CN109239735A - Dummy constellation cooperation observation method - Google Patents
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- CN109239735A CN109239735A CN201811190248.3A CN201811190248A CN109239735A CN 109239735 A CN109239735 A CN 109239735A CN 201811190248 A CN201811190248 A CN 201811190248A CN 109239735 A CN109239735 A CN 109239735A
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Abstract
The embodiment of the present invention discloses a kind of dummy constellation cooperation observation method of embodiment of the present invention, receives user and proposes observed object region request, dummy constellation carries out Task-decomposing according to observation mission solicited message and forms Meta task；Form observation mission pre-distribution scheme；Observation mission pre-distribution scheme, is distributed to the satellite hub for participating in planning by dummy constellation mechanism through consultation, and satellite hub carries out satellite task planning according to observation mission pre-distribution scheme and present satellites resource capability, determines moonscope and data transfer activity；Result according to mission planning generates load control instruction, and load instruction is sent to earth observation satellite via ground observing and controlling equipment, and earth observation satellite execution command adapted thereto is observed to be transmitted with data, and the observation data of acquisition are sent to ground receiving equipment；Dummy constellation handle to the data that each center is transmitted and data are sent to user by treated.
Description
Technical field
The present invention relates to moonscope field more particularly to a kind of dummy constellation cooperation observation methods.
Background technique
With the rapid development of satellite technology, people develop the satellite for carrying various different sensors types to adapt to not
Same earth observation demand, is widely used satellite technology in all trades and professions.
When satellite is observed large area region target, it can not usually be completed by single satellite by once observation, palpus
It is completed by more different type satellite collaborations.
Summary of the invention
The embodiment of the present invention provides a kind of dummy constellation cooperation observation method, realizes that more satellites are assisted by dummy constellation cooperation
With work.
The embodiment of the present invention adopts the following technical scheme that
A kind of dummy constellation cooperation observation method, comprising:
It receives user and proposes observed object region request, dummy constellation carries out Task-decomposing according to observation mission solicited message
Form Meta task；
According to Meta task information, participate in planning that satellite information, number pass resource information and carry out task and resource bipartite matching shape
At observation mission pre-distribution scheme；
Observation mission pre-distribution scheme is distributed to the satellite hub for participating in planning, defended by dummy constellation mechanism through consultation
Star center carries out satellite task planning according to observation mission pre-distribution scheme and present satellites resource capability, determine moonscope with
Data transfer activity；
Result according to mission planning generates load control instruction, and is sent to load instruction via ground observing and controlling equipment
Earth observation satellite, earth observation satellite execution command adapted thereto is observed to be transmitted with data, and the observation data of acquisition are sent
To ground receiving equipment；
The data that dummy constellation transmits each center are handled, and data are sent to user by treated.
Dummy constellation cooperation observation method provided in an embodiment of the present invention, receives user and proposes observed object region request,
Dummy constellation carries out Task-decomposing according to observation mission solicited message and forms Meta task；According to Meta task information, participates in planning and defend
Star information, number pass resource information and carry out task and resource bipartite matching formation observation mission pre-distribution scheme；Dummy constellation passes through
Observation mission pre-distribution scheme, is distributed to the satellite hub for participating in planning by negotiation mechanism, and satellite hub is pre- according to observation mission
Allocation plan and present satellites resource capability carry out satellite task planning, determine moonscope and data transfer activity；Foundation is appointed
The result of business planning generates load control instruction, and load instruction is sent to earth observation satellite via ground observing and controlling equipment,
Earth observation satellite execution command adapted thereto is observed to be transmitted with data, and the observation data of acquisition are sent to ground receiver and are set
It is standby；The data that dummy constellation transmits each center are handled, and data are sent to user by treated.To by virtual
Constellation cooperation realizes that more satellites cooperate.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is the flow chart of the dummy constellation cooperation observation method shown in the embodiment of the present invention.
Fig. 2 is the flow chart that the band shown in the embodiment of the present invention divides.
Fig. 3 is one of the dummy constellation earth observation process schematic shown in the embodiment of the present invention.
Fig. 4 is two of the dummy constellation mission planning process schematic shown in the embodiment of the present invention.
Fig. 5 is the dummy constellation resource management and mission planning circuit theory schematic diagram shown in the embodiment of the present invention.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistented with the present invention.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects of the invention are consistent.
The embodiment of the present invention is in order to make full use of simultaneously reasonable distribution scheduling satellite resource, within the limited time to greatest extent
Ground meets different user, difference requires rank, the remote sensing images demand of different target type, utilizes dummy constellation collaboration completion pair
The rapid Cover of large area region target.
The embodiment of the present invention, dummy constellation are increasingly complex to the region segmentation of polygon target observing.More stars in dummy constellation
When synergistic observation, the track of different satellites is not usually parallel, therefore the band marked off according to different satellite trajectory directions
It is to intersect, there are overlappings.Regional aim is divided into the observation band of multiple candidates by the embodiment of the present invention, so that can
The process chance of different satellites is made full use of, and invalid repeated measures can be avoided as far as possible, to completed as early as possible to whole region
Complete covering.
The embodiment of the present invention provides a kind of dummy constellation cooperation observation method, as shown in Figure 1, this method comprises:
11, it receives user and proposes observed object region request, dummy constellation carries out task according to observation mission solicited message
It is decomposed to form Meta task；
12, it passes resource information according to Meta task information, participation planning satellite information, number and carries out task and resource bipartite matching
Form observation mission pre-distribution scheme；
13, observation mission pre-distribution scheme is distributed to the satellite hub for participating in planning by dummy constellation mechanism through consultation,
Satellite hub carries out satellite task planning according to observation mission pre-distribution scheme and present satellites resource capability, determines moonscope
With data transfer activity；
14, load control instruction is generated according to the result of mission planning, and load is instructed via ground observing and controlling equipment and is sent out
It send to earth observation satellite, earth observation satellite execution command adapted thereto is observed to be transmitted with data, by the observation data of acquisition
It is sent to ground receiving equipment；
15, the data that dummy constellation transmits each center are handled, and data are sent to user by treated.
The dummy constellation cooperation observation method of the embodiment of the present invention, receives user and proposes observed object region request, virtually
Constellation carries out Task-decomposing according to observation mission solicited message and forms Meta task；According to Meta task information, participate in planning satellite letter
Breath, number pass resource information and carry out task and resource bipartite matching formation observation mission pre-distribution scheme；Dummy constellation is through consultation
Observation mission pre-distribution scheme, is distributed to the satellite hub for participating in planning by mechanism, and satellite hub is pre-allocated according to observation mission
Scheme and present satellites resource capability carry out satellite task planning, determine moonscope and data transfer activity；It is advised according to task
The result drawn generates load control instruction, and load instruction is sent to earth observation satellite via ground observing and controlling equipment, over the ground
Observation satellite execution command adapted thereto is observed to be transmitted with data, and the observation data of acquisition are sent to ground receiving equipment；It is empty
The data that quasi- constellation transmits each center are handled, and data are sent to user by treated.To pass through dummy constellation
Cooperation realizes that more satellites cooperate.
In one embodiment, as shown in Fig. 2, the satellite hub is according to observation mission pre-distribution scheme and present satellites
Resource capability carries out satellite task planning
S1, requirement is sensed according to target area, selects satellite set；
S2, target area time window set is determined according to satellite set；
S3, the Observable region that satellite is calculated based on observation time window set；
S4, each Observable region intersected respectively with target area, acquires intersection；
S5, intersection is divided into the observation band set to overlap each other；
S6, the real time window of each observation band is added to total candidate observation opportunity set, for target area
Domain is divided.
The embodiment of the present invention is sensed according to target area and is required, and selects satellite set；Target area is determined according to satellite set
Domain time window set；The Observable region of satellite is calculated based on observation time window set；Respectively by each Observable region
Intersect with target area, acquires intersection；Intersection is divided into the observation band set to overlap each other；By the reality of each observation band
Border time window is added to total candidate observation opportunity set, is divided for target area.So as to more reasonably into
Row band divides, and improves multi-satellite and cooperates with efficiency.
In one embodiment, S1 includes:
For target area Pj, according to its image resolution requirement and remote sensor types entail, select usable satellite set
S′。
In one embodiment, S2 includes:
For each satellite Si∈ S', the time window set of observation can be implemented to the regional aim by calculating satellite,Wherein MijFor time window number, Indicate time window
At the beginning of,Indicate the end time of time window.
In one embodiment, S3 includes:
Based on time window set TZij, calculate the Observable region of satelliteObservable area
Domain refers to the region that can be observed in the case where meeting resolution requirement by sideshake sensor.
In one embodiment, S4 includes:
Respectively by each Observable regionIntersect with target area and acquires intersection1≤w≤Mij
In one embodiment, S5 includes:
Region and sub-satellite track according to the observation of satellite remote sensor single, are arranged division unit, single scape formula satellite
Division unit is the size of its single scape, and the division unit of push-broom type satellite is using its breadth as the band of width；
V λ value is set, it, will using V λ as offset parameterIt is divided into the observation band set of phase mutual overlappingWherein SijwIt indicates the observation band sum after division, λ≤1 0≤V.
In one embodiment, S6 includes:
Calculate each observation band GatherOijkActual time window TZSijk, GatherOijk∈GatherO′ijk,
And it is added to total candidate observation opportunity set GatherO, then successively divided for each regional aim.
In one embodiment, include: after being divided for target area
Define following variable:
P={ P1,P2,P3…Pn, satellite energy aggregation；
M={ M1,M2,M3…MnSatellite memory capacity set；
Candidate observation mission set of the satellite to region；
Time, time=1 ... Time time scale；
pijk, mijkRespectively observation activity GatherOijkTime window, observation need
Energy and memory capacity；
Pi, MiRespectively satellite i energy consumption and memory capacity；
Observation activity GatherOijkFinal state variable is 1 when being added into dispatch list, is otherwise 0；
Satellite constellation is as follows to the mathematical description of the synergistic observation scheduling problem of regional aim:
Wherein,
(1-1) is objective function, indicates that optimization aim is that satellite is maximum to the coverage rate in region；(1-2) is moonscope
Unique constraints, i.e. satellite can only observe a target at a certain moment；(1-3) is satellite storage constraint；(1-4) is satellite energy
Amount constraint；(1-5) is indicated in scheduling result, to region OJCovering income.
In one embodiment, since regional aim cannot be observed by satellite single, it is necessary to which being by region classifying rationally can
Being completed by the observation of satellite single for task, i.e., candidate observation mission.The embodiment of the present invention, regional aim are broken down into subtask
Afterwards, virtual satellite translates into the subtask scheduling after division, target area division mode the observation scheduling of target area
Have a significant impact to scheduling mode and final scheduling result tool.
In the embodiment of the present invention, regional aim is divided according to the breadth of satellite, it can also be according to the side view angle of satellite
Degree is divided, i.e., is divided according to observation area of the satellite remote sensor under different deflection angles, offset parameter V λ is
The angle value of field angle variation.By setting V λ, the repetition to regional aim may be implemented and divide, moonscope time can be increased
Selected scenes scape, still, if V λ setting is too small, candidate's observation scene will be increased dramatically, and the solution difficulty of problem be increased, in
V λ should be reasonably selected according to practical application.It is the remote sensing based on each satellite based on the method for dynamically partitioning of moonscope ability
The repetition that device breadth, flight radial direction and observation mode carry out divides.Each satellite is individually divided for region, is obtained after division
Subtask (band, single scape) it is corresponding with satellite remote sensor parameter (breadth, maximum available machine time), and fully considered satellite
Side-sway performance, therefore the observing capacity of satellite can be given full play to, avoid the limitation of pervious division mode.Region mesh
After mark carries out dynamic division according to the Observable chance of each satellite, the candidate observation mission collection of each satellite has just been constructed
It closes, so that it may more stars be transferred to calculate the synergistic observation dispatching algorithm of regional aim.
The embodiment of the present invention provides a kind of operating mechanism of dummy constellation: dummy constellation pool mission planning, which refers to, to be passed through
Dummy constellation mission planning cooperative mechanism is established, integrated Solution Architecture and process design are carried out, so that each distribution
Task managing and control system in a manner of a kind of collaboration, a series of dynamic overlapping of load characters are relevant, coverage area, adhere to one separately
The earth observation satellite of a or multiple mechanisms integrates, and plays the advantage of more star multisensor dummy constellation observations, realizes
Synergistic observation towards observation element, to meet comprehensive earth observation demand.
(1) construction phase of dummy constellation
The construction phase of dummy constellation is one and its complicated stage, is the integration and optimization to existing satellite resource,
Construct the satellite group that can efficiently meet job demand.Existing satellite resource, every satellite have its own
Task and attribute will not be the idle satellite for not arranging task when constructing dummy constellation, it can only belong in preferential satisfaction
Under the premise of country or tissue interests, using idle time window to be called, therefore not only to consider in this stage every
The constraints such as the predecessor of satellite itself is engaged in arranging, energy and storage, it is also contemplated that the constraint of mission requirements characteristic, makes the void generated
Quasi- constellation, which can reach, does not only disturb predecessor's business disturbance minimum with satellite sheet even, but also can utilize less
Satellite resource is met the needs of users.
(2) dummy constellation operates the stage
With the variation of customer demand and the development of technology, the quantity of mission requirements is also steeply risen, and is being based on Virtual Star
This planning problem of efficient process, this patent have been unable to using previous centralized planning algorithm in the multi-satellites mission planning process of seat
Distributed method is applied to the process of programming dispatching, greatly improves efficiency.Method for allocating tasks will according to demand first
Task is assigned to satellite hub.Then satellite hub carries out demand mission planning again relatively independently, and due to demand task
Diversification is further prominent, and same model and algorithm need to design it is impossible to meet the planning to user's different demands task
For the planning algorithm of particular demands task, this planning process is a planning, feedback, is coordinated and the process planned again, can be with
The influence of distributed planning is reduced as far as possible, so that the task that rapid solving goes out high quality arranges scheme.
(3) the operating analysis stage
Corresponding program results are obtained by the programming evaluation to demand task, it can be by program results information into satellite
The heart is fed back, to be coordinated by task of the satellite hub to distribution.And program results can be utilized, after operation
Simple analysis is carried out to the validity of its dummy constellation building.
Dummy constellation earth observation process schematic is as shown in Figure 3.
Observation mission request is proposed by user first, dummy constellation carries out Task-decomposing shape according to observation mission solicited message
At Meta task；Secondly it passes resource information according to Meta task information, participation planning satellite information, number and carries out task and resource bilateral
With forming observation mission pre-distribution scheme；Furthermore dummy constellation mechanism through consultation, observation mission pre-distribution scheme is distributed to
Participate in the satellite hub of planning；Satellite hub carries out satellite according to observation mission pre-distribution scheme and present satellites resource capability and appoints
Business planning, determines moonscope and data transfer activity；Then load control instruction is generated according to the result of mission planning, and passed through
Load instruction is sent to earth observation satellite by ground observing and controlling equipment；Earth observation satellite execute command adapted thereto be observed with
The observation data of acquisition are sent to ground receiving equipment by data transmission, the data that last dummy constellation transmits each center into
Row processing, and data are sent to user by treated.
Dummy constellation mission planning process schematic, as shown in Figure 4.
As can be seen from Fig., dummy constellation task-resource, dummy constellation and satellite hub are negotiated, satellite hub task is advised
It draws and plays key effect during entire earth observation, the task that result directly influences dummy constellation earth observation is held
Row.And dummy constellation mission planning process needs to involve a variety of program elements, including participates in planning satellite resource, number biography money
The factors such as the negotiation mechanism in source, observation mission request and its dummy constellation and satellite hub.Towards the polymorphic type for participating in planning
Satellite resource and polymorphic type number pass resource, how to optimize planning to meet the observation of a plurality of types of observation mission requests and want
It asks, new challenge is proposed to the planning of dummy constellation satellite task.
Dummy constellation resource management and mission planning circuit theory schematic diagram, as shown in Figure 5.
The embodiment of the present invention, Resource Alliance: Resource Alliance is a kind of form of resource tissue, is to have non-hierarchical, distribution
Formula, loose type can cooperate with the complicated earth observation task of completion, and be belonging respectively to the satellite resource set of different satellite hubs.It is different
The passing of satelline satellite hub of type can reciprocally negotiate cooperation, can complete the observation that individual satellite resource cannot be completed and appoint
Business.Due to task and the dynamic uncertainty of task environment, the satellite resource alliance towards various tasks is also constantly to become
Change.Functionally to see, Resource Alliance has the ability for completing specific cotasking, and from organizational form, it can be considered as
Resource is managed by different satellite hubs in Resource Alliance.When there is cotasking to need while handling, dummy constellation is logical
It crosses and negotiates with satellite hub, corresponding resource is selected dynamically to form the Resource Alliance that Resource Alliance completes earth observation task.
Therefore, the dynamic resource alliance in resource pool and current cotasking are one-to-one relationships, and Resource Alliance's number is equal to association
Same number of tasks.
The embodiment of the present invention is sensed according to target area and is required, and selects satellite set；Target area is determined according to satellite set
Domain time window set；The Observable region of satellite is calculated based on observation time window set；Respectively by each Observable region
Intersect with target area, acquires intersection；Intersection is divided into the observation band set to overlap each other；By the reality of each observation band
Border time window is added to total candidate observation opportunity set, is divided for target area.So as to more reasonably into
Row band divides, and improves multi-satellite and cooperates with efficiency.
The dummy constellation cooperation observation method of the embodiment of the present invention, receives user and proposes observed object region request, virtually
Constellation carries out Task-decomposing according to observation mission solicited message and forms Meta task；According to Meta task information, participate in planning satellite letter
Breath, number pass resource information and carry out task and resource bipartite matching formation observation mission pre-distribution scheme；Dummy constellation is through consultation
Observation mission pre-distribution scheme, is distributed to the satellite hub for participating in planning by mechanism, and satellite hub is pre-allocated according to observation mission
Scheme and present satellites resource capability carry out satellite task planning, determine moonscope and data transfer activity；It is advised according to task
The result drawn generates load control instruction, and load instruction is sent to earth observation satellite via ground observing and controlling equipment, over the ground
Observation satellite execution command adapted thereto is observed to be transmitted with data, and the observation data of acquisition are sent to ground receiving equipment；It is empty
The data that quasi- constellation transmits each center are handled, and data are sent to user by treated.To pass through dummy constellation
Cooperation realizes that more satellites cooperate.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or improvement to the technology in market for best explaining each embodiment, or make the art
Other those of ordinary skill can understand each embodiment disclosed herein.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.
Claims (9)
- The observation method 1. a kind of dummy constellation cooperates characterized by comprisingIt receives user and proposes observed object region request, dummy constellation carries out Task-decomposing according to observation mission solicited message and formed Meta task；According to Meta task information, participate in planning that satellite information, number biography resource information carries out task and resource bipartite matching forms sight Survey task pre-distribution scheme；Observation mission pre-distribution scheme, is distributed to the satellite hub for participating in planning by dummy constellation mechanism through consultation, in satellite The heart carries out satellite task planning according to observation mission pre-distribution scheme and present satellites resource capability, determines moonscope and data Transmission movement；Result according to mission planning generates load control instruction, and is sent to load instruction over the ground via ground observing and controlling equipment Observation satellite, earth observation satellite execution command adapted thereto is observed to be transmitted with data, is sent to ground for the observation data of acquisition Face receiving device；The data that dummy constellation transmits each center are handled, and data are sent to user by treated.
- 2. the method according to claim 1, wherein the satellite hub according to observation mission pre-distribution scheme and Present satellites resource capability carries out satellite task planningS1, requirement is sensed according to target area, selects satellite set；S2, target area time window set is determined according to satellite set；S3, the Observable region that satellite is calculated based on observation time window set；S4, each Observable region intersected respectively with target area, acquires intersection；S5, intersection is divided into the observation band set to overlap each other；S6, the real time window of each observation band is added to total candidate observation opportunity set, for target area into Row divides.
- 3. according to the method described in claim 2, it is characterized in that, S1 includes:For target area Oj, according to its image resolution requirement and remote sensor types entail, select usable satellite set S '.
- 4. according to the method described in claim 3, it is characterized in that, S2 includes:For each satellite Si∈ S', the time window set of observation can be implemented to the regional aim by calculating satellite,Wherein MijFor time window number, Indicate time window At the beginning of,Indicate the end time of time window.
- 5. according to the method described in claim 4, it is characterized in that, S3 includes:Based on time window set TZij, calculate the Observable region of satelliteObservable region refers to The region that can be observed in the case where meeting resolution requirement by sideshake sensor.
- 6. according to the method described in claim 5, it is characterized in that, S4 includes:Respectively by each Observable regionIntersect with target area and acquires intersection1≤w≤Mij。
- 7. according to the method described in claim 6, it is characterized in that, S5 includes:Region and sub-satellite track according to the observation of satellite remote sensor single, are arranged division unit, the division of single scape formula satellite Unit is the size of its single scape, and the division unit of push-broom type satellite is using its breadth as the band of width；V λ value is set, it, will using V λ as offset parameterIt is divided into the observation band set of phase mutual overlappingWherein SijwIt indicates the observation band sum after division, λ≤1 0≤V.
- 8. the method according to the description of claim 7 is characterized in that S6 includes:Calculate each observation band GatherOijkActual time window TZSijk, GatherOijk∈GatherO′ijk, and add Enter to total candidate observation opportunity set GatherO, is then successively divided for each regional aim.
- 9. method according to any one of claim 1 to 8, which is characterized in that after being divided for target area Include:Define following variable:P={ P1,P2,P3…Pn, satellite energy aggregation；M={ M1,M2,M3…MnSatellite memory capacity set；Candidate observation mission set of the satellite to regionTime, time=1 ... Time time scale；mijkRespectively observation activity GatherOijkTime window, observe needs Energy and memory capacity；Pi, MiRespectively satellite i energy consumption and memory capacity；Observation activity GatherOijkFinal state variable is 1 when being added into dispatch list, is otherwise 0；Satellite constellation is as follows to the mathematical description of the synergistic observation scheduling problem of regional aim:Wherein,(1-1) is objective function, indicates that optimization aim is that satellite is maximum to the coverage rate in region；(1-2) be moonscope only The constraint of one property, i.e., satellite can only observe a target at a certain moment；(1-3) is satellite storage constraint；(1-4) be satellite energy about Beam；(1-5) is indicated in scheduling result, to region OJCovering income.
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