CN116307626A - Satellite scheduling method and device based on space turn number model and computer equipment - Google Patents
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Abstract
The application relates to a satellite scheduling method, device and computer equipment based on an interval turn number model. The method comprises the following steps: obtaining a target observation task, constructing a satellite observation model, constructing an interval turn number gain function of each target to be observed, constructing an objective function and constraint conditions for maximizing gain according to the satellite observation model and the interval turn number gain function, and solving the objective function to determine a satellite scheduling scheme. By adopting the method, the satellite scheduling efficiency of satellite scheduling which needs to be observed for multiple times can be improved.
Description
Technical Field
The present disclosure relates to the field of satellite task scheduling technologies, and in particular, to a satellite scheduling method, device and computer equipment based on an interval turn model.
Background
An optical earth observation satellite is a type of satellite platform that detects the earth's surface and the lower atmosphere through onboard optical remote sensors (payloads) to obtain relevant information. The optical earth observation satellite has the advantages of wide coverage, high information acquisition precision, no limitation of airspace national boundaries, no involvement of personnel safety and the like, and is widely applied to the fields of situation reconnaissance, target identification, earth resource detection, natural disaster monitoring, urban planning, crop monitoring and the like.
The satellite runs in a certain orbit, and a plurality of targets can be observed in the same orbit circle, and each target has a corresponding observation time window. In order to fully utilize precious satellite resources and acquire the ground target image data with the maximum quantity and the optimal observation effect, reasonable planning and scheduling are needed to be implemented on what time and which targets are observed. Therefore, the research on the earth observation satellite scheduling problem has important significance for improving the satellite resource use efficiency and meeting the user requirements.
The traditional earth observation satellite scheduling problem research assumes that targets can complete tasks by only one observation, and user requirements are met, so that each target is assumed to be observed at most once during problem modeling. While this assumption facilitates problem modeling descriptions, it is clearly not applicable to real-world application scenarios where targets have multiple observation requirements, and multiple observations are coupled to each other, interdependent.
Disclosure of Invention
Based on the foregoing, it is necessary to provide a satellite scheduling method, device and computer equipment based on an interval turn model.
A satellite scheduling method based on a space turn model, the method comprising:
acquiring a target observation task; the target observation task includes: a common observation task and an accurate observation task; the accurate observation task follows the common observation task, and the time interval between the common observation task and the accurate observation task is related to the success rate of the accurate observation task;
constructing a satellite observation model; the satellite observation model includes: a directed graph, the nodes in the directed graph comprising: a target to be observed, a virtual starting point and a virtual ending point;
constructing an interval turn number gain function of each target to be observed; the interval circle profit function represents the profit of completing the observation of the object to be observed and completing the two observations at interval circles;
and constructing an objective function and constraint conditions for maximizing the benefits according to the satellite observation model and the interval turn benefit function, and solving the objective function to determine a satellite scheduling scheme.
In one embodiment, the method further comprises: constructing a satellite observation model comprises a directed graph G= (N, A), wherein a node set is N= {0,1, …, n+1}, an arc set is A= { (i, j) |i, j epsilon N, i not equal to j }, nodes 0 and n+1 correspond to virtual starting points and virtual end points without benefits,
representing a set of profitable nodes;
in the satellite observation model, each object i corresponds to a continuous observation time d i And setting the round set to t= {1, …, T }; starting from the virtual starting point and returning to the virtual ending point every turn; the observable time window of t for target i per turn is TW it ＝[ws it ,we it ]The transition time of each pass through the targets i and j is t ij 。
In one embodiment, the method further comprises: differentiating the target to be observed of the two observations into two targets, including: a target i and a target i + n,
representing a set of targets for a first observation,
a set of targets representing a second observation;
setting the number of turns M of each target twice observation interval, wherein M= {0,1,2, …, M };
the gains of setting the target i after finishing two observations after m circles are as follows:
wherein p is im Representing the benefits achieved by target i after two observations are made m turns apart.
In one embodiment, the method further comprises: according to the satellite observation model and the interval turn number gain function, constructing an objective function for maximizing gain as follows:
wherein y is im Indicating whether the target i completes two observation turns by m turns or not.
In one embodiment, building constraints includes: observation start point and end point constraints, balance constraint, observation constraint, completion observation constraint, decision variable constraint, observation circle number constraint, observation ordering constraint, time window constraint and decision variable value range constraint.
In one embodiment, the observation start and end constraints are:
wherein, the starting point is node 0, and the end point is node 2n+1;
the flow rate constraint is:
wherein x is ijt And x jit Representing each turn t from target i to target j and each turn t from target j to target i, respectively;
the observation constraints are:
the completion observation constraint is:
the decision variable constraint is:
the observing circle constraint is as follows:
the observation ordering constraint is:
wherein s is it The starting time of t observation targets i for each turn is represented, and L is a positive integer;
the time window constraint is:
the decision variable value range constraint is as follows:
in one embodiment, the method further comprises: and solving the objective function by adopting a branch pricing accurate algorithm to determine a satellite scheduling scheme.
A satellite scheduling apparatus based on a space turn model, the apparatus comprising:
the task acquisition module is used for acquiring a target observation task; the target observation task includes: a common observation task and an accurate observation task; the accurate observation task follows the common observation task, and the time interval between the common observation task and the accurate observation task is related to the success rate of the accurate observation task;
the observation model construction module is used for constructing a satellite observation model; the satellite observation model includes: a directed graph, the nodes in the directed graph comprising: a target to be observed, a virtual starting point and a virtual ending point;
the profit function construction module is used for constructing an interval turn profit function of each object to be observed; the interval circle profit function represents the profit of completing the observation of the object to be observed and completing the two observations at interval circles;
and the solving module is used for constructing an objective function and constraint conditions for maximizing the benefits according to the satellite observation model and the interval turn number benefit function, and solving the objective function to determine a satellite scheduling scheme.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring a target observation task; the target observation task includes: a common observation task and an accurate observation task; the accurate observation task follows the common observation task, and the time interval between the common observation task and the accurate observation task is related to the success rate of the accurate observation task;
constructing a satellite observation model; the satellite observation model includes: a directed graph, the nodes in the directed graph comprising: a target to be observed, a virtual starting point and a virtual ending point;
constructing an interval turn number gain function of each target to be observed; the interval circle profit function represents the profit of completing the observation of the object to be observed and completing the two observations at interval circles;
and constructing an objective function and constraint conditions for maximizing the benefits according to the satellite observation model and the interval turn benefit function, and solving the objective function to determine a satellite scheduling scheme.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring a target observation task; the target observation task includes: a common observation task and an accurate observation task; the accurate observation task follows the common observation task, and the time interval between the common observation task and the accurate observation task is related to the success rate of the accurate observation task;
constructing a satellite observation model; the satellite observation model includes: a directed graph, the nodes in the directed graph comprising: a target to be observed, a virtual starting point and a virtual ending point;
constructing an interval turn number gain function of each target to be observed; the interval circle profit function represents the profit of completing the observation of the object to be observed and completing the two observations at interval circles;
and constructing an objective function and constraint conditions for maximizing the benefits according to the satellite observation model and the interval turn benefit function, and solving the objective function to determine a satellite scheduling scheme.
According to the satellite scheduling method, the device, the computer equipment and the storage medium based on the space circle model, when a target observation task comprising a common observation task and an accurate observation task is processed, the task method can be completed through conventional one-time observation so as not to solve the problem of the invention, on the basis of the conventional one-time observation task, the time interval of execution of the common observation task and the accurate observation task is related to the success rate of completion of the accurate observation task, so that the time interval corresponds to the space circle, the satellite observation model is constructed for better researching the satellite observation problem, then the space circle profit function of each target to be observed is determined based on the satellite observation model, and finally the optimization problem is constructed through the profit function and the space time, so that the task scheduling strategy is solved. According to the invention, two observations are separately modeled, and the space frequency and the time interval are taken as research directions, so that the satellite scheduling efficiency is greatly improved.
Drawings
FIG. 1 is a flow chart of a satellite scheduling method based on a space lap model in one embodiment;
FIG. 2 is a block diagram of a satellite scheduler based on a space lap model in one embodiment;
FIG. 3 is an internal block diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a satellite scheduling method based on an interval turn number model, including the steps of:
The target observation tasks include: the general observation task refers to general investigation of objects to be observed, and can comprise positions, number and the like of the objects, and the accurate observation task refers to detailed investigation of the objects to be observed, and can comprise types, sizes and the like of the objects. For example, when the target searching task is performed, the electromagnetic spectrum satellite can be used for census of the target, and then the optical satellite is guided to conduct detail examination of the target, so that the detailed information of the target is obtained, and the accurate observation task is after the common observation task. At this time, at least two observations are required to meet the user's needs, and the observation effect depends on the time interval between the two observations, and if the observation time interval is too long, the observation may fail due to the loss of the target. Thus, the time interval between the execution of the through-observation task and the execution of the precision-observation task is related to the success rate of the completion of said precision-observation task.
And 104, constructing a satellite observation model.
The satellite observation model includes: the directed graph, the nodes in the directed graph include: the method comprises the steps of observing a target, a virtual starting point and a virtual ending point. Specifically, the satellite is a ground-orbiting satellite, and returns to the starting point around the earth once, so that the object cannot be observed by turning back in one round, and only the next round can be observed.
And 106, constructing an interval turn yield function of each object to be observed.
The interval turn number gain function represents the gain of completing the observation of the object to be observed and completing the two observations at interval turns.
And step 108, constructing an objective function and constraint conditions for maximizing the benefits according to the satellite observation model and the interval turn benefit function, and solving the objective function to determine a satellite scheduling scheme.
In the satellite scheduling method based on the space circle model, when a target observation task comprising a common observation task and an accurate observation task is processed, the task method can be completed by traditional one-time observation so as not to solve the problem of the invention. According to the invention, two observations are separately modeled, and the space frequency and the time interval are taken as research directions, so that the satellite scheduling efficiency is greatly improved.
In one embodiment, constructing the satellite observation model includes a directed graph G= (N, A), where the set of nodes is N= {0,1, …, n+1}, the set of arcs is A= { (i, j) |i, j ε N, i+.j }, nodes 0 and n+1 correspond to virtual starting and ending points where there is no benefit,
representing a set of profitable nodes; in the satellite observation model, each object i corresponds to a continuous observation time d i And setting the round set to t= {1, …, T }; starting from the virtual starting point and returning to the virtual ending point every turn; the observable time window of t for target i per turn is TW it ＝[ws it ,we it ]The transition time of each pass through the targets i and j is t ij 。
In one embodiment, differentiating the two observed objects to be observed into two objects includes: a target i and a target i + n,
a set of targets representing a first observation, +.>
A set of targets representing a second observation; setting the number of turns M of each target twice observation interval, wherein M= {0,1,2, …, M }; the gains of setting the target i after finishing two observations after m circles are as follows:
wherein p is im Representing the benefits achieved by target i after two observations are made m turns apart.
In this embodiment, it is required to complete two observations of the target within a certain interval, and if the interval is too short or too long, the benefit is reduced, and in some scenarios, the benefit is reduced only with the increase of the interval. Thus, to take into account the impact of interval time on revenue, an interval time dependent revenue function is defined. Each target i has a discrete step benefit function, with different intervals m corresponding to different benefits.
In one embodiment, the objective function of maximizing revenue is constructed from the satellite observation model and the space turn revenue function as follows:
wherein y is im Indicating whether the target i completes two observation turns by m turns or not.
It is worth noting that in order to maximize the total revenue, the following decisions need to be made: observing which targets are ordered each time and sorting the targets; determining the interval time between two observations of each target; the start time for each observation of each target is selected for each turn. The following decision variables were designed:
x ijt =1 means t from target i to target j every turn, otherwise 0;
y im =1 means that the interval between two observations of target i is m times, otherwise 0;
s it the real variable represents the start time of each turn t of observation target i.
In one embodiment, the design constraints include: observation start point and end point constraints, balance constraint, observation constraint, completion observation constraint, decision variable constraint, observation circle number constraint, observation ordering constraint, time window constraint and decision variable value range constraint.
Specifically, the observation start point and end point constraints are:
wherein, the starting point is node 0, and the end point is node 2n+1;
the flow balance constraint is:
wherein x is ijt And x jit Representing each turn t from target i to target j and each turn t from target j to target i, respectively;
the observation constraints are:
the completion observation constraints are:
the decision variable constraints are:
the observation circle constraint is as follows:
the observation ordering constraint is:
wherein s is it The starting time of t observation targets i for each turn is represented, and L is a positive integer;
the time window constraint is:
the decision variable value range constraint is:
for the constraint, the observation starting point and the end point constraint agree on the starting point of each circle and the end point returned after the observation, the balance constraint constrains that each object has an in and an out, and the observation constraint constrains that each split object is observed once at most by the same circle, the completion constraint constrains that the two observations of the object i are completed or not completed, the decision variable constraint constrains the relation between the decision variables, the circle number of the phase differences of the two observations of the objects is represented, the observation circle constraint constrains that the circle number of the phase differences of each object at most selects an interval circle number m, the observation ordering constraint constrains the observation time of the two objects before and after the observation time of the object to be connected sequentially, the sum of the observation starting time, the duration time and the conversion time of the preamble object is not more than the observation starting time of the postamble, the time window constraint constrains the object to be not less than the earliest starting time of the time window, the observation ending time is not more than the latest starting time of the time window, and the decision variable value constraint defines the value taking range of the decision variable.
In one embodiment, a branch pricing accurate algorithm may be employed to solve the objective function to determine the satellite scheduling scheme. In particular, the method comprises the steps of,
it should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 2, there is provided a satellite scheduling apparatus based on an interval turn number model, including: a task acquisition module 202, an observation model construction module 204, a yield function construction module 206, and a solution module 208, wherein:
a task acquisition module 202, configured to acquire a target observation task; the target observation task includes: a common observation task and an accurate observation task; the accurate observation task follows the common observation task, and the time interval between the common observation task and the accurate observation task is related to the success rate of the accurate observation task;
an observation model construction module 204 for constructing a satellite observation model; the satellite observation model includes: a directed graph, the nodes in the directed graph comprising: a target to be observed, a virtual starting point and a virtual ending point;
a profit function construction module 206, configured to construct an interval turn profit function of each object to be observed; the interval circle profit function represents the profit of completing the observation of the object to be observed and completing the two observations at interval circles;
and a solving module 208, configured to construct an objective function and a constraint condition for maximizing the gain according to the satellite observation model and the space turn gain function, and solve the objective function to determine a satellite scheduling scheme.
In one of themIn one embodiment, the observation model construction module 204 is configured to construct a satellite observation model comprising a directed graph g= (N, a), where the set of nodes is n= {0,1, …, n+1}, the set of arcs is a= { (i, j) |i, j e N, i+.j }, nodes 0 and n+1 correspond to virtual start and virtual end points where there is no benefit,
representing a set of profitable nodes; in the satellite observation model, each object i corresponds to a continuous observation time d i And setting the round set to t= {1, …, T }; starting from the virtual starting point and returning to the virtual ending point every turn; the observable time window of t for target i per turn is TW it ＝[ws it ,we it ]The transition time of each pass through the targets i and j is t ij 。
In one embodiment, the benefit function construction module 206 is configured to differentiate the target to be observed for two observations into two targets, including: a target i and a target i + n,
a set of targets representing a first observation, +.>
A set of targets representing a second observation; setting the number of turns M of each target twice observation interval, wherein M= {0,1,2, …, M }; the gains of setting the target i after finishing two observations after m circles are as follows:
wherein p is im Representing the benefits achieved by target i after two observations are made m turns apart.
In one embodiment, the solving module 208 is further configured to construct an objective function for maximizing the profit from the satellite observation model and the space turn profit function, where:
wherein y is im Indicating whether the target i completes two observation turns by m turns or not.
In one embodiment, building constraints includes: observation start point and end point constraints, balance constraint, observation constraint, completion observation constraint, decision variable constraint, observation circle number constraint, observation ordering constraint, time window constraint and decision variable value range constraint.
In one embodiment, the observation start and end constraints are:
wherein, the starting point is node 0, and the end point is node 2n+1;
the flow rate constraint is:
wherein x is ijt And x jit Representing each turn t from target i to target j and each turn t from target j to target i, respectively;
the observation constraints are:
the completion observation constraint is:
the decision variable constraint is:
the observing circle constraint is as follows:
the observation ordering constraint is:
wherein s is it The starting time of t observation targets i for each turn is represented, and L is a positive integer;
the time window constraint is:
the decision variable value range constraint is as follows:
in one embodiment, the solution module 208 is further configured to solve the objective function using a branch pricing accurate algorithm to determine a satellite scheduling scheme.
For specific limitations of the satellite scheduling apparatus based on the space lap model, reference may be made to the above limitation of the satellite scheduling method based on the space lap model, and the description thereof will not be repeated here. The above-described modules in the satellite scheduling apparatus based on the space lap model may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a satellite scheduling method based on an interval lap model. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 3 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment a computer device is provided comprising a memory storing a computer program and a processor implementing the steps of the method of the above embodiments when the computer program is executed.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the method of the above embodiments.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A satellite scheduling method based on a space turn model, the method comprising:
acquiring a target observation task; the target observation task includes: a common observation task and an accurate observation task; the accurate observation task follows the common observation task, and the time interval between the common observation task and the accurate observation task is related to the success rate of the accurate observation task;
constructing a satellite observation model; the satellite observation model includes: a directed graph, the nodes in the directed graph comprising: a target to be observed, a virtual starting point and a virtual ending point;
constructing an interval turn number gain function of each target to be observed; the interval circle profit function represents the profit of completing the observation of the object to be observed and completing the two observations at interval circles;
and constructing an objective function and constraint conditions for maximizing the benefits according to the satellite observation model and the interval turn benefit function, and solving the objective function to determine a satellite scheduling scheme.
2. The method of claim 1, wherein said constructing a satellite observation model comprises:
constructing a satellite observation model comprises a directed graph G= (N, A), wherein a node set is N= {0,1, …, n+1}, an arc set is A= { (i, j) |i, j epsilon N, i not equal to j }, nodes 0 and n+1 correspond to virtual starting points and virtual end points without benefits,
representing a set of profitable nodes;
in the satellite observation model, each object i corresponds to a continuous observation time d i And setting the round set to t= {1, …, T }; wherein each turn is fromStarting from the virtual starting point and returning to the virtual ending point; the observable time window of t for target i per turn is TW it ＝[ws it ,we it ]The transition time of each pass through the targets i and j is t ij 。
3. The method of claim 2, wherein constructing the space lap yield function for each object to be observed comprises:
splitting the target to be observed of the two observations into two targets, including: a target i and a target i + n,
a set of targets representing a first observation, +.>
A set of targets representing a second observation;
setting the number of turns M of each target twice observation interval, wherein M= {0,1,2, …, M };
the gains of setting the target i after finishing two observations after m circles are as follows:
wherein p is im Representing the benefits achieved by target i after two observations are made m turns apart.
4. A method according to claim 3, wherein constructing an objective function that maximizes revenue from the satellite observation model and the space turn revenue function comprises:
according to the satellite observation model and the interval turn number gain function, constructing an objective function for maximizing gain as follows:
wherein y is im Indicating whether the target i completes two observation turns by m turns or not.
5. The method of claim 4, wherein constructing constraints comprises: observation start point and end point constraints, balance constraint, observation constraint, completion observation constraint, decision variable constraint, observation circle number constraint, observation ordering constraint, time window constraint and decision variable value range constraint.
6. The method of claim 5, wherein the observation start and end constraints are:
wherein, the starting point is node 0, and the end point is node 2n+1;
the flow rate constraint is:
wherein x is ijt And x jit Representing each turn t from target i to target j and each turn t from target j to target i, respectively;
the observation constraints are:
the completion observation constraint is:
the decision variable constraint is:
the observing circle constraint is as follows:
the observation ordering constraint is:
wherein s is it The starting time of t observation targets i for each turn is represented, and L is a positive integer;
the time window constraint is:
the decision variable value range constraint is as follows:
7. the method of any of claims 1 to 6, wherein solving the objective function to determine a satellite scheduling scheme comprises:
and solving the objective function by adopting a branch pricing accurate algorithm to determine a satellite scheduling scheme.
8. A satellite scheduling device based on a space lap model, the device comprising:
the task acquisition module is used for acquiring a target observation task; the target observation task includes: a common observation task and an accurate observation task; the accurate observation task follows the common observation task, and the time interval between the common observation task and the accurate observation task is related to the success rate of the accurate observation task;
the observation model construction module is used for constructing a satellite observation model; the satellite observation model includes: a directed graph, the nodes in the directed graph comprising: a target to be observed, a virtual starting point and a virtual ending point;
the profit function construction module is used for constructing an interval turn profit function of each object to be observed; the interval circle profit function represents the profit of completing the observation of the object to be observed and completing the two observations at interval circles;
and the solving module is used for constructing an objective function and constraint conditions for maximizing the benefits according to the satellite observation model and the interval turn number benefit function, and solving the objective function to determine a satellite scheduling scheme.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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