CN108254770A - Imaging satellite searches for the method and device of land mobile target - Google Patents
Imaging satellite searches for the method and device of land mobile target Download PDFInfo
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- CN108254770A CN108254770A CN201810068373.0A CN201810068373A CN108254770A CN 108254770 A CN108254770 A CN 108254770A CN 201810068373 A CN201810068373 A CN 201810068373A CN 108254770 A CN108254770 A CN 108254770A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
Abstract
The present invention provides a kind of method and devices of imaging satellite search land mobile target.The first uncertainty of each imaging satellite satellite borne sensor observation band is calculated first；Then target existing probability calculates each observation band expectation uncertainty in the grid and the updated grid of preset observed result that are covered according to each observation band, difference of the first uncertainty of each observation band with it is expected uncertainty is acquired with reference to the first uncertainty of each observation band, the observation band searched for when the observation band of difference maximum being selected to pass by as this imaging satellite later, finally according to observed result, each grid target existing probability is updated, for imaging satellite to be instructed to pass by next time observation.Above-mentioned technical proposal can be suitably used for imaging satellite and the monitoring of land mobile target searched for, and can quickly and efficiently search the mobile target of land.
Description
Technical field
The present invention relates to imaging satellite search fields, and in particular to a kind of imaging satellite searches for land mobile mesh calibration method
And device.
Background technology
Imaging satellite is operate on space orbit that ground specific region is imaged to obtain using satellite borne sensor
Take information needed.Since imaging satellite earth observation has, covering region is wide, the advantages such as is not limited by spatial domain, national boundaries, make its
Military investigation, target search, emergent exploration etc. play an important roll.
The mobile target of imaging satellite search refer to optimal imaging satellite pass by specific region when search plan, to given zone
Mobile target in domain scans for, investigation monitoring resource quantity and ability constraints under, find more targets or
It quickly finds specific objective, is preferably information service so as to improve the service efficiency of reconnaissance and surveillance resource.It is mostly at present to be into
As satellite is to the searching method of marine mobile target (such as naval vessel, marine planktonic organism), since environment is not on land and sea
Together, therefore the method for marine moving-target search is not properly suited for the search of land mobile target (such as vehicle).Therefore, it is examining
Consider under the search environment of land, how rapidly and efficiently to search the mobile target of land is a technical problem to be solved urgently.
Invention content
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of imaging satellite search land mobile mesh calibration method and dresses
It puts.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs：
In a first aspect, providing a kind of imaging satellite search land mobile mesh calibration method, the method includes walking as follows
Suddenly：
It determines zone of action of the land mobile target to be searched within the predetermined search period, and the zone of action is carried out
Mesh generation obtains several grids to be observed；The zone of action is land mobile target to be searched in the predetermined search period
Interior maximum range of activities；For each grid to be observed, target existing probability is set；It passes by the activity according to imaging satellite
The observation scope of imaging satellite is divided several observations by the attribute sensor that line tracking and imaging satellite carry under the clock star of region
Band；
To each observation band, grid to be observed and each institute that band is covered are observed according to each before observation
The target existing probability for stating grid to be observed calculates the first uncertainty of each observation band；
According to the Methods for Target Detection Probability of the remote sensor of imaging satellite carrying, false-alarm probability, the target of each grid to be observed
Existing probability and preset observed result respectively take the observation item using the first probability updating rule each described
Grid to be observed carries out target existing probability update；Wherein described preset observed result is judges that grid may go out before observation
Existing observed result finds target or does not find target within a grid within a grid.
According to the grid to be observed of each observation band covering and by the preset updated net to be observed of observed result
Target existing probability calculates the expectation uncertainty of each observation band in lattice, with reference to the first uncertainty of each observation band
Acquire difference of the first uncertainty of each observation band with it is expected uncertainty；
The first uncertainty is selected with it is expected the observation band of uncertainty difference maximum as this imaging satellite
Pass by the zone of action when observation band searched for, and generate in corresponding instruction on note to corresponding imaging satellite；
It is respectively being treated using the first probability updating Policy Updates land mobile target to be searched according to observed result after observation
The probability distribution of observation grid, for instruct next imaging satellite pass by it is described observation band selection.
With reference to first aspect, in the first possible implementation, it is described that for each grid to be observed, mesh is set
Mark existing probability includes：
It is determining in the predetermined search period behind land mobile goal activities region to be searched, to determine in the zone of action
Fixed road, land mobile target to be searched can only be fixed on road in the zone of action and be travelled, to being in the fixation
1~M is numbered in grid to be observed on road, and sets each grid target existing probability to be observed as 1/M, for not in institute
The grid to be observed setting target existing probability stated on fixed road is 0.
With reference to first aspect or the first possible realization method of first aspect, in second of possible realization method
In, the method calculates the first uncertainty of each observation band before imaging satellite passes by observation, according to preset observation
As a result using existing probability of the first probability updating Policy Updates land mobile target to be searched in grid to be observed, and according to
The target existing probability of the updated each grid to be observed of preset observed result calculates the expectation of each observation band not
Degree of certainty respectively observes the first uncertainty of band with reference to the first uncertainty calculation and it is expected the difference between uncertainty,
It is divided into following four situation when carrying out grid probability updating using the first probability updating rule to include：
If 1. grid i to be observed be in this imaging satellite pass by the zone of action when observation band searched for and be in
On fixation road in the zone of action, and target is found in grid i to be observed, then
Wherein k represents that the secondary zone of action of passing by of imaging satellite resource kth scans for, and is set as searching as satellite resource
There are in the rope period n times to pass by search engine meeting to the zone of action；pi' (k) be general using first according to preset observed result
Land mobile target existing probability to be searched in the grid i to be observed that rate update Policy Updates obtain；pi(k) it is imaging satellite
Kth time is passed by before observation, and land mobile target to be searched is in the target existing probability of grid i to be observed；pdIt is taken for imaging satellite
The probability of detection of the remote sensor of band；pfFalse-alarm probability for the remote sensor that imaging satellite carries；
2. if grid i to be observed is in the observation band searched for when this imaging satellite passes by and is in the zone of action
On interior fixation road, target is not found in grid i to be observed, then：
3. if grid i to be observed is not at the observation band searched for when this imaging satellite passes by but in the behaviour area
On fixation road in domain, then：
pi' (k)=pi(k), i=1,2 ..., M, k=1,2 ... N
4. being not at fixing the grid to be observed on road in the zone of action to all, land mobile to be observed is set
Target existing probability is 0, and is no longer updated in observation process；
After probability updating is carried out according to preset observed result, each observation band first is calculated with the following method not really
Difference between fixed degree and expectation uncertainty：
When secondary zone of action of passing by scans for imaging satellite kth first, obtain this and search for each observation bandTarget existing probability calculates each to be observed in the grid to be observed covered before observation according to each observation band
The first uncertainty of grid i
If in observation bandTarget is found in the grid i to be observed inside included, grid i's to be observed is uncertain
DegreeFor：
If in observation bandTarget is not found in the grid i to be observed inside included, then grid i's to be observed is not true
Fixed degreeFor：
The then observation bandExpectation uncertaintyFor：
In formulaRepresent imaging satellite kth time pass by search when, treating
The probability of target is not found in the grid i of observation；Represent the secondary search of passing by of satellite kth
When, the probability of discovery target in the grid i to be observed of observation；
The then observation bandThe first uncertainty and it is expected uncertainty between differenceFor：
For the grid to be observed not on road, because its target existing probability is 0, and do not updated with observed result.
Second aspect, provides a kind of device of imaging satellite search land mobile target, and described device includes：
Search mission preprocessing module, for determining land mobile target to be searched area movable within the predetermined search period
Domain, and the zone of action is subjected to mesh generation, obtain several grids to be observed；It passes by the activity according to imaging satellite
The attribute sensor that line tracking and imaging satellite carry under the clock star of region is by the Observable for the imaging satellite satellite borne sensor that passes by
Range is divided into several observation bands；
Probability updating module, for the Methods for Target Detection Probability of remote sensor, false-alarm probability, each carried according to imaging satellite
The target existing probability of grid to be observed and preset observed result, using the first probability updating rule respectively to the observation
Each grid to be observed that item takes carries out target existing probability update；According to the observed result of grid using the after observation
Target existing probability in one probability updating Policy Updates grid.
Uncertainty calculation module, comprising the first uncertainty calculation submodule, for passing by work in imaging satellite resource
To each observation band before dynamic range searching, the grid to be observed that is covered before observation according to each observation band and every
The target existing probability of a grid to be observed calculates the first uncertainty of each observation band；It is expected uncertainty calculation
Submodule, for the grid to be observed covered according to each observation band and by the preset updated grid to be observed of observed result
Middle target existing probability calculates each observation band and it is expected uncertainty；
Directive generation module acquires each observation with reference to the first uncertainty and expectation uncertainty of each observation band
Difference between first uncertainty of band and expectation uncertainty selects the observation band of difference maximum as this imaging
The observation band searched for when satellite passes by is generated on assignment instructions on note to corresponding satellite.
With reference to second aspect, in the first possible implementation, search mission preprocessing module includes：
Observe band segmentation submodule, for according to satellite pass by land mobile goal activities region to be searched star it is offline
Satellite borne sensor Observable Range-partition is observed band by track and satellite borne sensor attribute into several；
Zone of action mesh generation submodule is suitable for being used after land mobile goal activities region to be searched is obtained
Granularity to the zone of action carry out mesh generation processing；
Target existing probability setting submodule is used for after the region of goal activities is determined, determines the fixation in the region
Road, land mobile target to be searched can only travel on fixed road, and 1 is numbered to the grid to be observed being on road
~M, and assignment target existing probability is 1/M, is 0 for the grid assignment target existing probability to be observed not on road.
With reference to the possible realization method of the first of second aspect or second aspect, in second of possible realization method
In, the probability updating module is being treated according to observed result using the first probability updating Policy Updates land mobile target to be searched
Existing probability in observation grid, module input are divided into following four situation and include：
If 1. module input for grid i to be observed be in this imaging satellite pass by the region when observation band searched for
And on the fixation road in the zone of action, and target is found in grid i to be observed, then
Wherein k represents that the secondary zone of action of passing by of available imaging satellite kth scans for, if imaging satellite is in search week
There are in phase n times to pass by search engine meeting to the zone of action；pi' (k) be according to preset observed result using the first probability more
Land mobile target existing probability to be searched in the grid i to be observed that new Policy Updates obtain；pi(k) it is imaging satellite kth
Before secondary observation of passing by, land mobile target to be searched is in the target existing probability of grid i to be observed；pdIt is carried for imaging satellite
The probability of detection of remote sensor；pfFalse-alarm probability for the remote sensor that imaging satellite carries；
2. if module input is in the observation band searched for when this imaging satellite passes by for grid i to be observed and is in institute
It states on the fixation road in zone of action, does not find target in grid i to be observed, then：
3. if module input is not at the observation band searched for when this imaging satellite passes by but is in for grid i to be observed
On fixation road in the zone of action, then：
pi' (k)=pi(k), i=1,2 ..., M, k=1,2 ... N
4. if module input sets land to be observed to be not at fixing the grid to be observed on road in the zone of action
Ground movement target existing probability is 0.
With reference to second aspect, in the third possible realization method, the uncertainty calculation module includes：
First uncertainty calculation submodule, pass by first to imaging satellite kth time search when, pre-processed by search mission
Module obtains this and searches for each observation bandThe net to be observed covered before observation according to each observation band
Target existing probability calculates the first uncertainty of each grid i to be observed in lattice
Uncertainty calculation submodule it is expected, if in observation bandMesh is found in the grid i to be observed inside included
Mark, the uncertainty of grid i to be observedFor：
If in observation bandTarget is not found in the grid i to be observed inside included, then grid i's to be observed is not true
Fixed degreeFor：
The observation bandExpectation uncertaintyFor：
In formulaRepresent imaging satellite kth time pass by search when, seeing
The probability of target is not found in the grid i of survey；It represents that imaging satellite kth time is passed by search
Suo Shi has found the probability of target in grid i to be observed to be observed；
For the grid to be observed not on the fixed road, because its target existing probability is 0, and not with observed result
Update, therefore be not considered, to reduce system solution complexity.
(3) advantageous effect
An embodiment of the present invention provides a kind of method and devices of imaging satellite search land mobile target.Having following has
Beneficial effect：
The embodiment of the present invention considers land search environment feature in pretreatment stage, is carried out to goal activities region
After mesh generation processing, the fixation road in region is determined, only consider mobile target in the general of the grid on fixed road
Rate is distributed, and reduces the complexity of system-computed.When handling task, each observation band has been calculated first
First uncertainty, Methods for Target Detection Probability, false-alarm probability, each net to be observed of the remote sensor carried later according to imaging satellite
The target existing probability of lattice and preset observed result respectively take observation item using the first probability updating rule each
Grid target existing probability is updated, and according to it is each observation band cover grid and by preset observed result it is updated
Target existing probability calculates each observation band expectation uncertainty in grid, is acquired with reference to the first uncertainty of each observation band
Difference between first uncertainty of each observation band and expectation uncertainty；Finally the observation band of selection difference maximum is made
The investigation band searched for when passing by for this imaging satellite.In generation instruction on note to corresponding imaging satellite, the basis after observation
Observed result more fresh target in the probability distribution of each grid is used to that next surveillance program to be instructed to work out.Above-mentioned technical proposal is being chosen
Satellite pass by observation band when each observation activity can be made to reflect the influence to environmental uncertainty, each satellite passes by investigation
The selection of band can maximize the uncertainty for reducing search environment, so as to quickly search target.The embodiment of the present invention
Technical solution can be suitably used for imaging satellite and the monitoring of land mobile target searched for, and can reflect that satellite passes by investigation to ring every time
The probabilistic influence in border so that investigation can maximize reduction environmental uncertainty, and before next observation activity implementation,
Search for the establishment of plan next time using the distribution guidance of the first probability updating Policy Updates destination probability using last time observed result, from
And realize on the basis of search environment is considered, multi-satellite cooperates with the mobile target for quickly and efficiently searching land.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of the imaging satellite search land mobile mesh calibration method of one embodiment of the invention；
Fig. 2 is the schematic diagram of the imaging satellite search land mobile target of one embodiment of the invention；
Fig. 3 is the block diagram of the device of the imaging satellite search land mobile target of one embodiment of the invention；
Fig. 4 is the search mission pretreatment of the device of the imaging satellite search land mobile target of one embodiment of the invention
Module frame chart；
Fig. 5 is the probability updating module frame of the device of the imaging satellite search land mobile target of one embodiment of the invention
Figure；
Fig. 6 is the uncertainty calculation mould of the device of the imaging satellite search land mobile target of one embodiment of the invention
Block block diagram.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work shall fall within the protection scope of the present invention.
A kind of imaging satellite searches for land mobile mesh calibration method, as shown in Figure 1, this method comprises the following steps：
110th, it determines target region movable within the predetermined search period, and region is subjected to mesh generation, obtain several
A grid to be observed；For each grid to be observed, target existing probability is set；It passes by the offline rail of region clock star according to imaging satellite
The observation scope of imaging satellite is divided several observation bands by the attribute sensor that mark and imaging satellite carry；
In this step, target existing probability is set to specifically include for each grid to be observed：
1101st, after the region of goal activities is determined, the fixation road in the region is determined, land mobile target can only
It fixes on road and travels in the region, the grid to be observed being on road is numbered 1~M, and each grid of assignment
Target existing probability is 1/M, is 0 for the grid assignment target existing probability to be observed not on road.
Observation band is required for according to imaging satellite resource etc. of specifically passing by specifically believed before observing each time
Breath is divided.
120th, to each observation band, the grid and the target of grid covered before observation according to each observation band is deposited
In the first uncertainty of each observation band of probability calculation；
In this step, the first uncertainty for observing band be it includes each grid i to be observed it is first uncertain
The sum of degree；
130th, the Methods for Target Detection Probability of remote sensor that is carried according to imaging satellite, false-alarm probability, each grid to be observed
Target existing probability and preset observed result, each grid taken respectively to observation item using the first probability updating rule
Target existing probability be updated；
140th, exist according to the grid of each observation band covering and by target in the preset updated grid of observed result
Probability calculation respectively observes band and it is expected uncertainty, and the of each observation band is acquired with reference to the first uncertainty of each observation band
One uncertainty and the difference for it is expected uncertainty；
150th, select the first uncertainty and it is expected uncertainty between difference maximum observation band as this into
The investigation band searched for when passing by as satellite；Existed according to search result using target in the first probability updating Policy Updates grid
Probability instructs next satellite to pass by and searches for the selection of observation band.
The method of the present embodiment considers land search ring after mesh generation is carried out to land mobile goal activities region
Border feature, land mobile target to be searched can only be fixed on road in zone of action in land and be travelled.Therefore it is general in target
In rate distribution, the probability of occurrence of grid of the land mobile target on road is only considered, in zone of action Nei Danbu roads
The grid of road, it is believed that the probability of occurrence of target is 0.
The method of the present embodiment, which is chosen in choosing when satellite passes by and observes band, can be such that each observation activity reflects to environment
Probabilistic influence, each satellite pass by investigation band selection can maximize reduction search environment uncertainty, thus
Quickly search target.The technical solution of the embodiment of the present invention can be suitably used for imaging satellite and the monitoring of land mobile target searched
Rope can reflect that satellite passes by influence of the investigation to environmental uncertainty every time so that investigation can maximize reduction environment
Uncertainty, and before next observation activity implementation, the first probability updating Policy Updates target is used using last time observed result
The establishment of probability distribution guidance search next time plan, it is achieved thereby that on the basis of search environment is considered, multi-satellite collaboration is fast
Speed efficiently searches the mobile target of land.
In one embodiment, it is general using first according to observed result in imaging satellite search land mobile mesh calibration method
Rate updates existing probability of the Policy Updates target in grid to be observed and includes：
If the 1301st, grid i to be observed be in this imaging satellite pass by the region when observation band searched for and be in
On fixation road in the region, and target is found in grid i to be observed, then
Wherein k represents that the secondary region of passing by of available imaging satellite resource kth scans for, if available imaging satellite resource
There are n times to pass by search engine meeting to the region within the search cycle；pi' (k) be general using first according to preset observed result
Land mobile target existing probability to be searched in the grid i to be observed that rate update Policy Updates obtain；pi(k) it is imaging satellite
Kth time is passed by before observation, and land mobile target to be searched is in the target existing probability of grid i to be observed；pdIt is taken for imaging satellite
The probability of detection of the remote sensor of band；pfFalse-alarm probability for the remote sensor that imaging satellite carries；
The 1302nd, if grid i to be observed is in the observation band searched for when this imaging satellite passes by and is in the region
On interior fixation road, target is not found in grid i to be observed, then：
The 1303rd, if grid i to be observed is not at the observation band searched for when this imaging satellite passes by but in the area
On fixation road in domain, then：
pi' (k)=pi(k), i=1,2 ..., M, k=1,2 ... N
1304th, it is not at fixing the grid to be observed on road in the region to all, land mobile to be observed is set
Target existing probability is 0, and is no longer updated in observation process.
In one embodiment, imaging satellite search land mobile mesh calibration method calculates each observation item using following steps
First uncertainty of band and expectation uncertainty：
1401st, pass by first to imaging satellite kth time search when, obtain this and search for each observation band
Before observation the of each grid i to be observed is calculated according to target existing probability in each grid to be observed for being covered of observation band
One uncertainty
If the 1402nd, in observation bandTarget is found in the grid i to be observed inside included, grid i to be observed is not
Degree of certaintyFor：
If in observation bandTarget is not found in the grid i to be observed inside included, then grid i's to be observed is not true
Fixed degreeFor：
1403rd, the observation band is calculatedExpectation uncertaintyFor：
In formulaRepresent satellite kth time pass by search when, in observation
The probability of target is not found in grid i；Represent satellite kth time pass by search when, seeing
The probability of target is found in the grid i to be observed surveyed；
For the grid to be observed not on road, because its target existing probability is 0, and do not updated with observed result, therefore
It is not considered, to reduce solving complexity.
The imaging satellite search land mobile mesh calibration method of the present invention is carried out below by one embodiment more detailed
Thin introduction.
The imaging satellite search land mobile mesh calibration method of the present embodiment includes the following steps：
Step 1: the predetermined search period is set as [Ts,Te], land mobile target (vehicle) zone of action to be searched is O, living
Dynamic region, that is, target region movable within the predetermined search period, target is in search cycle [Ts,Te] interior scope of activities without departing from
O.There are several fixed road Road={ R in O1,R2,…,Rr, the mobile target G to be searched for can only be moved on Road.Such as Fig. 2
It is shown, O is subjected to mesh generation, that is, moves target and is shifted between the grid on Road, to all on Road
Grid is into 1~M of line label.
Step 2: available imaging satellite resource is set as Sat={ S1,S2,…,Ss, in [Ts,Te] in have 1,2 successively ...
K ... n times pass by O, if kth time is passed by, O is with time window [tk,tWinEndk], it is deposited in grid i to be observed before kth time is passed by
It is p in the probability of targeti(k).If not knowing any prior information of target, then initial time thinks that target is to be observed on road
1~M of grid probabilities of occurrence assign initial target probability of occurrence p to be uniformly distributed, to 1~M of grid to be observedi(1)=1/M, i=1,
2,…M.Remaining grid not on road thinks that target can not possibly occur, and it is p=0 to assign target probability of occurrence value, and from now on
Search process in no longer update.
Step 3: calculate certain searching bar band to pass by such as kth time satellite that passes by.Since satellite borne sensor typically is provided with not
Integrity, if its Methods for Target Detection Probability is pd, false-alarm probability pf.Because imaging satellite satellite borne sensor generally has side-sway ability
To expand its visual range, but imaging satellite once passes by observe and is only capable of being imaged some band in visual range, if
Time the pass by imaging satellite of mission area its remote sensor visual range of kth is divided into a plurality of optional investigation bandSatellite can only be from Strip when performing observationkOne item of middle selection
Band carries out investigations.The selection of different bands, which can reduce environmental uncertainty, different influences, and observation activity need to maximize drop
Low environment is uncertain, so as to find target to be searched faster.IfWherein comprising multiple grids, if
GridTarget existing probability calculates each in the grid to be observed covered before observation according to each observation band
The first uncertainty of grid i to be observed
If kth time is passed by, the imaging satellite of O performs observation activity selectionThen target is may be found that in grid i (i.e.
Preset observed result), it is also possible to target (i.e. preset observed result) is not found.If pi' (k) is updated by observed result
The posterior probability that obtained target occurs in grid i.After being updated by the first probability updating rule according to preset observed result
Test probability.
IfTarget is found in interior grid i, then posterior probability of the target in grid i is：
IfTarget is not found in interior grid i, then posterior probability of the target in grid i：
It is calculated according to preset observed resultExpectation uncertainty step it is as follows：
If in observation bandTarget is found in the grid i to be observed inside included, grid i's to be observed is uncertain
DegreeFor：
If in observation bandTarget is not found in the grid i to be observed inside included, then grid i's to be observed is not true
Fixed degreeFor：
The observation bandExpectation uncertaintyFor：
In formulaRepresent satellite kth time pass by search when, in observation
The probability of target is not found in grid i；Represent satellite kth time pass by search when, seeing
The probability of target is found in the grid i to be observed surveyed；
With reference toThe first uncertainty, then the observation bandThe first uncertainty with it is expected it is uncertain
Difference between degreeFor：
For the grid to be observed not on road, because its target existing probability is 0, and do not updated with observed result, therefore
It is not considered, to reduce solving complexity.
It is selected when imaging satellite passes byMaximum band is as the investigation band that passes by：
Note is generated on assignment instructions to corresponding imaging satellite, the selector bar band when it passes by OPerform observation
The priori observed afterwards according to actual observation result by the use of the first probability updating Policy Updates target distribution posterior probability as next time
The next imaging satellite of probability guidance, which passes by, searches for the selection of observation band, i.e.,
pi(k+1)=pi'(k)
Step 4: when next imaging satellite passes by O season k=k+1 in land mobile goal activities region to be searched, repeat to walk
Rapid three, until search is completed.
Due to land search environment feature difference, land mobile target can only be moved in zone of action along fixed road.
Land mobile goal activities region to be searched in land mobile target search is solved the problems, such as, is carried out grid by the present embodiment
After division, only consider that target in the probability distribution of the grid on road, goes out the grid target being not on road
Existing probability is denoted as 0, and when using the first probability updating Policy Updates target distribution probability, also only update is in the net on road
The probability of lattice.Relative to all grids calculated in zone of action, the destination probability distribution of the grid on fixed road is only considered
And update, fitting land mobile target search is practical, while greatly reduces computation complexity.
A kind of imaging satellite search land mobile mesh calibration method provided in this embodiment is constructed suitable for imaging satellite
The model of land mobile target is searched for, and combines imaging satellite observation use of information the first probability updating Policy Updates target accordingly
Probability distribution.Each observation activity can be made to reflect the shadow to environmental uncertainty when choosing imaging satellite and passing by and observe band
It rings, the pass by selection of investigation band of each imaging satellite can maximize the uncertainty of reduction search environment, so as to quickly search
Rope is to target.The technical solution of the embodiment of the present invention can be suitably used for imaging satellite and the monitoring of land mobile target searched for, can be anti-
It mirrors imaging satellite to pass by every time influence of the investigation to environmental uncertainty so that investigation can maximize that reduce environment not true
It is qualitative, and before next observation activity implementation, the first probability updating Policy Updates destination probability is used using last time observed result
The establishment of distribution guidance search next time plan, it is achieved thereby that on the basis of search environment is considered, multi-satellite collaboration is quick high
Search to effect the mobile target of land.
The embodiment of the invention also discloses a kind of device of imaging satellite search land mobile target, as shown in figure 3, the dress
Put including：
Search mission preprocessing module, for determining land mobile target to be searched area movable within the predetermined search period
Domain, and the region is subjected to mesh generation, obtain several grids to be observed；It passes by the zone of action according to imaging satellite
The attribute sensor that line tracking and imaging satellite carry under clock star is by the Observable range for the imaging satellite satellite borne sensor that passes by
It is divided into several observation bands；
Probability updating module, for the Methods for Target Detection Probability of remote sensor, false-alarm probability, each carried according to imaging satellite
The target existing probability of grid to be observed and preset observed result, using the first probability updating rule respectively to the observation
Each grid that item takes carries out target existing probability update；The first probability is used according to the observed result of grid after observation
Update the target existing probability in Policy Updates grid；
Uncertainty calculation module, comprising the first uncertainty calculation submodule, in the primary mistake of imaging satellite resource
To each observation band before the search of border, the grid and the target of grid covered before observation according to each band exists general
Rate calculates the first uncertainty of each observation band；Uncertainty calculation submodule it is expected, for according to each observation item
With the grid covered and each observation band is calculated by target existing probability in the preset updated grid of observed result it is expected not
Degree of certainty；
Directive generation module acquires each observation with reference to the first uncertainty and expectation uncertainty of each observation band
Difference between first uncertainty of band and expectation uncertainty selects the observation band of difference maximum as this imaging
The observation band searched for when satellite passes by, generation corresponding task are instructed on note to corresponding satellite.
In one embodiment, as shown in figure 4, search mission preprocessing module includes：
Observe band segmentation submodule, for according to satellite pass by land mobile goal activities region to be searched star it is offline
Satellite borne sensor Observable Range-partition is observed band by track and satellite borne sensor attribute into several；
Zone of action mesh generation submodule is suitable for being used after land mobile goal activities region to be searched is obtained
Granularity to the zone of action carry out mesh generation processing；
Target existing probability sets submodule, for after the region of goal activities is determined, determining the fixation road in region
Road, target can only travel on fixed road, 1~M be numbered, and assignment target is deposited to the grid to be observed being on road
It is 1/M in probability, is 0 for the grid assignment target existing probability to be observed not on road.
In one embodiment, as shown in figure 5, probability updating module is general using first according to observed result and relevant parameter
Rate updates existing probability of the Policy Updates land mobile target to be searched in grid to be observed, and module input is divided into following four
Situation includes：
If 1. module input for grid i to be observed be in this imaging satellite pass by the region when observation band searched for
And on the fixation road in the region, and target is found in grid i to be observed, then
Wherein k represents that the secondary region of passing by of available imaging satellite resource kth scans for, if available imaging satellite resource
There are n times to pass by search engine meeting to the region within the search cycle；pi' (k) be general using first according to preset observed result
Land mobile target existing probability to be searched in the grid i to be observed that rate update Policy Updates obtain；pi(k) it is imaging satellite
Kth time is passed by before observation, and land mobile target to be searched is in the target existing probability of grid i to be observed；pdIt is taken for imaging satellite
The probability of detection of the remote sensor of band；pfFalse-alarm probability for the remote sensor that imaging satellite carries；
2. if module input is in the observation band searched for when this imaging satellite passes by for grid i to be observed and is in institute
It states on the fixation road in region, does not find target in grid i to be observed, then：
3. if module input is not at the observation band searched for when this imaging satellite passes by but is in for grid i to be observed
On fixation road in the region, then：
pi' (k)=pi(k), i=1,2 ..., M, k=1,2 ... N；
4. if module input sets land to be observed to move to be not at fixing the grid to be observed on road in the region
Moving-target existing probability is 0.
In one embodiment, as shown in fig. 6, uncertainty calculation module includes：
First uncertainty calculation submodule, pass by first to imaging satellite kth time search when, pre-processed by search mission
Module obtains this and searches for each observation bandThe net to be observed covered before observation according to each observation band
Target existing probability calculates the first uncertainty of each grid i to be observed in lattice
Uncertainty calculation submodule it is expected, if in observation bandMesh is found in the grid i to be observed inside included
Mark, the uncertainty of grid i to be observedFor：
If in observation bandTarget is not found in the grid i to be observed inside included, then grid i's to be observed is not true
Fixed degreeFor：
The observation bandExpectation uncertaintyFor：
In formulaRepresent satellite kth time pass by search when, in observation
The probability of target is not found in grid i；Represent satellite kth time pass by search when, seeing
The probability of target is found in the grid i to be observed surveyed；
For the grid to be observed not on road, because its target existing probability is 0, and do not updated with observed result, therefore
It is not considered, to reduce system solution complexity.
It should be noted that the device of the imaging satellite search land mobile target of the embodiment of the present invention is above-described embodiment
The imaging satellite search corresponding hardware of land mobile mesh calibration method, each step of the method for the embodiment of the present invention and this
The processing step of the device of inventive embodiments is one-to-one, therefore the part for wherein repeating, and is no longer repeated.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in process, method, article or equipment including element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example modifies or carries out equivalent replacement to which part technical characteristic；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. a kind of imaging satellite searches for land mobile mesh calibration method, which is characterized in that described method includes following steps：
It determines zone of action of the land mobile target to be searched within the predetermined search period, and the zone of action is subjected to grid
It divides, obtains several grids to be observed；The zone of action for land mobile target to be searched within the predetermined search period most
Big scope of activities；For each grid to be observed, target existing probability is set；It passes by the zone of action according to imaging satellite
The observation scope of imaging satellite is divided several observation bands by the attribute sensor that line tracking and imaging satellite carry under clock star；
To each observation band, before observation according to grid to be observed that each observation band is covered and it is each described in treat
The target existing probability of observation grid calculates the first uncertainty of each observation band；
The target presence of the Methods for Target Detection Probability of remote sensor, false-alarm probability, each grid to be observed carried according to imaging satellite
Probability and preset observed result each described are waited to see to what the observation item took respectively using the first probability updating rule
Survey grid lattice carry out target existing probability update；
According to the grid to be observed of each observation band covering and by the preset updated grid to be observed of observed result
Target existing probability calculates the expectation uncertainty of each observation band, is acquired with reference to the first uncertainty of each observation band
Difference of first uncertainty of each observation band with it is expected uncertainty；
The first uncertainty is selected with it is expected that the observation band of uncertainty difference maximum passes by as this imaging satellite
The observation band searched for during the zone of action, and generate in corresponding instruction on note to corresponding imaging satellite；
The first probability updating Policy Updates land mobile target to be searched is utilized each to be observed according to observed result after observation
The probability distribution of grid, and imaging satellite resource is instructed to pass by when zone of action scans for next time according to this probability distribution and observed
The selection of band.
2. according to the method described in claim 1, it is characterized in that, described set target to exist for each grid to be observed
Probability includes：
It is determining in the predetermined search period behind land mobile goal activities region to be searched, to determine the fixation in the zone of action
Road, land mobile target to be searched can only be fixed on road in the zone of action and be travelled, to being in the fixed road
On grid to be observed 1~M is numbered, and each grid target existing probability to be observed is set for 1/M, for not described solid
The grid to be observed setting target existing probability determined on road is 0.
3. method according to claim 1 or claim 2, which is characterized in that the method calculates before imaging satellite passes by observation
First uncertainty of each observation band, the first probability updating Policy Updates land to be searched is used according to preset observed result
Existing probability of the mobile target in grid to be observed, and according to the preset updated each net to be observed of observed result
The target existing probabilities of lattice calculates the expectation uncertainty of each observation band, and band the is respectively observed with reference to the first uncertainty calculation
Difference between one uncertainty and expectation uncertainty, it is general carrying out grid using the first probability updating rule by observed result
Rate is divided into following four situation when updating and includes：
If 1. grid i to be observed be in this imaging satellite pass by the zone of action when observation band searched for and in described
On fixation road in zone of action, and target is found in grid i to be observed, then
Wherein k represents that the secondary zone of action of passing by of imaging satellite resource kth scans for, if imaging satellite is within the search cycle
There are n times to pass by search engine meeting to the zone of action；pi' (k) be according to preset observed result using the first probability updating rule
Land mobile target existing probability to be searched in the grid i to be observed then updated；pi(k) it is imaging satellite kth time mistake
Before the observation of border, land mobile target to be searched is in the target existing probability of grid i to be observed；pdThe remote sensing carried for imaging satellite
The probability of detection of device；pfFalse-alarm probability for the remote sensor that imaging satellite carries；
2. if grid i to be observed is in the observation band searched for when this imaging satellite passes by and is in the zone of action
On fixed road, target is not found in grid i to be observed, then：
3. if grid i to be observed is not at the observation band searched for when this imaging satellite passes by but in the zone of action
Fixation road on, then：
pi' (k)=pi(k), i=1,2 ..., M, k=1,2 ... N
4. being not at fixing the grid to be observed on road in the zone of action to all, land mobile target to be observed is set
Existing probability is 0, and is no longer updated in observation process；
After probability updating is carried out according to preset observed result, each observation the first uncertainty of band is calculated with the following method
With it is expected the difference between uncertainty：
When secondary zone of action of passing by scans for imaging satellite kth first, obtain this and search for each observation band
Target existing probability calculates each grid i's to be observed in the grid to be observed covered before observation according to each observation band
First uncertainty
If in observation bandTarget, the uncertainty of grid i to be observed are found in the grid i to be observed inside includedFor：
If in observation bandTarget is not found in the grid i to be observed inside included, then the uncertainty of grid i to be observedFor：
The then observation bandExpectation uncertaintyFor：
In formulaRepresent imaging satellite kth time pass by search when, to be observed
Grid i in do not find the probability of target；Represent satellite kth time pass by search when,
The probability of target is found in the grid i to be observed of observation；
The then observation bandThe first uncertainty and it is expected uncertainty between differenceFor：
For the grid to be observed not on road, because its target existing probability is 0, and do not updated with observed result.
4. a kind of device of imaging satellite search land mobile target, which is characterized in that described device includes：
Search mission preprocessing module, for determining land mobile target to be searched region movable within the predetermined search period,
And the zone of action is subjected to mesh generation, obtain several grids to be observed；It passes by the behaviour area according to imaging satellite
The attribute sensor that line tracking and imaging satellite carry under the clock star of domain is by the Observable model for the imaging satellite satellite borne sensor that passes by
It encloses and is divided into several observation bands；
Probability updating module, for carried according to imaging satellite the Methods for Target Detection Probability of remote sensor, false-alarm probability, each wait to see
The target existing probability of survey grid lattice and preset observed result, using the first probability updating rule respectively to the observation band
On each grid to be observed carry out target existing probability update；The first probability updating is used according to observed result after observation
Target existing probability in Policy Updates grid；
Uncertainty calculation module, comprising the first uncertainty calculation submodule, for passing by behaviour area in imaging satellite resource
To each observation band before domain search, the grid to be observed that is covered before observation according to each observation band and each treat
The target existing probability of observation grid calculates the first uncertainty of each observation band；It is expected uncertainty calculation submodule
Block, for the grid to be observed covered according to each observation band and by mesh in the preset updated grid to be observed of observed result
It marks existing probability and calculates each observation band expectation uncertainty；
Directive generation module acquires each observation band with reference to the first uncertainty and expectation uncertainty of each observation band
The first uncertainty and it is expected uncertainty between difference, select the observation band of difference maximum as this imaging satellite
The observation band searched for when passing by is generated on corresponding assignment instructions on note to corresponding satellite.
5. device according to claim 4, which is characterized in that search mission preprocessing module includes：
Band segmentation submodule is observed, for line tracking under the star in land mobile goal activities region to be searched of passing by according to satellite
Satellite borne sensor Observable Range-partition is observed into band into several with satellite borne sensor attribute；
Zone of action mesh generation submodule, for using suitable grain after land mobile goal activities region to be searched is obtained
Degree carries out mesh generation processing to the zone of action；
Target existing probability sets submodule, for after the region of goal activities is determined, determining the fixation road in the region
Road, land mobile target to be searched can only travel on fixed road, the grid to be observed being on road is numbered 1~
M, and assignment target existing probability is 1/M, is 0 for the grid assignment target existing probability to be observed not on road.
6. according to 4 or 5 described device of claim, which is characterized in that the probability updating module uses first according to observed result
Existing probability of the probability updating Policy Updates land mobile target to be searched in grid to be observed, module input are divided into following four
Kind situation includes：
If 1. module input for grid i to be observed be in this imaging satellite pass by the region when observation band searched for and place
In on the fixation road in the zone of action, and target is found in grid i to be observed, then
Wherein k represents that the secondary zone of action of passing by of available imaging satellite resource kth scans for, and is set as searching as satellite resource
There are in the rope period n times to pass by search engine meeting to the zone of action；pi' (k) be general using first according to preset observed result
Land mobile target existing probability to be searched in the grid i to be observed that rate update Policy Updates obtain；pi(k) it is imaging satellite
Kth time is passed by before observation, and land mobile target to be searched is in the target existing probability of grid i to be observed；pdIt is taken for imaging satellite
The probability of detection of the remote sensor of band；pfFalse-alarm probability for the remote sensor that imaging satellite carries；
2. if module input is in the observation band searched for when this imaging satellite passes by for grid i to be observed and is in the work
On fixation road in dynamic region, target is not found in grid i to be observed, then：
3. if module input is not at the observation band searched for when this imaging satellite passes by but in described for grid i to be observed
On fixation road in zone of action, then：
pi' (k)=pi(k), i=1,2 ..., M, k=1,2 ... N
4. if module input sets land to be observed to move to be not at fixing the grid to be observed on road in the zone of action
Moving-target existing probability is 0.
7. the device described in claim 4, which is characterized in that the uncertainty calculation module includes：
First uncertainty calculation submodule, pass by first to imaging satellite kth time search when, by search mission preprocessing module
It obtains this and searches for each observation bandAccording in each grid to be observed observed band and covered before observation
Target existing probability calculates the first uncertainty of each grid i to be observed
Uncertainty calculation submodule it is expected, if in observation bandTarget is found in the grid i to be observed inside included, is treated
The uncertainty of observation grid iFor：
If in observation bandTarget is not found in the grid i to be observed inside included, then the uncertainty of grid i to be observedFor：
The observation bandExpectation uncertaintyFor：
In formulaRepresent imaging satellite kth time pass by search when, in observation
The probability of target is not found in grid i；Represent imaging satellite kth time pass by search when,
The probability of target is found in grid i to be observed to be observed；
For the grid to be observed not on the fixed road, because its target existing probability is 0, and not with observed result more
Newly, it therefore is not considered, to reduce system solution complexity.
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