CN108334979B - Multi-imaging satellite task planning method facing area coverage - Google Patents

Multi-imaging satellite task planning method facing area coverage Download PDF

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CN108334979B
CN108334979B CN201810010372.0A CN201810010372A CN108334979B CN 108334979 B CN108334979 B CN 108334979B CN 201810010372 A CN201810010372 A CN 201810010372A CN 108334979 B CN108334979 B CN 108334979B
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胡笑旋
朱外明
杨善林
靳鹏
夏维
罗贺
马华伟
王国强
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Hefei University of Technology
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Abstract

The invention discloses a multi-imaging satellite task planning method facing area coverage, and belongs to the technical field of satellite communication. The multi-imaging satellite task planning method comprises two stages, wherein a coverage mode generation stage and a coverage mode selection stage are separated, so that the method is reasonable in structure and clear in hierarchy; the multi-imaging satellite mission planning method can provide at least one coverage scheme, so that the total energy consumed by a plurality of imaging satellites is as small as possible. The method also evaluates the quality of the selected coverage scheme by calculating an optimality parameter for the coverage scheme.

Description

Multi-imaging satellite task planning method facing area coverage
Technical Field
The invention relates to the technical field of satellite communication, in particular to a multi-imaging satellite task planning method facing area coverage.
Background
Taking the search of horse navigation MH370 as an example, 3 months and 20 days 2014, australia claims to find suspected MH370 debris in the south indian ocean at the location: latitude-43.58, longitude 90.57. To search for the area near the point, the range may be expanded to a square area centered on the point.
China has invoked multiple imaging satellites to conduct a search of the MH370, each imaging satellite having an imaging region that is a strip-shaped region. Fig. 1 is a schematic diagram showing a strip-shaped region imaged by one imaging satellite, and as shown in fig. 1, by controlling the on-off time of a sensor (such as a camera) on the imaging satellite, the position of the strip-shaped region imaged by the sensor can be changed along the imaging scanning direction, and the length of the strip-shaped region can also be changed.
Because the imaging of the imaging satellites needs to consume energy, the positions of the strip-shaped areas imaged by the imaging satellites are reasonably arranged, so that the total energy consumed by the imaging satellites is as small as possible on the premise that the whole area is completely covered, and the method has a vital significance.
Disclosure of Invention
The invention aims to provide a region coverage-oriented multi-imaging satellite task planning method, which obtains a coverage scheme with the lowest consumed total energy by adjusting the length of a strip-shaped region imaged by an imaging satellite and the position along the imaging scanning direction of the imaging satellite.
In order to achieve the above object, an embodiment of the present invention provides a method for planning a multi-imaging satellite mission facing area coverage, including generating a coverage mode and selecting the coverage mode, where the generating the coverage mode specifically includes the following steps: determining imaging scanning directions of a plurality of imaging satellites; dividing a rectangular area to be covered into a plurality of grids to generate a first grid list G; for each of a plurality of imaging satellites: judging whether the imaging scanning direction of the imaging satellite is a first inclined direction or a second inclined direction; under the condition that the imaging scanning direction of the imaging satellite is judged to be a first inclined direction, the upper left vertex of any grid in the first grid list G is taken as a base point, the divided grids are reordered according to the imaging scanning direction of the imaging satellite to generate a second grid list LG, the upper left vertex and the lower right vertex of the grid in the second grid list LG are taken as base points, four vertices of a coverage mode of the imaging satellite are determined according to the width of a strip-shaped area covered by the imaging satellite to form one coverage mode of the imaging satellite, and the grids in the second grid list LG are traversed to form a coverage mode list of the imaging satellite; under the condition that the imaging direction of the imaging satellite is judged to be the second inclination direction, the divided grids are reordered according to the imaging scanning direction of the imaging satellite by taking the top right vertex of any grid in the first grid list G as a base point to generate a third grid list LG, the top right vertex and the bottom left vertex of the grid in the third grid list LG are taken as base points, four vertices of the coverage mode of the imaging satellite are determined according to the width of the strip-shaped area covered by the imaging satellite to form one coverage mode of the imaging satellite, and the grids in the third grid list LG are traversed to form the coverage mode list of the imaging satellite; traversing the plurality of imaging satellites to obtain a coverage pattern set, wherein the coverage pattern set comprises a coverage pattern list of each imaging satellite; the selection of the overlay mode specifically comprises the following steps: for each of a plurality of imaging satellites: setting an initial value of an energy lower bound, an initial value of energy consumption, an upper limit value of iteration times and an initial value of a Lagrange multiplier sequence; calculating the length of a strip-shaped area of a coverage mode of the imaging satellite; calculating the energy consumed by the imaging satellite to execute the coverage mode according to the length of the strip-shaped area of the coverage mode of the imaging satellite; establishing an objective function for minimizing energy consumed by the imaging satellite by adopting a Lagrange relaxation technology so as to obtain an energy target value consumed by the imaging satellite in a coverage mode; calculating an energy target value consumed by each coverage mode in the coverage mode list executed by the imaging satellite, and selecting one coverage mode with the minimum consumed energy target value from the coverage mode list; traversing the plurality of imaging satellites to select a coverage mode with a minimum energy target value consumed by each imaging satellite to form a coverage scheme; modifying the coverage scheme to obtain a modified coverage scheme; updating the initial value of the lower energy bound and the initial value of energy consumption; calculating the value of the optimality parameter of the modified coverage scheme according to the initial value of the updated lower energy bound and the initial value of the updated energy consumption; updating an objective function by updating the values of the Lagrange multipliers, reselecting a coverage mode with the minimum consumed energy target value of each imaging satellite based on the updated objective function to form a coverage scheme, and recalculating the value of the optimality parameter for the newly formed coverage scheme; and updating the value of the Lagrange multiplier for multiple times, and selecting the coverage scheme with the minimum value of the optimality parameter from the multiple selected and reselected coverage schemes as the coverage mode for covering the rectangular area under the condition that the updating times of the value of the Lagrange multiplier reach the upper limit value of the iteration times.
By the technical scheme, the multi-imaging satellite task planning method facing the area coverage is divided into two stages, and the coverage mode generation and the coverage mode selection are separated, so that the method is reasonable in structure and clear in hierarchy; the multi-imaging satellite mission planning method can provide at least one coverage scheme which enables the total energy consumed by a plurality of imaging satellites to be as small as possible.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
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The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 shows a schematic view of an imaged strip-shaped region of one imaging satellite;
FIG. 2 is a flow chart of coverage pattern generation for a method of multi-imaging satellite mission planning for area coverage according to an embodiment of the present invention;
fig. 3 is a flow chart of a coverage mode selection of a method for area coverage oriented multi-imaging satellite mission planning according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
In the present application, unless otherwise stated, the terms "upper left vertex", "lower left vertex", "upper right vertex", and "lower right vertex" used herein generally refer to the "upper left vertex", "lower left vertex", "upper right vertex", and "lower right vertex" shown in the drawings. "inner and outer" refer to the inner and outer contours of the respective component itself.
In an embodiment of the present application, the imaging scan line is a centerline of the imaging scan region of the corresponding imaging satellite in the scan direction.
In embodiments of the present application, coverage mode may refer to an imaging coverage area (or imaging scan area) of an imaging satellite.
Overlay mode generation
For example, using NTCovering a rectangular area A to be covered by the imaging satellites can comprise two stages of generating a covering mode and selecting the covering mode, wherein N isTThe imaging satellites form a list S, S of imaging satellites which can be recorded as
Figure BDA0001540081940000041
FIG. 2 is a flow chart of coverage pattern generation for a method of multi-imaging satellite mission planning for area coverage according to an embodiment of the present invention; as shown in fig. 2, in an embodiment of the present invention, generating the overlay mode may include:
in step S101, imaging scan directions of a plurality of imaging satellites are determined;
in step S102, a rectangular area a to be covered is divided into a plurality of grids to generate a first grid list G, and the grids in the first grid list G are numbered in sequence, where the first grid list G can be recorded as
Figure BDA0001540081940000042
Define the ith grid giThe coordinates of the top left corner vertex, the top right corner vertex, the bottom left corner vertex and the bottom right corner vertex are 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 the list S of imaging satellites:
in step S103, it is determined whether the imaging scan direction of the imaging satellite is the first inclination direction or the second inclination direction. The first tilt direction may include, for example, a direction "from an upper left corner vertex to a lower right corner vertex" or a direction "from a lower right corner vertex to an upper left corner vertex", or a direction that generally tends to follow a direction "from an upper left corner vertex to a lower right corner vertex" or "from a lower right corner vertex to an upper left corner vertex" (e.g., to tilt left in the figure relative to the vertical direction). The second tilt direction may include, for example, a direction "from a lower left corner vertex to an upper right corner vertex" or a direction "from an upper right corner vertex to a lower left corner vertex", or a general inclination in a direction "from a lower left corner vertex to an upper right corner vertex" or "from an upper right corner vertex to a lower left corner vertex" (e.g., tilted to the right in the figure with respect to the vertical direction).
In step S104, in a case where it is determined that the imaging scanning direction of the imaging satellite is the first inclination direction, with the top left corner vertex of any grid in the first grid list G as a base point, reordering the divided multiple grids according to the imaging scanning direction of the imaging satellite (i.e., renumbering the grids in the first grid list G) to generate a second grid list LG;
in step S105, with the top left corner vertex and the bottom right corner vertex of the grids in the second grid list LG as base points, determining four vertices of the coverage pattern of the imaging satellite according to the width of the strip-shaped region covered by the imaging satellite to form one coverage pattern of the imaging satellite, and traversing all the grids in the second grid list LG to form a coverage pattern list of the imaging satellite;
in step S106, in a case where it is determined that the imaging scanning direction of the imaging satellite is the second inclination direction, with the top-right vertex of any grid in the first grid list G as a base point, reordering the divided multiple grids according to the imaging scanning direction of the imaging satellite (i.e., renumbering the grids in the first grid list G) to generate a third grid list LG;
in step S107, with the top-right corner vertex and the bottom-left corner vertex of the grids in the third grid list LG as base points, determining four vertices of the coverage pattern of the imaging satellite according to the width of the strip-shaped region covered by the imaging satellite to form one coverage pattern of the imaging satellite, and traversing all the grids in the third grid list LG to form a coverage pattern list of the imaging satellite;
in step S108, each imaging satellite in the list S of imaging satellites is traversed to obtain a set of coverage patterns including a list of coverage patterns for each imaging satellite.
In an embodiment of the present invention, the reordering (numbering) the divided grids according to the imaging scanning direction of the imaging satellite with the top left vertex of any grid in the first grid list G as a base point to generate the second grid list LG may specifically include:
arbitrarily selecting a grid G from the first grid list GzThe grid g to be selected is determined on a line parallel to the imaging scan direction of the imaging satellite (hereinafter referred to as imaging scan line)zTop left corner vertex p of1(z) two points P at a distance Rl(xl,yl) And Pr(xr,yr) Where R may be, for example, a value greater than the length of the diagonal apex line of the rectangular area A, xlAnd ylAre respectively a point Pl(xl,yl) Warp and weft values of (2), xrAnd yrAre respectively a point Pr(xr,yr) Warp and weft values of, and xl＜xr。
Grid g selected on the imaging scanning line of the imaging satellitezTop left corner vertex p of1(z) two points at a distance R can be represented using equation set (1):
Figure BDA0001540081940000061
wherein x represents longitude, y represents latitude, xl＜x1(z)＜xr，x1(z) and y1(z) respectively, the selected grid gzTop left corner vertex p of1Longitude and latitude of (z)Value, xlAnd xrAre respectively a point Pl(xl,yl) And point Pr(xr,yr) R is a set value, A, B, C is a parameter of an imaging scan line of the imaging satellite;
at point Pr(xr,yr) As a starting point, with a point Pl(xl,yl) Determining a reference vector for the endpoint, at point Pr(xr,yr) Starting from an arbitrary grid G in the first grid list GiTop left corner vertex p of1(i) Determining a vector for the endpoint, calculating a projection of the vector on a reference vector;
traversing grids in the first grid list G to obtain a vector projection list;
the projections in the vector projection list are arranged in descending order to reorder (number) the corresponding meshes in the first mesh list G, constructing a second mesh list LG.
With the vertex at the upper right corner of any grid in the first grid list G as a base point, reordering (numbering) the divided grids according to the imaging scanning direction of the imaging satellite to generate the third grid list LG may specifically include:
arbitrarily selecting a grid G from the first grid list GzDetermining and selecting grid g on imaging scanning line of imaging satellitezTop right corner vertex p2(z) two points P at a distance Rl(xl,yl) And Pr(xr,yr) Where R may be, for example, a value greater than the length of the diagonal apex line of the rectangular area A, xlAnd ylAre respectively a point Pl(xl,yl) Warp and weft values of (2), xrAnd yrAre respectively a point Pr(xr,yr) Warp and weft values of, and xl＜xr。
Grid g selected on the imaging scanning line of the imaging satellitezTop right corner vertex p2(z) two points at a distance R can be represented using equation set (2):
Figure BDA0001540081940000071
wherein x represents longitude, y represents latitude, xl＜x2(z)＜xr，x2(z) and y2(z) respectively, the selected grid gzTop right corner vertex p2Longitude and latitude values of (z), xlAnd xrAre respectively a point Pl(xl,yl) And point Pr(xr,yr) The longitude value of (a), R is a set value, and A, B, C are parameters of an imaging scanning line of the imaging satellite;
at point Pl(xl,yl) As a starting point, with a point Pr(xr,yr) Determining a reference vector for the endpoint, at point Pl(xl,yl) As a starting point, an arbitrary grid G in the first grid list GiTop right corner vertex p2(i) Determining a vector for the endpoint, calculating a projection of the vector on a reference vector;
traversing grids in the first grid list G to obtain a vector projection list;
the projections in the vector projection list are arranged in descending order, the corresponding meshes in the first mesh list G are reordered (numbered), and a third mesh list LG is constructed.
In an embodiment of the present invention, taking the top left corner vertex and the bottom right corner vertex of the grids in the second grid list LG as base points, determining four vertices of the coverage pattern of the imaging satellite according to the width of the strip-shaped region covered by the imaging satellite to form one coverage pattern of the imaging satellite, and traversing all the grids in the second grid list LG to form the coverage pattern list of the imaging satellite may specifically include:
arbitrarily selecting a first mesh g in the second mesh list LGiAfter passing through the first grid giTop left corner vertex p of1(i) And with imaging satellites sjIs determined to be equal to the imaging scanning line Ax + By + C By a distance of 0 on a line perpendicular to the imaging scanning directionFirst vertex U of half the width of the strip-shaped area covered by the satellite1(x1,i,y1,i) And a second vertex U2(x2,i,y2,i)，
Through the first grid giTop left corner vertex p of1(i) And with imaging satellites sjIs equal to a first vertex U of a half of the width of the strip-shaped area covered By the imaging satellite, the distance from the imaging scanning line Ax + By + C being 0 on a line perpendicular to the imaging scanning direction of (a)1(x1,i,y1,i) And a second vertex U2(x2,i,y2,i) Can be expressed using equation set (3):
Figure BDA0001540081940000081
wherein x represents longitude, y represents latitude, C1(i)＝A·y1(i)-B·x1(i)，x1(i) And y1(i) Are respectively a first grid giTop left corner vertex p of1(i) Warp and weft values of, wjFor the jth imaging satellite sjThe width of the imaged (covered) strip-shaped region, A, B, C, is a parameter of the imaging scan line of the imaging satellite, and the first vertex and the second vertex are respectively denoted as U1(x1,i,y1,i) And U2(x2,i,y2,i)，x1,iAnd y1,iRespectively the longitude and latitude values, x, of the first vertex2,iAnd y2,iRespectively the longitude value and the latitude value of the second vertex;
selecting a second grid g in the second grid list LGkSecond grid gkThe number in the second grid list LG is more than or equal to the number of the first grid, namely k is more than or equal to i, and the second grid g passes throughkTop point p of lower right corner4(z) and with imaging satellites sjIs determined to be a third vertex U at a distance from the imaging scanning line equal to half the width of the strip-shaped area covered by the imaging satellite on a line perpendicular to the imaging scanning direction of3(x3,i,y3,i) And a fourth vertex U4(x4,i,y4,i)，
Through the second grid gkTop point p of lower right corner4(k) And with imaging satellites sjIs determined on a line perpendicular to the imaging scanning direction, and has a distance from the imaging scanning line equal to a third vertex U of half the width of the strip-shaped area covered by the imaging satellite3(x3,i,y3,i) And a fourth vertex U4(x4,i,y4,i) Can be expressed using equation set (4):
Figure BDA0001540081940000091
wherein x represents longitude, y represents latitude, C4(k)＝A·y4(k)-B·x4(k)，x4(k) And y4(k) Are respectively a second grid gkTop point p of lower right corner4(k) Warp and weft values of, wjA, B, C are parameters of the imaging scan lines of the imaging satellites for the width of the strip-shaped region imaged with the jth imaging satellite, the third and fourth vertices being denoted as U, respectively3(x3,i,y3,i)U4(x4,i,y4,i)，x3,iAnd y3,iRespectively the longitude and latitude values, x, of the third vertex4,iAnd y4,iRespectively the longitude value and the latitude value of the fourth vertex;
with the first vertex U1(x1,i,y1,i) The second vertex U2(x2,i,y2,i) The third vertex U3(x3,i,y3,i) And a fourth vertex U4(x4,i,y4,i) Forming an imaging satellite s for the vertex of the coverage areajAn overlay mode Cs；
For the first grid giAnd a second grid g satisfying that k is larger than or equal to ikSequentially traversing grids in the second grid list LG to obtain the imaging satellite sjA list of base overlay modes;
in imaging satellites sjBasic coverage mode ofAdding a virtual overlay mode C to the list0To obtain a list Q of coverage patterns of the imaging satellitesjVirtual overlay mode C0Coverage patterns defined as not covering any grid, with zero energy consumed or time;
and traversing all the imaging satellites in the imaging satellite list to obtain a total coverage mode list CoverList.
Taking the vertex at the top right corner and the vertex at the bottom left corner of the grids in the third grid list LG as base points, determining four vertices of the coverage pattern of the imaging satellite according to the width of the strip-shaped region covered by the imaging satellite to form one coverage pattern of the imaging satellite, and traversing the grids in the third grid list LG to form the coverage pattern list of the imaging satellite may specifically include:
arbitrarily selecting a first mesh g in the third mesh list LGiAfter passing through the first grid giTop right corner vertex p2(i) And a first vertex U which is positioned on a straight line vertical to the imaging scanning straight line and has a distance equal to half of the width of the strip-shaped area covered by the imaging satellite from the imaging scanning straight line is determined1(x1,i,y1,i) And a second vertex U2(x2,i,y2,i)；
Through the first grid giTop right corner vertex p2(i) And with imaging satellites sjIs equal to the first vertex U of the half of the width of the strip-shaped area covered by the imaging satellite1(x1,i,y1,i) And a second vertex U2(x2,i,y2,i) Can be expressed using equation set (5):
Figure BDA0001540081940000101
wherein x represents longitude, y represents latitude, C2(i)＝A·y2(i)-B·x2(i)，x2(i) And y2(i) Are respectively a first grid giTop right corner vertex p2(k) Longitude value ofAnd latitude value, wjA, B, C are parameters of the imaging scan line of the imaging satellite for the width of the strip-shaped region imaged with the jth imaging satellite, the first vertex and the second vertex being respectively denoted as U1(x1,i,y1,i) And U2(x2,i,y2,i)，x1,iAnd y1,iRespectively the longitude and latitude values, x, of the first vertex2,iAnd y2,iRespectively the longitude value and the latitude value of the second vertex;
selecting a second grid g in the third grid list LGkSecond grid gkThe number in the second grid list LG is more than or equal to the number of the first grid, namely k is more than or equal to i, and the second grid g passes throughkLower left corner vertex p3(k) And with imaging satellites sjIs determined to be a third vertex U at a distance from the imaging scanning line equal to half the width of the strip-shaped area covered by the imaging satellite on a line perpendicular to the imaging scanning direction of3(x3,i,y3,i) And a fourth vertex U4(x4,i,y4,i)；
Through the second grid gzLower left corner vertex p3(k) And with imaging satellites sjIs located at a distance from the imaging scanning line equal to half the width of the strip-shaped area covered by the imaging satellite on a line perpendicular to the imaging scanning direction3(x3,i,y3,i) And a fourth vertex U4(x4,i,y4,i) Can be expressed using equation set (6):
Figure BDA0001540081940000111
wherein x represents longitude, y represents latitude, C3(k)＝A·y3(k)-B·x3(k)，x3(k) And y3(k) Are respectively a second grid gkLower left corner vertex p3(k) Warp and weft values of, wjA, B, C are parameters of the imaging scan line of the imaging satellite for the width of the strip-shaped region imaged with the jth imaging satellite, third vertexThe point and the fourth vertex are respectively denoted as U3(x3,i,y3,i)U4(x4,i,y4,i)，x3,iAnd y3,iRespectively the longitude and latitude values, x, of the third vertex4,iAnd y4,iRespectively the longitude value and the latitude value of the fourth vertex;
with the first vertex U1(x1,i,y1,i) The second vertex U2(x2,i,y2,i) The third vertex U3(x3,i,y3,i) And a fourth vertex U4(x4,i,y4,i) Forming an imaging satellite s for the vertex of the coverage areajAn overlay mode Cs；
For the first grid giAnd a second grid g satisfying that k is larger than or equal to ikSequentially traversing grids in the third grid list LG to obtain the imaging satellite sjA list of base overlay modes;
at each imaging satellite sjAdds a virtual overlay mode C to the base overlay mode list0To obtain a list Q of coverage patterns of the imaging satellitesjVirtual overlay mode C0Coverage patterns defined as not covering any grid, with zero energy consumed or time;
and traversing all the imaging satellites in the imaging satellite list to obtain a total coverage mode list CoverList.
The first inclination direction may refer to, for example, a direction of a straight line in which parameters a and B of the imaging scan straight line satisfy a · B > 0, and the second inclination direction may refer to, for example, a direction of a straight line in which parameters a and B of the imaging scan straight line satisfy a · B < 0.
Overlay mode selection
Fig. 3 is a flow chart of a coverage mode selection of a method for area coverage oriented multi-imaging satellite mission planning according to an embodiment of the present invention. As shown in fig. 3, in an embodiment of the present invention, for the problem that the sum of the energies consumed by a plurality of imaging satellites covering a rectangular area a is expected to be minimum under the condition that the imaging satellite resources are sufficient, selecting a coverage mode may include the following steps:
for each of a plurality of imaging satellites:
in step S201, an initial value BestLB of the lower energy bound, an initial value BestSolu of the energy consumption, and a lagrange multiplier sequence λ ═ λ (1), λ (2) …, λ (i), …, λ (N) are setG) An initial value of, an upper limit value of the number of iterations T, where λ (i) is the lagrangian multiplier corresponding to the ith grid;
in step S202, an imaging satellite S is computedjCover mode CsLength l of the strip-shaped regions；
In step S203, according to the imaging satellite SjCover mode CsLength l of the strip-shaped regionsComputing an imaging satellite S using the formula (1)jExecuting overlay mode CsEnergy consumed (energy(s):
energy(s)＝ls·djformula (1)
Wherein energy (S) is imaging satellite SjExecuting overlay mode CsEnergy consumed,/sFor imaging satellites SjCover mode CsLength of the strip-shaped region of (d)jFor imaging satellites SjConsumed energy and coverage mode CsAnd is a known value;
in step S204, an objective function for minimizing energy consumed by the imaging satellite is established by using a lagrangian relaxation technique to obtain an energy target value consumed by the imaging satellite in performing a coverage mode, where the objective function may be represented by equation (2);
Figure BDA0001540081940000121
wherein u (S) is an imaging satellite SjExecuting overlay mode CsThe target value of energy consumed is the imaging satellite SjExecuting overlay mode CsThe consumed energy, G' is the grid set formed by the second grid list LG and the third grid list LG, and λ (i) is the energy consumed by the ith grid list LGCorresponding Lagrange multiplier, WC [ s, i ]]Is defined as being in the judged coverage mode CsCompletely cover the grid giIn the case of (2), WC [ s, i ]]1, in the determination coverage mode CsDoes not completely cover the grid giIn the case of (2), WC [ s, i ]]＝0；
In step S205, an imaging satellite S is calculated according to equation (2)jExecution overlay mode list QjEach of the overlay modes CsAnd from the coverage pattern list QjIn which one coverage mode C is selected in which the target value u of the consumed energy is the smallests′All imaging satellites sjCorresponding to the minimum consumed energy target value us′Forming a coverage scheme SoluList.
In step S206, the coverage scheme SoluList is modified, and a modified coverage scheme SoluList' is obtained.
In step S207, the initial value BestLB of the lower energy bound and the initial value BestSolu of the energy consumption are updated;
in step S208, the optimality parameter of the modified coverage scheme is calculated from the initial value BestLB of the updated lower energy bound and the initial value BestSolu of the updated energy consumption using equation (6):
Figure BDA0001540081940000131
wherein, BestLB is the initial value of the updated lower energy bound, BestSolu is the initial value of the updated energy consumption, and Gap is the value of the optimality parameter of the corrected coverage scheme;
in step S209, the value of the lagrangian multiplier is updated;
updating an objective function by updating the values of the Lagrange multipliers, reselecting a coverage mode with the minimum consumed energy target value of each imaging satellite based on the updated objective function to form a coverage scheme, and recalculating the value of the optimality parameter for the newly formed coverage scheme;
in step S210, it is determined that the update time of the value of the lagrangian multiplier reaches the upper limit value T of the iteration time;
in step S211, in a case where it is judged that the number of updates of the value of the lagrangian multiplier reaches the upper limit value of the number of iterations, a coverage scheme having the smallest value of the optimality parameter is selected from the plurality of coverage schemes selected and reselected as a coverage scheme for covering the rectangular area.
In a preferred embodiment of the invention, the initial value of the lower energy bound BestLB may be set to a value of 0, for example, the initial value of the energy consumption BestSolu may be set to a sufficiently large positive integer, the upper limit value T of the number of iterations may be set to a value of 100, for example, and the initial value of λ (i) may be set to a value of 10, for example.
In an embodiment of the present invention, the modifying the coverage scheme SoluList to obtain a modified coverage scheme SoluList' may specifically include the following steps:
judging the grid g in the rectangular area A for the coverage scheme SoluListiWhether or not it is completely covered;
grid g in judgment rectangular area AiIn the case of a grid that is not completely covered, grid g is divided into two or more gridsiAnd marking as ' uncovered ', finding out a coverage mode which is closest to the position of the grid marked as ' uncovered ' in the coverage scheme SoluList, selecting one coverage mode which is closest to the position of the coverage mode from the coverage mode list of the imaging satellite corresponding to the coverage mode, and replacing the coverage mode to obtain the corrected coverage scheme SoluList '.
Updating an initial value BestLB of the lower energy bound and an initial value BestSolu of the energy consumption may specifically include the following steps:
the value lb (t) of the lower bound of energy consumed by the coverage scheme is calculated using equation (3):
LB(t)＝LB1(t)+LB2(t) formula (3)
Wherein LB (t) is a value covering a lower bound of the energy consumed by the scheme,
Figure BDA0001540081940000141
LB2(t) Σ λ (i), u(s) is the target value of the energy consumed by the imaging satellite to perform the s-th coverage mode, SoluList' is the modified coverage scheme, CsFor the s-th overlay mode, λ (i) is the lagrange multiplier corresponding to the i-th mesh;
the energy consumed by the modified coverage scheme, solu (t), is calculated using equation (4):
Figure BDA0001540081940000142
wherein sol (t) is the energy consumed by the modified coverage scheme, SoluList' is the modified coverage scheme, CsEnergy(s) consumed to perform the s coverage mode for the imaging satellite for the s coverage mode;
judging whether the value LB (t) of the lower energy bound is larger than the initial value BestLB of the lower energy bound, and updating the initial value BestLB of the lower energy bound to the value LB (t) of the lower energy bound under the condition that the value LB (t) of the lower energy bound is larger than the initial value BestLB of the lower energy bound;
judging whether the value of the energy solu (t) consumed by the modified coverage scheme is smaller than an initial value BestSolu of energy consumption, and updating the initial value BestSolu of energy consumption with the value of the energy solu (t) consumed by the modified coverage scheme under the condition that the value of the energy solu (t) consumed by the modified coverage scheme is smaller than the initial value BestSolu of energy consumption;
updating the value of the lagrange multiplier using equation (5):
λ '(i) ═ λ (i) + θ' · h (i) formula (5)
Where λ '(i) is the updated value of the lagrangian multiplier, λ (i) is the lagrangian multiplier corresponding to the ith grid, θ' ═ ρ · θ, ρ and θ are initialization coefficients, and ρ and θ may be set to, for example, 2 and 0.999, h (i) ═ 1-v (i), and v (i) is the corrected coverage plan SoluList′Can be connected with grid giNumber of completely covered coverage patterns.
In an embodiment of the present invention, selecting the overlay mode may further include:
setting a set value of an optimality parameter;
judging whether the value of the optimality parameter Gap is smaller than the set value of the optimality parameter;
in the case where it is judged that the value of the optimality parameter Gap is smaller than the set value of the optimality parameter, the modified coverage plan corresponding to the optimality parameter Gap is selected as the coverage plan for covering the rectangular area a.
The set value of the optimality parameter may be set to 0.1, for example.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon instructions for causing a processor to perform any one of the above-described methods for energy optimization of multiple imaging satellite area coverage when executed by the processor.
Through the implementation mode, the multi-imaging satellite task planning method facing the area coverage is divided into two stages, and the coverage mode generation and the coverage mode selection are separated, so that the method is reasonable in structure and clear in hierarchy; the multi-imaging satellite mission planning method can provide at least one coverage scheme which enables the total energy consumed by a plurality of imaging satellites to be as small as possible.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art can understand that all or part of the steps in the method according to the above embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a (may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (9)

1. A multi-imaging satellite mission planning method facing area coverage is characterized by comprising a coverage mode generation step and a coverage mode selection step, wherein the coverage mode generation step specifically comprises the following steps:
determining imaging scanning directions of a plurality of imaging satellites;
dividing a rectangular area to be covered into a plurality of grids to generate a first grid list G;
for each of the plurality of imaging satellites:
judging whether the imaging scanning direction of the imaging satellite is a first inclined direction or a second inclined direction;
reordering the divided meshes according to the imaging scanning direction of the imaging satellite with the top left corner vertex of any mesh in the first mesh list G as a base point to generate a second mesh list LG in case that the imaging scanning direction of the imaging satellite is judged to be the first tilt direction,
determining four vertexes of a coverage pattern of the imaging satellite according to the width of a strip-shaped region covered by the imaging satellite by taking the top left vertex and the bottom right vertex of the grid in the second grid list LG as base points to form one coverage pattern of the imaging satellite, and traversing the grids in the second grid list LG to form a coverage pattern list of the imaging satellite;
reordering the divided meshes according to the imaging scanning direction of the imaging satellite with the top right corner vertex of any mesh in the first mesh list G as a base point to generate a third mesh list LG in case that the imaging scanning direction of the imaging satellite is judged to be the second inclination direction,
determining four vertexes of a coverage mode of the imaging satellite according to the width of a strip-shaped area covered by the imaging satellite by taking the vertex at the upper right corner and the vertex at the lower left corner of the grids in the third grid list LG as base points to form one coverage mode of the imaging satellite, and traversing the grids in the third grid list LG to form a coverage mode list of the imaging satellite;
traversing the plurality of imaging satellites to obtain a coverage pattern set, wherein the coverage pattern set comprises a coverage pattern list of each imaging satellite;
the selection of the overlay mode specifically comprises the following steps:
for each of the plurality of imaging satellites:
setting an initial value of an energy lower bound, an initial value of energy consumption, an upper limit value of iteration times and an initial value of a Lagrange multiplier sequence;
calculating a length of a strip-shaped region of a coverage pattern of the imaging satellite;
calculating the energy consumed by the imaging satellite to execute the coverage mode according to the length of the strip-shaped area of the coverage mode of the imaging satellite;
establishing an objective function for minimizing the energy consumed by the imaging satellite so as to obtain an energy target value consumed by the imaging satellite to execute a coverage mode;
calculating an energy target value consumed by the imaging satellite to execute each coverage mode in the coverage mode list, and selecting a coverage mode with the minimum consumed energy target value from the coverage mode list;
traversing the plurality of imaging satellites to select a coverage pattern for each imaging satellite that has a minimum energy target value of consumption to form a coverage plan;
modifying the coverage scheme to obtain a modified coverage scheme;
updating an initial value of the lower energy bound, an initial value of the energy consumption;
calculating the value of the optimality parameter of the modified coverage scheme according to the initial value of the updated lower energy bound and the initial value of the updated energy consumption;
updating the objective function by updating the values of the lagrangian multipliers, reselecting one coverage mode with the smallest consumed energy target value for each imaging satellite based on the updated objective function to form one coverage scheme, and recalculating the value of the optimality parameter for the newly formed coverage scheme;
and updating the value of the Lagrange multiplier for multiple times, and selecting the coverage scheme with the minimum value of the optimality parameter from the multiple selected and reselected coverage schemes as the coverage scheme for covering the rectangular area under the condition that the updating times of the value of the Lagrange multiplier reach the upper limit value of the iteration times.
2. The multi-imaging satellite mission planning method according to claim 1, wherein reordering the divided meshes according to the imaging scan direction of the imaging satellite with the top left vertex of any mesh in the first mesh list G as a base point to generate a second mesh list LG specifically comprises:
randomly selecting one grid from the first grid list G, and determining a first reference point and a second reference point which have set values of distances from the vertex at the upper left corner of the selected grid on an imaging scanning straight line of the imaging satellite, wherein the first reference point is positioned at the lower right of the second reference point;
determining a reference vector by taking the first reference point as a starting point and the second reference point as an end point, determining a vector by taking the first reference point as a starting point and the top left corner vertex of any grid in the first grid list G as an end point, and calculating the projection of the vector on the reference vector;
traversing grids in the first grid list G to obtain a vector projection list;
arranging the projections in the vector projection list in descending order to reorder the meshes in the first mesh list G, constructing the second mesh list LG;
with the vertex at the top right corner of any grid in the first grid list G as a base point, reordering the divided grids according to the imaging scanning direction of the imaging satellite to generate a third grid list LG specifically includes:
randomly selecting one grid from the first grid list G, and determining a first reference point and a second reference point which have set values of the distance from the vertex at the upper right corner of the selected grid on the imaging scanning straight line of the imaging satellite, wherein the first reference point is positioned at the lower left of the second reference point;
determining a reference vector by taking the first reference point as a starting point and the second reference point as an end point, determining a vector by taking the first reference point as a starting point and the top right corner vertex of any grid in the first grid list G as an end point, and calculating the projection of the vector on the reference vector;
traversing grids in the first grid list G to obtain a vector projection list;
arranging the projections in the vector projection list in descending order to reorder the corresponding meshes in the first mesh list G, constructing the third mesh list LG.
3. The multi-imaging satellite mission planning method of claim 2, wherein two points on the imaging scan line of the imaging satellite that are a set value away from the top left vertex of the selected grid are represented by equation set (1):
Figure FDA0003246241050000041
wherein x represents longitude, y represents latitude, xl<x1(z)<xr，x1(z) and y1(z) longitude and latitude values, x, respectively, of the top left vertex of the selected meshlAnd xrThe longitude values of the two points are respectively, R is the set value, and A, B, C are parameters of an imaging scanning line of the imaging satellite;
two points on the imaging scanning straight line of the imaging satellite, the distance of which from the vertex at the upper right corner of the selected grid is a set value, are expressed by an equation set (2):
Figure FDA0003246241050000042
wherein x represents longitude, y represents latitude, xl<x2(z)<xr，x2(z) and y2(z) warp and weft values, x, respectively, of the top right vertex of said selected meshlAnd xrThe longitude values of the two points are respectively, R is the set value, and A, B, C is the parameter of the imaging scanning line of the imaging satellite.
4. The multi-imaging satellite mission planning method according to claim 3, wherein determining four vertices of a coverage pattern of the imaging satellite according to a width of a strip-shaped region covered by the imaging satellite with the top left vertex and the bottom right vertex of the grid in the second grid list LG as base points to form one coverage pattern of the imaging satellite, and traversing the grids in the second grid list LG to form the coverage pattern list of the imaging satellite specifically comprises:
arbitrarily selecting a first grid in the second grid list LG, and determining a first vertex and a second vertex which are at a distance equal to half of the width of a strip-shaped area covered by the imaging satellite from an imaging scanning line on a line which passes through the top left vertex of the first grid and is perpendicular to the imaging scanning direction of the imaging satellite;
selecting a second grid in a second grid list LG, wherein the number of the second grid in the second grid list LG is greater than or equal to that of the first grid, and determining a third vertex and a fourth vertex which are away from an imaging scanning straight line by a distance equal to half of the width of a strip-shaped area covered by the imaging satellite on a straight line which passes through the vertex at the lower right corner of the second grid and is vertical to the imaging scanning direction of the imaging satellite;
forming a coverage mode of the imaging satellite by taking the first vertex, the second vertex, the third vertex and the fourth vertex as vertexes;
sequentially traversing grids in the second grid list LG for the first grid and the second grid to obtain a basic coverage mode list of the imaging satellite;
adding a virtual coverage pattern to the base coverage pattern list to obtain a coverage pattern list of the imaging satellites, the virtual coverage pattern being defined as a coverage pattern that does not cover any grid, consumes zero energy or has zero time;
taking the vertex of the upper right corner and the vertex of the lower left corner of the grid in the third grid list LG as base points, determining four vertices of the coverage pattern of the imaging satellite according to the width of the strip-shaped region covered by the imaging satellite to form one coverage pattern of the imaging satellite, and traversing the grid in the third grid list LG to form the coverage pattern list of the imaging satellite specifically includes:
arbitrarily selecting a first grid in the third grid list LG, and determining a first vertex and a second vertex which have a distance from the imaging scanning line equal to half of the width of the strip-shaped area covered by the imaging satellite on a line which passes through the vertex at the upper right corner of the first grid and is perpendicular to the imaging scanning line equation;
selecting a second grid in the third grid list LG, wherein the number of the second grid in the second grid list LG is greater than or equal to that of the first grid, and determining a third vertex and a fourth vertex which are away from an imaging scanning line by a distance equal to half of the width of a strip-shaped area covered by the imaging satellite on a line which passes through the vertex at the lower left corner of the second grid and is vertical to the imaging scanning direction of the imaging satellite;
forming a coverage mode of the imaging satellite by taking the first vertex, the second vertex, the third vertex and the fourth vertex as vertexes;
sequentially traversing grids in the third grid list LG for the first grid and the second grid to obtain a basic coverage mode list of the imaging satellite;
adding a virtual coverage pattern to the base coverage pattern list to obtain a list of coverage patterns for the imaging satellite, the virtual coverage pattern being defined as a coverage pattern that does not cover any grid, consumes zero energy, or is zero in time.
5. The multi-imaging satellite mission planning method of claim 4, wherein a first vertex and a second vertex on a straight line perpendicular to an imaging scan direction of an imaging satellite through an upper left vertex of the first grid and having a distance from the imaging scan straight line equal to half of a width of a strip-shaped region covered by the imaging satellite are expressed by equation system (3):
Figure FDA0003246241050000061
wherein x represents longitude, y represents latitude, C1(i)＝A·y1(i)-B·x1(i)，x1(i) And y1(i) Respectively the longitude value and the latitude value of the top left corner vertex of the first grid, wjA, B, C are parameters of the imaging scan line of the imaging satellite for the width of the strip-shaped region imaged with the jth imaging satellite, the first vertex and the second vertex being respectively denoted as U1(x1,i,y1,i) And U2(x2,i,y2,i)，x1,iAnd y1,iRespectively a longitude value and a latitude value, x, of the first vertex2,iAnd y2,iThe longitude value and the latitude value of the second vertex are respectively;
determining, on a straight line passing through a lower right corner vertex of the second grid and perpendicular to an imaging scanning direction of the imaging satellite, a third vertex and a fourth vertex that are at a distance from the imaging scanning straight line equal to half a width of a strip-shaped region covered by the imaging satellite, using equation set (4):
Figure FDA0003246241050000071
wherein x represents longitude, y represents latitude, C4(k)＝A·y4(k)-B·x4(k)，x4(k) And y4(k) Warp and weft values, w, respectively, of the vertices of the lower right corner of the second gridjA, B, C are parameters of the imaging scan lines of the imaging satellites for the width of the strip-shaped region imaged with the jth imaging satellite, the third and fourth vertices being denoted as U, respectively3(x3,i,y3,i)U4(x4,i,y4,i)，x3,iAnd y3,iRespectively the longitude value and the latitude value, x, of the third vertex4,iAnd y4,iThe longitude value and the latitude value of the fourth vertex are respectively;
a first vertex and a second vertex on a straight line which passes through the vertex at the upper right corner of the first grid and is perpendicular to the imaging scanning direction of the imaging satellite, and which has a distance from the imaging scanning straight line equal to half the width of the strip-shaped region covered by the imaging satellite, are expressed by equation system (5):
Figure FDA0003246241050000072
wherein x represents longitude, y represents latitude, C2(i)＝A·y2(i)-B·x2(i)，x2(i) And y2(i) Respectively the longitude value and the latitude value of the top right vertex of the first grid, wjA, B, C are parameters of the imaging scan line of the imaging satellite for the width of the strip-shaped region imaged with the jth imaging satellite, the first vertex and the second vertex being respectively represented asU1(x1,i,y1,i) And U2(x2,i,y2,i)，x1,iAnd y1,iRespectively a longitude value and a latitude value, x, of the first vertex2,iAnd y2,iThe longitude value and the latitude value of the second vertex are respectively;
a third vertex and a fourth vertex on a straight line which passes through a vertex at the lower left corner of the second grid and is perpendicular to the imaging scanning direction of the imaging satellite, and which are at a distance from the imaging scanning straight line equal to half the width of the strip-shaped region covered by the imaging satellite, are expressed by equation set (6):
Figure FDA0003246241050000081
wherein x represents longitude, y represents latitude, C3(k)＝A·y3(k)-B·x3(k)，x3(k) And y3(k) Respectively the longitude value and the latitude value of the vertex of the lower left corner of the second grid, wjA, B, C are parameters of the imaging scan lines of the imaging satellites for the width of the strip-shaped region imaged with the jth imaging satellite, the third and fourth vertices being denoted as U, respectively3(x3,i,y3,i)U4(x4,i,y4,i)，x3,iAnd y3,iRespectively the longitude value and the latitude value, x, of the third vertex4,iAnd y4,iThe longitude value and the latitude value of the fourth vertex are respectively.
6. The multi-imaging satellite mission planning method of claim 5, wherein the coverage plan is modified, and obtaining the modified coverage plan specifically comprises the following steps:
judging whether the coverage scheme can completely cover the grids in the rectangular area;
in the case that the coverage scheme is judged not to be capable of completely covering the grids in the rectangular area, finding out a coverage pattern to be replaced, of which the strip-shaped area is closest to the uncovered grids, in the coverage scheme, and selecting a coverage pattern, of which the strip-shaped area is closest to the strip-shaped area of the coverage pattern to be replaced, from a coverage pattern list of the imaging satellite corresponding to the coverage pattern to be replaced to replace the coverage pattern to be replaced in the coverage scheme.
7. The multi-imaging satellite mission planning method of claim 6, wherein the objective function for minimizing energy consumed by the imaging satellite established by the Lagrangian relaxation technique is expressed by equation (2):
Figure FDA0003246241050000082
wherein u(s) is a target value of energy consumed by the imaging satellite to perform the s-th coverage mode, energy(s) ls·djEnergy consumed to perform the s-th coverage mode for the imaging satellite,/sLength of the strip-shaped area of the s-th overlay mode, djA proportionality coefficient of an energy consumed for a jth imaging satellite to a length of a strip region of an s-th coverage mode, G' is a grid set formed by the second grid list LG and the third grid list LG, λ (i) is a Lagrangian multiplier corresponding to the ith grid, WC [ s, i [ ]]Is defined as WC [ s, i ] in the case where it is judged that the ith mesh is completely covered by the s-th coverage pattern]1, in case it is judged that the ith mesh is not completely covered by the s-th coverage pattern, WC [ s, i]＝0。
8. The multi-imaging satellite mission planning method of claim 7, wherein the updating of the initial value of the lower energy bound, the initial value of the energy consumption specifically comprises the steps of:
the value lb (t) of the lower bound of energy consumed by the coverage scheme is calculated using equation (3):
LB(t)＝LB1(t)+LB2(t) formula (3)
Wherein LB (t) is a value covering a lower bound of the energy consumed by the scheme,
Figure FDA0003246241050000091
LB2(t) ═ Σ λ (i), u(s) is a target value of energy consumed by the imaging satellite to perform the s-th coverage mode, λ (i) is the lagrange multiplier corresponding to the i-th grid;
the energy consumed by the modified coverage scheme, solu (t), is calculated using equation (4):
Figure FDA0003246241050000092
wherein sol (t) is the energy consumed by the modified coverage scheme, SoluList' is the modified coverage scheme list, CsEnergy(s) consumed to perform an s coverage mode for the imaging satellite for an s coverage scenario;
judging whether the value of the lower energy bound is larger than the initial value of the lower energy bound, and updating the initial value of the lower energy bound to the value of the lower energy bound under the condition that the value of the lower energy bound is larger than the initial value of the lower energy bound;
judging whether the value of the energy consumed by the modified coverage scheme is smaller than the initial value of the energy consumption, and updating the initial value of the energy consumption to the value of the energy consumed by the modified coverage scheme under the condition that the value of the energy consumed by the modified coverage scheme is smaller than the initial value of the energy consumption;
updating the value of the lagrange multiplier using equation (5):
λ '(i) ═ λ (i) + θ' · h (i) formula (5)
Where λ '(i) is the updated value of the lagrangian multiplier, λ (i) is the lagrangian multiplier corresponding to the ith grid, θ' ═ ρ · θ, ρ and θ are initialization coefficients, h (i) ═ 1-v (i), and v (i) is the number of coverage patterns that can completely cover the ith grid in the modified coverage scheme.
9. The multi-imaging satellite mission planning method of claim 8, wherein the value of the optimality parameter of the modified coverage solution is calculated using equation (6):
Figure FDA0003246241050000101
wherein, BestLB is an initial value of the updated energy lower bound, BestSolu is an initial value of the updated energy consumption, and Gap is a value of the optimality parameter of the modified coverage scheme.
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