Multi-satellite single-target relay imaging task planning method and computer device

Abstract

The application relates to the technical field of satellite imaging, in particular to a multi-satellite single-target relay imaging task planning method and computer equipment. The method provided by the application comprises the following steps: acquiring region parameters of a target region and satellite parameters of candidate satellites; acquiring access time windows of the candidate satellites to the target region and window imaging parameters corresponding to the access time windows according to the region parameters and the satellite parameters; sorting the access time windows according to time and screening according to preset window screening conditions to acquire a preliminary imaging task relay sequence; in the preliminary imaging task relay sequence, acquiring window parameter deviations of window imaging parameters corresponding to two adjacent access time windows, and optimizing according to the window parameter deviations and preset deviation adjustment operations to acquire an optimized imaging task relay sequence. The method provided by the application realizes reasonable planning of multi-satellite relay imaging tasks and guarantees continuous high-quality relay imaging of the target region.

Description

Technical Field

[0001] This application relates to the field of satellite imaging technology, and in particular to a multi-satellite single-target relay imaging mission planning method and computer equipment. Background Technology

[0002] With the rapid development of Earth observation technology, the demand for high-frequency or continuous observation of specific ground areas is increasing. Due to the limitations of orbital periods, a single remote sensing satellite cannot meet such observation requirements that demand high timeliness. Therefore, a technical solution has emerged that uses a constellation system composed of multiple satellites for collaborative observation. By relaying multiple satellites, the revisit interval of the target is shortened, thereby achieving continuous tracking and monitoring of the target.

[0003] However, traditional multi-satellite relay imaging mission planning methods typically plan the imaging tasks of each satellite independently, lacking overall coordination of the observation timing among multiple satellites. Due to this lack of overall coordination, long time gaps can easily occur between observation windows for the same target, making it difficult to establish a stable and continuous monitoring rhythm and meet the timeliness requirements of target observation. Furthermore, the varying sensor performance of different satellite platforms and differences in environmental conditions such as location at the imaging time can easily lead to deviations in resolution and observation angle in images acquired from multiple satellites, affecting subsequent fusion of multi-satellite observation data.

[0004] Therefore, how to rationally plan multi-satellite relay imaging missions, ensure the timeliness of satellite imaging missions and the consistency of imaging data, and achieve continuous high-quality relay imaging of a single target area is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a multi-satellite single-target relay imaging mission planning method and computer equipment, which realizes the rational planning of multi-satellite relay imaging missions and ensures continuous high-quality relay imaging of the target area.

[0006] To achieve the above objectives, the main technical solutions adopted in this application include: In a first aspect, embodiments of this application provide a multi-satellite single-target relay imaging mission planning method, the method comprising: The regional parameters of the target area and the satellite parameters of the candidate satellites are obtained, including satellite orbit data and satellite imaging parameters; Based on the region parameters and the satellite parameters, obtain the access time window of the candidate satellite to the target region and the window imaging parameters corresponding to the access time window; The access time windows are sorted by time and filtered according to preset window filtering conditions to obtain a preliminary imaging task relay sequence. In the initial imaging task relay sequence, the window parameter deviation of the imaging parameters corresponding to two adjacent access time windows is obtained, and optimization is performed according to the window parameter deviation and the preset deviation adjustment operation to obtain the optimized imaging task relay sequence.

[0007] The multi-satellite single-target relay imaging mission planning method proposed in this application ensures the continuity and coverage of each imaging mission in the time dimension by acquiring, filtering, and sorting access time windows, thus meeting the timeliness requirements for target area observation. Furthermore, it obtains window parameter deviations for the imaging parameters corresponding to adjacent access time windows in the sequence and optimizes the sequence according to preset deviation adjustment operations. During the mission planning stage, it proactively identifies and corrects data inconsistencies caused by differences in imaging conditions among multiple satellites, further improving the usability and fusion quality of multi-satellite relay imaging data while ensuring observation timeliness.

[0008] Secondly, embodiments of this application provide a computer device, including: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes these computer instructions to perform the multi-satellite single-target relay imaging mission planning method described in the first aspect. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0010] Figure 1 A step diagram illustrating a multi-satellite single-target relay imaging mission planning method provided in this application embodiment; Figure 2 A flowchart illustrating the implementation of a specific multi-satellite single-target relay imaging mission planning method provided in this application embodiment; Figure 3 A schematic diagram of a multi-satellite single-target relay imaging mission planning device provided in this application embodiment; Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0011] 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 application, 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 application.

[0012] This application provides a multi-satellite single-target relay imaging mission planning method. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0013] The first embodiment of this application provides a multi-satellite single-target relay imaging mission planning method, such as... Figure 1 As shown, it includes the following steps: Step 110: Obtain the regional parameters of the target area and the satellite parameters of the candidate satellites. The satellite parameters include satellite orbit data and satellite imaging parameters.

[0014] In this embodiment, the target area is a specific region requiring continuous observation. Region parameters characterize the geographic and spatial attributes of the target area. Candidate satellites are satellites that can be called upon to perform relay imaging missions. Satellite parameters characterize the satellite's operational status and performance. Obtaining region and satellite parameters provides a data foundation for subsequent steps such as determining the access time window.

[0015] Specifically, the region parameters may include the coordinates of the center point of the target region, its boundary extent, and its geometry. These parameters can be used to provide a precise geographic reference for the imaging mission, and can also serve as the basis for constructing geometric relationships to analyze the feasibility of the imaging mission and determine the access time window.

[0016] Satellite parameters include orbital data, which may include ephemeris data or high-precision orbital prediction information, to provide the satellite's spatial position over a future period. Satellite imaging parameters may include the optical characteristics of the imaging equipment on the satellite and the maneuverability of the satellite platform, to characterize the satellite's capabilities to perform imaging missions.

[0017] Step 120: Based on the regional parameters and satellite parameters, obtain the access time window of the candidate satellite to the target area and the window imaging parameters corresponding to the access time window.

[0018] In this embodiment, the geometric relationship and physical constraints of the candidate satellite on the target area are determined based on the regional parameters and satellite parameters. The time period during which the candidate satellite can effectively image the target area, i.e., the access time window, and the corresponding imaging quality index, i.e., the window imaging parameters, are calculated.

[0019] Specifically, the analysis is conducted based on the geographical location determined by regional parameters and the satellite trajectory determined by satellite orbit data, combined with the observable range of the satellite defined by satellite imaging parameters. When the target area enters the visible range of the candidate satellite and meets the attitude and environmental conditions required for imaging, an access time window is determined.

[0020] After obtaining each access time window, it is also necessary to determine the associated window imaging parameters, which are used to characterize the imaging conditions of the candidate satellite for this imaging.

[0021] In one embodiment, satellite imaging parameters include attitude maneuver parameters characterizing the yaw capability of candidate satellites and field-of-view parameters characterizing the coverage area of ​​a single shot; window imaging parameters include, but are not limited to, data such as the yaw angle at the imaging moment and the angle formed by the candidate satellite and the target area imaging with the ground. This serves as the data basis for subsequent screening and optimization of the imaging mission relay sequence.

[0022] Step 130: Sort the access time windows by time and filter them according to the preset window filtering conditions to obtain the preliminary imaging task relay sequence.

[0023] In this embodiment, since access to the same target area by a single satellite or multiple satellites is usually discrete and discontinuous, in order to meet the timeliness requirements of the imaging task, this embodiment further processes the aforementioned access time window.

[0024] Specifically, the acquired access time windows are first sorted chronologically to form at least one ordered sequence on the global timeline. It should be noted that in practical applications, the imaging times of multiple access time windows may overlap. Overlapping windows can lead to duplicate imaging and wasted resources. Therefore, depending on different processing strategies, such as no processing, retaining the optimal window, or randomly selecting one to retain, one or more different ordered sequences can be generated.

[0025] Then, based on preset window selection criteria, the windows in each sequence are filtered to remove window combinations that do not meet the criteria, thereby obtaining a preliminary imaging task relay sequence. The term "preliminary" here means that the sequence only meets the basic time-series requirements and has not yet undergone further analysis and optimization regarding imaging requirements and other aspects.

[0026] In one embodiment, the preset window filtering conditions may include at least one of the following constraints: Time interval constraint: The time difference between two adjacent access time windows shall not exceed a preset threshold to ensure that the observation task does not have too long gaps and to meet the timeliness requirements of target area monitoring; Imaging angle constraint: The side swing angle change of the window at the imaging moment is within the preset optimal imaging angle threshold range to ensure that the imaging geometry between multiple stars is relatively stable. Imaging quality constraints: The resolution, signal-to-noise ratio, and other quality indicators corresponding to the window must meet the minimum imaging requirements to ensure that the acquired image data has basic usability; Lighting constraints: The solar altitude angle corresponding to the window is within the range suitable for imaging, avoiding image quality degradation due to insufficient or excessive light.

[0027] It is understood that the window filtering conditions can also be configured as other forms of time, geometry, quality or logic constraints according to actual task requirements, and this embodiment does not further limit this.

[0028] Based on the sorted window sequence, determine whether each window in the sequence meets the preset window filtering conditions, and retain only the sequence consisting of access time windows that meet the conditions to generate a preliminary imaging task relay sequence.

[0029] Step 140: In the initial imaging task relay sequence, obtain the window parameter deviation of the imaging parameters corresponding to two adjacent access time windows, and optimize the sequence based on the window parameter deviation and the preset deviation adjustment operation to obtain the optimized imaging task relay sequence.

[0030] While the initial imaging relay sequence largely ensures the timeliness of the imaging mission, differences in imaging conditions may still exist between adjacent imaging sessions, leading to issues such as brightness jumps, resolution inconsistencies, and geometric distortions in images or videos acquired through continuous imaging. Therefore, this step introduces an optimization mechanism based on parameter deviation to improve the consistency and usability of multi-satellite relay imaging data.

[0031] Specifically, each pair of adjacent access time windows in the initial imaging task relay sequence is traversed, the window imaging parameters corresponding to each window are extracted, and the degree of difference between the two is calculated, i.e., the window parameter deviation.

[0032] If the window parameter deviation exceeds the preset acceptable range, a corresponding deviation adjustment operation is triggered to adjust and optimize the sequence. The sequence is traversed and adjusted until the parameter deviations of all adjacent windows in the sequence meet the requirements, thereby obtaining a relatively stable and consistent imaging task relay sequence for each access time window.

[0033] In one embodiment, the window parameter deviation can be a parameter difference characterizing image sharpness, a parameter difference characterizing illumination conditions, a parameter difference characterizing environmental occlusion, and / or a geometric deformation parameter deviation characterizing image geometric distortion features, etc.

[0034] In one embodiment, the bias adjustment operation can be a combination of one or more strategies, such as: reselecting a new window, fine-tuning the window imaging parameters according to satellite imaging parameters, and / or removing redundant windows, etc.

[0035] In this embodiment, by iterating or combining one or more of the above strategies, the data differences caused by the differences in imaging conditions among multiple satellites can be further coordinated, thereby improving the continuity and fusion quality of relay imaging results.

[0036] The second embodiment of this application further specifies the multi-satellite single-target relay imaging mission planning method in the first embodiment in a more detailed and specific way. Some or all of the technical features in the second embodiment can be combined with or replaced by the first embodiment, either individually or in combination, to obtain more feasible multi-satellite region stitching imaging mission planning methods.

[0037] The multi-satellite single-target relay imaging mission planning method in the second embodiment of this application is described in detail below: Optionally, based on regional parameters and satellite parameters, the access time window of the candidate satellite to the target area and the corresponding window imaging parameters are obtained, including: based on regional parameters, satellite orbit data, and satellite imaging parameters, determining the access time window of the candidate satellite to the target area based on the geometric relationship between the target area and the candidate satellite, and obtaining the corresponding window imaging parameters within the access time window; wherein, the satellite imaging parameters include at least the satellite attitude maneuverability and the payload field of view, the satellite attitude maneuverability characterizing the maximum imaging range that the candidate satellite can achieve through side-swing, and the payload field of view characterizing the range that the candidate satellite can cover in a single imaging.

[0038] In this embodiment, the specific method for obtaining the access time window and window imaging parameters based on regional parameters and satellite parameters is further defined.

[0039] Specifically, in this embodiment, the solution is performed based on the geometric visibility and physical constraints between the target area and the candidate satellites. First, the regional parameters of the target area are obtained, such as geographical coordinates like latitude, longitude, or elevation, as well as the orbital data of the candidate satellites. Then, for each candidate satellite, its access time window to the target area is calculated by comprehensively considering factors such as its satellite attitude maneuverability and payload field of view.

[0040] A satellite's attitude maneuverability determines the maximum imaging range achievable by a candidate satellite through side-swinging. In practical applications, the common range of satellite side-swing angles is ±30° to ±45°. If the side-swing angle required for imaging at a given moment is within the available range, then that moment is considered to be included in the access time window. The payload field of view characterizes the ground area that can be covered by a single imaging shot, used to ensure that the target is within the effective field of view.

[0041] In one embodiment, the satellite imaging parameters also include imaging duration requirements. In practical applications, certain tasks requiring a specific signal-to-noise ratio or a specific coverage width may require a certain imaging duration. The required imaging duration range for these tasks is recorded and added to the satellite imaging parameters.

[0042] Through the above calculations, parameters such as time information for each access time window can be determined, including the start and end times of the window and the side-swing angle parameters during imaging. Furthermore, the window imaging parameters corresponding to each access time window need to be obtained to characterize the imaging conditions of the candidate satellite within that access time window.

[0043] In one embodiment, a pre-established orbital dynamics model can be used to predict the satellite's orbital position within a predetermined time period to obtain satellite orbital data. Specifically, the orbital dynamics model can use a simplified orbital dynamics equation that considers the J2 perturbation term, and the satellite orbital position can be extrapolated using numerical integration methods.

[0044] In scenarios requiring higher-precision orbit prediction, a high-precision orbit extrapolation model based on SGP4 (Simplified General Perturbations 4) / SDP4 (Simplified Deep-space Perturbations 4) can also be used to predict orbits using the satellite's TLE (Two-Line Element) orbital element data. The choice between these two models can be made based on actual accuracy requirements and computational resources; this application does not impose specific limitations.

[0045] After obtaining the satellite's orbital position for a future period through orbital prediction, the visible time window of the candidate satellite for the target area can be calculated by combining it with the geographical coordinates of the target area.

[0046] Optionally, the preset window filtering conditions include a revisit period threshold, which represents the maximum time interval between two imaging operations performed by a candidate satellite on the target area; the access time windows are sorted by time and filtered according to the preset window filtering conditions to obtain a preliminary imaging task relay sequence, including: sorting the access time windows in chronological order and obtaining the sorting results; filtering the sorting results according to the revisit period threshold, and retaining the sequence in which the time interval between any two adjacent access time windows is not greater than the revisit period threshold as the preliminary imaging task relay sequence.

[0047] This embodiment specifies the preset window filtering conditions and further provides a specific implementation method for filtering based on the window filtering conditions.

[0048] Specifically, the window selection criteria include a revisit period threshold, which represents the maximum time interval between two imaging operations performed by a candidate satellite on the target area.

[0049] After obtaining the access time windows of all candidate satellites, the access time windows are arranged in chronological order and at least one ordered sequence is obtained according to different processing strategies.

[0050] For all ordered sequences, check whether the time interval between adjacent windows is greater than the revisit period threshold. If it exceeds the revisit period threshold, the relay requirement is not met, and the sequence is discarded or a new alternative access time window is selected to join the sequence. After passing the screening, at least one preliminary imaging task relay sequence is formed, consisting of multiple windows arranged in time sequence.

[0051] It should be noted that the specific value of the revisit period threshold can be set according to the characteristics of the monitored target in the actual application. For example, for scenarios where targets change rapidly, such as forest fire monitoring, the revisit period threshold can be set to 10 to 30 minutes; while for scenarios where targets evolve relatively slowly, such as flood disaster monitoring, the revisit period threshold can be set to 1 to 3 hours. Through this differentiated threshold setting, the initial imaging task relay sequence can be better adapted to the timeliness requirements of different application scenarios.

[0052] Optionally, in the preliminary imaging task relay sequence, the window parameter deviation of the imaging parameters corresponding to two adjacent access time windows is obtained, including: obtaining the imaging condition parameters corresponding to each group of adjacent access time windows in the preliminary imaging task relay sequence, the imaging condition parameters including imaging resolution, solar elevation angle at the imaging time and cloud cover conditions; obtaining the window parameter deviation for each group of adjacent access time windows, the window parameter deviation including resolution deviation, solar elevation angle deviation and cloud cover condition deviation.

[0053] This embodiment defines the specific data types in the imaging quality parameters of the access time window and the specific data types in the window parameter deviation.

[0054] Specifically, in this embodiment, the imaging quality parameters include the following data: Imaging resolution: It is determined based on the inherent physical performance indicators and technical specifications of the candidate satellite imaging equipment, as well as the distance between the candidate satellite and the target area or the side angle. Imaging resolution is usually negatively correlated with the side angle; the larger the side angle, the lower the imaging resolution.

[0055] Solar elevation angle: determined based on the imaging time, target point latitude and longitude, and sun position, characterizing the illumination conditions and radiation quality that affect imaging.

[0056] Cloud cover conditions: can be obtained through historical cloud cover statistics (such as multi-year average cloud cover) or through cloud cover forecast data (such as cloud image forecast based on meteorological satellites), and can be in the form of cloud cover percentage.

[0057] In one embodiment, the imaging quality parameters may further include atmospheric correction parameters, which may specifically be aerosol optical thickness, water vapor content, etc., and are obtained based on atmospheric models or reanalysis data.

[0058] Accordingly, let the two adjacent access time windows in the initial imaging task relay sequence be... and The imaging resolution is The solar altitude angle at the moment of imaging is and cloud cover conditions For windows and .

[0059] In one embodiment, the resolution bias, solar altitude angle bias, and cloud cover condition bias are defined as follows: Resolution deviation: Solar altitude angle deviation: Cloud cover condition deviation: Optionally, optimization is performed based on window parameter deviation and preset deviation adjustment operations to obtain an optimized imaging task relay sequence. This includes: comparing the resolution deviation, solar elevation angle deviation, and cloud cover condition deviation with their respective preset window parameter thresholds; for any set of adjacent access time windows, if any window parameter deviation is greater than the corresponding preset window parameter threshold, then optimization is performed based on the preset deviation adjustment operations; the deviation adjustment operations include at least one of the following: within the access time windows of the same candidate satellite, selecting the access time window with the smallest window parameter deviation from the adjacent access time windows as a replacement; adjusting the imaging time; adjusting the satellite side tilt angle; searching for available access time windows in the access time windows of other candidate satellites for insertion or replacement; repeating the optimization based on window parameter deviation and preset deviation adjustment operations until the window parameter deviation between each set of adjacent access time windows is no greater than the corresponding preset window parameter threshold, thereby generating an optimized imaging task relay sequence.

[0060] This embodiment defines the specific implementation method for optimizing the imaging task relay sequence based on the window parameter deviation and the preset deviation adjustment operation.

[0061] Specifically, the deviations are first compared with the corresponding preset window parameter thresholds.

[0062] In one embodiment, the resolution deviation threshold in the preset window parameter thresholds is 5%, the solar altitude angle deviation threshold is 3°, and the cloud cover deviation threshold is 10%.

[0063] If any deviation exceeds the corresponding threshold, a deviation adjustment operation is triggered.

[0064] Deviation adjustment operations may include at least one of the following operations: Same-satellite alternative window replacement: Within the same candidate satellite's access time window, the access time window with the smallest window parameter deviation from the adjacent access time windows is selected as the replacement. Specifically, for the current window... (or The system checks if there are other alternative imaging windows for the same candidate satellite. For example, a candidate satellite may have multiple transit opportunities within the same orbital orbit, or imaging opportunities in adjacent orbits. The alternative window with the smallest deviation from the adjacent windows is selected for replacement, and the deviations are recalculated. If the replacement meets the requirements, the replacement is accepted.

[0065] Adjusting Imaging Time: This involves fine-tuning the imaging time within the current window. Changes in imaging time will affect the solar altitude angle (which varies over time) and may also affect resolution (due to changes in the side-swing angle). A step size needs to be set during adjustment, which can be set to 1 second. The maximum adjustment range can be set to no more than 10% of the total window duration to ensure that fine-tuning does not completely alter the window's coverage time. During adjustment, the adjusted solar altitude angle and resolution can be calculated in real-time until a time point that meets the deviation requirements is found.

[0066] Adjusting the satellite's side-slip angle: Adjusting the satellite's side-slip angle can alter the imaging geometry, thus affecting resolution. However, side-slip angle adjustment is limited by the satellite's maneuverability, and the adjusted image time must remain within the target window. The adjustment step can be set to 0.1°, with a maximum adjustment range not exceeding 15% of the satellite's maximum side-slip angle range to prevent over-adjustment. During adjustment, the resolution can be recalculated, while also noting the impact of side-slip angle changes on the image time (which may require simultaneous fine-tuning of the image time).

[0067] Interpolation of other satellite windows: Search for available access time windows among other candidate satellites and insert or replace them. Specifically, search for available windows of other candidate satellites before and after the current window and insert or replace them. The search scope should be limited to the vicinity of the current time interval, prioritizing available windows closest to the current time, and then re-verify.

[0068] In one embodiment, different priorities can be set for the different adjustment operations described above, and when an adjustment is required, it can be determined whether to perform the adjustment operation of the current priority based on whether the adjustment operation of the previous priority has been performed.

[0069] Repeat the above optimization adjustment at least once until all deviations of all adjacent access time windows in the sequence meet the requirements, and output the optimized imaging task relay sequence.

[0070] This embodiment achieves refined control over the consistency of imaging conditions between adjacent windows in an imaging mission relay sequence through a threshold determination and adjustment strategy for multi-dimensional parameter deviations. This mechanism can adaptively eliminate abrupt changes in key parameters such as resolution, illumination, and cloud cover while ensuring revisit continuity, thereby ensuring the temporal uniformity and stitchability of relay imaging data. Simultaneously, a progressive optimization approach combining same-satellite replacement, time fine-tuning, side-swing angle adjustment, and interpolation with different satellites effectively balances imaging quality constraints with the feasibility of satellite resource scheduling.

[0071] Optionally, the method further includes: obtaining the attitude maneuver duration of the candidate satellites involved in the imaging mission relay sequence, wherein the attitude maneuver duration characterizes the time during which the candidate satellites adjust their attitude to achieve the window imaging parameters for the access time window; comparing the attitude maneuver duration with the window time interval, and for any attitude maneuver duration that is greater than the corresponding window time interval, optimizing based on a preset timing adjustment operation, wherein the window time interval is the time interval between the imaging start time of the candidate satellite corresponding to the attitude maneuver duration and the imaging end time of the previous candidate satellite in the initial imaging mission relay sequence; repeatedly optimizing based on the attitude maneuver duration, the corresponding window time interval, and the preset timing adjustment operation until any attitude maneuver duration is no greater than the corresponding window time interval, thereby generating a timing-optimized imaging mission relay sequence.

[0072] This step proposes a new method for optimizing imaging mission relay sequences, which optimizes the imaging mission relay sequence based on attitude maneuver duration and timing adjustment operations. This aims to ensure that adjacent candidate satellites have sufficient attitude maneuver time when performing relay observations, and avoid timing gaps or imaging failures caused by insufficient maneuver capabilities.

[0073] Specifically, the initial attitude information of each candidate satellite in the imaging mission relay sequence is first obtained before the imaging mission is executed. This initial attitude information characterizes the current pointing state of the satellite, such as sun-oriented, earth-oriented, or inertial space-oriented modes, which determines the starting reference point for subsequent attitude maneuvers and can be obtained through real-time satellite telemetry data or orbit prediction models.

[0074] Based on the initial attitude information, the attitude maneuver time required for each candidate satellite to adjust from its current attitude to the target imaging attitude is calculated. The attitude maneuver time represents the total time taken for the candidate satellite to adjust its attitude in order to achieve the window imaging parameters of the access time window, mainly including yaw maneuvers (around the roll axis) and pitch maneuvers (around the pitch axis). For point target relay imaging scenarios, yaw maneuvers are usually the main type.

[0075] In one embodiment, attitude maneuver duration The calculation formula is: in, This refers to the change in lateral sway angle, which is the angle change required to adjust from the current lateral sway angle to the target lateral sway angle. This is the maximum maneuvering angular velocity of the satellite, expressed in ° / s. The performance varies depending on the satellite platform, and it is typically between 0.1° / s and 1° / s. The time required for attitude stabilization, that is, the time required for the satellite to eliminate jitter and enter a stable state after reaching the target attitude, is usually a few seconds to tens of seconds.

[0076] In one embodiment, for satellites employing rapid maneuvering actuators such as control moment gyroscopes, the maneuvering process has acceleration and deceleration characteristics, and other more accurate dynamic models can be used to calculate the attitude maneuvering duration.

[0077] After obtaining the attitude maneuver duration, it is compared with the corresponding window time interval. The window time interval is the time difference between the imaging start time of the current candidate satellite and the imaging end time of the previous candidate satellite in the initial imaging mission relay sequence. If any attitude maneuver duration is greater than the corresponding window time interval, the current timing arrangement is determined to be infeasible, triggering a preset timing adjustment operation for optimization. The above comparison and adjustment process is repeated until the attitude maneuver duration of all candidate satellites in the sequence is no greater than the corresponding window time interval, generating a timing-optimized imaging mission relay sequence, thereby ensuring the timing feasibility of the relay imaging mission at the physical execution level.

[0078] Optionally, the preset timing adjustment operation includes at least one of the following operations: advancing the imaging end time of the previous candidate satellite; delaying the imaging start time of the candidate satellite corresponding to the attitude maneuver duration; and searching for an available access time window in other access time windows for replacement.

[0079] This embodiment limits the specific implementation method of the preset timing adjustment operation.

[0080] Specifically, the timing adjustment operation includes at least one of the following operations: Try to advance the imaging end time of the previous candidate satellite. Without exceeding the start time of the current access time window of that candidate satellite, increase the time interval between its imaging start time and that of the next candidate satellite by shortening the imaging duration or advancing the end time.

[0081] An attempt was made to postpone the imaging start time of the candidate satellite corresponding to the attitude maneuver duration (i.e., the next candidate satellite). Without exceeding the end time of the current access time window of the candidate satellite, its imaging start time was appropriately shifted later to further increase the time interval between the preceding and following windows.

[0082] Search for available access time windows for other candidate satellites within the current time interval, insert or replace conflicting windows, and re-verify the timing sequence relationships after replacement.

[0083] In one embodiment, different priorities can be set for the different adjustment operations or combinations of different adjustment operations, and when an adjustment is required, it is determined whether to perform the adjustment operation of the current priority based on whether the adjustment operation of the previous priority has been performed.

[0084] For example, the priority order of each operation can be set as follows: "Attempt to advance the imaging end time of the previous candidate satellite" → "Attempt to postpone the imaging start time of the candidate satellite corresponding to the attitude maneuver duration" → "Simultaneously fine-tune the imaging end time and imaging start time of the two satellites before and after" → "Insert or replace conflict windows". There are a total of four priorities. The next priority adjustment operation is executed only when the operation of the previous priority cannot solve the problem.

[0085] Repeat the above verification and adjustment process until the attitude maneuver duration between all adjacent access time windows in the imaging task relay sequence is no greater than the corresponding window time interval, and output an optimized imaging task relay sequence that is temporally continuous and physically executable.

[0086] The hierarchical adjustment mechanism provided in this embodiment can retain the original planning results to the greatest extent while ensuring task continuity, and trigger window reselection only when necessary, effectively balancing optimization efficiency and task success rate.

[0087] Optionally, the method further includes: within a preset constraint range, optimizing the imaging mission relay sequence based on a preset multi-objective optimization algorithm with window time interval, window parameter deviation, and satellite resource consumption as optimization objectives. The window time interval is the time interval between the imaging start time of any candidate satellite and the imaging end time of the previous candidate satellite in the initial imaging mission relay sequence, and the satellite resource consumption is the total energy consumption of all candidate satellites involved in the imaging mission relay sequence for attitude maneuvering.

[0088] This embodiment defines the specific implementation method of global optimization of the imaging task relay sequence based on a multi-objective optimization algorithm, in order to seek the optimal balance solution among the three objectives of window time interval, imaging quality consistency and satellite resource consumption under the premise of satisfying various constraints.

[0089] Specifically, a multi-objective optimization model is first constructed. The access time window in the imaging mission relay sequence is used as the decision variable, with each access time window corresponding to a candidate satellite and its corresponding window imaging parameters. Three optimization objective functions are set to characterize the window time interval, the window parameter deviation, and satellite resource consumption: Objective function f1: window time interval f1 = max(Δt1, Δt2, ..., Δtk-1) Specifically, the optimization objective is to minimize the maximum window time interval between all adjacent windows, i.e., the worst-case observation interval, to ensure that the observation resolution in the time dimension is as high as possible.

[0090] Objective function f2: window parameter deviation To unify the deviations of window parameters, a weighted average is applied to the deviations of each window parameter: f2 = w_R × ΣΔR_i + w_E × ΣΔE_i + w_C × ΣΔC_i Where ΔR_i, ΔE_i, and ΔC_i represent the deviations of adjacent windows, and w_R, w_E, and w_C are weighting coefficients that can be set according to specific needs. The goal is to minimize the weighted sum of the deviations to ensure data consistency.

[0091] Objective function f3: Satellite resource consumption f3 = ΣE_maneuver_i + ΣE_imaging_i Where E_maneuver_i is the energy consumption for attitude maneuvering, which is related to the maneuver angle; and E_imaging_i is the energy consumption for imaging, which is related to the imaging duration. The goal is to minimize satellite resource consumption and extend the satellite's on-orbit operational lifespan.

[0092] Meanwhile, the following pre-set constraints are set for multi-objective optimization: window time constraint, requiring that the imaging time of each window must be within its available window range; side tilt angle constraint, requiring that the imaging side tilt angle must be within the satellite's available maneuver range; attitude maneuver capability constraint, requiring that the timing connection of adjacent windows must meet the maneuver time requirements; on-board energy constraint, requiring that the cumulative energy consumption of each candidate satellite must not exceed its remaining energy; and on-board storage constraint, requiring that the cumulative storage occupation of each candidate satellite must not exceed its remaining capacity.

[0093] Based on the constructed multi-objective optimization model, a preset multi-objective optimization algorithm is invoked for global optimization, outputting a Pareto optimal solution set. The preset multi-objective optimization algorithm can be a specified genetic algorithm or reinforcement learning algorithm.

[0094] After convergence, the algorithm outputs a set of non-dominated solutions located on the Pareto front. Each solution corresponds to a candidate relay sequence, with different focuses depending on the optimization objective. The final solution can be selected from the Pareto optimal solution set according to actual needs, for example: For emergency monitoring tasks, select the solution with the shortest revisit period; For quantitative remote sensing applications, the solution with the best image quality consistency should be selected; For long-term operation and management, choose the solution with the least resource consumption; It can also calculate a comprehensive evaluation value based on preset preference weights and automatically select the optimal solution.

[0095] The final optimized imaging task relay sequence achieves multi-objective collaborative optimization of the imaging task relay sequence at the global level.

[0096] Optionally, the method further includes: generating imaging instructions with timing markers based on the optimized imaging mission relay sequence, the timing markers including the imaging start time, the imaging end time, and the corresponding side-swing angle parameters, the imaging instructions being used to instruct the corresponding candidate satellite to adjust its attitude and perform imaging operations within a specified access time window; determining the imaging instruction issuance time based on the time margin required for the candidate satellite to prepare its attitude; and issuing the imaging instructions to the corresponding candidate satellite according to the imaging instruction issuance time, and receiving the instruction execution status feedback from the candidate satellite.

[0097] This embodiment defines the specific implementation method for generating and issuing imaging commands based on the optimized imaging mission relay sequence, so as to convert the final mission plan into executable satellite commands and reliably issue them to each candidate satellite according to the timing requirements.

[0098] Specifically, firstly, based on the optimized imaging mission relay sequence, standardized imaging instructions with time-series markers are generated for each candidate satellite in the sequence. These time-series markers include the imaging start time, the imaging end time, and the corresponding side-swing angle parameters.

[0099] Imaging commands instruct the corresponding candidate satellite to adjust its attitude and perform imaging operations within a specified access time window. The commands may also include satellite identifiers, target point geographic coordinates, imaging mode selection, payload parameter configurations, data recording methods, and data download markers.

[0100] In one embodiment, for different formats such as binary instruction code or ASCII instruction text that may be used by different satellite platforms, the above parameters are automatically converted into a compliant instruction format according to the data interface specifications of each satellite through the built-in multi-satellite instruction template library.

[0101] In one embodiment, syntax and logic checks are performed after the instructions are generated. Syntax checks are used to verify whether the instruction format is correct, whether the fields are complete, and whether the values ​​are within a reasonable range; logic checks are used to check whether there are logical conflicts in the instruction content, such as whether there are multiple conflicting instructions within the same time period, or whether the lateral swing angle exceeds the allowable range.

[0102] Then, the imaging command issuance time is determined based on the time margin required for the candidate satellite to perform attitude preparation. The determination of the issuance time comprehensively considers factors such as satellite orbital position, telemetry and control arc coverage, satellite-to-ground communication window, and command execution time margin, ensuring that the command is issued sufficiently early before the start of observation, so that the satellite has enough time to complete attitude preparation, payload warm-up, and command processing.

[0103] The command issuance plan is formulated according to the order of observation time from near to far, with priority given to issuing commands to satellites that will perform observation tasks in the most recent orbital cycle; for satellites with later observation times, commands will be issued at an opportune time in subsequent tracking and control arcs; if the observation times of multiple satellites are within the same orbital cycle, multiple commands will be issued at once using a batch processing method.

[0104] Finally, based on the determined imaging command issuance time, the imaging command is issued to the corresponding candidate satellite, and the command execution status is continuously received from the candidate satellite via the telemetry link.

[0105] In one embodiment, if a command reception failure, command execution anomaly, or satellite status anomaly is detected, an emergency handling mechanism is triggered, including: re-issuing commands in subsequent telemetry and control segments, calling on backup satellites or backup windows to perform mission reshoots and restarting the planning process, or triggering the emergency response module to quickly generate alternative solutions, thereby ensuring the reliable execution of the relay imaging mission.

[0106] In one specific embodiment, the multi-satellite single-target relay imaging mission planning and imaging implementation are performed based on the methods of all the foregoing embodiments, such as... Figure 2 As shown, the specific steps are as follows: Step S1: Full-window search and filtering Step S2: Imaging Consistency Optimization Step S3: Timing Interconnection Verification Step S4: Intelligent Optimization Engine Scheduling Step S5: Instruction generation and timing distribution.

[0107] In one specific embodiment, taking a forest fire monitoring scenario as an example, the application process of the method described in the embodiments of this application is further illustrated.

[0108] Suppose a forest fire occurs in a certain forest area, and it is necessary to conduct high-frequency continuous monitoring of the fire point to track the direction and speed of the fire spread. The task requires a revisit cycle of no more than 20 minutes, an imaging resolution deviation of no more than 5%, and a solar altitude angle deviation of no more than 3°.

[0109] After receiving the fire point coordinates, the system first searches for available imaging windows of all optical satellites within the constellation within the next 72 hours. Assuming there are 10 optical satellites in the constellation, a total of 150 available windows are found. After filtering based on the revisit period threshold, window combinations that meet the 20-minute time interval requirement are retained.

[0110] Subsequently, a consistency optimization analysis was performed on the imaging parameters of adjacent windows. If the resolution deviation of an adjacent window reached 8%, exceeding the 5% threshold requirement, the side sway angle parameter of the next window was adjusted to reduce the resolution deviation to 4.8%, thus satisfying the consistency constraint.

[0111] Next, the attitude maneuver timing of each satellite was verified. If the calculation revealed that the time interval between adjacent windows was 15 minutes, and the subsequent satellite required 18 minutes of attitude maneuver time, the imaging start time of the subsequent satellite was advanced by 3 minutes, and it was verified that the adjusted time was still within its available window range. After adjustment, the window time interval became 18 minutes, satisfying the attitude maneuver timing sequence requirements.

[0112] Based on this, multi-objective optimization was performed with the goals of minimizing the maximum revisit interval, minimizing imaging parameter bias, and minimizing resource consumption, resulting in the optimal imaging task relay sequence. This sequence contains 20 observations, with a maximum revisit interval of 18 minutes and an average imaging parameter bias of 3.2%.

[0113] Finally, imaging commands with time-series markers are generated based on the optimal relay sequence and sent to the corresponding satellites. During mission execution, if a satellite malfunctions and causes command execution anomalies, a backup satellite or backup window is quickly activated for re-enhancing imaging to ensure continuous observation. Through this planning, continuous observation of the fire point every 18 minutes is achieved. The acquired high-quality image data can be used for fire spread analysis, providing decision support for firefighting command.

[0114] In another specific embodiment, taking a flood disaster monitoring scenario as an example, the application process of the method described in the embodiments of this application is illustrated.

[0115] Suppose a flood occurs in a certain river basin, it is necessary to obtain images of the flooded area every 2 hours to monitor the evolution of the disaster.

[0116] First, a window selection process was performed using a 2-hour revisit period threshold to obtain candidate window combinations that met the time interval requirements. During the consistency optimization phase, the focus was on the consistency of the solar elevation angle to ensure radiometric comparability of images acquired at different times.

[0117] During the multi-objective optimization phase, satellites equipped with synthetic aperture radar payloads are prioritized for relay imaging to avoid the impact of cloud cover on optical imaging and achieve continuous all-weather monitoring. The optimized relay sequence achieves an optimal balance between revisit period, imaging consistency, and resource consumption.

[0118] Finally, imaging commands are generated based on the optimized relay sequence and issued as planned. Through multi-satellite relay, complete time-series images of the flood evolution process are obtained, providing accurate data support for disaster assessment and emergency rescue.

[0119] The third embodiment of this application also proposes a multi-satellite single-target relay imaging mission planning device, such as... Figure 3 As shown, the device includes: The parameter acquisition unit 310 is used to acquire the regional parameters of the target area and the satellite parameters of the candidate satellites. The satellite parameters include satellite orbit data and satellite imaging parameters. The window acquisition unit 320 is used to acquire the access time window of the candidate satellite to the target area and the window imaging parameters corresponding to the access time window based on the area parameters and satellite parameters. The preliminary sequence generation unit 330 is used to sort the access time windows by time and filter them according to preset window filtering conditions to obtain the preliminary imaging task relay sequence. The sequence optimization unit 340 is used to obtain the window parameter deviation of the imaging parameters corresponding to two adjacent access time windows in the initial imaging task relay sequence, and to optimize the sequence based on the window parameter deviation and the preset deviation adjustment operation to obtain the optimized imaging task relay sequence.

[0120] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0121] In this embodiment, the multi-satellite single-target relay imaging mission planning device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0122] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 4 As shown, the computer device includes one or more processors 410, memory 420, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 4 Take a processor 410 as an example.

[0123] Processor 410 may be a central processing unit, a network processor, or a combination thereof. Processor 410 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0124] The memory 420 stores instructions executable by at least one processor 410 to cause the at least one processor 410 to perform the method shown in the above embodiments.

[0125] The memory 420 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 420 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 420 may optionally include memory remotely located relative to the processor 410, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0126] The memory 420 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 420 may also include a combination of the above types of memory.

[0127] The computer device also includes a communication interface 430 for communicating with other devices or communication networks.

[0128] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0129] This application provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any embodiment of this application.

[0130] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

[0131] The methods, apparatus, computer devices, computer-readable storage media, or computer program products described in the above embodiments can be implemented by a computer chip or entity, or by a product having a certain function. A typical implementing device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0132] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0133] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, computer devices, computer-readable storage media, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0134] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, computer devices, computer-readable storage media, or computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0135] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0136] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0137] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0138] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, computer equipment, computer-readable storage media, or computer program products are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0139] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0140] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A multi-satellite single-target relay imaging mission planning method, characterized in that, The method includes: The regional parameters of the target area and the satellite parameters of the candidate satellites are obtained, including satellite orbit data and satellite imaging parameters; Based on the region parameters and the satellite parameters, obtain the access time window of the candidate satellite to the target region and the window imaging parameters corresponding to the access time window; The access time windows are sorted by time and filtered according to preset window filtering conditions to obtain a preliminary imaging task relay sequence. In the initial imaging task relay sequence, the window parameter deviation of the imaging parameters corresponding to two adjacent access time windows is obtained, and optimization is performed according to the window parameter deviation and the preset deviation adjustment operation to obtain the optimized imaging task relay sequence. The step of obtaining the window parameter deviation of the imaging parameters corresponding to two adjacent access time windows in the initial imaging task relay sequence includes: In the preliminary imaging task relay sequence, the imaging condition parameters corresponding to each group of adjacent access time windows are obtained. The imaging condition parameters include imaging resolution, solar elevation angle at the imaging time, and cloud cover conditions. For each group of adjacent access time windows, the window parameter deviation is obtained, including resolution deviation, solar altitude angle deviation, and cloud cover condition deviation. The optimization based on the window parameter deviation and the preset deviation adjustment operation to obtain the optimized imaging task relay sequence includes: The resolution deviation, solar altitude angle deviation, and cloud cover condition deviation are compared with their respective preset window parameter thresholds. For any set of adjacent access time windows, if any window parameter deviation is greater than the corresponding preset window parameter threshold, optimization is performed based on the preset deviation adjustment operation. The deviation adjustment operation includes at least one of the following operations: selecting the access time window with the smallest window parameter deviation from the adjacent access time window within the access time window of the same candidate satellite as a replacement; adjusting the imaging time; adjusting the satellite side tilt angle; and searching for available access time windows in the access time windows of other candidate satellites for insertion or replacement. The optimization is performed by repeatedly adjusting the window parameter deviation and the preset deviation until the window parameter deviation between each group of adjacent access time windows is no greater than the corresponding preset window parameter threshold, thereby generating an optimized imaging task relay sequence.

2. The method according to claim 1, characterized in that, The step of obtaining the access time window of the candidate satellite to the target area and the window imaging parameters corresponding to the access time window based on the area parameters and the satellite parameters includes: Based on the region parameters, the satellite orbit data, and the satellite imaging parameters, and based on the geometric relationship between the target region and the candidate satellite, the access time window of the candidate satellite to the target region is determined, and the corresponding window imaging parameters within the access time window are obtained; The satellite imaging parameters include at least the satellite attitude maneuverability and the payload field of view. The satellite attitude maneuverability characterizes the maximum imaging range that the candidate satellite can achieve through side-swing, and the payload field of view characterizes the range that the candidate satellite can cover in a single imaging.

3. The method according to claim 1, characterized in that, The preset window filtering conditions include a revisit period threshold, which represents the maximum time interval between two imaging operations performed by the candidate satellite on the target area. The step of sorting the access time windows by time and filtering them according to preset window filtering conditions to obtain a preliminary imaging task relay sequence includes: Sort the access time windows in chronological order and obtain the sorting results; The sorting results are filtered according to the revisit period threshold, and the sequence in which the time interval between any two adjacent access time windows is not greater than the revisit period threshold is retained as the initial imaging task relay sequence.

4. The method according to claim 1, characterized in that, The method further includes: The attitude maneuver duration of the candidate satellites involved in the imaging mission relay sequence is obtained. The attitude maneuver duration represents the time it takes for the candidate satellites to adjust their attitude in order to achieve the window imaging parameters of the access time window. The attitude maneuver duration is compared with the window time interval. For any attitude maneuver duration that is greater than the corresponding window time interval, optimization is performed based on a preset timing adjustment operation. The window time interval is the time interval between the imaging start time of the candidate satellite corresponding to the attitude maneuver duration and the imaging end time of the previous candidate satellite in the preliminary imaging mission relay sequence. The optimization is repeated based on the attitude maneuver duration, the corresponding window time interval, and the preset timing adjustment operation until the duration of any attitude maneuver is no greater than the corresponding window time interval, thereby generating a timing-optimized imaging task relay sequence.

5. The method according to claim 4, characterized in that, The preset timing adjustment operation includes at least one of the following operations: The imaging end time of the previous candidate satellite is mentioned in advance; The imaging start time of the candidate satellite corresponding to the duration of the attitude maneuver is postponed; Search for available access time windows in other access time windows and replace them.

6. The method according to claim 1, characterized in that, The method further includes: Within the preset constraints, the imaging task relay sequence is optimized based on a preset multi-objective optimization algorithm, with the window time interval, the window parameter deviation, and satellite resource consumption as optimization objectives. The window time interval is the time interval between the imaging start time of any candidate satellite and the imaging end time of the previous candidate satellite in the preliminary imaging task relay sequence. The satellite resource consumption is the total energy consumption of all candidate satellites involved in the imaging task relay sequence for attitude maneuvering.

7. The method according to claim 1, characterized in that, The method further includes: Based on the optimized imaging mission relay sequence, an imaging instruction with timing markers is generated. The timing markers include the imaging start time, the imaging end time, and the corresponding side tilt angle parameter. The imaging instruction is used to instruct the corresponding candidate satellite to adjust its attitude and perform imaging operations within the specified access time window. The timing of imaging command issuance is determined based on the time margin required for attitude preparation of candidate satellites. Based on the imaging command issuance time, the imaging command is issued to the corresponding candidate satellite, and the command execution status is received from the candidate satellite.

8. A computer device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the multi-satellite single-target relay imaging mission planning method as described in any one of claims 1 to 7.

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