Satellite hybrid target meta-task directed graph modeling method and storage medium

Abstract

The present application relates to the technical field of satellite mission planning and modeling, and particularly relates to a satellite mixed target meta-task directed graph modeling method and a storage medium. The method of the present application comprises: for each point target, first obtaining a first observable time period set when the satellite passes, then dividing the executable time window in each continuous time period and constructing a point meta-task; for each area target, after obtaining a second observable time period set, calculating the available yaw angle range in which the load field of view and the area target at least partially overlap, directly constructing an area meta-task with the time period as the executable time window; generating a first meta-task complete set based on all point meta-tasks and area meta-tasks, then merging the meta-tasks that can be completed by one satellite pass and continuous imaging with the same yaw angle to obtain a second meta-task complete set, and finally constructing a directed graph model. The present application realizes the unified modeling of point targets and area targets.

Description

Technical Field

[0001] This invention relates to the field of satellite mission planning and modeling technology, specifically to a method and storage medium for meta-mission directed graph modeling of satellite hybrid targets. Background Technology

[0002] With the rapid development of aerospace and remote sensing technologies, satellite Earth observation missions are becoming increasingly complex, and user needs are becoming more diverse. Observation targets often include mixed target groups composed of point targets and regional targets. How to efficiently complete the planning of observation missions for such mixed targets has become the key to improving satellite observation efficiency.

[0003] The core premise of satellite observation mission planning is to conduct reasonable meta-mission modeling of the observation mission. As the smallest executable observation unit of the satellite, the rationality of the modeling of the meta-mission directly determines the efficiency and accuracy of subsequent mission scheduling and path planning.

[0004] Currently, there are relevant studies on meta-task modeling for satellite single-type targets, but existing modeling methods still have significant shortcomings for mixed target scenarios where point targets and regional targets coexist. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, this invention proposes a meta-task directed graph modeling method and storage medium for satellite hybrid targets, achieving unified modeling of point targets and regional targets.

[0006] In a first aspect, the present invention proposes a meta-task directed graph modeling method for satellite hybrid targets, the method comprising: Receive a set of tasks submitted by the user; the set of tasks includes one or more task objectives, each of which is a point objective or a region objective. For each point target, a first set of observable time periods for that point target is obtained each time the satellite passes over it, the set including one or more first consecutive time periods; Within each of the first consecutive time periods, one or more executable time windows are segmented, and a corresponding point element task is constructed based on each executable time window and the corresponding available lateral swing angle range and observation duration. For each of the said regional targets, a second set of observable time periods for the regional target is obtained each time the satellite passes over, the set including one or more second consecutive time periods; For each of the second consecutive time periods, calculate the range of available side swing angles that allow the payload field of view to at least partially overlap with the target in that region, use the second consecutive time period as an executable time window, and construct a corresponding regional meta-task by combining the corresponding available side swing angle range and the observation duration. Based on all the point meta-tasks and all the region meta-tasks, generate a complete set of first meta-tasks; Based on the first set of meta-tasks, multiple meta-tasks that can be completed by continuous imaging with the same side angle during a single satellite pass are merged to obtain the second set of meta-tasks. Based on the complete set of the second-order tasks, a directed graph model is constructed.

[0007] Preferably, the point target is a single observation object on the Earth's surface that is uniquely determined by latitude and longitude coordinates; The target area is a polygonal observation object with boundaries on the Earth's surface.

[0008] Preferably, the step of "for each of the point targets, obtaining the first set of observable time periods for that point target during each satellite transit" includes: Based on the constraints of the satellite imaging environment, the first observable time period set for each of the point targets is obtained; The step of “segmenting one or more executable time windows within each of the first consecutive time periods” includes: Within each of the first consecutive time periods, one or more executable time windows are segmented based on satellite imaging attitude constraints; in, The constraints of the satellite imaging environment include: satellite orbital parameters, sensor field of view, and illumination conditions; The satellite imaging attitude constraints include: satellite attitude maneuverability, available yaw angle range, and imaging duration.

[0009] Preferably, the step of "for each target in the region, obtaining a second set of observable time periods for that target during each satellite transit" includes: Based on the satellite imaging environment constraints, the second observable time period set for each of the regional targets is obtained; The step of “calculating, for each of the second consecutive time periods, the range of available lateral tilt angles that allow the load field of view to at least partially overlap with the target in that region” includes: For each of the second consecutive time periods, the range of available lateral sway angles that allow the payload field of view to at least partially overlap with the target in that region is calculated based on orbital geometry and imaging field of view.

[0010] Preferably, the step of "merging multiple meta-tasks that can be completed by continuous imaging with the same lateral angle during a single satellite pass, based on the first meta-task set, to obtain the second meta-task set" includes: Multiple meta-tasks that can be completed by continuous imaging with the same lateral angle during a single satellite pass are selected from the first set of meta-tasks and are designated as meta-tasks to be merged. The executable time window, the observation duration, and the available lateral swing angle range of the merged meta-task are calculated based on the meta-tasks to be merged. Calculate the total revenue and total resource consumption of the merged meta-task; The meta-tasks that were not selected from the first set of meta-tasks and the merged meta-tasks are combined to form the second set of meta-tasks.

[0011] Preferably, if there are two meta-tasks to be merged, the step of "calculating the executable time window, the observation duration, and the available lateral swing angle range of the merged meta-task based on the meta-tasks to be merged" includes: The two meta-tasks to be merged and They are represented as follows: ; ; in, and Representing meta-tasks and The executable time window; and Representing meta-tasks and The range of available lateral swing angles; and Representing meta-tasks and The duration of the observation; The merged meta-task is calculated according to the following formula. Executable time window: ; The merged meta-task is calculated according to the following formula. Observation duration: ; in, Indicates the swing angle on the same side Below, from the coverage From area to coverage The sweeping time of the area; The merged meta-task is calculated according to the following formula. Available yaw angle range: .

[0012] Preferably, the step of "calculating the total revenue and total resource consumption of the merged meta-task" includes: The total revenue of the merged meta-task is calculated using the following formula: ; in, and Meta-tasks He Yuan Mission The benefits, The total revenue mentioned above; The total resource consumption of the merged meta-task is calculated using the following formula: ; in, and Meta-tasks He Yuan Mission resource consumption, This indicates a continuous sweeping meta-task under a fixed attitude. He Yuan Mission Additional resource consumption in the area between corresponding targets This represents the total resource consumption.

[0013] Preferably, the step of "constructing a directed graph model based on the complete set of the second meta-tasks" includes: Map each metatask in the second metatask set to a node in a directed graph; At nodes that satisfy time feasibility constraints and attitude maneuver constraints and nodes Establish directed edges between them ; Calculate the weight of each edge or node in the directed graph based on the planning objective of the directed graph; Introducing a virtual starting node in a directed graph and virtual endpoint nodes This is used to describe the start and end of the meta-task sequence, thus unifying the entire task planning problem into a single representation starting from... arrive The path search problem.

[0014] Preferably, the step of "calculating the weight of each edge or each node in the directed graph according to the planning objective of the directed graph" includes: If the planning objective is to minimize the task switching cost, then directed edges will be... The weights are defined as a function of the time required for switching or the attitude maneuvering: ; in, For the edge The cost; For the meta-task Switch to meta-task Time required; For the meta-task Switch to meta-task Required change in lateral yaw angle; and These are weighting coefficients used to balance the time cost and the attitude maneuver cost; If the planning objective is to maximize task benefits, then the total path benefit is expressed as: ; in, The total revenue of the path; The selected task execution path in the directed graph; To execute the meta-task The gains obtained.

[0015] In another aspect, the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described above.

[0016] The present invention has the following beneficial effects: The proposed method for meta-task directed graph modeling of satellite hybrid targets receives a set of hybrid tasks including point targets and regional targets. Then, considering the differences in observation characteristics between the two types of targets, a differentiated meta-task construction process is designed: For each point target, the first observable time period set during satellite transit is obtained, and then executable time windows are divided within each consecutive time period to construct point meta-tasks; for each regional target, after obtaining the second observable time period set, the available lateral tilt angle range where the payload's field of view at least partially overlaps with the regional target is calculated, and the regional meta-task is directly constructed using this time period as the executable time window. This effectively avoids the shortcomings of traditional methods that forcibly decompose regional targets and fail to consider the observation characteristics of both types of targets, eliminates the problems of redundant and insufficiently rational meta-task division, and adapts to the observation needs of hybrid targets.

[0017] Since each point meta-task and each region meta-task is uniquely characterized by a triplet of parameters consisting of the corresponding executable time window, available side-swing angle range, and observation duration, after generating the complete set of first meta-tasks, multiple meta-tasks that can be completed by continuous imaging with the same side-swing angle during a single satellite pass can be merged to obtain the complete set of second meta-tasks. This effectively reduces the total number of meta-tasks, avoids the waste of satellite resources caused by executing similar meta-tasks individually, reduces the cost of satellite attitude switching and task connection, and significantly improves the execution efficiency and space resource utilization of satellite observation tasks.

[0018] A directed graph model is constructed based on the merged set of second-order tasks. Each meta-task is mapped to a directed graph node. Constraints such as time feasibility and attitude maneuvering between meta-tasks can be intuitively represented through directed edges. This solves the pain points of traditional modeling methods, such as lack of unified graphical representation, ambiguity of meta-task constraints, and difficulty in subsequent path search. It provides reliable model support for efficient scheduling and path optimization of satellite hybrid target observation tasks and can fully meet the needs of efficient and accurate planning for satellite Earth observation tasks in complex scenarios. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the main steps of an embodiment of the meta-task directed graph modeling method for satellite hybrid targets of the present invention. Detailed Implementation

[0020] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0022] It should be noted that in the description of this invention, the terms "first" and "second" are used merely for ease of description and do not indicate or imply the relative importance of the described devices, elements, or parameters, and therefore should not be construed as limiting the invention. Furthermore, the term "and / or" in this invention merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0023] This invention discretizes and decomposes the original point targets and region targets, representing them uniformly as several meta-tasks, which are then used as nodes in a directed graph. For each region target, this invention does not perform spatial grid or strip discretization, but instead, based on orbital geometry and imaging field of view, directly calculates the range of lateral sway angles that can overlap with the region target within each observable time window of transit, thereby generating the corresponding region meta-task.

[0024] Figure 1This is a schematic diagram illustrating the main steps of an embodiment of the meta-task directed graph modeling method for satellite hybrid targets of the present invention. For example... Figure 1 As shown, the method in this embodiment includes steps S10-S80: Step S10: Receive the task set submitted by the user. The task set includes one or more task objectives, each of which is a point objective or an area objective.

[0025] Mission objectives refer to the specific objects that need to be observed by the satellite during the mission, and are represented in space as: The Earth's surface can be a single point of observation (i.e., a point target, such as the need for high-resolution imaging of a certain point) or a polygonal observation object with boundaries (i.e., a regional target, such as the overall coverage need of a city or disaster area).

[0026] Point targets in the task set can be identified by latitude and longitude coordinates. The mission-allowed time window indicates that area targets can be identified through the ground boundary polygon. And the allowed time window for the task.

[0027] Step S20: For each point target, obtain the first observable time period set for that point target each time the satellite passes over, the set including one or more first consecutive time periods.

[0028] Specifically, the first set of observable time periods for each point target can be obtained based on satellite imaging environment constraints (satellite orbit parameters, sensor field of view, and illumination conditions). For example, this can be accomplished using Analytical Graphics' Satellite Tool Kit (STK).

[0029] The first set of observable time periods here is already within the time window allowed by the user for the task. That is, the first set of observable time periods is obtained by intersecting the time window allowed by the task with the original observable time range when a satellite passes through a certain orbit.

[0030] Step S30: Divide one or more executable time windows into each first continuous time period, and construct a corresponding point element task based on each executable time window and the corresponding available lateral swing angle range and observation duration.

[0031] Specifically, within each first consecutive time period, one or more executable time windows are segmented based on satellite imaging attitude constraints (satellite attitude maneuverability, available side angle range, and imaging duration).

[0032] For example, for the first Given a point objective, several meta-tasks can be constructed as shown in the following formula (1): (1) in, Indicates the first The target point is in its first j The first generation generated within the consecutive time period k Individual task; This indicates that the target point is at the [number]th [location]. The first [time period] within which imaging of the target point can be completed k One executable time window; Indicates that in the first k The range of available lateral tilt angles within an executable time window that can complete imaging of the target point; For the first k The observation duration required to perform one imaging operation within an executable time window. This satisfies the time window and attitude constraints. Collected into the point meta task set middle.

[0033] A meta-task (including the "point meta-task" mentioned above and the "region meta-task" to be mentioned below) refers to an "executable observation unit" that is abstracted from a certain task target (a sub-region of a point target or a regional target) under given orbit, attitude and load constraints, combined with its observable time window and available attitude range.

[0034] Typically, a meta-task corresponds to a complete imaging activity, with well-defined triplet parameters: the executable time window (start / end time), the available lateral angle range (minimum / maximum lateral angle), and the observation duration.

[0035] Step S40: For each regional target, obtain a second set of observable time periods for the regional target each time the satellite passes over, the set including one or more second consecutive time periods.

[0036] Specifically, based on the constraints of the satellite imaging environment, a second set of observable time periods for each regional target is obtained.

[0037] Step S50: For each second consecutive time period, calculate the range of available side swing angles that allow the payload field of view to at least partially overlap with the target in that region, take the second consecutive time period as an executable time window, and construct a corresponding regional meta-task by combining the corresponding available side swing angle range and observation duration.

[0038] It should be noted that, for each regional target, the present invention does not perform spatial grid or strip discretization, but for each second consecutive time period, it calculates the range of available lateral swing angles that allow the load field of view to at least partially overlap with the regional target based on orbital geometry and imaging field of view.

[0039] The second set of observable time periods here is already within the time window allowed by the user for the mission. It is obtained by intersecting the mission's allowed time window with the original observable time range when a satellite passes through a certain orbit.

[0040] Assume the first Regional Targets Boundary polygon The description states that the allowed time window for the task is... When a satellite passes over a certain orbit, the second set of observable time periods for that region includes several second consecutive time periods, as shown in formula (2): (2) in, Indicates regional targets The second set of observable time periods within this orbital period; This indicates the number of second consecutive time intervals for the target in this region within the orbital period, with each second consecutive time interval serving as an executable time window; k Indicates the sequence number of the executable time window. ; Indicates the first The start and end times of each executable time window (already related to the task's allowed time window) (Find the intersection).

[0041] Assuming the satellite payload's permissible global yaw angle range during this orbital transit is: ,For example .

[0042] In regional objectives The Within an executable time window, the satellite sub-points and the region boundary change over time. With different relative positions, do the ground field projections corresponding to different lateral tilt angles match the actual ground field projections? The intersections are also different. This invention uses geometric calculations or table lookup methods to obtain the result for the entire executable time window. Within, this makes the load's field of view and the region The set of at least partially overlapping lateral sway angle values ​​is shown in formula (3): (3) in, Indicates the time window during execution. Inside, making the field of view and area The set of all overlapping lateral sway angle values; Indicates the load-side sway angle; Indicates at time Side swing angle is At that time, the area covered by the load's field of view on the ground; This indicates that the field of view has a non-empty intersection with the target in the region, meaning that it covers at least a part of the region.

[0043] In engineering implementation, It is usually approximated as a second continuous time interval or the union of several second continuous time intervals. To simplify modeling, this invention uses its main interval as an approximation as follows: (4) (4) For example: during a transit, for regional targets The k A set of executable time windows are used to calculate the available lateral sway angle range. This means that within the executable time window, as long as the satellite side swing angle remains within the specified range... Within the range, the field of view will cover a portion of the target area.

[0044] Based on the available lateral angle range, a regional meta-task can be constructed around this executable time window. If a specific execution time interval is selected within this executable time window... Satisfy the following formulas (5) and (6): (5) (6) The corresponding regional meta-task can then be expressed as formula (7): (7) in, Indicates regional targets The first under the transit of this orbit One executable time window; Indicates that in the first Within an executable time window, the available yaw angle range allows the field of view to align with the target area as long as the yaw angle falls within this range. The overlap occurs, thus enabling a single effective observation of the region; Indicates that in the first The duration of an imaging operation for a regional target within an executable time window (which can be determined by planning parameters such as transit length and required coverage ratio).

[0045] For the r Regional Targets The set of regional meta-tasks is shown in formula (8): (8) in, This indicates the number of the second consecutive time intervals. Using the above method, this invention directly calculates the effective lateral swing angle range within each executable time window, instead of first discretizing the region spatially and then generating multiple time windows for each sub-block. The resulting regional meta-task naturally includes three sets of key parameters: executable time window, available lateral swing angle range, and observation duration. This facilitates unified modeling with the point meta-task and its use in subsequent directed graph construction.

[0046] Step S60: Generate the complete set of first-dimensional tasks based on all point-level tasks and all region-level tasks, as shown in formulas (9)-(11): (9) (10) (11) in, This represents the complete set of first-dimensional tasks; This represents the set of point meta-tasks corresponding to all point targets; This represents the set of regional meta-tasks corresponding to all regional objectives. i and j These represent the number of the point target and the number of the area target, respectively; Indicates the first i The set of point-based tasks corresponding to each point target; Indicates the first r The set of regional meta-tasks corresponding to each regional objective.

[0047] Step S70: Based on the complete set of first-dimensional tasks, merge multiple meta-tasks that can be completed by continuous imaging with the same side angle during a single satellite pass to obtain the complete set of second-dimensional tasks.

[0048] After the meta-tasks are generated, executing them one by one on the complete set of first meta-tasks often results in the satellite serving only a single target or a single sub-region in each imaging operation, failing to fully utilize the imaging swath width and continuous observation capabilities. To improve the overall utilization rate of a single observation and increase the task combination method of "completing multiple targets in one imaging," this invention, under the premise of satisfying time windows, attitude maneuvers, and resource constraints, merges some compatible meta-tasks to form a larger-granularity "merged meta-task," used to describe multi-target observation activities that can be completed simultaneously or continuously during a single imaging process. In this invention, the purpose of meta-task merging is to merge multiple targets that can be continuously observed under the same orbital transit and the same side angle conditions into a single "continuous observation meta-task" without increasing intermediate attitude maneuvers, thereby indicating that a single imaging operation can simultaneously or sequentially cover multiple targets.

[0049] Specifically, step S70 may include steps S71-S74: Step S71: Select multiple meta-tasks from the complete set of first meta-tasks that can be completed by continuous imaging with the same side angle during a single satellite pass and use them as meta-tasks to be merged.

[0050] For example, two meta-tasks to be merged were selected. and As shown in formulas (12) and (13) below: (12) (13) in, and Representing meta-tasks and The executable time window; and Representing meta-tasks and The range of available lateral swing angles; and Representing meta-tasks and The duration of the observation.

[0051] In real-world scenarios, multiple groups of meta-tasks may be selected to be merged, with each group containing two or more meta-tasks. A merge operation needs to be performed on each group of meta-tasks.

[0052] This invention proposes that only a pair of meta-tasks that meet the following conditions (a)-(c) can be merged into a single meta-task of "single-attitude single-pass continuous observation" (i.e., continuous imaging with the same lateral tilt angle during a single satellite pass): (a) Passing over the same orbit or the same observation strip: The targets (point targets or regional sub-blocks) corresponding to the two meta-tasks are located on the same or adjacent strips during the same orbital transit, allowing the satellite to sequentially scan the meta-tasks without interrupting observations during a single transit. and Corresponding area.

[0053] In implementation, constraints can be imposed using discrete identifiers such as "orbit cycle number" and "strip number," for example, requiring the meta-task to... and The conditions shown in formulas (14) and (15) must be met: (14) (15) in, Indicates the orbital revolution number. Indicates the strip or track number.

[0054] (b) Same lateral sway angle (no mid-way adjustment allowed): The merged observations require the use of the same target side swing angle value throughout the entire continuous observation period. That is, in executing the meta-task and No intermediate attitude adjustment is performed at this time. Therefore, a certain... It simultaneously satisfies the conditions shown in formulas (16) and (17) below: (16) (17) That is, it needs to satisfy formula (18): (18) If the available lateral swing angle ranges of the two do not overlap, it means that the meta-task cannot be completed simultaneously under the same lateral swing angle. and At this point, they are not merged; they remain as two independent meta-tasks.

[0055] (c) It can be covered by a single continuous observation in time: Because this embodiment requires a single pass and continuous imaging in a single burst, it does not allow for meta-task... and The imaging process involves stopping and restarting the camera or moving between these two points, so they must be covered by a continuous imaging sequence over time.

[0056] Assuming the satellites pass over the same orbit and tilt at the same angle on the same side... Perform continuous imaging, from time Start, until time The entire continuous imaging duration is shown in formula (19): (19) The continuous observation interval must be able to cover and Each has its own observation interval, and the whole exists within its own executable time window, i.e., there is... and , so that: Meta-task and The conditions shown in formulas (20)-(22) are satisfied respectively: (20) (twenty one) (twenty two) in, and Representing meta-tasks and The executable time window; Representing meta-tasks The duration of the observation; Indicates the swing angle on the same side Below, the satellite starts from the meta-mission. Ground projection of the coverage area is scanned to the meta-task. The time required for the ground projection of the covered area (determined by the geometric relationship between the trajectory and the ground projection).

[0057] In engineering implementation, the above condition can be simplified to: the existence of a continuous observation interval. It can simultaneously satisfy formulas (23)-(25): (twenty three) (twenty four) (25) in, Representing meta-tasks The duration of the observation.

[0058] If the above conditions are met, it means that in a continuous imaging operation, the meta-task can be covered sequentially without changing the side-swing angle. and In the corresponding region, the meta-task can be performed at this time. and Merge.

[0059] For a pair of meta-tasks that satisfy the above three conditions (a)-(c) and This invention combines them into a new "continuous observation meta-task". .

[0060] Step S72: Calculate the executable time window, observation duration, and available lateral swing angle range of the merged meta-task based on the meta-tasks to be merged.

[0061] Specifically, the executable time window of the merged meta-task is calculated according to the following formula (26): (26) in, This indicates that the same lateral swing angle is used when passing through the same orbit. The time range for continuous observation can be initiated, i.e., the merged meta-task. The executable time window.

[0062] Merged Metatask The observation duration is shown in formula (27): (27) in, Represents the merged continuous observation meta-task The duration of the observation; Indicates the swing angle on the same side Below, from the coverage From area to coverage The sweeping time of the area.

[0063] Because the swing angle within the entire continuous observation interval is required to remain constant, the merged meta-task The available range of side swing angles can be taken as the intersection of the two, as shown in formula (28): (28) In actual execution, a specific execution lateral angle can be selected within this range. Throughout the entire observation period Maintain this posture during the period.

[0064] Merged Metatask This can be expressed as formula (29): (29) Meanwhile, meta-task The target set is the union of the targets corresponding to the original two meta-tasks, i.e. Complete the imaging process in a single continuous imaging operation , Overall coverage of both objectives.

[0065] If a group of metatasks to be merged contains more than two metatasks, the above method can be used to merge them one by one.

[0066] Step S73: Calculate the total revenue and total resource consumption of the merged meta-tasks.

[0067] For the merged meta-task The total revenue is shown in formula (30): (30) in, and Meta-tasks He Yuan Mission The benefits, Total revenue; For the merged meta-task, the total resource consumption is shown in formula (31): (31) in, and Meta-tasks He Yuan Mission resource consumption, This indicates a continuous sweeping meta-task under a fixed attitude. He Yuan Mission Additional resource consumption in the area between corresponding targets (such as increased data volume due to imaging time). This represents the total resource consumption.

[0068] Situations where meta-tasks cannot be merged: If any of the conditions (d)-(f) below are not met, then no merging will be performed, especially in the following cases: (d) An intermediate attitude adjustment is required before starting from the meta-task. Required observation attitude transformation to meta-task The required observation attitude, i.e., there is no single one (e) The two meta-tasks do not overlap in the same transit or the same strip, and cannot be naturally swept over in a single continuous imaging operation; (f) Although there is overlap in the time window, it is not possible to allocate enough time for continuous observation to complete the meta-task. and Add the time spent sweeping in between.

[0069] In the above circumstances, and They are kept as two independent meta-tasks, serving only as two independent nodes in the directed graph, for subsequent planning and decision-making to select the execution order or to discard them.

[0070] Step S74: Combine the meta-tasks that were not selected from the first meta-task set with the merged meta-tasks to form the second meta-task set.

[0071] Step S80: Construct a directed graph model based on the complete set of second-dimensional tasks.

[0072] Each point meta-task and each region meta-task is uniquely characterized by a triplet of parameters consisting of the corresponding executable time window, available lateral swing angle range, and observation duration.

[0073] In this embodiment, the general idea for constructing a directed graph model is as follows: A directed graph is represented by the form shown in formula (32): (32) in, Represents a set of nodes; This represents the set of directed edges.

[0074] In this invention, the node set is directly given by the complete set of the second-dimensional task, as shown in formula (33): (33) That is, each meta-task Mapped to a node in the graph ,in, This refers to the complete set of second-dimensional tasks.

[0075] To facilitate the modeling and planning of the starting and ending states, a virtual starting point node can be introduced. and virtual endpoint nodes The expanded node set is obtained as shown in formula (34): (34) in, This is a virtual starting node, representing the start of the planning process; This is a virtual endpoint node, indicating the end of the planning process.

[0076] Specifically, in this embodiment, step S80 may include steps S81-S84: Step S81: Map each metatask in the second metatask set to a node in a directed graph.

[0077] Step S82: At the node that satisfies the time feasibility constraint and attitude maneuver constraint and nodes Establish directed edges between them This indicates that after the node has been executed... Corresponding meta-task Then it can switch to executing nodes. Corresponding meta-task .

[0078] (1) Time feasibility constraints: Meta-task The execution end time to the time when the meta-task is ready to be executed The required time is denoted as (Mainly determined by attitude maneuvering, system preparation time, etc.), then the time feasibility constraint can be written as formula (35): (35) in, For meta-task The end time; To complete Then converted to executable Time required; For meta-task The start time of execution.

[0079] at the same time, It also needs to satisfy its own time window constraints, as shown in formulas (36) and (37): (36) (37) in, Representing meta-tasks The executable time window; Representing meta-tasks The duration of the observation.

[0080] (2) Attitude maneuver constraints (side roll angle variation): Let the execution meta-task be set The representative side swing angle at that time is Execute meta-task The representative side swing angle at that time is Then from Switch to The required attitude change can be expressed as formula (38): (38) in, Indicates from the meta-task Switch to meta-task Required change in lateral yaw angle; Indicates the execution of a meta-task Typical or target lateral swing angle (e.g., lateral swing angle at the median of the time window); Indicates the execution of a meta-task Typical or target side swing angle.

[0081] If the satellite's maximum yaw rate is Theoretically, the minimum time required to complete this attitude maneuver is as shown in formula (39): (39) in, This indicates the maximum angular velocity of the satellite's side swing angle; This represents the lower bound of the time consumed for attitude maneuvers and related preparations (a safety factor can be added in practice).

[0082] Therefore, in constructing edges At that time, it should be based on and Calculate or estimate And in conjunction with the aforementioned time window constraints, determine whether there are any conditions that are met. If both time and attitude maneuver constraints are satisfied, then it is considered that from... arrive The transformation is feasible by adding directed edges to the graph. in, This represents the set of edges in a directed graph.

[0083] Step S83: Calculate the weight of each edge or node in the directed graph according to the planning objective of the directed graph.

[0084] If the planning objective is to minimize the cost of task switching, then there will be directed edges. The weight is defined as a function of the switching time or attitude maneuver, as shown in formula (40): (40) in, For the edge The cost; For the meta-task Switch to meta-task Time required; For the meta-task Switch to meta-task Required change in lateral yaw angle; and is a weighting coefficient used to balance the time cost and the attitude maneuver cost.

[0085] If the planning objective is to maximize task benefits, then the total path benefit is expressed as shown in formula (41): (41) in, The total revenue of the path; The selected task execution path in the directed graph; To execute the meta-task The benefits obtained (such as weight, coverage area, benefit function value, etc.).

[0086] Step S84: Introduce a virtual starting node in the directed graph. and virtual endpoint nodes This is used to describe the start and end of the meta-task sequence, thus unifying the entire task planning problem into a single representation starting from... arrive The path search problem.

[0087] (1) Starting node : Virtual starting point This represents the initial state of the plan, which can be connected to the first meta-task that is feasible in all timeframes: If the meta-task If the operation can be performed after the planning start time and the constraints are satisfied, then an edge is established. .in, Virtual starting node Representation and Meta-task The corresponding node.

[0088] (2) End point : Virtual endpoint This indicates the final state of the plan, for all terminal meta-tasks that can be completed before the plan's deadline. Establish edges .in, This represents a virtual endpoint node.

[0089] By introducing and The entire task planning problem can be uniformly represented as starting from... arrive This addresses the path search problem, facilitating subsequent solution using reinforcement learning-based sequence decision-making methods.

[0090] Through the above steps, this invention will provide the complete set of second-dimensional tasks. Mapped to a directed graph , where the node set Corresponding to all meta-tasks; edge set Feasible transformation relationships between meta-tasks are expressed through constraints such as time and attitude; edge weights or node rewards are used to characterize the cost and benefit of task execution.

[0091] Based on this directed graph model, the satellite mission planning problem can be formalized as finding a path from the graph... arrive The feasible paths are identified and solved under a given optimization objective (such as maximum benefit or minimum cost), providing a structured state space and transition relationships for the subsequent introduction of reinforcement learning agents.

[0092] Although the steps in the above embodiments are described in the above order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not need to be executed in such an order. They can be executed simultaneously (in parallel) or in a reverse order. These simple variations are all within the protection scope of this invention.

[0093] Based on the above method embodiments, the present invention also provides an embodiment of a computer-readable storage medium, wherein the storage medium of this embodiment stores a computer program that can be loaded by a processor and executed as described above.

[0094] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0095] Those skilled in the art will recognize that the method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of electronic hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention.

[0096] The technical solution of the present invention has now been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions resulting from these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for meta-task directed graph modeling of satellite hybrid targets, characterized in that, The method includes: Receive a set of tasks submitted by the user; the set of tasks includes one or more task objectives, each of which is a point objective or a region objective. For each point target, a first set of observable time periods for that point target is obtained each time the satellite passes over it, the set including one or more first consecutive time periods; Within each of the first consecutive time periods, one or more executable time windows are segmented, and a corresponding point element task is constructed based on each executable time window and the corresponding available lateral swing angle range and observation duration. For each of the said regional targets, a second set of observable time periods for the regional target is obtained each time the satellite passes over, the set including one or more second consecutive time periods; For each of the second consecutive time periods, calculate the range of available side swing angles that allow the payload field of view to at least partially overlap with the target in that region, use the second consecutive time period as an executable time window, and construct a corresponding regional meta-task by combining the corresponding available side swing angle range and the observation duration. Based on all the point meta-tasks and all the region meta-tasks, generate a complete set of first meta-tasks; Based on the first set of meta-tasks, multiple meta-tasks that can be completed by continuous imaging with the same side angle during a single satellite pass are merged to obtain the second set of meta-tasks. Based on the complete set of the second-order tasks, a directed graph model is constructed.

2. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 1, characterized in that, The point target is a single observation object on the Earth's surface that is uniquely determined by latitude and longitude coordinates; The target area is a polygonal observation object with boundaries on the Earth's surface.

3. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 1, characterized in that, The step of "for each point target, obtaining the first set of observable time periods for that point target during each satellite transit" includes: Based on the constraints of the satellite imaging environment, the first observable time period set for each of the point targets is obtained; The step of "segmenting one or more executable time windows within each of the first consecutive time periods" includes: Within each of the first consecutive time periods, one or more executable time windows are segmented based on satellite imaging attitude constraints; in, The constraints of the satellite imaging environment include: satellite orbital parameters, sensor field of view, and illumination conditions; The satellite imaging attitude constraints include: satellite attitude maneuverability, available yaw angle range, and imaging duration.

4. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 3, characterized in that, The step of "for each target in the region, obtaining a second set of observable time periods for that target during each satellite transit" includes: Based on the satellite imaging environment constraints, the second observable time period set for each of the regional targets is obtained; The step of "for each second consecutive time period, calculating the range of available lateral tilt angles that allow the load field of view to at least partially overlap with the target in that region" includes: For each of the second consecutive time periods, the range of available lateral sway angles that allow the payload field of view to at least partially overlap with the target in that region is calculated based on orbital geometry and imaging field of view.

5. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 1, characterized in that, The steps of "merging multiple meta-tasks that can be completed in a single satellite pass and with continuous imaging at the same lateral angle, based on the first meta-task set, to obtain the second meta-task set" include: Multiple meta-tasks that can be completed by continuous imaging with the same lateral angle during a single satellite pass are selected from the first set of meta-tasks and are designated as meta-tasks to be merged. The executable time window, the observation duration, and the available lateral swing angle range of the merged meta-task are calculated based on the meta-tasks to be merged. Calculate the total revenue and total resource consumption of the merged meta-task; The meta-tasks that were not selected from the first set of meta-tasks and the merged meta-tasks are combined to form the second set of meta-tasks.

6. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 5, characterized in that, If there are two meta-tasks to be merged, then the step of "calculating the executable time window, the observation duration, and the available lateral swing angle range of the merged meta-task based on the meta-tasks to be merged" includes: The two meta-tasks to be merged and They are represented as follows: ； ； in, and Representing meta-tasks and The executable time window; and Representing meta-tasks and The range of available lateral swing angles; and Representing meta-tasks and The duration of the observation; The merged meta-task is calculated according to the following formula. Executable time window: ； The merged meta-task is calculated according to the following formula. Observation duration: ； in, Indicates the swing angle on the same side Below, from the coverage From area to coverage The sweeping time of the area; The merged meta-task is calculated according to the following formula. Available yaw angle range: 。 7. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 5, characterized in that, The steps for "calculating the total revenue and total resource consumption of the merged meta-task" include: The total revenue of the merged meta-task is calculated using the following formula: ； in, and Meta-tasks He Yuan Mission The benefits, The total revenue mentioned above; The total resource consumption of the merged meta-task is calculated using the following formula: ； in, and Meta-tasks He Yuan Mission resource consumption, This indicates a continuous sweeping meta-task under a fixed attitude. He Yuan Mission Additional resource consumption in the area between corresponding targets This represents the total resource consumption.

8. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 1, characterized in that, The steps of "constructing a directed graph model based on the complete set of second-order tasks" include: Map each metatask in the second metatask set to a node in a directed graph; At nodes that satisfy time feasibility constraints and attitude maneuver constraints and nodes Establish directed edges between them ; Calculate the weight of each edge or node in the directed graph based on the planning objective of the directed graph; Introducing a virtual starting node in a directed graph and virtual endpoint nodes This is used to describe the start and end of the meta-task sequence, thus unifying the entire task planning problem into a single representation starting from... arrive The path search problem.

9. The method for meta-task directed graph modeling of satellite hybrid targets according to claim 8, characterized in that, The steps for "calculating the weight of each edge or node in a directed graph based on the planning objective of the directed graph" include: If the planning objective is to minimize the task switching cost, then directed edges will be... The weights are defined as a function of the time required for switching or the attitude maneuvering: ； in, For the edge The cost; For the meta-task Switch to meta-task Time required; For the meta-task Switch to meta-task Required change in lateral yaw angle; and These are weighting coefficients used to balance the time cost and the attitude maneuver cost; If the planning objective is to maximize task benefits, then the total path benefit is expressed as: ； in, The total revenue of the path; The selected task execution path in the directed graph; To execute the meta-task The gains obtained.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and execute the method as described in any one of claims 1-9.

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