CN106767998A - The detection method and device of many satellite collaborations in Information Network - Google Patents
The detection method and device of many satellite collaborations in Information Network Download PDFInfo
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Abstract
The invention provides the detection method and device of many satellite collaborations in a kind of Information Network, it is related to the technical field of satellite sounding, the method to include：First obtaining step, obtains the detection data that present satellites are detected at current time itself；Infer step, the ambient condition for detecting target is inferred according to detection data, obtain the first inferred results；Second obtaining step, obtains the second inferred results of target satellite；Fusion determines step, and the first inferred results and the second inferred results are merged, and obtains fusion results；Repeatedly to the first obtaining step, infer step, second obtaining step and fusion determine that step is iterated treatment, until meet iteration stopping condition, and ambient condition corresponding to subject fusion result when will meet iteration stopping condition in fusion results detects the true environment state of target as current time.The present invention is alleviated when being detected to ambient condition using single satellite in the prior art, detection efficient and the poor technical problem of detection accuracy.
Description
Technical field
The present invention relates to the technical field of satellite sounding, more particularly, to many satellite collaborations in a kind of Information Network
Detection method and device.
Background technology
In spatial network, satellite is commonly used for the detection mission of the environment such as meteorology, ocean, geology, disaster, space, its
Detection data is used for the fields such as weather forecast, geological prospecting, disaster alarm.However, because the detectivity of single satellite is limited,
For example, there is noise and cannot effectively be visited because of position limitation in the limited types of single satellite detectable parameter, result of detection
The defects such as survey, drawbacks described above will cause single satellite to be difficult to complete detection mission well sometimes.
For above-mentioned problem, effective solution is not yet proposed at present.
The content of the invention
It is an object of the invention to provide the detection method and device of many satellite collaborations in a kind of Information Network, with slow
When solution is detected using single satellite to ambient condition in the prior art, detection efficient and the poor technology of detection accuracy are asked
Topic.
A kind of one side according to embodiments of the present invention, there is provided the detection side of many satellite collaborations in Information Network
Method, including：First obtaining step, obtains the detection data that present satellites are detected at current time itself；Infer step, according to
The detection data to detect target ambient condition infer, obtain the first inferred results, wherein, it is described first infer knot
Fruit represents that the true environment state that the present satellites detect the detection target is various in various default ambient conditions
Probability distribution situation during the default ambient condition；Second obtaining step, obtains the second inferred results of target satellite, its
In, the target satellite is at least one satellite in addition to the present satellites, and second inferred results represent the mesh
Mark various described default during satellite sounding is various default ambient conditions to the true environment state of the detection target
Probability distribution situation during ambient condition；Fusion determines step, and first inferred results and second inferred results are entered
Row fusion, obtains fusion results, wherein, the fusion results are used to react the ambient condition of the detection target for detecting；
Repeatedly to first obtaining step, the deduction step, second obtaining step and the fusion determine that step is changed
Generation treatment, until meet iteration stopping condition, and target when will meet the iteration stopping condition in the fusion results is melted
The ambient condition corresponding to result is closed as the true environment state that target is detected described in the current time.
Further, the ambient condition for detecting target is inferred according to the detection data, obtains the first deduction knot
Fruit includes：According to the first formulaCalculate first inferred results at current time tIts
In, μk,t-1(ρ) be the current time t last moment described in merge determine step according to the second formulaThe fusion results being calculated, wherein, lk(ωk,t| ρ) represent that present satellites k detects the spy
When the true environment state for surveying target is the every kind of default ambient condition ρ in various default ambient conditions, detection is detected
One probability of data ω,Represent that the present satellites k is inferred in true environment state described in the current time t
It is the probability of the default ambient condition ρ,Represent that the present satellites k is inferred to upper a period of time of the current time t
Carve the probability that the true environment state is the default ambient condition ρ, akjFor the present satellites k is that target satellite j is advance
The fusion coefficients of setting.
Further, the quantity of the target satellite is multiple, and knot is inferred to first inferred results and described second
Fruit is merged, and obtaining fusion results includes：Obtains be in advance first inferred results and the institute of each target satellite
State the fusion coefficients of the second inferred results distribution；According to formulaCalculate first inferred results and
Each described second inferred results and the weighted sum of the fusion coefficients, obtain the fusion results, wherein,For described
First inferred results and second inferred results, akjIt is the fusion coefficients, j represents the target satellite j,For
The fusion results；Judge that the fusion results that the current time calculates are calculated with the last moment at the current time
Whether the fusion results for going out meet the iteration stopping condition, wherein, if it is determined that go out to meet the iteration stopping condition, then really
The ambient condition described in current time corresponding to subject fusion result is determined as the true of detection target described in the current time
Ambient condition, the subject fusion result is the maximum fusion results in the fusion results for calculating at the current time；
If it is determined that being unsatisfactory for the iteration stopping condition, then first obtaining step is repeated, the deduction step is described
Second obtaining step and the fusion determine that step is iterated treatment, until meeting the iteration stopping condition.
Further, the environmental state information of the detection target is inferred according to the detection data, obtains
After first inferred results, methods described also includes：First inferred results are sent to the target satellite, wherein, it is described
Target satellite after first inferred results are got, described in second inferred results that are inferred to reference to itself determine
Detect the true environment state of target.
Further, the detection data that acquisition present satellites itself are detected includes：The present satellites are obtained to detect
For the physical parameter that is detected of ambient condition to the detection target；The physics is joined according to preset quantization step
Number is quantified, the physical parameter after being quantified, and using quantization after the physical parameter as the detection
Data, wherein, the preset quantization step depends at least one of：The system accuracy value of the present satellites, it is described to work as
The size of the memory space of preceding satellite, the communication bandwidth of the present satellites.
Further, before the detection data that present satellites itself are detected is obtained, methods described also includes：Obtain and use
In the parameter for representing the default ambient condition；According to preset quantization step to described for representing the default ambient condition
Parameter is quantified, the parameter for representing the default ambient condition after being quantified, wherein, the predetermined amount
Change step-length and depend at least one of：The system accuracy value of the present satellites, the memory space of the present satellites it is big
It is small, the communication bandwidth of the present satellites.
A kind of one side according to embodiments of the present invention, there is provided the detection dress of many satellite collaborations in Information Network
Put, including：First acquisition unit, for obtaining the detection data that present satellites are detected at current time itself；Infer unit,
For inferring to the ambient condition for detecting target according to the detection data, the first inferred results are obtained, wherein, described the
One inferred results represent that the true environment state that the present satellites detect the detection target is various default ambient conditions
In the various default ambient conditions when probability distribution situation；Second acquisition unit, for obtaining target satellite second
Inferred results, wherein, the target satellite is at least one satellite in addition to the present satellites, second inferred results
Represent that the true environment state that the target satellite detects the detection target is each in various default ambient conditions
Plant probability distribution situation during the default ambient condition；Fusion determining unit, for first inferred results and described
Second inferred results are merged, and obtain fusion results, wherein, the fusion results are used to react the detection mesh for detecting
Target ambient condition；Iterate through the first acquisition unit, the deduction unit, the second acquisition unit and the fusion
Determining unit is iterated treatment, until meeting iteration stopping condition, and will meet the fusion during iteration stopping condition
The ambient condition corresponding to subject fusion result in result is used as the true environment shape that target is detected described in the current time
State.
Further, the deduction unit is used for：According to the first formula：When calculating current
Carve first inferred results of tWherein, μk,t-1(ρ) be the current time t last moment described in merge determine step
According to the second formulaThe fusion results being calculated, wherein, lk(ωk,t| ρ) represent present satellites k
The true environment state for detecting the detection target is the every kind of default ambient condition ρ in various default ambient conditions
When, a probability of detection data ω is detected,Represent that the present satellites k is inferred to described in the current time t
True environment state is the probability of the default ambient condition ρ,When representing that the present satellites k is inferred to described current
True environment state described in carving the last moment of t is the probability of the default ambient condition ρ, akjFor the present satellites k is mesh
The fusion coefficients that mark satellite j pre-sets.
Further, the quantity of the target satellite is multiple, and the determining unit includes：First acquisition module, is used for
Obtain the fusion coefficients distributed for second inferred results of first inferred results and each target satellite in advance；
Computing module, for according to formulaCalculate first inferred results and each described second deduction
Result and the weighted sum of the fusion coefficients, obtain fusion results, wherein,It is first inferred results and described
Two inferred results, akjIt is the fusion coefficients, j represents the target satellite j,It is the fusion results；Judge mould
Block, for judging that what fusion results that the current time calculates and the last moment at the current time calculated melts
Close whether result meets the iteration stopping condition；Determining module, for determining the feelings for meeting the iteration stopping condition
Under condition, determine that the ambient condition described in current time corresponding to subject fusion result detects target as described in the current time
True environment state, the subject fusion result is the maximum fusion in the fusion results for calculating at the current time
As a result；Wherein, if it is determined that go out to be unsatisfactory for the iteration stopping condition, then the first acquisition unit is repeated, it is described to push away
Disconnected unit, the second acquisition unit and the fusion determining unit are iterated treatment, until meeting the iteration stopping bar
Part.
Further, described device also includes：Transmitting element, for according to the detection data to the detection target
Environmental state information inferred, after obtaining the first inferred results, send described first to the target satellite and infer knot
Really, wherein, the target satellite after first inferred results are got, be inferred to reference to itself it is described second infer
Result determines the true environment state of the detection target.
In embodiments of the present invention, the detection data that present satellites are detected is obtained first, and then, according to the detection of itself
To detection data carry out ambient condition and inferred, obtain the first inferred results, then, obtain the deduction of other satellites transmission
As a result (that is, the second inferred results), and real ambient condition is determined with reference to the first inferred results and the second inferred results, most
Afterwards, repeatedly to above-mentioned first obtaining step, step is inferred, the second obtaining step and fusion determine that step is iterated treatment, directly
To meeting iteration stopping condition, and the environment corresponding to subject fusion result when will meet iteration stopping condition in fusion results
State detects the true environment state of target as current time.In embodiments of the present invention, by combining pushing away for multiple satellites
It is disconnected to have reached the purpose of accurate determination true environment state as a result, it is possible to infer to ambient condition more fully hereinafter, and then
Alleviate when being detected to ambient condition using single satellite in the prior art, detection efficient and the poor technology of detection accuracy
Problem, it is achieved thereby that improve the detection efficient of ambient condition and the technique effect of detection accuracy.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the flow of the detection method of many satellite collaborations in a kind of Information Network according to embodiments of the present invention
Figure；
Fig. 2 is the signal of the detection device of many satellite collaborations in a kind of Information Network according to embodiments of the present invention
Figure；
Fig. 3 is the detection device of many satellite collaborations in a kind of alternatively Information Network according to embodiments of the present invention
Schematic diagram；
Fig. 4 is the detection device of many satellite collaborations in another alternatively Information Network according to embodiments of the present invention
Schematic diagram；
Fig. 5 is the detection device of many satellite collaborations in another alternatively Information Network according to embodiments of the present invention
Schematic diagram；
Fig. 6 is the detection device of many satellite collaborations in another alternatively Information Network according to embodiments of the present invention
Schematic diagram.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment 1
According to embodiments of the present invention, there is provided the implementation of the detection method of many satellite collaborations in a kind of Information Network
Example, it is necessary to explanation, can be in the such as one group calculating of computer executable instructions the step of the flow of accompanying drawing is illustrated
Performed in machine system, and, although logical order is shown in flow charts, but in some cases, can be being different from
Order herein performs shown or described step.
Fig. 1 is the flow of the detection method of many satellite collaborations in a kind of Information Network according to embodiments of the present invention
Figure, as shown in figure 1, the method comprises the following steps：
Step S102, obtains the detection data that present satellites are detected at current time itself, wherein, step S102 is
Above-mentioned first obtaining step.
Step S104, infers according to detection data to the ambient condition for detecting target, obtains the first inferred results, its
In, the first inferred results represent that present satellites detect the true environment state of detection target and are various default ambient conditions
Probability distribution situation during various default ambient conditions, step S104 is above-mentioned deduction step.
It should be noted that in embodiments of the present invention, pre-setting various ambient conditions (that is, above-mentioned various default
Ambient condition), when deduction obtains the first inferred results, it is necessary to infer that present satellites detect the true environment shape of detection target
State is the probability of every kind of default ambient condition, and then, it is (that is, above-mentioned that the multiple probability obtained by deduction obtain a probability distribution
First inferred results).That is, in the first inferred results, including present satellites detect the true environment of detection target
Probability distribution situation when state is various possible default ambient conditions.
Step S106, obtain target satellite the second inferred results, wherein, target satellite be in addition to present satellites extremely
A few satellite, the second inferred results represent that the true environment state that target satellite detects detection target is various default environment
Probability distribution situation during various default ambient conditions in state, step S106 is above-mentioned second obtaining step.
It should be noted that in embodiments of the present invention, the second inferred results are target satellite according to current time itself
The detection data for detecting infer the inferred results for obtaining.Specifically, target satellite needs to infer the spy for itself detecting
The true environment state for surveying target is the probability of every kind of default ambient condition, and then, the multiple probability obtained by deduction obtain one
Individual probability distribution (that is, above-mentioned second inferred results).That is, in the second inferred results, equally being visited including target satellite
Probability distribution situation when the true environment state for measuring detection target is various possible default ambient conditions.
First inferred results and the second inferred results are merged by step S108, obtain fusion results, wherein, fusion
Result is used to react the ambient condition of the detection target for detecting；Repeatedly to the first obtaining step, step is inferred, second obtains step
Rapid and fusion determines that step is iterated treatment, until meeting iteration stopping condition, and is merged when will meet iteration stopping condition
The ambient condition corresponding to subject fusion result in result detects the true environment state of target, step as current time
S108 is above-mentioned fusion results.
It should be noted that by foregoing description, in embodiments of the present invention, pre-setting various default environment
State, therefore, when the first inferred results and the second inferred results are merged, can be pre- by correspondence in the first inferred results
If ambient condition is ρ1Probability will the default ambient condition of correspondence be ρ in the second inferred results1Probability merged, obtain one
Individual fusion results.If that is, default ambient condition is N number of, then will be including N number of sub- fusion in the fusion results for obtaining
As a result.Therefore, in embodiments of the present invention, when can will meet iteration stopping condition, the subject fusion result in fusion results
Corresponding default ambient condition is defined as the true environment state for detecting target at current time.That is, subject fusion result
It is the result in N number of sub- fusion results, for example, subject fusion result can be the fusion results of maximum in N number of sub- fusion results.
Explanation is needed further exist for, in embodiments of the present invention, every sub- fusion results can be expressed as a probability,
The probability represents the probability that the true environment state of the detection target at current time is default ambient condition, and then, will be above-mentioned N number of
The corresponding default ambient condition of highest probability is defined as detecting true environment state of the target at current time in probability.
In addition to this it is possible to the ambient condition to detecting target asks expectation under the probability represented by fusion results, will
It is defined as detection target at current time with the immediate default ambient condition of desired value tried to achieve in default ambient condition
True environment state.
In embodiments of the present invention, the detection data that present satellites are detected is obtained first, and then, according to the detection of itself
To detection data carry out ambient condition and inferred, obtain the first inferred results, then, obtain the deduction of other satellites transmission
As a result (that is, the second inferred results), and real ambient condition is determined with reference to the first inferred results and the second inferred results, most
Afterwards, repeatedly to above-mentioned first obtaining step, step is inferred, the second obtaining step and fusion determine that step is iterated treatment, directly
To meeting iteration stopping condition, and the environment corresponding to subject fusion result when will meet iteration stopping condition in fusion results
State detects the true environment state of target as current time.In embodiments of the present invention, by combining pushing away for multiple satellites
It is disconnected to have reached the purpose of accurate determination true environment state as a result, it is possible to infer to ambient condition more fully hereinafter, and then
Alleviate when being detected to ambient condition using single satellite in the prior art, detection efficient and the poor technology of detection accuracy
Problem, it is achieved thereby that improve the detection efficient of ambient condition and the technique effect of detection accuracy.
In embodiments of the present invention, relevant physical parameter can be measured by the sensor of present satellites carrying, wherein,
The type of physical parameter depends on the type of the detection mission of present satellites.If the detection mission of present satellites is probe gas
As, then the physical parameter is the data for determining meteorology；If the detection mission of present satellites is used to detect ocean, that
The physical parameter is the data for determining current oceanographic condition.
The physical parameter detected for the ambient condition to detection target that present satellites itself are detected in acquisition
Afterwards；Physical parameter can be quantified according to preset quantization step, the physical parameter after being quantified, and it will be quantified
Physical parameter afterwards as detection data, wherein, preset quantization step depend at least one of：The system essence of present satellites
Angle value, the size of the memory space of present satellites, the communication bandwidth of present satellites.
It should be noted that in embodiments of the present invention, before the detection data that present satellites itself are detected is obtained,
The method also includes：Obtain the parameter for representing default ambient condition；According to preset quantization step to for representing default ring
The parameter of border state is quantified, the parameter for representing default ambient condition after being quantified, wherein, preset and quantify step
It is long to depend at least one of：The system accuracy value of present satellites, the size of the memory space of present satellites, present satellites
Communication bandwidth.Wherein, can be with to presetting the step-length that is quantified of ambient condition and the above-mentioned step-length quantified to physical parameter
It is identical or differ.
After quantifying to physical parameter, it becomes possible to obtain the discrete magnitude of physical parameter and default ambient condition, and
The detection data that the discrete magnitude of physical parameter is detected as the ambient condition to detecting target.To physical parameter and in advance
If the quantization step that ambient condition is quantified depends on following at least one：The system accuracy value of present satellites, present satellites
Memory space and present satellites communication bandwidth.Therefore, in embodiments of the present invention, can be by adjusting physical parameter and pre-
If the quantization step of ambient condition, effectively to control the occupancy of memory space and communication bandwidth, make it in acceptable scope
It is interior.
Next, present satellites just can be independent to detecting target using Bayesian Estimation method according to detection data
Ambient condition inferred, obtains a probability distribution for ambient condition (that is, above-mentioned first inferred results).Specifically, currently
Satellite is as follows according to the process description that detection data is inferred to ambient condition：
According to the first formulaCalculate first inferred results at current time tIts
In, μk,t-1(ρ) determines step according to the second formula for the last moment fusion of current time tCalculate
The fusion results for obtaining；
It should be noted that μk,t-1(ρ) represents the first inferred results of the previous moment present satellites according to current time t
The second inferred results sent with target satellite are calculated fusion results, that is, last moment fusion determines that step is calculated
The fusion results for arriving, wherein, j represents the target satellite j, the i.e. summation of the quantity of present satellites and target satellite.
Wherein, lk(ωk,t| ρ) represent that the true environment state that present satellites k detects detection target is various default rings
During every kind of default ambient condition ρ in the state of border, a probability of detection data ω is detected,Represent that present satellites k is pushed away
Break and probability current time t true environment state is default ambient condition ρ,Represent that present satellites k is inferred to work as
The last moment true environment state of preceding moment t is the probability of default ambient condition ρ, akjFor present satellites k is that target satellite j is pre-
The fusion coefficients for first setting.
It should be noted that j can not only represent target satellite, present satellites are also may indicate that, then that is,
As j=k, akjIt is expressed as the fusion coefficients that present satellites pre-set.
It should be noted thatμk,t(ρ) and lk(ωk,t| ρ) it is probability distribution.Wherein,And μk,t(ρ)
Represent that satellite k estimates what is obtained, the time of day of environment is the probability of default ambient condition ρ.And μK, t(ρ) can be at each
Moment updates in former memory space iteration, without opening up new memory space.lk(ωk,t| ρ) characterize satellite k measurement miss
When difference, i.e. environment time of day are ρ, the physical parameter for measuring is ωk,tProbability, wherein, this probability be satellite k, it is known that nothing
Need to be updated in learning process.The possible way that present satellites obtain this probability includes being obtained by statistics estimation, fitting,
Or directly use statistical distribution.
In embodiments of the present invention, original fusion result μ is obtained firstk,0(ρ), then, by original fusion result μK, 0(ρ)
It is substituting to the first formulaIn, obtain the first inferred results as t=1Then,
By the first inferred resultsIt is substituting to formulaCalculate the fusion results μ as t=1k,1(ρ),
And judge fusion results μk,1Whether (ρ) meets stopping iterated conditional, wherein, if it is judged that be unsatisfactory for iteration stopping condition, then
By fusion results μk,1(ρ) is substituting to the first formula againThe first deduction during middle calculating t=2
As a resultAnd according to the first inferred resultsFusion results during t=2 are determined with the second inferred results for getting,
And judge whether fusion results now meet stopping iterated conditional, wherein, if being unsatisfactory for stopping iterated conditional, continue
First inferred results at t=3 moment are calculated using the fusion results at t=2 moment.That is, in embodiments of the present invention, when
First inferred results at preceding moment are to determine the deduction that the fusion results that step is calculated are determined according to the fusion of last moment
As a result.
It should be noted that in embodiments of the present invention, it is determined that during the first inferred results of present satellites, when
Preceding satellite can also in real time obtain the inferred results (that is, the second inferred results) of target satellite.Wherein, target satellite is space networks
Satellite in network in addition to present satellites, the detection mission of the target satellite is identical with the detection mission of present satellites.But, when
The physical parameter that preceding satellite and target satellite are detected for detection mission with identical, or can be differed.That is,
For identical detection mission, present satellites can detect physical parameter A, and target satellite can detect physical parameter A or inspection
Survey physical parameter B.
Calculating first inferred results at current time, and the second inferred results that the target satellite for getting sends
Afterwards, it is possible to the first inferred results and the second inferred results are merged, fusion results are obtained, following step is specifically included
Suddenly：
Step S1081, it be in advance melting that the second inferred results of the first inferred results and each target satellite are distributed to obtain
Syzygy number akj；
Step S1082, according to formulaCalculate the first inferred results and each second inferred results
With the weighted sum of fusion coefficients, fusion results are obtained, wherein,It is the first inferred results and the second inferred results, akjFor
Fusion coefficients, j represents the target satellite j,It is fusion results；
Step S1083, judges that what fusion results that current time calculates and the last moment at current time calculated melts
Close whether result meets iteration stopping condition,
Wherein, if it is determined that go out to meet iteration stopping condition, it is determined that the ring corresponding to current target fusion results
Border state detects the true environment state of target, the fusion knot that subject fusion result is calculated for current time as current time
Maximum fusion results in fruit；If it is determined that being unsatisfactory for iteration stopping condition, then the first obtaining step is repeated, infer step
Suddenly, the second obtaining step and fusion determines that step is iterated treatment, until meeting iteration stopping condition.
Specifically, can calculate according to the following equationFusion results are calculated, the formula is represented
Calculate the weighted sum of the first inferred results and each second inferred results and fusion coefficients.It should be noted that above-mentioned j is not only
Target satellite can be represented, present satellites are also may indicate that, that is to say, that j can be represented in target satellite and present satellites
Any one satellite.
After subject fusion result is calculated according to above-mentioned formula, present satellites just can be true according to subject fusion result
Surely the true environment state of target is detected.
It should be noted that above-mentioned iteration stopping condition can be the fusion results at current time and merging for last moment
The error of result is less than or equal to default error, for example, being less than or equal to 0.01%.
In embodiments of the present invention, by above-mentioned first formula and the second formula, after carrying out successive ignition, present satellites
Can learn to real ambient condition, and then, can more accurately determine currently to detect the true environment state of target.
In an optional embodiment of the embodiment of the present invention, according to detection data to detect target ambient condition
Information is inferred that obtain after the first inferred results, method also comprises the following steps：
Step S1, to target satellite send the first inferred results, wherein, target satellite get the first inferred results it
Afterwards, the second inferred results being inferred to reference to itself determine the true environment state of detection target.
By foregoing description, present satellites calculate the first inferred results except the physical parameter got according to itself
Outside, also obtain the second inferred results that target satellite is calculated.So similarly, present satellites are calculating the first inferred results
Afterwards, in addition it is also necessary to send to each target satellite the first inferred results, so that what each target satellite was calculated according to itself
Inferred results, and the inferred results got from other satellites calculate fusion results, that is, realize the shared of inferred results.Target
The process that satellite calculates fusion results is identical with the mode described in above-described embodiment, and here is omitted.
It should be noted that in embodiments of the present invention, the fusion that current time, can also be calculated by present satellites
Result sends into each target satellite and is preserved, similarly, the fusion results that target satellite can also calculate itself
Send to present satellites and preserved.
In embodiments of the present invention, after whole satellites (that is, present satellites and target satellite) are by above-mentioned iterative calculation,
Real ambient condition may be learned, and then, can more accurately determine currently to detect the true environment state of target.
To sum up, the detection method for being cooperateed with using many satellites in Information Network provided in an embodiment of the present invention, compared to
The deduction of individual satellite independence, can faster converge to the actual value of ambient condition；And the method allows some satellite accidents
Amount physical parameter, does not also carry out independent deduction, and acts only as Information Communication bridge beam action, in this case, does not influence to visit
Survey result.Further, in embodiments of the present invention, can also be by adjusting the amount of physical parameter ω and default ambient condition ρ
Change step-length, effectively to control the occupancy of memory space and communication bandwidth, make it in acceptable scope.
Embodiment 2
The embodiment of the present invention additionally provides a kind of detection device of many satellite collaborations in Information Network, the spatial information
The detection device of many satellite collaborations is mainly used in performing the spatial information net that embodiment of the present invention the above is provided in network
The detection method of many satellite collaborations in network, below to the spy of many satellite collaborations in Information Network provided in an embodiment of the present invention
Survey device and do specific introduction.
Fig. 2 is the signal of the detection device of many satellite collaborations in a kind of Information Network according to embodiments of the present invention
Figure, as shown in Fig. 2 the detection device of many satellite collaborations mainly includes first acquisition unit 21 in the Information Network, infers
Unit 22, second acquisition unit 23 and fusion determining unit 24, wherein：
First acquisition unit 21, for obtaining the detection data that present satellites are detected at current time itself；
Infer unit 22, for inferring to the ambient condition for detecting target according to detection data, obtain the first deduction
As a result, wherein, the first inferred results represent present satellites detect detection target true environment state be various default environment
Probability distribution situation during various default ambient conditions in state；
Second acquisition unit 23, the second inferred results for obtaining target satellite, wherein, target satellite is except when fashion
At least one satellite outside star, the second inferred results represent that the true environment state that target satellite detects detection target is many
Plant probability distribution situation during the various default ambient conditions in default ambient condition；
Fusion determining unit 24, for being merged to the first inferred results and the second inferred results, obtains fusion results,
Wherein, fusion results are used to react the ambient condition of the detection target for detecting；Repeatedly to first acquisition unit, unit is inferred,
Second acquisition unit and fusion determining unit are iterated treatment, until meeting iteration stopping condition, and will meet iteration stopping
The ambient condition corresponding to subject fusion result during condition in fusion results detects the true environment of target as current time
State.
In embodiments of the present invention, the detection data that present satellites are detected is obtained first, and then, according to the detection of itself
To detection data carry out ambient condition and inferred, obtain the first inferred results, then, obtain the deduction of other satellites transmission
As a result (that is, the second inferred results), and real ambient condition is determined with reference to the first inferred results and the second inferred results, most
Afterwards, first acquisition unit is iterated through, unit is inferred, second acquisition unit and fusion determining unit is iterated treatment, until
Meet iteration stopping condition, and the environment shape corresponding to subject fusion result when will meet iteration stopping condition in fusion results
State detects the true environment state of target as current time.In embodiments of the present invention, by the deduction of the multiple satellites of combination
As a result, it is possible to infer to ambient condition more fully hereinafter, the purpose of accurate determination true environment state, Jin Erhuan have been reached
Solve when being detected to ambient condition using single satellite in the prior art, detection efficient and the poor technology of detection accuracy are asked
Topic, it is achieved thereby that improve the detection efficient of ambient condition and the technique effect of detection accuracy.
Alternatively, infer that unit is used for：According to the first formula：Calculate the of current time t
One inferred resultsWherein, μK, t-1(ρ) determines step according to the second formula for the last moment fusion of current time tThe fusion results being calculated, wherein, lk(ωk,t| ρ) represent that present satellites k detects detection mesh
When target true environment state is the every kind of default ambient condition ρ in various default ambient conditions, detect detection data ω's
One probability,It is the general of default ambient condition ρ to represent that present satellites k is inferred in current time t true environment state
Rate,Represent that the last moment true environment state that present satellites k is inferred to current time t is default ambient condition ρ
Probability, akjFor present satellites k is the fusion coefficients that target satellite j pre-sets.
Fig. 3 is the detection device of many satellite collaborations in a kind of alternatively Information Network according to embodiments of the present invention
Schematic diagram, as shown in figure 3, fusion determining unit 24 includes the first acquisition module 31, computing module 32, judge module 33 and determination
Module 34, wherein, the first acquisition module 31, for obtaining the second deduction in advance for the first inferred results and each target satellite
The fusion coefficients of result distribution；Computing module 32, for according to formulaCalculate the first inferred results
With each second inferred results and the weighted sum of fusion coefficients, fusion results are obtained, wherein,For the first inferred results and
Second inferred results, akjIt is fusion coefficients, j represents the target satellite j,It is fusion results；Judge module 33, uses
In judging whether the fusion results that the fusion results that current time calculates are calculated with the last moment at current time meet repeatedly
For stop condition；Determining module, in the case where determining and meeting the iteration stopping condition, determining described in current time
Ambient condition corresponding to subject fusion result is used as the true environment state that target is detected described in the current time, the mesh
Mark fusion results are the maximum fusion results in the fusion results for calculating at the current time；Wherein, if it is determined that go out
The iteration stopping condition is unsatisfactory for, then repeats the first acquisition unit, the deduction unit, second acquisition is single
First and described fusion determining unit is iterated treatment, until meeting the iteration stopping condition.
Fig. 4 is the detection device of many satellite collaborations in another alternatively Information Network according to embodiments of the present invention
Schematic diagram, as shown in figure 4, device also includes：Transmitting element 41, for according to detection data to detect target environment shape
State information inferred, is obtained after the first inferred results, and the first inferred results are sent to target satellite, wherein, target satellite
After the first inferred results are got, the second inferred results being inferred to reference to itself determine the true environment shape of detection target
State.
Fig. 5 is the detection device of many satellite collaborations in another alternatively Information Network according to embodiments of the present invention
Schematic diagram, as shown in figure 5, acquiring unit 21 includes：Second acquisition module 51 and quantization modules 52, wherein, second obtains mould
Block 51, for obtaining the physical parameter detected for the ambient condition to detection target that present satellites are detected；Quantify
Module 52, for quantifying to physical parameter according to preset quantization step, the physical parameter after being quantified, and will quantify
Physical parameter afterwards as detection data, wherein, preset quantization step depend at least one of：The system of present satellites
Accuracy value, the size of the memory space of present satellites, the communication bandwidth of present satellites.
Fig. 6 is the detection device of many satellite collaborations in another alternatively Information Network according to embodiments of the present invention
Schematic diagram, as shown in fig. 6, before the detection data that detects of present satellites itself is obtained, the device also includes：3rd obtains
Unit 61 and quantifying unit 62 are taken, wherein, the 3rd acquiring unit is used to obtain the parameter for representing default ambient condition；Quantify
Unit, for according to preset quantization step to for representing that the parameter of default ambient condition quantifies, after being quantified
Parameter for representing default ambient condition, wherein, preset quantization step depends at least one of：The system of present satellites
Accuracy value, the size of the memory space of present satellites, the communication bandwidth of present satellites.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. the detection method that many satellites are cooperateed with a kind of Information Network, it is characterised in that including：
First obtaining step, obtains the detection data that present satellites are detected at current time itself；
Infer step, the ambient condition for detecting target is inferred according to the detection data, obtain the first inferred results, its
In, first inferred results represent that the true environment state that the present satellites detect the detection target is various default
Probability distribution situation during various default ambient conditions in ambient condition；
Second obtaining step, obtains the second inferred results of target satellite, wherein, the target satellite is except the present satellites
Outside at least one satellite, second inferred results represent the target satellite detect it is described detection target true ring
Probability distribution situation when border state is the various default ambient conditions in various default ambient conditions；
Fusion determines step, and first inferred results and second inferred results are merged, and obtains fusion results, its
In, the fusion results are used to react the ambient condition of the detection target for detecting；Repeatedly to first obtaining step,
The deduction step, second obtaining step and the fusion determine that step is iterated treatment, until meeting iteration stopping
Condition, and the work of the ambient condition corresponding to the subject fusion result during iteration stopping condition in the fusion results will be met
The true environment state of target is detected described in the current time.
2. method according to claim 1, it is characterised in that according to the detection data to detecting the ambient condition of target
Inferred, obtaining the first inferred results includes：
According to the first formulaCalculate first inferred results at current time tWherein,
μk,t-1(ρ) be the current time t last moment described in merge determine step according to the second formulaThe fusion results being calculated,
Wherein, lk(ωk,t| ρ) represent that the true environment state that present satellites k detects the detection target is various described default
During every kind of default ambient condition ρ in ambient condition, a probability of detection data ω is detected,Represent described current
Satellite k is inferred in the probability that true environment state described in the current time t is the default ambient condition ρ,Table
It is the default environment shape to show that the present satellites k is inferred to true environment state described in last moment of the current time t
The probability of state ρ, akjFor the present satellites k is the fusion coefficients that target satellite j pre-sets.
3. method according to claim 2, it is characterised in that the quantity of the target satellite is multiple, to described first
Inferred results and second inferred results are merged, and obtaining fusion results includes：
Obtain the fusion for being distributed for second inferred results of first inferred results and each target satellite in advance
Coefficient；
According to formulaCalculate first inferred results and each described second inferred results with it is described
The weighted sum of fusion coefficients, obtains the fusion results, wherein,It is that first inferred results and described second are inferred
As a result, akjIt is the fusion coefficients, j represents the target satellite j,It is the fusion results；
Judge that what fusion results that the current time calculates and the last moment at the current time calculated merges
Whether result meets the iteration stopping condition,
Wherein, if it is determined that go out to meet the iteration stopping condition, it is determined that corresponding to subject fusion result described in current time
Ambient condition as the true environment state that target is detected described in the current time, the subject fusion result is worked as described
Maximum fusion results in the fusion results that the preceding moment calculates；If it is determined that the iteration stopping condition is unsatisfactory for,
First obtaining step is then repeated, the deduction step, second obtaining step and the fusion determine that step is entered
Row iteration is processed, until meeting the iteration stopping condition.
4. method according to claim 3, it is characterised in that according to the detection data to the ring of the detection target
Border status information is inferred that obtain after the first inferred results, methods described also includes：
First inferred results are sent to the target satellite,
Wherein, after first inferred results are got, described second be inferred to reference to itself pushes away the target satellite
Disconnected result determines the true environment state of the detection target.
5. method according to claim 1, it is characterised in that obtain the probe data packet that present satellites itself are detected
Include：
Obtain the physical parameter detected for the ambient condition to the detection target that the present satellites are detected；
The physical parameter is quantified according to preset quantization step, the physical parameter after being quantified, and will amount
The physical parameter after change as the detection data, wherein, the preset quantization step depend at least one of：
The system accuracy value of the present satellites, the size of the memory space of the present satellites, the communication bandwidth of the present satellites.
6. method according to claim 1, it is characterised in that obtain detection data that present satellites itself detect it
Before, methods described also includes：
Obtain the parameter for representing the default ambient condition；
According to preset quantization step to described for representing that the parameter of the default ambient condition quantifies, after being quantified
The parameter for representing the default ambient condition, wherein, the preset quantization step depend at least one of：
The system accuracy value of the present satellites, the size of the memory space of the present satellites, the communication bandwidth of the present satellites.
7. the detection device that many satellites are cooperateed with a kind of Information Network, it is characterised in that including：
First acquisition unit, for obtaining the detection data that present satellites are detected at current time itself；
Infer unit, for inferring to the ambient condition for detecting target according to the detection data, obtain the first deduction knot
Really, wherein, first inferred results represent the present satellites detect it is described detection target true environment state be many
Plant probability distribution situation during the various default ambient conditions in default ambient condition；
Second acquisition unit, the second inferred results for obtaining target satellite, wherein, the target satellite is except described current
At least one satellite outside satellite, second inferred results represent that the target satellite detects the true of the detection target
Probability distribution situation when real environment state is the various default ambient conditions in various default ambient conditions；
Fusion determining unit, for being merged to first inferred results and second inferred results, obtains fusion knot
Really, wherein, the fusion results are used to react the ambient condition of the detection target for detecting；Described first is iterated through to obtain
Unit is taken, the deduction unit, the second acquisition unit and the fusion determining unit are iterated treatment, until satisfaction changes
For stop condition, and the environment corresponding to the subject fusion result during iteration stopping condition in the fusion results will be met
State is used as the true environment state that target is detected described in the current time.
8. device according to claim 7, it is characterised in that the deduction unit is used for：
According to the first formula：Calculate first inferred results at current time tWherein,
μk,t-1(ρ) be the current time t last moment described in merge determine step according to the second formulaThe fusion results being calculated,
Wherein, lk(ωk,t| ρ) represent that the true environment state that present satellites k detects the detection target is various described default
During every kind of default ambient condition ρ in ambient condition, a probability of detection data ω is detected,Represent described current
Satellite k is inferred in the probability that true environment state described in the current time t is the default ambient condition ρ,Table
It is the default environment shape to show that the present satellites k is inferred to true environment state described in last moment of the current time t
The probability of state ρ, akjFor the present satellites k is the fusion coefficients that target satellite j pre-sets.
9. device according to claim 8, it is characterised in that the quantity of the target satellite is multiple, it is described determine it is single
Unit includes：
First acquisition module, for obtaining in advance as first inferred results are pushed away with described the second of each target satellite
The fusion coefficients of disconnected result distribution；
Computing module, for according to formulaCalculate first inferred results and each described second
Inferred results and the weighted sum of the fusion coefficients, obtain fusion results, wherein,It is first inferred results and institute
State the second inferred results, akjIt is the fusion coefficients, j represents the target satellite j,It is the fusion results；
Judge module, the last moment for judging fusion results that the current time calculates and the current time
Whether the fusion results for calculating meet the iteration stopping condition；
Determining module, in the case where determining and meeting the iteration stopping condition, determining that target is melted described in current time
The ambient condition corresponding to result is closed as the true environment state that target is detected described in the current time, the subject fusion
Result is the maximum fusion results in the fusion results for calculating at the current time；Wherein, if it is determined that go out to be unsatisfactory for
The iteration stopping condition, then repeat the first acquisition unit, the deduction unit, the second acquisition unit and institute
State fusion determining unit and be iterated treatment, until meeting the iteration stopping condition.
10. device according to claim 9, it is characterised in that described device also includes：
Transmitting element, for inferring to the environmental state information of the detection target according to the detection data, obtains
After first inferred results, first inferred results are sent to the target satellite,
Wherein, after first inferred results are got, described second be inferred to reference to itself pushes away the target satellite
Disconnected result determines the true environment state of the detection target.
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