CN108345984B - A dynamic planning method for multi-imaging satellite area coverage under the condition of limited satellite resources - Google Patents

A dynamic planning method for multi-imaging satellite area coverage under the condition of limited satellite resources Download PDF

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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
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杨善林
胡笑旋
朱外明
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

本发明公开了一种卫星资源受限情形下的多成像卫星区域覆盖动态规划方法，属于卫星通信技术领域。该多成像卫星区域覆盖动态规划方法包括两个阶段，将生成覆盖模式和选择覆盖模式相分离，使得方法结构合理、层次清晰；该多成像卫星区域覆盖动态规划方法基于贪婪算法的思想，能够提供至少一个覆盖方案，使得在成像卫星数量不足的情况下多个成像卫星的覆盖收益尽可能的大。

Figure 201810010516

The invention discloses a multi-imaging satellite area coverage dynamic planning method under the condition of limited satellite resources, and belongs to the technical field of satellite communication. The multi-imaging satellite area coverage dynamic planning method includes two stages, which separates the generation coverage mode and the selection coverage mode, so that the method has a reasonable structure and a clear hierarchy. At least one coverage scheme makes the coverage benefits of multiple imaging satellites as large as possible when the number of imaging satellites is insufficient.

Figure 201810010516

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.
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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 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)

1.一种卫星资源受限情形下的多成像卫星区域覆盖动态规划方法，其特征在于，包括生成覆盖模式和选择覆盖模式，其中生成覆盖模式具体包括以下步骤：1. a multi-imaging satellite area coverage dynamic planning method under the limited situation of satellite resources, is characterized in that, comprises generating coverage pattern and selecting cover pattern, wherein generating cover pattern specifically comprises the following steps: 确定多个成像卫星的成像扫描方向；Determine the imaging scan direction of multiple imaging satellites; 将欲覆盖的矩形区域划分成多个网格，以生成第一网格列表G；Divide the rectangular area to be covered into a plurality of grids to generate a first grid list G; 针对所述多个成像卫星中的每一个成像卫星：For each imaging satellite of the plurality of imaging satellites: 判断所述成像卫星的成像扫描方向是第一倾斜方向还是第二倾斜方向；determining whether the imaging scanning direction of the imaging satellite is a first oblique direction or a second oblique direction; 在判断所述成像卫星的成像扫描方向为所述第一倾斜方向的情况下，以所述第一网格列表G中的任意网格的左上角顶点为基点，根据成像卫星的成像扫描方向将划分的所述多个网格重新排序，以生成第二网格列表LG，In the case of judging that the imaging scanning direction of the imaging satellite is the first oblique direction, taking the upper left vertex of any grid in the first grid list G as the base point, according to the imaging scanning direction of the imaging satellite reordering the divided grids to generate a second grid list LG, 以所述第二网格列表LG中的网格的左上角顶点和右下角顶点为基点，根据所述成像卫星覆盖的条带形区域的宽度确定所述成像卫星的覆盖模式的四个顶点，以形成所述成像卫星的一个覆盖模式，以及遍历所述第二网格列表LG中的网格，以形成所述成像卫星的覆盖模式列表；Taking the upper left corner vertex and the lower right corner vertex of the grid in the second grid list LG as the base point, the four vertices of the coverage pattern of the imaging satellite are determined according to the width of the strip-shaped area covered by the imaging satellite, to form a coverage pattern of the imaging satellites, and traverse the grids in the second grid list LG to form a coverage pattern list of the imaging satellites; 在判断所述成像卫星的成像扫描 方向为所述第二倾斜方向的情况下，以所述第一网格列表G中的任意网格的右上角顶点为基点，根据成像卫星的成像扫描方向将划分的所述多个网格重新排序，以生成第三网格列表LG，In the case of judging that the imaging scanning direction of the imaging satellite is the second inclined direction, taking the top right vertex of any grid in the first grid list G as the base point, according to the imaging scanning direction of the imaging satellite reordering the divided grids to generate a third grid list LG, 并以所述第三网格列表LG中的网格的右上角顶点和左下角顶点为基点，根据所述成像卫星覆盖的条带形区域的宽度确定所述成像卫星的覆盖模式的四个顶点，以形成所述成像卫星的一个覆盖模式，以及遍历所述第三网格列表LG中的网格，以形成所述成像卫星的覆盖模式列表；And taking the upper right corner vertex and the lower left corner vertex of the grid in the third grid list LG as the base point, according to the width of the strip-shaped area covered by the imaging satellite, determine the four vertices of the coverage mode of the imaging satellite. , to form a coverage pattern of the imaging satellite, and traverse the grids in the third grid list LG to form a coverage pattern list of the imaging satellite; 遍历所述多个成像卫星，以得到覆盖模式集合，该覆盖模式集合包括每个成像卫星的覆盖模式列表；traversing the plurality of imaging satellites to obtain a set of coverage patterns, the set of coverage patterns including a list of coverage patterns for each imaging satellite; 选择覆盖模式具体包括以下步骤：Selecting an overlay mode includes the following steps: 建立第一成像卫星列表，所述第一成像卫星列表在初始状态下包含所有的所述成像卫星；establishing a first imaging satellite list, where the first imaging satellite list includes all the imaging satellites in an initial state; 构造标记网格列表GList，所述标记网格列表GList包含已经被完全覆盖的网格，所述标记网格列表GList的初始状态为一个空列表；Constructing a marked grid list GList, the marked grid list GList contains grids that have been completely covered, and the initial state of the marked grid list GList is an empty list; 针对所述第一成像卫星列表中的一个成像卫星：For one imaging satellite in the first list of imaging satellites: 遍历所述成像卫星的覆盖模式列表，对于所述覆盖模式列表中的每一个覆盖模式，获得所述覆盖模式的覆盖网格列表GL；Traversing the coverage mode list of the imaging satellite, for each coverage mode in the coverage mode list, obtaining a coverage grid list GL of the coverage mode; 对于所述覆盖网格列表GL中的任意网格，判断该网格是否包含在所述标记网格列表GList中；For any grid in the overlay grid list GL, determine whether the grid is included in the marked grid list GList; 在判断该网格包含在所述标记网格列表GList中的情况下，将该网格从所述覆盖网格列表GL中删除，以获得未重复覆盖网格列表GL′；In the case of judging that the grid is included in the marked grid list GList, delete the grid from the overlay grid list GL to obtain a non-repetitive overlay grid list GL'; 将与所述未重复覆盖网格列表GL′中的网格对应的覆盖收益进行求和，以获得所述未重复覆盖网格列表GL′的总覆盖收益；Summing the coverage gains corresponding to the grids in the unrepeat covered grid list GL' to obtain the total coverage gain of the unrepeat covered grid list GL'; 遍历所述成像卫星的覆盖模式列表，获得所述成像卫星的覆盖收益，所述成像卫星的覆盖收益被定义为所有的未重复覆盖网格列表GL′的总覆盖收益中的最大值；Traverse the coverage pattern list of the imaging satellites to obtain the coverage benefits of the imaging satellites, where the coverage benefits of the imaging satellites are defined as the maximum value of the total coverage benefits of all the non-repeated coverage grid lists GL'; 遍历所述第一成像卫星列表中的所有的成像卫星，获得每一个成像卫星的覆盖收益，将所述覆盖收益的值最大的成像卫星作为选定成像卫星；Traverse all the imaging satellites in the first imaging satellite list, obtain the coverage benefit of each imaging satellite, and use the imaging satellite with the largest value of the coverage benefit as the selected imaging satellite; 对于所述选定成像卫星，在所述选定成像卫星的覆盖模式列表中选择与最大的所述未重复覆盖网格列表GL′的总覆盖收益对应的覆盖模式作为所述选定成像卫星的选定覆盖模式；For the selected imaging satellite, the coverage pattern corresponding to the largest total coverage gain of the non-repeated coverage grid list GL' is selected in the coverage pattern list of the selected imaging satellite as the coverage pattern of the selected imaging satellite. selected overlay mode; 将所述选定成像卫星的覆盖模式列表从所述覆盖模式集合中删除；deleting the list of coverage patterns for the selected imaging satellite from the set of coverage patterns; 将所述选定成像卫星从所述第一成像卫星列表中删除，以更新所述第一成像卫星列表；deleting the selected imaging satellite from the first imaging satellite list to update the first imaging satellite list; 判断所述第一成像卫星列表是否为空列表；judging whether the first imaging satellite list is an empty list; 在判断所述第一成像卫星列表不是空列表的情况下，重新计算更新后的所述第一成像卫星列表中的每一个成像卫星的所述覆盖收益，以获得新的所述选定成像卫星以及所述新的选定成像卫星的所述选定覆盖模式；In the case of judging that the first imaging satellite list is not an empty list, recalculate the coverage gain of each imaging satellite in the updated first imaging satellite list to obtain the new selected imaging satellite and the selected coverage pattern for the new selected imaging satellite; 在判断所述第一成像卫星列表是空列表的情况下，将多个所述选定覆盖模式构成用于覆盖所述欲覆盖的矩形区域的覆盖方案。When it is judged that the first imaging satellite list is an empty list, a plurality of the selected coverage modes constitute a coverage scheme for covering the rectangular area to be covered. 2.根据权利要求1所述的多成像卫星区域覆盖动态规划方法，其特征在于，以所述第一网格列表G中的任意网格的左上角顶点为基点，根据成像卫星的成像扫描方向将划分的所述多个网格重新排序，以生成第二网格列表LG具体包括：2. The dynamic planning method for multi-imaging satellite area coverage according to claim 1, characterized in that, taking the upper left corner vertex of any grid in the first grid list G as a base point, according to the imaging scanning direction of the imaging satellite Reordering the divided grids to generate the second grid list LG specifically includes: 从所述第一网格列表G中任意选择一个网格，在所述成像卫星的成像扫描直线上确定与选择的网格的左上角顶点的距离为设定值的第一参考点和第二参考点，其中所述第一参考点位于所述第二参考点的右下方；A grid is arbitrarily selected from the first grid list G, and a first reference point and a second reference point whose distance from the upper left vertex of the selected grid is a set value are determined on the imaging scanning line of the imaging satellite. a reference point, wherein the first reference point is located at the lower right of the second reference point; 以所述第一参考点为起点，所述第二参考点为终点确定参考向量，以所述第一参考点为起点，以所述第一网格列表G中的任意网格的左上角顶点为终点确定一向量，计算该向量在所述参考向量上的投影；Take the first reference point as the starting point and the second reference point as the end point to determine a reference vector, take the first reference point as the starting point, and take the upper left corner vertex of any grid in the first grid list G Determine a vector for the end point, and calculate the projection of the vector on the reference vector; 遍历所述第一网格列表G中的网格，获得向量投影列表；Traverse the grids in the first grid list G to obtain a vector projection list; 将所述向量投影列表中的投影按照投影长度降序排列，以对所述第一网格列表G中的网格重新排序，构造所述第二网格列表LG；Arranging the projections in the vector projection list in descending order of projection length to reorder the grids in the first grid list G to construct the second grid list LG; 以所述第一网格列表G中的任意网格的右上角顶点为基点，根据成像卫星的成像扫描方向将划分的所述多个网格重新排序，以生成第三网格列表LG具体包括：Taking the upper right corner vertex of any grid in the first grid list G as the base point, reordering the divided grids according to the imaging scanning direction of the imaging satellite to generate the third grid list LG specifically includes: : 从所述第一网格列表G中任意选择一个网格，在所述成像卫星的成像扫描直线上确定与选择的网格的右上角顶点的距离为设定值的第一参考点和第二参考点，其中所述第一参考点位于所述第二参考点的左下方；A grid is arbitrarily selected from the first grid list G, and a first reference point and a second reference point whose distance from the top-right vertex of the selected grid is a set value are determined on the imaging scanning line of the imaging satellite. a reference point, wherein the first reference point is located at the lower left of the second reference point; 以所述第一参考点为起点，所述第二参考点为终点确定参考向量，以所述第一参考点为起点，以所述第一网格列表G中的任意网格的右上角顶点为终点确定一向量，计算该向量在所述参考向量上的投影；Take the first reference point as the starting point and the second reference point as the end point to determine a reference vector, take the first reference point as the starting point, and take the upper right corner vertex of any grid in the first grid list G Determine a vector for the end point, and calculate the projection of the vector on the reference vector; 遍历所述第一网格列表G中的网格，获得向量投影列表；Traverse the grids in the first grid list G to obtain a vector projection list; 将所述向量投影列表中的投影按照投影长度降序排列，以对所述第一网格列表G中的对应的网格重新排序，构造所述第三网格列表LG。The projections in the vector projection list are arranged in descending order of their projection lengths to reorder the corresponding grids in the first grid list G to construct the third grid list LG. 3.根据权利要求2所述的多成像卫星区域覆盖动态规划方法，其特征在于，在所述成像卫星的成像扫描直线上的与所述选择的网格的左上角顶点的距离为设定值的两个点采用方程组(1)表示：3. The multi-imaging satellite area coverage dynamic planning method according to claim 2, wherein the distance from the upper left corner vertex of the selected grid on the imaging scanning line of the imaging satellite is a set value The two points of are represented by equation system (1):
Figure FDA0001540129420000041
Figure FDA0001540129420000041
 其中，x代表经度，y代表纬度，xl＜x1(z)＜xr，x1(z)和y1(z)分别为所述选择的网格的左上角顶点的经度值和纬度值，xl和xr分别为所述两个点的经度值，R为所述设定值，A、B、C均为成像卫星的成像扫描直线的参数；Wherein, x represents longitude, y represents latitude, x l <x 1 (z)<x r , x 1 (z) and y 1 (z) are respectively the longitude and latitude of the upper left corner of the selected grid value, x l and x r are respectively the longitude values of the two points, R is the set value, and A, B, and C are the parameters of the imaging scanning line of the imaging satellite; 在所述成像卫星的成像扫描直线上的与所述选择的网格的右上角顶点的距离为设定值的两个点采用方程组(2)表示：The two points on the imaging scanning line of the imaging satellite whose distance from the upper right corner vertex of the selected grid is the set value are expressed by equation (2):
Figure FDA0001540129420000042
Figure FDA0001540129420000042
 其中，x代表经度，y代表纬度，xl＜x2(z)＜xr，x2(z)和y2(z)分别为所述选择的网格的右上角顶点的经度值和纬度值，xl和xr分别为所述两个点的经度值，R为所述设定值，A、B、C均为成像卫星的成像扫描直线的参数。Wherein, x represents longitude, y represents latitude, x l <x 2 (z)<x r , x 2 (z) and y 2 (z) are respectively the longitude and latitude of the upper-right vertex of the selected grid value, x l and x r are the longitude values of the two points respectively, R is the set value, and A, B, and C are all parameters of the imaging scanning line of the imaging satellite. 4.根据权利要求3所述的多成像卫星区域覆盖动态规划方法，其特征在于，以所述第二网格列表LG中的网格的左上角顶点和右下角顶点为基点，根据所述成像卫星覆盖的条带形区域的宽度确定所述成像卫星的覆盖模式的四个顶点，以形成所述成像卫星的一个覆盖模式，以及遍历所述第二网格列表LG中的网格，以形成所述成像卫星的覆盖模式列表具体包括：4. The dynamic planning method for multi-imaging satellite area coverage according to claim 3, characterized in that, taking the upper left corner vertex and the lower right corner vertex of the grid in the second grid list LG as base points, according to the imaging The width of the strip-shaped area covered by the satellite determines the four vertices of the coverage pattern of the imaging satellite to form a coverage pattern of the imaging satellite, and traverses the grids in the second grid list LG to form The coverage mode list of the imaging satellite specifically includes: 在所述第二网格列表LG中任意选择一个第一网格，在通过所述第一网格的左上角顶点且与所述成像卫星的成像扫描方向垂直的直线上确定与成像扫描直线的距离等于所述成像卫星覆盖的条带形区域的宽度的一半的第一顶点和第二顶点；A first grid is arbitrarily selected from the second grid list LG, and a line that passes through the upper left corner of the first grid and is perpendicular to the imaging scanning direction of the imaging satellite is determined. distances from first and second vertices equal to half the width of the strip-shaped area covered by the imaging satellite; 在第二网格列表LG中选择一个第二网格，所述第二网格在所述第二网格列表LG中的编号大于等于所述第一网格的编号，在通过所述第二网格的右下角顶点且与所述成像卫星的成像扫描方向垂直的直线上确定与所述成像扫描直线的距离等于所述成像卫星覆盖的条带形区域的宽度的一半的第三顶点和第四顶点；Select a second grid in the second grid list LG. The number of the second grid in the second grid list LG is greater than or equal to the number of the first grid. The lower right corner vertex of the grid and the line perpendicular to the imaging scanning direction of the imaging satellite determine the third vertex and the third vertex whose distance from the imaging scanning line is equal to half the width of the strip-shaped area covered by the imaging satellite. four vertices; 以所述第一顶点、第二顶点、第三顶点和第四顶点为顶点，形成所述成像卫星的一个覆盖模式；Taking the first vertex, the second vertex, the third vertex and the fourth vertex as vertexes, a coverage pattern of the imaging satellite is formed; 对于所述第一网格和所述第二网格依次遍历所述第二网格列表LG中的网格，获得所述成像卫星的基础覆盖模式列表；For the first grid and the second grid, sequentially traverse the grids in the second grid list LG to obtain a basic coverage mode list of the imaging satellite; 在所述基础覆盖模式列表中添加一个虚拟的覆盖模式，以获得所述成像卫星的覆盖模式列表，所述虚拟的覆盖模式被定义为不覆盖任何网格，消耗的能量或者时间为零的覆盖模式；Add a dummy overlay pattern to the base overlay pattern list to obtain the imaging satellite overlay pattern list, the dummy overlay pattern is defined as overlay that does not cover any grid, consumes zero energy or time model; 以所述第三网格列表LG中的网格的右上角顶点和左下角顶点为基点，根据所述成像卫星覆盖的条带形区域的宽度确定所述成像卫星的覆盖模式的四个顶点，以形成所述成像卫星的一个覆盖模式，以及遍历所述第三网格列表LG中的网格，以形成所述成像卫星的覆盖模式列表具体包括：Taking the upper right corner vertex and the lower left corner vertex of the grid in the third grid list LG as base points, the four vertices of the coverage pattern of the imaging satellite are determined according to the width of the strip-shaped area covered by the imaging satellite, To form a coverage pattern of the imaging satellite, and traverse the grids in the third grid list LG, to form a coverage pattern list of the imaging satellite specifically includes: 在所述第三网格列表LG中任意选择一个第一网格，在通过所述第一网格的右上角顶点且与该成像扫描直线方程垂直的直线上确定与所述成像扫描直线的距离等于该成像卫星覆盖的条带形区域的宽度的一半的第一顶点和第二顶点；A first grid is arbitrarily selected from the third grid list LG, and the distance to the imaging scanning straight line is determined on a straight line that passes through the upper right corner vertex of the first grid and is perpendicular to the imaging scanning straight line equation a first vertex and a second vertex equal to half the width of the strip-shaped area covered by the imaging satellite; 在所述第三网格列表LG中选择一个第二网格，所述第二网格在所述第二网格列表LG中的编号大于等于所述第一网格的编号，在通过所述第二网格的左下角顶点且与该成像卫星的成像扫描方向垂直的直线上确定与所述成像扫描直线的距离等于该成像卫星覆盖的条带形区域的宽度的一半的第三顶点和第四顶点；A second grid is selected in the third grid list LG, and the number of the second grid in the second grid list LG is greater than or equal to the number of the first grid. On the lower left corner vertex of the second grid and a line perpendicular to the imaging scanning direction of the imaging satellite, determine the third vertex and the third vertex whose distance from the imaging scanning line is equal to half the width of the strip-shaped area covered by the imaging satellite. four vertices; 以所述第一顶点、第二顶点、第三顶点和第四顶点为顶点，形成所述成像卫星的一个覆盖模式；Taking the first vertex, the second vertex, the third vertex and the fourth vertex as vertexes, a coverage pattern of the imaging satellite is formed; 对于所述第一网格和所述第二网格依次遍历所述第三网格列表LG中的网格，获得所述成像卫星的基础覆盖模式列表；For the first grid and the second grid, sequentially traverse the grids in the third grid list LG to obtain a basic coverage mode list of the imaging satellite; 在所述基础覆盖模式列表中添加一个虚拟的覆盖模式，以获得所述成像卫星的覆盖模式列表，所述虚拟的覆盖模式被定义为不覆盖任何网格，消耗的能量或者时间为零的覆盖模式。Add a dummy overlay pattern to the base overlay pattern list to obtain the imaging satellite overlay pattern list, the dummy overlay pattern is defined as overlay that does not cover any grid, consumes zero energy or time model. 5.根据权利要求4所述的多成像卫星区域覆盖动态规划方法，其特征在于，通过所述第一网格的左上角顶点且与成像卫星的成像扫描方向垂直的直线上的与成像扫描直线的距离等于该成像卫星覆盖的条带形区域的宽度的一半的第一顶点和第二顶点采用方程组(3)来表示：5. The dynamic planning method for multi-imaging satellite area coverage according to claim 4, wherein a straight line with the imaging scan on a straight line that passes through the top left corner of the first grid and is perpendicular to the imaging scan direction of the imaging satellite The distance of the first and second vertices equal to half the width of the strip-shaped area covered by the imaging satellite is expressed by equation system (3):
Figure FDA0001540129420000061
Figure FDA0001540129420000061
 其中，x代表经度，y代表纬度，C1(i)＝A·y1(i)-B·x1(i)，x1(i)和y1(i)分别为所述第一网格的左上角顶点的经度值和纬度值，wj为与第j个成像卫星成像的条带形区域的宽度，A、B、C均为成像卫星的成像扫描直线的参数，第一顶点和第二顶点分别表示为U1(x1,i,y1,i)和U2(x2,i,y2,i)，x1,i和y1,i分别为所述第一顶点的经度值和纬度值，x2,i和y2,i分别为所述第二顶点的经度值和纬度值；Wherein, x represents longitude, y represents latitude, C 1 (i)=A·y 1 (i)-B·x 1 (i), x 1 (i) and y 1 (i) are the first network The longitude value and latitude value of the upper left corner vertex of the grid, w j is the width of the strip-shaped area imaged with the jth imaging satellite, A, B, and C are the parameters of the imaging scanning line of the imaging satellite, the first vertex and The second vertices are denoted as U 1 (x 1,i ,y 1,i ) and U 2 (x 2,i ,y 2,i ), respectively, and x 1,i and y 1,i are the first vertices, respectively The longitude value and latitude value of x 2,i and y 2,i are respectively the longitude value and latitude value of the second vertex; 通过所述第二网格的右下角顶点且与所述成像卫星的成像扫描方向垂直的直线上确定与所述成像扫描直线的距离等于所述成像卫星覆盖的条带形区域的宽度的一半的第三顶点和第四顶点采用方程组(4)来表示：A line that passes through the lower right corner vertex of the second grid and is perpendicular to the imaging scan direction of the imaging satellite determines a distance from the imaging scan line equal to half the width of the strip-shaped area covered by the imaging satellite The third vertex and the fourth vertex are represented by equation system (4):
Figure FDA0001540129420000071
Figure FDA0001540129420000071
 其中，x代表经度，y代表纬度，C4(k)＝A·y4(k)-B·x4(k)，x4(k)和y4(k)分别为所述第二网格的右下角顶点的经度值和纬度值，wj为与第j个成像卫星成像的条带形区域的宽度，A、B、C均为成像卫星的成像扫描直线的参数，所述第三顶点和第四顶点分别表示为U3(x3,i,y3,i)和 U4(x4,i,y4,i)，x3,i和y3,i分别为所述第三顶点的经度值和纬度值，x4,i和y4,i分别为所述第四顶点的经度值和纬度值；Wherein, x represents longitude, y represents latitude, C 4 (k)=A·y 4 (k)-B·x 4 (k), x 4 (k) and y 4 (k) are respectively the second network The longitude value and latitude value of the lower right corner vertex of the grid, wj is the width of the strip-shaped area imaged with the jth imaging satellite, A, B, and C are the parameters of the imaging scanning line of the imaging satellite, and the third The vertex and the fourth vertex are denoted as U 3 (x 3,i ,y 3,i ) and U 4 (x 4,i ,y 4,i ), respectively, and x 3,i and y 3,i are the The longitude and latitude values of the three vertices, x 4,i and y 4,i are respectively the longitude and latitude values of the fourth vertex; 通过所述第一网格的右上角顶点且与成像卫星的成像扫描方向垂直的直线上的与所述成像扫描直线的距离等于该成像卫星覆盖的条带形区域的宽度的一半的第一顶点和第二顶点采用方程组(5)来表示：A first vertex on a line that passes through the upper right corner vertex of the first grid and is perpendicular to the imaging scan direction of the imaging satellite at a distance from the imaging scan line equal to half the width of the strip-shaped area covered by the imaging satellite and the second vertex are represented by the system of equations (5):
Figure FDA0001540129420000072
Figure FDA0001540129420000072
 其中，x代表经度，y代表纬度，C2(i)＝A·y2(i)-B·x2(i)，x2(i)和y2(i)分别为所述第一网格的右上角顶点的经度值和纬度值，wj为与第j个成像卫星成像的条带形区域的宽度，A、B、C均为成像卫星的成像扫描直线的参数，第一顶点和第二顶点分别表示为U1(x1,i,y1,i)和U2(x2,i,y2,i)，x1,i和y1,i分别为所述第一顶点的经度值和纬度值，x2,i和y2,i分别为所述第二顶点的经度值和纬度值；Wherein, x represents longitude, y represents latitude, C 2 (i)=A·y 2 (i)-B·x 2 (i), x 2 (i) and y 2 (i) are the first network The longitude value and latitude value of the upper right corner vertex of the grid, w j is the width of the strip-shaped area imaged with the jth imaging satellite, A, B, and C are the parameters of the imaging scanning line of the imaging satellite, the first vertex and The second vertices are denoted as U 1 (x 1,i ,y 1,i ) and U 2 (x 2,i ,y 2,i ), respectively, and x 1,i and y 1,i are the first vertices, respectively The longitude value and latitude value of x 2,i and y 2,i are respectively the longitude value and latitude value of the second vertex; 通过所述第二网格的左下角顶点且与成像卫星的成像扫描方向垂直的直线上的与所述成像扫描直线的距离等于该成像卫星覆盖的条带形区域的宽度的一半的第三顶点和第四顶点采用方程组(6)来表示：A third vertex on a line that passes through the lower left corner vertex of the second grid and is perpendicular to the imaging scan direction of the imaging satellite at a distance from the imaging scan line equal to half the width of the strip-shaped area covered by the imaging satellite and the fourth vertex are represented by the system of equations (6):
Figure FDA0001540129420000081
Figure FDA0001540129420000081
 其中，x代表经度，y代表纬度，C3(k)＝A·y3(k)-B·x3(k)，x3(k)和y3(k)分别为所述第二网格的左下角顶点的经度值和纬度值，wj为与第j个成像卫星成像的条带形区域的宽度，A、B、C均为成像卫星的成像扫描直线的参数，所述第三顶点和第四顶点分别表示为U3(x3,i,y3,i)和 U4(x4,i,y4,i)，x3,i和y3,i分别为所述第三顶点的经度值和纬度值，x4,i和y4,i分别为所述第四顶点的经度值和纬度值。Wherein, x represents longitude, y represents latitude, C 3 (k)=A·y 3 (k)-B·x 3 (k), x 3 (k) and y 3 (k) are respectively the second network The longitude value and latitude value of the lower left corner vertex of the grid, wj is the width of the strip-shaped area imaged with the jth imaging satellite, A, B, and C are the parameters of the imaging scanning line of the imaging satellite, and the third The vertex and the fourth vertex are denoted as U 3 (x 3,i ,y 3,i ) and U 4 (x 4,i ,y 4,i ), respectively, and x 3,i and y 3,i are the The longitude and latitude values of the three vertices, x 4,i and y 4,i are respectively the longitude and latitude values of the fourth vertex.
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