CN109214564A - A kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models - Google Patents
A kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models Download PDFInfo
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Abstract
A kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models, earth observation target to be planned is screened first, obtain task-set to be planned, and it treats the earth observation target that planning tasks collection includes and is pre-processed, then according to pretreated task-set to be planned, carry out long period thick mission planning in advance, obtain long period thick mission planning pattern sequence in advance, finally according to the environmental information of real-time update, to long period, thick mission planning pattern sequence carries out short cycle local window Rolling Planning to satellite maneuverability in advance, contingency tasks Dynamic Programming is carried out according to high priority ground emergency observation mission.
Description
Technical field
The present invention relates to suitable for leading to the remote sensing satellite for independently completing imaging, number biography mission planning demand on star
The coordinated for crossing a variety of Planning Models being capable of completion remote sensing satellite multi-source task input autonomous under scale in different times
Planning arrangement, be a kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models.
Background technique
Autonomous mission planning technological service has pole in the independence, real-time, accuracy, convenience arranged to mission planning
The satellite of high request, such as earth observation remote sensing satellite, On-orbit servicing spacecraft, deep space exploration rover.Remote sensing satellite
The links such as autonomous mission planning technology forecast by satellite imagery auxiliary information therein, task pretreatment, mission planning are autonomous
Generate imaging task, number biography task executable programme, thus realize remote sensing satellite contingency tasks quick response, end
To being substantially improved for the use pattern at end, effectiveness etc..
The autonomous mission planning technology of remote sensing satellite receive ground injection imaging or number biography task after, by satellite at
As the programme of the autonomous each task of generation of three auxiliary information forecast, task pretreatment, mission planning links.In satellite
Auxiliary information is imaged and forecasts link, is primarily based on remote sensing satellite in the attitude maneuver ability of rotating direction, it is pre- by satellite orbit
Reporting method calculates the ground region range that remote sensing satellite can be observed within following a period of time, then according to the imaging of input
Whether task object position is located at the regional scope and its priority that remote sensing satellite can be observed, the energy of remote sensing satellite with deposit admittedly
Whether state estimations information can satisfy imaging task demand, filter out what following a period of time can be planned in the task of input
Task list.Link is pre-processed in task, remote sensing satellite is primarily based on and is rolling the maximum attitude maneuver ability with pitch orientation,
And information is estimated according to remote sensing satellite track, imaging task target geographic position and each mission requirements in task list
Specified observation time, solar elevation, imaging resolution etc., to calculate institute's having time that each imaging task target can be observed
Window.Finally, in mission planning link, according to the Observable time window of each task, priority in task list, with remote sensing
Satellite control ability is model, passes duplexer machine timing with load camera switch machine timing, number, energy state, deposits state admittedly
Deng being used as constraint condition, at the beginning of calculating each task, the end time, and as mission planning scheme.
It is relatively more to the research of remote sensing satellite mission planning method in the document published in recent years.But above-mentioned existing side
Method there are the shortcomings that be mainly reflected in: (1) the autonomous mission planning method of existing remote sensing satellite does not account for separate sources task pair
In the different requirements that planing method real-time and optimization aim propose, task arrangement generally is carried out only with a certain method, because
For there is the solution effect of the mission planning close to engineering application of the input of multi-source task, satellite and environmental change in this
It is bad；(2) the autonomous mission planning method of existing remote sensing satellite is designed generally according to the mode realized on ground, is not accounted for
The limitation that computing resource constraint is realized autonomous mission planning method and run on star, engineering application are general.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of with a variety of Planning Models
Remote sensing of the earth satellite Autonomous mission planning method, pass through the Mechanism Design of three kinds of Planning Models, cooperative mode design, dispatching party
Method design realizes the contexture by self of remote sensing satellite multi-source task input, can be directly used for engineering practice；Length in proposition method
Period preparatory planning mechanism can solve the preparatory arrangement problem that task is prestored on everyday tasks or star, balances satellite resource and appoints
Business income realizes the mission planning problem optimization in global scope；Short cycle dynamic rolling weight planning mechanism in proposition method
It is perceived, the existing programme in local window can be verified, weight-normality stroke based on satellite capacity state estimation, environmental information,
The enforceability of programme can be substantially improved；Event driven contingency tasks insertion planning mechanism in proposition method is in height
It is minimum on the influence of planning tasks while priority contingency tasks are inserted into time, it is obviously improved the quick response energy of remote sensing satellite
Power；The method of proposition dispatches the computation complexity of the reasonable distribution mission planning under different task planning mechanism by fusion,
Ensure the efficient operation of mission planning on star under computing resource constraint.It is as shown in Figure 1 the autonomous mission planning side of various modes
Long period in method plans in advance, short cycle local window Rolling Planning, event driven contingency tasks Dynamic Programming scheduling
Flow chart.
The technical solution of the invention is as follows: a kind of remote sensing of the earth satellite Autonomous mission planning with a variety of Planning Models
Method includes the following steps:
(1) window, satellite orbital position, solar incident angle, object observing are planned according to the long period of remote sensing of the earth satellite
Information, user's actual need, satellite current state, satellite Controlling model screen earth observation target to be planned, obtain wait advise
Draw task-set；
(2) the corresponding geography information of earth observation target that includes according to task-set to be planned, observation window, satellite control
Ability, satellitosis are treated the earth observation target that planning tasks collection includes and are pre-processed；
(3) it according to pretreated task-set to be planned, in conjunction with observed object priority, earliest start time, the latest ties
Beam time, adjacent task most short interval time carry out long period thick mission planning in advance, obtain long period thick mission planning in advance
Pattern sequence；
(4) according to the environmental information of real-time update, satellite maneuverability to long period thick mission planning pattern sequence in advance
Carry out short cycle local window Rolling Planning；
(5) emergency is carried out according to high priority ground emergency observation mission and the time conflict relationship between planning tasks to appoint
Business Dynamic Programming.
It is described according to long period planning time window, satellite current orbit position, observed object geography information and the sun
Incidence angle, user's actual need, satellite current state, satellite Controlling model screen earth observation target to be planned, obtain to
The method of planning tasks collection includes the following steps:
(1) orbital period of remote sensing of the earth satellite is set as Δ T, and long period plans that window is N1Δ T, in each long week
Phase plans in window that ground specifies a remote sensing of the earth satellite to consolidate deposit data number and passes task, by each long period planning window
T when the shadow region start time of previous orbital period is denoted as star0, window (T is planned to long period in the starstart,Tend) into
Row mission planning, wherein Tstart=T0+ Δ T/2 is the area the Yang Zhao initial time of next orbital period, Tend=T0+ΔT/2+
N1Δ T is planning window finish time, N1For positive integer；
(2) window (T is planned according to long periodstart,Tend) Orbit extrapolation is carried out to remote sensing of the earth satellite, obtain (Tstart,
Tend) remote sensing satellite load Observable regional scope in time range, according to task pool on remote sensing satellite starIn eachly
Longitude, latitude, the elevation information of Area Objects, from task poolIn filter out next long period planning window in have sight
All ground targets of survey condition form preliminary candidate task-setExisted according to the remote sensing of the earth satellite estimated
T when starstartThe energy and deposit state, remote sensing of the earth satellite charging and power consumption model admittedly, deposit capacity consumption model, attitude maneuver admittedly
Accumulator electric-quantity before entering shadow region every time with load imaging time model, remote sensing of the earth satellite is not less than Cmin A·H、
Solid surplus amount is not less than D before long period planning window terminatesminTB, from candidate tasks collection R2In filter out nselectA ground appearance
Mark, forms task-set to be planned
nselect=min (npower,ndata)
Wherein,For accumulator electric-quantity surplus,For solid surplus amount, CchargeFor single orbital period Yang Zhao area's phase
Between solar battery sheet charge model on remote sensing of the earth passing of satelline windsurfing, PearthFor remote sensing satellite in shadow region using normal
To the power consumption model of ground mode, PmanProgress load camera is directed toward the appearance adjusted before and after executing imaging task over the ground for remote sensing satellite
The power consumption model of state maneuver model, PimagePower consumption model when imaging load booting over the ground, d are executed for remote sensing satelliteimageTo carry
Lotus camera imaging process generates memory rate of the data in depositing admittedly,It is remote sensing satellite before single goal imaging task over the ground
Load camera is carried out afterwards is directed toward the average time adjusted, timageFor remote sensing satellite over the ground single goal imaging task load booting when
Between, PsolarFor remote sensing of the earth satellite in the area the Yang Zhao non task period using normally to the power consumption model of day cruise mode, U is over the ground
Remote sensing satellite bus primary voltage.
It is described according to task-set to be planned, task-set to be planned includes the corresponding geography information of earth observation target, sight
Window, satellite control ability are surveyed, satellitosis treats the earth observation target that planning tasks collection includes and carries out pretreated method
Include the following steps:
Treat planning tasks collectionIncluding i-th of earth observation goal taskAccording to longitude, latitude, elevation
Information, remote sensing of the earth satellite orbital position calculate remote sensing of the earth satellite with pitch orientation zero attitude direction ground target and cross top pair
When the star answeredWhen remote sensing of the earth satellite is directed toward the earliest observation star of the target with maximum pitching positive-angleRemote sensing of the earth is defended
When star is directed toward the star of observation the latest of the target with minimum pitching negative angle
Wherein, h is remote sensing of the earth satellite orbital altitude, and v is remote sensing of the earth satellite orbit linear velocity, obtains earth observation mesh
Mark taskInitial Observable time windowAccording to task-set to be plannedIn i-th of ground targetThe earliest imaging moment of corresponding mission requirements, the latest imaging moment, solar elevation require, imaging resolution requires,
To initial Observable time windowIt is cut, obtains the Observable time window for meeting mission requirementsUpdate task-set to be planned
It is described according to pretreated task-set to be planned, in conjunction with observed object priority, start over the time, adjacent
The method that task most short interval time carries out the preparatory mission planning of long period includes the following steps:
(1) according to task-set to be plannedThe geographical location of middle arbitrary neighborhood ground target respectively with remote sensing of the earth satellite
The relativeness of orbital position, assumed (specified) load camera is to the orientation angle of arbitrary neighborhood ground target in remote sensing of the earth satellite orbit
It is angular adjustment amount, the angular adjustment amount of pitch axis of the axis of rolling, and the stable in place of adjusting is directed toward according to load camera angle
Time determines the shortest time interval between arbitrary neighborhood ground target imaging task using linear interpolation method respectively；
(2) it is treated according to the imaging task shortest time interval between each adjacent target using heuristic mission planning method
Planning tasks collectionIncluding i-th of earth observation goal taskAccording to task priority from it is high to low successively, determine
Beginning imaging time of the remote sensing of the earth satellite load camera to each ground targetTerminate imaging time And then obtain task-set to be plannedLong period thick mission planning pattern sequence in advance,
The described environmental information according to real-time update, satellite maneuverability are to long period thick mission planning scheme sequence in advance
The method that column carry out short cycle local window Rolling Planning includes the following steps:
(1) remote sensing of the earth satellite executes the observation mission stage on a surface target in the area Yang Zhao of each orbital period, will
The time in the entire area Yang Zhao stage is divided into N2A short cycle local window, each short cycle local window length are Δ t=Δ
T/2N2, it is assumed that the initial time in the area Yang Zhao is t0, then t ∈ { t at the beginning of each local time's window0,t0+Δt,…,
t0+(N2- 1) Δ t }, the attitude maneuver ability of remote sensing satellite is updated based on data on star, according to ground weather forecast information or
The environment sensing ability that remote sensing satellite has, estimation obtain imaging time in the [ground target in t+ Δ t, t+2 Δ t) range
The cloud cover situation of top；
(2) in t moment, for local time's window [preparatory Rough Planning pattern sequence of long period of t+ Δ t, t+2 Δ t)It is cut according to cloud cover situation and is located at local time's window [i-th of ground in t+ Δ t, t+2 Δ t)
TargetObservable time windowObtain i-th of ground targetThe k not influenced by cloud coveriIt is a to have
Imitate observation time window setWhereinRemote sensing of the earth satellite is located atIt can be with when in time range
Effectively imaging, and then update local time's window [i-th of ground target in t+ Δ t, t+2 Δ t)Effective observation
Time window；
If d)AndThen remote sensing of the earth satellite can not be in local time's window
[t+ Δ t, t+2 Δ t) is on a surface target for mouthEffectively imaging, abandons the observation mission of the ground target, willRule
The scheme of drawing is removed from the preparatory Rough Planning pattern sequence of long period, and willIt is retracted into task pool
If e)By i-th of ground targetWeight-normality
Draw mark RPiIt is set as 0；
If f)AndAnd Then by i-th of ground targetWeight-normality draws mark RPiIt is set as 1；
(3) local time's window [two subtasks of the corresponding ground target imaging task of t+ Δ t, t+2 Δ t) are established
List, image path cloud layer do not block task listImage path cloud cover task listWherein,
IfIn the sum of the priority of all tasks be greater thanThen retainThe middle task side of planning in advance
Case is directed toward the time model stable in place adjusted to task list according to t moment load camera angleIn all ground
Target observation task carries out weight-normality and draws；
IfIn the sum of the priority of all tasks be less than or equal toThen according to t moment load camera angle
The time stable in place adjusted is directed toward to task listAndIn all ground target observation missions carry out weight-normality
It draws.
It is described to be met an urgent need observation mission and the time conflict relationship between planning tasks is answered according to high priority ground
The method of anxious task Dynamic Programming are as follows:
(1) t in star, when the ground target emergency observation mission for the high priority for receiving ground injection or remote sensing are defended
When star independently perceives discovery, generates high-priority task, which is denoted as Mu, calculate ground using the pretreated method of task
Area Objects observation mission MuMeet user requirement Observable time windowIfThen abandon the emergency
Observation mission, ifThen start contingency tasks Dynamic Programming；
(2) willLocal time's window at place is denoted as [t1,t1+ Δ t), if emergency observation mission MuPlace
Short-period Rolling Planning, t >=t is completed in local time's window1Δ t, then in star, t immediately begins to contingency tasks MuDynamic
Planning, and according to local time window [t1,t1The corresponding cloud cover situation of+Δ t) cuts in the way of claim 4 and appoints
Be engaged in MuObservable time window, obtain the Observable time window set not influenced by cloud coverIfIn
There is no meeting user to observe the continuous window that duration requires, then task M is abandoneduIfIt is middle to exist more than or equal to one
Meet user and observe the continuous window that duration requires, is then successively calculated from small to large according to window time length in these continuous lights
Task M is inserted into mouthfuluWith local window [t1,t1The overlapping of programme in time in+Δ t) selects lap the smallest
Continuous window is inserted into task Mu, obtain programme, and by local window [t1,t1In+Δ t) in programme with task Mu
Imaging scheme in the presence of between the programme that conflicts delete, the ground target observation mission of deletion is retracted into task pool；
(3) ifLocal time window [the t at place1,t1+ Δ t) does not complete short-period Rolling Planning, t also
≤t1Δ t, the then t in star1Δ t is using the short cycle local window Rolling Planning mode in claim 4, to contingency tasks
MuWith local time window [t1,t1Having planned in+Δ t) for task carries out Dynamic Programming together.
The advantages of the present invention over the prior art are that:
(1) what the present invention was innovative proposes multi-mode mission planning mechanism, plans machine in advance by long period therein
System solves the problems, such as the preparatory arrangement with everyday tasks, plays the role of the balance of satellite resource Yu task income, brings task
The effect optimized in planning problem global scope completes Rough Planning；It is perceived, is led to based on satellite capacity state estimation, environmental information
Cross short cycle dynamic rolling weight planning mechanism play the role of in local window existing programme verification, weight-normality draw, band
Carry out the effect that programme enforceability is substantially improved, realizes essence planning；It is inserted into and is planned by event driven contingency tasks
Mechanism plays the timely insertion of high priority contingency tasks, planning tasks is influenced with minimum effect, brings remote sensing satellite
The effect that is obviously improved of capability of fast response；
(2) present invention is innovative by merging dispatching method come rationally on the basis of multi-mode mission planning mechanism
The computation complexity of mission planning is distributed, i.e., is completed in the long period preparatory planning period having plenty of time using intelligent optimization algorithm
Optimizing in global scope resolves, and draws in the strong short cycle dynamic rolling weight-normality of time sensitivity or contingency tasks are inserted into project period
Between using the good heuritic approach rapid solving of time resolution characteristics, play the computation complexity by mission planning problem not
With the effect effectively decomposed under mission planning mechanism, the mission planning efficient operation effect on star under computing resource constraint is brought
Fruit；
In short, the present invention the multiple ground experiment of the autonomous task grouping principle prototype of remote sensing satellite and test in
Successful application, demonstrates the feasibility and validity of method, and engineering technology is easily realized, therefore has practicability.
Detailed description of the invention
Fig. 1 is autonomous mission planning scheduling flow figure；
Fig. 2 is autonomous mission planning sequential scheduling figure；
There is overlapping Observable time window schematic diagram between adjacent task in Fig. 3.
Specific embodiment
One earth observation remote sensing satellite with autonomous mission planning ability, autonomous mission planning method have this hair
Bright a variety of Planning Models, consider the autonomous mission planning problem of one orbital period of the remote sensing satellite, provide respectively more
Earth observation object filtering to be planned, earth observation target to be planned are located in advance in the autonomous mission planning method of kind of Planning Model
Reason, the preparatory mission planning of long period, short cycle local window Rolling Planning, the embodiment of contingency tasks dynamic programming process and
Numerical example.It is as shown in Figure 1 autonomous mission planning scheduling flow figure, a variety of rule being illustrated in figure 2 in specific embodiment
The sequential scheduling figure of the autonomous mission planning method for the mode of drawing.
Remote sensing satellite controls, deposits admittedly, the ability of power supply etc. is as described below:
A) orbital period Δ T=5400s, orbit altitude h=500km, remote sensing satellite track linear velocity are v=7.42km/
s；
B) load camera rolls axis direction, the direction adjustable range of pitching axis direction is ± 45 degree, is directed toward and adjusts typical case
Angle in place with stablize time model be 10 °/15s, 25 °/20s, 40 °/25s, 55 °/30s, 70 °/35s, 85 °/40s,
100°/45s；
C) it is d that load camera imaging process, which generates memory rate of the data in depositing admittedly,image=14GB/s；
D) during the area Yang Zhao remote sensing satellite by the solar battery sheet on windsurfing can charge capacity be Ccharge=
During the area 30AH, Yang Zhao remote sensing satellite be in normally to remote sensing satellite during day cruising rating and shadow region be in pair
The power consumption of ground orientation works state is Psolar=Pearth=408W, remote sensing satellite are carried before and after executing imaging task over the ground
The power consumption that lotus camera is directed toward the attitude maneuver mode adjusted is PmanThe power consumption of=889W, over the ground image forming job state is Pimage=
989W；
E) remote sensing satellite carried out before and after single goal imaging task over the ground load camera be directed toward adjust average time beRemote sensing satellite over the ground single goal imaging task the load available machine time be timage=5s；
F) to guarantee remote sensing satellite energy security and depositing space with sufficient consolidating to cope with the contingency tasks that may occur,
It is required that the accumulator electric-quantity before remote sensing satellite enters shadow region is not less than Cmin=84AH (depth of discharge α %=15%), Gu
Surplus amount is not less than Dmin=0.5TB；
G) target voltage of remote sensing satellite is 42V.
The current control of remote sensing satellite, deposit admittedly, power supply, task status it is as described below:
A) it is currently at shadow region, posture three-axis stabilization over the ground, when star is T0=489060100s；
B) solid surplus amount is
C) the power supply surplus in the battery into the area Yang Zhao estimated is
D) task pool such as 1 institute of table on the initial star being made of the 26 ground point target earth observation tasks infused on ground
It states, corresponding task number is 500-525, and wherein task priority 5 indicates that minimum, priority 1 indicates highest.
Task pool on the initial star of table 1
Using a variety of Planning Models of the present invention autonomous mission planning method the step of it is as follows:
(1) earth observation object filtering to be planned:
Remote sensing satellite long period plans that window is 5400s, shadow region start time of the remote sensing satellite in each orbital period
Long period is carried out to the task of next orbital period to plan in advance.The T in shadow region start time, i.e. star0=
489060100s, start for next long period plan window, i.e., next orbital period the area Yang Zhao (489062800,
489065500) mission planning is carried out.Earth observation object filtering to be planned is carried out first.
Orbit extrapolation is carried out to remote sensing satellite for long period planning window (489062800,489065500), is obtained
Remote sensing satellite load Observable regional scope in (489062800,489065500) range, i.e. correspondence per second within the scope of 5400s
Remote sensing satellite substar longitude and latitude, two longitudes and latitudes being directed toward over the ground a little according to rotating direction ± 45 degree.From initial star
Task poolIn filter out the ground target that geographical location is located in remote sensing satellite load Observable regional scope, composition is candidate
Task-set.On this basis, accumulator electric-quantity surplus 76AH, solid surplus when entering the area Yang Zhao according to the remote sensing satellite estimated
2TB is measured, remote sensing satellite task power consumption and deposits storage model admittedly, remote sensing satellite power safety deposits safety requirements admittedly, according to following two
A formula calculates, and the earth observation total task number amount that the area Yang Zhao of an orbital period can complete should be no more than 21.
Therefore remote sensing satellite has in the area Yang Zhao of next orbital period to 26 ground target tasks described in table 1
In 21 power supplys being observed and deposit ability admittedly, it is contemplated that this five ground of mission number 502,506,514,515,520
The observation priority of Area Objects is 5, and the observation priority of other ground targets is 4,21 of all preferential planning high priorities
Task.Therefore, the initiating task pond from starMiddle removal task 502,506,514,515,520, obtains task-set to be plannedAs described in Table 2.
Task-set to be planned after 2 object filtering of table
| Normal work to do serial number | Longitude | Latitude | Priority |
| 500 | -34.3125 | -71.617 | 4 |
| 501 | -52.6875 | -86.3617 | 4 |
| 503 | -78.9375 | -78.1277 | 4 |
| 504 | -109.125 | -87.3191 | 4 |
| 505 | -140.438 | -76.5957 | 4 |
| 507 | -168.562 | -75.0638 | 4 |
| 508 | -166.5 | -61.8511 | 4 |
| 509 | 176.062 | -56.2979 | 4 |
| 510 | 179.25 | -36.1915 | 4 |
| 511 | 172.125 | -30.4468 | 4 |
| 512 | 176.25 | -18.9574 | 4 |
| 513 | 166.5 | -13.0213 | 4 |
| 516 | 171.532 | -3.25532 | 4 |
| 517 | 165 | 0.574468 | 4 |
| 518 | 168.938 | 10.9149 | 4 |
| 519 | 161.25 | 14.5532 | 4 |
| 521 | 167.625 | 21.6383 | 4 |
| 522 | 157.312 | 30.0638 | 4 |
| 523 | 162.562 | 37.5319 | 4 |
| 524 | 154.125 | 41.1702 | 4 |
| 525 | 158.625 | 50.7447 | 4 |
(2) earth observation target pretreatment to be planned
For task-set to be planned shown in table 2In ground target task, according to its geographical location and remote sensing
Satellite orbital position calculates separately corresponding remote sensing satellite when remote sensing satellite is directed toward ground target with pitch orientation zero attitude and crosses top
When the corresponding star of target, remote sensing satellite is then calculated on this basis and spends the earliest sight for being directed toward the target with maximum pitch angle+45
When surveying star, that is, reduced when crossing top starAnd it is spent with minimum pitch angle -45 and is directed toward the target the latest
When observing star, that is, increase when crossing top starFinally obtain task-set to be planned shown in table 2In the Observable time window of each ground target task earliest may be used as described in Table 3 in next orbital period
Observation time, the latest Observable time.
The pretreated task-set to be planned of table 2
(3) the preparatory mission planning of long period
From the maximization of imaging task total revenue and the satellite energy, safe target is deposited admittedly, based on each shown in table 3
The Observable time window of a ground target realizes next orbital period sun using remote sensing satellite gesture stability ability as model
According to the preparatory thick arrangement of ground target imaging task in area's time range.
With target (the direction arrow i.e. between remote sensing satellite and ground target as a height of as possible of imaging resolution on a surface target
The pitch angle of amount is as small as possible), using heuristic mission planning method, for task-set to be plannedIn each ground
Target, successively determine each task beginning imaging time of the remote sensing satellite load camera for each ground target, terminate at
As the time.Time interval between adjacent task, i.e. task terminate imaging moment to its next task beginning at
As the time interval between the moment, should remote sensing satellite be directed toward adjust Typical angles in place with the limit of power of stablizing time model
It is interior.
By taking task 500 as an example, since the Observable time window of the task and the Observable time window of other tasks are equal
Do not conflict, it is possible to which the optimum resolution imaging scheme for being instantly available the task is that remote sensing satellite is directed toward bowing for ground target point
At the time of the elevation angle is 0 corresponding, i.e. 489062943 when the imaging start time of task 500 is star, when the imaging end time is star
489062948。
By taking task 501,503,504 as an example, there are the overlappings on Observable time window, such as Fig. 3 between these three tasks
It is shown.Sorting from large to small according to latitude sequence is 503,501,504.It fixes tentatively using optimum resolution imaging mode as task
503,501,504 imaging scheme, i.e. remote sensing satellite:
A) in star 489063140 to 489063145 with the degree of roll angle+10.82, pitch angle 0 degree direction task 503 correspondence
Ground target；
B) in star 489063186 to 489063191 with the degree of roll angle -35.63, pitch angle 0 degree direction task 501 correspondence
Ground target；
C) in star 489063213 to 489063218 with the degree of roll angle -10.88, pitch angle 0 degree direction task 504 correspondence
Ground target.
According to the above tentative imaging scheme, direction adjustable range of the remote sensing satellite load camera between task 503 and 501
It is 46.45 degree of rotating direction, the direction adjustable range between task 501 and 504 is 24.75 degree of rotating direction, according to remote sensing
Satellite be directed toward adjust Typical angles in place with stablize time model be 10 °/15s, 25 °/20s, 40 °/25s, 55 °/30s,
70 °/35s, 85 °/40s, 100 °/45s progress linear interpolation calculating, then 46.45 degree of corresponding direction regulating times are 27.15s,
24.75 degree of corresponding direction regulating times are 19.9s.Finish time and task 501 is imaged in task 503 in the above tentative scheme
41s is divided between imaging start time, task 501 is imaged between finish time and the imaging start time of task 504 and is spaced
For 22s, it is respectively greater than 27.15s, 19.9s the time required to being directed toward adjusting, therefore calculated according to optimum resolution imaging mode
It is executable that scheme is imaged in task 501,503,504.
Ultimately generate task-set to be plannedThe preparatory Rough Planning pattern sequence of long period, such as table 4.
The preparatory Rough Planning pattern sequence of 4 long period of table
(4) short cycle local window Rolling Planning
For the weather environments information such as satellite capacity state and cloud, has task scheme in completion local window first
Optimization property, feasibility verification；When the test fails above, with the weather environments such as the real-time estimation of satellite capacity state, cloud letter
The real-time perception of breath carries out the important task in local window and is engaged in arrangement as constraint condition, and by weight-normality divide into it is not executable at
As task is retracted into task pool.
Remote sensing satellite executes the observation mission stage on a surface target in the area Yang Zhao of each orbital period, and entire sun is shone
The time 2700s in area's stage is divided into 5 local time's windows, and corresponding planning tasks are respectively as follows:
A) [489062800,489063340), 500,503,501,504；
B) [489063340,489063880), 507,508；
C) [489063880,489064420), 510,511,512
D) [489064420,489064960), 513,516,517,518,519
E) [489064960,489065500), 523,524,525
For above five local time's windows, 540s in advance respectively, according to ground weather forecast information or remote sensing satellite
The environment sensing ability having estimates the cloud cover feelings in local time's window ranges above the corresponding ground target of each task
Condition.Assuming that only in local time's window, [489064420,489064960) memory has cloud above the corresponding ground target of task
Layer circumstance of occlusion, remaining four time window without cloud cover, then need to local time window [489064420,
489064960) task carries out Rolling Planning, and the task of remaining four time window remains original programme.Task
513, the cloud cover situation above 516,517,518,519 corresponding ground targets is as described in Table 5:
Cloud cover situation in 5 local window of table above ground target
A) task 513, the cloud cover above 519 corresponding ground targets do not cover the imaging time planned, so protecting
Hold original programme；
B) the Observable time window of ground target is completely covered in the cloud cover above 517 corresponding ground target of task,
So task 517 not can be performed, it is deleted from programme sequence, task 517 is returned into task pool on star；
C) task 516, the cloud cover above 518 corresponding ground targets cover the imaging time planned, but
The Observable time window of ground target is not completely covered, so needing to carry out weight-normality to task 516,518 to draw.
Consider cloud cover situation, effective Observable time window of task 516,518 be respectively (489064621,
489064673), (489064770,489064819), due to task 516 effective Observable time window initial time with appoint
Imaging finish time interval 163s, effective Observable time window finish time of task 516 and the having for task 518 of business 513
Imitate Observable time window initial time interval 97s, effective Observable time window finish time of task 518 and task 519
Imaging initial time interval 87s, it is all very abundant, the direction of remote sensing satellite adjust Typical angles in place with stablize time mould
Type can satisfy the optimum resolution imaging scheme of task 516,518, as described in Table 6.
6 local time's window of table weight program results (the imaging scheme for deleting task 517)
(5) contingency tasks Dynamic Programming
By event driven rapid responding mechanis, it is immediately performed on the contingency tasks and star infused on ground to be autonomously generated and appoints
The insertion process of business, and provided to after insertion with the earth station for executing the time, counting biography scheme for having imaging scheme in local window
Conflict existing for source occupancy etc. carries out autonomous classification；
For the high-priority task of insertion, selection is for programme shadow under the premise of meeting task execution and requiring
The smallest insertion position is rung, in advance or execution time of planning tasks is postponed and guarantees to remain to execute, will no longer have execution energy
The planning tasks of power are retracted into task pool.
The 489063360s in star, the ground target emergency observation that remote sensing satellite receives the high priority of ground injection are appointed
Business, longitude 173.25, latitude are -40.7872, which are denoted as 526, priority is set as 1 (highest).Then use first
When task preprocess method in step (2) calculates the following Observable for meeting user's requirement of ground target observation mission 526
Between window (489064049s, 489064182s), which is located at the sector planning time window in step (4)
[489063880,489064420) in, due to be completed in 489063360s [489063880,489064420) in planned appoint
The Rolling Planning of business 510,511,512, so 489063360s starts the Dynamic Programming of task 526 immediately in star.
Sector planning time window [489063880,489064420) it is not influenced by cloud cover, so
(489064049s, 489064182s) is effective observation time window of task 526, the imaging scheme with task 510
There is overlapping in the imaging scheme (489064174s, 489064179s) of (489064067s, 489064072s), task 511, so
In order to reduce the influence that task 510 is imaged scheme in the insertion of task 526 as far as possible, by the Observable time window of task 526
It is cut to (489064073s, 489064173s).With optimum resolution in star (489064113,489064118) to task
When 526 imaging, remote sensing satellite load camera is from the corresponding target point of task 510 is directed toward to the direction corresponding target point of task 526
45.88 degree of attitude maneuver are needed, needs appearance from the corresponding target point of direction task 526 to the corresponding target point of direction task 511
Motor-driven 12.17 degree of state, being respectively necessary for the attitude maneuver time expended is 26.96 < 489064113-489064072=41,15.72
< 489064174-489064118=56, i.e., when task 526 being imaged with optimum resolution, with the time between the task of front and back
Interval meets the time requirement of attitude maneuver, and imaging scheme has feasibility.
7 contingency tasks of table, 526 Dynamic Programming pattern sequence (local window)
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (6)
1. a kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models, it is characterised in that including walking as follows
It is rapid:
(1) according to the long period of remote sensing of the earth satellite plan window, satellite orbital position, solar incident angle, object observing information,
User's actual need, satellite current state, satellite Controlling model screen earth observation target to be planned, obtain task to be planned
Collection；
(2) the corresponding geography information of earth observation target that includes according to task-set to be planned, observation window, satellite control energy
Power, satellitosis are treated the earth observation target that planning tasks collection includes and are pre-processed；
(3) according to pretreated task-set to be planned, in conjunction with observed object priority, earliest start time, the latest at the end of
Between, adjacent task most short interval time carry out long period thick mission planning in advance, obtain long period thick mission planning scheme in advance
Sequence；
(4) according to the environmental information of real-time update, satellite maneuverability, to long period, thick mission planning pattern sequence is carried out in advance
Short cycle local window Rolling Planning；
(5) contingency tasks are carried out according to high priority ground emergency observation mission and the time conflict relationship between planning tasks to move
State planning.
2. a kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models according to claim 1,
It is characterized by: described according to long period planning time window, satellite current orbit position, observed object geography information and too
Positive incidence angle, user's actual need, satellite current state, satellite Controlling model screen earth observation target to be planned, obtain
The method of task-set to be planned includes the following steps:
(1) orbital period of remote sensing of the earth satellite is set as Δ T, and long period plans that window is N1Δ T is advised in each long period
It draws in window, ground specifies a remote sensing of the earth satellite to consolidate deposit data number and passes task, by the previous of each long period planning window
T when the shadow region start time of a orbital period is denoted as star0, window (T is planned to long period in the starstart,Tend) appointed
It is engaged in planning, wherein Tstart=T0+ Δ T/2 is the area the Yang Zhao initial time of next orbital period, Tend=T0+ΔT/2+N1·Δ
T is planning window finish time, N1For positive integer；
(2) window (T is planned according to long periodstart,Tend) Orbit extrapolation is carried out to remote sensing of the earth satellite, obtain (Tstart,Tend)
Remote sensing satellite load Observable regional scope in time range, according to task pool on remote sensing satellite starIn each ground appearance
Target longitude, latitude, elevation information, from task poolIn filter out next long period planning window in have observation
All ground targets of condition form preliminary candidate task-setAccording to the remote sensing of the earth satellite estimated in star
When TstartThe energy and deposit admittedly state, remote sensing of the earth satellite charging and power consumption model, deposit admittedly capacity consumption model, attitude maneuver and
Accumulator electric-quantity before load imaging time model, remote sensing of the earth satellite enter shadow region every time is not less than CminAH, length
Period planning window terminates preceding solid surplus amount not less than DminTB, from candidate tasks collection R2In filter out nselectA ground target,
Form task-set to be planned
nselect=min (npower,ndata)
Wherein, U is remote sensing of the earth satellite bus primary voltage,For accumulator electric-quantity surplus,For solid surplus amount,
CchargeFor the solar battery sheet charge model during the area single orbital period Yang Zhao on remote sensing of the earth passing of satelline windsurfing,
PearthFor remote sensing satellite in shadow region using normally to the power consumption model of ground mode, PmanImaging over the ground is executed for remote sensing satellite to appoint
Business front and back carries out the power consumption model that load camera is directed toward the attitude maneuver mode adjusted, PimageIt is imaged over the ground for remote sensing satellite execution
Power consumption model when load is switched on, dimageMemory rate of the data in depositing admittedly is generated for load camera imaging process,For
Remote sensing satellite carries out load camera before and after single goal imaging task over the ground and is directed toward the average time adjusted, timageFor remote sensing satellite
The load available machine time of single goal imaging task over the ground, PsolarFor remote sensing of the earth satellite in the area the Yang Zhao non task period using normal
To the power consumption model of day cruise mode.
3. a kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models according to claim 2,
It is characterized by: described according to task-set to be planned, task-set to be planned include the corresponding geography information of earth observation target,
Observation window, satellite control ability, satellitosis treat the earth observation target that planning tasks collection includes and carry out pretreated side
Method includes the following steps:
Treat planning tasks collectionIncluding i-th of earth observation goal taskAccording to longitude, latitude, elevation information,
Remote sensing of the earth satellite orbital position calculates remote sensing of the earth satellite with pitch orientation zero attitude direction ground target and crosses the corresponding star in top
WhenWhen remote sensing of the earth satellite is directed toward the earliest observation star of the target with maximum pitching positive-angleRemote sensing of the earth satellite is with most
When small pitching negative angle is directed toward the star of observation the latest of the target
Wherein, h is remote sensing of the earth satellite orbital altitude, and v is remote sensing of the earth satellite orbit linear velocity, obtains earth observation target and appoints
BusinessInitial Observable time windowAccording to task-set to be plannedIn i-th of ground targetIt is right
The earliest imaging moment for the mission requirements answered, the latest imaging moment, solar elevation requirement, imaging resolution requirement, to initial
Observable time windowIt is cut, obtains the Observable time window for meeting mission requirements
Update task-set to be planned
4. a kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models according to claim 3,
It is characterized by: described according to pretreated task-set to be planned, in conjunction with observed object priority, start over the time,
The method that adjacent task most short interval time carries out the preparatory mission planning of long period includes the following steps:
(1) according to task-set to be plannedThe geographical location of middle arbitrary neighborhood ground target respectively with remote sensing of the earth satellite orbit
The relativeness of position, assumed (specified) load camera roll the orientation angle of arbitrary neighborhood ground target in remote sensing of the earth satellite orbit system
Angular adjustment amount, the angular adjustment amount of pitch axis of moving axis, and the time stable in place adjusted is directed toward according to load camera angle,
Determine the shortest time interval between arbitrary neighborhood ground target imaging task respectively using linear interpolation method；
(2) according to the imaging task shortest time interval between each adjacent target, using heuristic mission planning method, to be planned
Task-setIncluding i-th of earth observation goal taskAccording to task priority from it is high to low successively, determine pair
Beginning imaging time of the ground remote sensing satellite load camera to each ground targetTerminate imaging timeAnd then obtain task-set to be plannedLong period thick mission planning scheme in advance
Sequence,
5. a kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models according to claim 4,
It is characterized by: the environmental information according to real-time update, satellite maneuverability are to long period thick mission planning side in advance
The method that case sequence carries out short cycle local window Rolling Planning includes the following steps:
(1) remote sensing of the earth satellite executes the observation mission stage on a surface target in the area Yang Zhao of each orbital period, will be entire
The time in the area Yang Zhao stage is divided into N2A short cycle local window, each short cycle local window length are Δ t=Δ T/2N2,
Assuming that the initial time in the area Yang Zhao is t0, then t ∈ { t at the beginning of each local time's window0,t0+Δt,…,t0+(N2-
1) Δ t }, the attitude maneuver ability of remote sensing satellite is updated based on data on star, is defended according to ground weather forecast information or remote sensing
The environment sensing ability that star has, estimation obtain imaging time [above the ground target in t+ Δ t, t+2 Δ t) range
Cloud cover situation；
(2) in t moment, for local time's window [preparatory Rough Planning pattern sequence of long period of t+ Δ t, t+2 Δ t)It is cut according to cloud cover situation and is located at local time's window [i-th of ground in t+ Δ t, t+2 Δ t)
TargetObservable time windowObtain i-th of ground targetThe k not influenced by cloud coveriIt is a to have
Imitate observation time window setWhereinRemote sensing of the earth satellite is located atIt can be with when in time range
Effectively imaging, and then update local time's window [i-th of ground target in t+ Δ t, t+2 Δ t)Effective observation
Time window；
If a)AndThen remote sensing of the earth satellite can not be in local time window [t+
Δ t, t+2 Δ t) is on a surface targetEffectively imaging, abandons the observation mission of the ground target, willProgramme
It is removed from the preparatory Rough Planning pattern sequence of long period, and willIt is retracted into task pool
If b)By i-th of ground targetWeight-normality draws mark
Will RPiIt is set as 0；
If c)AndAnd Then by i-th of ground targetWeight-normality draws mark RPiIt is set as 1；
(3) establishing local time's window, [two subtasks of the corresponding ground target imaging task of t+ Δ t, t+2 Δ t) arrange
Table, image path cloud layer do not block task listImage path cloud cover task listWherein,
IfIn the sum of the priority of all tasks be greater thanThen retainThe middle preparatory programme of task, root
The time model stable in place adjusted is directed toward to task list according to t moment load camera angleIn all ground targets
Observation mission carries out weight-normality and draws；
IfIn the sum of the priority of all tasks be less than or equal toThen it is directed toward according to t moment load camera angle
The time stable in place adjusted is to task listAndIn all ground target observation missions carry out weight-normality draw.
6. a kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models according to claim 5,
Appoint it is characterized by: carrying out emergency according to high priority ground emergency observation mission and the time conflict relationship between planning tasks
The method of business Dynamic Programming are as follows:
(1) t in star, when receive ground injection high priority ground target emergency observation mission or remote sensing satellite from
When main perception finds, generates high-priority task, which is denoted as Mu, ground appearance is calculated using the pretreated method of task
Mark observation mission MuMeet user requirement Observable time windowIfThen abandon emergency observation
Task, ifThen start contingency tasks Dynamic Programming；
(2) willLocal time's window at place is denoted as [t1,t1+ Δ t), if emergency observation mission MuThe part at place
Short-period Rolling Planning, t >=t is completed in time window1Δ t, then in star, t immediately begins to contingency tasks MuDynamic rule
It draws, and according to local time window [t1,t1The corresponding cloud cover situation of+Δ t), cuts task in the way of claim 4
MuObservable time window, obtain the Observable time window set not influenced by cloud coverIfIn
There is no meeting user to observe the continuous window that duration requires, then task M is abandoneduIfIt is middle to exist more than or equal to one
Meet user and observe the continuous window that duration requires, is then successively calculated from small to large according to window time length in these continuous lights
Task M is inserted into mouthfuluWith local window [t1,t1The overlapping of programme in time in+Δ t) selects lap the smallest
Continuous window is inserted into task Mu, obtain programme, and by local window [t1,t1In+Δ t) in programme with task Mu
Imaging scheme in the presence of between the programme that conflicts delete, the ground target observation mission of deletion is retracted into task pool；
(3) ifLocal time window [the t at place1,t1+ Δ t) does not complete short-period Rolling Planning, t≤t also1-
Δ t, the then t in star1Δ t is using the short cycle local window Rolling Planning mode in claim 4, to contingency tasks MuWith office
Portion time window [t1,t1Having planned in+Δ t) for task carries out Dynamic Programming together.
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