Omnidirectional group target situation establishment method based on micro-nano satellite group cooperation

Abstract

The invention provides a micro-nano satellite group collaborative omnidirectional group target situation establishment method, which comprises the following steps of: designing micro-nano satellite group roles including sensing satellites, gaming satellites, decision-making satellite quantity and load design; designing initial configurations of a sensing star, a gaming star and a decision star, wherein the sensing star is responsible for global target search, the gaming star is responsible for target confirmation in a suspicious area, and the decision star is responsible for marking the orientation and mark number of the target; the decision-making star implements target distribution; the content of the target situation is preliminarily established, the sensing star gives the initial distance and speed between the game star and the target according to the target mark information and transmits the initial distance and speed to the corresponding game star and the decision star, and the decision star additionally adds the speed and position mark of the target; the target situation is updated, wherein the sensing star guides the decision star to move to the target set distance, the sensing star guides the game star to move to the target set distance, the decision star updates the targets obtained by the sensing star and the game star, and the distance and the speed are additionally marked for each target.

Description

Technical Field

[0001] This invention belongs to the field of space multi-star cooperative sensing and manipulation technology, and specifically relates to an omnidirectional group target situation establishment method for micro-nano star group cooperation. Background Technology

[0002] Micro- and nano-satellite constellations possess comprehensive advantages such as flexibility, low cost, and resilience, making them an important research direction in the field of space-based situational awareness. Multiple micro- and nano-satellites are deployed in orbit, and through interaction and cooperation among the constellations, they can complete global searches and quickly acquire suspicious targets. Continuous observation of suspicious areas allows for rapid confirmation of target accuracy. Multi-line-of-sight fusion within the micro- and nano-satellite constellations enables target localization and navigation. Compared to traditional large-platform space-based situational awareness, micro- and nano-satellite constellations carry low-cost payloads, reducing interference from the multiple payloads of traditional large platforms; their flexible orbital deployment allows for rapid traversal of suspicious areas through orbital maneuvers, reducing the shaking interference caused by turntable scanning in traditional large platforms; and their wide-area deployment reduces the impact of space illumination on sensors, improving all-weather situational awareness capabilities.

[0003] Despite the numerous advantages of micro- and nano-constellations, establishing an omnidirectional group target situation for coordinated micro- and nano-constellation operations requires consideration of many constraints, including constellation configuration, constellation roles, number and payload configuration, orbits, target allocation, observation with direct sunlight, and situation establishment and updates. Currently, there is still a lack of omnidirectional group target situation establishment methods for coordinated micro- and nano-constellations. Therefore, how to establish an omnidirectional group target situation based on constellation coordination rules remains a challenge. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, the inventors have conducted intensive research and provided a method for establishing the situation of omnidirectional swarm targets through micro-nano swarm collaboration. This method possesses the autonomous collaboration capability of micro-nano swarms, realizes the establishment and updating of the situation of omnidirectional swarm targets, and has all-weather advantages, thus completing this invention.

[0005] The technical solution provided by this invention is as follows: A method for establishing omnidirectional swarm target situation through micro / nano swarm collaboration includes: Designing the roles of micro-nano constellations, including the design of the number of sensing stars, the design of the number of game stars, the design of the number of decision stars, the design of the payload of sensing stars, the design of the payload of game stars, and the design of the payload of decision stars; The initial configuration of the perception star, game star, and decision star is designed, including the perception star being responsible for searching targets across the entire domain, the game star being responsible for confirming targets in suspicious areas, and the decision star being responsible for marking the location and number of targets. The decision star implements target allocation, including the decision star assigning targets to each perception star, the decision star assigning targets to each game star, and the decision star assigning game stars to each perception star; The initial establishment of the target situation includes the sensing satellite using multi-line angle measurement positioning based on the target marking information given by the decision satellite, providing the initial distance and velocity between the game satellite and the target, and transmitting this distance and velocity to the corresponding game satellite and decision satellite. The decision satellite additionally adds the target's velocity and position markings. The target situation is updated, including the perception star guiding the decision star to maneuver to the target's set distance, the perception star guiding the game star to maneuver to the target's set distance, and the decision star updating the targets acquired by the perception star and the game star, additionally marking the distance and speed for each target.

[0006] The omnidirectional swarm target situation establishment method of micro-nano swarm cooperation provided by the present invention has the following beneficial effects: (1) The present invention has designed roles for the micro-nano star cluster, which are divided into sensing stars, game stars and decision stars according to their functions. Through the cooperation of sensing stars, game stars and decision stars, the rapid identification and positioning of targets in the whole domain is realized. (2) This invention designs different types of payloads for the sensing star, the game star and the decision star, so as to maximize the function and role of each role; the sensing star realizes wide-area detection, the game star realizes fuel optimization, and the decision star realizes sufficient allocation of computing resources; (3) In this invention, the sensing star is responsible for searching targets across the entire domain, the game star is responsible for confirming targets in suspicious areas, and the decision star is responsible for marking the location and number of targets, thus realizing relay tracking of targets and making up for the problems of discontinuity, loss and short observation period in the traditional target tracking process. (4) The situation update method in this invention includes the velocity and position of the target, the velocity and position of the game star, the position and velocity difference between the game star and the target, the position of the decision star in the direction of the light, the position of the sensing star, the number of targets detected by each sensing star, and the number of targets detected by the game star. It has the comprehensive advantages of simple data, high repeatability, simple interaction and strong readability. Attached Figure Description

[0007] Figure 1 The present invention provides a flowchart of an omnidirectional swarm target situation establishment method based on micro-nano star cluster collaboration. Detailed Implementation

[0008] The features and advantages of the present invention will become clearer and more explicit from the following detailed description.

[0009] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0010] To overcome the technical shortcomings of traditional space-based situational awareness, such as disturbances, lighting interference, lack of all-weather operation, lack of continuous target observation, and lack of multi-target tracking, this paper proposes a multi-view space target perception method for micro-nano satellite constellations through various designs, including constellation configuration, constellation roles, number and payload configuration, orbit, target allocation, observation with direct sunlight, situational awareness establishment and updating. This method can achieve ground experimental verification of the entire process of multi-view fusion perception, game theory decision-making, and planning control.

[0011] This invention provides an omnidirectional swarm target situation establishment method based on micro / nano swarm collaboration. Through micro / nano swarm role design, initial configuration design of sensing, playing, and decision stars, target allocation, preliminary establishment of target situation, and updating of target situation, it overcomes the aforementioned deficiencies. The omnidirectional swarm target situation establishment method proposed in this invention possesses autonomous collaborative capabilities among micro / nano swarms, realizes omnidirectional swarm target situation establishment and updating, and has all-weather advantages, providing technical support for the field of space multi-star collaborative sensing and manipulation.

[0012] like Figure 1 As shown, the present invention provides a method for establishing an omnidirectional swarm target situation through micro / nano swarm collaboration, comprising the following steps: Step S1: Design of micro / nano constellation roles, including design of the number of sensing stars, the number of game stars, the number of decision stars, the payload of sensing stars, the payload of game stars, and the payload of decision stars.

[0013] Step S1 includes the following steps: S1.1, the role design of the micro-nano constellation is as a perception star, a game star, and a decision-making star; S.1.2 The number of sensing satellites is designed to be 2, the payload is designed to be a wide-area, large-field-of-view camera, the camera weight is designed to be approximately 2kg, and the camera field of view is designed to be 120°. 20°, the computing unit is designed to weigh approximately 1kg; S1.3, the number of game stars is designed to be 6, the payload is designed to be a wide field of view camera, the camera weight is designed to be approximately 500g, and the camera field of view is designed to be 90°. 20°, the computing unit is designed to weigh approximately 1kg; S1.4 The number of decision satellites is designed to be 1, the payload is designed to be a wide field of view camera, the camera weight is designed to be approximately 300g, and the camera field of view is designed to be 50°. The angle is 10°, and the weight of the calculation unit is designed to be approximately 2 kg.

[0014] Step S2: Initialize the configuration design of the perception star, game star, and decision star, including the perception star being responsible for searching the target across the entire domain, the game star being responsible for confirming the target in the suspicious area, and the decision star being responsible for marking the location and number of the target.

[0015] Step S2 includes the following steps: S2.1 During the initialization process of the perception star, game star and decision star, the decision star is used as the virtual center to establish a flight orbit; S2.2, The radius of the orbital path of the sensing star is designed to be 20. At a distance of 5km, the two sensing satellites and the decision satellite are located on the same straight line or only on a straight line, meaning the angle between the two sensing satellites and the decision satellite is 180°. 20°; S2.3, The orbital radius of the game star is designed to be 10. 2km, with each game star and decision star at an angle of 60°. 5°; S2.4 The sensing star is responsible for searching for targets across the entire region and uses a star map matching method to detect all targets. When a target is found in a certain area, the position coordinates of this area are transmitted to the decision star based on the pointing coordinates of the camera. S2.5. Based on the position of the game star, the decision star mobilizes the nearest game star to continuously search the area and confirms the accuracy of the detected targets within the area. When the target detection accuracy is confirmed to be greater than 95%, the coordinates of this image area, the target location, the number of targets, and the corresponding detection time are transmitted to the decision star. S2.6 The decision star marks the location, number, and detection time of the target based on the image area coordinates, target location, number of targets, and corresponding detection time returned by the game star; S2.7 The decision star changes the role of the idle game star to the auxiliary perception star, and the auxiliary perception star completes the search of the remaining area; the decision star updates the location, label and detection time of the target according to the area coordinates, target location, number of targets and corresponding detection time returned by the auxiliary perception star; after completing the full-area detection, the decision star changes the role of the auxiliary perception star to the game star.

[0016] Step S3, Target Allocation, includes assigning targets to each perception star by the decision star, assigning targets to each game star by the decision star, and assigning game stars to each perception star by the decision star.

[0017] Step S3 includes the following steps: S3.1. The decision-making satellite evenly distributes targets to the sensing satellites based on their labels. The two sensing satellites use the target with the smallest label as the center, and measure the distance to the target with the smallest label using only angle measurement along their dual lines of sight. This distance is then used as the radius to re-establish the orbit. The angle between the two sensing satellites is redesigned to 60°. 5. The field of view covers the target area; S3.2 The decision star distributes the target evenly to the game star based on the target number, and the game star establishes a forward reconnaissance configuration; S3.3. The decision star assigns a game star to each perception star and uses a multi-line angle measurement method to guide the game star to conduct situational reconnaissance. S3.4 The decision star moves to the position between the perception star and the game star, and has the conditions for observation with the light coming from the center.

[0018] Step S4: Initially establish the target situation content, including the sensing satellite using multi-line angle measurement positioning based on the target marking information given by the decision satellite, to give the initial distance and velocity between the game satellite and the target, and transmit this distance and velocity to the corresponding game satellite and decision satellite. The decision satellite additionally adds the target's velocity and position markings.

[0019] Step S4 includes the following steps: S4.1, the two sensing satellites use multi-line angle-only positioning based on the target marking information given by the decision satellite to provide the initial distance and velocity between the target and the decision satellite; S4.2 During the process of guiding the game star with two sensing stars, multi-line angle measurement positioning is used to give the initial distance and velocity between the game star and the target. S4.3, two sensing stars transmit the distance and speed between the game star and the target to the corresponding game star and decision star; S4.4 The decision star obtains the target acceleration information by using the distance and velocity at times of more than 5 consecutive seconds based on the distance and velocity between the game star and the target. S4.5 The decision star adjusts the acceleration and velocity of the game star, making the game star's velocity more than 10 m / s faster than the target's. S4.6, The decision star adds additional target speed and position markers; S4.7 The decision star establishes the target situation, including the speed and position of the decision star and the target, the speed and position of the game star, the distance difference and speed difference between the game star and the target, the position of the decision star in the direction of the light, the position of the sensing star, the number of targets detected by each sensing star, and the number of targets detected by the game star.

[0020] Step S5: Update the target situation, including the perception star guiding the decision star to maneuver to the target set distance, the perception star guiding the game star to maneuver to the target set distance, and the decision star updating the targets acquired by the perception star and the game star, and additionally marking the distance and speed for each target.

[0021] Step S5 includes the following steps: S5.1, the sensing satellite uses multi-line-of-sight angle-only guidance to maneuver the decision satellite to the target at approximately 200 degrees. 10km away; S5.2, the sensing star uses multiple lines of sight and angle measurement to guide the game star to maneuver to the target at approximately 100 degrees. 10km away; S5.3, two sensing satellites use multi-line angle measurement to obtain the relative position and velocity of the target, as well as the relative position and velocity of the game satellite; S5.4 The game star uses the line of sight provided by the perception star and uses one of its own lines of sight to assist in building a dual-line-of-sight angle-only navigation model to obtain the relative position and velocity of the game star and the target. S5.5, the two sensing stars determine whether the decision star is in a front-lit position by using image pixels. That is, the decision star is imaged in the camera of the sensing star. When the centroid pixel count is greater than 50, it is in a front-lit position. S5.6 The decision star receives the target information and its own position information from the perception star and the game star, and updates the target situation, including the speed and position of the decision star and the target, the speed and position of the game star, the distance difference and speed difference between the game star and the target, the position of the decision star in the direction of the light, the position of the perception star, the number of targets detected by each perception star, and the number of targets detected by each game star. S5.7. Based on the target situation, if the decision star is not in a position with direct sunlight, the decision star will maneuver and change its orbit to find a position with direct sunlight; if the target is lost, the angle between the two perception stars will be adjusted from 60° to 80°, and the field of view will once again cover the target area and the game star; if the speed difference between the game star and the target is less than 10 m / s, the game star will accelerate, making the speed of the game star 10 m / s faster than that of the target; if the position difference between the game star and the target is less than 5 km, the speed difference between the game star and the target will be 0 / s, and the game star and the target will begin to engage in combat.

[0022] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0023] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A method for establishing the situation of an omnidirectional swarm target through micro / nano swarm collaboration, characterized in that, Includes the following steps: Designing the roles of micro-nano constellations, including the design of the number of sensing stars, the design of the number of game stars, the design of the number of decision stars, the design of the payload of sensing stars, the design of the payload of game stars, and the design of the payload of decision stars; The initial configuration of the perception star, game star, and decision star is designed, including the perception star being responsible for searching targets across the entire domain, the game star being responsible for confirming targets in suspicious areas, and the decision star being responsible for marking the location and number of targets. The decision star implements target allocation, including the decision star assigning targets to each perception star, the decision star assigning targets to each game star, and the decision star assigning game stars to each perception star; The initial establishment of the target situation includes the sensing satellite using multi-line angle measurement positioning based on the target marking information given by the decision satellite, providing the initial distance and velocity between the game satellite and the target, and transmitting this distance and velocity to the corresponding game satellite and decision satellite. The decision satellite additionally adds the target's velocity and position markings. The target situation is updated, including the perception star guiding the decision star to maneuver to the target's set distance, the perception star guiding the game star to maneuver to the target's set distance, and the decision star updating the targets acquired by the perception star and the game star, additionally marking the distance and speed for each target.

2. The method for establishing omnidirectional swarm target situation based on micro / nano swarm collaboration according to claim 1, characterized in that, The designed micro / nano star cluster roles include: The micro-nano constellations are designed to function as sensing stars, game stars, and decision-making stars. The design incorporates two sensing satellites, each carrying a wide-field-of-view camera with a 120° field of view. 20°; The design includes six satellites, each carrying a wide-field-of-view camera with a 90° field of view. 20°; The design decision satellite consists of one satellite carrying a wide field-of-view camera with a 50° field of view. 10°.

3. The method for establishing omnidirectional swarm target situation based on micro / nano swarm collaboration according to claim 1, characterized in that, The initial configuration of the design perception star, game star, and decision star includes: During the initialization process of the perception star, game star, and decision star, the decision star is used as the virtual center to establish a flight orbit; The radius of the orbital design for the sensing star is 20. 5km, the two sensing satellites and the decision satellite are located on the same straight line or only on a straight line; The orbital radius of the game star is designed to be 10. 2km, with each game star and decision star at an angle of 60°. 5°; The sensing satellite is responsible for searching for targets across the entire region, using a star map matching method to detect all targets. When a target is found in a certain area, the satellite transmits the location coordinates of that area to the decision satellite based on the camera's pointing coordinates. The decision star, based on the position of the game star, mobilizes the nearest game star to continuously search the area and confirms the accuracy of the detected targets within the area. Once the target detection accuracy is confirmed to be greater than 95%, the coordinates of this image area, the target location, the number of targets, and the corresponding detection time are transmitted to the decision star. The decision star marks the location, number, and detection time of the target based on the image area coordinates, target location, number of targets, and corresponding detection time returned by the game star; The decision star changes the role of the idle game star to the auxiliary perception star, which then completes the search of the remaining area. The decision star updates the target's location, label, and detection time based on the area coordinates, target location, number of targets, and corresponding detection time returned by the auxiliary perception star. After completing the full-area detection, the decision star changes the role of the auxiliary perception star back to the game star.

4. The method for establishing omnidirectional swarm target situation based on micro / nano swarm collaboration according to claim 1, characterized in that, The decision star implements target allocation, including: The decision-making star evenly distributes the target to the sensing stars based on the target number; the two sensing stars take the target with the smallest number as the center, and use the angle measurement of the two sensing stars to obtain the distance to the target with the smallest number using the dual line of sight. Using this distance as the radius, the orbit is re-established. The decision star distributes targets evenly to the game stars based on the target labels, and the game stars establish a forward reconnaissance configuration. The decision star assigns a game star to each perception star, and uses a multi-line-of-sight angle measurement method to guide the game star to conduct situational reconnaissance. The decision star will move to a position between the perception star and the game star, and will be able to observe the satellite under direct sunlight.

5. The method for establishing omnidirectional swarm target situation based on micro / nano swarm collaboration according to claim 4, characterized in that, When the two sensing satellites re-establish their orbits around the target with the smallest designation, the angle between the two sensing satellites is redesigned to 60°.

5. The field of view covers the target area.

6. The method for establishing omnidirectional swarm target situation based on micro / nano swarm collaboration according to claim 1, characterized in that, The initial establishment of the target situation includes: Based on the target marking information provided by the decision star, the two sensing stars use multi-line angle-only positioning to determine the initial distance and velocity between the target and the decision star. During the process of guiding the game star with two sensing stars, multi-line angle measurement positioning is used to give the initial distance and velocity between the game star and the target. Two sensing stars transmit the distance and speed between the game star and the target to the corresponding game star and decision star; Based on the distance and velocity between the game star and the target, the strategy star obtains the target acceleration information by using distance and velocity data from consecutive intervals of more than 5 seconds. The decision star adjusts the acceleration and velocity of the game star, making the game star more than 10 m / s faster than the target. The decision star adds additional velocity and position markers for the target; The decision star establishes the target situation, including the speed and position of the decision star and the target, the speed and position of the game star, the distance difference and speed difference between the game star and the target, the position of the decision star in direct sunlight, the position of the sensing star, the number of targets detected by each sensing star, and the number of targets detected by each game star.

7. The method for establishing omnidirectional swarm target situation based on micro / nano swarm collaboration according to claim 1, characterized in that, The updated target situation includes: The sensing satellite uses a multi-line-of-sight angle-only guidance system to maneuver the decision satellite to the target at approximately 200 degrees. 10km away; The sensing star uses multiple lines of sight and angle measurement to guide the game star to maneuver to the target at approximately 100 degrees. 10km away; Two sensing satellites use multi-line angle measurement to obtain the relative position and velocity of the target, as well as the relative position and velocity of the game satellite; The GameStar uses the line of sight provided by the PerceptionStar and utilizes one of its own lines of sight to assist in building a dual-line-of-sight angle-only navigation model to obtain the relative position and velocity of the GameStar and the target. Two sensing stars determine whether the decision star is in a position with direct light by using image pixels. That is, the decision star is imaged in the camera of the sensing star. When the centroid pixel count is greater than 50, it is in a position with direct light. The decision star receives target information and its own position information from the perception star and the game star, and updates the target situation, including the speed and position of the decision star and the target, the speed and position of the game star, the distance difference and speed difference between the game star and the target, the position of the decision star in direct sunlight, the position of the perception star, the number of targets detected by each perception star, and the number of targets detected by each game star.

8. The method for establishing omnidirectional swarm target situation based on micro / nano swarm collaboration according to claim 7, characterized in that, The updated target situation also includes: based on the target situation, if the decision star is not in a position with direct sunlight, the decision star maneuvers and changes orbit to find a position with direct sunlight; if the sensing star has lost the target, the angle between the two sensing stars is adjusted from 60° to 80°, and the field of view re-covers the target area and the game star; if the speed difference between the game star and the target is less than 10 m / s, the game star accelerates, making the speed of the game star 10 m / s faster than that of the target; if the position difference between the game star and the target is less than 5 km, the speed difference between the game star and the target is 0 / s, and the game star and the target begin to engage in combat.

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