors in rows to form the orbital coordinate system is equivalent to the direction cosine matrix R of the satellite coordinate system relative to the inertial coordinate system. oi :

[0089]

[0090] Among them, each row in the matrix corresponds to the projection direction of the X, Y, and Z axes of the satellite coordinate system in the inertial coordinate system.

[0091] Through the above calculation process, the initial attitude matrix R at each moment can be constructed based on the position and velocity information in the orbit data without relying on the attitude measurement on the satellite. oi (t), which is used for subsequent attitude adjustment analysis, camera pointing judgment, and attitude feasibility assessment in task scheduling.

[0092] The ground is divided into grid areas according to the input satellite orbit height and camera imaging angle. In the longitude interval [-180°, 180°] and the latitude interval [-90°, 90°], a grid rectangular area is generated according to the step size (longitude step size △φ, latitude △λ(φ)). Each grid is represented by its lower left corner coordinate (φ i ,λ j ) and step size define the set of rectangular vertices as:

[0093] g i,j ={(φ i ,λ j ),(φ i ,λ j +△λ),(φ i +△φ,λ j +△λ),(φ i +△φ,λ j )}

[0094] In the routine observation task planning stage, the routine task scheduling algorithm based on observation uniformity and attitude adjustment constraints is executed. The specific process is as follows: Figure 2 shown.

[0095] First, based on the global ground grid division results, the observation flag of each grid is established. The initial value is 1 for no observation, -1 for not meeting the constraint, and 0 for observed. The number of observations of each grid is counted and initialized to 0 to measure the uniformity of observation.

[0096] Select any satellite as a reference and extract the time series from its orbital data as the unified scheduling timeline. At each time point t, traverse all satellites and perform the following operations:

[0097] First, at the beginning of each new time point, the system resets all Flag states marked as -1 due to "not meeting the posture constraint" at the previous moment to 1, avoiding long-term blocking of scheduling opportunities in specific areas and ensuring the traversability and opportunity fairness of regional observations.

[0098] Then extract the current position r of the satellite and the satellite attitude matrix R oi (t), calculate the geographic coordinates of the sub-satellite point (φ,λ).

[0099] According to the latitude and longitude distance between the satellite sub-satellite point and the ground grid, the distance is sorted. First, the nearest unobserved area is selected for observation to determine whether it meets the satellite field of view angle constraint. The calculation formula is as follows:

[0100]

[0101] Where ψ is the off-axis angle, and calculate whether it meets the satellite field of view angle constraint. FOV stands for field of view, P g Represents the coordinates of the selected grid center point.

[0102] Since the ground imaging camera carried by the remote sensing satellite is generally installed in the Z-axis direction of the satellite, the satellite body coordinate system is also equivalent to the initial camera coordinate system, so the Z-axis direction vector o in the current attitude matrix is i =R oi [2], which is the camera optical axis vector. Calculate its direction vector h to the target i The rotation quaternion q=[q0,q v ]=[q0,q1,q2,q3];

[0103] The formula for calculating the rotation axis e is:

[0104] e=o i ×h i

[0105] The formula for calculating the rotation angle θ is:

[0106] θ=arccos(o i ·h i )

[0107] The specific formula for obtaining the rotation quaternion is as follows:

[0108]

[0109] Where: q0, q v They are the scalar and vector parts of the quaternion, q1, q2, q3 represent q respectively v Three components in the complex plane; e x ,e y ,e z They represent the three-axis components corresponding to the Euler rotation axis; θ represents the rotation angle of the satellite around the Euler rotation axis e.

[0110] Use the conversion function from quaternion to cosine matrix R bo , the calculation formula is as follows:

[0111]

[0112] According to the initial posture matrix R oiAnd the rotation direction cosine matrix R bo , get the final target posture R bi :

[0113] R bi =R bo ·R oi

[0114] And judge whether the attitude adjustment is feasible based on whether the rotation angle is less than the threshold (such as 10°). Figure 3 As shown in the figure, if all the above conditions are met, the region is output as the target region, and the corresponding updated attitude matrix and rotation angle are returned. The corresponding observation task record is constructed, and the scheduling plan, the observed grid set, and the observation count are updated.

[0115] When an emergency observation task occurs, the emergency task replanning algorithm is executed according to the emergency observation start time and observation area. The process is as follows: Figure 4 shown.

[0116] Taking the unified time series as the scheduling main line, all satellites are traversed at each time t and the following scheduling process is executed:

[0117] First, the system extracts the orbital position of each satellite at the current moment, obtains its position vector in the geocentric inertial system and converts it into sub-satellite point coordinates (φ, λ).

[0118] When a satellite currently has a routine observation mission assigned to it, the system first determines whether its target grid falls within the emergency observation area. If so, no replanning is required and the observation is directly recorded as "Emergency Area Hit" and the observation information is written to the emergency dispatch record.

[0119] If the regular task target does not belong to the emergency area and the current time is greater than the scheduling start time, an emergency task replanning substitution is attempted.

[0120] In the replacement logic, the system first finds the nearest observable target area g in the emergency area based on the current satellite sub-satellite point position and field of view angle constraints. i,j If there is no suitable target, skip it; otherwise, further judge the feasibility of posture adjustment.

[0121] To evaluate the attitude maneuverability, the system calls the current satellite's observation mission at the previous moment (i.e., the mission with the latest time less than t) to obtain its target attitude matrix The third row of the attitude matrix (corresponding to the direction the camera is pointing) is the camera optical axis vector o i =R oi [2] The center coordinates of the target area are converted from geographic coordinates to ECEF coordinates to construct the unit target direction vector h i.

[0122] Calculate the quaternion rotation q, which represents the rotation from the current camera direction o i To the target direction h i The minimum rotation of , and thus the rotation angle θ is obtained. Then the angular velocity is calculated by the time interval △t:

[0123]

[0124] If the angular velocity exceeds the preset maximum threshold (such as 1° / s), it is determined that the attitude adjustment is unattainable and the task insertion is skipped. Otherwise, calculate the direction cosine matrix R bo And update the target pose Write the scheduling record and formally add the emergency observation task.

[0125] If the current satellite does not have any regular tasks at this moment, the same selection function is called to obtain candidate observation targets, and the above attitude evaluation process is reused to determine the feasibility. If it meets the requirements, it is directly added to the scheduling plan as an emergency task.

[0126] Throughout the entire process, the scheduling algorithm continuously updates grid observation status, satellite storage status, and emergency observation records, and terminates scheduling early when it finds that all grids have been observed at least once. This mechanism ensures maximum scheduling efficiency and optimal resource utilization.

[0127] In summary, the emergency task replanning and scheduling algorithm proposed in this invention can utilize existing scheduling information and historical attitude data to rapidly assess the observability and attitude maneuverability of emergency targets, dynamically insert alternative observation tasks, and achieve rapid response to target areas, without significantly changing the original conventional task allocation structure. This method not only ensures the consistency and observation balance of the global observation plan, but also effectively shortens the emergency task response time. Scheduling can be completed within minutes, generating high-precision satellite scheduling time series diagrams and earliest observable time predictions, providing key support for constellation-level emergency services for emergencies.

[0128] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0132] The above description is only a preferred embodiment of the present invention. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can use the above disclosed methods and technical contents to make many possible changes and modifications to the technical solution of the present invention without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation, characterized in that: The following steps are involved: The ground area is divided into several observation grids based on the orbital parameters and imaging parameters of the remote sensing satellite; Traverse the orbital time series of each satellite under a unified time axis, and dynamically plan the routine observation tasks of each satellite based on the satellite sub-satellite point position and grid observation mark; When receiving an emergency observation request for a specific area, the emergency observation mission is replanned according to the current satellite routine observation mission; Obtain a satellite joint scheduling plan that includes routine observation tasks and emergency observation tasks.

2. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to claim 1 is characterized in that: The method of dividing the ground area into a number of observation grids based on the orbital parameters and imaging parameters of the remote sensing satellite specifically includes: calculating the ground coverage bandwidth according to the satellite's push-broom imaging capability, combined with the satellite's orbit altitude and the sensor's field of view angle; setting the latitude division step size, adjusting the longitude step size according to the latitude change and the bandwidth, and dividing the ground area into a number of observation grids.

3. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to claim 1 is characterized in that: The specific steps of traversing the orbital time series of each satellite under a unified time axis and dynamically planning the routine observation tasks of each satellite according to the satellite sub-satellite point position and grid observation mark include: Input satellite orbit position, attitude data and ground grid division data; At each time point t within the mission time, the grid observation flag is initialized and all satellites are traversed; For each satellite, all grids in the candidate area are traversed. Within the range of unobserved grids, the grid closest to the current satellite's subsatellite point and meeting the constraints is selected for observation. Construct the corresponding observation task record, update the scheduling plan, the set of observed grids and the number of grid observations.

4. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to claim 3 is characterized in that: For each satellite, if no grid meeting the conditions is found in the first traversal, all grids in the candidate area are reset to unobserved and the traversal is performed again.

5. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to claim 3 is characterized in that: The initialization of the grid observation flags is specifically as follows: according to the number of grid observations, the flags of the observed grids are set as observed, and the flags of the remaining grids are set as unobserved.

6. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to claim 1 is characterized in that: The specific steps of re-planning the emergency observation mission based on the current satellite routine observation mission include: Get the grid set where the conventional observation task ground grid intersects with the emergency area; Import the orbital position and attitude data of each satellite during the emergency scheduling period and the observation task sequence during regular scheduling; At each moment in the emergency time period, all satellites are traversed to perform judgment and task allocation until all grids in the emergency area are covered, and the routine and emergency observation task sequences are output.

7. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to claim 1 is characterized in that: The execution judgment and task allocation are specifically as follows: The following operations are performed for each satellite: Detect whether there is a regular observation task at the current moment. If so, further determine whether the grid corresponding to the regular observation task is in the emergency area grid set; If it is in the emergency area grid set, the conventional observation task is converted into an emergency observation task and the original planning parameters are maintained; If it is not in the emergency area grid set and the current time is not equal to the start time of the emergency time period, the emergency task re-planning process is started. The emergency task re-planning process is to select the emergency area grid closest to the current satellite sub-satellite point position and satisfying the constraints for observation; If there is no regular observation task at the current moment, the emergency task adding process is directly entered. The emergency task adding process uses the same grid screening rules as the emergency replanning process to create a new task.

8. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to any one of claims 1 to 7, characterized in that: The constraints include satellite field of view angle constraints and attitude rotation constraints.

9. The multi-satellite mission scheduling method based on the integration of uniform revisit routine and emergency observation according to any one of claim 8, wherein the attitude rotation constraint judgment method comprises: obtaining the ground coordinates of the observation target between the current mission and the previous mission, calculating the satellite attitude adjustment rotation quaternion and angular velocity based on the current satellite position, and judging whether the angular velocity exceeds a threshold.

10. A multi-satellite mission scheduling system based on the integration of uniform revisit and emergency observation, characterized in that: The system is used to implement the method according to any one of claims 1 to 9, comprising: Ground grid generation module: used to divide the ground area into several observation grids based on the orbit parameters and imaging parameters of the remote sensing satellite; Conventional task scheduling module: used to traverse the orbital time series of each satellite under a unified time axis, and dynamically plan the conventional observation tasks of each satellite according to the satellite sub-satellite point position and grid observation mark; Emergency mission access module: used to re-plan emergency observation missions based on current satellite routine observation missions upon receiving emergency observation requests for specific areas; Joint mission recording module: used to record satellite joint scheduling plans including routine observation missions and emergency observation missions.

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