CN106850038B - Task planning method for agile satellite - Google Patents
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- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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Abstract
The invention discloses a mission planning method for an agile satellite, which is characterized by comprising the following steps of: performing access calculation based on the pitch angle to obtain an access time window; carrying out time window optimization on the access time window; carrying out dynamic constraint check on the observation task; performing action sequence optimization; a resource projection is received. The task planning method for the agile satellite optimizes each link of the task planning of the agile satellite, so that complex tasks and emergency tasks sent by users are better processed, observation tasks are better completed, and the resource utilization rate is improved.
Description
Technical Field
The invention relates to the technical field of satellite mission planning, in particular to a mission planning method for an agile satellite.
Background
The imaging satellite task planning mainly solves the problems that according to different satellite observation requirements submitted by users, the availability of satellite-ground resources is considered overall, the work of satellites and ground stations is optimized, the satellite-ground resource capacity is fully exerted, the purpose of optimized use or approximate optimized use of the satellite-ground resources is achieved, the purpose of optimized or approximate optimized use of the satellite-ground resources is achieved, and more satellite observation requirements are accepted and executed as far as possible.
In recent years, the world aerospace technology is continuously developed, and in order to better meet the imaging requirements of users, research on agile satellites is successively developed in countries in the world, and the agile satellites not only can do lateral swinging motion perpendicular to a subsatellite point around a rolling shaft, but also can perform pitching and yawing. The enhancement of the maneuvering capability enables the agile satellite to observe the targets in any direction within the allowed range, but the enhancement of the maneuvering capability enables the access time of the agile satellite to be changed into an available time range, the opportunity that the targets are observed is increased for a single target, and the number of the targets observed within the fixed time is increased for a plurality of targets, so that the observation time window is uncertain, the satellite attitude is uncertain, and the satellite working mode is correspondingly changed.
Therefore, a task planning method for an agile satellite is urgently needed, and each link of the agile satellite task planning is optimized, so that complex tasks and emergency tasks sent by users are better processed, observation tasks are better completed, and resource utilization rate is improved.
Disclosure of Invention
Technical problem
In view of this, the embodiments of the present invention provide a task planning method for an agile satellite, which optimizes each link of the task planning of the agile satellite, so as to better process a complex task and an emergency task sent by a user, better complete an observation task, and improve a resource utilization rate.
According to one aspect of the invention, a mission planning method for an agile satellite is disclosed, which is characterized by comprising the following steps:
performing access calculation to obtain an access time window;
carrying out time window optimization on the access time window;
carrying out dynamic constraint check on the observation task;
performing action sequence optimization;
a resource projection is received.
In one embodiment, the step of performing access calculation to obtain the access time window is to decompose the point target and the area target into corresponding meta tasks and correspond to the latitude and longitude grid for the access calculation based on the pitch angle.
In one embodiment, the step of performing the access calculation to obtain the access time window includes:
and dividing the observation task into a point target and a region target, and respectively calculating an access time window based on a pitch angle.
In one embodiment, for a point target, the step of performing access calculation to obtain an access time window includes the following steps:
calculating a pitch angle and a roll angle of the point target;
the access time of the point object is calculated.
In one embodiment, the step of performing access calculation to obtain the access time window for the area target includes the following steps:
decomposing the imaging target to generate a meta-task group;
the synthetic observation of a plurality of observation targets is completed by expanding the observation time;
corresponding the regional target to the grid, and fixing the observation target in the latitude and longitude grid range through the relationship between the satellite strip and the regional target;
and selecting the initial point and the final point of the observation strip and the grid area as boundary points for accessing and calculating the area target, calculating the pitch angle and the roll angle of the area target, and further calculating the access time of the area target.
In one embodiment, the step of performing time window optimization on the access time window is to adopt a dynamic selection strategy to calculate an upper limit of an available time window and determine the time window of the agile satellite.
In one embodiment, the step of performing dynamic constraint checking on the observation task is to invoke a satellite model, update the agile satellite state, and check a series of constraint conditions.
In one embodiment, the series of constraints include power, memory, and attitude transformation angle of the satellite.
In one embodiment, the performing the action sequence preferably includes:
selecting an available time window;
calling a satellite attitude maneuver model;
estimating satellite attitude maneuver time between the two observation tasks;
and adding the attitude maneuvering time of the satellite to the attitude stabilization time to obtain the conversion time between the two observation tasks, and determining the action sequence of the agile satellite.
In one embodiment, the step of receiving a resource plan includes the steps of:
stripping the receiving resource;
sending a receiving resource pre-planning result generated after the task planning to a receiving station network;
the receiving station network carries out adjustment feedback on the pre-planning result of the receiving resource;
and generating a receiving resource planning scheme.
By adopting the technical scheme, the invention can at least obtain the following technical effects:
the task planning method for the agile satellite optimizes each link of the agile satellite task planning, so that complex tasks and emergency tasks sent by users can be better completed, observation tasks can be better completed, and the resource utilization rate is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a flow chart of a mission planning algorithm for agile satellites in accordance with an embodiment of the present invention;
FIG. 2 is a flowchart of step S120 of the embodiment shown in FIG. 1;
FIG. 3 is another flowchart of step S120 of the embodiment shown in FIG. 1;
FIG. 4 is a flowchart of step S150 of the embodiment shown in FIG. 1;
FIG. 5 is a flowchart of step S160 of the embodiment shown in FIG. 1;
FIG. 6 is a schematic diagram of a method for dynamically combining area targets according to an embodiment of the present invention;
FIG. 7 is a preferred schematic of imaging times;
fig. 8 is a schematic diagram comparing the motion sequences of a non-agile satellite and an agile satellite.
Throughout the drawings, it should be noted that like reference numerals are used to depict the same or similar elements, features and structures.
Detailed Description
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of various embodiments of the disclosure as defined by the claims and their equivalents. The following description includes various specific details to aid understanding, but these details are to be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the various embodiments described herein can be made without departing from the scope and spirit of the present disclosure. In addition, descriptions of well-known functions and constructions may be omitted for clarity and conciseness.
The terms and words used in the following description and claims are not limited to literature meanings, but are used only by the inventor to enable the disclosure to be clearly and consistently understood. Accordingly, it should be apparent to those skilled in the art that the following descriptions of the various embodiments of the present disclosure are provided for illustration only and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents.
It is to be understood that the singular forms also include the plural reference unless the context clearly dictates otherwise. Thus, for example, reference to a "component surface" includes reference to one or more such surfaces.
The technical problem solved by the invention is as follows: the method comprises the steps of designing point target access calculation and area target access calculation based on a pitch angle, optimizing a time window, updating the state of the agile satellite, performing dynamic constraint inspection, determining an effective action sequence, stripping a receiving station network, and performing advanced pre-planning of receiving resources.
Embodiments of the present invention are described in detail below with reference to fig. 1-8.
Fig. 1 is a flow chart of a mission planning algorithm for agile satellites according to an embodiment of the invention.
Fig. 2 is a flowchart of step S120 of the embodiment shown in fig. 1.
Fig. 3 is another flowchart of step S120 of the embodiment shown in fig. 1.
Fig. 4 is a flowchart of step S150 of the embodiment shown in fig. 1.
Fig. 5 is a flowchart of step S160 of the embodiment shown in fig. 1.
Fig. 6 is a schematic diagram of a method for dynamically combining area targets according to an embodiment of the present invention.
Fig. 7 is a preferred schematic of the imaging time.
Fig. 8 is a schematic diagram comparing the motion sequences of a non-agile satellite and an agile satellite.
Referring to fig. 1, a mission planning method 100 for agile satellites according to the present embodiment includes the following steps:
step S120: and performing access calculation based on the pitch angle to obtain an access time window.
And performing access calculation to obtain an access time window, wherein the access calculation based on the pitch angle is used for decomposing the point target and the area target into corresponding meta tasks and corresponding to the latitude and longitude grids. The step of performing access calculation to obtain the access time window comprises the following steps: and dividing the observation task into a point target and a region target, and respectively calculating an access time window based on a pitch angle.
In practice, the orbit data of the satellite can be calculated first. And (3) invoking orbit calculation software, and calculating data such as ephemeris, subsatellite points, receivable arc sections, astronomical events and the like of the satellite according to the given starting time and ending time.
Referring to fig. 2, for a point target, the step of performing access calculation to obtain an access time window includes the following steps:
step S122: calculating a pitch angle and a roll angle of the point target;
step S124: the access time of the point object is calculated.
Referring to fig. 3 and 6, for the regional target, the step of performing access calculation to obtain the access time window includes the following steps:
step S121: decomposing the imaging target to generate a meta-task group;
step S123: the synthetic observation of a plurality of observation targets is completed by expanding the observation time;
step S125: corresponding the regional target to the grid, and fixing the observation target in the latitude and longitude grid range through the relationship between the satellite strip and the regional target;
step S127: and selecting the initial point and the final point of the observation strip and the grid area as boundary points for accessing and calculating the area target, calculating the pitch angle and the roll angle of the area target, and further calculating the access time of the area target.
Referring to fig. 6, because the range of the regional target is large, when the regional target is observed, the imaging target needs to be decomposed first, and then the respective meta-tasks are generated, but the observation angle of the meta-task of the regional target cannot be adjusted, so that the synthetic observation of a plurality of targets is generally completed by expanding the observation time, then the regional target corresponds to the grid, the observation target is fixed in the latitude and longitude grid range through the relationship between the satellite strips and the regional target, the initial point and the final point of the observation strips and the grid region are selected as the boundary points of the regional target access calculation, so that the pitch angle and the roll angle of the regional target are calculated, and the access time of the regional target is further calculated.
Based on the access calculation of the pitch angle, the point target and the area target are decomposed into corresponding meta tasks and correspond to the latitude and longitude grids, so that the repeated coverage rate of the target is reduced, and the imaging efficiency is improved.
Step S130: the time window is preferably performed. And carrying out time window optimization on the access time window, wherein a dynamic selection strategy is adopted to calculate the upper limit of the available time window and determine the time window of the agile satellite.
Step S140: and carrying out dynamic constraint check on the observation task. The step of carrying out dynamic constraint inspection on the observation task is to call a satellite model, update the state of an agile satellite and inspect a series of constraint conditions; the series of constraint conditions comprise the electric quantity, the solid memory, the attitude conversion angle and the like of the satellite. The constraint conditions comprise task constraint, resource constraint and comprehensive constraint, and the resource constraint is divided into satellite resource constraint and receiving resource constraint.
The dynamic constraint checking method is used for continuously updating the satellite state by calling an external satellite model to perform dynamic constraint checking.
Step S150: the sequence of actions is preferably performed. Referring to fig. 4, the preferred steps of performing a sequence of actions include:
step S152: selecting an available time window;
step S154: calling a satellite attitude maneuver model;
step S156: estimating satellite attitude maneuver time between the two observation tasks;
step S158: and adding the attitude maneuvering time of the satellite to the attitude stabilization time to obtain the conversion time between the two observation tasks, and determining the action sequence of the agile satellite.
The scheduling of the action sequence is that the action is restricted through a time window, after the available time window is selected, a satellite attitude maneuver model needs to be called, the satellite attitude maneuver time between two observation tasks is estimated, and the conversion time between the two observation tasks can be obtained by adding the satellite attitude maneuver time and the attitude stabilization time, so that the action sequence of the agile satellite is determined.
The imaging time preference (as shown in fig. 7) and the motion sequence preference (as shown in fig. 8) are corresponding to the mobility of the agile satellite and the constraint of the time window, the time window preference is performed through a dynamic selection strategy, wherein the dynamic selection strategy can be performed according to the principle of time preference, quality preference or task quantity preference, and the switching time between adjacent tasks of the satellite is determined through the determined time window, so that the satellite attitude is determined.
Step S160: a resource projection is received. Referring to fig. 5, the step of receiving a resource plan includes the steps of:
step S162: stripping the receiving resource;
step S164: sending a receiving resource pre-planning result generated after the task planning to a receiving station network;
step S166: the receiving station network carries out adjustment feedback on the pre-planning result of the receiving resource;
step S168: and finally, generating a receiving resource planning scheme.
And the agile satellite is uncertain in receiving resources, stripping the receiving resources, sending a receiving resource pre-planning result generated after the task planning to a receiving station network, enabling the receiving station network to perform adjustment feedback on the pre-planning result of the receiving resources, and finally generating a receiving resource planning scheme to finish receiving resource planning. And the receiving resource of the agile satellite is uncertain, the receiving resource of the agile satellite is stripped out, the receiving resource is preplanned in advance, and the preplanning result is fed back through the receiving station network, so that the accuracy of the planning is improved.
It should be noted that the various embodiments of the present disclosure as described above generally relate to the processing of input data and the generation of output data to some extent. This input data processing and output data generation may be implemented in hardware or software in combination with hardware. For example, certain electronic components may be employed in a mobile device or similar or related circuitry for implementing the functions associated with the various embodiments of the present disclosure as described above. Alternatively, one or more processors operating in accordance with stored instructions may implement the functions associated with the various embodiments of the present disclosure as described above. If so, it is within the scope of the present disclosure that these instructions may be stored on one or more non-transitory processor-readable media. Examples of the processor-readable medium include read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. In addition, functional computer programs, instructions, and instruction segments for implementing the present disclosure can be easily construed by programmers skilled in the art to which the present disclosure pertains.
While the disclosure has been shown and described with reference to various embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents.
Claims (4)
1. A mission planning method for an agile satellite is characterized by comprising the following steps:
performing an access calculation to obtain an access time window, comprising: calculating a pitch angle and a roll angle of the point target, and calculating the access time of the point target; decomposing the imaging target to generate a meta-task group; the synthetic observation of a plurality of observation targets is completed by expanding the observation time; corresponding the regional target to the grid, and fixing the observation target in the latitude and longitude grid range through the relationship between the satellite strip and the regional target; selecting the initial point and the final point of an observation strip and a grid region as boundary points for regional target access calculation, calculating a pitch angle and a roll angle of the regional target, and further calculating the access time of the regional target as an access time window;
performing time window optimization on the access time window, wherein the time window optimization comprises the following steps: calculating the upper limit of an available time window by adopting a dynamic selection strategy, and determining the time window of the agile satellite;
carrying out dynamic constraint check on the observation task;
preferably, the sequence of actions includes: selecting an available time window, calling a satellite attitude maneuver model, estimating satellite attitude maneuver time between two observation tasks, adding the satellite attitude maneuver time to attitude stabilization time to obtain conversion time between the two observation tasks, and determining an action sequence of the agile satellite;
a resource projection is received.
2. The mission planning method for an agile satellite according to claim 1, wherein said step of performing a dynamic constraint check on the observation mission checks a series constraint condition for invoking a satellite model, updating states of the agile satellite.
3. The mission planning method for an agile satellite according to claim 2 wherein the series of constraints includes power, stationarity, attitude conversion angle of the satellite.
4. The mission planning method for an agile satellite according to claim 1, wherein said step of receiving a resource plan comprises the steps of:
stripping the receiving resource;
sending a receiving resource pre-planning result generated after the task planning to a receiving station network;
the receiving station network carries out adjustment feedback on the pre-planning result of the receiving resource;
and generating a receiving resource planning scheme.
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| CN113190911B (en) * | 2021-03-11 | 2023-05-05 | 上海卫星工程研究所 | Regional multi-target satellite detection simulation method and system |
| CN112990570A (en) * | 2021-03-11 | 2021-06-18 | 上海卫星工程研究所 | Method, system and medium for optimal scheduling of satellite to regional multi-target access tasks |
| CN113313356B (en) * | 2021-04-30 | 2022-09-23 | 合肥工业大学 | Method and device for synthesizing remote sensing satellite earth observation emergency task |
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