CN110619452A - Ground moving target automatic tracking task planning method and system for satellite constellation - Google Patents
Ground moving target automatic tracking task planning method and system for satellite constellation Download PDFInfo
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Abstract
The invention discloses a ground moving target automatic tracking task planning method and system for a satellite constellation, and provides a multi-satellite cooperative task planning algorithm aiming at a moving target tracking task. Meanwhile, the constellation system of the invention adopts a completely distributed structure, the task information interaction between member satellites is realized through a communication link, and each member is relatively independent under the structure, thereby being convenient for improving the fault tolerance and stability of the system. The planning method can be automatically operated on line in a constellation, can realize real-time and rapid tracking of a moving target, is simple to execute and high in efficiency, and can realize rapid iterative generation of tasks; the missing of the moving target can be effectively dealt with through the re-searching process; the planning scheme is feasible, and the actual requirements of the microsatellite group on the tracking task of the moving target can be met.
Description
All as the field of technology
The invention relates to the technical field of remote sensing detection, in particular to a ground moving target automatic tracking task planning method and system for a satellite constellation.
All the above-mentioned background techniques
With the development of aerospace technology, the demand of human beings on earth observation is gradually increased, and large moving targets such as aircraft carriers become a type of time-required observation tasks. Different from a static observation target, uncertainty of a moving target motion track and speed causes difficulty in accurately judging the real-time position and the state of the moving target by a monitoring station.
The imaging capability of the earth moving target can be improved by using the wide-width space-based remote sensing satellite, however, the satellite observation coverage and the adaptability to the target in a single-satellite off-line task planning mode are limited, and the tracking task of the moving target is difficult to complete, so that the research on the autonomous cooperative work of an observation constellation consisting of a plurality of micro satellites and the automatic tracking of the moving target has important significance, and a reasonable constellation autonomous task planning method needs to be designed to ensure the observation efficiency of a multi-satellite system.
All the contents of the invention
The invention provides a planning method and a system for an automatic ground moving target tracking task of a satellite constellation, aiming at improving the observation efficiency of the satellite constellation and efficiently completing the tracking and detecting task of an earth moving target. The invention is realized by the following technical scheme:
a ground moving target automatic tracking task planning method for a satellite constellation comprises the following steps:
the method comprises the following steps: a certain satellite receives information of a moving target to be tracked from the ground, the certain satellite is used as a recruitment satellite to generate a potential area task, and the potential area task is used as an observation task to recruit executors in a satellite system;
step two: the member satellites in the satellite system carry out task planning after receiving the potential regional tasks, and the member satellites can send task execution applications to the recruited satellites when being competent for the tasks, or do not send the task execution applications;
step three: the method comprises the steps that a recruited satellite receives task execution applications, one satellite is selected from all the applications to serve as a task executor, and task execution notification is sent to the satellite; when the recruitment satellite does not receive the application for executing the task, updating the potential regional task to continue recruitment;
step four: the satellite receiving the notice of executing the task is used as an executing satellite, the executing satellite executes the potential regional task, returns a detection image to the ground according to the task executing result and returns the detection result to the recruiting satellite, and a task ending instruction is sent to the recruiting satellite after the task is executed;
step five: if the recruiting satellite does not receive the task ending instruction, the recruiting satellite updates the potential area task according to the returned detection result, re-performs the task recruiting activity in the system and repeatedly executes the third step and the fourth step, and when the moving target is not found after certain detection result times are accumulated, executes the sixth step; and if the recruited satellite receives the task ending instruction, the task is ended.
Step six: the satellite system updates the task, autonomously searches the mobile target again, the satellite member finds the strip task with the highest target potential probability by single-satellite planning and sends a task application, and the winning range is all application satellites; and if the target is found after the multi-satellite cooperative task, entering the step one, otherwise, repeating the step six.
As a specific technical scheme: in the first step, the potential area task is updated in a rolling mode when the potential area task is generated, the time length of a rolling observation period is W, and a certain satellite S is rolledm(0＜m≤NS) And receiving a ground uploading task or one-time task execution and finishing image detection event triggering.
As a specific technical scheme: in the first step, the discovery time t of the moving target information is given when the moving target information is uploaded from the ground0Discovery location (latitude and longitude coordinates) P0(lon0,lat0) Maximum moving speed vmaxPossible speed of movementAnd image constraint information of minimum image resolution and minimum solar altitude required for detecting the target; and assume thatWhen the target is in the medium and low speed motion state, otherwise, the target is in the high speed motion state, vHTIs a speed threshold; and assuming that the moving object is in the next observationThe largest potential area in the cycle is P0A circular area with a circle center and a radius of r ═ vmax·W。
As a specific technical scheme: in the step (I), when the obtained potential area is calculated, the time and the position of each target discovered are recorded in the tracking process, so that the intercepted track information of the target is obtained (t { (t)0，P0)，(t1，P1)，...，(tn，Pn) In the next observation period, the potential area of the target in the middle and low speed movement stage in the period is still at PnIs a circular area; the potential area of the target in the high-speed moving stage is P in the periodnAn elliptical region as a center; when n is more than or equal to 1, the target is tnThe movement speed at the moment of time isAlong a two-dimensional planeDirection and size ofAnd pass throughHTThe size relationship of (A) determines the motion state of the target, and when the target is in a high-speed state, the major axis of the elliptical region is alongDirection, minor axis perpendicular to major axis, length of major and minor axes laAnd short half shaft length lbCalculated as follows:
as a specific technical scheme: in the step (I), when the potential area task performers are recruited, the calculated potential areas are used as observation tasks to be recruited in the satellite system in a message broadcasting mode.
As a specific technical scheme: in the step (one), when recruiting, initially reporting information of a target is given in a recruiting message, and time waiting for feedback and a planning time interval [ st, et ] of a task are marked, wherein st needs to satisfy st > ct + dt, ct is the generation time of the task, and dt is delay caused by feedback waiting and inter-satellite communication; and (5) limiting st according to the actual communication condition preset large delay dt ', namely, making st equal to ct + dt'.
As a specific technical scheme: the step (II) comprises the following steps:
(1) orbit data of the satellite in the inertial system of the time interval are obtained through orbit recursion, and a visible time window [ w ] is calculateds,we]；
(2) If [ w ]s,we]If not, selecting an imaging mode to carry out preprocessing of the regional task;
(3) at window [ w ] with Δ t as step lengths,we]Checking constraint conditions through internal iteration, and searching a task starting imaging time point tsThe constraint test comprises attitude range and resource limitation;
(4) calculating imaging plan efficacy including imaging time period [ t ] according to planning resultss,te]Average image resolution f and scanning coverage rate h;
(5) transmitting imaging plan performance to satellite Sm。
As a specific technical scheme: the step (1) is specifically as follows: as member satellite Si(0<i ≦ N) after receiving the potential region task, first calculate the time period ts,te]Visible time window of inter-self versus potential area task ws,we]: four points (lon) are taken around the circle center at equal amplitude angle1,lat1)、(lon2,lat2)、(lon3,lat3)、(lon4,lat4) Respectively calculating S from orbit estimation and satellite-ground geometryiIn a time period ts,te]Visible time window of inner to four points [ w ]s 1,we 1]、[ws 2,we 2]、[ws 3,we 3]、[ws 4,we 4]Then [ ws,we]The intersection can be taken from 4 windows:
[ws,we]＝[ws 1,we 1]∩[ws 2,we 2]∩[ws 3,we 3]∩[ws 4,we 4] (2)。
as a specific technical scheme: the step (2) is specifically as follows: in the aspect of imaging mode, a visible camera adopts passive imaging mode for scanning, and SAR adopts strip mode for imaging, and a satellite is positioned in [ w ]s,we]The track direction of the intersatellite point of the time interval is the scanning direction d 'of the imaging load, the scanning width is the width L of the remote sensor, a vector with the direction of the center of the circle of the passing area as d' is made, and the imaging starting point P of each strip is calculated by the intersection point of the vector and the boundary of the areas(lons,lats) And an end point Pe(lone,late) The length of the strip is | PsPe|。
As a specific technical scheme: the step (3) specifically comprises:
1) with wsAs an initial discrimination point t0Calculating the ground PsAttitude A of a pointsIf A issExceeds the satellite attitude limit, and ts+△t∈[ws,we]If yes, the judging point is moved backwards by delta t for re-checking, otherwise, the imaging ending time t is calculated by the following formulas (2) and (3)e，tcFor the duration of imaging, vsIs tsThe velocity of the target point at the moment relative to the satellite is judged to be teWhether or not it is in [ ws,we]If t is insideeIs not in [ ws,we]If the internal is not detected, the back shift is performed by delta t, otherwise, the ground P is calculatedeAttitude A of a pointeIf A iseIf the attitude range constraint is met, the attitude constraint in the whole imaging range is met, and in addition, the imaging incidence angle constraint of the SAR is also tested in the process;
te＝ts+tc (3)
tc＝|PsPe|/vs (4)
2) after the attitude constraint is met, sampling and checking the resources in the imaging time interval by fixed step length, wherein the sampling and checking comprise electric quantity and data quantity, the formula of the resource checking is as follows, and E in the formulasAs an initial charge, E+Charge amount in light period, E-Power consumption for imaging actions, DsAs an initial amount of data, D+For data increment, DmaxIs the maximum storage capacity; if the resources of each sampling point meet the following formula, the resource constraint is met;
Es+E+-E->0
Ds+D+<Dmax
3) if the resource constraint is satisfied, outputting ts、te、As、AeAnd (5) waiting for planning results. If [ w ]s,we]If all the constraints can not be met after the complete traversal, the task is abandoned.
As a specific technical scheme: the calculation formula of the imaging scheme efficiency in the step (4) is as follows, fs、feThe resolution of the image at the beginning and end of the imaging, respectively, A is the scan area, AeActual potential area moved at the end of imaging:
f＝(fs+fe)/2 (5)
as a specific technical scheme: in step three, after the feedback waiting time is reached, the satellite SmAnd selecting the satellite for executing the task according to the imaging performance evaluation strategy, and sending a notice for executing the task to the satellite. Available evaluation strategies include: strategy 1: the imaging time is earliest; strategy 2: the average image resolution is highest; strategy 3: the scan coverage is highest.
As a specific technical scheme: in step four, assume satellite SnIs selected to execute the task, SnThe task is executed according to the task planning result of the user, the ground station is selected to return the imaging result when the task is executed, and an on-orbit diagram is carried out at the same timeImage detection and returning the detection result to Sm(ii) a The detection result has two conditions:
(1)Snwhen a moving target is detected from the image, the detection result is that the target is at tePosition of time P1To SmReturned observation information of the target;
(2)Sndetecting no moving object from the image, and moving to SmAnd returning a message that the target is not found.
As a specific technical scheme: in the fifth step, the region calculation method is the same as the first step, and the region task is updated according to the following two conditions:
(1) if the returned message is the discovery target, the maximum potential area becomes P1The region with r as radius as the center of circle, the planning time period becomes [ st ]1，te+W]，st1＝ct1+dt’，ct1Is the update time of the task;
(2) if the returned message is not found, the maximum potential area is still P0A circle region with r 'as a radius, where r' is 2r, and the planning period becomes [ st1，st+2W]，st1＝ct1+dt’，ct1Is the update time of the task.
As a specific technical scheme: the specific implementation manner of the sixth step is as follows:
assuming that the maximum diameter of the potential region at this time is R, the maximum potential range is a circular region with the position where the target is observed last as the center of a circle and R as the radius; assume a set of N observations of strips as { strp1,strp2,...,strpNDividing the region in a grid mode for counting the probability information of the target distribution in the maximum potential region of the region, acquiring the side length of the grid according to the formula (7), and dminThe minimum value of the width of the remote sensor in the system is the total number of the gridsThe serial numbers are sequentiallyngridCalculated according to equation (8):
ngrid＝ceil(R/lgrid) (8)
the probability of existence of an object in each grid is defined by the lattice1,strp2,...,strpNThe coverage degree h and the corresponding access time ht are related, the higher the coverage degree of the grids in N times of observation is, the closer the grids are to the current moment, the lower the probability of the existence of the target is, and the grids i (grid) arei) Potential probability F (h, ht) of inner targetgrid＝iNon-zero calculation with probability density f (h, ht)grid＝iRespectively as follows:
f(h,ht)|grid＝i＝F(h,ht)|grid＝i/Ai (10)
Aithe area of the intersection region of the square grid i and the circle region is shown;
by traversing all the meshes by number, the target latent probability of each mesh can be obtained. Then broadcasting, releasing and recruiting the region, the segmentation result and the target potential probability information;
in the same step three, the member SnAfter receiving the recruitment information, firstly carrying out visibility calculation on the region, then calculating the track of the point under the satellite in the visible time period, and selecting the strip by passing through the top point of the region close to the point under the satellite and making an edge along the direction parallel to the off-satellite lineThe band width is the width of remote sensor, if the band can be arranged in the planning time interval, the band width is calculatedThe probability of the potential target is calculated according to the following formula:
is composed ofAnd grid of squareiArea of intersection region of ciThere is a marker for the intersection; after the planning is finished, the strips are translated outwards along the direction vertical to the off-star line to obtain new stripsAt the beginning withThe final edges are overlapped, the strip is also planned as a task strip, and the potential probability can be calculated when the strip is laid downRepeating the outward updating of the strip tasks for planning until the farthest point of the region from the subsatellite point is reached, and stopping the planning action; selecting target latent probability from strip capable of being plannedThe largest strip is bid as a bidding plan.
The invention also provides a ground moving target automatic tracking task planning system for the satellite constellation, which comprises the satellite constellation and a ground control center, and is characterized in that the satellite constellation and the ground control center execute the planning method.
The invention has the advantages that:
aiming at a mobile target tracking task, the invention provides a multi-satellite cooperative task planning algorithm, compared with a single-satellite independent load, the multi-satellite cooperation can improve the observation frequency of target tracking and reduce the target missing probability.
Meanwhile, the constellation system of the invention adopts a completely distributed structure, the task information interaction between member satellites is realized through a communication link, and each member is relatively independent under the structure, thereby being convenient for improving the fault tolerance and stability of the system.
The planning method can be automatically operated on line in a constellation, can realize real-time and rapid tracking of a moving target, is simple to execute and high in efficiency, and can realize rapid iterative generation of tasks; the missing of the moving target can be effectively dealt with through the re-searching process; the planning scheme is feasible, and the actual requirements of the microsatellite group on the tracking task of the moving target can be met.
Description of the drawings
Fig. 1 is an overall flowchart of a method for planning a constellation moving target automatic tracking task in the embodiment of the present invention.
Fig. 2 is a schematic diagram of potential areas of a moving object in an embodiment of the invention.
Fig. 3 is a flowchart of a single-satellite-level moving target potential area mission planning method in an embodiment of the present invention.
(specific embodiments) in all cases
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1 is a flowchart of the whole process of the automatic tracking task planning method for the moving targets of the constellation according to this embodiment, where the moving targets track and observe the constellation from NSThe system comprises a small agile satellite, wherein different imaging remote sensors are carried by members of a constellation in order to ensure the all-day tracking effect of a target and the diversification of images, and the satellite mainly comprises a visible light remote sensor and an SAR remote sensor. Members in the constellation communicate in a link broadcasting mode between stars to realize task distribution. The multi-satellite cooperative mobile target automatic tracking method comprises the following steps:
the method comprises the following steps: and a certain satellite receives the information of the moving target to be tracked from the ground, the certain satellite is used as a recruitment satellite to generate a potential area task, and the potential area task is used as an observation task to recruit executors in the satellite system. The specific implementation mode of the step comprises the following steps:
step 1.1: and calculating potential areas. The invention employs rollingThe potential area task is updated in a rolling observation period with the time length of W and a certain satellite S is rolledm(0＜m≤NS) Receiving ground uploading task or one-time task execution and completing image detection and other event triggers. The target is uploaded from the ground and the discovery time t is given0Discovery location (latitude and longitude coordinates) P0(lon0,lat0) Maximum moving speed vmaxPossible speed of movementThe motion state information and the image constraint information such as the minimum image resolution and the minimum solar altitude required for detecting the target. And assume thatWhen the target is in the medium and low speed motion state, otherwise, the target is in the high speed motion state, vHTIs a speed threshold. FIG. 2 shows the maximum potential area of the target in the next observation period, which is theoretically P0A circular area with a circle center and a radius of r ═ vmax·W。
However, in the tracking process, according to the relationship between the speed of the target and the maneuverability and the traveling intention of the target, the mobility of the movement direction switching of the target is poorer when the speed of the target is higher, the probability of movement direction switching is lower, and the potential area is no longer a perfect circle area. In order to estimate the actual speed of the target, the time and the position of each time when the target is found are recorded in the tracking process, so that the detected track information of the target is obtained (t { (t)0，P0)，(t1，P1)，...，(tn，Pn) And in the next observation period, the transfer direction of the target in the middle and low speed motion stage is difficult to predict, and the potential area in the period is still PnA circular area, as shown in the left drawing of fig. 2; the probability of target steering is reduced along with the increase of the turning angle because the probability of steering maneuver of the target in the high-speed moving stage is small, the probability of continuing to move along the moving direction of the last target finding is high, and the potential area is PnA central elliptical zoneDomain, as shown in the right diagram of fig. 2. When n is more than or equal to 1, the target is tnThe movement speed at the moment of time isAlong a two-dimensional planeDirection and size ofAnd pass throughHTThe size relationship of (A) determines the motion state of the target, and when the target is in a high-speed state, the major axis of the elliptical region is alongDirection, minor axis perpendicular to major axis, length of major and minor axes laAnd short half shaft length lbCalculated as follows.
Step 1.2: potential regional task performers are recruited. The potential area obtained by calculation is used as an observation task to be recruited in the system in a mode of broadcasting messages, and the recruitment activities are carried out by the target receiving satellite SmAnd (4) carrying out hosting. When recruiting, the initial report information of the target is given in the recruiting message, and the time waiting for feedback and the planning time interval [ st, et ] of the task are marked]St is required to satisfy st>And ct + dt, wherein ct is the generation time of the task, and dt is the delay caused by feedback waiting, inter-satellite communication and the like. Therefore, st can be limited according to the actual communication condition preset large delay dt ', namely, st is made to be ct + dt'.
Step two: and performing mission planning after member satellites in the satellite system receive the potential regional mission, wherein the member satellites can send mission execution applications to the recruited satellites when the member satellites are competent in the mission, and otherwise, the member satellites do not send the mission execution applications.
The specific implementation of this step is as follows:
(1) FIG. 3 is a single star layer of the present inventionFirstly, orbit data of a satellite in an inertial system of the period is obtained through orbit recursion. As member satellite Si(0<i ≦ N) after receiving the potential region task, first calculate the time period ts,te]Visible time window of inter-self versus potential area task ws,we]: four points (lon) are taken around the circle center at equal amplitude angle1,lat1)、(lon2,lat2)、(lon3,lat3)、(lon4,lat4) Respectively calculating S from orbit estimation and satellite-ground geometryiIn a time period ts,te]Visible time window of inner to four points [ w ]s 1,we 1]、[ws 2,we 2]、[ws 3,we 3]、[ws 4,we 4]Then [ ws,we]The intersection can be taken from 4 windows:
[ws,we]＝[ws 1,we 1]∩[ws 2,we 2]∩[ws 3,we 3]∩[ws 4,we 4] (2)
(2) if [ w ]s,we]If not, the task is preprocessed. In the aspect of imaging mode, a visible camera adopts passive imaging mode for scanning, and SAR adopts strip mode for imaging, and a satellite is positioned in [ w ]s,we]The track direction of the intersatellite point of the time interval is the scanning direction d 'of the imaging load, the scanning width is the width L of the remote sensor, a vector with the direction of the center of the circle of the passing area as d' is made, and the imaging starting point P of each strip is calculated by the intersection point of the vector and the boundary of the areas(lons,lats) And an end point Pe(lone,late) The length of the strip is | PsPe|。
(3) Then, the window [ w ] is displayed by using the step size of delta ts,we]Checking constraint conditions through internal iteration, and searching a task starting imaging time point tsRestraint inspectionThe test comprises the attitude range, the resource limitation and the like, and the process is as follows:
1) with wsAs an initial discrimination point t0Calculating the ground PsAttitude A of a pointsIf A issExceeds the satellite attitude limit, and ts+△t∈[ws,we]If yes, the judging point is moved backwards by delta t for re-checking, otherwise, the imaging ending time t is calculated by the following formulas (2) and (3)e，tcFor the duration of imaging, vsIs tsThe velocity of the target point at the moment relative to the satellite is judged to be teWhether or not it is in [ ws,we]If t is insideeIs not in [ ws,we]If the internal is not detected, the back shift is performed by delta t, otherwise, the ground P is calculatedeAttitude A of a pointeIf A iseSatisfying the attitude range constraint means that the attitude constraint in the whole imaging range is satisfied, and in addition, the imaging incidence angle constraint of the SAR is also checked in the process.
te＝ts+tc (3)
tc＝|PsPe|/vs (4)
2) After the attitude constraint is met, sampling and checking the resources in the imaging time interval by fixed step length, wherein the sampling and checking comprise electric quantity and data quantity, the formula of the resource checking is as follows, and E in the formulasAs an initial charge, E+Charge amount in light period, E-Power consumption for imaging actions, DsAs an initial amount of data, D+For data increment, DmaxIs the maximum storage capacity. And if the resources of each sampling point meet the following formula, the resource constraint is met.
Es+E+-E->0
Ds+D+<Dmax
3) If the resource constraint is satisfied, outputting ts、te、As、AeAnd (5) waiting for planning results. If [ w ]s,we]If all the constraints can not be met after the complete traversal, the task is abandoned.
(4) Calculating imaging plan efficacy including imaging time period [ t ] according to planning resultss,te]Average image resolution f, scanning coverage h, efficiency calculation formula as follows, fs、feThe resolution of the image at the beginning and end of the imaging, respectively, A is the scan area, AeIs the actual potential area moved at the end of imaging.
f＝(fs+fe)/2 (5)
(5) Transmitting imaging plan performance to satellite Sm。
Step three: the method comprises the steps that a recruited satellite receives task execution applications, one satellite is selected from all the applications to serve as a task executor, and task execution notification is sent to the satellite; and when the recruitment satellite does not receive the application for executing the tasks, updating the potential regional tasks and continuing to recruit the potential regional tasks. The specific implementation of this step is as follows:
after the feedback waiting time is reached, SmAnd selecting the satellite for executing the task according to the imaging performance evaluation strategy, and sending a notice for executing the task to the satellite. Available evaluation strategies include:
strategy 1: the imaging time is the earliest. According to the strategy, tasks of the potential area are executed as early as possible, the area of the potential area is small during imaging, and the probability of finding a target is high;
strategy 2: the average image resolution is highest. The detection difficulty of finding the target from the observation image under the strategy is low.
Strategy 3: the scan coverage is highest. The probability of finding a target under this strategy is large.
Step four: and the satellite receiving the notice of executing the task is used as an executing satellite, the executing satellite executes the potential regional task, returns the detection image to the ground according to the task executing result and returns the detection result to the recruiting satellite, and a task ending instruction is sent to the recruiting satellite after the task is executed. The specific implementation of this step is as follows:
suppose satellite SnIs selected to execute the task, SnThe task is executed according to the task planning result of the user,selecting a ground station nearby after the task is finished to transmit back an imaging result, simultaneously carrying out on-orbit image detection, and returning a detection result to Sm. The detection result has two conditions:
(1)Snwhen a moving target is detected from the image, the detection result is that the target is at tePosition of time P1To SmReturned observation information of the target;
(2)Sndetecting no moving object from the image, and moving to SmAnd returning a message that the target is not found.
In addition, satellite SnAnd sending a task ending instruction to the recruiting satellite when the task is completed.
Step five: if the recruiting satellite does not receive the task ending instruction, the recruiting satellite updates the potential area task according to the returned detection result, re-performs the task recruiting activity in the system and repeatedly executes the third step and the fourth step, and when the moving target is not found after certain detection result times are accumulated, executes the sixth step; and if the recruited satellite receives the task ending instruction, the task is ended.
The region calculation method is the same as the first step, and region task updating is carried out according to the following two conditions:
(1) if the returned message is the discovery target, the maximum potential area becomes P1The region with r as radius as the center of circle, the planning time period becomes [ st ]1，te+W]，st1＝ct1+dt’，ct1Is the update time of the task;
(2) if the returned message is not found, the maximum potential area is still P0A circle region with r 'as a radius, where r' is 2r, and the planning period becomes [ st1，st+2W]，st1＝ct1+dt’，ct1Is the update time of the task.
In addition, the task recruitment is continued after the task is updated, and the process of task generation → planning → execution → return is repeated, so that the continuous tracking observation of the task can be completed.
In the whole process, when a task ending instruction on the ground is received, the gauge is usedThe stroke tracking activity stops. When no target is found in N times of continuous task imaging, SmReporting the missing information of the task to the ground, autonomously performing the searching activity of the task, and entering the step six.
Step six: the satellite system updates the task, autonomously searches the mobile target again, the satellite member finds the strip task with the highest target potential probability by single-satellite planning and sends a task application, and the winning range is all application satellites; and if the target is found after the multi-satellite cooperative task, repeating the step one, and otherwise, repeating the step six. The specific implementation of this step is as follows:
the imaging activities in the daytime can be completed by the cooperation of visible light and SAR type remote sensors, and the imaging in the nighttime can be completed only by SAR satellites, so that the target missing occurs at night more. The area of the target potential region is enlarged due to the fact that multiple shooting activities are not achieved, the maximum diameter of the potential region is assumed to be R, and the maximum potential range is a circular region with the position where the target is observed last as the center of a circle and the radius of the circle as R. Assume a set of N observations of strips as { strp1,strp2,...,strpNDividing the region in a grid mode for counting the probability information of the target distribution in the maximum potential region of the region, acquiring the side length of the grid according to the formula (7), and dminThe minimum value of the width of the remote sensor in the system is the total number of the gridsThe serial numbers are sequentiallyngridCalculated according to equation (8).
ngrid＝ceil(R/lgrid) (8)
The probability of existence of an object in each grid is defined by the lattice1,strp2,...,strpNCoverage degree h and corresponding access time ht are related, and the coverage range of the square in N times of observationThe higher the degree and the closer to the current time, the smaller the probability of the existence of the target, and the grid i (grid)i) Potential probability F (h, ht) of inner targetgrid＝iNon-zero calculation with probability density f (h, ht)grid＝iRespectively as follows:
f(h,ht)|grid＝i＝F(h,ht)|grid＝i/Ai (10)
Aiis the area of the intersection of the square i and the circle region.
By traversing all the meshes by number, the target latent probability of each mesh can be obtained. And then broadcasting, publishing and recruiting the region, the segmentation result and the target potential probability information.
In the same step three, the member SnAfter receiving the recruitment information, firstly carrying out visibility calculation on the region, then calculating the track of the point under the satellite in the visible time period, and selecting the strip by passing through the top point of the region close to the point under the satellite and making an edge along the direction parallel to the off-satellite lineThe band width is the width of remote sensor, if the band can be arranged in the planning time interval, the band width is calculatedThe probability of the potential target is calculated according to the following formula:
is composed ofAnd grid of squareiArea of intersection region of ciThere is a flag for intersection. After the planning is finished, the strip is translated outwards along the direction vertical to the off-star lineObtaining a new stripAt the beginning withThe final edges are overlapped, the strip is also planned as a task strip, and the potential probability can be calculated when the strip is laid downAnd repeating the outward updating of the strip tasks for planning until the farthest point of the area from the subsatellite point is reached, and stopping the planning action. Selecting target latent probability from strip capable of being plannedThe largest strip is bid as a bidding plan.
In contrast to step three, all bidding satellites are selected as winning satellites and winning notification is sent.
And step four, after the task execution is finished, image inspection and return are carried out.
Performing task updating, and executing the step one when the target is found again; and if not, entering a sixth step, updating the executed stripe information set, and re-executing the autonomous search activity.
The above embodiments are merely provided for full disclosure and not for limitation, and any replacement of equivalent technical features based on the gist of the present invention without creative efforts should be considered as the scope of the present disclosure.
Claims (16)
1. A ground moving target automatic tracking task planning method for a satellite constellation comprises the following steps:
the method comprises the following steps: a certain satellite receives information of a moving target to be tracked from the ground, the certain satellite is used as a recruitment satellite to generate a potential area task, and the potential area task is used as an observation task to recruit executors in a satellite system;
step two: the member satellites in the satellite system carry out task planning after receiving the potential regional tasks, and the member satellites can send task execution applications to the recruited satellites when being competent for the tasks, or do not send the task execution applications;
step three: the method comprises the steps that a recruited satellite receives task execution applications, one satellite is selected from all the applications to serve as a task executor, and task execution notification is sent to the satellite; when the recruitment satellite does not receive the application for executing the task, updating the potential regional task to continue recruitment;
step four: the satellite receiving the notice of executing the task is used as an executing satellite, the executing satellite executes the potential regional task, returns a detection image to the ground according to the task executing result and returns the detection result to the recruiting satellite, and a task ending instruction is sent to the recruiting satellite after the task is executed;
step five: if the recruiting satellite does not receive the task ending instruction, the recruiting satellite updates the potential area task according to the returned detection result, re-performs the task recruiting activity in the system and repeatedly executes the third step and the fourth step, and when the moving target is not found after certain detection result times are accumulated, executes the sixth step; and if the recruited satellite receives the task ending instruction, the task is ended.
Step six: the satellite system updates the task, autonomously searches the mobile target again, the satellite member finds the strip task with the highest target potential probability by single-satellite planning and sends a task application, and the winning range is all application satellites; and if the target is found after the multi-satellite cooperative task, entering the step one, otherwise, repeating the step six.
2. The planning method according to claim 1, wherein in the first step, the potential area task is updated in a rolling manner when the potential area task is generated, the time length of a rolling observation period is W, and a satellite S is rolledm(0<m≤NS) And receiving a ground uploading task or one-time task execution and finishing image detection event triggering.
3. The planning method according to claim 2, wherein in step one, the moving object information is composed ofGiving out its finding time t when uploading on the ground0Discovery location (latitude and longitude coordinates) P0(lon0,lat0) Maximum moving speed vmaxPossible speed of movementAnd image constraint information of minimum image resolution and minimum solar altitude required for detecting the target; and assume thatWhen the target is in the medium and low speed motion state, otherwise, the target is in the high speed motion state, vHTIs a speed threshold; and assuming that the maximum potential area of the moving target in the next observation period is P0A circular area with a circle center and a radius of r ═ vmax·W。
4. The planning method according to claim 3, wherein in the first step, when calculating the obtained potential area, the time and position of each time the target is found are recorded in the tracking process, thereby obtaining the detected trajectory information of the target { (t)0，P0)，(t1，P1)，…，(tn，Pn) In the next observation period, the potential area of the target in the middle and low speed movement stage in the period is still at PnIs a circular area; the potential area of the target in the high-speed moving stage is P in the periodnAn elliptical region as a center; when n is more than or equal to 1, the target is tnThe movement speed at the moment of time isAlong a two-dimensional planeDirection and size ofAnd pass throughHTThe size relationship of (A) determines the motion state of the target, and when the target is in a high-speed state, the major axis of the elliptical region is alongDirection, minor axis perpendicular to major axis, length of major and minor axes laAnd short half shaft length lbCalculated as follows:
5. the planning method according to claim 4, wherein in the first step, when the potential area task performers are recruited, the calculated potential areas are recruited as observation tasks in the satellite system by broadcasting messages.
6. The planning method according to claim 5, wherein in the first step, when recruiting, the initial report information of the target is given in the recruiting message, and the time waiting for feedback and the planning time interval [ st, et ] of the task are marked, st needs to satisfy st > ct + dt, ct is the generation time of the task, dt is the delay caused by feedback waiting and inter-satellite communication; and (5) limiting st according to the actual communication condition preset large delay dt ', namely, making st equal to ct + dt'.
7. The planning method according to any one of claims 1 to 6, wherein step two includes:
(1) orbit data of the satellite in the inertial system of the time interval are obtained through orbit recursion, and a visible time window [ w ] is calculateds,we]；
(2) If [ w ]s,we]If not, selecting an imaging mode to carry out preprocessing of the regional task;
(3) at window [ w ] with Δ t as step lengths,we]Checking constraint conditions through internal iteration, and searching a task starting imaging time point tsRestraint inspectionChecking the range of the posture and the resource limitation;
(4) calculating imaging plan efficacy including imaging time period [ t ] according to planning resultss,te]Average image resolution f and scanning coverage rate h;
(5) transmitting imaging plan performance to satellite Sm。
8. The planning method according to claim 7, wherein the step (1) is specifically: as member satellite Si(0<i ≦ N) after receiving the potential region task, first calculate the time period ts,te]Visible time window of inter-self versus potential area task ws,we]: four points (lon) are taken around the circle center at equal amplitude angle1,lat1)、(lon2,lat2)、(lon3,lat3)、(lon4,lat4) Respectively calculating S from orbit estimation and satellite-ground geometryiIn a time period ts,te]Visible time window of inner to four points [ w ]s 1,we 1]、[ws 2,we 2]、[ws 3,we 3]、[ws 4,we 4]Then [ ws,we]The intersection can be taken from 4 windows:
[ws,we]＝[ws 1,we 1]∩[ws 2,we 2]∩[ws 3,we 3]∩[ws 4,we 4] (2)。
9. the planning method according to claim 8, wherein the step (2) is specifically: in the aspect of imaging mode, a visible camera adopts passive imaging mode for scanning, and SAR adopts strip mode for imaging, and a satellite is positioned in [ w ]s,we]The track direction of the subsatellite point in the time interval is the scanning direction d 'of the imaging load, the scanning width is the width L of the remote sensor, and a vector with the center direction of the passing area as d' is made, so that the vectorCalculating the imaging start point P of each strip at the intersection with the region boundarys(lons,lats) And an end point Pe(lone,late) The length of the strip is | PsPe|。
10. The planning method according to claim 9, wherein the step (3) specifically includes:
1) with wsAs an initial discrimination point t0Calculating the ground PsAttitude A of a pointsIf A issExceeds the satellite attitude limit, and ts+Δt∈[ws,we]If the judging point is moved backward by delta t, the method is checked again, otherwise, the imaging ending time t is calculated by the following formulas (2) and (3)e，tcFor the duration of imaging, vsIs tsThe velocity of the target point at the moment relative to the satellite is judged to be teWhether or not it is in [ ws,we]If t is insideeIs not in [ ws,we]If so, moving backward by delta t for rechecking, and otherwise, calculating the P to the groundeAttitude A of a pointeIf A iseIf the attitude range constraint is met, the attitude constraint in the whole imaging range is met, and in addition, the imaging incidence angle constraint of the SAR is also tested in the process;
te＝ts+tc (3)
tc＝|PsPe|/vs (4)
2) after the attitude constraint is met, sampling and checking the resources in the imaging time interval by fixed step length, wherein the sampling and checking comprise electric quantity and data quantity, the formula of the resource checking is as follows, and E in the formulasAs an initial charge, E+Charge for illumination period, E-power consumption for imaging operation, DsAs an initial amount of data, D+For data increment, DmaxIs the maximum storage capacity; if the resources of each sampling point meet the following formula, the resource constraint is met;
Es+E+-E->0
Ds+D+<Dmax
3) if the resource constraint is satisfied, outputtingts、te、As、AeAnd (5) waiting for planning results. If [ w ]s,we]If all the constraints can not be met after the complete traversal, the task is abandoned.
11. The planning method according to claim 10, wherein the calculation formula of the imaging solution performance in the step (4) is as follows, fs、feThe resolution of the image at the beginning and end of the imaging, respectively, A is the scan area, AeActual potential area moved at the end of imaging:
f＝(fs+fe)/2 (5)
12. the method of claim 7, wherein in step three, after the feedback latency is reached, the satellite SmAnd selecting the satellite for executing the task according to the imaging performance evaluation strategy, and sending a notice for executing the task to the satellite. Available evaluation strategies include: strategy 1: the imaging time is earliest; strategy 2: the average image resolution is highest; strategy 3: the scan coverage is highest.
13. The method of claim 7, wherein in step four, satellite S is assumednIs selected to execute the task, SnExecuting the task according to the task planning result of the user, selecting a ground station to return an imaging result when the task is executed, detecting an on-orbit image, and returning the detection result to the Sm(ii) a The detection result has two conditions:
(1)Snwhen a moving target is detected from the image, the detection result is that the target is at tePosition of time P1To SmReturned observation information of the target;
(2)Sndetecting no moving object from the image, and moving to SmReturning undiscovered targetsA message.
14. The planning method according to claim 7, wherein in step five, the calculation method of the region is the same as that in step one, and the region task is updated according to the following two conditions:
(1) if the returned message is the discovery target, the maximum potential area becomes P1The region with r as radius as the center of circle, the planning time period becomes [ st ]1，te+W]，st1＝ct1+dt’，ct1Is the update time of the task;
(2) if the returned message is not found, the maximum potential area is still P0A circle region with r 'as a radius, where r' is 2r, and the planning period becomes [ st1，st+2W]，st1＝ct1+dt’，ct1Is the update time of the task.
15. The planning method according to claim 9, wherein the specific implementation manner of step six is as follows:
assuming that the maximum diameter of the potential region at this time is R, the maximum potential range is a circular region with the position where the target is observed last as the center of a circle and R as the radius; assume a set of N observations of strips as { strp1,strp2,...,strpNDividing the region in a grid mode for counting the probability information of the target distribution in the maximum potential region of the region, acquiring the side length of the grid according to the formula (7), and dminThe minimum value of the width of the remote sensor in the system is the total number of the gridsThe serial numbers are sequentiallyngridCalculated according to equation (8):
ngrid＝ceil(R/lgrid) (8)
the probability of existence of an object in each grid is defined by the lattice1,strp2,...,strpNThe coverage degree h and the corresponding access time ht are related, the higher the coverage degree of the grids in N times of observation is, the closer the grids are to the current moment, the lower the probability of the existence of the target is, and the grids i (grid) arei) Potential probability F (h, ht) of inner targetgrid＝iNon-zero calculation with probability density f (h, ht)grid＝iRespectively as follows:
f(h,ht)|grid＝i＝F(h,ht)|grid＝i/Ai (10)
Aithe area of the intersection region of the square grid i and the circle region is shown;
by traversing all the meshes by number, the target latent probability of each mesh can be obtained. Then broadcasting, releasing and recruiting the region, the segmentation result and the target potential probability information;
in the same step three, the member SnAfter receiving the recruitment information, firstly carrying out visibility calculation on the region, then calculating the track of the point under the satellite in the visible time period, and selecting the strip by passing through the top point of the region close to the point under the satellite and making an edge along the direction parallel to the off-satellite lineThe band width is the width of remote sensor, if the band can be arranged in the planning time interval, the band width is calculatedThe probability of the potential target is calculated according to the following formula:
is composed ofAnd grid of squareiArea of intersection region of ciThere is a marker for the intersection; after the planning is finished, the strips are translated outwards along the direction vertical to the off-star line to obtain new stripsAt the beginning withThe final edges are overlapped, the strip is also planned as a task strip, and the potential probability can be calculated when the strip is laid downRepeating the outward updating of the strip tasks for planning until the farthest point of the region from the subsatellite point is reached, and stopping the planning action; selecting target latent probability from strip capable of being plannedThe largest strip is bid as a bidding plan.
16. A ground moving object automatic tracking mission planning system for a satellite constellation, comprising a satellite constellation and a ground control center, wherein the satellite constellation and the ground control center execute the planning method of any one of claims 1 to 14.
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