CN108345984B - Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition - Google Patents

Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition Download PDF

Info

Publication number
CN108345984B
CN108345984B CN201810010516.2A CN201810010516A CN108345984B CN 108345984 B CN108345984 B CN 108345984B CN 201810010516 A CN201810010516 A CN 201810010516A CN 108345984 B CN108345984 B CN 108345984B
Authority
CN
China
Prior art keywords
imaging
grid
list
vertex
coverage
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.)
Active
Application number
CN201810010516.2A
Other languages
Chinese (zh)
Other versions
CN108345984A (en
Inventor
杨善林
胡笑旋
朱外明
靳鹏
夏维
罗贺
马华伟
王国强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei University of Technology
Original Assignee
Hefei University of Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hefei University of Technology filed Critical Hefei University of Technology
Priority to CN201810010516.2A priority Critical patent/CN108345984B/en
Publication of CN108345984A publication Critical patent/CN108345984A/en
Application granted granted Critical
Publication of CN108345984B publication Critical patent/CN108345984B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • G06Q10/06315—Needs-based resource requirements planning or analysis
    • 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
    • G06Q10/0637—Strategic management or analysis, e.g. setting a goal or target of an organisation; Planning actions based on goals; Analysis or evaluation of effectiveness of goals

Landscapes

  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Engineering & Computer Science (AREA)
  • Strategic Management (AREA)
  • Economics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Educational Administration (AREA)
  • Development Economics (AREA)
  • Game Theory and Decision Science (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a multi-imaging satellite area coverage dynamic planning method under the condition of satellite resource limitation, and belongs to the technical field of satellite communication. The multi-imaging satellite area coverage dynamic 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 dynamic planning method for the multi-imaging satellite area coverage is based on the idea of a greedy algorithm, and at least one coverage scheme can be provided, so that the coverage income of a plurality of imaging satellites is as large as possible under the condition that the number of the imaging satellites is insufficient.

Description

Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition
Technical Field
The invention relates to the technical field of satellite communication, in particular to a multi-imaging satellite area coverage dynamic planning method under the condition of limited satellite resources.
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. .
Each coverage area corresponds to a coverage benefit, if the coverage area is covered, the coverage benefit corresponding to the coverage area is obtained, and under the condition that the number of imaging satellites is insufficient, the positions of the strip-shaped areas imaged by the imaging satellites are reasonably arranged, so that the coverage benefits of the imaging satellites are as large as possible, and the method has a crucial meaning.
Disclosure of Invention
The invention aims to provide a multi-imaging satellite area coverage dynamic planning method under the condition of limited satellite resources, which obtains a coverage scheme with the coverage gain as large as possible by adjusting the length of a strip-shaped area 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 dynamically planning coverage of a multi-imaging satellite region under a situation where satellite resources are limited, including generating a coverage mode and selecting the coverage mode, where 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: establishing a first imaging satellite list, wherein the first imaging satellite list comprises all imaging satellites in an initial state; constructing a marked grid list GList, wherein the marked grid list GList comprises grids which are completely covered, and the initial state of the marked grid list GList is an empty list; for one imaging satellite in the first list of imaging satellites: constructing a marked grid list GList, wherein the marked grid list GList comprises grids which are completely covered, and the initial state of the marked grid list GList is an empty list; traversing a coverage mode list of the imaging satellite, and obtaining a coverage grid list GL of the coverage mode for each coverage mode in the coverage mode list; for any grid in the coverage grid list GL, judging whether the grid is contained in a mark grid list GList; deleting the grid from the coverage grid list GL under the condition that the grid is judged to be contained in the marked grid list GList so as to obtain an unrepeated coverage grid list GL'; summing the coverage gains corresponding to the grids in the non-repeated coverage grid list GL 'to obtain the total coverage gain of the non-repeated coverage grid list GL'; traversing the coverage mode list of the imaging satellite to obtain the coverage income of the imaging satellite, wherein the coverage income of the imaging satellite is defined as the maximum value in the total coverage income of all the unrepeated coverage grid lists GL'; traversing all the imaging satellites in the first imaging satellite list to obtain the coverage income of each imaging satellite, and taking the imaging satellite with the maximum coverage income value as a selected imaging satellite; for the selected imaging satellite, selecting a coverage mode corresponding to the total coverage gain of the largest unrepeated coverage grid list GL' in the coverage mode list of the selected imaging satellite as the selected coverage mode of the selected imaging satellite; removing the list of coverage patterns for the selected imaging satellite from the set of coverage patterns; removing the selected imaging satellite from the first list of imaging satellites to update the first list of imaging satellites; judging whether the first imaging satellite list is an empty list or not; under the condition that the first imaging satellite list is judged not to be an empty list, recalculating the coverage gain of each imaging satellite in the updated first imaging satellite list to obtain a new selected imaging satellite and a selected coverage mode of the new selected imaging satellite; and in the case that the first imaging satellite list is judged to be an empty list, forming a plurality of selected coverage modes into a coverage scheme for covering a rectangular area to be covered.
By the technical scheme, the multi-imaging satellite area coverage dynamic planning method under the condition of limited satellite resources is divided into two stages, and a coverage mode is generated and selected separately, so that the method is reasonable in structure and clear in hierarchy; the multi-imaging satellite area coverage dynamic planning method can provide at least one coverage scheme which enables the coverage yield of a plurality of imaging satellites to be as large as possible.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
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 a method for dynamic planning of coverage of a multi-imaging satellite region in a satellite resource constrained situation to generate coverage patterns, according to an embodiment of the present invention;
fig. 3 is a flow chart of a coverage mode selection of a multi-imaging satellite area coverage dynamic planning method in a satellite resource limited situation 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 BDA0001540129430000031
FIG. 2 is a flow chart of a coverage pattern generation of a multi-imaging satellite area coverage dynamic planning method in a satellite resource limited situation 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 BDA0001540129430000041
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 provided withIs 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 BDA0001540129430000051
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 values of (z), 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 sorted in descending order of projection length 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 BDA0001540129430000061
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;
and arranging the projections in the vector projection list in descending order according to the projection length, reordering (numbering) the corresponding grids in the first grid list G, and constructing a third grid list LG.
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 sjDetermines a first vertex U on a straight line perpendicular to the imaging scanning direction, the first vertex U being at a distance of 0 from the imaging scanning straight line Ax + By + C equal to half 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)，
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 BDA0001540129430000071
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 sjWidth of imaged (covered) strip-shaped areaA, B, C are parameters of the imaging scan line of the imaging satellite, 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 BDA0001540129430000072
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 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.
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 BDA0001540129430000081
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) 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, 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 BDA0001540129430000091
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 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 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 C0Is defined as not covering any netGrid, zero energy consumed or time coverage mode;
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
Each grid corresponds to an overlay benefit, and if the grid is overlaid, the overlay benefit corresponding to the grid is obtained. The coverage benefit of a grid may be defined, for example, as the importance of the grid, e.g., the closer the grid is to a search point, the greater the value of the coverage benefit of that grid.
Fig. 3 is a flow chart of a coverage mode selection of a multi-imaging satellite area coverage dynamic planning method in a satellite resource limited situation 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 coverage area of the imaging satellite is expected to be the largest in the case of insufficient imaging satellite resources, the selection of the coverage mode may include the following steps:
in step S201, a first imaging satellite list is established, where the first imaging satellite list includes all imaging satellites in an initial state;
in step S202, a marked grid list GList is constructed, where the marked grid list GList includes grids that have been completely covered, and the initial state of the marked grid list GList is an empty list;
the following steps are performed for one imaging satellite in the first list of imaging satellites (to image satellite s)jFor example):
in step S203, the imaging satellite S is traversedjCoverage mode list CLjFor the overlay mode List CLjObtaining an overlay grid list GL of overlay modes,
for example for the overlay mode list CLjCover mode C insOf coveringMode CsThe overlay grid list of (1) may be denoted as GL (C)s)；
In step S204, for the overlay grid list GL (C)s) (with ith grid g)iAs an example), judge the grid giWhether it is contained in the tag grid list GList;
in step S205, a grid g is judgediIncluding in the marked grid list GList, grid giFrom the overlay grid list GL (C)s) To obtain a list of non-overlapping covered grids GL' (C)s)；
In step S206, the overlay mesh list GL' (C) is repeateds) The coverage gains corresponding to the grids in (1) are summed to obtain a list of unrepeated coverage grids GL' (C)s) Total coverage revenue of;
in step S207, the imaging satellite S is traversedjCoverage mode list CLjObtaining an imaging satellite sjCoverage yield of, imaging satellite sjIs defined as the maximum value of the total coverage yield of all the unrepeated coverage grid lists GL';
in step S208, traversing all the imaging satellites in the first imaging satellite list to obtain coverage benefit of each imaging satellite, and using the imaging satellite with the largest coverage benefit value as the selected imaging satellite;
in step S209, for the selected imaging satellite, selecting a coverage pattern corresponding to the total coverage gain of the largest unrepeated coverage grid list GL' in the coverage pattern list of the selected imaging satellite as the selected coverage pattern of the selected imaging satellite;
in step S210, the coverage mode list of the selected imaging satellite is deleted from the coverage mode set;
in step S211, the selected imaging satellite is deleted from the first imaging satellite list to update the first imaging satellite list;
in step S212, determining whether the first imaging satellite list is an empty list;
under the condition that the first imaging satellite list is judged not to be an empty list, circulating the step S203 to the step S212 for the updated first imaging satellite list, and recalculating the coverage gain of each imaging satellite in the updated first imaging satellite list so as to obtain a new selected imaging satellite and a selected coverage mode of the new selected imaging satellite;
in step S213, in the case where it is determined that the first imaging satellite list is an empty list, the plurality of selected coverage modes are configured into a coverage scheme for covering a rectangular area to be covered.
In the case of insufficient imaging satellite resources, it is necessary that the number of selected coverage patterns is equal to the number of multiple imaging satellites, i.e. each imaging satellite covers an area, i.e. the above method of selecting coverage patterns can provide at least one coverage scheme, so that the coverage yield of multiple imaging satellites is as great as possible.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon instructions for causing a processor to execute a method for dynamic planning of multi-imaging satellite area coverage in any of the above-described satellite resource-constrained scenarios.
Through the embodiment, the dynamic planning method for multi-imaging satellite area coverage under the condition of limited satellite resources 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 area coverage dynamic planning method can provide at least one coverage scheme which enables the coverage yield of a plurality of imaging satellites to be as large 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 (5)

1. A multi-imaging satellite area coverage dynamic planning method under the condition of limited satellite resources 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:
establishing a first imaging satellite list, wherein the first imaging satellite list comprises all the imaging satellites in an initial state;
constructing a mark grid list GList, wherein the mark grid list GList comprises grids which are completely covered, and the initial state of the mark grid list GList is an empty list;
for one imaging satellite in the first list of imaging satellites:
traversing the coverage mode list of the imaging satellite, and for each coverage mode in the coverage mode list, obtaining a coverage grid list GL of the coverage mode;
for any grid in the coverage grid list GL, judging whether the grid is contained in the mark grid list GList;
deleting the grid from the coverage grid list GL to obtain an unrepeated coverage grid list GL' under the condition that the grid is judged to be contained in the marked grid list GList;
summing coverage gains corresponding to grids in the non-overlapping coverage grid list GL 'to obtain a total coverage gain of the non-overlapping coverage grid list GL';
traversing the coverage pattern list of the imaging satellite to obtain the coverage gain of the imaging satellite, wherein the coverage gain of the imaging satellite is defined as the maximum value in the total coverage gain of all the unrepeated coverage grid lists GL';
traversing all the imaging satellites in the first imaging satellite list to obtain the coverage income of each imaging satellite, and taking the imaging satellite with the maximum coverage income value as a selected imaging satellite;
for the selected imaging satellite, selecting a coverage pattern in the list of coverage patterns of the selected imaging satellite corresponding to the largest total coverage gain of the list of unrepeated coverage meshes GL' as the selected coverage pattern of the selected imaging satellite;
removing the list of coverage patterns for the selected imaging satellite from the set of coverage patterns;
removing the selected imaging satellite from the first list of imaging satellites to update the first list of imaging satellites;
judging whether the first imaging satellite list is an empty list or not;
under the condition that the first imaging satellite list is judged not to be an empty list, recalculating the coverage gain of each imaging satellite in the updated first imaging satellite list to obtain a new selected imaging satellite and the selected coverage mode of the new selected imaging satellite;
and under the condition that the first imaging satellite list is judged to be an empty list, forming a plurality of selected coverage modes into a coverage scheme for covering the rectangular area to be covered.
2. The method according to claim 1, wherein reordering the divided meshes according to the imaging scanning 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 according to projection length to reorder the grids in the first grid list G and construct the second grid 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;
and arranging the projections in the vector projection list in descending order according to projection length so as to reorder the corresponding grids in the first grid list G and construct the third grid list LG.
3. The method according to claim 2, wherein two points on the imaging scan line of the imaging satellite with a set distance from the top left vertex of the selected grid are represented by equation (1):
Figure FDA0001540129420000041
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 FDA0001540129420000042
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 xrRespectively are longitude values of the two points, R is the set valueA, B, C are parameters of the imaging scan line of the imaging satellite.
4. The 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 method according to claim 4, wherein the first vertex and the second vertex on the straight line perpendicular to the imaging scanning direction of the imaging satellite, which passes through the top left vertex of the first grid, and whose distance from the imaging scanning straight line is equal to half of the width of the strip-shaped region covered by the imaging satellite, are expressed by equation (3):
Figure FDA0001540129420000061
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 FDA0001540129420000071
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) And 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 FDA0001540129420000072
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 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;
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 FDA0001540129420000081
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) And 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.
CN201810010516.2A 2018-01-05 2018-01-05 Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition Active CN108345984B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810010516.2A CN108345984B (en) 2018-01-05 2018-01-05 Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810010516.2A CN108345984B (en) 2018-01-05 2018-01-05 Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition

Publications (2)

Publication Number Publication Date
CN108345984A CN108345984A (en) 2018-07-31
CN108345984B true CN108345984B (en) 2021-09-24

Family

ID=62960475

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810010516.2A Active CN108345984B (en) 2018-01-05 2018-01-05 Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition

Country Status (1)

Country Link
CN (1) CN108345984B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110727903B (en) * 2019-10-10 2023-03-28 合肥工业大学 Satellite task planning method for realizing maximum observation area by limited coverage resources
CN110782166B (en) * 2019-10-10 2023-06-20 北京市遥感信息研究所 Regional satellite task planning method with limited resource coverage maximum area

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103294925A (en) * 2013-06-20 2013-09-11 中国科学院遥感与数字地球研究所 Method for realizing multi-satellite combined imaging
CN105841705A (en) * 2016-06-07 2016-08-10 中国人民解放军国防科学技术大学 Time-attitude based method for decomposition and synthesis of imaging satellite observation task
CN106469249A (en) * 2015-08-24 2017-03-01 中国科学院遥感与数字地球研究所 A kind of satellite covering analyzing method and system over the ground
CN106767730A (en) * 2016-11-22 2017-05-31 航天恒星科技有限公司 The satellite dynamic banded zone method for splitting described with static grid

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103294925A (en) * 2013-06-20 2013-09-11 中国科学院遥感与数字地球研究所 Method for realizing multi-satellite combined imaging
CN106469249A (en) * 2015-08-24 2017-03-01 中国科学院遥感与数字地球研究所 A kind of satellite covering analyzing method and system over the ground
CN105841705A (en) * 2016-06-07 2016-08-10 中国人民解放军国防科学技术大学 Time-attitude based method for decomposition and synthesis of imaging satellite observation task
CN106767730A (en) * 2016-11-22 2017-05-31 航天恒星科技有限公司 The satellite dynamic banded zone method for splitting described with static grid

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
实际复杂约束条件下多星区域覆盖优化算法;章登义等;《计算机应用与软件》;20171231;第34卷(第12期);说明书第1-7,20页 *

Also Published As

Publication number Publication date
CN108345984A (en) 2018-07-31

Similar Documents

Publication Publication Date Title
CN108364116B (en) Multi-imaging satellite area coverage dynamic scheduling method under satellite resource limitation condition
Dhandapani Greedy drawings of triangulations
CN108345984B (en) Multi-imaging satellite area coverage dynamic planning method under satellite resource limitation condition
CN106408604A (en) Filtering method and device for point cloud data
KR102065197B1 (en) Electron beam drawing device, electron beam drawing method, and recrding media
US20030193497A1 (en) Converting bitmap objects to polygons
JP2007193508A (en) Image processor and image processing program
CN111161288B (en) Image processing method and device
CN108334979B (en) Multi-imaging satellite task planning method facing area coverage
CN108268976B (en) Multi-imaging satellite area coverage task maximum completion time minimization planning method
CN110727903A (en) Satellite task planning method for realizing maximum observation area by limited coverage resources
JP2006352551A (en) Visibility determination method between radio stations and device, and visibility determination program and recording medium recording the program
CN108460178B (en) Multi-imaging satellite coverage optimization method considering sensor side sway
CN110807579B (en) Satellite task planning method for minimum completion time under condition of sufficient resources
CN107798182A (en) A kind of quick calculating of base station radiation scope and update method
CN108269009A (en) More imaging satellite region overlay task dynamic programming methods
CN113010570B (en) Power grid equipment vector data query method and device, computer equipment and medium
CN112002007B (en) Model acquisition method and device based on air-ground image, equipment and storage medium
CN108268975B (en) Multi-imaging satellite area coverage task planning method considering sensor side sway
CN108334664B (en) Multi-imaging satellite coverage optimization method under satellite resource limitation condition
JP2005251035A (en) Device, method and program for creating three-dimensional model
JP2012256119A (en) Information processing device and method, and program
JPH10269347A (en) Method for eliminating shade shadow element on geographic image, geographic image processor and recording medium
JP3978614B2 (en) Image region dividing method and image region dividing device
CN114359204A (en) Point cloud hole detection method and device and electronic equipment

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
GR01 Patent grant
GR01 Patent grant