An arbitrary area plane array coverage imaging path planning method based on angle mapping

Abstract

The application discloses an arbitrary area surface array coverage imaging path planning method based on angle mapping and belongs to the field of remote sensing satellite splicing imaging. The method comprises the following steps: according to the imaging start time extrapolation satellite orbit parameters of the target area mapping to the attitude angle phase plane, the initial attitude angle pointing to each vertex of the target area is calculated; whether the target area is a concave polygon is determined according to the polar angle and distance from the geometric center of the target area to each vertex, if yes, the vertex with an inner angle greater than a preset threshold is deleted and the remaining vertex is used to construct a convex polygon covering the original area; grid division and path planning are carried out according to the initial attitude angle of each vertex of the target area and the number of vertices of the convex polygon, and the initial imaging path and the initial time sequence of the satellite are obtained; the initial imaging path and the initial time sequence are updated and checked, and the final imaging path with the highest coverage efficiency of the target area is obtained. The application can improve the imaging efficiency of the remote sensing satellite.

Description

Technical Field

[0001] This invention relates to the field of remote sensing satellite mosaic imaging technology, and in particular to a method for planning the path of arbitrary area array coverage imaging based on angle mapping. Background Technology

[0002] Satellite imaging technology is a comprehensive Earth observation technology, with its core lying in the various remote sensing sensors carried on satellite platforms. Optical imaging satellites generate images by capturing solar electromagnetic waves reflected from the Earth's surface. These images offer high resolution and strong visual clarity. The raw data is transmitted back to ground receiving stations in digital signal form, undergoing a series of complex processing steps to ultimately generate precise image products suitable for analysis. This technology has become an indispensable key technology supporting modern weather forecasting, resource exploration, and other fields.

[0003] However, in existing geostationary Earth observation satellite applications, the high altitude of the satellite's orbit often causes significant distortion when the quadrilateral field of view of the area array camera is projected onto the ground. This distortion makes it difficult to guarantee a stable and controllable overlap between adjacent single-image regions using simple geographic latitude and longitude mapping.

[0004] Therefore, there is an urgent need for an arbitrary region area array coverage imaging path planning method based on angle mapping to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a method for arbitrary region area array coverage imaging path planning based on angle mapping, which can ensure a stable overlap area between two adjacent single-image imaging regions. The technical solution is as follows:

[0006] On the one hand, a method for arbitrary region area array coverage imaging path planning based on angle mapping is provided, the method comprising:

[0007] The initial attitude angles pointing to each vertex of the target region are calculated by extrapolating the satellite orbit parameters based on the imaging start time mapped from the target region to the attitude angle phase plane.

[0008] Determine whether the target region is a concave polygon based on the polar angle and distance from the geometric center of the target region to each vertex. If it is, delete the vertices with interior angles greater than a preset threshold and use the remaining vertices to construct a convex polygon that covers the original region.

[0009] Mesh division and path planning are performed based on the initial attitude angles of each vertex in the target area and the number of vertices of the convex polygon to obtain the initial imaging path and initial time series of the satellite; wherein, the imaging path is used to ensure that the imaging results cover the target area, and the time series is composed of the imaging start time of the satellite arriving at each grid;

[0010] The initial imaging path and the initial time series are updated and verified to obtain the final imaging path with the highest coverage efficiency of the target area.

[0011] On the other hand, an arbitrary region area array coverage imaging path planning device based on angle mapping is provided, the device comprising:

[0012] The calculation module is used to extrapolate satellite orbit parameters based on the imaging start time of the target area mapped to the attitude angle phase plane, and calculate the initial attitude angles pointing to each vertex of the target area.

[0013] The optimization module is used to determine whether the target region is a concave polygon based on the polar angle and distance from the geometric center of the target region to each vertex. If it is, the vertices with interior angles greater than a preset threshold are deleted and the remaining vertices are used to construct a convex polygon that covers the original region.

[0014] The planning module is used to perform grid division and path planning based on the initial attitude angles of each vertex of the target area and the number of vertices of the convex polygon, so as to obtain the initial imaging path and initial time series of the satellite; wherein, the imaging path is used to ensure that the imaging result covers the target area, and the time series is composed of the imaging start time of the satellite arriving at each grid.

[0015] The update module is used to update and verify the initial imaging path and the initial time series to obtain the final imaging path with the highest coverage efficiency of the target area.

[0016] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to implement the steps of the above-described method for arbitrary area array coverage imaging path planning based on angle mapping.

[0017] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the above-described method for arbitrary region area array coverage imaging path planning based on angle mapping.

[0018] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the above-described angle mapping-based arbitrary region area array coverage imaging path planning method.

[0019] The technical solution provided by this invention can bring at least the following beneficial effects: by dividing the polygonal region in the attitude angle phase plane and then performing iterative control of vertex arrival time, it can ensure that two adjacent single-image regions (including two adjacent images and two band intersection blocks) can have a stable overlapping region, and finally ensure the full coverage of the entire region, which can greatly increase the autonomous planning capability of remote sensing satellites of area array cameras for Earth imaging. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of an arbitrary region area array coverage imaging path planning method based on angle mapping provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of mesh division provided in an embodiment of the present invention;

[0023] Figure 3 This is a flowchart of a path update verification process provided in an embodiment of the present invention;

[0024] Figure 4 This is a structural diagram of an arbitrary region area array coverage imaging path planning device based on angle mapping provided in an embodiment of the present invention;

[0025] Figure 5 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] As mentioned earlier, geostationary Earth observation satellites typically use area array cameras. Due to the high altitude of the satellite's orbit, the quadrilateral field of view will be significantly distorted when projected onto the ground during Earth observation.

[0028] Based on this, the concept of the present invention is to ensure that two adjacent single-frame imaging regions can have a stable overlapping area by dividing the polygonal region in the attitude angle phase plane and then performing iterative control of vertex arrival time, thereby ensuring full coverage of the entire region.

[0029] The following describes the specific implementation of the above concept.

[0030] Please refer to Figure 1 This invention provides a method for arbitrary region area array coverage imaging path planning based on angle mapping, the method comprising:

[0031] Step 100: Extrapolate satellite orbit parameters based on the imaging start time of the target region mapped to the attitude angle phase plane, and calculate the initial attitude angles pointing to each vertex of the target region;

[0032] Step 102: Determine whether the target region is a concave polygon based on the polar angle and distance from the geometric center of the target region to each vertex. If so, delete the vertices with interior angles greater than a preset threshold and use the remaining vertices to construct a convex polygon that covers the original region.

[0033] Step 104: Based on the initial attitude angles of each vertex in the target area and the number of vertices of the convex polygon, perform mesh division and path planning to obtain the initial imaging path and initial time series of the satellite; wherein, the imaging path is used to ensure that the imaging results cover the target area, and the time series is composed of the imaging start time of the satellite arriving at each mesh.

[0034] Step 106: Update and verify the initial imaging path and the initial time series to obtain the final imaging path with the highest coverage efficiency of the target area.

[0035] In this embodiment of the invention, by segmenting the polygonal region in the attitude angle phase plane and then performing iterative control of vertex arrival time, it is ensured that two adjacent single-image regions (including two adjacent images and two band intersection blocks) can have a stable overlapping region, ultimately ensuring full coverage of the entire region, which can greatly increase the autonomous planning capability of the area array camera remote sensing satellite for Earth imaging.

[0036] The following description Figure 1 The execution method for each step is shown.

[0037] First, for step 100, the satellite orbit parameters are extrapolated based on the imaging start time of the target area mapped to the attitude angle phase plane, and the initial attitude angles pointing to each vertex of the target area are calculated.

[0038] In this embodiment of the invention, it is necessary to obtain the preliminary attitude angles of each vertex in the target region as the basis for path planning. The attitude angles, including roll angle and pitch angle, are used to dynamically match the satellite orbit, thereby compensating for projection distortion.

[0039] Specifically, based on the imaging start time, such as 3:00:00 UTC on March 20, 2024, satellite orbital parameters are extrapolated, including semi-major axis a = 42,164,170.0 meters, eccentricity e = 0.001, and orbital inclination i = 5.0 degrees. Using an orbital mechanics model (such as the Kepler equations), the satellite's position in the J2000 coordinate system at the start of imaging is calculated. Subsequently, the latitude and longitude of the ground vertices are converted into position vectors in the Earth-fixed system. Then, through coordinate transformation using the Greenwich sidereal hour angle and the precession nutation matrix, the position vectors of the ground vertices in the J2000 coordinate system are obtained. This leads to the pointing vectors from the satellite to each ground vertices. Finally, the pointing vectors in the J2000 coordinate system are projected onto the satellite's reference coordinate system (such as the orbital coordinate system) and normalized to obtain the unit pointing vector in the satellite's reference coordinate system. Let's assume the satellite's +Z axis is the camera's pointing axis. Then, using the following formula, we can obtain the 2-1 rotational roll angle by which the satellite points the +Z axis towards the Earth's apex. and pitch angle :

[0040]

[0041] This step ensures that the initial attitude angle values ​​are based on the actual orbit, reducing subsequent errors.

[0042] Then, for step 102, it is determined whether the target region is a concave polygon based on the polar angle and distance from the geometric center of the target region to each vertex. If so, vertices with interior angles greater than a preset threshold are deleted and the remaining vertices are used to construct a convex polygon covering the original region.

[0043] In this embodiment of the invention, to facilitate grid division and full coverage planning, and to avoid coverage gaps caused by concave polygons, the target area needs to be re-divided to ensure that it is a convex polygon capable of covering the entire area.

[0044] Specifically, the geometric center of the region is first calculated by averaging the roll pitch angles from each vertex. Then, the polar angle (azimuth) and distance from the center to each vertex are calculated. Each vertex is traversed, checking if its interior angle is greater than 180 degrees—if such a point exists, it is considered a concave polygon. During processing, vertices with interior angles greater than 180 degrees are directly deleted, and the remaining points are used to construct a convex hull, forming a convex polygon covering the original region. For example, with four vertices, if a concave point is detected, the vertex sequence is adjusted. This step relies on computational geometry algorithms; ensuring the convexity of the polygon makes path planning more stable.

[0045] For step 104, meshing and path planning are performed based on the initial attitude angles of each vertex in the target area and the number of vertices of the convex polygon to obtain the initial imaging path and initial time series of the satellite.

[0046] In this embodiment of the invention, the imaging path is used to ensure that the imaging results cover the target area, and the time series is constructed according to the imaging start time of the satellite arriving at each grid.

[0047] In this embodiment of the invention, the initial imaging path and the initial time series are obtained in the following manner:

[0048] like Figure 2 As shown, firstly, the maximum and minimum values ​​of the horizontal and vertical coordinates of all vertices of the convex polygon in the attitude angle phase plane are determined, and the average value of the maximum and minimum values ​​is calculated to generate a rectangular mesh for covering the convex polygon; wherein, the rectangular mesh is symmetrical about the average value in both the horizontal and vertical coordinate directions.

[0049] Specifically, the first step is to calculate the x and y coordinates (i.e., roll and pitch angle values) of each vertex of the convex polygon in the attitude angular phase plane, and find the minimum and maximum values. Using the average of these values ​​as the axis of symmetry, a large rectangular grid is divided to cover the entire polygon. The grid spacing needs to be set according to the imaging resolution, the purpose of which is to discretize the region and facilitate path traversal.

[0050] The second step involves planning the satellite's motion path based on the rectangular grid to obtain the initial imaging path.

[0051] In this embodiment of the invention, the initial imaging path is planned as follows:

[0052] First, determine the direction with more rectangular grids in the horizontal and vertical coordinate directions as the primary direction, and the direction with fewer rectangular grids as the secondary direction.

[0053] Specifically, the number of grid cells in two directions (e.g., the X and Y axes) is compared, and the direction with the larger number of cells is selected as the primary direction, while the other is designated as the secondary direction. This optimizes path efficiency and reduces the number of U-turns.

[0054] Next, calculate the coordinates of the intersection points of all grid edges perpendicular to the secondary direction with each edge of the convex polygon.

[0055] Specifically, under the premise of a convex polygon, the sum of the number of intersection points of any straight line with each side of the convex polygon (excluding intersection points where the straight line coincides with the side) is 2, and two points can coincide.

[0056] Further, determine the minimum and maximum intersection numbers of all the intersection point coordinates in the main direction; wherein the intersection number is determined according to a preset grid number.

[0057] Specifically, for each column of grid perpendicular to the secondary direction, extract four points (two points per edge) where its two grid edges intersect the polygon. Among these points, find the minimum and maximum intersection numbers in the primary direction. The intersection numbers are based on the grid index, for example, numbering the grids from minimum to maximum. This defines the effective coverage area of ​​that column of grid, and the path will only travel within this area.

[0058] Finally, the satellite is moved along the sub-grid direction for imaging according to the grid number in ascending order, and the movement direction of the satellite along the main grid direction is changed according to the parity of the sub-grid direction number to obtain the initial imaging path.

[0059] In this embodiment of the invention, when the grid number in the secondary direction is odd, the satellite is adjusted to move from the minimum intersection number to the maximum intersection number along the main grid direction; when the grid number in the secondary direction is even, the satellite is adjusted to move from the maximum intersection number to the minimum intersection number along the main grid direction.

[0060] Specifically, the intersection number refers to the path block number that overlaps with the polygon on the grid column, and the maximum and minimum intersection numbers are the maximum and minimum path numbers on the grid column that overlap with the polygon.

[0061] The third step is to calculate the initial time series based on the maneuvering time and imaging time required by the satellite along the initial imaging path.

[0062] In this embodiment of the invention, the time series is calculated in the following manner:

[0063] Based on the generated initial imaging path, calculate the imaging time and first maneuver time of the satellite in each grid cell within the same column.

[0064] Specifically, the total time required for maneuvering within the same column of grid cells is calculated by multiplying the satellite's attitude maneuvering capabilities (such as angular velocity limits) by the number of grid intervals. Simultaneously, the total time required for imaging is calculated by summing the imaging times of all grid cells within the same column, based on camera exposure parameters (such as single-shot imaging time).

[0065] Based on the pre-stored maneuver stabilization schedule and the Euler rotation angle of the satellite between adjacent grid columns, the second maneuver time required for a single turn of the satellite is calculated.

[0066] Specifically, for turnaround maneuvers between adjacent grid strips, the Euler rotation angle (i.e., the rotation angle by which the satellite switches from its current orientation to the starting point of the next grid column) is calculated. Using a pre-stored maneuver stabilization timetable (based on the angle magnitude and satellite dynamics model), the time for a single turnaround is interpolated, and the maneuver times for all grid column switches are summed.

[0067] Determine whether the sum of the satellite's total maneuver time and total imaging time on the initial imaging path is less than the preset total duration. If so, allocate additional duration to each maneuver according to the preset scheme.

[0068] Specifically, if the total time exceeds the preset limit, the preset maneuver flag will be set to 0, indicating insufficient maneuverability and planning failure.

[0069] The initial time series is obtained by sequentially adding the satellite's imaging time, maneuver time, and extra duration according to the initial imaging path.

[0070] For step 106, the initial imaging path and the initial time series are updated and verified to obtain the final imaging path with the highest coverage efficiency of the target area.

[0071] like Figure 3 As shown, the update verification process includes: updating the attitude angles of all vertices according to the initial time series, and re-performing the mesh division and path planning based on the updated attitude angles to obtain the second imaging path and the second time series;

[0072] If the difference between the initial time series and the second time series is less than a preset threshold, the second imaging path is determined as the final imaging path; otherwise, the attitude angles of all vertices are updated according to the second time series, and the third imaging path generated according to the update result is determined as the final imaging path.

[0073] Specifically, if the time between the second path planning and the initial path planning is greater than 10 seconds, then a third path planning is performed based on the attitude angles of each vertex after the first path planning. At the same time, the third planning can be considered to meet the requirements without any conditions. Then, the latitude and longitude corresponding to each direction are calculated sequentially according to the orbital position at the corresponding time to complete the entire planning.

[0074] Please refer to Figure 4 This invention provides a path planning device for arbitrary region area array coverage imaging based on angle mapping. The device includes:

[0075] The calculation module 400 is used to extrapolate satellite orbit parameters based on the imaging start time of the target area mapped to the attitude angle phase plane, and calculate the initial attitude angles pointing to each vertex of the target area.

[0076] Optimization module 402 is used to determine whether the target region is a concave polygon based on the polar angle and distance from the geometric center of the target region to each vertex. If so, vertices with interior angles greater than a preset threshold are deleted and the remaining vertices are used to construct a convex polygon covering the original region.

[0077] The planning module 404 is used to perform grid division and path planning based on the initial attitude angles of each vertex of the target area and the number of vertices of the convex polygon, so as to obtain the initial imaging path and initial time series of the satellite; wherein, the imaging path is used to ensure that the imaging result covers the target area, and the time series is composed of the imaging start time of the satellite arriving at each grid.

[0078] The update module 406 is used to update and verify the initial imaging path and the initial time series to obtain the final imaging path with the highest coverage efficiency of the target area.

[0079] In this embodiment of the invention, the step of performing mesh division and path planning based on the initial attitude angles of each vertex of the target region and the number of vertices of the convex polygon to obtain the initial imaging path and initial time series of the satellite includes: determining the maximum and minimum values ​​of the horizontal and vertical coordinates of all vertices of the convex polygon in the attitude angle phase plane, and calculating the average value of the maximum and minimum values ​​to generate a rectangular mesh for covering the convex polygon; wherein the rectangular mesh is symmetrical about the average value in both the horizontal and vertical coordinate directions; planning the satellite's motion path based on the rectangular mesh to obtain the initial imaging path; and calculating the initial time series based on the maneuvering time and imaging time required by the satellite on the initial imaging path.

[0080] In this embodiment of the invention, the step of planning the satellite's motion path according to the rectangular grid to obtain the initial imaging path includes: determining the direction with more rectangular grids in the horizontal and vertical coordinate directions as the main direction and the direction with fewer rectangular grids as the secondary direction; calculating the coordinates of the intersection points of all grid edges perpendicular to the secondary direction with each edge of the convex polygon; determining the minimum and maximum intersection numbers of all the intersection point coordinates in the main direction; wherein the intersection numbers are determined according to a preset grid number; adjusting the satellite's movement and imaging along the secondary grid direction according to the grid number in ascending order, and changing the satellite's movement direction along the main grid direction according to the parity of the secondary grid direction number to obtain the initial imaging path.

[0081] In this embodiment of the invention, changing the satellite's movement direction along the main grid direction according to the parity of the grid sub-direction number includes: when the grid number of the sub-direction is odd, adjusting the satellite to move from the minimum intersection number to the maximum intersection number along the main grid direction; when the grid number of the sub-direction is even, adjusting the satellite to move from the maximum intersection number to the minimum intersection number along the main grid direction.

[0082] In this embodiment of the invention, the step of calculating the initial time series based on the maneuvering time and imaging time required by the satellite on the initial imaging path includes: calculating the imaging time and first maneuvering time of the satellite in each grid cell within the same column of the generated initial imaging path; calculating the second maneuvering time required for a single turn of the satellite based on a pre-stored maneuvering stabilization schedule and the Euler rotation angle of the satellite between adjacent grid cells; determining whether the sum of the total maneuvering time and the total imaging time of the satellite on the initial imaging path is less than a preset total duration, and if so, allocating additional duration to each maneuver according to a preset scheme; and sequentially accumulating the imaging time, maneuvering time, and additional duration of the satellite according to the initial imaging path to obtain the initial time series.

[0083] In this embodiment of the invention, updating and verifying the initial imaging path and the initial time series to obtain the final imaging path with the highest target area coverage efficiency includes: updating the attitude angles of all vertices according to the initial time series, and re-performing the mesh division and path planning based on the updated attitude angles to obtain a second imaging path and a second time series; determining whether the difference between the initial time series and the second time series is less than a preset threshold; if so, determining the second imaging path as the final imaging path; otherwise, updating the attitude angles of all vertices according to the second time series, and determining the third imaging path generated based on the update result as the final imaging path.

[0084] It should be noted that the arbitrary area area array coverage imaging path planning device based on angle mapping provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the arbitrary area area array coverage imaging path planning device based on angle mapping provided in the above embodiments and the arbitrary area area array coverage imaging path planning method based on angle mapping belong to the same concept. The specific implementation process is detailed in the method embodiment, and will not be repeated here.

[0085] Embodiments of this application also provide a computer device, please refer to... Figure 5 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the angle mapping-based arbitrary area array coverage imaging path planning method provided in the above-described method embodiments.

[0086] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the arbitrary region area array coverage imaging path planning method based on angle mapping provided in the above-described method embodiments.

[0087] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform the arbitrary region area array coverage imaging path planning method based on angle mapping as described in any of the above embodiments.

[0088] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0089] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0090] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0091] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for arbitrary region area array coverage imaging path planning based on angle mapping, characterized in that, The method includes: The initial attitude angles pointing to each vertex of the target region are calculated by extrapolating the satellite orbit parameters based on the imaging start time mapped from the target region to the attitude angle phase plane. Determine whether the target region is a concave polygon based on the polar angle and distance from the geometric center of the target region to each vertex. If it is, delete the vertices with interior angles greater than a preset threshold and use the remaining vertices to construct a convex polygon that covers the original region. Mesh division and path planning are performed based on the initial attitude angles of each vertex in the target area and the number of vertices of the convex polygon to obtain the initial imaging path and initial time series of the satellite; wherein, the imaging path is used to ensure that the imaging results cover the target area, and the time series is composed of the imaging start time of the satellite arriving at each grid; The initial imaging path and the initial time series are updated and verified to obtain the final imaging path with the highest coverage efficiency of the target area.

2. The method as described in claim 1, characterized in that, The process of mesh generation and path planning based on the initial attitude angles of each vertex in the target region and the number of vertices of the convex polygon to obtain the initial imaging path and initial time series of the satellite includes: Determine the maximum and minimum values ​​of the horizontal and vertical coordinates of all vertices of the convex polygon in the attitude angular phase plane, and calculate the average of the maximum and minimum values ​​to generate a rectangular mesh for covering the convex polygon; wherein the rectangular mesh is symmetric about the average value in both the horizontal and vertical coordinate directions. The initial imaging path is obtained by planning the satellite's motion path based on the rectangular grid. The initial time series is calculated based on the maneuvering time and imaging time required by the satellite along the initial imaging path.

3. The method as described in claim 2, characterized in that, The process of planning the satellite's motion path based on the rectangular grid to obtain the initial imaging path includes: Determine the direction with the most rectangular grid cells in the horizontal and vertical coordinate directions as the primary direction and the direction with the fewest rectangular grid cells as the secondary direction. Calculate the coordinates of the intersection points of all grid edges perpendicular to the secondary direction with each edge of the convex polygon; Determine the minimum and maximum intersection numbers of all the intersection point coordinates in the main direction; wherein, the intersection number is determined according to a preset grid number; The satellite is moved and imaged along the sub-grid direction according to the grid number in ascending order, and the movement direction of the satellite along the main grid direction is changed according to the parity of the sub-grid direction number to obtain the initial imaging path.

4. The method as described in claim 3, characterized in that, The method of changing the satellite's movement direction along the main grid direction based on the parity of the grid sub-direction number includes: When the grid number in the secondary direction is odd, adjust the satellite to move along the main grid direction from the smallest intersection number to the largest intersection number; When the grid number in the secondary direction is even, the satellite is adjusted to move from the largest intersection number to the smallest intersection number along the main grid direction.

5. The method as described in claim 2, characterized in that, The initial time series is calculated based on the maneuvering time and imaging time required by the satellite along the initial imaging path, including: Calculate the imaging time and first maneuver time of the satellite in each grid cell within the same column based on the generated initial imaging path; Based on the pre-stored maneuver stabilization timetable and the Euler rotation angle of the satellite between adjacent grid columns, the second maneuver time required for a single turn of the satellite is calculated. Determine whether the sum of the total maneuver time and the total imaging time of the satellite on the initial imaging path is less than the preset total duration. If so, allocate additional duration to each maneuver according to the preset scheme. The initial time series is obtained by sequentially adding the satellite's imaging time, maneuver time, and extra duration according to the initial imaging path.

6. The method as described in claim 1, characterized in that, The step of updating and verifying the initial imaging path and the initial time series to obtain the final imaging path with the highest target area coverage efficiency includes: The attitude angles of all vertices are updated according to the initial time series, and the mesh division and path planning are re-performed according to the updated attitude angles to obtain the second imaging path and the second time series. If the difference between the initial time series and the second time series is less than a preset threshold, the second imaging path is determined as the final imaging path; otherwise, the attitude angles of all vertices are updated according to the second time series, and the third imaging path generated according to the update result is determined as the final imaging path.

7. A path planning device for arbitrary region area array coverage imaging based on angle mapping, characterized in that, The device includes: The calculation module is used to extrapolate satellite orbit parameters based on the imaging start time of the target area mapped to the attitude angle phase plane, and calculate the initial attitude angles pointing to each vertex of the target area. The optimization module is used to determine whether the target region is a concave polygon based on the polar angle and distance from the geometric center of the target region to each vertex. If it is, the vertices with interior angles greater than a preset threshold are deleted and the remaining vertices are used to construct a convex polygon that covers the original region. The planning module is used to perform grid division and path planning based on the initial attitude angles of each vertex of the target area and the number of vertices of the convex polygon, so as to obtain the initial imaging path and initial time series of the satellite; wherein, the imaging path is used to ensure that the imaging result covers the target area, and the time series is composed of the imaging start time of the satellite arriving at each grid. The update module is used to update and verify the initial imaging path and the initial time series to obtain the final imaging path with the highest coverage efficiency of the target area.

8. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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