CN108269009A - More imaging satellite region overlay task dynamic programming methods - Google Patents
More imaging satellite region overlay task dynamic programming methods Download PDFInfo
- Publication number
- CN108269009A CN108269009A CN201810010401.3A CN201810010401A CN108269009A CN 108269009 A CN108269009 A CN 108269009A CN 201810010401 A CN201810010401 A CN 201810010401A CN 108269009 A CN108269009 A CN 108269009A
- Authority
- CN
- China
- Prior art keywords
- grid
- list
- vertex
- imaging satellite
- covering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
Abstract
The invention discloses a kind of more imaging satellite region overlay task dynamic programming methods, belong to technical field of satellite communication.More imaging satellite region overlay task dynamic programming methods include two stages, by generation covering pattern and selection covering pattern phase separation so that this method is rational in infrastructure, clear layer；The more thoughts of the imaging satellite region overlay task dynamic programming method based on greedy algorithm, are capable of providing at least one covering scheme so that multiple imaging satellites complete region overlay task early as far as possible.
Description
Technical field
The present invention relates to technical field of satellite communication, are advised more particularly to a kind of more imaging satellite region overlay task dynamics
The method of drawing.
Background technology
By taking the search of horse boat MH370 as an example, on March 20th, 2014, Australia claims doubtful in the discovery of the southern Indian Ocean
MH370 remains, position are：Latitude -43.58, longitude 90.57.In order to search for the near zone, range can be expanded as with
A square area centered on the point.
China once called more imaging satellites to be unfolded to search for MH370, and the imaging region of every imaging satellite is an item
Strip region.Fig. 1 shows the schematic diagram in the strip-form region of the imaging of an imaging satellite, as shown in Figure 1, by control into
As the switching on and shutting down time of the sensor (such as camera) on satellite, the position in the strip-form region of sensor imaging is can be along imaging
Scanning direction variation, the length in strip-form region is also that can change..
It is rational to arrange respectively in the case of imaging satellite resource abundance since imaging satellite imaging needs elapsed time
The position in the strip-form region of a imaging satellite imaging, so that multiple imaging satellites are in the premise that whole region is completely covered
Under as early as possible completion region overlay task there is vital meaning.
Invention content
The object of the present invention is to provide a kind of more imaging satellite region overlay task dynamic programming methods, this method passes through tune
Be made into the strip-form region as satellite imagery length and along imaging satellite image scanning direction position obtain it is as early as possible
Completion region overlay task covering scheme.
To achieve these goals, on the one hand, embodiments of the present invention provide a kind of more imaging satellite region overlays
Task dynamic programming method, including generation covering pattern and selection covering pattern, wherein generation covering pattern specifically include it is following
Step：Determine the image scanning direction of multiple imaging satellites；The rectangular area for being intended to covering is divided into multiple grids, to generate the
One grid list G；For each imaging satellite in multiple imaging satellites：The image scanning direction for judging imaging satellite is
One inclined direction or the second inclined direction；In the image scanning direction for judging imaging satellite for the situation of the first inclined direction
Under, it, will according to the image scanning direction of imaging satellite using the top left corner apex of the arbitrary mess in the first grid list G as basic point
The multiple Grids reorderings divided, to generate the second grid list LG, with the upper left corner of the grid in the second grid list LG
Vertex and bottom right angular vertex are basic point, and the width in the strip-form region covered according to imaging satellite determines the covering mould of imaging satellite
Four vertex of formula, to form the grid in the second grid list LG of imaging satellite covering pattern and traversal, with shape
Into the covering pattern list of imaging satellite；In the case where the imaging direction for judging imaging satellite is the second inclined direction, with
The upper right angular vertex of arbitrary mess in one grid list G is basic point, according to the image scanning direction of imaging satellite by division
Multiple Grids reorderings, to generate third grid list LG, and with the upper right angular vertex of the grid in third grid list LG
It is basic point with lower-left angular vertex, the width in the strip-form region covered according to imaging satellite determines the covering pattern of imaging satellite
Four vertex, to form imaging satellite covering pattern and traverse grid in third grid list LG, with formed into
As the covering pattern list of satellite；Multiple imaging satellites are traversed, to obtain covering pattern set, which includes every
The covering pattern list of a imaging satellite；Selection covering pattern specifically includes following steps：Establish the 4th grid list, the 4th net
Lattice list is in the initial state comprising all grids in the first grid list；For any one net in the 4th grid list
Lattice：All covering patterns that the grid can be completely covered are filtered out from covering pattern set, to obtain covering for the grid
Lid mode list CL；The execution for calculating each covering pattern in the covering pattern list CL of imaging satellite execution grid terminates
Time obtains the earliest of grid coverage and performs the end time；The 4th grid list is traversed, is obtained and the institute in the 4th grid list
The earliest of some grids performs the end time；The preferential of the value maximum of execution end time earliest is selected from the 4th grid list
Grid；For preferential grid：Selection terminates with covering earliest perform of preferential grid from the covering pattern list of preferential grid
Covering pattern corresponding to time, and determine imaging satellite corresponding with the covering pattern；From covering for identified imaging satellite
All covering patterns of preferential grid can be covered by being filtered out in lid mode list, and be selected from all covering patterns filtered out
Selected covering pattern of the most covering pattern of number of grid of covering as identified imaging satellite is selected, and will be determined
All covering patterns of imaging satellite deleted from covering pattern set；The grid coverage list of selected covering pattern is obtained,
The grid included in grid coverage list is deleted from the 4th grid list, to update the 4th grid list；Judge the 4th net
Whether lattice list is sky list；In the case where judging that the 4th grid list is not sky list, the updated 4th is recalculated
The earliest of each grid performs the end time in grid list, to obtain the selected of new preferential grid and new preferential grid
Covering pattern；In the case that in the 4th grid, list is empty, selected covering pattern is formed for the rectangle region to be covered
The covering scheme in domain.
Through the above technical solutions, more imaging satellite region overlay task dynamic programming methods are divided into two stages, it is raw
Into covering pattern and selection covering pattern phase separation so that this method is rational in infrastructure, clear layer；It covers in more imaging satellite regions
Lid task dynamic programming method is capable of providing at least one so that imaging satellite completes the covering side of region overlay as early as possible
Case.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 shows the schematic diagram in the strip-form region of the imaging of an imaging satellite；
Fig. 2 is that the generation of more imaging satellite region overlay task dynamic programming methods according to the embodiment of the present invention is covered
The flow chart of cover mold formula；
Fig. 3 is that the selection of more imaging satellite region overlay task dynamic programming methods according to the embodiment of the present invention is covered
The flow chart of cover mold formula.
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
In this application, in the case where not making to illustrate on the contrary, the noun of locality such as " top left corner apex ", " lower left corner that use
Vertex ", " upper right angular vertex ", " bottom right angular vertex " are typically referred to reference to " top left corner apex " shown in the drawings, " are pushed up in the lower left corner
Point ", " upper right angular vertex ", " bottom right angular vertex "." inside and outside " refers to relative to the inside and outside of each component profile itself.
In presently filed embodiment, image scanning straight line is swept for the edge in the image scanning region of corresponding imaging satellite
Retouch the center line in direction.
In presently filed embodiment, covering pattern can refer to imaging satellite imaging coverage domain (or claim imaging
Scanning area).
Covering pattern generates
For example, using NTA imaging satellite, which covers the rectangular area A for wanting covering, can include generation covering mould
Formula and selection two stages of covering pattern, wherein NTA imaging satellite forms imaging satellite list S, S and can be denoted as
Fig. 2 is that the generation of more imaging satellite region overlay task dynamic programming methods according to the embodiment of the present invention is covered
The flow chart of cover mold formula；As shown in Fig. 2, in one embodiment of the present invention, generation covering pattern can include：
In step S101, the image scanning direction of multiple imaging satellites is determined；
In step s 102, the rectangular area A for being intended to covering is divided into multiple grids, to generate the first grid list G, and
To the grid number consecutively in the first grid list G, wherein the first grid list G can be denoted as
Define i-th of grid giTop left corner apex, upper right angular vertex, lower-left angular vertex and bottom right angular vertex coordinate be respectively p1(i)
=＜ x1(i),y1(i) ＞, p2(i)=＜ x2(i),y2(i) ＞, p3(i)=＜ x3(i),y3(i) ＞, p4(i)=＜ x4(i),y4
(i) ＞；
For each imaging satellite in imaging satellite list S：
In step s 103, the image scanning direction for judging imaging satellite is the first inclined direction or the second inclination side
To.First inclined direction for example can be including the direction " from top left corner apex to bottom right angular vertex " or " from bottom right angular vertex
To top left corner apex " direction either on general inclination along " from top left corner apex to bottom right angular vertex " direction or " from
Bottom right angular vertex is to top left corner apex " direction (for example, relative to vertical direction toward left bank in figure).Second inclined direction
Such as direction " from lower-left angular vertex to upper right angular vertex " or " from upper right angular vertex to lower-left angular vertex " can be included
Direction is either on general inclination along the direction of " from lower-left angular vertex to upper right angular vertex " or " from upper right angular vertex to a left side
The direction (for example, relative to vertical direction toward right bank in figure) of lower angular vertex ".
In step S104 in the case where the first inclined direction is in the image scanning direction for judging imaging satellite, with
The top left corner apex of arbitrary mess in one grid list G is basic point, according to the image scanning direction of imaging satellite by division
Multiple Grids reorderings (being renumberd to the grid in the first grid list G), to generate the second grid list LG；
In step S105, using the top left corner apex and bottom right angular vertex of the grid in the second grid list LG as basic point,
According to imaging satellite cover strip-form region width determine the imaging satellite covering pattern four vertex, with formed into
As satellite a covering pattern and traversal the second grid list LG in all grids, to form the covering of imaging satellite
Mode list；
In step s 106, in the case where the second inclined direction is in the image scanning direction for judging imaging satellite, with
The upper right angular vertex of arbitrary mess in one grid list G is basic point, according to the image scanning direction of imaging satellite by division
Multiple Grids reorderings (being renumberd to the grid in the first grid list G), to generate third grid list LG；
In step s 107, using the upper right angular vertex and lower-left angular vertex of the grid in third grid list LG as basic point,
The width in the strip-form region covered according to imaging satellite determines four vertex of the covering pattern of imaging satellite, to form imaging
All grids in one covering pattern of satellite and traversal third grid list LG, to form the covering mould of imaging satellite
Formula list；
In step S108, each imaging satellite in imaging satellite list S is traversed, to obtain covering pattern set,
The covering pattern set includes the covering pattern list of each imaging satellite.
In one embodiment of the present invention, using the top left corner apex of the arbitrary mess in the first grid list G as basic point,
According to the image scanning direction of imaging satellite by multiple Grids reorderings (number) of division, to generate the second grid list LG
Can specifically it include：
A grid g is arbitrarily selected from the first grid list Gz, parallel with the image scanning direction of imaging satellite
The grid g with selection is determined on straight line (hereinafter referred to as image scanning straight line)zTop left corner apex p1(z) distance is two of R
Point Pl(xl,yl) and Pr(xr,yr), wherein R for example may be greater than a number of the length of the diagonal apex lines of rectangular area A
Value, xlAnd ylRespectively point Pl(xl,yl) longitude and latitude value, xrAnd yrRespectively point Pr(xr,yr) longitude and latitude
Value, and xl＜ xr。
The grid g with selection on the image scanning straight line of imaging satellitezTop left corner apex p1(z) distance is R's
Equation group (1) expression may be used in two points：
Wherein, x represents longitude, and y represents latitude, xl＜ x1(z) ＜ xr, x1(z) and y1(z) be respectively selection grid gz's
Top left corner apex p1(z) longitude and latitude value, xlAnd xrRespectively point Pl(xl,yl) and point Pr(xr,yr) longitude, R is
Setting value, A, B, C are the parameter of the image scanning straight line of imaging satellite；
With point Pr(xr,yr) it is starting point, with point Pl(xl,yl) it is that terminal determines reference vector, with point Pr(xr,yr) it is starting point,
With the arbitrary mess g in the first grid list GiTop left corner apex p1(i) it determines a vector for terminal, calculates the vector and joining
Examine the projection on vector；
The grid in the first grid list G is traversed, obtains vector projection list；
Projection in vector projection list is arranged according to projected length descending, with to the correspondence in the first grid list G
Grids reordering (number), construct the second grid list LG.
Using the upper right angular vertex of the arbitrary mess in the first grid list G as basic point, according to the image scanning of imaging satellite
Direction can specifically include multiple Grids reorderings (number) of division to generate third grid list LG：
A grid g is arbitrarily selected from the first grid list Gz, on the image scanning straight line of imaging satellite determine with
The grid g of selectionzUpper right angular vertex p2(z) distance is two point P of Rl(xl,yl) and Pr(xr,yr), wherein R for example can be with
It is greater than a numerical value of the length of the diagonal apex lines of rectangular area A, xlAnd ylRespectively point Pl(xl,yl) longitude and latitude
Angle value, xrAnd yrRespectively point Pr(xr,yr) longitude and latitude value, and xl＜ xr。
The grid g with selection on the image scanning straight line of imaging satellitezUpper right angular vertex p2(z) distance is R's
Equation group (2) expression may be used in two points：
Wherein, x represents longitude, and y represents latitude, xl＜ x2(z) ＜ xr, x2(z) and y2(z) be respectively selection grid gz's
Upper right angular vertex p2(z) longitude and latitude value, xlAnd xrRespectively point Pl(xl,yl) and point Pr(xr,yr) longitude, R is
Setting value, A, B, C are the parameter of the image scanning straight line of imaging satellite；
With point Pl(xl,yl) it is starting point, with point Pr(xr,yr) it is that terminal determines reference vector, with point Pl(xl,yl) it is starting point,
Arbitrary mess g in first grid list GiUpper right angular vertex p2(i) it determines a vector for terminal, calculates the vector and referring to
Projection on vector；
The grid in the first grid list G is traversed, obtains vector projection list；
Projection in vector projection list is arranged according to projected length descending, to corresponding in the first grid list G
Grids reordering (number), construction third grid list LG.
In one embodiment of the present invention, it is pushed up with the top left corner apex of the grid in the second grid list LG and the lower right corner
Point is basic point, and the width in the strip-form region covered according to imaging satellite determines four vertex of the covering pattern of imaging satellite,
To form all grids in the second grid list LG of imaging satellite covering pattern and traversal, defended with forming imaging
The covering pattern list of star can specifically include：
A first grid g is arbitrarily selected in the second grid list LGi, passing through the first grid giTop left corner apex
p1(i) and with imaging satellite sjThe vertical straight line in image scanning direction on determine with image scanning straight line Ax+By+C=0 away from
The first vertex U from the half of the width in strip-form region covered equal to the imaging satellite1(x1,i,y1,i) and the second vertex U2
(x2,i,y2,i),
Pass through the first grid giTop left corner apex p1(i) and with imaging satellite sjThe vertical straight line in image scanning direction
On the strip-form region for being equal to imaging satellite covering with the distance of image scanning straight line Ax+By+C=0 width half
The first vertex U1(x1,i,y1,i) and the second vertex U2(x2,i,y2,i) equation group (3) may be used to represent：
Wherein, x represents longitude, and y represents latitude, C1(i)=Ay1(i)-B·x1(i), x1(i) and y1(i) it is respectively
One grid giTop left corner apex p1(i) longitude and latitude value, wjFor j-th of imaging satellite sjIt is imaged the band of (covering)
The width in shape region, A, B, C are the parameter of the image scanning straight line of imaging satellite, and the first vertex and the second vertex represent respectively
For U1(x1,i,y1,i) and U2(x2,i,y2,i), x1,iAnd y1,iThe longitude and latitude value on respectively the first vertex, x2,iAnd y2,iRespectively
Longitude and latitude value for the second vertex；
A second grid g is selected in the second grid list LGk, the second grid gkVolume in the second grid list LG
Number be more than or equal to the first grid number, i.e. k >=i, in the bottom right angular vertex p by the second grid gk4(z) and and imaging satellite
sjThe vertical straight line in image scanning direction on determine the band for being equal to imaging satellite covering with the distance of image scanning straight line
The third vertex U of the half of the width in shape region3(x3,i,y3,i) and the 4th vertex U4(x4,i,y4,i),
Pass through the second grid gkBottom right angular vertex p4(k) and with imaging satellite sjThe vertical straight line in image scanning direction
The third of the half of the width in the upper strip-form region determining for being equal to imaging satellite covering with image scanning straight line distance
Vertex U3(x3,i,y3,i) and the 4th vertex U4(x4,i,y4,i) equation group (4) may be used to represent：
Wherein, x represents longitude, and y represents latitude, C4(k)=Ay4(k)-B·x4(k), x4(k) and y4(k) it is respectively
Two grid gkBottom right angular vertex p4(k) longitude and latitude value, wjFor the strip-form region with j-th of imaging satellite imaging
Width, A, B, C are the parameter of the image scanning straight line of imaging satellite, and third vertex and the 4th vertex are expressed as U3
(x3,i,y3,i)U4(x4,i,y4,i), x3,iAnd y3,iThe respectively longitude and latitude value on third vertex, x4,iAnd y4,iRespectively
The longitude and latitude value on four vertex；
With the first vertex U1(x1,i,y1i,), the second vertex U2(x2,i,y2i,), third vertex U3(x3,i,y3i,) and the 4th top
Point U4(x4,i,y4,i) be overlay area vertex, form imaging satellite sjA covering pattern Cs；
For the first grid giWith the second grid g for meeting k >=ikThe grid in the second grid list LG is traversed successively, is obtained
Obtain imaging satellite sjBasic covering pattern list；
In imaging satellite sjBasic covering pattern list in add a virtual covering pattern C0, defended with obtaining imaging
The covering pattern list Q of starj, virtual covering pattern C0It is defined as not covering any grid, the energy of consumption or time is
Zero covering pattern；
All imaging satellites in imaging satellite list are traversed, obtain total covering pattern list CoverList.
Using the upper right angular vertex and lower-left angular vertex of the grid in third grid list LG as basic point, covered according to imaging satellite
The width in the strip-form region of lid determines four vertex of the covering pattern of imaging satellite, to form imaging satellite covering
Grid in pattern and traversal third grid list LG, can specifically be included with the covering pattern list for forming imaging satellite：
A first grid g is arbitrarily selected in third grid list LGi, passing through the first grid giUpper right angular vertex
p2(i) and on the straight line vertical with image scanning straight line it determines to be equal to imaging satellite covering with the distance of image scanning straight line
First vertex U of the half of the width in strip-form region1(x1,i,y1,i) and the second vertex U2(x2,i,y2,i)；
Pass through the first grid giUpper right angular vertex p2(i) and with imaging satellite sjThe vertical straight line in image scanning direction
On the strip-form region for being equal to imaging satellite covering with the distance of image scanning straight line width half the first vertex
U1(x1,i,y1,i) and the second vertex U2(x2,i,y2,i) equation group (5) may be used to represent：
Wherein, x represents longitude, and y represents latitude, C2(i)=Ay2(i)-B·x2(i), x2(i) and y2(i) it is respectively
One grid giUpper right angular vertex p2(k) longitude and latitude value, wjFor the strip-form region with j-th of imaging satellite imaging
Width, A, B, C are the parameter of the image scanning straight line of imaging satellite, and the first vertex and the second vertex are expressed as U1
(x1,i,y1,i) and U2(x2,i,y2,i), x1,iAnd y1,iThe longitude and latitude value on respectively the first vertex, x2,iAnd y2,iRespectively
The longitude and latitude value on the second vertex；
A second grid g is selected in third grid list LGk, the second grid gkVolume in the second grid list LG
Number it is more than or equal to the number of the first grid, i.e. k >=i passing through the second grid gkLower-left angular vertex p3(k) and and imaging satellite
sjThe vertical straight line in image scanning direction on determine the band for being equal to imaging satellite covering with the distance of image scanning straight line
The third vertex U of the half of the width in shape region3(x3,i,y3,i) and the 4th vertex U4(x4,i,y4,i)；
Pass through the second grid gzLower-left angular vertex p3(k) and with imaging satellite sjThe vertical straight line in image scanning direction
On the strip-form region for being equal to imaging satellite covering with the distance of image scanning straight line width half third vertex
U3(x3,i,y3,i) and the 4th vertex U4(x4,i,y4,i) equation group (6) may be used to represent：
Wherein, x represents longitude, and y represents latitude, C3(k)=Ay3(k)-B·x3(k), x3(k) and y3(k) it is respectively
Two grid gkLower-left angular vertex p3(k) longitude and latitude value, wjFor the strip-form region with j-th of imaging satellite imaging
Width, A, B, C are the parameter of the image scanning straight line of imaging satellite, and third vertex and the 4th vertex are expressed as U3
(x3,i,y3,i)U4(x4,i,y4,i), x3,iAnd y3,iThe respectively longitude and latitude value on third vertex, x4,iAnd y4,iRespectively
The longitude and latitude value on four vertex；
With the first vertex U1(x1,i,y1i,), the second vertex U2(x2,i,y2i,), third vertex U3(x3,i,y3i,) and the 4th top
Point U4(x4,i,y4,i) be overlay area vertex, form imaging satellite sjA covering pattern Cs；
For the first grid giWith the second grid g for meeting k >=ikGrid in traversal third grid list LG successively, is obtained
Obtain imaging satellite sjBasic covering pattern list；
In each imaging satellite sjBasic covering pattern list in add a virtual covering pattern C0, with obtain into
As the covering pattern list Q of satellitej, virtual covering pattern C0Be defined as not covering any grid, the energy of consumption or when
Between be zero covering pattern；
All imaging satellites in imaging satellite list are traversed, obtain total covering pattern list CoverList.
First inclined direction can for example refer to image scanning straight line parameter A and B meet AB ＞ 0 straight line direction,
Second inclined direction can for example refer to image scanning straight line parameter A and B meet AB ＜ 0 straight line direction.
Covering pattern selects
Fig. 3 is that the selection of more imaging satellite region overlay task dynamic programming methods according to the embodiment of the present invention is covered
The flow chart of cover mold formula.As shown in figure 3, in one embodiment of the present invention, in the case of imaging satellite resource abundance
Under, it is expected to complete the covering to rectangular area A within the shortest time, covering pattern is selected to may comprise steps of：
In step s 201, the 4th grid list is established, the 4th grid list includes the first mesh column in the initial state
All grids in table；
For any one grid in the 4th grid list (with i-th of grid giFor)：
In step S202, being filtered out from covering pattern set all can be completely covered grid giCovering mould
Formula, to obtain grid giCovering pattern list CL (gi)；
In step S203, imaging satellite is calculated respectively and performs grid giCovering pattern list CL (gi) in each
The execution end time of covering pattern, to obtain grid giEarliest perform end time, grid giEarliest perform the end time
It is denoted as earlist_time (gi)；
In step S204, the 4th grid list is traversed, obtains holding earliest for all grids in the 4th grid list
The row end time；
In step S205, the preferential grid for the value maximum for performing the end time earliest is selected from the 4th grid list；
For preferential grid (with grid giFor) perform following steps：
In step S206, from preferential grid giCovering pattern list CL (gi) select with covering preferential grid giMost
The early covering pattern performed corresponding to the end time, and determine corresponding with covering pattern imaging satellite (assuming that it is determining into
As satellite is j-th of imaging satellite sj)；
In step S207, from identified imaging satellite sjCovering pattern list CLjIn filter out can cover it is preferential
All covering patterns of grid, and the covering pattern for selecting the number of grid of covering most from all covering patterns filtered out
As identified imaging satellite sjSelected covering pattern, and by imaging satellite sjCovering pattern list CLjFrom covering pattern
It is deleted in set；
Selected grid giSelected covering pattern can for example be denoted as Cs *(gi)；
In step S208, selected covering pattern C is obtaineds *(gi) grid coverage list GL (Cs *(gi)) by grid coverage
List GL (Cs *(gi)) in the grid that includes deleted from the 4th grid list, to update the 4th grid list；
In step S209, judge whether (updated) the 4th grid list is sky list；
In the case where judging that the 4th grid list is not sky list, updated 4th grid list is recycled and is performed
Step S202 to step S209；
In step S210 in the case where judging the 4th grid list is empty list, by all selected covering patterns
Form the covering scheme for the rectangular area to be covered.
In one embodiment of the present invention, such as imaging satellite performs covering pattern list CL (gi) in covering pattern
CsThe execution end time be denoted as time (Cs), then grid coverage giEarliest perform the end time and be：
Wherein, earlist_time (gi) it is grid coverage giIt is earliest perform the end time, min is minimum value function,
time(Cs) it is that imaging satellite performs covering pattern list CL (gi) in covering pattern CsThe execution end time.
Thought based on greedy algorithm for a grid, covers the earliest of the grid and performs the end time
Earlist_time is bigger, grid selection more should preferentially be allowed to cover its imaging satellite, so that multiple imaging satellites are use up
The covering task to rectangular area is possibly completed early.
In one embodiment of the present invention, from identified imaging satellite sjCovering pattern list CLjMiddle selection covering
The most covering pattern of number of grid as grid giSelected covering pattern, and it is non-selection take shortest covering pattern,
This is because the time difference needed for the covering pattern generated due to performing same imaging satellite is little, the grid of covering is selected
The most covering pattern of quantity is more in line with the thought of greedy algorithm.
In the case of imaging satellite resource abundance, the condition of the 4th grid list is empty list can necessarily be met,
The rectangular area to be covered can be necessarily completely covered, that is to say, that the method for above-mentioned selection covering pattern is capable of providing at least
One covering scheme, so that multiple imaging satellites complete area as early as possible under the premise of ensureing that rectangular area is completely covered
Domain covers task.
Embodiments of the present invention also provide a kind of computer readable storage medium, and instruction is stored on the storage medium,
The instruction is for when being executed by a processor so that processor performs any one above-mentioned more imaging satellite region overlay task and moves
State planing method.
The above embodiment is crossed, more imaging satellite region overlay task dynamic programming methods are divided into two stages, is generated
Covering pattern and selection covering pattern phase separation so that this method is rational in infrastructure, clear layer；More imaging satellite region overlays
Task dynamic programming method is capable of providing at least one so that imaging satellite completes the covering scheme of region overlay as early as possible.
The optional embodiment of example of the present invention, still, the embodiment of the present invention and unlimited are described in detail above in association with attached drawing
Detail in the above embodiment, can be to the embodiment of the present invention in the range of the technology design of the embodiment of the present invention
Technical solution carry out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that one
A (can be microcontroller, chip etc.) or processor (processor) perform whole or the portion of each embodiment method of the application
Step by step.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), with
Various Jie that can store program code such as machine access memory (RAM, Random Access Memory), magnetic disc or CD
Matter.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (5)
1. a kind of more imaging satellite region overlay task dynamic programming methods, which is characterized in that including generation covering pattern and choosing
Covering pattern is selected, wherein generation covering pattern specifically includes following steps：
Determine the image scanning direction of multiple imaging satellites；
The rectangular area for being intended to covering is divided into multiple grids, to generate the first grid list G；
For each imaging satellite in the multiple imaging satellite：
The image scanning direction for judging the imaging satellite is the first inclined direction or the second inclined direction；
In the case where first inclined direction is in the image scanning direction for judging the imaging satellite, with first grid
The top left corner apex of arbitrary mess in list G is basic point, according to the image scanning direction of imaging satellite by the described more of division
A Grids reordering, to generate the second grid list LG,
Using the top left corner apex and bottom right angular vertex of the grid in the second grid list LG as basic point, defended according to the imaging
The width in the strip-form region of star covering determines four vertex of the covering pattern of the imaging satellite, is defended with forming the imaging
Grid in one covering pattern of star and traversal the second grid list LG, to form the covering of the imaging satellite
Mode list；
In the case where the imaging direction for judging the imaging satellite is second inclined direction, with the first grid list
The upper right angular vertex of arbitrary mess in G is basic point, according to the image scanning direction of imaging satellite by the multiple net of division
Lattice are resequenced, to generate third grid list LG,
And using the upper right angular vertex of the grid in the third grid list LG and lower-left angular vertex as basic point, according to the imaging
The width in the strip-form region of satellite covering determines four vertex of the covering pattern of the imaging satellite, to form the imaging
Grid in one covering pattern of satellite and the traversal third grid list LG, to form covering for the imaging satellite
Lid mode list；
The multiple imaging satellite is traversed, to obtain covering pattern set, which includes each imaging satellite
Covering pattern list；
Selection covering pattern specifically includes following steps：
The 4th grid list is established, the 4th grid list is in the initial state comprising all in the first grid list
Grid；
For any one grid in the 4th grid list：
All covering patterns that the grid can be completely covered are filtered out from the covering pattern set, to obtain the grid
Covering pattern list CL；
The execution for calculating each covering pattern in the covering pattern list CL of the imaging satellite execution grid terminates
Time, to obtain the earliest execution end time for covering the grid；
The 4th grid list is traversed, at the end of the earliest execution of all grids in acquisition the 4th grid list
Between；
The preferential grid for performing end time value maximum earliest is selected from the 4th grid list；
For the preferential grid：
Selection performs end time institute with covering the earliest of the preferential grid from the covering pattern list of the preferential grid
Corresponding covering pattern, and determine imaging satellite corresponding with the covering pattern；
All covering moulds of the preferential grid can be covered by being filtered out from the covering pattern list of identified imaging satellite
Formula, and the covering pattern for selecting the number of grid of covering most from all covering patterns filtered out is as described identified
The selected covering pattern of imaging satellite, and by the covering pattern list of the identified imaging satellite from the covering pattern collection
It is deleted in conjunction；
The grid coverage list of the selected covering pattern is obtained, by the grid included in the grid coverage list from described
It is deleted in four grid lists, to update the 4th grid list；
Judge whether the 4th grid list is sky list；
In the case where judging that the 4th grid list is not sky list, the updated 4th grid list is recalculated
In the earliest of each grid perform the end time, to obtain the selected of the new preferential grid and the new preferential grid
Covering pattern；
In the case of the 4th grid list is empty list, the selected covering pattern is formed to cover described to be covered
The covering scheme of the rectangular area of lid.
2. more imaging satellite region overlay task dynamic programming methods according to claim 1, which is characterized in that with described
The top left corner apex of arbitrary mess in first grid list G is basic point, will be divided according to the image scanning direction of imaging satellite
The multiple Grids reordering, with generate the second grid list LG specifically include：
A grid is arbitrarily selected from the first grid list G, is determined on the image scanning straight line of the imaging satellite
With the first reference point and the second reference point of the distance of the top left corner apex of grid that selects for setting value, wherein first ginseng
Examination point is located at the lower right of second reference point；
Using first reference point as starting point, second reference point determines reference vector for terminal, with first reference point
For starting point, determine a vector by terminal of the top left corner apex of the arbitrary mess in the first grid list G, calculate the vector
Projection in the reference vector；
The grid in the first grid list G is traversed, obtains vector projection list；
Projection in the vector projection list is arranged according to projected length descending, in the first grid list G
Grids reordering constructs the second grid list LG；
Using the upper right angular vertex of the arbitrary mess in the first grid list G as basic point, according to the image scanning of imaging satellite
Direction specifically includes the multiple Grids reordering of division to generate third grid list LG：
A grid is arbitrarily selected from the first grid list G, is determined on the image scanning straight line of the imaging satellite
With the first reference point and the second reference point of the distance of the upper right angular vertex of grid that selects for setting value, wherein first ginseng
Examination point is located at the lower left of second reference point；
Using first reference point as starting point, second reference point determines reference vector for terminal, with first reference point
For starting point, determine a vector by terminal of the upper right angular vertex of the arbitrary mess in the first grid list G, calculate the vector
Projection in the reference vector；
The grid in the first grid list G is traversed, obtains vector projection list；
Projection in the vector projection list is arranged according to projected length descending, in the first grid list G
Corresponding Grids reordering constructs the third grid list LG.
3. more imaging satellite region overlay task dynamic programming methods according to claim 2, which is characterized in that described
Two points with the distance of the top left corner apex of selected grid for setting value on the image scanning straight line of imaging satellite
It is represented using equation group (1)：
Wherein, x represents longitude, and y represents latitude, xl＜ x1(z) ＜ xr, x1(z) and y1(z) be respectively selected grid a left side
The longitude and latitude value of upper angular vertex, xlAnd xrThe longitude of respectively described two points, R are the setting value, and A, B, C are equal
The parameter of image scanning straight line for imaging satellite；
The distance of the upper right angular vertex with selected grid on the image scanning straight line of the imaging satellite is setting
Two points of value are represented using equation group (2)：
Wherein, x represents longitude, and y represents latitude, xl＜ x2(z) ＜ xr, x2(z) and y2(z) be respectively selected grid the right side
The longitude and latitude value of upper angular vertex, xlAnd xrThe longitude of respectively described two points, R are the setting value, and A, B, C are equal
The parameter of image scanning straight line for imaging satellite.
4. more imaging satellite region overlay task dynamic programming methods according to claim 3, which is characterized in that with described
The top left corner apex and bottom right angular vertex of grid in second grid list LG are basic point, according to the item of imaging satellite covering
The width of strip region determines four vertex of the covering pattern of the imaging satellite, is covered with forming the one of the imaging satellite
Grid in cover mold formula and traversal the second grid list LG, to form the covering pattern list of imaging satellite tool
Body includes：
First grid is arbitrarily selected in the second grid list LG, in the top left corner apex by first grid
And determined on the straight line vertical with the image scanning direction of the imaging satellite with the distance of image scanning straight line be equal to it is described into
The first vertex and the second vertex of the half of the width in strip-form region covered as satellite；
Second grid, volume of second grid in the second grid list LG are selected in the second grid list LG
Number be more than or equal to first grid number, the bottom right angular vertex by second grid and with the imaging satellite
The item for being equal to imaging satellite covering with the distance of the image scanning straight line is determined on the vertical straight line in image scanning direction
The third vertex and the 4th vertex of the half of the width of strip region；
Using first vertex, the second vertex, third vertex and the 4th vertex as vertex, form the imaging satellite one is covered
Cover mold formula；
Grid in the second grid list LG traversed successively for first grid and second grid, described in acquisition
The basic covering pattern list of imaging satellite；
A virtual covering pattern is added in the basic covering pattern list, to obtain the covering mould of the imaging satellite
Formula list, the virtual covering pattern are defined as not covering any grid, the covering that the energy of consumption or time are zero
Pattern；
Using the upper right angular vertex and lower-left angular vertex of the grid in the third grid list LG as basic point, defended according to the imaging
The width in the strip-form region of star covering determines four vertex of the covering pattern of the imaging satellite, is defended with forming the imaging
Grid in one covering pattern of star and the traversal third grid list LG, to form the covering of the imaging satellite
Mode list specifically includes：
First grid is arbitrarily selected in the third grid list LG, in the upper right angular vertex by first grid
And it determines to be equal to the imaging satellite with the distance of the image scanning straight line on the straight line vertical with the image scanning linear equation
The first vertex and the second vertex of the half of the width in the strip-form region of covering；
Second grid is selected in the third grid list LG, second grid is in the second grid list LG
Number more than or equal to first grid number, the lower-left angular vertex by second grid and with the imaging satellite
The vertical straight line in image scanning direction on determine the item for being equal to imaging satellite covering with the distance of the image scanning straight line
The third vertex and the 4th vertex of the half of the width of strip region；
Using first vertex, the second vertex, third vertex and the 4th vertex as vertex, form the imaging satellite one is covered
Cover mold formula；
Grid in the third grid list LG traversed successively for first grid and second grid, described in acquisition
The basic covering pattern list of imaging satellite；
A virtual covering pattern is added in the basic covering pattern list, to obtain the covering mould of the imaging satellite
Formula list, the virtual covering pattern are defined as not covering any grid, the covering that the energy of consumption or time are zero
Pattern.
5. more imaging satellite region overlay task dynamic programming methods according to claim 4, which is characterized in that pass through institute
State on the top left corner apex of the first grid and the straight line vertical with the image scanning direction of imaging satellite with image scanning straight line
Distance be equal to the imaging satellite covering strip-form region width half the first vertex and the second vertex use equation
Group (3) represents：
Wherein, x represents longitude, and y represents latitude, C1(i)=Ay1(i)-B·x1(i), x1(i) and y1(i) it is respectively described
The longitude and latitude value of the top left corner apex of one grid, wjFor the width in the strip-form region with the imaging of j-th imaging satellite,
A, B, C are the parameter of the image scanning straight line of imaging satellite, and the first vertex and the second vertex are expressed as U1(x1,i,y1,i)
And U2(x2,i,y2,i), x1,iAnd y1,iThe longitude and latitude value on respectively described first vertex, x2,iAnd y2,iRespectively described
The longitude and latitude value on two vertex；
By true on the bottom right angular vertex of second grid and the straight line vertical with the image scanning direction of the imaging satellite
The fixed distance with the image scanning straight line is equal to the third of the half of the width in the strip-form region of imaging satellite covering
Vertex and the 4th vertex are represented using equation group (4)：
Wherein, x represents longitude, and y represents latitude, C4(k)=Ay4(k)-B·x4(k), x4(k) and y4(k) it is respectively described
The longitude and latitude value of the bottom right angular vertex of two grids, wjFor the width in the strip-form region with the imaging of j-th imaging satellite,
A, B, C are the parameter of the image scanning straight line of imaging satellite, and the third vertex and the 4th vertex are expressed as U3(x3,i,
y3,i)U4(x4,i,y4,i), x3,iAnd y3,iThe longitude and latitude value on respectively described third vertex, x4,iAnd y4,iIt is respectively described
The longitude and latitude value on the 4th vertex；
By in the upper right angular vertex of first grid and the straight line vertical with the image scanning direction of imaging satellite with institute
State image scanning straight line distance be equal to imaging satellite covering strip-form region width half the first vertex and the
Two vertex are represented using equation group (5)：
Wherein, x represents longitude, and y represents latitude, C2(i)=Ay2(i)-B·x2(i), x2(i) and y2(i) it is respectively described
The longitude and latitude value of the upper right angular vertex of one grid, wjFor the width in the strip-form region with the imaging of j-th imaging satellite,
A, B, C are the parameter of the image scanning straight line of imaging satellite, and the first vertex and the second vertex are expressed as U1(x1,i,y1,i)
And U2(x2,i,y2,i), x1,iAnd y1,iThe longitude and latitude value on respectively described first vertex, x2,iAnd y2,iRespectively described
The longitude and latitude value on two vertex；
By in the lower-left angular vertex of second grid and the straight line vertical with the image scanning direction of imaging satellite with institute
State image scanning straight line distance be equal to imaging satellite covering strip-form region width half third vertex and the
Four vertex are represented using equation group (6)：
Wherein, x represents longitude, and y represents latitude, C3(k)=Ay3(k)-B·x3(k), x3(k) and y3(k) it is respectively described
The longitude and latitude value of the lower-left angular vertex of two grids, wjFor the width in the strip-form region with the imaging of j-th imaging satellite,
A, B, C are the parameter of the image scanning straight line of imaging satellite, and the third vertex and the 4th vertex are expressed as U3(x3,i,
y3,i)U4(x4,i,y4,i), x3,iAnd y3,iThe longitude and latitude value on respectively described third vertex, x4,iAnd y4,iIt is respectively described
The longitude and latitude value on the 4th vertex.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010401.3A CN108269009A (en) | 2018-01-05 | 2018-01-05 | More imaging satellite region overlay task dynamic programming methods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010401.3A CN108269009A (en) | 2018-01-05 | 2018-01-05 | More imaging satellite region overlay task dynamic programming methods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108269009A true CN108269009A (en) | 2018-07-10 |
Family
ID=62773449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810010401.3A Pending CN108269009A (en) | 2018-01-05 | 2018-01-05 | More imaging satellite region overlay task dynamic programming methods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108269009A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110717673A (en) * | 2019-10-10 | 2020-01-21 | 合肥工业大学 | Satellite task planning method for minimum observation cost under condition of sufficient resources |
| CN110728447A (en) * | 2019-10-10 | 2020-01-24 | 合肥工业大学 | Partitioned satellite task planning method for achieving regional target coverage at earliest |
| CN110807579A (en) * | 2019-10-10 | 2020-02-18 | 北京市遥感信息研究所 | Satellite task planning method for minimum completion time under sufficient resource condition |
-
2018
- 2018-01-05 CN CN201810010401.3A patent/CN108269009A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110717673A (en) * | 2019-10-10 | 2020-01-21 | 合肥工业大学 | Satellite task planning method for minimum observation cost under condition of sufficient resources |
| CN110728447A (en) * | 2019-10-10 | 2020-01-24 | 合肥工业大学 | Partitioned satellite task planning method for achieving regional target coverage at earliest |
| CN110807579A (en) * | 2019-10-10 | 2020-02-18 | 北京市遥感信息研究所 | Satellite task planning method for minimum completion time under sufficient resource condition |
| CN110728447B (en) * | 2019-10-10 | 2021-03-09 | 合肥工业大学 | Partitioned satellite task planning method for achieving regional target coverage at earliest |
| CN110717673B (en) * | 2019-10-10 | 2022-04-01 | 合肥工业大学 | Satellite task planning method for minimum observation cost under condition of sufficient resources |
| CN110807579B (en) * | 2019-10-10 | 2023-06-23 | 北京市遥感信息研究所 | Satellite task planning method for minimum completion time under condition of sufficient resources |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106408604A (en) | Filtering method and device for point cloud data | |
| CN108269009A (en) | More imaging satellite region overlay task dynamic programming methods | |
| Shen et al. | Area partitioning for channel network extraction using digital elevation models and remote sensing | |
| JP6422250B2 (en) | Image processing method, image processing apparatus, program, and recording medium | |
| CN105787977B (en) | The method that building vector boundary simplifies | |
| CN107967713A (en) | Construction three-dimensional model building method and system based on spatial point cloud data | |
| CN106504220A (en) | A kind of image processing method and device | |
| CN104077446B (en) | The method and system of two-dimentional electrical construction document are extracted from digital three-dimemsional model | |
| US20150062171A1 (en) | Method and device for providing a composition of multi image layers | |
| CN108364116A (en) | More imaging satellite region overlay dynamic dispatching methods under satellite resource limited case | |
| CN106407682A (en) | A soil sampling point determining method and device | |
| KR101375649B1 (en) | Apparatus and method for generating texture for three dimensional mesh model of target object | |
| CN108345984A (en) | More imaging satellite region overlay dynamic programming methods under satellite resource limited case | |
| CN109155846A (en) | Three-dimensional reconstruction method and device of scene, electronic equipment and storage medium | |
| CN108460178A (en) | Consider more imaging satellite coverage optimization methods of sensor side-sway | |
| CN108334979A (en) | More imaging satellite mission planning methods of facing area covering | |
| CN108268976A (en) | More imaging satellite region overlay task maximum deadlines minimize planing method | |
| CN108428003A (en) | Consider more imaging satellite region overlay dispatching methods of sensor side-sway | |
| KR20050078670A (en) | Method for auto-detecting edges of building by using lidar data | |
| CN108364086A (en) | More imaging satellite region overlay mission planning methods under satellite resource limited case | |
| CN110163970B (en) | Digital terrain model generation method, device, equipment and storage medium | |
| CN108388953A (en) | More imaging satellite region overlay planing methods | |
| CN108268975A (en) | Consider more imaging satellite region overlay mission planning methods of sensor side-sway | |
| JP6277018B2 (en) | Flood simulation apparatus and flood simulation program | |
| JP2012256119A (en) | Information processing device and method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180710 |