CN109299490A - Mission planning method is stared over the ground based on band introduce taboo list ant group algorithm video satellite - Google Patents
Mission planning method is stared over the ground based on band introduce taboo list ant group algorithm video satellite Download PDFInfo
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Abstract
The present invention provides a kind of stares mission planning method based on the video satellite with introduce taboo list ant group algorithm over the ground, this method considers the constraint such as observation time window, pose adjustment time, satellite maneuverability, and propose a kind of improvement ant group algorithm progress mission planning calculating with introduce taboo list, it can make video satellite under the conditions of time, space and restricted energy resource, target in specified region is selected and sorted, the maximum revenue of observation mission is finally made.The present invention has the advantages that engineering adaptability is strong, configuration is flexible and planning calculating is fast, can further excavate the earth observation ability of video satellite, improve the utilization rate of satellite in orbit resource.
Description
Technical field
The present invention relates to space mission planning technology fields, and in particular to one kind is based on band introduce taboo list ant group algorithm video
Satellite stares mission planning method over the ground.
Background technique
Video satellite is that the novel earth observation satellite of one kind can be to a certain compared with traditional earth observation satellite
Target area carries out staring imaging, realizes the continuous observation to target area whithin a period of time, has important military affairs and the people
With value.Staring imaging is the main operation modes of video satellite over the ground, and passing of satelline attitude control system adjusts as needed
The posture of celestial body makes the optical axis of spaceborne optical sensor be directed at ground target always, realizes uninterrupted imaging, obtains the dynamic of target
State information.Particularly, in the contingency operations such as region operation, anti-terrorism stability maintenance and rescue and relief work, it is often desired in certain time period
At this moment the image information for inside obtaining each target in mission area as much as possible just needs to carry out task rule to video satellite
It draws, to obtain maximum observation income.
Staring imaging mission planning of the video satellite to multiple target points, exactly meet time resource, space resources and
One group of task to be observed is chosen, sorted and determined under the constraint conditions such as satellite resource, so that task observation income is most
The process changed greatly.From the point of view of attitude maneuver ability, its scope for substantially belonging to quick satellite of video satellite, i.e., in pitching, rolling
Turn and yaw axis has attitude maneuver ability.Compared with traditional non-quick satellite (only wobble shaft can realize attitude maneuver),
It rises appreciably to the SEE time window of target point, this feature substantially increase satellite imaging observation ability and flexibly
Property, as shown in Figure 1.But at the same time, when carrying out the mission planning of quick satellite, the observation sequence between task is no longer fixed,
The degree of coupling closed between task is higher, and observation conflict is complicated, this makes when carrying out mission planning to quick satellite difficulty significantly
Increase.
Since satellite task planning problem is complicated, be related to a large amount of nonlinear restrictions and solution target is not unique, so that not depositing
It is being suitable for general-purpose algorithm of all the problems.Currently, being directed to the earth observation mission planning problem of conventional satellite, educational circles has been carried out
More in-depth study.And for quick imaging satellite, Mission Scheduling quick satellite non-compared with tradition is increasingly complex,
Have been demonstrated the scope for belonging to NP-hard problem.Lemaitre is daily for the quick satellite " Pleiades " of a new generation of France
Mission Scheduling proposes constraint plan model.Compare four kinds of greediness, Dynamic Programming, constraint planning and local search etc.
Algorithm.Mancel] on the basis of Lemaitre integer programming model is established for the Pleiades satellite of France, and it uses
Col-generating arithmetic is solved, can be used for data scale it is smaller when programming evaluation.Habet is directed to the part that Lemaitre is proposed
Searching algorithm has carried out improving the tabu search algorithm proposed, in neighborhood construction, using the thought of consistent saturation neighborhood.
Quick satellite planning problem is considered as the multimachine planning problem with time window then from compatible chart theory by Gabrel, using point
Branch is delimited and longest path algorithm carries out programming dispatching.Verfaillie then regards the planning of quick satellite as traveling salesman problem, JSP
Planning or knapsack problem establish linear programming model in the case where having ignored three-dimensional imaging constraint, are considering three-dimensional imaging
In the case where constraint, nonlinear model is established；And greedy algorithm, neighborhood search and dynamic constrained scheduling algorithm are analyzed, as a result
Display Dynamic Programming can obtain more preferably program results.Benoist is based on Russian Dolls algorithm and has solved quick satellite rule
The upper bound for the problem of drawing.The case where Xin-WeiWang is for single quick satellite and observation mesh redundancy, by continuous time window into
Row is discrete, and using the thought of complex network, devises rule-based heuritic approach and carry out problem solving.Rui Xu is comprehensive
The observation cost and observation income for considering target formulate heuristic rule, and ant group algorithm is introduced in task selection course
Thought devises a kind of rule-based random search algorithm.Pei-Wang has studied the heuritic approach of quick satellite planning,
But the agility of its satellite can be made to be subject to certain restrictions.The constraint that agile satellite imagery is planned, which is established, to still Hunan plans mould
Type, and hybrid genetic algorithm and col-generating arithmetic based on simulated annealing and genetic algorithm is used to solve problem,
Same rail three-dimensional imaging goal task is planned, is solved using dynamic adjustment and tabu search algorithm.Li Yuqing is directed to
Three axis stabilized satellite point target mission planning scheduling problem establishes mathematical programming model, propose it is a kind of based on simulated annealing with
The hybrid genetic algorithm that genetic algorithm combines.
By being reviewed to the prior art, in the past to the research of quick imaging satellite Mission Scheduling, mostly only
From method, excessive simplification has been carried out to research object, such as: it has ignored overlapped multiple of time window and closes on sight
Influencing each other between survey task does not consider to observe the constraint such as pivot angle, pose adjustment time, longest stream time.Therefore, it adopts
The mission planning result obtained with the prior art is often relatively conservative, cannot give full play to the earth observation ability of quick satellite,
Cause the waste of satellite in orbit resource.
Summary of the invention
In view of the deficiencies of the prior art, the present invention is provided one kind and is coagulated over the ground based on band introduce taboo list ant group algorithm video satellite
Depending on mission planning method, satellite resource and various space environment constraint conditions have been comprehensively considered, and using a kind of with taboo
The ant group algorithm of list carries out mission planning solution.
A kind of band introduce taboo list ant group algorithm video satellite that is based on provided by the invention stares mission planning method over the ground,
It is characterized in that, comprising the following steps:
Step S1: the observation mission demand that user proposes is collected, set of tasks is obtained；
Step S2: the observation time window of each target is calculated according to orbit information, and will be unsatisfactory for observation mission demand
Target is included in resource introduce taboo list；
Step S3: using true video satellite attitude maneuver model, and consider the influence of satellite orbit motion, establishes view
Frequency attitude of satellite adjustment time appraising model；
Step S4: observation earnings pattern is established；
Step S5: corresponding income introduce taboo list is established for the target for meeting observation condition；
Step S6: determining initial observation task, the target point for selecting time window earliest, avoids in the income of the target point
(including the task itself) randomly chooses target point as initial observation task except list and resource introduce taboo list, and will be first
Beginning observation mission is added in repetition introduce taboo list；
Step S7: follow-up work is selected according to the following formula, and selected task is added in repetition introduce taboo list.
Step S8: repeating step S7, until whole tasks have all been observed or introduce taboo list is outer optional without task, stops
It only operates, exports program results.
Further, in step S2 each target observation time window and resource introduce taboo list, calculated according to following steps:
Step S21: video satellite is calculated in a sub-satellite track within the period according to orbit information；
Step S22: according to the position data of the target in step S1, calculate each target point to sub-satellite track distance,
Wherein, distance Sg of i-th of target to sub-satellite trackiIt indicates；
Step S23: examining whether each target point meets observable condition, if not satisfied, the target point is then included in resource
Introduce taboo list, observable condition are shown below:
Wherein, Re is earth radius, and H is the orbit altitude of video satellite, emThe elevation angle is observed for minimum；
Step 24: calculating the Observable time window duration of each target point；
Observable time window duration, calculates according to following equation:
In formula, n indicates orbit angular velocity, TwiIndicate the Observable time window duration of i-th of target；
Step S25: examining whether each target point meets executable condition, if not satisfied, the target point is then included in step
The resource introduce taboo list of S23.
Further, the foundation of video satellite pose adjustment time estimation model, comprising the following steps:
Step S31: using video satellite attitude maneuver model, calculates the imaging device of video satellite from one target of alignment
To the pose adjustment time for being directed at required cost between another target；
Step S32: step S31 is repeated, calculates and records the different distance corresponding pose adjustment time, and according to record
Data carry out parameter fitting by model of fit, obtain video satellite pose adjustment time estimation model.
Further, video satellite attitude maneuver model is TT-2 type agile satellite attitude maneuvers model, using PD control
Rule carries out attitude maneuver control.
Further, the foundation of video satellite pose adjustment time estimation model further includes using video satellite posture tune
Whole time estimation model is fitted, and after obtaining fitting result, increases by 5~15% argin on the basis of fitting result
The step of.
Further, model of fit, using following secondary exponential model
Y=aeb·x+c·ed·x (4)
In formula, y indicate the pose adjustment time, x indicate two targets between geocentric angular separation from
Technical effect of the invention:
Video satellite provided by the invention based on ant group algorithm stares mission planning method over the ground, has task configuration spirit
Advantage living, engineering adaptability is strong and planning resolving is quick, and can further excavate the sight for staring video satellite in task over the ground
Survey ability helps to improve the utilization rate of satellite in orbit resource.
Video satellite provided by the invention based on ant group algorithm stares mission planning method over the ground, by establishing for view
The continuous time constraint satisfaction model of frequency satellite staring imaging mission planning problem over the ground, and set based on the improvement to ant group algorithm
It has counted a kind of ant group algorithm with introduce taboo list to solve the problem, to realize to a large amount of target observation task incomes
Maximization.
It specifically please refers to the video satellite according to the present invention based on improvement ant group algorithm and stares mission planning method over the ground
The various embodiments proposed it is described below, will make apparent in terms of above and other of the invention.
Detailed description of the invention
Fig. 1 is quick satellite of the present invention and the non-agile satellite imagery situation contrast schematic diagram of tradition；
Fig. 2 is provided by the invention to be stared mission planning method flow over the ground based on the video satellite for improving ant group algorithm and shown
It is intended to；
Fig. 3 is income introduce taboo list task distribution schematic diagram provided by the invention；
Fig. 4 is selection and the path planning schematic diagram of the task of preferred embodiment of the present invention Satellite；
Fig. 5 be in the preferred embodiment of the present invention task income with the convergence property schematic diagram of algorithm iteration number；
Fig. 6 is the relation schematic diagram of " most short time kept in reserve " and algorithm iteration number in the preferred embodiment of the present invention.
Specific embodiment
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.
Target herein is ground point to be seen.Task is the process that point to be seen to ground is observed.
Referring to fig. 2, a kind of band introduce taboo list ant group algorithm video satellite that is based on provided by the invention stares task rule over the ground
The method of drawing, comprising the following steps:
Step S1: the observation mission demand that user proposes is collected, set of tasks is obtained；
Set of tasks includes the position of target, the demand type of target, the observation income of target；
Particularly, the position set T={ t of target1,t2,...,tNtIndicate, wherein tiIndicate i-th of target point
Geographical location, Nt are target sum to be observed；
Particularly, the demand type of target point is divided into two class of photo demand and video requirement, wherein photo demand type is appointed
The gaze duration length of business is dP, the gaze duration length of video requirement type tasks is dVIf the gaze duration of first of target
Length is dl, then have dl=dPOr dl=dV；
Particularly, the observation income of target determines by user when proposing observation requirements, usually with the significance level of target
It is directly related, use giIndicate the observation income of target i；
Step S2: calculating the observation time window of each target according to orbit information, and the target that will be unable to observation is included in money
Source introduce taboo list；
The observation time window and resource introduce taboo list of each target, calculate according to following steps:
Step S21: video satellite is calculated in a sub-satellite track within the period according to orbit information；
Step S22: according to the position data of the target in step S1, calculate each target point to sub-satellite track distance,
Wherein, distance Sg of i-th of target to sub-satellite trackiIt indicates；
Step S23: examining whether each target point meets observable condition, if not satisfied, the target point is then included in resource
Introduce taboo list；When carrying out mission planning, the target being put into resource introduce taboo list is not considered；
Observable condition is specifically related to following inequality
In inequality, Re is earth radius, and H is the orbit altitude of video satellite, emThe elevation angle is observed for minimum, wherein most
The small observation elevation angle is determined according to the image resolution requirement that user proposes；When inequality is set up, illustrate i-th of target in video
Within the scope of the Observable of satellite, when inequality is invalid, illustrate the sub-satellite track mistake of i-th of target range video satellite
Far, the observation scope of video satellite is had exceeded；
Step 24: calculating the Observable time window duration of each target point；
Observable time window duration, calculates according to following equation
In formula, n indicates orbit angular velocity, TwiIndicate the Observable time window duration of i-th of target, other symbols are fixed
Justice is consistent in step S23；
Step S25: examining whether each target point meets executable condition, if not satisfied, the target point is then included in step
The resource introduce taboo list of S23 does not take into account that the target being put into resource introduce taboo list when carrying out mission planning；
Executable condition is specifically related to inequality Twi> di, wherein diWhen being stared needed for i-th of goal task to execute
Between, which indicates that otherwise target gaze duration illustrates observation the needed for Observable time window should be longer than task type
The task of i target can not execute；
Step S3: utilizing true video satellite attitude maneuver model, and consider the influence of satellite orbit motion, establishes view
Frequency attitude of satellite adjustment time appraising model；
The foundation of video satellite pose adjustment time estimation model, comprising the following steps:
Step S31: utilizing video satellite attitude maneuver model, calculates the imaging device of video satellite from one target of alignment
To the pose adjustment time for being directed at required cost between another target.
Preferably, video satellite attitude maneuver model is TT-2 type agile satellite attitude maneuvers model, is restrained using PD control
Carry out attitude maneuver control；
Preferably, the pose adjustment time calculates, and is considered as satellite orbit motion direction, the satellite straight rail road direction of motion is (i.e.
Component in the in-orbit road coordinate system y-axis of satellite angular speed is positive) and the adjustment time of inverse track direction of motion attitude maneuver have
Institute's difference；
Step S32: step S31 is repeated, calculates and records the different distance corresponding pose adjustment time, and according to record
Data carry out parameter fitting by model of fit, obtain video satellite pose adjustment time estimation model；
Preferably, model of fit, using following secondary exponential model
Y=aeb·x+c·ed·x (6)
In formula, y indicate the pose adjustment time, x indicate two targets between geocentric angular separation from；The posture recorded according to multiple groups
Adjustment time and its corresponding target range data, can be fitted to obtain the value of parameter a, b, c, d, execute in planning algorithm
When, it can quickly estimate arbitrary target apart from corresponding posture tune using the model of fit as pose adjustment time estimation model
The whole time；
Preferably, the calculating of pose adjustment time should calculate separately and record the satellite straight rail road direction of motion and inverse track
The data of the direction of motion, and finally fit straight rail road direction of motion pose adjustment time estimation model and the inverse track direction of motion
Pose adjustment time estimation model, in planning algorithm implementation procedure, if target point to be selected is located in front of current target point
When (being reference with satellite orbit motion direction) then chooses the calculating adjustment of straight rail road direction of motion pose adjustment time estimation model
Between；Conversely, choosing inverse track direction of motion pose adjustment time estimation model.
Step 4: establishing observation earnings pattern；
Earnings pattern of the invention is primary concern is that satellite carries out the total revenue obtained after task observation, when task quantity
It is less, when moonscope ability abundance, increase time kept in reserve demand as short as possible during considering moonscope.
Step S5: corresponding income introduce taboo list is established for the target for meeting observation condition.
Referring to Fig. 3, the mode of establishing of income introduce taboo list carries out by the following method.
When the follow-up work of search mission i, task j and task k meets satellite in time Lt if it existsiTo EtjBetween energy
Enough realizations are observed from i to k and in the SEE time window of k to target k, then arrive the attitude maneuver and stabilization of j, then task
yijTask after=0, i.e. task i does not select j, as shown below.When meeting this condition, task j is added to the taboo of task i
In list.For all candidate tasks, its corresponding income introduce taboo list is established.
Step S6: selected initial observation task selects target point earliest in initial observation task time window, in the mesh
Punctuate include the task itself income introduce taboo list and resource introduce taboo list except random selection target point seen as initial
Survey task, and initial observation task is added in repetition introduce taboo list；
Step S7: selecting follow-up work according to the following formula, and selected task be added in repetition introduce taboo list,
Step S8: repeating step S7, until whole tasks have all been observed or introduce taboo list is outer optional without task, stops
It only operates, exports program results.
Task rule are stared over the ground to the video satellite provided by the invention based on ant group algorithm below in conjunction with specific embodiment
The method of drawing, is described in detail.
Consider to calculate the time, if satellite planning horizon is 800s, in about 1/6 period, choosing task number is 50, task
Time started was randomly dispersed in planning horizon；Position is randomly dispersed in away from the range of the 200km of sub-satellite point two sides；Task
Observation income point indicated with the random number of 1-10；The length of task time window determines by its distance away from sub-satellite point,
Task type is divided into two kinds of video staring imagings and photo staring imaging, and the requirement of gaze duration is respectively 5s and 0.5s.
Weight coefficient α, beta, gamma, ψ choose one group of result preferably numerical value using the method for random experiments, successively are as follows: and 1,2,
2.5,1.
The orbit parameter for staring satellite is taken as the orbit parameter of TT-2 satellite, and orbit altitude is about 490km.
Since there are track movements for satellite, so the time that satellite carries out posture conversion between two target points is not constant
, start the time correlation converted with satellite.In fact, the conversion time accurately to calculate between two tasks is relatively difficult,
In most cases, the estimated value of conversion time is used in the planning stage.Here secondary Exponential Model result is used
To estimate posture conversion time.
When task quantity is 50, setting maximum number of iterations is 150 times, within the mission planning period of 800s,
Using the ant group algorithm proposed in this paper with introduce taboo list, mission planning problem is stared satellite over the ground and is solved, acquisition
Maximum return is 188, and the destination number observed at this time is 26.The selection of the task of satellite and path planning are as shown in Figure 4；
It may also be seen that most of most of sub-satellite track apart from satellite of the target point not being observed is farther out,
So the attitude maneuver time between task can be reduced, the observation income of satellite is improved；Equally, the observation sequence of satellite
Substantially consistent with the time sequencing that task time window occurs, the reversed motor-driven (optical axis machine of the attitude of satellite is avoided in this way
Dynamic direction is opposite with the track direction of motion), it ensure that time window resource makes full use of.Can tentatively it be sentenced by analyzing above
Fixed, the ant search algorithm proposed in this paper with introduce taboo list is reasonable.
Fig. 5 gives task income with the convergence property of algorithm iteration number, it can be seen that passes through preceding 50 iteration, appoints
Business income has reached final optimization pass result 188, algorithmic statement；As it can be seen that the algorithm is higher in search efficiency early period, and convergence rate
Comparatively fast.
Fig. 6 gives the relationship of " most short time kept in reserve " Yu algorithm iteration number, and " the most short time kept in reserve " here refers to
The minimum value for the attitude maneuver total time for including in the different observation paths of those acquirement maximum returns until current time, because
This, when task income changes, " most short time kept in reserve " generally can also change, but it can meet maximum return
Under the premise of, select the time-consuming less observation path of attitude maneuver.
The derivation algorithm optimizing superior performance designed herein still can provide full under the more complex situations of task number
The program results of meaning.The research contents of this paper helps to improve video satellite and stares the task scheduling capability of observation over the ground, improves
The utilization rate of satellite resource.
Those skilled in the art will be clear that the scope of the present invention is not limited to example discussed above, it is possible to carry out to it
Several changes and modification, the scope of the present invention limited without departing from the appended claims.Although oneself is through in attached drawing and explanation
The present invention is illustrated and described in book in detail, but such illustrate and describe is only explanation or schematical, and not restrictive.
The present invention is not limited to the disclosed embodiments.
By to attached drawing, the research of specification and claims, those skilled in the art can be in carrying out the present invention
Understand and realize the deformation of the disclosed embodiments.In detail in the claims, term " includes " is not excluded for other steps or element,
And indefinite article "one" or "an" be not excluded for it is multiple.The certain measures quoted in mutually different dependent claims
The fact does not mean that the combination of these measures cannot be advantageously used.Any reference marker in claims is not constituted pair
The limitation of the scope of the present invention.
Claims (6)
1. one kind stares mission planning method based on band introduce taboo list ant group algorithm video satellite over the ground, which is characterized in that including
Following steps:
Step S1: the observation mission demand that user proposes is collected, set of tasks is obtained；
Step S2: the observation time window of each target is calculated according to orbit information, and will be unsatisfactory for the observation mission demand
Target is included in resource introduce taboo list；
Step S3: true video satellite attitude maneuver model is used, and considers the influence of satellite orbit motion, video is established and defends
Star pose adjustment time estimation model；
Step S4: observation earnings pattern is established；
Step S5: corresponding income introduce taboo list is established for the target for meeting observation condition；
Step S6: determining initial observation task, the target point for selecting time window earliest, in the income introduce taboo list of the target point
And (including the task itself) randomly chooses target point as initial observation task except resource introduce taboo list, and will initially see
Survey task is added in repetition introduce taboo list；
Step S7: follow-up work is selected according to the following formula, and selected task is added in repetition introduce taboo list:
Step S8: repeating step S7, until whole tasks have all been observed or introduce taboo list is outer optional without task, stops behaviour
Make, exports program results.
2. according to claim 1 stare mission planning method based on band introduce taboo list ant group algorithm video satellite over the ground,
It is characterized in that, the observation time window and resource introduce taboo list of each target described in the step S2, according to following steps meter
It calculates:
Step S21: video satellite is calculated in a sub-satellite track within the period according to orbit information；
Step S22: according to the position data of the target in the step S1, calculate each target point to sub-satellite track distance,
Wherein, distance Sg of i-th of target to sub-satellite trackiIt indicates；
Step S23: examining whether each target point meets observable condition, if not satisfied, the target point is then included in the resource
Introduce taboo list, the observable condition are shown below:
Wherein, Re is earth radius, and H is the orbit altitude of video satellite, and em is the minimum observation elevation angle；
Step 24: calculating the Observable time window duration of each target point；
The Observable time window duration, calculates according to following equation:
In formula, n indicates that orbit angular velocity, Twi indicate the Observable time window duration of i-th of target；
Step S25: examining whether each target point meets executable condition, if not satisfied, the target point is then included in step S23 institute
The resource introduce taboo list stated.
3. according to claim 1 stare mission planning method based on band introduce taboo list ant group algorithm video satellite over the ground,
It is characterized in that, the foundation of the video satellite pose adjustment time estimation model, comprising the following steps:
Step S31: using the video satellite attitude maneuver model, calculates the imaging device of the video satellite from alignment one
Pose adjustment time of the target to required cost between another target of alignment；
Step S32: step S31 is repeated, calculates and records the different distance corresponding pose adjustment time, and according to the number of record
According to, by model of fit carry out parameter fitting, obtain the video satellite pose adjustment time estimation model.
4. according to claim 3 stare mission planning method based on band introduce taboo list ant group algorithm video satellite over the ground,
It is characterized in that, the video satellite attitude maneuver model is TT-2 type agile satellite attitude maneuvers model, restrained using PD control
Carry out attitude maneuver control.
5. according to claim 3 stare mission planning method based on band introduce taboo list ant group algorithm video satellite over the ground,
It is characterized in that, the foundation of the video satellite pose adjustment time estimation model, further includes using the video satellite posture
Adjustment time appraising model is fitted, after obtaining fitting result, on the basis of the fitting result increase by 5~15% when
Between allowance the step of.
6. according to claim 3 stare mission planning method based on band introduce taboo list ant group algorithm video satellite over the ground,
It is characterized in that, the model of fit, using following secondary exponential model
Y=aeb·x+c·ed·x (4)
In formula, y indicate the pose adjustment time, x indicate two targets between geocentric angular separation from.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110322061A (en) * | 2019-06-26 | 2019-10-11 | 北京控制工程研究所 | A kind of Multiple targets observation track Intellisense method suitable for load staring imaging |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110322061A (en) * | 2019-06-26 | 2019-10-11 | 北京控制工程研究所 | A kind of Multiple targets observation track Intellisense method suitable for load staring imaging |
| CN110322061B (en) * | 2019-06-26 | 2022-04-19 | 北京控制工程研究所 | Multi-target observation track intelligent sensing method suitable for load staring imaging |
| CN112653500A (en) * | 2020-12-16 | 2021-04-13 | 桂林电子科技大学 | Low-orbit satellite edge calculation-oriented task scheduling method based on ant colony algorithm |
| CN112653500B (en) * | 2020-12-16 | 2022-07-26 | 桂林电子科技大学 | Low-orbit satellite edge calculation-oriented task scheduling method based on ant colony algorithm |
| CN116975501A (en) * | 2023-09-20 | 2023-10-31 | 中科星图测控技术股份有限公司 | Method for optimizing satellite load to ground target coverage calculation |
| CN116975501B (en) * | 2023-09-20 | 2023-12-15 | 中科星图测控技术股份有限公司 | Method for optimizing satellite load to ground target coverage calculation |
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