CN114826373B - Satellite constellation configuration method and device based on real-time coverage area evaluation - Google Patents
Satellite constellation configuration method and device based on real-time coverage area evaluation Download PDFInfo
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Abstract
The invention provides a satellite constellation configuration method and equipment based on real-time coverage area assessment, which comprises the following steps: step 1, inputting a target coverage area, and performing hexagonal discretization processing on the area; step 2, reading in parameters of each satellite in the constellation, and calculating a point track under the satellite by using six orbits; step 3, calculating a ground coverage model of each satellite by using a sight line equation, and performing real-time simulation calculation; step 4, randomly selecting a specific moment to calculate the instantaneous coverage rate of the constellation to the target area, and calculating the average coverage rate; and 5, searching the configuration which meets the target and needs the least number of satellites by using the calculated average coverage rate as an optimization target and adopting an improved simulated annealing algorithm. According to the invention, a corresponding solving model is established based on a hexagonal discretization technology and a simulated annealing algorithm, the constellation configuration meeting the requirement of the maximum observation area is optimally designed, and various different satellite constellation configurations can be output for selection.
Description
Technical Field
The embodiment of the invention relates to the technical field of remote sensing, in particular to a satellite constellation configuration method and equipment based on real-time coverage area assessment.
Background
Satellite-to-ground imaging coverage techniques are widely used and have great significance. In the process of constellation optimization design, a plurality of imaging satellites are used for cooperatively imaging and observing a single large area target. In order to ensure satellite coverage of a specific target or area and reduce the cost required for completing tasks, it is important to design a reasonable satellite-to-ground imaging coverage constellation distribution. For example, in a short time zone, the user department urgently needs the image data of a certain larger area, but because the given time is too short and the number of coverage opportunities is small, the area cannot be completely photographed even if all the coverage opportunities are used. Therefore, it is an urgent technical problem in the art to develop a satellite constellation configuration method and apparatus based on real-time coverage area evaluation, which can effectively overcome the above-mentioned drawbacks in the related art.
Disclosure of Invention
In view of the above problems in the prior art, embodiments of the present invention provide a satellite constellation configuration method and device based on real-time coverage area estimation.
In a first aspect, an embodiment of the present invention provides a satellite constellation configuration method based on real-time coverage area estimation, including: step 1, inputting a target coverage area, and performing hexagonal discretization processing on the area; step 2, reading in parameters of each satellite in the constellation, and calculating a point track under the satellite by using six orbits; step 3, calculating a ground coverage model of each satellite by using a sight line equation, and performing real-time simulation calculation; step 4, randomly selecting a specific moment to calculate the instantaneous coverage rate of the constellation to the target area, and calculating the average coverage rate; and 5, searching a configuration which meets the target and needs the least number of satellites by taking the calculated average coverage rate as an optimization target and adopting an improved simulated annealing algorithm.
On the basis of the content of the embodiment of the method, the method for calculating the satellite constellation configuration based on the real-time coverage area evaluation, which is provided by the embodiment of the invention, in the step 2, the trajectory of the subsatellite point is calculated by using six orbital elements, and the method comprises the following steps:
wherein a is the height of the orbit, e is the inclination angle of the orbit, omega is the declination of the ascending intersection point, i is the eccentricity, omega is the amplitude angle of the perigee, M is the true perigee angle, lambda is the position parameter right ascension of the subsatellite,
declination, t is the current time, t 0 At an initial time of S GO In the case of Greenwich fixed stars, f is the true approach point angle of the satellite, w E For the speed of the earth's self-translational motion, R e Is the average equatorial radius of the earth, n is the angular velocity of the satellite at the current time, J 2 Is the earth perturbation constant.
On the basis of the content of the foregoing method embodiment, the method for satellite constellation configuration based on real-time coverage area estimation provided in the embodiment of the present invention further includes, after calculating the track of the subsatellite point by using the six orbital elements:
wherein T is the satellite operation period, delta lambda 2π The difference in menstruation was found.
Based on the content of the foregoing method embodiment, in the satellite constellation configuration method based on real-time coverage area evaluation provided in the embodiment of the present invention, the randomly selecting a specific time in step 4 to calculate the instantaneous coverage rate of the constellation to the target area includes: and judging the intersection condition of each hexagonal grid and the satellite coverage area, dividing the number of the intersected hexagonal grids by the number of all the grids to serve as the coverage rate of the current moment, calculating the instantaneous coverage rate by randomly selecting the satellite operation conditions at different moments, and then calculating the average value of the instantaneous coverage rate to obtain the average coverage rate.
Based on the content of the foregoing method embodiment, in the satellite constellation configuration method based on real-time coverage area estimation provided in the embodiment of the present invention, the step 5 of searching for a configuration that meets the target and requires the least number of satellites by using the calculated average coverage as an optimization target and using an improved simulated annealing algorithm includes: step 5.1, a higher initial temperature T = T is given 0 Inputting an initial solution; step 5.2, judging whether the target area in the state meets the coverage rate constraint, if so, turning to step 5.3; otherwise, turning to step 5.6; and 5.3, storing the solution as a better solution, if the solution is the solution with the least number of currently used satellites, taking the solution as the current optimal solution, and otherwise, taking the solution as the current optimal solution according to the probability exp [ -100/(k × T)]The solution is the current optimal solution, wherein k is the iteration number; step 5.4, changing the track inclination angle within a certain range according to the current optimal solution, and taking the condition of the maximum average coverage rate; and 5.5, subtracting 1 from the number of the orbit planes and the number of satellites on the planes corresponding to each inclination angle of the current optimal solution according to the probability of 0.5T, and turning to the step 5 if the annealing is finished.7, otherwise, turning to the step 5.2; step 5.6, adding 1 to the number of the orbit planes and the number of satellites on the planes corresponding to each inclination angle of the current optimal solution according to the probability of 0.5T, turning to step 5.7 if the annealing is finished, and turning to step 5.2 if the annealing is not finished; and 5.7, outputting the current optimal solution.
In a second aspect, an embodiment of the present invention provides an apparatus for satellite constellation configuration based on real-time coverage area estimation, including: the first main module is used for inputting a target coverage area and performing hexagonal discretization processing on the area; the second main module is used for reading parameters of each satellite in the constellation and calculating the track of the subsatellite point by utilizing six orbital elements; the third main module is used for calculating a ground coverage model of each satellite by using a sight line equation and carrying out real-time simulation calculation; the fourth main module is used for randomly selecting a specific moment to calculate the instantaneous coverage rate of the constellation to the target area and calculating the average coverage rate; and the fifth main module is used for searching the configuration which meets the target and needs the least number of satellites by adopting an improved simulated annealing algorithm by taking the calculated average coverage rate as an optimization target.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the method for satellite constellation configuration based on real-time coverage area estimation provided by any of the various implementations of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method for satellite constellation configuration based on real-time coverage area estimation provided in any of various implementations of the first aspect.
According to the satellite constellation configuration method and device based on real-time coverage area evaluation, a corresponding solving model is established through a hexagon discretization technology and a simulated annealing algorithm, a new solving strategy is provided, the constellation configuration meeting the requirement of the maximum observation area is optimally designed, and various different satellite constellation configurations can be output for selection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a satellite constellation configuration method based on real-time coverage area estimation according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a satellite constellation configuration apparatus based on real-time coverage area estimation according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an effect of each position parameter of a satellite subsatellite point on the earth provided by the embodiment of the present invention;
fig. 5 is a schematic diagram illustrating an effect of the hexagonal grid coverage analysis method according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
In order to maximize the coverage efficiency as much as possible, it is desirable to make a constellation optimization design scheme, which meets the requirement of average coverage rate of the target area with minimum resource consumption. The problem is the satellite constellation configuration optimization problem based on coverage area evaluation under the condition of limited resources. Aiming at the problem, a corresponding solving model is established based on a hexagonal discretization technology and a simulated annealing algorithm, a new solving strategy is provided, the constellation configuration meeting the requirement of the maximum observation area is optimally designed, and simultaneously, a plurality of different satellite constellation configurations are output for selection. Based on the idea, an embodiment of the present invention provides a satellite constellation configuration method based on real-time coverage area estimation, and referring to fig. 1, the method includes: step 1, inputting a target coverage area, and performing hexagonal discretization processing on the area; step 2, reading in parameters of each satellite in a constellation, and calculating a point track under the satellite by using six orbits; step 3, calculating a ground coverage model of each satellite by using a sight line equation, and performing real-time simulation calculation; step 4, randomly selecting a specific moment to calculate the instantaneous coverage rate of the constellation to the target area, and calculating the average coverage rate; and 5, searching the configuration which meets the target and needs the least number of satellites by using the calculated average coverage rate as an optimization target and adopting an improved simulated annealing algorithm.
Based on the content of the foregoing method embodiment, as an optional embodiment, in the method for constructing a satellite constellation based on real-time coverage area estimation provided in the embodiment of the present invention, the calculating a locus of subsatellite points by using six orbital elements in step 2 includes:
wherein a is the height of the orbit, e is the inclination angle of the orbit, omega is the declination of the ascending intersection point, i is the eccentricity, omega is the amplitude angle of the perigee, M is the true perigee angle, lambda is the positional parameter declination of the subsatellite point,
declination, t is the current time, t 0 At an initial time of S GO In the case of Greenwich fixed stars, f is the true approach point angle of the satellite, w E For the speed of the earth's self-translational motion, R e Is the average equatorial radius of the earth, n is the angular velocity of the satellite at the current time, J 2 Is the earth perturbation constant.
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for satellite constellation configuration based on real-time coverage area evaluation provided in the embodiment of the present invention further includes, after the calculating a track of the subsatellite point by using six orbital elements:
wherein T is the satellite operation period, delta lambda 2π The difference in menstruation was found.
In another embodiment, step 1, inputting a target coverage area, and performing hexagonal discretization on the area; step 2, reading in each satellite parameter in the constellation, calculating the track of the point under the satellite by utilizing six orbital numbers, and in order to meet the coverage requirement of a target area and have good global coverage performance, the embodiment selects the Walker constellation configuration as the basic configurationAnd searching for an optimal solution in the state space. Other constellation solutions can also be calculated using the algorithm in step 5 of the present invention. The configuration code of a Walker constellation is set as follows: N/P/F (number of satellites/number of orbital planes/phase factor), the right ascension omega of the rising intersection of any one of the m-numbered satellites in the constellation m And lift intersection angular distance u m Respectively as follows:
(5) Wherein S is the number of satellites in each orbital plane, P m Numbering the orbital plane in which the satellite is located, N m The satellites are numbered in the orbital plane. I.e. S = N/P,
N m ＝m-(P m -1) S. The remaining orbital parameters are the same for satellites in a Walker constellation.
When only the influence of the earth rotation is considered, the right ascension and the declination of the satellite subsatellite point can be directly obtained according to six satellite orbits, and fig. 4 shows each position parameter of the satellite subsatellite point on the earth. When considering J 2 During perturbation, the calculation formula of the satellite subsatellite point track is shown as the formula (1). For the average number of roots, a, e, i do not change, and Ω, ω, M will change with time. The specific changes are shown in formulas (2) to (3). After calculating the intersatellite point tracks in one period, according to the adjacent orbit periods, the intersatellite point tracks have the same shape, the satellite running period is set as T, the longitude difference is shown as a formula (4), and the longitude difference of the adjacent periods is calculated, so that all the intersatellite point tracks can be obtained.
Selecting any time when the satellite runs, as shown in fig. 5, if a rectangle ABCD and a rectangle ABCD are current satellite coverage zones, judging the intersection condition of each hexagonal grid and the satellite coverage zone, dividing the number of the intersected hexagonal grids by the number of all the grids to be used as the coverage rate of the current time, calculating the instantaneous coverage rate by randomly selecting the satellite running conditions at different times, and then calculating the average value of the instantaneous coverage rates to obtain the average coverage rate. In another embodiment, 50 random times within 30 satellite operating cycles are selected to calculate instantaneous coverage.
And 5, searching a configuration which meets the target and needs the least number of satellites by taking the average coverage rate calculated in the steps as an optimization target and adopting an improved simulated annealing algorithm.
Based on the content of the foregoing method embodiment, as an optional embodiment, in the satellite constellation configuration method based on real-time coverage area evaluation provided in the embodiment of the present invention, the randomly selecting a specific time in step 4 to calculate the instantaneous coverage rate of the constellation to the target area includes: and judging the intersection condition of each hexagonal grid and the satellite coverage area, dividing the number of the intersected hexagonal grids by the number of all the grids to serve as the coverage rate of the current moment, calculating the instantaneous coverage rate by randomly selecting the satellite operation conditions at different moments, and then calculating the average value of the instantaneous coverage rate to obtain the average coverage rate.
Based on the content of the foregoing method embodiment, as an optional embodiment, in the satellite constellation configuration method based on real-time coverage area evaluation provided in the embodiment of the present invention, the step 5 of searching for a configuration that satisfies the target and requires the least number of satellites by using an improved simulated annealing algorithm with the calculated average coverage as an optimization target includes: step 5.1, a higher initial temperature T = T is given 0 Inputting an initial solution; step 5.2, judging whether the target area in the state meets the coverage rate constraint, if so, turning to step 5.3; otherwise, turning to step 5.6; and 5.3, storing the solution as a better solution, if the solution is the solution with the least number of currently used satellites, taking the solution as the current optimal solution, and otherwise, taking the solution as the current optimal solution according to the probability exp [ -100/(k × T)]The solution is the current optimal solution, wherein k is the iteration number; step 5.4, changing the track inclination angle within a certain range according to the current optimal solution, and taking the condition of the maximum average coverage rate; step 5.5,Subtracting 1 from the number of the orbit planes and the satellite number on the planes corresponding to each inclination angle of the current optimal solution by the probability of 0.5T, if the annealing is finished, turning to the step 5.7, and if not, turning to the step 5.2; step 5.6, adding 1 to the number of the orbit planes and the number of satellites on the planes corresponding to each inclination angle of the current optimal solution according to the probability of 0.5T, turning to step 5.7 if the annealing is finished, and turning to step 5.2 if the annealing is not finished; and 5.7, outputting the current optimal solution.
According to the satellite constellation configuration method based on real-time coverage area evaluation provided by the embodiment of the invention, a corresponding solving model is established based on a hexagonal discretization technology and a simulated annealing algorithm, a new solving strategy is provided, the constellation configuration meeting the requirement of the maximum observation area is optimally designed, and various different satellite constellation configurations can be output for selection.
The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on the actual situation, on the basis of the foregoing embodiments, embodiments of the present invention provide a satellite constellation configuration apparatus based on real-time coverage area evaluation, where the apparatus is used to execute the satellite constellation configuration method based on real-time coverage area evaluation in the foregoing method embodiments. Referring to fig. 2, the apparatus includes: the first main module is used for inputting a target coverage area and performing hexagonal discretization processing on the area; the second main module is used for reading parameters of each satellite in the constellation and calculating the track of the subsatellite point by utilizing six orbital elements; the third main module is used for calculating a ground coverage model of each satellite by using a sight line equation and carrying out real-time simulation calculation; the fourth main module is used for randomly selecting a specific moment to calculate the instantaneous coverage rate of the constellation to the target area and calculating the average coverage rate; and the fifth main module is used for searching the configuration which meets the target and needs the least number of satellites by adopting an improved simulated annealing algorithm by taking the calculated average coverage rate as an optimization target.
The satellite constellation configuration device based on real-time coverage area evaluation provided by the embodiment of the invention adopts a plurality of modules in fig. 2, establishes a corresponding solving model based on a hexagonal discretization technology and a simulated annealing algorithm, provides a new solving strategy, optimally designs the constellation configuration meeting the requirement of the maximum observation area, and can output various different satellite constellation configurations for selection.
It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:
based on the content of the above device embodiment, as an optional embodiment, the satellite constellation configuration device based on real-time coverage area evaluation provided in the embodiment of the present invention further includes: the first sub-module is configured to calculate the sub-satellite point trajectory by using six orbital elements in the step 2, and includes:
wherein a is the height of the orbit, e is the inclination angle of the orbit, omega is the declination of the ascending intersection point, i is the eccentricity, omega is the amplitude angle of the perigee, M is the true perigee angle, lambda is the positional parameter declination of the subsatellite point,
declination, t is the current time, t 0 At an initial time of S GO In the case of Greenwich fixed stars, f is the true approach point angle of the satellite, w E Speed of self-levelling movement of the earth, R e Is the average equatorial radius of the earth, n is the angular velocity of the satellite at the current time, J 2 Is the perturbation constant of the earth.
Based on the content of the above device embodiment, as an optional embodiment, the satellite constellation configuration device based on real-time coverage area evaluation provided in the embodiment of the present invention further includes: the second sub-module is configured to, after the calculating the sub-satellite point trajectory by using the six orbital elements, further include:
wherein T is the satellite operation period, delta lambda 2π The warp difference is obtained.
Based on the content of the foregoing device embodiment, as an optional embodiment, the satellite constellation configuration device based on real-time coverage area estimation provided in the embodiment of the present invention further includes: a third sub-module, configured to implement the calculation of the instantaneous coverage rate of the target area by the constellation at the randomly selected specific time in step 4, including: and judging the intersection condition of each hexagonal grid and the satellite coverage zone, dividing the number of the intersected hexagonal grids by the number of all the grids to serve as the coverage rate at the current moment, calculating the instantaneous coverage rate by randomly selecting the satellite operation conditions at different moments, and then calculating the average value of the instantaneous coverage rate to obtain the average coverage rate.
Based on the content of the above device embodiments, as an optional embodiment, the inventionThe satellite constellation configuration apparatus based on real-time coverage area estimation provided in the embodiments of the invention further includes: a fourth sub-module, configured to implement the optimization goal of the calculated average coverage in step 5, and search for a configuration that meets the goal and requires the least number of satellites by using an improved simulated annealing algorithm, where the method includes: step 5.1, a higher initial temperature T = T is given 0 Inputting an initial solution; step 5.2, judging whether the target area in the state meets the coverage rate constraint, if so, turning to step 5.3; otherwise, turning to step 5.6; and 5.3, storing the solution as a better solution, if the solution is the solution with the least number of currently used satellites, taking the solution as the current optimal solution, and if not, taking the solution as the current optimal solution according to the probability exp < -100/(k x T)]The solution is the current optimal solution, wherein k is the iteration number; step 5.4, changing the track inclination angle within a certain range according to the current optimal solution, and taking the condition of the maximum average coverage rate; 5.5, subtracting 1 from the number of the orbit planes and the number of satellites on the planes corresponding to each inclination angle of the current optimal solution according to the probability of 0.5T, turning to the step 5.7 if the annealing is finished, and turning to the step 5.2 if the annealing is not finished; step 5.6, adding 1 to the number of the orbit planes and the number of satellites on the planes corresponding to each inclination angle of the current optimal solution according to the probability of 0.5T, turning to step 5.7 if the annealing is finished, and turning to step 5.2 if the annealing is not finished; and 5.7, outputting the current optimal solution.
The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. With this object in mind, an embodiment of the present invention provides an electronic device, as shown in fig. 3, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or a portion of the steps of the methods provided by the various method embodiments described above.
In addition, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising ...does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A satellite constellation configuration method based on real-time coverage area assessment is characterized by comprising the following steps: step 1, inputting a target coverage area, and performing hexagonal discretization processing on the area; step 2, reading in parameters of each satellite in a constellation, and calculating a point track under the satellite by using six orbits; step 3, calculating a ground coverage model of each satellite by using a sight line equation, and performing real-time simulation calculation; step 4, randomly selecting different moments to calculate the instantaneous coverage rate of the constellation to the target area, and calculating the average coverage rate; step 5, searching the configuration which meets the target and needs the least number of satellites by using the calculated average coverage rate as an optimization target and adopting an improved simulated annealing algorithm; the randomly selecting different moments in the step 4 to calculate the coverage rate of the constellation instantaneous to the target area comprises: and judging the intersection condition of each hexagonal grid and the satellite coverage area, dividing the number of the hexagonal grids overlapped with the satellite coverage area by the number of all the grids to serve as the coverage rate at the current moment, calculating the instantaneous coverage rate by randomly selecting the satellite operation conditions at different moments, and then calculating the average value of the instantaneous coverage rate to obtain the average coverage rate.
2. The method for satellite constellation configuration based on real-time coverage area estimation according to claim 1, wherein the calculating of the sub-satellite point trajectory by using six orbital elements in the step 2 comprises:
wherein a is the height of the orbit, e is the inclination angle of the orbit, omega is the declination of the ascending intersection point, i is the eccentricity, omega is the amplitude angle of the perigee, M is the true perigee angle, lambda is the position parameter right ascension of the subsatellite,
declination, t is the current time, t 0 At an initial time of S GO In the case of Greenwich fixed stars, f is the true approach point angle of the satellite, w E For the speed of the earth's self-translational motion, R e Is the average equatorial radius of the earth, n is the angular velocity of the satellite at the current time, J 2 Is the earth perturbation constant.
3. The method for satellite constellation configuration based on real-time coverage area estimation according to claim 2, wherein after said calculating the locus of the points under the satellite using six orbital elements, further comprising:
wherein T is the satellite operation period, delta lambda 2π The difference in menstruation was found.
4. The method for satellite constellation configuration based on real-time coverage area estimation according to claim 3, wherein the step 5, with the calculated average coverage rate as an optimization target, adopts an improved simulated annealing algorithm to search for the configuration which meets the target and requires the least number of satellites, and comprises: step 5.1, an initial temperature T = T is given which satisfies a plurality of iterations 0 Inputting an initial solution; step 5.2, judging whether the target area in the state meets the coverage rate constraint, if so, turning to step 5.3; otherwise, turning to step 5.6; and 5.3, storing the solution as a better solution, if the solution is the solution with the least number of currently used satellites, taking the solution as the current optimal solution, and otherwise, taking the solution as the current optimal solution according to the probability exp [ -100/(k × T)]Setting the solution as a current optimal solution, wherein k is iteration times; step 5.4, according toChanging the track inclination angle of the current optimal solution within the maximum longitude and latitude range of the target area, and taking the condition of maximum average coverage rate; 5.5, subtracting 1 from the number of the orbit planes and the number of satellites on the planes corresponding to each inclination angle of the current optimal solution according to the probability of 0.5T, turning to the step 5.7 if the annealing is finished, and turning to the step 5.2 if the annealing is not finished; step 5.6, adding 1 to the number of the orbit planes corresponding to each inclination angle of the current optimal solution and adding 1 to the number of satellites on each plane respectively according to the probability of 0.5T, if the annealing is finished, turning to step 5.7, otherwise, turning to step 5.2; and 5.7, outputting the current optimal solution.
5. A satellite constellation configuration apparatus based on real-time coverage area estimation, comprising: the first main module is used for inputting a target coverage area and performing hexagonal discretization processing on the area; the second main module is used for reading parameters of each satellite in the constellation and calculating the track of the subsatellite point by utilizing six orbital elements; the third main module is used for calculating a ground coverage model of each satellite by using a sight line equation and performing real-time simulation calculation; the fourth main module is used for randomly selecting different moments to calculate the instantaneous coverage rate of the constellation to the target area and calculating the average coverage rate; the fifth main module is used for searching the configuration which meets the target and needs the least number of satellites by adopting an improved simulated annealing algorithm by taking the calculated average coverage rate as an optimization target; the randomly selecting different moments to calculate the instantaneous coverage rate of the constellation to the target area comprises the following steps: judging the intersection condition of each hexagonal grid and the satellite coverage zone, dividing the number of the hexagonal grids overlapped with the satellite coverage zone by the number of all the grids to serve as the coverage rate at the current moment, randomly selecting the satellite operation conditions at different moments to calculate the instantaneous coverage rate, and then calculating the average value of the instantaneous coverage rate to obtain the average coverage rate.
6. An electronic device, comprising:
at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,
the processor, the memory and the communication interface are communicated with each other;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 4.
7. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 4.
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