CN109741837A - Autonomous imaging task planning system on a kind of star - Google Patents
Autonomous imaging task planning system on a kind of star Download PDFInfo
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- CN109741837A CN109741837A CN201811588962.8A CN201811588962A CN109741837A CN 109741837 A CN109741837 A CN 109741837A CN 201811588962 A CN201811588962 A CN 201811588962A CN 109741837 A CN109741837 A CN 109741837A
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Abstract
The present invention provides imaging task planning systems autonomous on a kind of star, including satellite orbit recursive prediction module, in-orbit imaging task forecast module, in-orbit imaging task design module, in-orbit task synthesis module, in-orbit imaging task conflict Optimal scheduling module and in-orbit imaging to implement module.Satellite user only needs to send imaging region longitude and latitude on satellite, satellite Autonomous calculates imaging time, imaging and control parameter and calculates and be arranged, and intelligence arranges imaging, it does not need user and understands complicated design of satellites and application method, and then the convenient and efficient imaging for being efficiently completed target area, instruction layout mistake is avoided simultaneously, influences the safety of satellite.In-orbit task synthesis module is to synthesize the adjacent task for the condition that meets according to constraint such as the attitude of satellite, imaging sensor, imaging time etc., generate new task sequence.
Description
Technical field
The present invention relates to a kind of imaging task autonomous in satellite task planning system technical field more particularly to star planning to be
System.
Background technique
Current most of remote sensing satellites, need the imaging task of ground staff's layout complexity, amount instruction data is big, process is numerous
It is trivial；The increase of satellite in orbit quantity and the territory restriction of tracking and command network, uplink task are restricted；Specific environment on specific imaging clock star
It is unclear, easily cause safety satellite problem；Satellite user benefit inconvenient for use needs professional space flight knowledge, complicated for operation.
Therefore, how to design a kind of user and do not need complicated operation and professional knowledge, it is only necessary to by imaging region longitude and latitude
It is sent on satellite, satellite Autonomous calculates imaging time, imaging and control parameter and calculates and be arranged, and intelligence arranges imaging
System is particularly important.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides provide autonomous imaging task planning system on a kind of star
System, autonomous terrestrial user of completing send imaging task, and user should not the layout instruction of sending out miscellaneous, it is only necessary to above infuse the warp of imageable target
The conditions such as latitude, height, priority and clutter reflections rate, satellite Autonomous calculate, arrange task of imaging.The present invention is specifically led to
Following technical solution is crossed to realize:
Autonomous imaging task planning system on a kind of star, the system comprises: satellite orbit recursive prediction module, it is in-orbit at
As task forecast module, in-orbit imaging task design module, in-orbit task synthesis module, in-orbit imaging task conflict Optimal scheduling
Module is implemented in module and in-orbit imaging；Wherein,
Satellite orbit recursive prediction module, is input with GPS receiver real-time navigation information, realizes rail in conjunction with EOP parameter
The determination of flat root is intended in road, then is forecast based on intending flat root to the orbital position of satellite following a period of time.
In-orbit imaging task forecast module, with the orbit information of satellite orbit recursive prediction module forecast, ancestral task warp
Latitude information and satellite platform parameter information are input, using fast search algorithm forecast calculation imaging observation time and angle etc.
Information.
In-orbit imaging task designs module, will forecast classification of task, according to the time that imaging type arrangement is imaged, and calculates
Solar elevation when imaging, with altitude of the sun and observed object reflectivity, time for exposure when calculating imaging.
In-orbit task synthesis module, according to the attitude of satellite, imaging sensor, imaging time, by adjacent of the condition that meets
Business synthesis, generates new task sequence；Judge whether observation time, view angle and the imaging type of adjacent two tasks in sequence are full
The condition synthesized enough, view angle takes median when meeting, and priority is added, and directly merges, when imaging time takes into account two tasks
Between.
In-orbit imaging task conflict Optimal scheduling module carries out task according to satellite platform ability, time, observation angle
Collision detection is triggered with TS algorithm from a feasible solution, selects the specific direction of search of series mobile as souning out, selection is real
Now allow the variation of specific objective functional value at most mobile, the certain number of iteration is finally appointed according to maximum return permutation and combination at best
Business, and remove Conflict Tasks, and the failing imaging of the task is put into the task sequence for being unsatisfactory for requiring, to next imaging arrangement.
Module is implemented in in-orbit imaging, completes the autonomous switching of control posture, and imaging load sum number passes autonomous power-up, imaging ginseng
Number configuration, the smooth specific execution of the parameter configuration that number passes and each task sequence；Satellite is constantly detected during execution task
The state of each component and system-level health status, when being abnormal state, interrupt task executes when satellitosis health
Imaging task.
As a further improvement of the present invention, the satellite orbit recursive prediction module contains two submodules, first son
Module realizes that the flat root of intending based on GPS navigation information determines, second submodule realizes the forecast for intending flat root；Wherein, need by
GPS measurement data is to be converted to inertial system from ground admittedly.
As a further improvement of the present invention, it is that satellite passes through twice in succession that track, which was determined with the execution of forecast, update cycle,
Spend the time of orbital node, select southbound node be processing node, calculate satellite at this point intend flat root.
As a further improvement of the present invention, imaging time error is less than 2s, and imaging angle error is less than 0.001 degree, in advance
Report, which calculates, generates initiating task sequence, at least can 100 tasks of forecast calculation.
As a further improvement of the present invention, the in-orbit imaging task forecast module utilizes track mean element, is converted to
Instantaneous elements, then the position and speed information fixed with switching under system calculate next in conjunction with orbit information and satellite maximum lateral swinging angle
Longitude and latitude information under the sampled point star of circle；The sampled point being closer is found using quick search algorithm according to task object longitude and latitude
Then section carries out calculating the iterated search optimal imaging time in detail；And according to satellite position and target position calculating observation angle
Degree.
As a further improvement of the present invention, different imaging type autonomous Designs are imaged in-orbit imaging task design module
Time；Longitude and latitude and time as condition, consider that solar activity rule is calculated, expose when solar elevation is calculated to be imaged in real time
Solar elevation and clutter reflections rate consider imaging sensor characteristics, when presetting exposure as condition when between the light time to be imaged
Between matrix, satellite is in-orbit using tabling look-up to obtain the time for exposure.
The beneficial effects of the present invention are: autonomous imaging task planning system on star of the invention, it is distant to be different from traditional optical
Feel satellite task design, satellite user only needs to send imaging region longitude and latitude on satellite, satellite Autonomous calculating imaging time,
Imaging and control parameter calculate and are arranged, and intelligence arranges imaging, does not need user and understands complicated design of satellites and user
Method, and then the convenient and efficient imaging for being efficiently completed target area, while instruction layout mistake is avoided, influence the safety of satellite.
Detailed description of the invention
Fig. 1 is the functional block diagram of autonomous imaging task planning system on star of the invention；
Fig. 2 is the flow chart based on TABU search task ranking.
Specific embodiment
The present invention is further described for explanation and specific embodiment with reference to the accompanying drawing.
As shown in Figure 1, autonomous imaging task planning system is by satellite orbit recursive prediction module, in-orbit on star of the invention
Imaging task forecast module, in-orbit imaging task design module, in-orbit task synthesis module, in-orbit imaging task conflict optimization row
Module composition is implemented in sequence module and in-orbit imaging.
Satellite orbit recursive prediction module, is input with GPS receiver real-time navigation information, realizes rail in conjunction with EOP parameter
The determination of flat root is intended in road, then is carried out in advance based on intending flat root to the orbital position of the following a period of time (week age) of satellite
Report.Satellite orbit recursive prediction module contains two submodules, first submodule realize based on GPS navigation information to intend flat root true
Fixed, second submodule realizes the forecast for intending flat root.Wherein, it needs GPS measurement data to be admittedly to be turned to inertial system from ground
It changes.Track determines the time for passing through orbital node twice in succession for satellite with the execution of forecast, update cycle, and the present invention selects drop
Intersection point be processing node, calculate satellite at this point intend flat root.
In-orbit imaging task forecast module, with the orbit information of satellite orbit recursive prediction module forecast, ancestral task warp
Latitude information and satellite platform parameter information are input, using fast search algorithm forecast calculation imaging observation time and angle etc.
Information, imaging time error are less than 2s, and imaging angle error is less than 0.001 degree, and forecast calculation generates initiating task sequence, at least
It can 100 tasks of forecast calculation.Main implementation steps:
(1) track mean element is utilized, instantaneous elements is converted to, then fix the position and speed information under system with switching to, in conjunction with
Orbit information and satellite maximum lateral swinging angle, calculate longitude and latitude information under the sampled point star of next circle.
(2) the sampled point section being closer found using quick search algorithm according to task object longitude and latitude, then into
Row calculates the iterated search optimal imaging time in detail；And according to satellite position and target position calculating observation angle.
In-orbit imaging task designs module, will forecast classification of task, according to the time that imaging type arrangement is imaged, and calculates
Solar elevation when imaging, with altitude of the sun and observed object reflectivity, time for exposure when calculating imaging.Different imaging types
(stare, push away sweep and band) autonomous Design imaging time.Longitude and latitude and time is items when solar elevation is calculated to be imaged in real time
Part considers that solar activity rule is calculated, and solar elevation and clutter reflections rate consider as condition when the time for exposure is to be imaged
Imaging sensor characteristics, preset time for exposure matrix, and in-orbit use of satellite tables look-up to obtain the time for exposure.
In-orbit task synthesis module will meet condition according to constraint such as the attitude of satellite, imaging sensor, imaging time etc.
Adjacent task synthesis, generate new task sequence.Judge the observation time of adjacent two tasks in sequence, view angle and imaging class
Whether type meets the condition of synthesis, and view angle takes median when meeting, and priority is added, and is directly merged, and imaging time takes into account two
A task time.
In-orbit imaging task conflict Optimal scheduling module, constrains according to satellite platform ability, time, observation angle etc., into
The detection of row task conflict, is triggered with TS algorithm from a feasible solution, and the specific direction of search of series is selected to move as exploration,
Selection, which is realized, makes the variation of specific objective functional value at most mobile, the certain number of iteration, finally according to maximum return permutation and combination at
Best task, and remove Conflict Tasks, and the failing imaging of the task is put into the task sequence for being unsatisfactory for requiring, it is imaged to next time
It arranges, specific algorithm process is referring to fig. 2.
Module is implemented in in-orbit imaging, completes the autonomous switching of control posture, and imaging load sum number passes autonomous power-up, imaging ginseng
Number configuration, the smooth specific execution of the parameter configuration that number passes and each task sequence.Satellite is constantly detected during execution task
The state of each component and system-level health status, when being abnormal state, interrupt task executes when satellitosis health
Imaging task.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
For those of ordinary skill in the art, without departing from the inventive concept of the premise, if can also make
Simple deduction or replace are done, all shall be regarded as belonging to protection scope of the present invention.
Claims (6)
1. autonomous imaging task planning system on a kind of star, it is characterised in that: the system comprises satellite orbit recursive prediction moulds
Block, in-orbit imaging task forecast module, in-orbit imaging task design module, in-orbit task synthesis module, the punching of in-orbit imaging task
Module is implemented in prominent Optimal scheduling module and in-orbit imaging；Wherein,
Satellite orbit recursive prediction module is input with GPS receiver real-time navigation information, realizes that track is quasi- in conjunction with EOP parameter
The determination of flat root, then the orbital position of satellite following a period of time is forecast based on intending flat root；
In-orbit imaging task forecast module, with the orbit information of satellite orbit recursive prediction module forecast, ancestral task longitude and latitude
Information and satellite platform parameter information are input, are believed using fast search algorithm forecast calculation imaging observation time and angle etc.
Breath；
In-orbit imaging task designs module, will forecast classification of task, according to the time that imaging type arrangement is imaged, and calculates imaging
When solar elevation, with altitude of the sun and observed object reflectivity, time for exposure when calculating imaging；
In-orbit task synthesis module closes the adjacent task for the condition that meets according to the attitude of satellite, imaging sensor, imaging time
At generating new task sequence；Judge whether observation time, view angle and the imaging type of adjacent two tasks in sequence meet conjunction
At condition, view angle takes median when meeting, and priority is added, and directly merging, imaging time take into account two task times；
In-orbit imaging task conflict Optimal scheduling module carries out task conflict according to satellite platform ability, time, observation angle
Detection, is triggered with TS algorithm from a feasible solution, selects the specific direction of search of series mobile as souning out, selection is realized and allowed
The variation of specific objective functional value is at most mobile, the certain number of iteration, finally according to maximum return permutation and combination at best task, and
Remove Conflict Tasks, and the failing imaging of the task is put into the task sequence for being unsatisfactory for requiring, to next imaging arrangement；
Module is implemented in in-orbit imaging, completes the autonomous switching of control posture, imaging load sum number passes autonomous power-up, imaging parameters are matched
Set, count the parameter configuration of biography and the smooth specific execution of each task sequence；Each portion of satellite is constantly detected during execution task
The state of part and system-level health status, when being abnormal state, interrupt task executes imaging when satellitosis health
Task.
2. autonomous imaging task planning system on star according to claim 1, it is characterised in that: the satellite orbit recursion
Forecast module contains two submodules, and first submodule realizes that the flat root of intending based on GPS navigation information determines, second submodule
Realize the forecast for intending flat root；Wherein, it needs GPS measurement data to be admittedly to convert to inertial system from ground.
3. autonomous imaging task planning system on star according to claim 2, track is determined and the execution of forecast, update week
Phase is that satellite passes through time of orbital node twice in succession, and selecting southbound node is processing node, calculates satellite at this point quasi-
Flat root.
4. autonomous imaging task planning system on star according to claim 1, imaging time error is less than 2s, imaging angle
For error less than 0.001 degree, forecast calculation generates initiating task sequence, at least can 100 tasks of forecast calculation.
5. autonomous imaging task planning system on star according to claim 1, the in-orbit imaging task forecast module benefit
With track mean element, instantaneous elements is converted to, then fix the position and speed information under system with switching to, in conjunction with orbit information and satellite
Maximum lateral swinging angle calculates longitude and latitude information under the sampled point star of next circle；According to task object longitude and latitude, using quick search algorithm,
The sampled point section being closer is found, then carries out calculating the iterated search optimal imaging time in detail；And according to satellite position
With target position calculating observation angle.
6. autonomous imaging task planning system on star according to claim 1, in-orbit imaging task design module will be different
Imaging type autonomous Design imaging time；Longitude and latitude and time as condition, consider too when solar elevation is calculated to be imaged in real time
Positive mechanics is calculated, and solar elevation and clutter reflections rate consider imaging sensing as condition when the time for exposure is to be imaged
Device characteristic, presets time for exposure matrix, and in-orbit use of satellite tables look-up to obtain the time for exposure.
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| CN110795214A (en) * | 2019-10-15 | 2020-02-14 | 航天恒星科技有限公司 | Autonomous task planning method and device for remote sensing satellite |
| CN111091268A (en) * | 2019-11-21 | 2020-05-01 | 中国科学院软件研究所 | Satellite task planning system and method |
| CN111949922A (en) * | 2020-07-31 | 2020-11-17 | 上海卫星工程研究所 | On-satellite rapid calculation method and system suitable for earth detection task multi-time window |
| CN112504235A (en) * | 2020-11-16 | 2021-03-16 | 长光卫星技术有限公司 | Small satellite in-orbit autonomous imaging method |
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| CN113514866A (en) * | 2021-04-19 | 2021-10-19 | 中国科学院微小卫星创新研究院 | On-orbit gamma ray storm observation method |
| CN115202846A (en) * | 2022-07-26 | 2022-10-18 | 北京微纳星空科技有限公司 | Method and device for determining remote control instruction of in-orbit satellite |
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| CN110795214B (en) * | 2019-10-15 | 2022-08-09 | 航天恒星科技有限公司 | Autonomous task planning method and device for remote sensing satellite |
| CN110795214A (en) * | 2019-10-15 | 2020-02-14 | 航天恒星科技有限公司 | Autonomous task planning method and device for remote sensing satellite |
| CN111091268A (en) * | 2019-11-21 | 2020-05-01 | 中国科学院软件研究所 | Satellite task planning system and method |
| CN111091268B (en) * | 2019-11-21 | 2023-10-24 | 中国科学院软件研究所 | Satellite task planning system and method |
| CN111949922A (en) * | 2020-07-31 | 2020-11-17 | 上海卫星工程研究所 | On-satellite rapid calculation method and system suitable for earth detection task multi-time window |
| CN111949922B (en) * | 2020-07-31 | 2023-11-28 | 上海卫星工程研究所 | Method and system suitable for on-board rapid calculation of multi-time window of ground detection task |
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| CN112616027A (en) * | 2020-12-11 | 2021-04-06 | 中国科学院软件研究所 | Automatic planning imaging method and device |
| CN112666583A (en) * | 2020-12-15 | 2021-04-16 | 上海卫星工程研究所 | Single-shot orbit recursion method and system adaptive to GNSS receiver output state |
| CN113514866A (en) * | 2021-04-19 | 2021-10-19 | 中国科学院微小卫星创新研究院 | On-orbit gamma ray storm observation method |
| CN113377561A (en) * | 2021-05-06 | 2021-09-10 | 航天东方红卫星有限公司 | Method for realizing autonomous fault recovery after satellite is influenced by single particle |
| CN113377561B (en) * | 2021-05-06 | 2024-03-26 | 航天东方红卫星有限公司 | Method for realizing autonomous fault recovery of satellite under influence of single particle |
| CN115202846A (en) * | 2022-07-26 | 2022-10-18 | 北京微纳星空科技有限公司 | Method and device for determining remote control instruction of in-orbit satellite |
| CN115202846B (en) * | 2022-07-26 | 2023-04-07 | 北京微纳星空科技有限公司 | Method and device for determining remote control instruction of in-orbit satellite |
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