CN110727903A - Satellite task planning method for realizing maximum observation area by limited coverage resources - Google Patents

Satellite task planning method for realizing maximum observation area by limited coverage resources Download PDF

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CN110727903A
CN110727903A CN201910957593.3A CN201910957593A CN110727903A CN 110727903 A CN110727903 A CN 110727903A CN 201910957593 A CN201910957593 A CN 201910957593A CN 110727903 A CN110727903 A CN 110727903A
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胡笑旋
伍艺
孙海权
马华伟
靳鹏
罗贺
夏维
高天旸
朱外明
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Hefei Polytechnic University
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Abstract

The invention discloses a satellite task planning method for realizing the maximum observation area by limited coverage resources, which comprises the following steps: 1, representing an area to be observed by grid discretization, so that the original problem of covering a larger area is converted into the problem of covering a grid; 2, establishing an integer linear programming model of the problem based on grids, and designing a dynamic greedy-based heuristic algorithm by taking the maximum coverage area as an optimization target; 3, repeatedly refining the grids in a nested mode, and providing a method for constructing an adjacent coverage mode on a new grid to avoid regenerating all coverage modes each time; and 4, combining grid refinement, building a close coverage mode and a dynamic greedy-based heuristic algorithm, and performing multiple iterations to obtain a better feasible solution. The invention can quickly obtain the satellite task arrangement result aiming at the maximum coverage area, thereby enabling the satellite to fully utilize the limited observation resources to complete the observation tasks as much as possible and improving the utilization efficiency of the satellite resources.

Description

Satellite task planning method for realizing maximum observation area by limited coverage resources
Technical Field
The invention belongs to the technical field of satellite task planning, and particularly relates to a satellite task planning method for realizing a maximum observation area by limited coverage resources.
Background
Satellites are machines that are manufactured by humans to launch and fly around the earth in a certain orbit. One of its main functions is to observe the land, sea, atmosphere, etc. by satellite-based sensors (e.g. visible light camera, multispectral camera). The observation requirements are provided by users from various fields and departments, the requirements are summarized at a ground control center of the satellite, the control center comprehensively formulates an imaging coverage plan of each satellite according to the observation requirements by combining the service condition of satellite resources, measurement and control instructions are generated and are uploaded to the satellite through a ground measurement and control station, the satellite performs corresponding actions after receiving the instructions, imaging is performed on a specified area, formed image data are temporarily stored on a satellite-borne hard disk, and when the satellite can communicate with the ground station, the image data are downloaded to the ground station. In the process, a link of making a satellite imaging plan by the ground control center is called as satellite mission planning and is one of key links in the whole satellite use management process.
Each satellite corresponds to one subsatellite point track, and the subsatellite point track can be expressed by using a linear equation. Each imaging opportunity may observe a rectangular region, denoted as a strip. Two sides of the strip are parallel to the sub-satellite point trajectory, and the other two sides are perpendicular to the sub-satellite point trajectory. The cameras that image the satellites have a fixed field of view, the size of which determines to some extent the width of the strip. The satellite continuous imaging cannot exceed the maximum power-on time and therefore corresponds to a maximum length. During imaging shooting, the camera can swing laterally within a certain range. Therefore, a region within a certain range around the locus of the subsatellite point can be observed.
The satellite can only shoot a strip area with limited length and width in one transit, and if the area to be observed is large, the whole area is difficult to be completely observed in one transit of the satellite. If the user urgently needs the image data of the area, multiple satellite transit opportunities can be used for collaborative imaging.
In a traditional satellite use mode, a satellite independently makes a plan and independently executes an imaging task, and cooperative observation is not carried out between the satellite and the satellite. With the increase of the number of satellites, imaging observation on the ground by using multiple satellites in cooperation has become possible, and the real requirement of multi-satellite cooperation regional imaging exists. But sometimes facing large-scale observation tasks, there are cases where the number of satellite coverage resources is relatively small, and it is not enough to cover the whole area, and it is necessary to arrange the length and position of the generating strip of each coverage opportunity more reasonably so that the area of the covered area is as large as possible.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a satellite task planning method for realizing the maximum observation area by using limited coverage resources, so that the maximum area can be covered on the premise of limited resources, the satellite can fully utilize the limited observation resources to complete the observation tasks as many as possible, and the utilization efficiency of the satellite resources is improved.
The invention adopts the following technical scheme for solving the technical problems:
the invention relates to a satellite mission planning method for realizing the maximum observation area by limited coverage resources, which is characterized in that the method is applied to a coverage opportunity set S ═ S { S } of a rectangular region R to be observed and n imaging satellites1,s2,...,si,...snIn a task planning scene formed by the previous step; wherein s isiRepresenting the ith coverage opportunity, i is more than or equal to 1 and less than or equal to n; the satellite task planning method comprises the following steps:
step 1, parameter definition and initialization:
taking any vertex of the rectangular region R to be observed as an origin o, and taking two edges adjacent to the origin as an x axis and a y axis respectively, so as to establish a coordinate system o-xy;
in the task planning scene, each coverage opportunity corresponds to a straight line track of a vertical projection point from a satellite to the ground, namely a subsatellite point track for short, and the ith coverage opportunity s is recordediThe corresponding subsatellite point track is oi；
Each coverage opportunity corresponds to a satellite-to-ground altitude, and the ith coverage opportunity s is recordediCorresponding to a satellite to ground height of hi；
Each coverage opportunity corresponds to a maximum observation length, the ith coverage opportunity siCorresponding to a maximum observation length of di；
Each covering opportunity corresponds to a maximum deflection angle, the ith covering opportunity siCorresponding to a maximum deflection angle of pi；
Each covering opportunity corresponds to a camera view angle, and the ith covering opportunity s is recordediCorresponding to a camera field angle of wi(ii) a By the ith coverage opportunity siOrbit of points under the star oiSatellite to ground height hiMaximum observation length diMaximum deflection angle piAnd camera field angle wiTogether form the ith coverage opportunity si(ii) an attribute of (d);
step 2, defining the current iteration number as K, initializing K to be 1, and defining the maximum iteration number as K;
step 3, the rectangular region R to be observed is divided for the kth time to obtain the kth grid R consisting of a plurality of square grids with equal sizekThe kth grid RkEach small square in (1) is called a cell;and numbering each cell as 1,2, …, j, …, QkAnd recording the coordinate positions of four vertexes of each unit cell;
and 4, obtaining a left cell set and an upper cell set for each coverage opportunity:
step 4.1, initializing i to 1;
step 4.2. from the kth grid RkGet the ith coverage opportunity siAnd all the left cells of (2) and form a left cell set
Figure BDA0002227848860000021
Wherein the content of the first and second substances,
Figure BDA0002227848860000022
indicating the ith coverage opportunity siThe mth left cell of (1); miIndicating the ith coverage opportunity siM is 1,2, …, Mi；
Step 4.3. from the kth grid RkGet the mth left cellAnd forming an upper set of cells
Figure BDA0002227848860000032
Wherein the content of the first and second substances,
Figure BDA0002227848860000033
indicating the ith coverage opportunity siE-th upper cell of the mth left cell, E ═ 1,2, …, EmTo get the ith coverage opportunity siUpper cell set of all left cells of
Figure BDA0002227848860000034
Step 4.4, assigning i +1 to i, judging whether i > n is true, if so, executing step 5, otherwise, turning to step 4.2;
and 5, generating a plurality of coverage modes for each coverage opportunity, namely observation strips:
step 5.1. let i equal to 1, initialize the k-th overlay mode total set CkIs an empty set;
step 5.2, initialize the k total cover mode set CkThe ith coverage opportunity siSet of overlay modes
Figure BDA0002227848860000035
Making m equal to 1 for the empty set;
step 5.3, making e equal to 1;
step 5.4. according to the ith coverage opportunity siAnd its left cell set UiMiddle mth left cell
Figure BDA0002227848860000036
And its e-th upper cell
Figure BDA0002227848860000037
Generating the overlay mode by using the overlay mode generation method and storing the overlay mode into the overlay mode set
Figure BDA0002227848860000038
Performing the following steps;
step 5.5, assigning e +1 to e, and judging e>EmIf yes, executing step 5.6, otherwise, turning to step 5.4;
step 5.6, assigning m +1 to m and judging m>MiIf yes, the covering modes are collected
Figure BDA00022278488600000311
Store the k-th overlay pattern aggregate CkThen, step 5.7 is executed, otherwise, step 5.3 is executed;
step 5.7, assigning i +1 to i, and judging i>n is true or not, if true, the k-th total set of coverage patterns is obtained
Figure BDA00022278488600000310
And step 6 is executed, otherwise, step 5.2 is executed;
step 6, using a dynamic greedy-based heuristic algorithmk total sets of overlay patterns CkN coverage modes are selected to form the kth feasible solution Pk；
Step 7, assigning k +1 to k, and judging k>If K is true, outputting the K feasible solution PKOtherwise, executing step 8;
step 8, the k-1 grid Rk-1As a father grid, equally dividing each cell in the father grid into small squares to obtain a plurality of small squares with equal size to form a kth grid RkAnd is called a submesh, and the kth trellis RkThe small square in the middle is used as a new cell, and four vertex coordinates of each new cell are recorded, so that the structure of a nested parent-child grid is completed;
step 9, the k-1 feasible solution Pk-1Each coverage pattern in (b) is mapped to the kth grid RkThen, the left cell and the upper cell of each overlay mode are updated to the k grid RkTo the left cell and the upper cell in (1), and to the k-th grid R after mappingkAfter constructing a plurality of adjacent coverage patterns by each coverage pattern, storing the adjacent coverage patterns into a k coverage pattern total set CkAnd then returns to step 6.
The method for planning the satellite task by realizing the maximum observation area by the limited coverage resources is also characterized in that,
in the step 4.2, the ith coverage opportunity s is obtained according to the following processiM left cell
Figure BDA0002227848860000041
Step 4.2.1. initialize j ═ 1;
step 4.2.2, judging that j is less than or equal to QkIf yes, the left lower corner vertex structure of the jth cell is parallel to the substellar point track oiStraight line of
Figure BDA0002227848860000042
And as the left edge of the observation strip, corresponding straight line
Figure BDA0002227848860000043
Orbit to the sub-satellite point oiIs recorded as
Figure BDA0002227848860000044
If not, the final left cell set U is obtainediAnd recording any one left cell as the mth left cell
Step 4.2.3, taking the angle of the satellite when swinging to the left as the positive direction, and calculating the ith coverage opportunity s by using the formula (1)iCamera side swing angle corresponding to No. j cell
Figure BDA0002227848860000046
Figure BDA0002227848860000047
Step 4.2.4. judgment
Figure BDA00022278488600000415
Whether or not less than piIf the number of cells is less than the preset value, the j cell is represented as a left cell and the coverage opportunity s is storediLeft cell set UiThen, step 4.2.5 is executed; otherwise, directly executing the step 4.2.5;
and 4.2.5, assigning j +1 to j, and returning to the step 4.2.2.
In the step 4.3, the ith coverage opportunity s is obtained according to the following processiE upper cell of the m-th left cell
Figure BDA0002227848860000049
Step 4.3.1, enabling the top point of the lower left corner of the mth left cell to be parallel to the locus o of the substellar pointsiIs marked as
Figure BDA00022278488600000410
Will be firstm left cells
Figure BDA00022278488600000411
From the top of the lower left corner to the point below the stariIs recorded as
Step 4.3.2. calculate the mth left cell using equation (2)
Figure BDA00022278488600000413
Corresponding strip width
Figure BDA00022278488600000414
Figure BDA0002227848860000051
Step 4.3.3. mth left cellThe top left corner vertex structure of (A) is perpendicular to the point trajectory under the satellite (o)iStraight line of
Figure BDA0002227848860000053
M th left cell
Figure BDA0002227848860000054
The lower right corner vertex structure of (a) is perpendicular to the point trajectory o under the stariStraight line of
Figure BDA0002227848860000055
Step 4.3.4, let j equal 1;
step 4.3.5, the structure of the top point of the lower left corner of the jth cell is parallel to the track o of the substellar pointsiStraight line of
Figure BDA0002227848860000056
The top right corner vertex structure of the jth cell is parallel to the subsatellite point track oiStraight line of
Figure BDA0002227848860000057
Constructing a vertex at the upper left corner of the jth cell to be vertical to the point track o under the stariStraight line of
Figure BDA0002227848860000058
Step 4.3.6, judge whether to satisfy the straight line at the same time
Figure BDA0002227848860000059
In a straight line
Figure BDA00022278488600000510
Left side of, straight line
Figure BDA00022278488600000511
And a straight line
Figure BDA00022278488600000512
Is less thanStraight line
Figure BDA00022278488600000514
In a straight line
Figure BDA00022278488600000515
And below, and straight line
Figure BDA00022278488600000516
And a straight line
Figure BDA00022278488600000517
Is less than the maximum observation length diIf yes, go to step 4.3.7, otherwise go to step 4.3.8;
4.3.7, put the j cell into the upper cell setThe e-th upper cell, which is denoted as the m-th left cell
Step 4.3.8, assign j +1 to j, judge j>QkIf yes, the mth left cell is obtained
Figure BDA00022278488600000520
Upper set of cells of
Figure BDA00022278488600000521
Otherwise, go to step 4.3.5.
In the step 5.4, any one coverage mode is generated by using a coverage mode generation method according to the following processes:
step 5.4.1. mth left cell
Figure BDA00022278488600000522
The structure of the vertex of the lower left corner is parallel to the locus o of the points under the stariStraight line of
Figure BDA00022278488600000523
And serves as the left boundary of overlay mode c;
step 5.4.2. the e-th upper cell
Figure BDA00022278488600000524
The top left corner vertex structure of (A) is perpendicular to the point trajectory under the satellite (o)iStraight line ofAnd serves as the upper boundary of the overlay mode c;
step 5.4.3. in a straight line
Figure BDA00022278488600000526
Right side, structure and straight line of
Figure BDA00022278488600000527
Parallel and to a straight lineIs the strip width
Figure BDA00022278488600000529
Straight line of
Figure BDA00022278488600000530
And serves as the right boundary of overlay mode c;
step 5.4.4. in straight lineBelow, structure and straight line of
Figure BDA00022278488600000532
Parallel and to a straight lineIs the maximum observation length diStraight line ofAnd serves as the lower boundary of the overlay mode c;
step 5.4.5. from the straight line
Figure BDA0002227848860000062
Straight line
Figure BDA0002227848860000063
Straight line
Figure BDA0002227848860000064
Straight line
Figure BDA0002227848860000065
The rectangle formed is the overlay pattern c.
The dynamic greedy-based heuristic algorithm used in the step 6 is to cover the overall set of patterns C according to the following processkSelecting n coverage modes to form a feasible solution:
step 6.1. connect the k networkLattice RkThe states of all the cells in the cell are initialized to be not covered, and the kth feasible solution P is initializedkIs empty;
step 6.2. Total set of coverage patterns C from the kthkSelecting one coverage mode which can cover most cells of all the 'uncovered' states and putting the coverage mode into the kth feasible solution PkUpdating the 'uncovered' state of all cells completely in the coverage range in the selected coverage mode to 'covered', and collecting the coverage mode set in which the selected coverage mode is positioned
Figure BDA0002227848860000066
From the k-th overlay mode aggregate CkDeleting;
step 6.3, judging the k-th coverage mode total set CkWhether the current solution is an empty set or not, if the current solution is empty, the current solution indicates that the kth feasible solution P is obtainedkOtherwise, return to step 6.2.
The step 9 is to construct the adjacent coverage pattern of the ith coverage pattern according to the following process:
step 9.1, traverse k-1 feasible solution Pk-1In the ith coverage mode and in the left cell u of the ith coverage modeiThe vertex of the upper left corner of the cell is used as the circle center, v is used as the radius to obtain all the cells of which the upper left corner is positioned in the circle, all the cells of which the upper left corner is positioned in the circle are put into the left cell set of the ith coverage mode according to the step 4.2.2 to the step 4.2.4, and the strip width corresponding to each left cell is calculated by using the formula (2) of the step 4.3.2;
step 9.2. Upper cell t in ith overlay modeiThe vertex of the upper left corner is used as the circle center, v is used as the radius to obtain all the cells of which the upper left corners are positioned in the circle, and all the cells of which the upper left corners are positioned in the circle are placed into the upper cell set according to the step 4.3.1 to the step 4.3.6 and the cells which meet the conditions of the upper cells;
step 9.3. according to the ith coverage opportunity siAny left cell in the left cell set of the ith overlay mode and any upper cell thereof, using overlayThe pattern generation method generates an overlay pattern as an adjacent overlay pattern to the ith overlay pattern.
Compared with the prior art, the invention has the beneficial effects that:
1. aiming at the problem of limited satellite coverage resources, the method takes the maximum observation area as an optimization target, and firstly, the area to be observed is represented by grid discretization, so that the original coverage problem of a larger area is converted into the coverage problem of a grid; then, based on the grid, a heuristic algorithm based on dynamic greedy is designed by taking the maximum coverage area as an optimization target; repeatedly refining the grids in a nested manner, and providing a method for constructing an adjacent coverage mode on a new grid, thereby avoiding regenerating all coverage modes every time and reducing the scale and complexity of problems; grid refinement, a near coverage mode construction and a dynamic greedy-based heuristic algorithm are combined, and multiple iterations are performed to obtain a better feasible solution, so that a better satellite task arrangement result can be quickly obtained in a shorter time, and the method has the advantages of clear flow, strong operability and the like;
2. the invention provides a method for quickly generating all feasible coverage patterns for a given coverage opportunity and a region to be observed, which comprises the steps of representing the region to be observed by using grids in a discretization manner, traversing each cell in the grids in sequence, selecting the cell meeting the conditions as a left cell, traversing each cell in the grids, and selecting the cell meeting the conditions as an upper cell; for a combination formed by one covering opportunity, one left cell and one upper cell, sequentially determining a left boundary, an upper boundary, a right boundary and a lower boundary of a covering mode according to a covering mode generation method so as to determine the covering mode, wherein the method has the advantages of clear flow, simple operation and clear result;
3. the invention provides a heuristic method based on a dynamic greedy thought, which selects the coverage mode covering the most uncovered cells from the coverage mode set from large to small according to the number of the completely covered cells, forms a feasible solution of the maximum coverage area, can ensure the quality of the result to a certain extent, and has the characteristics of high efficiency, stability and expandability;
4. the invention provides a construction method of a near coverage mode, which obtains the near coverage feasible solution near the existing feasible solution, avoids repeatedly generating a large number of alternative coverage modes in each cycle, greatly reduces the calculation complexity of searching for a new feasible solution, reduces the occupation of calculation resources and storage space in the solving process, and reduces the time required for planning a large number of satellite tasks and the consumption of the calculation resources while ensuring the result quality.
Drawings
FIG. 1 is a flow chart of a method for satellite mission planning with limited coverage resources to achieve maximum observation area in accordance with the present invention;
FIG. 2a is a schematic diagram of coverage opportunities in one aspect of the present invention;
FIG. 2b is a schematic illustration of an alternative coverage opportunity of the present invention;
FIG. 3a is a schematic diagram of calculating a stripe width according to the present invention;
FIG. 3b is a schematic diagram of another method of calculating the stripe width according to the present invention;
FIG. 4 is a schematic diagram of a coverage mode of the present invention.
Detailed Description
In this embodiment, from a two-dimensional planar space, the coverage opportunities can be generally divided into two categories in the observation direction, namely, right downward tilt and left downward tilt, as shown in fig. 2a and 2b, and the symbols "\\" and "/" can be used for analogy. The method for constructing the coverage mode under two different coverage directions is quite similar and has the characteristic of symmetry. Therefore, for simplicity of description, we will only use the first coverage opportunity inclined to the right and downward as an example for detailed description.
As shown in fig. 1, a satellite mission planning method for realizing the maximum observation area by using limited coverage resources is applied to a coverage opportunity set S ═ S of a rectangular region R to be observed and n imaging satellites1,s2,...,si,...snIn a task planning scene formed by the previous step; wherein, the area R of the region to be observed is large and can not be completely covered by any covering opportunityCover, siThe ith coverage opportunity is represented, i is more than or equal to 1 and less than or equal to n, the provided coverage opportunity eliminates the conditions which are unfavorable for observation, such as night, thick cloud layer, heavy fog and the like, so that the observation requirement can be met only by single coverage under the provided coverage opportunity; the satellite task planning method comprises the following steps:
step 1, parameter definition and initialization:
usually, the vertex of the lower left corner of a rectangular region R to be observed is taken as an origin o, and two sides adjacent to the origin are respectively taken as an x axis and a y axis, so that a coordinate system o-xy is established;
in a task planning scene, each coverage opportunity corresponds to a straight line track of a vertical projection point from a satellite to the ground, namely a subsatellite point track for short, because the satellite is influenced by factors such as communication conditions, cruising ability, starting time limit and the like, the maximum observation length of one coverage opportunity is not too long, the projection of the subsatellite point track on the ground can be approximately regarded as a straight line in a certain range, and in order to simplify the problem, the ith coverage opportunity s is recordediThe corresponding track of the point under the star is a straight line oi；
Each coverage opportunity corresponds to a satellite-to-ground altitude, and the ith coverage opportunity s is recordediCorresponding to a satellite to ground height of hi；
Each coverage opportunity corresponds to a maximum observation length, the ith coverage opportunity siCorresponding to a maximum observation length of di；
Each covering opportunity corresponds to a maximum deflection angle, the ith covering opportunity siCorresponding to a maximum deflection angle of pi；
Each covering opportunity corresponds to a camera view angle, and the ith covering opportunity s is recordediCorresponding to a camera field angle of wi(ii) a By the ith covering opportunity siOrbit of points under the star oiSatellite to ground height hiMaximum observation length diMaximum deflection angle piAnd camera field angle wiTogether forming the ith coverage opportunity si(ii) an attribute of (d);
step 2, defining the current iteration number as K, initializing K to be 1, and defining the maximum iteration number as K;
step 3, the rectangular region R to be observed is divided for the kth time to obtain the kth grid R consisting of a plurality of square grids with equal sizekThe length of the diagonal line of the cell is not more than the width of a corresponding strip when the deflection angle of the satellite is 0 under any coverage opportunity, so as to ensure that each coverage mode can completely cover at least one cell; the kth grid RkEach small square in (1) is called a cell; and numbering each cell as 1,2, …, j, …, QkAnd recording the coordinate positions of four vertexes of each unit cell;
generating any given coverage opportunity siThe main idea of the all-coverage mode is to select a feasible left cell and a feasible upper cell in sequence, construct a coverage mode, and explore all possible combination forms, so that the all-coverage mode can be obtained.
And 4, obtaining a left cell set and an upper cell set for each coverage opportunity:
step 4.1, initializing i to 1;
step 4.2. from the kth grid RkGet the ith coverage opportunity siAnd all the left cells of (2) and form a left cell set
Figure BDA0002227848860000091
Wherein the content of the first and second substances,indicating the ith coverage opportunity siThe mth left cell of (1); miIndicating the ith coverage opportunity siM is 1,2, …, Mi；
Step 4.2.1. initialize j ═ 1;
step 4.2.2, judging that j is less than or equal to QkIf yes, the left lower corner vertex structure of the jth cell is parallel to the substellar point track oiStraight line of
Figure BDA0002227848860000093
And as an observation stripLeft edge of the belt, will correspond to a straight line
Figure BDA0002227848860000094
Orbit to the sub-satellite point oiIs recorded as
Figure BDA0002227848860000095
If not, the final left cell set U is obtainediAnd recording any one left cell as the mth left cell
Figure BDA0002227848860000096
Step 4.2.3, taking the angle of the satellite when swinging to the left as the positive direction, and calculating the ith coverage opportunity s by using the formula (1)iCamera side swing angle corresponding to No. j cell
Figure BDA0002227848860000097
Figure BDA0002227848860000098
Step 4.2.4. judgment
Figure BDA0002227848860000099
Whether or not less than piIf the number of cells is less than the preset value, the j cell is a left cell and is stored in the ith coverage opportunity siLeft cell set UiThen, step 4.2.5 is executed; otherwise, directly executing the step 4.2.5;
and 4.2.5, assigning j +1 to j, and returning to the step 4.2.2.
Step 4.3. from the kth grid RkGet the mth left cell
Figure BDA00022278488600000910
And forming an upper set of cells
Figure BDA00022278488600000911
Wherein the content of the first and second substances,
Figure BDA00022278488600000912
indicating the ith coverage opportunity siE-th upper cell of the mth left cell, E ═ 1,2, …, EmTo get the ith coverage opportunity siUpper cell set of all left cells of
Figure BDA00022278488600000913
Step 4.3.1, enabling the top point of the lower left corner of the mth left cell to be parallel to the locus o of the substellar pointsiIs marked as
Figure BDA00022278488600000914
The m-th left cell
Figure BDA0002227848860000101
From the top of the lower left corner to the point below the stariIs recorded as
Step 4.3.2. width of strip
Figure BDA0002227848860000103
Fig. 3a gives a case of calculating the swath width, where ∠ AOC is the field angle, i.e. ∠ AOC wiOB is a vertical line, and the length of the line OB is the height of the satellite from the ground, i.e. hi. The length of the line segment AB is a straight lineAnd oiIs a distance therebetween, i.e.
Figure BDA0002227848860000105
Obviously, ∠ ABO is a right angle, so it is easy to find:
in FIG. 3a, ∠ AOB > wiThe width of the strip is now the length of the line segment AC,
Figure BDA0002227848860000107
if the obtained ∠ AOB is less than or equal to wi(
Figure BDA0002227848860000108
And
Figure BDA0002227848860000109
the same applies) as shown in fig. 3b, where ∠ AOD is the field angle, i.e., ∠ AOD ═ wiOC is the angle bisector of ∠ AOD, i.e.
Figure BDA00022278488600001010
The width of the strip at this time is the length of the line segment AD.∠DOB＝wi∠ AOB, from which BD ═ hiTan ∠ DOB, then:
Figure BDA00022278488600001012
therefore, the m-th left cell can be calculated using equation (2)
Figure BDA00022278488600001013
Corresponding strip width
Figure BDA00022278488600001014
Figure BDA00022278488600001015
In the formula (2), the reaction mixture is,
Figure BDA00022278488600001016
represents the m-th left cell
Figure BDA00022278488600001017
From the top of the lower left corner to the point below the stariThe distance of (d);
step 4.3.3. mth left cell
Figure BDA00022278488600001018
The top left corner vertex structure of (A) is perpendicular to the point trajectory under the satellite (o)iStraight line of
Figure BDA00022278488600001019
M th left cell
Figure BDA00022278488600001020
The lower right corner vertex structure of (a) is perpendicular to the point trajectory o under the stariStraight line of
Figure BDA00022278488600001021
Step 4.3.4, let j equal 1;
step 4.3.5, the structure of the top point of the lower left corner of the jth cell is parallel to the track o of the substellar pointsiStraight line of
Figure BDA00022278488600001022
The top right corner vertex structure of the jth cell is parallel to the subsatellite point track oiStraight line of
Figure BDA0002227848860000111
Constructing a vertex at the upper left corner of the jth cell to be vertical to the point track o under the stariStraight line of
Figure BDA0002227848860000112
Step 4.3.6, judge whether to satisfy the straight line at the same time
Figure BDA0002227848860000113
In a straight line
Figure BDA0002227848860000114
Left side of, straight line
Figure BDA0002227848860000115
And a straight line
Figure BDA0002227848860000116
Is less than
Figure BDA0002227848860000117
Straight line
Figure BDA00022278488600001132
In a straight lineAnd below, and straight line
Figure BDA00022278488600001110
And a straight line
Figure BDA00022278488600001111
Is less than the maximum observation length diIf yes, go to step 4.3.7, otherwise go to step 4.3.8;
4.3.7, put the j cell into the upper cell set
Figure BDA00022278488600001112
The e-th upper cell, which is denoted as the m-th left cell
Figure BDA00022278488600001113
Step 4.3.8, assign j +1 to j, judge j>QkIf yes, the mth left cell is obtainedUpper set of cells of
Figure BDA00022278488600001115
Otherwise, turning to step 4.3.5;
step 4.4, assigning i +1 to i, judging whether i > n is true, if so, executing step 5, otherwise, turning to step 4.2;
and 5, generating a plurality of coverage modes for each coverage opportunity, namely observation strips:
step 5.1. let i equal to 1, initialize the k-th overlay mode total set CkIs an empty set;
step 5.2, initialize the k total cover mode set CkThe ith coverage opportunity siSet of overlay modes
Figure BDA00022278488600001116
Making m equal to 1 for the empty set;
step 5.3, making e equal to 1;
step 5.4. according to the ith coverage opportunity siAnd its left cell set UiMiddle mth left cellAnd its e-th upper cell
Figure BDA00022278488600001118
Generating the overlay mode by using the overlay mode generation method and storing the overlay mode into the overlay mode set
Figure BDA00022278488600001119
Performing the following steps;
step 5.4.1. mth left cellThe structure of the vertex of the lower left corner is parallel to the locus o of the points under the stariStraight line of
Figure BDA00022278488600001121
And serves as the left boundary of overlay mode c;
step 5.4.2. the e-th upper cell
Figure BDA00022278488600001122
The top left corner vertex structure of (A) is perpendicular to the point trajectory under the satellite (o)iStraight line of
Figure BDA00022278488600001123
And serves as the upper boundary of the overlay mode c;
step 5.4.3. in a straight line
Figure BDA00022278488600001124
Right side, structure and straight line of
Figure BDA00022278488600001133
Parallel and to a straight lineIs the strip width
Figure BDA00022278488600001127
Straight line of
Figure BDA00022278488600001128
And serves as the right boundary of overlay mode c;
step 5.4.4. in straight line
Figure BDA00022278488600001129
Below, structure and straight line of
Figure BDA00022278488600001130
Parallel and to a straight line
Figure BDA00022278488600001131
Is the maximum observation length diStraight line ofAnd serves as the lower boundary of the overlay mode c;
step 5.4.5. from the straight line
Figure BDA0002227848860000122
Straight lineStraight lineStraight line
Figure BDA0002227848860000125
The rectangle formed is the overlay pattern c.
As shown in fig. 4;
step 5.5, assigning e +1 to e, and judging e>EmIf yes, executing step 5.6, otherwise, turning to step 5.4;
step 5.6, assigning m +1 to m and judging m>MiIf yes, the covering modes are collected
Figure BDA0002227848860000126
Store the k-th overlay pattern aggregate CkThen, step 5.7 is executed, otherwise, step 5.3 is executed;
step 5.7, assigning i +1 to i, and judging i>n is true or not, if true, the k-th total set of coverage patterns is obtainedAnd step 6 is executed, otherwise, step 5.2 is executed;
step 6, using a dynamic greedy-based heuristic algorithm to cover the total set C of the modes from the kthkN coverage modes are selected to form the kth feasible solution Pk；
Step 6.1. the k grid RkThe states of all the cells in the cell are initialized to be not covered, and the kth feasible solution P is initializedkIs empty;
step 6.2. Total set of coverage patterns C from the kthkSelecting one coverage mode with the maximum number of cells capable of covering all the 'uncovered' states and putting the coverage mode into the kth feasible solution PkUpdating the 'uncovered' state of all cells completely in the coverage range in the selected coverage mode to 'covered', and collecting the coverage mode set in which the selected coverage mode is positioned
Figure BDA0002227848860000128
From the k-th overlay mode aggregate CkDeleting;
step 6.3, judge CkWhether the current solution is an empty set or not, if not, executing the step 6.2, otherwise, obtaining the kth feasible solution PkThe criterion for the end of the cycle is that each coverage opportunity is already utilized, since the coverage opportunities are not sufficient and all coverage opportunities must be fully utilized to maximize the coverage area;
step 7, assigning k +1 to k, and judging k>If K is true, executing step 8, otherwise outputting the kth feasible solution Pk；
The discretization of the grid of the area to be covered is an approximation to the original problem, and the smaller the size of the unit cell is, the higher the approximation degree is, and correspondingly, the more the number of the unit cells is. Although the above-described heuristic algorithm is a polynomial time algorithm, when mesh discretization is performed using a very small granularity, an extremely large number of coverage patterns are generated, and it is difficult to obtain a result in a short time even using the polynomial time algorithm. Therefore, in order to avoid consuming too much computing resources, but making the quality of the solution obtained as high as possible, the following approximation strategy based on nested parent-child grids is proposed to solve the problem.
Step 8, when k is more than or equal to 2, constructing the kth grid of the region R to be observed by using the kth-1 grid Rk-1As a father grid, equally dividing each cell in the father grid into small squares to obtain a plurality of small squares with equal size to form a kth grid RkBalance RkIs a sub-grid, and the k-th grid RkThe small square in the middle is used as a new cell, and four vertex coordinates of each new cell are recorded, so that the structure of a nested parent-child grid is completed;
step 9, the k-1 feasible solution Pk-1Each coverage pattern in (b) is mapped to the kth grid RkThen, the left cell and the upper cell of each overlay mode are updated to the k grid RkThe left cell and the upper cell in the grid are deduced by the construction method of the child grid, the optimal coverage scheme obtained under the parent grid is a feasible coverage scheme under the child grid, and the coverage mode in each parent gridBoth the equations can be mapped to the corresponding coverage patterns under the sub-grids, and the mapped k-th sub-grid RkConstructing a plurality of adjacent coverage patterns by each coverage pattern; therefore, all coverage modes are prevented from being regenerated every time, and the scale and the complexity of the problem are reduced;
step 9.1, traverse k-1 feasible solution Pk-1In the ith coverage mode and in the left cell u of the ith coverage modeiThe vertex of the upper left corner is used as the circle center, the given value v is used as the radius, all the cells with the upper left corner positioned in the circle are obtained, according to the steps 4.2.2 to 4.2.4, the cells with the upper left corner positioned in the circle, which accord with the left cell conditions, are put into the left cell set of the ith coverage mode, the strip width corresponding to each left cell is calculated by the formula (2) of the step 4.3.2, and obviously, the cell uiMust itself be in this set as well;
step 9.2. Upper cell t in ith overlay modeiThe vertex of the upper left corner is used as the circle center, the given value v is used as the radius, all the cells with the upper left corner positioned in the circle are obtained, all the cells with the upper left corner positioned in the circle are placed into the upper cell set according to the step 4.3.1 to the step 4.3.6, the cells which accord with the conditions of the upper cells are obviously placed into the upper cell set, and the cell t is obviouslyiMust itself be in this set as well;
step 9.3. according to the ith coverage opportunity siGenerating a coverage mode by using a coverage mode generation method and using the coverage mode as an adjacent coverage mode of the ith coverage mode;
step 9.4, storing a plurality of constructed adjacent coverage patterns into a k coverage pattern total set CkReturning to step 6, using dynamic greedy-based heuristic algorithmkN coverage modes are selected to form the kth feasible solution Pk。

Claims (6)

1. A satellite mission planning method for realizing maximum observation area by limited coverage resources is characterized by being applied to a rectangular region R to be observed and n imaging satellitesS ═ S of coverage opportunities (c ═ S)1,s2,...,si,...snIn a task planning scene formed by the previous step; wherein s isiRepresenting the ith coverage opportunity, i is more than or equal to 1 and less than or equal to n; the satellite task planning method comprises the following steps:
step 1, parameter definition and initialization:
taking any vertex of the rectangular region R to be observed as an origin o, and taking two edges adjacent to the origin as an x axis and a y axis respectively, so as to establish a coordinate system o-xy;
in the task planning scene, each coverage opportunity corresponds to a straight line track of a vertical projection point from a satellite to the ground, namely a subsatellite point track for short, and the ith coverage opportunity s is recordediThe corresponding subsatellite point track is oi；
Each coverage opportunity corresponds to a satellite-to-ground altitude, and the ith coverage opportunity s is recordediCorresponding to a satellite to ground height of hi；
Each coverage opportunity corresponds to a maximum observation length, the ith coverage opportunity siCorresponding to a maximum observation length of di；
Each covering opportunity corresponds to a maximum deflection angle, the ith covering opportunity siCorresponding to a maximum deflection angle of pi；
Each covering opportunity corresponds to a camera view angle, and the ith covering opportunity s is recordediCorresponding to a camera field angle of wi(ii) a By the ith coverage opportunity siOrbit of points under the star oiSatellite to ground height hiMaximum observation length diMaximum deflection angle piAnd camera field angle wiTogether form the ith coverage opportunity si(ii) an attribute of (d);
step 2, defining the current iteration number as K, initializing K to be 1, and defining the maximum iteration number as K;
step 3, the rectangular region R to be observed is divided for the kth time to obtain the kth grid R consisting of a plurality of square grids with equal sizekThe kth grid RkEach small square in (1) is called asA cell; and numbering each cell as 1,2, …, j, …, QkAnd recording the coordinate positions of four vertexes of each unit cell;
and 4, obtaining a left cell set and an upper cell set for each coverage opportunity:
step 4.1, initializing i to 1;
step 4.2. from the kth grid RkGet the ith coverage opportunity siAnd all the left cells of (2) and form a left cell set
Figure FDA0002227848850000011
Wherein the content of the first and second substances,
Figure FDA0002227848850000012
indicating the ith coverage opportunity siThe mth left cell of (1); miIndicating the ith coverage opportunity siM is 1,2, …, Mi；
Step 4.3. from the kth grid RkGet the mth left cell
Figure FDA0002227848850000013
And forming an upper set of cells
Figure FDA0002227848850000021
Wherein the content of the first and second substances,
Figure FDA0002227848850000022
indicating the ith coverage opportunity siE-th upper cell of the mth left cell, E ═ 1,2, …, EmTo get the ith coverage opportunity siUpper cell set of all left cells of
Figure FDA0002227848850000023
Step 4.4, assigning i +1 to i, judging whether i > n is true, if so, executing step 5, otherwise, turning to step 4.2;
and 5, generating a plurality of coverage modes for each coverage opportunity, namely observation strips:
step 5.1. let i equal to 1, initialize the k-th overlay mode total set CkIs an empty set;
step 5.2, initialize the k total cover mode set CkThe ith coverage opportunity siSet of overlay modes
Figure FDA0002227848850000024
Making m equal to 1 for the empty set;
step 5.3, making e equal to 1;
step 5.4. according to the ith coverage opportunity siAnd its left cell set UiMiddle mth left cell
Figure FDA0002227848850000025
And its e-th upper cell
Figure FDA0002227848850000026
Generating the overlay mode by using the overlay mode generation method and storing the overlay mode into the overlay mode set
Figure FDA0002227848850000027
Performing the following steps;
step 5.5, assigning e +1 to e, and judging e>EmIf yes, executing step 5.6, otherwise, turning to step 5.4;
step 5.6, assigning m +1 to m and judging m>MiIf yes, the covering modes are collected
Figure FDA0002227848850000028
Store the k-th overlay pattern aggregate CkThen, step 5.7 is executed, otherwise, step 5.3 is executed;
step 5.7, assigning i +1 to i, and judging i>n is true or not, if true, the k-th total set of coverage patterns is obtained
Figure FDA0002227848850000029
And step 6 is executed, otherwise, step 5.2 is executed;
step 6, using a dynamic greedy-based heuristic algorithm to cover the total set C of the modes from the kthkN coverage modes are selected to form the kth feasible solution Pk；
Step 7, assigning k +1 to k, and judging k>If K is true, outputting the K feasible solution PKOtherwise, executing step 8;
step 8, the k-1 grid Rk-1As a father grid, equally dividing each cell in the father grid into small squares to obtain a plurality of small squares with equal size to form a kth grid RkAnd is called a submesh, and the kth trellis RkThe small square in the middle is used as a new cell, and four vertex coordinates of each new cell are recorded, so that the structure of a nested parent-child grid is completed;
step 9, the k-1 feasible solution Pk-1Each coverage pattern in (b) is mapped to the kth grid RkThen, the left cell and the upper cell of each overlay mode are updated to the k grid RkTo the left cell and the upper cell in (1), and to the k-th grid R after mappingkAfter constructing a plurality of adjacent coverage patterns by each coverage pattern, storing the adjacent coverage patterns into a k coverage pattern total set CkAnd then returns to step 6.
2. The method for planning a satellite mission to achieve the maximum observation area with limited coverage resources according to claim 1, wherein the ith coverage opportunity s is obtained in the step 4.2 as followsiM left cell
Figure FDA0002227848850000031
Step 4.2.1. initialize j ═ 1;
step 4.2.2, judging that j is less than or equal to QkIf yes, the left lower corner vertex structure of the jth cell is parallel to the substellar point track oiStraight line of
Figure FDA0002227848850000032
And as the left edge of the observation strip, corresponding straight line
Figure FDA0002227848850000033
Orbit to the sub-satellite point oiIs recorded as
Figure FDA0002227848850000034
If not, the final left cell set U is obtainediAnd recording any one left cell as the mth left cell
Figure FDA0002227848850000035
Step 4.2.3, taking the angle of the satellite when swinging to the left as the positive direction, and calculating the ith coverage opportunity s by using the formula (1)iCamera side swing angle corresponding to No. j cell
Figure FDA0002227848850000036
Figure FDA0002227848850000037
Step 4.2.4. judgment
Figure FDA0002227848850000038
Whether or not less than piIf the number of cells is less than the preset value, the j cell is represented as a left cell and the coverage opportunity s is storediLeft cell set UiThen, step 4.2.5 is executed; otherwise, directly executing the step 4.2.5;
and 4.2.5, assigning j +1 to j, and returning to the step 4.2.2.
3. The method for planning a satellite mission to achieve the maximum observation area with limited coverage resources according to claim 1, wherein the ith coverage opportunity s is obtained in step 4.3 as followsiOn the e-th of the m-th left cellCell grid
Figure FDA0002227848850000039
Step 4.3.1, enabling the top point of the lower left corner of the mth left cell to be parallel to the locus o of the substellar pointsiIs marked as
Figure FDA00022278488500000310
The m-th left cell
Figure FDA00022278488500000311
From the top of the lower left corner to the point below the stariIs recorded as
Figure FDA00022278488500000312
Step 4.3.2. calculate the mth left cell using equation (2)
Figure FDA00022278488500000313
Corresponding strip width
Figure FDA00022278488500000314
Figure FDA0002227848850000041
Step 4.3.3. mth left cell
Figure FDA0002227848850000042
The top left corner vertex structure of (A) is perpendicular to the point trajectory under the satellite (o)iStraight line of
Figure FDA0002227848850000043
M th left cellThe lower right corner vertex structure of (a) is perpendicular to the point trajectory o under the stariStraight line of
Figure FDA0002227848850000045
Step 4.3.4, let j equal 1;
step 4.3.5, the structure of the top point of the lower left corner of the jth cell is parallel to the track o of the substellar pointsiStraight line ofThe top right corner vertex structure of the jth cell is parallel to the subsatellite point track oiStraight line of
Figure FDA0002227848850000047
Constructing a vertex at the upper left corner of the jth cell to be vertical to the point track o under the stariStraight line of
Figure FDA0002227848850000048
Step 4.3.6, judge whether to satisfy the straight line at the same time
Figure FDA0002227848850000049
In a straight line
Figure FDA00022278488500000410
Left side of, straight lineAnd a straight line
Figure FDA00022278488500000412
Is less than
Figure FDA00022278488500000413
Straight line
Figure FDA00022278488500000414
In a straight line
Figure FDA00022278488500000415
And below, and straight line
Figure FDA00022278488500000416
And a straight line
Figure FDA00022278488500000417
Is less than the maximum observation length diIf yes, go to step 4.3.7, otherwise go to step 4.3.8;
4.3.7, put the j cell into the upper cell set
Figure FDA00022278488500000418
The e-th upper cell, which is denoted as the m-th left cell
Figure FDA00022278488500000419
Step 4.3.8, assign j +1 to j, judge j>QkIf yes, the mth left cell is obtained
Figure FDA00022278488500000420
Upper set of cells of
Figure FDA00022278488500000421
Otherwise, go to step 4.3.5.
4. The method for planning satellite mission according to claim 1, wherein the coverage mode generation method is used to generate any coverage mode in step 5.4 according to the following procedures:
step 5.4.1. mth left cell
Figure FDA00022278488500000422
The structure of the vertex of the lower left corner is parallel to the locus o of the points under the stariStraight line ofAnd serves as the left boundary of overlay mode c;
step 5.4.2. the e-th upper cell
Figure FDA00022278488500000424
The top left corner vertex structure of (A) is perpendicular to the point trajectory under the satellite (o)iStraight line of
Figure FDA00022278488500000425
And serves as the upper boundary of the overlay mode c;
step 5.4.3. in a straight line
Figure FDA00022278488500000426
Right side, structure and straight line ofParallel and to a straight line
Figure FDA00022278488500000428
Is the strip width
Figure FDA00022278488500000429
Straight line of
Figure FDA00022278488500000430
And serves as the right boundary of overlay mode c;
step 5.4.4. in straight lineBelow, structure and straight line of
Figure FDA0002227848850000052
Parallel and to a straight lineIs the maximum observation length diStraight line of
Figure FDA0002227848850000054
And serves as the lower boundary of the overlay mode c;
step 5.4.5. from the straight line
Figure FDA0002227848850000055
Straight lineStraight line
Figure FDA0002227848850000057
Straight line
Figure FDA0002227848850000058
The rectangle formed is the overlay pattern c.
5. The method for satellite mission planning with limited coverage resources to achieve maximum observation area according to claim 1, wherein the dynamic greedy-based heuristic in step 6 is derived from the total set of coverage patterns C as followskSelecting n coverage modes to form a feasible solution:
step 6.1. the k grid RkThe states of all the cells in the cell are initialized to be not covered, and the kth feasible solution P is initializedkIs empty;
step 6.2. Total set of coverage patterns C from the kthkSelecting one coverage mode which can cover most cells of all the 'uncovered' states and putting the coverage mode into the kth feasible solution PkUpdating the 'uncovered' state of all cells completely in the coverage range in the selected coverage mode to 'covered', and collecting the coverage mode set in which the selected coverage mode is positioned
Figure FDA0002227848850000059
From the k-th overlay mode aggregate CkDeleting;
step 6.3, judging the k-th coverage mode total set CkWhether the current solution is an empty set or not, if the current solution is empty, the current solution indicates that the kth feasible solution P is obtainedkOtherwise, return to step 6.2.
6. The method for planning satellite mission according to claim 1, wherein the step 9 is to construct the close coverage mode of the ith coverage mode according to the following procedure:
step 9.1, traverse k-1 feasible solution Pk-1In the ith coverage mode and in the left cell u of the ith coverage modeiThe vertex of the upper left corner of the cell is used as the circle center, v is used as the radius to obtain all the cells of which the upper left corner is positioned in the circle, all the cells of which the upper left corner is positioned in the circle are put into the left cell set of the ith coverage mode according to the step 4.2.2 to the step 4.2.4, and the strip width corresponding to each left cell is calculated by using the formula (2) of the step 4.3.2;
step 9.2. Upper cell t in ith overlay modeiThe vertex of the upper left corner is used as the circle center, v is used as the radius to obtain all the cells of which the upper left corners are positioned in the circle, and all the cells of which the upper left corners are positioned in the circle are placed into the upper cell set according to the step 4.3.1 to the step 4.3.6 and the cells which meet the conditions of the upper cells;
step 9.3. according to the ith coverage opportunity siAnd any left cell in the left cell set of the ith coverage mode and any upper cell thereof generate the coverage mode by using a coverage mode generation method, and the coverage mode is used as an adjacent coverage mode of the ith coverage mode.
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