Remote sensing satellite autonomous imaging task real-time planning system

Abstract

The invention relates to the technical field of communication data processing, in particular to a remote sensing satellite autonomous imaging task real-time planning system which comprises a satellite-ground and inter-satellite link module, a data analysis processing module, a task queue maintenance module, a task forecasting planning module, a task conflict processing module, a task planning correction module and a task execution module. The system receives task information including target coordinates, imaging times and priority parameters, analyzes and processes the task information to generate structured task data, performs task planning by adopting a simplified orbit model and geometric calculation, solves the problem of task overlapping through conflict detection and priority processing, and corrects an execution time window by utilizing a high-precision orbit model. And finally, an imaging instruction sequence is automatically generated and executed. According to the method, on-satellite autonomous planning and execution of the remote sensing satellite imaging task are realized, the task response speed and processing efficiency are remarkably improved, and the problems of time and labor consumption, response lag, precision limitation and the like existing in an existing ground planning mode are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of communication data processing technology, and in particular to a real-time planning system for autonomous imaging missions of remote sensing satellites. Background Technology

[0002] Onboard autonomous mission planning refers to the function of a satellite or spacecraft independently executing predefined operations while in orbit, relying on onboard computing systems and intelligent algorithms. For remote sensing satellites, the attitude and orbit of the satellite can be obtained through sensors such as star sensors and GNSS. Based on pre-stored imaging target location information and satellite attitude and orbit information, geometric calculations are used to determine in real time whether imaging conditions are met. Once the conditions are met, the satellite can autonomously generate command sequences to complete complex imaging tasks without ground-based human intervention.

[0003] Current satellite tracking, telemetry, and command (TT&C) relies on pre-planned ground operations and satellite-to-ground TT&C. For example, to image a location, the time interval for the satellite's approach to the target needs to be determined in advance based on orbit extrapolation. A series of time-stamped programmable commands are then created, specifying when the satellite's attitude is tilted, when the camera is powered on, when imaging parameters are set, and when imaging begins and stops. When the satellite passes over the tracking station, these planned commands are injected into the satellite's onboard system, which executes the commands based on the timestamps to complete the imaging task. This method is time-consuming and labor-intensive for large-scale constellation management. Furthermore, due to limitations in the visible arc of the satellite to the ground station and the bandwidth constraints of satellite-to-ground data transmission, there are frequent delays in response to emergency missions. In addition, errors in orbit extrapolation during pre-planned missions often cause the imaging center point to deviate from the intended imaging target. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a real-time planning system for autonomous imaging missions of remote sensing satellites. This invention solves the technical problems caused by the reliance on ground mission planning and manual measurement and control for constellation operation and control, such as time-consuming and labor-intensive processes, untimely responses, and the impact of orbit extrapolation errors on planning accuracy.

[0005] To solve the above-mentioned technical problems, the specific contents of the present invention are as follows:

[0006] This invention provides a real-time planning system for autonomous imaging missions of remote sensing satellites, comprising:

[0007] The satellite-to-ground and inter-satellite link module is used to receive mission information including target coordinates, number of imaging attempts and priority parameters, and output the mission information.

[0008] The data parsing and processing module, connected to the satellite-to-ground and inter-satellite link module, is used to receive the mission information, parse and convert the mission information into a standard data format, and output structured mission data.

[0009] The task queue maintenance module is connected to the data parsing and processing module. It is used to receive the structured task data and add the structured task data to the task queue to be planned. It maintains the task queue to be planned and the task queue already planned in memory.

[0010] The mission prediction and planning module is connected to the mission queue maintenance module. It is used to read mission data from the mission queue to be planned, traverse the mission queue to be planned using a simplified orbit model and geometric calculations, find the orbital position and time closest to the target within the satellite's detection range, determine the imaging conditions, and generate a preliminary imaging time window.

[0011] The task conflict handling module connects the task forecasting and planning module and the task queue maintenance module. It is used to receive the preliminary imaging time window, detect the overlap between the preliminary imaging time window and the time windows in the planned task queue, perform task merging or priority sorting, and add the processed task and corresponding time window to the planned task queue.

[0012] The task planning correction module is connected to the task queue maintenance module and is used to monitor the planned execution time of the first task in the planned task queue. When the time remaining before the planned execution time reaches a preset threshold, the execution window time is corrected using a high-precision trajectory model to obtain the corrected time window.

[0013] The task execution module, connected to the task planning correction module, is used to receive the corrected time window, generate a sequence of instructions for attitude adjustment, payload control and imaging operations when the corrected time window is reached, and update the number of imaging operations after the imaging is completed.

[0014] Furthermore, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the data parsing and processing module is configured as follows:

[0015] The mission information received from the satellite-to-ground and inter-satellite link module is verified to obtain the verification result;

[0016] If the verification result indicates that the task information is valid, the task information is converted into a standard data format to obtain structured task data.

[0017] The structured task data is output to the task queue maintenance module.

[0018] Furthermore, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission prediction and planning module is configured as follows:

[0019] Read the task data in the queue of tasks to be planned in sequence;

[0020] For each piece of mission data read, within the planned time frame, based on a simplified orbital model that only considers the J2 perturbation and the spherical geometry, the shortest distance between the center of the satellite's detection range and the target for each orbit is calculated.

[0021] Based on the calculated shortest distance, the bisection method is used to locate the orbital position and epoch time corresponding to the shortest distance;

[0022] Based on the located orbital position and epoch time, combined with the side view constraints, it is determined whether the imaging conditions are met.

[0023] If imaging conditions are met, a preliminary imaging time window is generated and output to the task conflict handling module.

[0024] Furthermore, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission conflict handling module is configured as follows:

[0025] Receive the preliminary imaging time window and corresponding task data from the task prediction and planning module;

[0026] Read the time windows of all planned tasks from the planned task queue of the task queue maintenance module;

[0027] The preliminary imaging time window is compared with the read planned task time window to determine whether there is any overlap;

[0028] If there is overlap, an attempt will be made to merge the task corresponding to the initial imaging time window with the overlapping planned task into a composite imaging task.

[0029] If they cannot be merged, then the priorities of the tasks corresponding to the preliminary imaging time window and the overlapping planned tasks are compared.

[0030] High-priority tasks are inserted into the planned task queue in chronological order, while low-priority tasks are returned to the unplanned task queue.

[0031] Furthermore, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission planning correction module is configured as follows:

[0032] Monitor the planned execution time of the first task in the planned task queue of the task queue maintenance module;

[0033] When the time remaining until the planned execution time reaches the preset threshold, the high-precision HPOP orbit prediction model is activated.

[0034] Using the latest satellite orbit data, the execution time window of the first mission is recalculated and corrected to obtain the corrected time window;

[0035] Replace the original planned execution time of the first task in the planned task queue with the revised time window.

[0036] Furthermore, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission execution module is configured as follows:

[0037] Monitor the corrected time window in the queue of planned tasks after the task planning and correction module has been updated;

[0038] When the corrected time window arrives, the corresponding task data is read from the planned task queue and an instruction sequence is generated. The instruction sequence includes satellite attitude adjustment instruction, imaging payload power-on instruction, imaging parameter configuration instruction, start imaging instruction, and end imaging instruction.

[0039] After the imaging task is completed, the number of imaging operations for the task is reduced by one.

[0040] Determine if the number of imaging attempts for the task being executed is zero. If it is zero, discard the task from the planned task queue. If it is not zero, re-enter the task into the unplanned task queue of the task queue maintenance module.

[0041] Furthermore, the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention also includes:

[0042] The satellite-to-ground and inter-satellite link module receives mission information through at least one of the following links: BeiDou short message service, inter-satellite communication device, and telemetry and control transponder.

[0043] The task queue maintenance module is configured to periodically save the data of the task queue to be planned and the planned task queue to non-volatile memory, and restore the task queue to be planned and the planned task queue from the non-volatile memory after the onboard computer is reset.

[0044] Beneficial effects of this invention:

[0045] This invention constructs a complete onboard autonomous mission planning system, migrating all existing mission planning, conflict resolution, and execution processes that rely on ground-based manual intervention to onboard processing. It employs a satellite-to-ground and inter-satellite link module to receive simplified mission parameters, replacing complex programmed control commands, significantly reducing the amount of uplink data and the frequency of manual operations. A data parsing and processing module enables automatic verification and format conversion of mission information. A mission prediction and planning module calculates imaging timing based on real-time orbit data to eliminate extrapolation errors. A mission conflict resolution module enables intelligent scheduling and optimized resource allocation for multiple missions. A mission planning correction module performs high-precision orbit correction before mission execution. Finally, a mission execution module automates the entire process from command generation to imaging operation, significantly improving system response speed and processing efficiency. This fundamentally solves the problems of time-consuming, labor-intensive, slow response, and limited accuracy inherent in existing telemetry, tracking, and command (TT&C) methods. Attached Figure Description

[0046] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the execution flow of the real-time planning system for autonomous imaging missions of remote sensing satellites provided in an embodiment of the present invention. Detailed Implementation

[0048] To make the technical solution of the present invention clearer, the present invention will be clearly and completely described below with reference to specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. The present invention provided by various embodiments will be described in detail below with reference to the accompanying drawings. To better understand the purpose of the present invention, the present invention will be described in further detail below.

[0049] This invention provides a real-time planning system for autonomous imaging missions of remote sensing satellites, comprising:

[0050] The satellite-to-ground and inter-satellite link module is used to receive mission information including target coordinates, number of imaging attempts and priority parameters, and output the mission information.

[0051] The data parsing and processing module, connected to the satellite-to-ground and inter-satellite link module, is used to receive the mission information, parse and convert the mission information into a standard data format, and output structured mission data.

[0052] The task queue maintenance module is connected to the data parsing and processing module. It is used to receive the structured task data and add the structured task data to the task queue to be planned. It maintains the task queue to be planned and the task queue already planned in memory.

[0053] The mission prediction and planning module is connected to the mission queue maintenance module. It is used to read mission data from the mission queue to be planned, traverse the mission queue to be planned using a simplified orbit model and geometric calculations, find the orbital position and time closest to the target within the satellite's detection range, determine the imaging conditions, and generate a preliminary imaging time window.

[0054] The task conflict handling module connects the task forecasting and planning module and the task queue maintenance module. It is used to receive the preliminary imaging time window, detect the overlap between the preliminary imaging time window and the time windows in the planned task queue, perform task merging or priority sorting, and add the processed task and corresponding time window to the planned task queue.

[0055] The task planning correction module is connected to the task queue maintenance module and is used to monitor the planned execution time of the first task in the planned task queue. When the time remaining before the planned execution time reaches a preset threshold, the execution window time is corrected using a high-precision trajectory model to obtain the corrected time window.

[0056] The task execution module, connected to the task planning correction module, is used to receive the corrected time window, generate a sequence of instructions for attitude adjustment, payload control and imaging operations when the corrected time window is reached, and update the number of imaging operations after the imaging is completed.

[0057] The satellite-to-ground and inter-satellite link module receives mission information from ground stations or other satellites via BeiDou short message service, inter-satellite communication devices, or telemetry and command transponders. This mission information includes the geographic coordinates of the imaging target, the number of imaging attempts required, and mission priority parameters. This module then transmits the received raw mission information to the data parsing and processing module for further processing.

[0058] After receiving mission information from the satellite-to-ground and inter-satellite link modules, the data parsing and processing module first verifies the completeness and validity of the mission information, including checking whether the coordinate format is correct, whether the number of imaging operations is a positive integer, and whether the priority parameters are within a valid range. Once the verification is successful, the module converts the mission information into a standardized data format unified within the system, generating structured mission data including all necessary parameters, and then outputs this structured mission data to the mission queue maintenance module.

[0059] The task queue maintenance module receives structured task data from the data parsing and processing module and adds it to the queue of tasks to be planned. This module maintains two queues simultaneously in the onboard computer's memory: the queue of tasks to be planned stores task data that has not yet been imaged, and the queue of planned tasks stores task data that has been planned and is awaiting execution, along with its corresponding time window. The module provides CRUD (Create, Read, Update, Delete) functionality for task data and implements a data persistence mechanism.

[0060] The mission prediction and planning module periodically reads mission data from the unplanned mission queue in the mission queue maintenance module. For each mission data point, within a specified planning timeframe, the module uses a simplified orbital model considering only J2 perturbations and spherical geometry calculations to calculate the shortest distance between the center of the satellite's detection range and the target point during each orbital revolution. Based on the calculation results, the module uses a bisection method to quickly locate the satellite's orbital position and precise time corresponding to the shortest distance, and then combines this with satellite side-view constraints to determine whether imaging conditions are met. If all conditions are satisfied, a preliminary imaging time window is generated and output to the mission conflict handling module.

[0061] The task conflict handling module receives the preliminary imaging time window and corresponding task data from the task forecasting and planning module, and simultaneously retrieves the time window information of all planned tasks from the planned task queue of the task queue maintenance module. The module compares the new preliminary imaging time window with the existing time windows to detect any time overlap conflicts. If a conflict exists, it attempts to merge the conflicting tasks into a single composite imaging task; if merging is not possible, it compares the priorities of the conflicting tasks, inserting the higher-priority task into the planned task queue in chronological order, and returning the lower-priority task to the unplanned task queue.

[0062] The mission planning and correction module continuously monitors the planned execution time of the first mission in the planned mission queue. When the current time is close to the planned execution time by a preset threshold, the module activates the high-precision HPOP orbit prediction model and recalculates the precise execution time window for the mission using the latest satellite orbit data, obtaining the corrected time window. The module then updates the original planned execution time of the mission in the planned mission queue with the corrected time window.

[0063] The task execution module monitors the revised time windows in the planned task queue. When a time window arrives, the module reads the corresponding task data from the queue, automatically generates and executes a complete instruction sequence including satellite attitude adjustment, imaging payload power-on, imaging parameter configuration, start imaging, and end imaging. After the imaging task is completed, the module decrements the number of imaging attempts for that task and checks if the remaining attempts are zero. If zero, the task is removed from the queue; otherwise, it is added back to the task queue maintenance module's pending task queue to await the next planned execution.

[0064] Specifically, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the data parsing and processing module is configured as follows:

[0065] The mission information received from the satellite-to-ground and inter-satellite link module is verified to obtain the verification result;

[0066] If the verification result indicates that the task information is valid, the task information is converted into a standard data format to obtain structured task data.

[0067] The structured task data is output to the task queue maintenance module.

[0068] After receiving the mission information transmitted from the satellite-to-ground and inter-satellite link modules, the data parsing and processing module first executes a verification procedure. This procedure verifies the target coordinate format included in the mission information, confirming that the coordinate values ​​conform to latitude and longitude coordinate standards or geodetic coordinate system standards. Simultaneously, the verification procedure verifies the number of imaging attempts as an integer, confirming that the number of imaging attempts is a positive integer value. The verification procedure also verifies the priority parameter's range, confirming that the priority parameter is within the system-defined priority value range. If any verification fails, the mission information is deemed invalid and discarded; if all verifications pass, the mission information is deemed valid and proceeds to the next processing step.

[0069] The data parsing and processing module performs format conversion on the verified task information. This conversion process reorganizes the target coordinates, number of imaging attempts, and priority parameters included in the task information according to the system's internal data specifications. During the conversion, task information from different sources is uniformly transformed into structured task data with a fixed field structure and standard encoding format. The structured task data includes standardized target coordinate fields, number of imaging attempts, and priority fields; all fields use the system's unified data representation format.

[0070] The data parsing and processing module transmits the generated structured task data to the task queue maintenance module via the system's internal communication interface. The transmission process uses message queues or shared memory communication to ensure real-time and reliable data transmission. After the structured task data is completely delivered to the task queue maintenance module, the data parsing and processing module waits to receive the next task information for processing.

[0071] Specifically, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission prediction and planning module is configured as follows:

[0072] Read the task data in the queue of tasks to be planned in sequence;

[0073] For each piece of mission data read, within the planned time frame, based on a simplified orbital model that only considers the J2 perturbation and the spherical geometry, the shortest distance between the center of the satellite's detection range and the target for each orbit is calculated.

[0074] Based on the calculated shortest distance, the bisection method is used to locate the orbital position and epoch time corresponding to the shortest distance;

[0075] Based on the located orbital position and epoch time, combined with the side view constraints, it is determined whether the imaging conditions are met.

[0076] If imaging conditions are met, a preliminary imaging time window is generated and output to the task conflict handling module.

[0077] The task prediction and planning module reads task data sequentially from the task queue queue of the task queue maintenance module. The reading process uses a first-in, first-out (FIFO) approach, ensuring that task data enters the planning process in the order it is received. The module maintains a read pointer indicating the current position of the task data to be processed; after processing each task data item, the pointer is moved to the next task data position.

[0078] For each piece of mission data read, the mission prediction and planning module performs orbit calculations within a preset planning timeframe. This timeframe is typically set to several hours to several days into the future, with the specific duration determined based on the satellite's orbital period and mission requirements. The module employs a simplified orbital model that considers only the J2 term perturbation, incorporating the main influencing factors of Earth's non-spherical gravitational perturbation. Combining spherical geometry calculation methods, the module calculates the shortest distance between the center of the detection range and the target's geographical location during each orbital revolution. The calculation process considers Earth's curvature and satellite orbital altitude, outputting the minimum ground distance between the satellite and the target.

[0079] Based on the calculated shortest distance value, the mission prediction and planning module uses a bisection search algorithm to locate the satellite orbital position and precise epoch time corresponding to the shortest distance moment. The bisection method iteratively calculates within the time interval of the satellite's flight over the target area, quickly converging to the extreme distance point. The module records the satellite's orbital six-root parameters and the corresponding UTC time at this time as candidate points for potential imaging opportunities.

[0080] The mission prediction and planning module assesses imaging feasibility based on the located orbital position and epoch, combined with satellite side-view constraints. The side-view constraint refers to the maximum permissible angle between the satellite sensor's optical axis and the vertical direction of the ground. The module calculates the actual side-view of the satellite at that orbital position and determines whether the actual side-view is less than or equal to the maximum permissible side-view. Simultaneously, the module also evaluates other imaging conditions, including solar altitude angle, cloud cover, and target area visibility.

[0081] If all imaging conditions are met, the mission prediction and planning module generates a preliminary imaging time window. The time window includes the start and end times of imaging, and its length is determined based on the satellite sensor characteristics and imaging mode. The module associates the preliminary imaging time window with the corresponding mission data and outputs it to the mission conflict handling module for further processing via the system's internal communication interface.

[0082] Specifically, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission conflict handling module is configured as follows:

[0083] Receive the preliminary imaging time window and corresponding task data from the task prediction and planning module;

[0084] Read the time windows of all planned tasks from the planned task queue of the task queue maintenance module;

[0085] The preliminary imaging time window is compared with the read planned task time window to determine whether there is any overlap;

[0086] If there is overlap, an attempt will be made to merge the task corresponding to the initial imaging time window with the overlapping planned task into a composite imaging task.

[0087] If they cannot be merged, then the priorities of the tasks corresponding to the preliminary imaging time window and the overlapping planned tasks are compared.

[0088] High-priority tasks are inserted into the planned task queue in chronological order, while low-priority tasks are returned to the unplanned task queue.

[0089] The task conflict handling module receives the preliminary imaging time window and corresponding task data from the task prediction and planning module. The receiving process employs an asynchronous message mechanism; the module listens to the message queue output by the task prediction and planning module, and immediately initiates the processing flow upon detecting new preliminary imaging time window data. The module performs format verification on the received data, confirming that the time window data includes complete start and end time information, and that the task data includes necessary target coordinates and priority parameters.

[0090] The task conflict handling module reads the time window information of all existing tasks from the planned task queue of the task queue maintenance module. The read operation is completed by calling the application programming interface provided by the task queue maintenance module to obtain the time window data set corresponding to each task in the planned task queue. The module also records the task identifier information corresponding to each time window for subsequent task association operations.

[0091] The task conflict handling module performs a time-series comparison between the received preliminary imaging time window and the read set of planned task time windows. The comparison process employs a time interval intersection detection algorithm to calculate the degree of overlap between the preliminary imaging time window and each planned task time window. The module sets an overlap threshold; when the overlap duration exceeds the threshold, a conflict is identified, and all conflicting time window pairs and their corresponding task identifiers are recorded.

[0092] When a time window conflict is detected, the task conflict handling module attempts to merge the conflicting tasks. The merging operation first checks whether the target coordinates of the conflicting tasks are in the same geographical area and whether the imaging parameters are compatible. If the merging conditions are met, the module merges multiple conflicting tasks into a single composite imaging task, recalculates the composite time window range, and generates a new task data record.

[0093] If conflicting tasks cannot be merged, the task conflict handling module initiates a priority comparison process. The module reads the priority parameters of the task corresponding to the initial imaging time window and the priority parameters of the conflicting tasks, and sorts and compares them according to the system-defined priority rules. The priority comparison considers factors such as task urgency, user level, and imaging value, and outputs the task priority ranking results.

[0094] The task conflict handling module performs task scheduling operations based on priority comparison results. High-priority tasks are inserted into the planned task queue in chronological order to ensure a reasonable task execution sequence. Low-priority tasks are returned to the unplanned task queue to await future rescheduling opportunities. All scheduling operations are completed by calling the interface provided by the task queue maintenance module, ensuring data consistency.

[0095] Specifically, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission planning correction module is configured as follows:

[0096] Monitor the planned execution time of the first task in the planned task queue of the task queue maintenance module;

[0097] When the time remaining until the planned execution time reaches the preset threshold, the high-precision HPOP orbit prediction model is activated.

[0098] Using the latest satellite orbit data, the execution time window of the first mission is recalculated and corrected to obtain the corrected time window;

[0099] Replace the original planned execution time of the first task in the planned task queue with the revised time window.

[0100] The task planning and correction module continuously monitors the planned execution time of the top-ranked task in the planned task queue of the task queue maintenance module. This monitoring process is accomplished by periodically polling the planned task queue data structure. The module retrieves the planned execution time field value from the task record at the head of the queue and compares it in real-time with the current system time to calculate the time difference.

[0101] When the time difference between the planned mission execution time and the current system time reaches a preset threshold, the mission planning correction module triggers the high-precision HPOP orbit prediction model startup process. The preset threshold is dynamically configured based on the satellite orbit characteristics and model calculation time, and is usually set to a time length in minutes to ensure that the model has sufficient calculation time to complete the orbit prediction.

[0102] After the mission planning and correction module activates the high-precision HPOP orbit prediction model, the model automatically acquires the latest satellite orbit data. The orbit data sources include real-time positioning data provided by the onboard GNSS receiver, attitude data measured by star sensors, and precise ephemeris data injected from the ground. The model integrates this data to generate a precise satellite orbit state vector for the current moment.

[0103] The high-precision HPOP orbit prediction model uses the latest acquired orbital data to recalculate the execution time window for the first mission in the planned mission queue. The model considers precise orbital mechanics factors such as Earth's non-spherical gravitational perturbations, atmospheric drag perturbations, and solar radiation pressure perturbations. It employs numerical integration to predict satellite orbits, calculating a more accurate time range for satellites to fly over the target region and generating a revised time window.

[0104] The task planning correction module updates the recalculated and corrected time window into the planned task queue of the task queue maintenance module. The module locates the first task record in the queue and replaces its original planned execution time field with the corrected time window value, thus completing the precise correction of the task execution time. The entire correction process ensures the integrity and consistency of task records in the planned task queue.

[0105] Specifically, in the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention, the mission execution module is configured as follows:

[0106] Monitor the corrected time window in the queue of planned tasks after the task planning and correction module has been updated;

[0107] When the corrected time window arrives, the corresponding task data is read from the planned task queue and an instruction sequence is generated. The instruction sequence includes satellite attitude adjustment instruction, imaging payload power-on instruction, imaging parameter configuration instruction, start imaging instruction, and end imaging instruction.

[0108] After the imaging task is completed, the number of imaging operations for the task is reduced by one.

[0109] Determine if the number of imaging attempts for the task being executed is zero. If it is zero, discard the task from the planned task queue. If it is not zero, re-enter the task into the unplanned task queue of the task queue maintenance module.

[0110] The task execution module continuously monitors the status of the corrected time windows in the queue of planned tasks updated by the task planning and correction module. This monitoring is achieved by comparing the system clock with the start and end times of the corrected time windows in real time. The module periodically checks whether the current time falls within the execution time window range of any task.

[0111] When the system time reaches the start time of the corrected time window, the task execution module retrieves the corresponding task data from the planned task queue. The retrieval process is completed by matching the time window identifier with the task record identifier. The module obtains the target coordinate information, imaging parameter configuration requirements, and priority settings included in the task data, providing a data foundation for generating specific instruction sequences.

[0112] The mission execution module generates a complete imaging command sequence based on the retrieved mission data. The command sequence first includes a satellite attitude adjustment command, which controls the satellite attitude control system to align the imaging payload with the target coordinate area; then, it issues a power-on command for the imaging payload to start the optical or radar imaging equipment; next, it sends an imaging parameter configuration command to set the resolution, exposure time, or beam parameters; finally, it generates start imaging and end imaging commands to control the start and end times of the imaging operation.

[0113] After an imaging task is completed, the task execution module updates the task's execution status. The module decrements the number of imaging operations in the task data by one, indicating that the task has completed one imaging operation. The update operation employs an atomic transaction processing mechanism to ensure the integrity and consistency of data operations in a multi-task concurrent environment.

[0114] The task execution module determines whether the updated imaging count value is zero. This determination is made by comparing the imaging count field with the value of zero. If the imaging count is zero, the module removes the task record from the planned task queue; if the imaging count is greater than zero, the module re-inserts the task record into the unplanned task queue of the task queue maintenance module, awaiting subsequent planning and execution.

[0115] Specifically, the real-time planning system for autonomous imaging missions of remote sensing satellites described in this invention further includes:

[0116] The satellite-to-ground and inter-satellite link module receives mission information through at least one of the following links: BeiDou short message service, inter-satellite communication device, and telemetry and control transponder.

[0117] The task queue maintenance module is configured to periodically save the data of the task queue to be planned and the planned task queue to non-volatile memory, and restore the task queue to be planned and the planned task queue from the non-volatile memory after the onboard computer is reset.

[0118] The satellite-to-ground and inter-satellite link module receives mission information through multiple communication links, including the BeiDou short message communication link, the inter-satellite communication device link, and the telemetry, tracking, and command (TT&C) transponder link. The BeiDou short message communication link receives mission information sent by ground stations via the BeiDou Navigation Satellite System's short message service. The inter-satellite communication device link receives mission information relayed by other satellites via laser or microwave communication between satellites. The TT&C transponder link receives mission information uploaded by ground TT&C stations via S-band or X-band radio. These links employ different communication frequency bands and protocols, forming complementary communication capabilities and improving the reliability and timeliness of mission information reception.

[0119] The task queue maintenance module performs persistent storage of data for both the unplanned and planned task queues. The module writes the data from both queues in memory to non-volatile memory at preset time intervals, employing a transaction processing mechanism to ensure data integrity. The non-volatile memory uses flash memory or ferroelectric memory, possessing radiation resistance and power-loss data retention characteristics, making it suitable for space application environments.

[0120] The task queue maintenance module performs data recovery operations after the onboard computer is reset. Upon detecting that the onboard computer has restarted, the module automatically reads the most recently saved pending and planned task queue data from non-volatile memory. The reading process includes a data verification step to confirm the integrity and correctness of the read data, and then loads the verified data into memory to reconstruct the task queue data structure.

[0121] Once data recovery is complete, the task queue maintenance module sends a queue recovery completion notification to other modules in the system. Each module then continues its task planning and processing operations based on the recovered task queue data, ensuring the continuity and integrity of the satellite imaging mission. The entire data saving and recovery process requires no ground intervention and operates completely autonomously.

[0122] This invention automates the entire process of remote sensing satellite imaging missions through an onboard autonomous mission planning system, fundamentally changing the existing reliance on manual ground-based planning. The system receives simple mission parameters injected from the ground via a satellite-to-ground and inter-satellite link module, replacing the current method of uploading complex programmed commands, significantly reducing the amount of uplink data and the frequency of manual intervention. The data parsing and processing module automatically verifies and converts the received mission data, eliminating the need for manual parsing. The mission queue maintenance module enables autonomous management and maintenance of mission data, avoiding frequent ground-based operations.

[0123] The mission prediction and planning module replaces ground-based extrapolation prediction with real-time onboard orbit calculation, calculating imaging timing based on current orbit data and eliminating positioning deviations caused by orbit extrapolation errors. The mission conflict handling module autonomously resolves multi-mission contention issues, achieving optimized resource allocation through intelligent merging and priority scheduling. The mission planning correction module performs final corrections using a high-precision orbit model before mission execution, further improving imaging accuracy.

[0124] The mission execution module automatically generates and executes imaging command sequences based on the revised time window, achieving end-to-end automated operation. Through the collaborative work of multiple modules, the entire system migrates the existing mission planning, conflict resolution, and execution processes that previously required extensive manual intervention on the ground to be completed autonomously on the satellite, significantly improving response speed and processing efficiency, and effectively solving the problems of time-consuming, labor-intensive, slow response, and limited accuracy of existing methods.

[0125] The specific implementation of the real-time planning system for autonomous imaging missions of remote sensing satellites relates to the field of communication and data processing technology, and is particularly suitable for scenarios where remote sensing satellites autonomously perform imaging missions in orbit. Please refer to... Figure 1 The system replaces existing ground-based planning with on-board processing, achieving full automation of the mission reception, parsing, planning, conflict handling, correction, and execution.

[0126] The satellite-to-ground and inter-satellite link module receives mission information via at least one of the following links: BeiDou short message service, inter-satellite communication device, and telemetry and command transponder. Mission information includes target coordinates, number of imaging attempts, and priority parameters. This module transmits the received raw mission information to the data parsing and processing module for further processing. The data parsing and processing module verifies the mission information, checking the validity of the coordinate format, number of imaging attempts, and priority parameters. If the verification passes, the module converts the mission information into a standard data format, generates structured mission data, and outputs it to the mission queue maintenance module.

[0127] The task queue maintenance module receives structured task data and adds it to the queue of tasks to be planned. The module maintains both the queue of tasks to be planned and the queue of planned tasks in the onboard computer's memory, providing CRUD (Create, Read, Update, Delete) functions for task data. The module periodically saves the queue data to non-volatile memory and restores the queue data from memory after the onboard computer is reset, ensuring the persistence and consistency of task data.

[0128] The mission prediction and planning module reads mission data from the queue of missions to be planned. For each mission, within the planning time frame, the module calculates the shortest distance between the center of the satellite's detection range and the target for each orbit, based on a simplified orbital model considering only J2 perturbations and spherical geometry. It uses a bisection method to determine the orbital position and epoch corresponding to the shortest distance, and combines this with side-view constraints to determine imaging conditions. If the conditions are met, the module generates a preliminary imaging time window and outputs it to the mission conflict handling module.

[0129] The task conflict handling module receives the preliminary imaging time window and corresponding task data, and reads the time windows of all planned tasks from the planned task queue. The module compares the overlap between the preliminary imaging time window and the planned task time windows. If there is overlap, the module attempts to merge the tasks into a composite imaging task; if merging is not possible, the module compares the task priorities, inserts the higher-priority tasks into the planned task queue in chronological order, and returns the lower-priority tasks to the unplanned task queue.

[0130] The mission planning and correction module monitors the planned execution time of the first mission in the planned mission queue. When the time remaining until the planned execution time reaches a preset threshold, the module activates the high-precision HPOP orbit prediction model, recalculates and corrects the execution time window using the latest satellite orbit data, and obtains the corrected time window. The module then replaces the original planned execution time in the planned mission queue with the corrected time window.

[0131] The task execution module monitors the corrected time window. When the time window arrives, the module reads the corresponding task data from the planned task queue and generates a sequence of instructions, including satellite attitude adjustment instructions, imaging payload power-on instructions, imaging parameter configuration instructions, start imaging instructions, and end imaging instructions. After the imaging task is completed, the module decrements the number of imaging attempts by one. If the number of imaging attempts is zero, the task is discarded from the planned task queue; otherwise, the task is added back to the unplanned task queue.

[0132] The system significantly reduces the amount of uplink data and the frequency of manual operations through onboard autonomous processing, improves mission response speed and imaging accuracy, and effectively addresses the shortcomings of existing ground planning methods.

Claims

1. A real-time planning system for autonomous imaging missions of remote sensing satellites, characterized in that, include: The satellite-to-ground and inter-satellite link module is used to receive mission information including target coordinates, number of imaging attempts and priority parameters, and output the mission information. The data parsing and processing module, connected to the satellite-to-ground and inter-satellite link module, is used to receive the mission information, parse and convert the mission information into a standard data format, and output structured mission data. The task queue maintenance module is connected to the data parsing and processing module. It is used to receive the structured task data and add the structured task data to the task queue to be planned. It maintains the task queue to be planned and the task queue already planned in memory. The mission prediction and planning module is connected to the mission queue maintenance module. It is used to read mission data from the mission queue to be planned, traverse the mission queue to be planned using a simplified orbit model and geometric calculations, find the orbital position and time closest to the target within the satellite's detection range, determine the imaging conditions, and generate a preliminary imaging time window. The task conflict handling module connects the task forecasting and planning module and the task queue maintenance module. It is used to receive the preliminary imaging time window, detect the overlap between the preliminary imaging time window and the time windows in the planned task queue, perform task merging or priority sorting, and add the processed task and corresponding time window to the planned task queue. The task planning correction module is connected to the task queue maintenance module and is used to monitor the planned execution time of the first task in the planned task queue. When the time remaining before the planned execution time reaches a preset threshold, the execution window time is corrected using a high-precision trajectory model to obtain the corrected time window. The task execution module, connected to the task planning correction module, is used to receive the corrected time window, generate a sequence of instructions for attitude adjustment, payload control and imaging operations when the corrected time window is reached, and update the number of imaging operations after the imaging is completed.

2. The real-time planning system for autonomous imaging missions of remote sensing satellites according to claim 1, characterized in that, The data parsing and processing module is configured as follows: The mission information received from the satellite-to-ground and inter-satellite link module is verified to obtain the verification result; If the verification result indicates that the task information is valid, the task information is converted into a standard data format to obtain structured task data. The structured task data is output to the task queue maintenance module.

3. The real-time planning system for autonomous imaging missions of remote sensing satellites according to claim 1, characterized in that, The task prediction and planning module is configured as follows: Read the task data in the queue of tasks to be planned in sequence; For each piece of mission data read, within the planned time frame, based on a simplified orbital model that only considers the J2 perturbation and the spherical geometry, the shortest distance between the center of the satellite's detection range and the target for each orbit is calculated. Based on the calculated shortest distance, the bisection method is used to locate the orbital position and epoch time corresponding to the shortest distance; Based on the located orbital position and epoch time, combined with the side view constraints, it is determined whether the imaging conditions are met. If imaging conditions are met, a preliminary imaging time window is generated and output to the task conflict handling module.

4. The real-time planning system for autonomous imaging missions of remote sensing satellites according to claim 1, characterized in that, The task conflict handling module is configured as follows: Receive the preliminary imaging time window and corresponding task data from the task prediction and planning module; Read the time windows of all planned tasks from the planned task queue of the task queue maintenance module; The preliminary imaging time window is compared with the read planned task time window to determine whether there is any overlap; If there is overlap, an attempt will be made to merge the task corresponding to the initial imaging time window with the overlapping planned task into a composite imaging task. If they cannot be merged, then the priorities of the tasks corresponding to the preliminary imaging time window and the overlapping planned tasks are compared. High-priority tasks are inserted into the planned task queue in chronological order, while low-priority tasks are returned to the unplanned task queue.

5. The real-time planning system for autonomous imaging missions of remote sensing satellites according to claim 1, characterized in that, The task planning correction module is configured as follows: Monitor the planned execution time of the first task in the planned task queue of the task queue maintenance module; When the time remaining until the planned execution time reaches the preset threshold, the high-precision HPOP orbit prediction model is activated. Using the latest satellite orbit data, the execution time window of the first mission is recalculated and corrected to obtain the corrected time window; Replace the original planned execution time of the first task in the planned task queue with the revised time window.

6. The real-time planning system for autonomous imaging missions of remote sensing satellites according to claim 1, characterized in that, The task execution module is configured as follows: Monitor the corrected time window in the queue of planned tasks after the task planning and correction module has been updated; When the corrected time window arrives, the corresponding task data is read from the planned task queue and an instruction sequence is generated. The instruction sequence includes satellite attitude adjustment instruction, imaging payload power-on instruction, imaging parameter configuration instruction, start imaging instruction, and end imaging instruction. After the imaging task is completed, the number of imaging operations for the task is reduced by one. Determine if the number of imaging attempts for the task being executed is zero. If it is zero, discard the task from the planned task queue. If it is not zero, re-enter the task into the unplanned task queue of the task queue maintenance module.

7. The real-time planning system for autonomous imaging missions of remote sensing satellites according to claim 1, characterized in that, Also includes: The satellite-to-ground and inter-satellite link module receives mission information through at least one of the following links: BeiDou short message service, inter-satellite communication device, and telemetry and control transponder. The task queue maintenance module is configured to periodically save the data of the task queue to be planned and the planned task queue to non-volatile memory, and restore the task queue to be planned and the planned task queue from the non-volatile memory after the onboard computer is reset.

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