Satellite Internet of Things (IoT) telemetry, tracking, and command (TT&C) mission planning methods, systems, equipment, and media

Abstract

This invention relates to the field of satellite telemetry, tracking, and command (TT&C) technology, and provides a method, system, device, and medium for satellite IoT TT&C mission planning. The method includes: S1: obtaining the set of observable arc segments for each ground station; S2: dividing the mission planning time period into m time segments; S3: first solving the mission planning result for the first time segment; S4: removing observable arc segments in the current time segment that intersect with the previous time segment, completing the mission planning for the current time segment; S5: taking the current time segment as the previous time segment and the next time segment as the current time segment, repeating step S4 until the mission planning for the second to the mth time segments is completed; S6: combining the mission plans of the m time segments to form the satellite IoT TT&C mission plan. This scheme can plan all actions within the planning time period at once, designing a reasonable planning scheme and reducing the complexity of the mission planning algorithm.

Description

Technical Field

[0001] This invention relates to the field of satellite telemetry, tracking, and command (TT&C) technology, and in particular to a satellite Internet of Things (IoT) telemetry, tracking, and command (TT&C) mission planning method, system, equipment, and medium. Background Technology

[0002] With the development of aerospace technology, the deployment cost of low-Earth orbit (LEO) satellites has gradually decreased, making it possible to provide network access services to ground terminals via LEO satellites. Especially in the fields of the Internet of Things (IoT) and the Internet of Vehicles (IoV), the wide coverage of satellites can effectively solve the problem of coverage blind spots in areas with poor infrastructure, providing wider network coverage.

[0003] During service operation, to ensure network connectivity, a backhaul link between ground stations and satellites needs to be established first. In the operation of low-Earth orbit satellite networks, due to the limited coverage area of ​​satellites, a single satellite is usually insufficient to cover the entire target area. Furthermore, due to the mobility of satellites, the coverage area changes over time. Therefore, multiple satellites and multiple stations are typically required to jointly serve the target area.

[0004] This process requires mission planning to determine when and through which station to establish a backhaul link for which satellite. During mission planning, as the planning duration increases, the number of visible arcs also increases, leading to an exponential growth in the search space for multi-satellite-multi-station matching. Performing long-term planning in a single run is computationally complex; therefore, a fast algorithm needs to be designed to meet the demands of long-term mission planning.

[0005] In satellite IoT coverage optimization scenarios, it is necessary not only to consider the satellite providing communication services to ground station terminal devices in a large area (usually point-to-multipoint, a single satellite needs to serve many terminal devices, but the data rate is low), but also to consider the availability of the backhaul link. Only when the satellite establishes a backhaul link with the ground station and the terminal is within the satellite's coverage area can services be provided to that terminal.

[0006] Existing satellite mission planning models are mostly geared towards applications such as remote sensing imaging and point-to-point relay communication (usually point-to-point relay with high data rates). Similar to satellite IoT, they require planning the backhaul links between ground stations and satellites. However, due to significant differences in the scenarios, the planning methods also differ. Remote sensing satellites focus only on imaging the target area and are more concerned with the satellite's imaging attitude, without stringent real-time requirements. In contrast, relay communication satellites typically only perform point-to-point relay tasks and do not need to consider large-scale service coverage.

[0007] Existing mission planning algorithms related to remote sensing satellite imaging cannot accurately describe the simultaneous need for backhaul and access links in satellite IoT. Although mission planning algorithms related to relay satellite relay communication consider the dual visibility requirement of relay satellite and communication nodes at both ends, they do not consider the need for large-area coverage in satellite IoT.

[0008] Therefore, there is a need to provide a satellite IoT telemetry, tracking, and command (TT&C) mission planning method, system, equipment, and medium that can plan all actions within the planning time in one go, design reasonable planning schemes, and reduce the complexity of mission planning algorithms.

[0009] The information disclosed in the background section is only intended to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0010] The main purpose of this invention is to overcome the problem that satellite IoT telemetry, tracking, and command (TT&C) mission planning cannot simultaneously achieve real-time performance and cover a large area. It provides a satellite IoT TT&C mission planning method, system, equipment, and medium that can plan all actions within the planning time at once, design reasonable planning schemes, and reduce the complexity of mission planning algorithms.

[0011] To achieve the above objectives, the first aspect of the present invention provides a satellite Internet of Things (IoT) telemetry, tracking, and command (TT&C) mission planning method, comprising the following steps:

[0012] S1: Obtain the mission planning time period, the set of satellites in the constellation, and the set of ground stations to obtain the set of observable arc segments for each ground station;

[0013] S2: Divide the task planning time period into m time segments;

[0014] S3: First, solve the task planning result for the first time segment, take the first time segment as the previous time segment, and take the second time segment as the current time segment;

[0015] S4: Remove observable arcs in the current time segment that intersect with the previous time segment, and complete the task planning for the current time segment;

[0016] S5: Take the current time segment as the previous time segment, take the next time segment as the current time segment, and repeat step S4 until the task planning from the 2nd time segment to the mth time segment is completed.

[0017] S6: Combine the task planning of m time segments to form the satellite IoT telemetry, tracking, and control task planning.

[0018] According to an exemplary embodiment of the present invention, step S1, which involves obtaining the mission planning time period, the set of satellites in the constellation, and the set of ground stations to obtain the set of observable arc segments for each ground station, includes:

[0019] S11: Based on the set of satellites in the constellation, obtain the trajectory prediction of each satellite in the constellation within the mission planning period through orbit prediction;

[0020] S12: Based on the mission planning time period, the satellite set in the constellation, the ground station combination, and trajectory prediction, obtain the start and end times of all observable arcs of each satellite and each ground station within the mission planning time period.

[0021] S13: Eliminate observable arc segments that do not meet the conditions;

[0022] S14: Obtain the set of observable arc segments for each satellite and each ground station;

[0023] S15: Sort by start time to obtain the set of observable arc segments for each ground station.

[0024] According to an exemplary embodiment of the present invention, in step S2, the lengths of the first segment time to the (m-1)th segment time are equal, the length of the mth segment time is less than or equal to the first segment time, and the length of the first segment time is more than three times the average duration of all observable arcs.

[0025] According to an exemplary embodiment of the present invention, in step S3, the task planning result of the first time segment is whether each observable arc segment is used in the first time segment.

[0026] According to an exemplary embodiment of the present invention, in step S4, the removal of observable arc segments in the current time segment that intersect with the previous time segment includes:

[0027] S41: Traverse all task planning action results and output the action set. In the action set, each action represents a ground station's measurement, control, and operation of a satellite.

[0028] S42: Select the action at the end of the previous time segment;

[0029] S43: Remove observable arc segments from the same ground station that intersect with the previous time segment in the current time segment;

[0030] S44: Remove observable arc segments from the current time segment where the same satellite intersects with the previous time segment;

[0031] The task planning for completing the current time segment includes solving the task planning result for the current time segment based on the unremoved observable arc segments.

[0032] According to an exemplary embodiment of the present invention, the process of removing observable arc segments in the current time segment that intersect with the previous time segment from the same ground station includes:

[0033] Iterate through all ground stations, find all observable arc segments in the current time segment that intersect with the previous time segment, and discard them.

[0034] According to an exemplary embodiment of the present invention, the process of eliminating observable arc segments in the current time segment that intersect with the previous time segment includes:

[0035] Traverse all satellites, find all observable arcs that intersect with the previous time segment in the current time segment, and discard them.

[0036] As a second aspect of the present invention, the present invention provides a satellite Internet of Things telemetry, tracking and control mission planning system, comprising: an observable arc segment set acquisition module, a time slice module, and a mission planning result module;

[0037] The observable arc segment set acquisition module is used to acquire the mission planning time period, the satellite set in the constellation, and the ground station set to obtain the observable arc segment set for each ground station.

[0038] The time slicing module is used to divide the task planning time period into m time segments;

[0039] The task planning result module is used to first solve the task planning result for the first time segment, taking the first time segment as the previous time segment and the second time segment as the current time segment; removing observable arc segments in the current time segment that intersect with the previous time segment to complete the task planning for the current time segment; taking the current time segment as the previous time segment and the next time segment as the current time segment, repeatedly removing observable arc segments in the current time segment that intersect with the previous time segment to complete the task planning for the current time segment, until the task planning for the second to the m-th time segments is completed; combining the task planning for the m time segments to form the satellite IoT telemetry, tracking, and command (TT&C) task planning.

[0040] As a third aspect of the present invention, the present invention provides an electronic device comprising:

[0041] One or more processors;

[0042] Storage device for storing one or more programs;

[0043] When the one or more programs are executed by the one or more processors, the one or more processors implement the satellite IoT telemetry, tracking, and command (TT&C) mission planning method.

[0044] As a fourth aspect of the present invention, the present invention provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the satellite Internet of Things telemetry, tracking, and command (TT&C) mission planning method.

[0045] The advantages of this invention are:

[0046] This solution designs a fast task planning algorithm for satellite IoT coverage optimization, meeting the special needs of satellite IoT task planning. It can plan all actions within the planning time at once, and designs a reasonable planning scheme to reduce the complexity of the task planning algorithm.

[0047] Specifically:

[0048] In the application scenario of optimizing the coverage of low-orbit satellite IoT, by taking advantage of the long-interval independence of task planning actions in the time domain, reasonable relevant time is designed to decouple and process task planning outside the relevant time intervals independently, thereby reducing the complexity of task planning algorithms.

[0049] It is compatible with various task planning algorithms that aim at coverage optimization, and can break down large problems into multiple smaller problems for cascaded solution, adapting to any solution method;

[0050] The process of splitting ensures that the constraints are not violated, and the problem is reduced in dimensionality by splitting, which improves the solution speed. Attached Figure Description

[0051] The above and other objects, features, and advantages of this application will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings. The drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0052] Figure 1 The diagram illustrates the structure of a satellite IoT telemetry, tracking, and command (TT&C) mission planning system.

[0053] Figure 2 The diagram illustrates the steps of a satellite IoT telemetry, tracking, and command (TT&C) mission planning method.

[0054] Figure 3 A schematic diagram of the electronic device is shown.

[0055] Figure 4 A schematic diagram of the structure of a computer medium is shown. Detailed Implementation

[0056] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0057] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0058] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0059] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0060] It should be understood that although the terms first, second, third, etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0061] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing this application, and therefore cannot be used to limit the scope of protection of this application.

[0062] According to a first specific embodiment of the present invention, the present invention provides a satellite Internet of Things (IoT) telemetry, tracking, and command (TT&C) mission planning system, such as... Figure 1 As shown, it includes: an observable arc set acquisition module, a time slice module, and a task planning result module.

[0063] The observable arc set acquisition module is used to acquire the mission planning time period, the satellite set in the constellation, and the ground station set to obtain the observable arc set for each ground station.

[0064] The time slicing module is used to divide a task planning time period into m time segments.

[0065] The task planning results module is used to first solve the task planning results for the first time segment, taking the first time segment as the previous time segment and the second time segment as the current time segment; then, it removes observable arcs in the current time segment that intersect with the previous time segment to complete the task planning for the current time segment; then, it takes the current time segment as the previous time segment and the next time segment as the current time segment, and repeats the process of removing observable arcs in the current time segment that intersect with the previous time segment to complete the task planning for the current time segment, until the task planning for the second to the mth time segments is completed; finally, it combines the task planning for the m time segments to form the satellite IoT telemetry, tracking, and command (TT&C) task planning.

[0066] Satellite Internet of Things (IoT) is a new type of network system that combines satellite communication technology with IoT technology. It enables data transmission and communication between IoT devices through satellite links, allowing the application scope of IoT to break through the limitations of terrestrial network coverage. It can realize interconnection and information interaction between objects and between people on a global scale, especially in remote areas, oceans, deserts and other areas where terrestrial networks are difficult to cover, and provide data transmission and management services for various application scenarios.

[0067] According to a second specific embodiment of the present invention, the present invention provides a satellite Internet of Things (IoT) telemetry, tracking, and command (TT&C) mission planning method, which adopts the satellite IoT TT&C mission planning system of the first specific embodiment, such as... Figure 2 As shown, the planning method includes the following steps:

[0068] S1: Obtain the mission planning time period, the set of satellites in the constellation, and the set of ground stations to obtain the set of observable arc segments for each ground station.

[0069] The task planning period is 7-10 days, which is considered long-term task planning. Let the task planning period be T = [t0, t...]. delta ] indicates that the execution from the current time t0 to t needs to be performed. delta Planning of measurement, operation and control tasks in seconds.

[0070] The set of satellites in a constellation is denoted as S = {s1, s2, ..., s...} i}; where s i Let i represent the i-th satellite, where i is a natural number greater than 1.

[0071] The set of ground stations is denoted as B = {b1, b2, ..., b}. j The geographic coordinates of the ground station are respectively Among them, b j Let j represent the j-th single-channel ground station, where j is a natural number greater than 1. A ground station is a ground station that can be used to execute mission planning. A ground station with multi-channel telemetry and control capabilities is considered as multiple single-channel ground stations with the same coordinates since each channel can telemetry and control one satellite.

[0072] Obtain the mission planning time period, the set of satellites in the constellation, and the set of ground stations to obtain the set of observable arcs for each ground station, including:

[0073] S11: Based on the set of satellites in the constellation, obtain the trajectory prediction of each satellite in the constellation within the mission planning period through orbit prediction.

[0074] The target region is divided into grids smaller than the coverage area of ​​the satellite array. The grid size is adjusted flexibly as needed, and the center point of the grid is taken as representative. The target region to be optimized is marked as A={a1, a2, ..., a...} k The geographic coordinates of the center of each grid are: Where a k This represents the k-th grid, where k is a natural number greater than 1.

[0075] The target area is, for example, the territory of China. Satellite coverage area is one of the common attributes of satellites. With a fixed satellite altitude and antenna angle, the coverage area is a circular region of a fixed size projected onto the ground, which moves as the satellite moves. The coverage area of ​​each satellite in a constellation is a constant.

[0076] Orbit prediction can be used to obtain the trajectory prediction of each satellite in the constellation within the mission planning period.

[0077] S12: Based on the mission planning time period, the satellite set in the constellation, the ground station combination, and trajectory prediction, obtain the start and end times of all observable arcs for each satellite and each ground station within the mission planning time period.

[0078] S13: Remove observable arc segments that do not meet the conditions.

[0079] Considering limitations such as the utilization rate of ground station resources, observable arc segments that do not meet the conditions, such as those with too short a time period, are eliminated.

[0080] The conditions to be met are arbitrarily configurable input parameters. Any other additional constraints can be used here to filter observable arc segments, and the filtered observable arc segments are used as available inputs.

[0081] S14: Obtain the set of observable arc segments for each satellite and each ground station.

[0082] The set of observable arc segments for each satellite and each ground station is represented as follows: , where X input This represents the set of observable arc segments for each satellite and each ground station. Indicates satellite s i With ground station b j An observable arc segment begins at start time t start up to the end time t end .

[0083] S15: Sort by start time to obtain the set of observable arc segments for each ground station.

[0084] The set of observable arc segments for each ground station is as follows:

[0085] .

[0086] Among them, X bi Indicates ground station b j The associated set, Indicates the start time t start Until the end time t end Within the time frame, ground station b j Responsible for tracking satellites i Serve.

[0087] S2: Divide the task planning time period into m time segments.

[0088] In existing technologies, traditional mission planning, such as remote sensing observation missions, aims to photograph a specific area. If the mission planning is later broken down into multiple short-term plans, problems such as omissions and duplication can occur. Unlike imaging mission planning, where each planned action is highly correlated and collectively affects the target, satellite IoT coverage scenarios require full-time coverage for each area. However, at any given moment, the coverage status of any area is only affected by the mission planning schemes within a short period before and after it; that is, there is no impact between two mission planning interactions with a sufficiently long interval. This solution utilizes the memoryless nature of real-time communication to decompose the mission in the time domain.

[0089] If you are simply making multiple short-term plans:

[0090] Too short a plan will reduce the search space. How to break it down so that the results of the previous plan do not affect the next plan? For example, if the plan is broken down too small, some stations in the previous plan will be occupied, while the stations will play a greater role if left for a few minutes later.

[0091] The lengths of the first segment time to the (m-1)th segment time are equal, and the length of the mth segment time is less than or equal to the length of the first segment time; the length of the first segment time is more than three times the average length of all observable arcs.

[0092] The observable arc segments of the ground station cannot intersect. The length of the selected segment time is more than three times the average duration of all observable arc segments. The purpose is to reduce the impact of the previous planning results on the station and leave sufficient randomness for the initial search. The start time of the first planning is randomly extended and postponed, with the maximum postponement time being the average duration of the visible arc segments.

[0093] In the worst case, if the end of the previous time segment occupies more than 3 times the average time of the station (1 average duration) plus the maximum delay of the current time segment for finding the plan (+1 average duration), then it is highly likely that the first available observable arc segment will not extend to the next round; reduce the probability of the arc segment extending to the next round.

[0094] If the time interval is too short, the search space will be too small, there will be no room for planning in each round (lack of selectable arcs), the time intervals of the preceding and following intervals will be too tightly coupled, and there will be a lack of relative independence.

[0095] S3: First, solve the task planning result for the first time segment, take the first time segment as the previous time segment, and take the second time segment as the current time segment.

[0096] The task planning result for the first time segment can be obtained using any method, including genetic algorithms. When obtaining the task planning result, the goal is optimal coverage; if multiple solutions exist, the solution with the longest cumulative coverage time is selected.

[0097] The task planning result for the first time segment is to determine whether each observable arc segment is used within the first time segment. If it is used, it is recorded as 1; otherwise, it is recorded as 0.

[0098] S4: Remove observable arcs in the current time segment that intersect with the previous time segment, and complete the task planning for the current time segment.

[0099] Since the task planning results for the previous time segment have already been formed, but there may be an intersection of observable arcs between the previous time segment and the current time segment, we first remove the unusable observable arcs that have an intersection, and then complete the task planning for the current time segment. This reduces the computational complexity during planning and prevents calculation errors.

[0100] The observable arcs that intersect with the previous time segment in the current time segment include:

[0101] S41: Iterate through all the results of the planned actions for the mission and output the action set. In the action set, each action represents a measurement, control and operation operation of a satellite by a ground station.

[0102] Action set is represented as , where X output Represents a set of actions, each action Indicates ground station b j For satellites s i One measurement and control operation.

[0103] S42: Select the action at the end of the previous segment of time.

[0104] The action at the end of the previous segment Where n is the sequence number of the time segment, t part This refers to a segment of time.

[0105] S43: Remove observable arcs from the same ground station that intersect with the previous time segment in the current time segment.

[0106] The observable arcs that overlap between the current and previous time segments at the same ground station are excluded, including:

[0107] Iterate through all ground stations, find all observable arc segments in the current time segment that intersect with the previous time segment, and discard them.

[0108] For each action that includes an end time, select the corresponding ground station b. j Calculate the time interval between the previous time segment and the current time segment for ground station b. j With any satellite s i The intersection of all observable arc segments is used. If the intersection is not empty, the corresponding visible arc segment in the current time segment is removed. This satisfies the constraint that a single ground station cannot serve multiple satellites at the same time.

[0109] For example, if ground station 1 tracks any satellite s1 during the last arc of the second time segment (100s-400s), it is selected as 1, meaning that the satellite is selected to be tracked.

[0110] The third time segment begins at 300s. Ground station 1 is visible to satellite s2 from 300s to 500s, and its intersection with 100s to 400s is 300s to 400s, which is not empty. Ground station 1 is visible to satellite s3 from 320s to 600s, and its intersection is 320s to 400s, which is not empty. Ground station 1 is visible to satellite s4 from 420s to 700s; ... Therefore, the observable arcs of ground station 1 are excluded: 300s to 500s satellite s2 and 320s to 600s satellite s3.

[0111] S44: Remove observable arcs from the same satellite that overlap with the previous time segment in the current time segment.

[0112] The observable arcs that overlap between the current and previous time segments of the same satellite are excluded from the following:

[0113] Traverse all satellites, find all observable arcs that intersect with the previous time segment in the current time segment, and discard them.

[0114] For each action that includes an end time, select the corresponding satellite s. i Calculate the satellite's s in the previous time segment and the current time segment. i With any ground station b j The intersection of all observable arc segments is used. If the intersection is not empty, the corresponding visible arc segment in the current time segment is removed. This satisfies the constraint that a single satellite cannot connect to multiple ground stations at the same time.

[0115] For example, ground station 2 tracks satellite a during the last arc of the second time segment, from 100s to 400s.

[0116] The third time segment begins at 300s. Satellite s5 is visible to ground station 3 from 300s to 500s, and its intersection with the 100s-400s segment is 300s-400s, which is not empty. Satellite s5 is visible to ground station 4 from 320s to 600s, and its intersection is also 320s-400s, which is not empty. Satellite s5 is visible to ground station 5 from 420s to 700s, and so on. Therefore, the observable arcs of satellite s5 are eliminated: satellite s5 is visible to ground station 3 from 300s to 500s and to ground station 4 from 320s to 600s.

[0117] The task planning for the current time segment includes S45: Solving for the task planning result for the current time segment based on the unremoved observable arcs. The solution method is the same as that for the task planning of the first time segment.

[0118] S5: Take the current time segment as the previous time segment, take the next time segment as the current time segment, and repeat step S4 until the task planning from the 2nd time segment to the mth time segment is completed.

[0119] S6: Combine the task planning of m time segments to form the satellite IoT telemetry, tracking, and control task planning.

[0120] This scheme ensures that the results are conflict-free and does not violate the constraints (a single ground station can only serve a single satellite and a single satellite can only be served by a single ground station) by eliminating observable arc segments that have overlap. All output result sets can be directly merged and processed as the overall output of the mission planning.

[0121] In the application scenario of low-Earth orbit satellite IoT coverage optimization, this solution leverages the long-interval independence of task planning actions in the time domain, designs reasonable relevant time intervals, decouples and independently processes task planning outside the relevant time intervals, and reduces the complexity of task planning algorithms. It is compatible with various task planning algorithms aimed at coverage optimization, and can decompose large problems into multiple smaller problems for cascaded solution, adapting to any solution method. During the decomposition process, the constraints are not violated, and the problem is reduced in dimensionality by decomposition, thus improving the solution speed.

[0122] According to a third specific embodiment of the present invention, the present invention provides an electronic device, such as... Figure 3 As shown, Figure 3 This is a block diagram illustrating an electronic device according to an exemplary embodiment.

[0123] The following reference Figure 3 To describe an electronic device 300 according to this embodiment of the present application. Figure 3 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0124] like Figure 3 As shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, a bus 330 connecting different system components (including storage unit 320 and processing unit 310), a display unit 340, etc.

[0125] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in this specification according to various exemplary embodiments of this application. For example, the processing unit 310 can perform the steps shown in the second specific embodiment.

[0126] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 3201 and / or a cache storage unit 3202, and may further include a read-only memory unit (ROM) 3203.

[0127] The storage unit 320 may also include a program / utility 3204 having a set (at least one) program module 3205, such program module 3205 including but not limited to: an operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0128] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0129] Electronic device 300 can also communicate with one or more external devices 300' (e.g., keyboard, pointing device, Bluetooth device, etc.), enabling users to communicate with devices that interact with electronic device 300, and / or any device (e.g., router, modem, etc.) that allows electronic device 300 to communicate with one or more other computing devices. This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. Network adapter 360 can communicate with other modules of electronic device 300 via bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0130] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware.

[0131] Therefore, according to a fourth specific embodiment of the present invention, the present invention provides a computer-readable medium. For example... Figure 4 As shown, the technical solution according to the embodiments of the present invention can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, etc.) or on a network, and includes several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the above-described method according to the embodiments of the present invention.

[0132] The software product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0133] The computer-readable storage medium may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0134] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0135] The aforementioned computer-readable medium carries one or more programs, which, when executed by a device, cause the computer-readable medium to perform the functions of the second specific embodiment.

[0136] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0137] Through the description of the above embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions of the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, portable hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of the present invention.

[0138] Exemplary embodiments of the present invention have been specifically shown and described above. It should be understood that the present invention is not limited to the detailed structures, arrangements, or implementations described herein; rather, the present invention is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A satellite Internet of Things (IoT) telemetry, tracking, and command (TT&C) mission planning method, characterized in that, Includes the following steps: S1: Obtain the mission planning time period, the set of satellites in the constellation, and the set of ground stations to obtain the set of observable arc segments for each ground station; S2: Divide the task planning time period into m time segments; the lengths of the first time segment to the (m-1)th time segment are equal, the length of the mth time segment is less than or equal to the first time segment; the length of the first time segment is more than 3 times the average duration of all observable arcs; S3: First, solve the task planning result for the first time segment, take the first time segment as the previous time segment, and take the second time segment as the current time segment; S4: Remove observable arcs in the current time segment that intersect with the previous time segment, and complete the task planning for the current time segment; S5: Take the current time segment as the previous time segment, take the next time segment as the current time segment, and repeat step S4 until the task planning from the 2nd time segment to the mth time segment is completed. S6: Combine the task planning of m time segments to form the satellite IoT telemetry, tracking, and control task planning.

2. The satellite IoT telemetry, tracking, and command (TT&C) mission planning method according to claim 1, characterized in that, In step S1, obtaining the task planning time period, the satellite set in the constellation, and the ground station set to obtain the observable arc segment set for each ground station includes: S11: Based on the set of satellites in the constellation, obtain the trajectory prediction of each satellite in the constellation within the mission planning period through orbit prediction; S12: Based on the mission planning time period, the satellite set in the constellation, the ground station set, and trajectory prediction, obtain the start and end times of all observable arcs for each satellite and each ground station within the mission planning time period; S13: Eliminate observable arc segments that do not meet the conditions; S14: Obtain the set of observable arc segments for each satellite and each ground station; S15: Sort by start time to obtain the set of observable arc segments for each ground station.

3. The satellite IoT telemetry, tracking, and command (TT&C) mission planning method according to claim 1, characterized in that, In step S3, the task planning result of the first time segment is whether each observable arc segment is used in the first time segment.

4. The satellite IoT telemetry, tracking, and command (TT&C) mission planning method according to claim 2, characterized in that, In step S4, the removal of observable arc segments in the current time segment that intersect with the previous time segment includes: S41: Traverse all task planning action results and output the action set. In the action set, each action represents a ground station's measurement, control, and operation of a satellite. S42: Select the action at the end of the previous time segment; S43: Remove observable arc segments from the same ground station that intersect with the previous time segment in the current time segment; S44: Remove observable arc segments from the current time segment where the same satellite intersects with the previous time segment; The task planning for completing the current time segment includes solving the task planning result for the current time segment based on the unremoved observable arc segments.

5. The satellite IoT telemetry, tracking, and command (TT&C) mission planning method according to claim 4, characterized in that, The removal of observable arcs from the same ground station that intersect with the previous time segment in the current time segment includes: Iterate through all ground stations, find all observable arc segments in the current time segment that intersect with the previous time segment, and discard them.

6. The satellite IoT telemetry, tracking, and command (TT&C) mission planning method according to claim 4, characterized in that, The observable arc segments from which the same satellite intersects with the previous time segment in the current time segment include: Traverse all satellites, find all observable arcs that intersect with the previous time segment in the current time segment, and discard them.

7. A satellite Internet of Things (IoT) telemetry, tracking, command and control mission planning system, characterized in that, include: Module for acquiring observable arc sets, time slice module, and task planning results module; The observable arc segment set acquisition module is used to acquire the mission planning time period, the satellite set in the constellation, and the ground station set to obtain the observable arc segment set for each ground station. The time slicing module is used to divide the task planning time period into m time segments; the lengths of the first time segment to the (m-1)th time segment are equal, the length of the mth time segment is less than or equal to the first time segment, and the length of the first time segment is more than 3 times the average duration of all observable arcs; The task planning result module is used to first solve the task planning result for the first time segment, taking the first time segment as the previous time segment and the second time segment as the current time segment; removing observable arc segments in the current time segment that intersect with the previous time segment to complete the task planning for the current time segment; taking the current time segment as the previous time segment and the next time segment as the current time segment, repeatedly removing observable arc segments in the current time segment that intersect with the previous time segment to complete the task planning for the current time segment, until the task planning for the second to the m-th time segments is completed; combining the task planning for the m time segments to form the satellite IoT telemetry, tracking, and command (TT&C) task planning.

8. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the satellite Internet of Things telemetry, tracking, and command (TT&C) mission planning method as described in any one of claims 1-6.

9. A computer-readable medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the satellite IoT telemetry, tracking, and command (TT&C) mission planning method as described in any one of claims 1-6.

Images