CN116399816A - World integration global environmental protection monitoring system based on cube star constellation - Google Patents

World integration global environmental protection monitoring system based on cube star constellation Download PDF

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CN116399816A
CN116399816A CN202310212261.9A CN202310212261A CN116399816A CN 116399816 A CN116399816 A CN 116399816A CN 202310212261 A CN202310212261 A CN 202310212261A CN 116399816 A CN116399816 A CN 116399816A
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subsystem
data
buoy
ocean
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范才智
李东旭
罗青
白相如
段富强
袁浩
季浩然
张诗靖
王成龙
韩蕊蔓
孔希
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National University of Defense Technology
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Abstract

The application provides a world integrated global environment monitoring system based on a cubic satellite constellation, which comprises a monitoring satellite constellation subsystem, a marine monitoring buoy subsystem and a ground data processing subsystem, wherein the monitoring satellite constellation subsystem consists of 3 6u cubic satellites; the ocean monitoring buoy subsystem is arranged in the nearby sea area of all the global coastal nuclear power stations, can detect radioactive substances leaked into the sea water in real time, and sends detected data to the satellite seat subsystem, so that a real-time monitoring network facing the global nuclear power stations is formed; the ground data processing subsystem is mainly used for controlling satellite operation and receiving satellite data, and can acquire the monitoring data of the monitoring satellite seat subsystem on the atmosphere and the ocean and the monitoring data of the ocean monitoring buoy subsystem on the ocean, judge and position and early warn the environmental accident of nuclear leakage of the nuclear power station.

Description

World integration global environmental protection monitoring system based on cube star constellation
Technical Field
The invention belongs to the technical field of environmental monitoring, and particularly relates to a world integrated global environment-friendly monitoring system based on a cube star constellation.
Background
Marine resources are important resources essential for human survival. Atomic energy has been increasingly used by people since world war ii. The nuclear power station has the advantages of low pollution, high energy and the like, has great development prospect and is valued by countries around the world. However, once an accident occurs in a nuclear power plant, radioactive substances in the nuclear power plant leak, which can bring about serious disasters to the periphery of the nuclear power plant and the world. Once the radioactive materials leak into the ocean, there is a great hazard to the ecosystem, and at the same time, the deadly radioactive materials can be led into the human body through drinking water, seafood and the like to directly harm the life and health of the human body. Thus, marine nuclear pollution is a serious threat to the environment. Therefore, rapid environmental monitoring of ocean nuclear pollution is imperative.
The current ocean nuclear pollution monitoring is mainly based on 'foundation' ocean environment monitoring and depends on monitoring means such as offshore monitoring stations, ocean monitoring special ships, ocean monitoring buoys and the like. The offshore monitoring stations are arranged at each monitoring point along the coast to effectively monitor the ocean nuclear pollution. The offshore monitoring station can realize long-time and high-precision data collection, is easy to maintain and has relatively low cost. However, the monitoring position is limited by the coastline, so that the monitoring can be performed only on the coast and the monitoring cannot be performed on the coast area far away from the coast. The marine monitoring special ship has wide coverage range and can realize full-time monitoring of data. However, the marine monitoring special ship is limited by the moving speed of the ship, when the sea area monitoring points are far away, the time is long, the marine environment monitoring ship operation and maintenance guarantee expense is huge, and according to measurement and calculation, the annual ship operation and maintenance guarantee expense of 500t is about 1000 ten thousand yuan.
Meanwhile, global warming is caused by the fact that greenhouse effect is continuously accumulated, so that the energy absorbed and emitted by the ground gas system is unbalanced, and the energy is continuously accumulated in the ground gas system, so that temperature is increased, and global climate warming is caused. Global warming may cause global precipitation distribution to become greatly varied, glacier frozen soil to ablate, sea level to rise, extreme weather to increase, etc., and will directly or indirectly threaten existing survival conditions of human beings in terms of health safety, living place safety, crop safety, etc.
Greenhouse gases are the source of global warming. The most significant greenhouse gas in the atmosphere is carbon dioxide. With the expansion of industrial production, the increase of the number of motor vehicles and the like, the emission of greenhouse gases is increasing, so that the greenhouse effect of the earth is more and more serious, and the living of the earth organisms is directly or indirectly influenced. Therefore, monitoring of carbon dioxide is particularly important.
Disclosure of Invention
The invention aims to solve the technical problems and provides an all-in-one global environment-friendly monitoring system based on a constellation of cubic satellites, which monitors ocean nuclear pollution and atmospheric chamber gas concentration by utilizing satellite remote sensing and float monitoring and aims to solve the problem that the ocean nuclear pollution cannot be monitored in an omnibearing and full-time mode at the present stage. At the same time, the system can monitor the concentration of the atmospheric carbon dioxide.
In order to solve the technical problems, the invention provides a world-to-earth integrated global environment monitoring system based on a cube star constellation, which can monitor the concentration and source of greenhouse gases of the earth and simultaneously monitor the ocean nuclear pollution of the earth.
The specific technical scheme is as follows:
the world integrated global environment-friendly monitoring system based on the cube star constellation comprises a monitoring satellite star seat subsystem, a marine monitoring buoy subsystem and a ground data processing subsystem, wherein the monitoring satellite constellation subsystem consists of 3 6u cube stars; the ocean monitoring buoy subsystem is arranged in the nearby sea area of all the global coastal nuclear power stations, can detect radioactive substances leaked into the sea water in real time, and sends detected data to the satellite seat subsystem, so that a real-time monitoring network facing the global nuclear power stations is formed; the ground data processing subsystem is mainly used for controlling satellite operation and receiving satellite data, and can acquire the monitoring data of the monitoring satellite seat subsystem on the atmosphere and the ocean and the monitoring data of the ocean monitoring buoy subsystem on the ocean, judge and position and early warn the environmental accident of nuclear leakage of the nuclear power station.
Further, the monitoring satellite constellation subsystem consists of 3 non-coplanar cubes, the cubes adopt a 6 u-sized rectangular body and unfolded solar wing configuration, and the monitoring satellite constellation subsystem has three-axis stable attitude control capability, and comprises a comprehensive information management module, an attitude control module, a power module and a data processing module, wherein the comprehensive information management module is responsible for the management and control of on-orbit flight tasks of the cubes and consists of a plurality of plug-in board type computer processing boards; the attitude control module is responsible for attitude control of the cube star and comprises 1 sun sensor, 2 star sensors, 3 reaction flywheels and 1 mechanical gyro; the power module is responsible for power management and power distribution of the cube star and comprises an expansion solar panel, a power management singlechip and a storage battery, wherein the storage battery adopts a multifunctional lithium battery structure form integrally designed with the side cabin plate, so that the space in the star is effectively increased; the data processing and transmitting module is in charge of preprocessing ground image information acquired by the camera load and receiving real-time monitoring data sent by the sea surface buoy.
Further, the effective load of the cubic satellite for monitoring the satellite seat subsystem comprises a visible light infrared integrated multispectral camera and an internet of things load, the multispectral camera can detect the spectrum information of a target, acquire continuous and narrow-band image data with high spectrum resolution, and can monitor the growth conditions of marine organisms such as marine algae in the ocean, the change of seawater color and CO in the atmosphere 2 Absorption of a particular spectrum; the internet of things load terminal is an ultra-long distance wireless transmission scheme based on a spread spectrum technology, and is divided into an on-board part and a sea surface buoy part, wherein the on-board part of the internet of things load terminal collects radioactive substance detection data and buoy coordinates sent by the buoy on the sea surface.
Further, the monitoring of the growth conditions of marine organisms such as algae and seawater color change mainly means that marine algae plants have a great influence on seawater color, including diatom, green algae, blue algae, red algae and brown algae, when nuclear pollution radioactive substances enter the ocean, the enriched nuclides cause diseases and death of the marine organisms due to internal irradiation or external irradiation, and eutrophication of the seawater is caused, meanwhile, as most of the blue algae have strong nuclear radiation resistance, the diatom, the green algae and the red algae are relatively weak, the eutrophication seawater enables the blue algae to multiply in a large amount, the blue algae belong to prokaryotes, the blue algae are rich in chlorophyll, the greatly-propagated blue algae can enable the chlorophyll in the ocean to reach about 1.5-2 times of the original level, the color of the ocean water is caused to change, strong absorption occurs in blue-green wave bands, strong scattering occurs in red and near infrared wave bands, and therefore characteristic brown color is presented.
Further, in the internet of things load, the monitoring satellite constellation subsystem internet of things terminal and the sea buoy in the scheme of the satellite internet of things based on the loRa are both made of the loRa modulation technology, and the adaptive reconstruction is carried out according to the communication situation.
Further, the load of the satellite-borne LoRa Internet of things comprises a memory, an MCU, a power module, a power amplifier/LNA module, a CAN communication interface, a 28V power supply interface and a UART data interface, wherein the LoRa module realizes the functions of data modulation and demodulation and ad hoc network; the memory realizes the function of storing the received data; the power amplifier/LNA is a bidirectional amplifier, can bear the functions of power amplification during transmitting and low-noise amplification during receiving, and the MCU realizes the functions of reading and writing data streams and configuring parameters of the LoRa module.
Further, the ocean monitoring buoy subsystem comprises a plurality of ocean buoys, the ocean buoys are arranged near the nuclear power station, the ocean buoys can automatically detect the radioactive substances in the seawater, the detection data is sent to the cube star through the Internet of things, and then the cube star is transmitted to the ground station,
further, the ocean buoy comprises a monitoring module, a positioning module, an internet of things module, a power module and a power module, wherein the monitoring module comprises a radiation detection unit and a mass spectrum detection unit, the radiation detection unit is used for automatically monitoring and detecting radioactive substances in a water body, the radiation detection unit is used for detecting the radiation dose of gamma rays, and the mass spectrum monitoring unit is mainly used for detecting radioactive particles in the ocean; the positioning module is provided with a global positioning system and is used for acquiring real-time position information of the buoy; the internet of things module is provided with an internet of things load antenna system, can communicate with the monitoring satellite constellation subsystem, and sends water quality information detected by the buoy to the monitoring satellite constellation subsystem; the power module comprises a battery array and a battery, electric energy is provided for all equipment on the buoy, the buoy can change in position along with the movement of seawater, and the power module corrects the position of the buoy according to the information of the positioning module.
Further, the main task of the ground data processing subsystem is to measure and control the satellite constellation system, and the method for receiving and processing the data by the ground data processing subsystem comprises the following steps:
step one, receiving greenhouse gas remote sensing images, ocean blue algae remote sensing images and buoy detection data transmitted back by satellites;
step two, preprocessing the data, including noise reduction, fitting and interpolation, and also including removing data wild values, specific noise and interference;
step three, post-processing is carried out on the data, wherein the post-processing comprises image processing, signal processing, multi-information fusion and state optimal estimation;
and fourthly, forming real-time daily concentration estimation of the regional and global greenhouse gases, real-time daily concentration estimation of the regional and global marine radioactive substances, long-period statistical analysis of the regional and global greenhouse gas concentrations, and long-period statistical analysis of the regional and global marine radioactive substances.
Furthermore, the space-earth integrated environment-friendly monitoring system based on the constellation of the cubic star mainly has three operation modes:
1) Global census mode
During daily operation, the system is in a global screening mode, in the global screening mode, the cubic star seat subsystem operates on a preset track, and the cubic star carries out bottom-of-the-sky rail passing scanning by controlling remote sensing load through side sway, so that the global is monitored in a mode of maximum ground coverage; the ocean monitoring buoy subsystem collects data of a corresponding water area and uploads the data to the cubic star seat subsystem through the Internet of things; the ground data processing subsystem is used for collecting remote sensing data of each orbit of the overhead satellite and marine monitoring buoy subsystem data and generating a global greenhouse gas concentration distribution map, a global marine radioactive substance content distribution map and other finished advanced data;
2) Area detail mode
When carbon investigation is required to be carried out on a specific country or region or the sea area near a certain hidden danger nuclear power station is particularly monitored, a system operation region investigation mode is adopted, in the region investigation mode, a cube star seat subsystem operates on a preset track, a cube star autonomously plans a region scanning gesture sequence, gesture control is carried out, the specific region is subjected to investigation, the longest time monitoring of a target region in a reentry period is realized, and specifically, firstly, cube star scanning gesture sequence planning is carried out on the target region; then the ground station annotates relevant attitude instructions to the satellite; the ocean monitoring buoy subsystem in the corresponding area collects water area data and then uploads the data to the satellite; the ground data processing subsystem is used for collecting remote sensing data and buoy data of each orbit of the overhead satellite and generating a greenhouse gas concentration distribution map of a target area, an ocean radioactive substance content distribution map of the area and carbon emission estimation data in a specific time interval;
3) Emergency response mode
When the volcanic eruption, forest fire and explosion accidents occur in a certain area or the nuclear sewage of a nuclear power station in the sea is leaked, the ground data processing subsystem is used for manually triggering or an emergency response mode of the automatic triggering system is used for alarming through the buoy detection value of the corresponding area, in the emergency response mode, a cube star constellation operates on a preset track, the cube star performs staring observation on the hot spot area through gesture control, the longest time monitoring of the hot spot area in a reentry period is realized, and particularly, when the response to quicker buoy detects that the 37Cs content greatly exceeds the conventional value range or the continuous multi-day concentration value is increased, the corresponding alarm can be sent out; and then, the ground station uploads staring imaging instructions to the satellite or the satellite autonomously plans the area where the corresponding buoy is located, and the ground data processing subsystem combines the collected remote sensing data of each orbit of the overhead satellite and the buoy data to generate a greenhouse gas concentration distribution map, a marine radioactive substance content distribution map, a greenhouse gas propagation prediction map and a marine radioactive substance propagation prediction map of the accident area.
Compared with the prior art, the invention has the following advantages: the method integrates the advantages of high precision, quick response, ground monitoring means and wide coverage range of the cube star system, can quickly and effectively early warn nuclear leakage accidents possibly occurring in the world, and accurately predicts the diffusion propagation path of nuclear pollution radioactive substances. By adopting the monitoring system, the possible harm of nuclear power station accidents to the safety of organisms and human beings can be effectively reduced, and the ecological civilization of the earth can be protected.
Firstly, the combination of the rapid early warning and the long-period monitoring of the ocean nuclear radiation is realized
Secondly, the ocean nuclear radiation monitoring and the atmospheric air chamber gas monitoring are integrated
Thirdly, the construction cost is lower.
Drawings
FIG. 1 is a schematic diagram of an environmental monitoring system;
FIG. 2 is a schematic diagram of a cube star;
FIG. 3 is a schematic diagram of a cube star composition system;
fig. 4 is a schematic diagram of the composition of a load of a spaceborne LoRa internet of things;
FIG. 5 is a schematic diagram of a nuclear pollution monitoring buoy;
fig. 6 is a data processing flow diagram of a ground processing subsystem.
Reference numerals: 1. measurement and control antenna, 2, measurement and control unit, 3, internet of things antenna, 4, data transmission unit, 5, camera main load, 6, power management unit, 7, gyroscope, 8, flywheel, 9, comprehensive information management module, 10, data processing module, 11, star sensor, 12, sun sensor, 13, cube star base subsystem, 14, ground data processing subsystem, 15, ocean monitoring buoy subsystem, 16, internet of things, 17, visible light infrared integrated camera, 18, atmospheric temperature and room gas monitoring, 19, ocean nuclear pollution monitoring, 20, atmosphere, 21, ocean, 22, internet of things module, 23, global positioning module, 24, solar cell panel, 25, buoy main body, 26, pollution monitoring module, 27, power module
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 6 in the embodiments of the present invention.
The world integrated global environment-friendly monitoring system based on the cube star constellation comprises a monitoring satellite star seat subsystem, a marine monitoring buoy subsystem and a ground data processing subsystem, wherein the monitoring satellite constellation subsystem consists of 3 6u cube stars; the ocean monitoring buoy subsystem is arranged in the nearby sea area of all the global coastal nuclear power stations, can detect radioactive substances leaked into the sea water in real time, and sends detected data to the satellite seat subsystem, so that a real-time monitoring network facing the global nuclear power stations is formed; the ground data processing subsystem is mainly used for controlling satellite operation and receiving satellite data, and can acquire the monitoring data of the monitoring satellite seat subsystem on the atmosphere and the ocean and the monitoring data of the ocean monitoring buoy subsystem on the ocean, judge and position and early warn the environmental accident of nuclear leakage of the nuclear power station.
In order to construct a global greenhouse gas and ocean pollution monitoring constellation system with high timeliness and high precision, the working condition requirements of the load of a camera and the load of the Internet of things are met, and the satellite constellation design is combined with the overall task design of the constellation, so that the satellite constellation design meets the following index requirements:
(1) In order to realize coverage monitoring of global greenhouse gases and marine environments and realize greenhouse gas diffusion analysis and emission source positioning, a constellation is required to realize coverage observation of a global atmosphere within 24 hours, and the earth surface coverage rate is more than 90%, wherein the coverage rate of global land (except for two-pole areas) reaches 100%;
(2) In order to realize the monitoring, early warning and pollution source positioning of global marine pollution, especially nuclear pollution, the constellation needs to realize full coverage of all nuclear power stations worldwide within 12 hours, and the single observation time is longer than 5 seconds;
(3) In order to meet the observation communication requirements of the loads of cameras, internet of things antennas and the like, the satellite orbit height is not more than 550km.
On the basis of the basic index requirement, in order to reduce the system cost and the operation and maintenance cost, the constellation configuration design is optimized on the basis of fully utilizing the satellite maneuvering observation capability and fully considering the target distribution characteristic. The attitude maneuver and stability performance of the satellite are checked, the load observation capability is checked, and the single satellite is considered to have 45-degree side swing observation capability, namely the single satellite is considered to have an equivalent field of view with a half field angle of 45 degrees.
And importing global geographic information and nuclear power station position information, and iteratively calculating coverage performance by using an optimizing method to obtain a minimum constellation of 3 cubic stars. The satellite constellation consisted of three non-coplanar sets of cube satellites whose orbital numbers are shown in table 1.
Table 1 constellation orbit number
(symbol) Track number Parameters (parameters)
a Semi-long axis 6928.137km
e Eccentricity ratio 0
i Track inclination angle 78°
△Ω Intersection point ascending red warp difference 26.098°
△ω Near-spot angular distance difference 0°
△f True-near point angle difference 140.662°
That is, the right-hand deviation of the rising intersection points between adjacent raceway surfaces was 26.098 °, and the near-point angular phase difference between the cube stars corresponding to the adjacent raceway surfaces was 140.662 °.
Constellation observation capability verification, namely 2022 years, 1 month, 1 day and 0 hours of UTCG time are taken as epoch time t 0 And simulating and verifying the observation coverage capacity of the constellation. The constellation space position at epoch time is shown in table 2.
Table 2 epoch time constellation space position
Sequence number The ascending intersection point is the right way Near-to-ground angular distance True near point angle
1 47° 0° 0°
2 73.098° 0° 140.662°
3 99.196° 0° 281.324°
According to simulation results, the 3-cube star constellation realizes coverage observation of global greenhouse gases within 24 hours, the observation coverage rate reaches 92%, the observation coverage rate of land areas below 84 degrees of latitude reaches 100%, and the requirements of constellation overall tasks are met.
According to the simulation result, the 3-cube star constellation realizes the full coverage of the global nuclear power station within 12 hours, the coverage duration of a single nuclear power station is longer than 5 seconds, and the total requirements of constellation design are met.
Further, the monitoring satellite constellation subsystem consists of 3 non-coplanar cubes, the cubes adopt a 6 u-sized rectangular body and unfolded solar wing configuration, the three-axis stable attitude control capability is provided, the monitoring satellite constellation subsystem comprises a comprehensive information management module 9, an attitude control module, a power supply module and a data processing module 10, the comprehensive information management module 9 is responsible for the management and control of the on-orbit flight tasks of the cubes, and the monitoring satellite constellation subsystem consists of a plurality of plug-in board type computer processing boards; the attitude control module is responsible for attitude control of the cube star and comprises 1 sun sensor 12, 2 star sensors 11, 3 reaction flywheels 8 and 1 mechanical gyro 7; the power module is responsible for power management and power distribution of the cube star and comprises an expansion solar panel, a power management singlechip and a storage battery, wherein the storage battery adopts a multifunctional lithium battery structure form integrally designed with the side cabin plate, so that the space in the star is effectively increased; the data processing module 10 is responsible for preprocessing ground image information acquired by the camera load and receiving real-time monitoring data sent by the sea surface buoy. The main performance index of the cube star is shown in table 3 below.
TABLE 3 principal Performance index of the cube Star (6 u)
Figure BDA0004113156500000071
Further, the effective load of the cubic satellite monitoring satellite base subsystem comprises a visible light infrared integrated multispectral camera 17 and an internet of things load, the multispectral camera 17 can detect the spectrum information of a target, acquire continuous and narrow-band image data with high spectrum resolution, and can monitor the growth conditions of marine organisms such as marine algae in the ocean, the change of seawater color and CO in the atmosphere 2 Absorption of a particular spectrum; the internet of things load terminal is an ultra-long distance wireless transmission scheme based on a spread spectrum technology, and is divided into an on-board part and a sea surface buoy part, wherein the on-board part of the internet of things load terminal collects radioactive substance detection data and buoy coordinates sent by the buoy on the sea surface.
Principle of detection of greenhouse gases:
CO in the atmosphere 2 、CH 4 、H 2 The absorption capacity of the gas molecules such as O to light in different spectral ranges is different, so that a multispectral camera can be adopted to observe light in which the spectral range reflected by the ground is positioned in the center of a strong absorption band and the center of a weak absorption band of the monitored gas respectively, and meanwhile, the light of the sun in the two spectral ranges is calibrated. By comparing the intensity information of the waves in the two spectral ranges, the information about the concentration of the monitoring gas can be extracted by adopting a path integral differential absorption method.
TABLE 4 Infrared spectral absorption bands of major atmospheric molecules
Gas composition Strong absorption band center wavelength/. Mu.m Center wavelength of weak absorption band/. Mu.m
H 2 O 1.4/1.9/2.7/6.3/13.0-10000 0.9/1.1
CO 2 2.7/4.3/14.7 1.4/1.6/2.0/5.0/9.4/10.4
O 3 4.7/9.6/14.1 3.3/3.6/5.7
CH 4 3.3/3.8/7.7 None
N 2 O 4.5/7.8 3.9/4.1/9.6/17.0
CO 4.7 2.3
In the form of CO 2 Gas monitoring is exemplified by CO 2 Can be compared to the concentration of CO in the infrared spectrum 2 Ground reflected light intensity and CO in high absorbance spectral bands 2 The ratio of the ground reflected light intensity of the low-absorptivity spectrum band is calculated according to the initial value of each spectrum of solar calibration 2 Concentration. Wherein, for a single spectral band, the formula is as follows:
Figure BDA0004113156500000081
wherein, I (lambda) spectrum real-time value, I 0 (lambda) is the initial value of the spectrum, lambda is the wavelength, L is the optical path, sigma i (lambda) and sigma i 'lambda' represents a slow wavelength-dependent 'broadband' absorption cross section and a fast wavelength-dependent 'broadband' absorption cross section, sigma, respectively i 'lambda' is also known as differential absorption cross section, c i Epsilon for the concentration of the gas to be measured R (lambda) and epsilon M (lambda) represents Rayleigh scattering and Mie scattering coefficients, respectively.
In order to eliminate the influence of other gas components, the calculated concentration data can be corrected by adopting a double-spectrum-range difference mode to obtain more accurate CO 2 Concentration.
Further, the monitoring of the growth conditions of marine organisms such as algae and seawater color change mainly means that marine algae plants have a great influence on seawater color, including diatom, green algae, blue algae, red algae and brown algae, when nuclear pollution radioactive substances enter the ocean, the enriched nuclides cause diseases and death of the marine organisms due to internal irradiation or external irradiation, and eutrophication of the seawater is caused, meanwhile, as most of the blue algae have strong nuclear radiation resistance, the diatom, the green algae and the red algae are relatively weak, the eutrophication seawater enables the blue algae to multiply in a large amount, the blue algae belong to prokaryotes, the blue algae are rich in chlorophyll, the greatly-propagated blue algae can enable the chlorophyll in the ocean to reach about 1.5-2 times of the original level, the color of the ocean water is caused to change, strong absorption occurs in blue-green wave bands, strong scattering occurs in red and near infrared wave bands, and therefore characteristic brown color is presented. The method specifically comprises the following steps:
1) When nuclear pollution radioactive substances enter the ocean, the enriched nuclides cause the marine organisms to be subjected to internal irradiation or external irradiation to generate diseases and death, so that the seawater is eutrophicated, and most blue algae have strong nuclear radiation resistance, the blue algae are propagated in a large quantity by the eutrophicated seawater, chlorophyll a in the ocean can reach about 1.5-2 times of the original level by the blue algae propagated in a large quantity, the color of the ocean water body is caused to be changed, strong absorption occurs in a blue-green wave band, and strong scattering occurs in red and near infrared wave bands, so that the blue algae are characterized by brown color;
2) Installing a multispectral camera with blue, green, red and near infrared optical channels on the satellite to image the ocean, and processing image data transmitted by the multispectral camera on the satellite back to the ground;
3) Inverting chlorophyll a concentration of the ocean water body by utilizing the processed image data transmitted back to the ground by the multispectral camera;
chlorophyll a is pigment commonly contained in phytoplankton in the ocean, the concentration of the pigment can reflect the biomass of the phytoplankton in the ocean to a certain extent, when the concentration of chlorophyll on the sea surface is increased, the reflection intensity of a 685nm wave band is increased, the processed image data are converted into remote sensing reflectivity values, and then the concentration information of chlorophyll a in ocean water is calculated through a standard empirical algorithm;
4) Inverting the nuclear radiation concentration in the ocean water according to the chlorophyll a concentration of the ocean water;
the blue algae propagation condition in the ocean can be simplified into an S-shaped curve, when the biomass reaches a certain degree, the blue algae propagation condition is influenced by the total nutrient amount, the population quantity has the maximum capacity K allowed by the environment, when the population quantity reaches K, the population quantity stops growing, namely the growth rate is 0 at the moment, the blue algae propagation condition can be relatively stable up and down at the maximum value, the seawater is polluted by nuclear wastewater, other organisms die, the nutrient in the seawater is increased, the K value is increased, and the chlorophyll a content is increased;
after the satellite enters orbit, the k value is calibrated through observing and inverting the ocean water colors in each place, and when the k value of a certain sea area reaches more than 2 times of a normal value, the actual situation of the local area is combined to judge whether the ocean water body has nuclear wastewater pollution or not;
if nuclear pollution exists, the concentration A (x) of nuclear radiation in the ocean water body is calculated by adopting the following function:
A(x)＝bf(y)+c
wherein A (x) represents the concentration of nuclear radiation in the ocean water, f (y) represents the concentration of chlorophyll a in the ocean water, and b and c are coefficients.
Further, the method for processing the image data transmitted by the multispectral camera on the satellite to the ground is as follows:
A. The method comprises the steps of carrying out radiation calibration on image data transmitted back to the ground by a multispectral camera on a satellite, wherein the radiation calibration is a process of converting a gray value DN recorded by each detection unit of the multispectral camera into actual ground object radiation brightness with actual physical meaning, and the observed count value DN of the multispectral camera of the satellite can be converted into equivalent apparent radiation brightness data by using the following formula:
L＝C·DN+B
wherein L is the radiation brightness after spectrum conversion of a certain wave band, and DN is the gray value of the satellite multispectral camera; c is the scaling slope, B is the scaling intercept, C, B is a constant;
B. atmospheric correction of radiation-calibrated data
The method comprises the steps that atmospheric correction is needed on data after radiation calibration, errors caused by atmospheric scattering, absorption and reflection can be eliminated after the atmospheric correction, actual reflectivity is obtained, a sea surface spectrum curve after the atmospheric correction is closer to a true value, an FLAASH atmospheric correction model is used for carrying out atmospheric correction on the data after the radiation calibration, the FLAASH atmospheric correction model is used for correcting adjacent pixel effects and then calculating the visibility of an entire radiation image, the FLAASH atmospheric correction model can generate classified images of rolling clouds and thin clouds, smooth and eliminate noise on the images, after the FLAASH atmospheric correction model is used for carrying out atmospheric correction, the images become clear, the color is more true, the spectrum is closer to the true ground spectrum line, parameter setting is carried out according to the image self information of a multispectral camera, and an image atmospheric correction result is output;
C. Ocean area extraction
The whole image after the atmospheric correction comprises an ocean area and a land area, and only the ocean area is needed to participate in calculation in the inversion calculation process, so that the ocean area range is needed to be extracted, and the ocean water range is extracted by adopting a normalized difference ocean water index method;
the normalized difference ocean water index is based on the extremely high reflectivity of the ocean water in the green band and the extremely strong absorption in the infrared band, so the normalized ocean water index is proposed:
(GREEN-NIR)/(GREEN+NIR)>T
GREEN represents the GREEN band, NIR the infrared band, and T the extraction threshold.
Furthermore, in the open sea area, the blue algae has higher reflectivity in the near infrared spectrum and lower red reflectivity, and the normalized difference marine body index is used as one of the main monitoring spectrum sections for monitoring the marine water color, so that the steep slope effect can be better reflected and the monitoring efficiency can be improved.
Furthermore, in offshore areas, because the seawater is shallower, the reflection conditions of red light and near infrared spectrum can be influenced by underwater sediment, meanwhile, because radioactive substances in coastal nuclear power stations leak, the offshore areas which are firstly influenced are also changed, in addition, the change of the quantity of plants in other seas can cause the change of the index of the normalized difference marine water body, the blue algae contains a large quantity of chlorophyll a, besides the near infrared spectrum, the chlorophyll a has absorption peaks in the wavelength spectrum of 433nm-453nm, and the wavelength spectrum of 480nm-500nm, 510nm-530nm and 555nm-575nm is a high reflection area, so that the spectrum can be set for observing the offshore areas.
Further, in the internet of things load, the monitoring satellite constellation subsystem internet of things terminal and the sea buoy in the scheme of the satellite internet of things based on the loRa are both made of the loRa modulation technology, and the adaptive reconstruction is carried out according to the communication situation.
Table 5 internet of things communication system performance parameters
Project Index parameter
Operating frequency 470-510MHz
Operating bandwidth 500kHz
Spreading factor 9
Coding efficiency 4/5
Data rate (before/after encoding) 8789/7031
Reception sensitivity -122dBm
Signal to noise ratio of reception demodulation -12.5dB
Satellite-ground communication distance Greater than 2100km
Further, the load of the satellite-borne LoRa Internet of things comprises a memory, an MCU, a power module, a power amplifier/LNA module, a CAN communication interface, a 28V power supply interface and a UART data interface, wherein the LoRa module realizes the functions of data modulation and demodulation and ad hoc network; the memory realizes the function of storing the received data; the power amplifier/LNA is a bidirectional amplifier, can bear the functions of power amplification during transmitting and low-noise amplification during receiving, and the MCU realizes the functions of reading and writing data streams and configuring parameters of the LoRa module.
Further, the ocean monitoring buoy subsystem comprises a plurality of ocean buoys, the ocean buoys are arranged near the nuclear power station, the function of automatically detecting radioactive substances in seawater can be achieved, detection data are sent to the cube star through the Internet of things, and then the detection data are transmitted to the ground station through the cube star.
Further, the ocean buoy comprises a monitoring module, a positioning module, an internet of things module, a power module and a power module, wherein the monitoring module comprises a radiation detection unit and a mass spectrum detection unit, the radiation detection unit is used for automatically monitoring and detecting radioactive substances in a water body, the radiation detection unit is used for detecting the radiation dose of gamma rays, and the mass spectrum monitoring unit is mainly used for detecting radioactive particles in the ocean; the positioning module is provided with a global positioning system and is used for acquiring real-time position information of the buoy; the internet of things module is provided with an internet of things load antenna system, can communicate with the monitoring satellite constellation subsystem, and sends water quality information detected by the buoy to the monitoring satellite constellation subsystem; the power module comprises a battery array and a battery, electric energy is provided for all equipment on the buoy, the buoy can change in position along with the movement of seawater, and the power module corrects the position of the buoy according to the information of the positioning module.
Further, the main task of the ground data processing subsystem is to measure and control the satellite constellation system, and the method for receiving and processing the data by the ground data processing subsystem comprises the following steps:
step one, receiving greenhouse gas remote sensing images, ocean blue algae remote sensing images and buoy detection data transmitted back by satellites;
Step two, preprocessing the data, including noise reduction, fitting and interpolation, and also including removing data wild values, specific noise and interference;
step three, post-processing is carried out on the data, wherein the post-processing comprises image processing, signal processing, multi-information fusion and state optimal estimation;
and fourthly, forming real-time daily concentration estimation of the regional and global greenhouse gases, real-time daily concentration estimation of the regional and global marine radioactive substances, long-period statistical analysis of the regional and global greenhouse gas concentrations, and long-period statistical analysis of the regional and global marine radioactive substances.
Furthermore, the space-earth integrated environment-friendly monitoring system based on the constellation of the cubic star mainly has three operation modes:
1) Global census mode
During daily operation, the system is in a global screening mode, in the global screening mode, the cubic star seat subsystem operates on a preset track, and the cubic star carries out bottom-of-the-sky rail passing scanning by controlling remote sensing load through side sway, so that the global is monitored in a mode of maximum ground coverage; the ocean monitoring buoy subsystem collects data of a corresponding water area and uploads the data to the cubic star seat subsystem through the Internet of things; the ground data processing subsystem is used for collecting remote sensing data of each orbit of the overhead satellite and marine monitoring buoy subsystem data and generating a global greenhouse gas concentration distribution map, a global marine radioactive substance content distribution map and other finished advanced data;
2) Area detail mode
When carbon investigation is required to be carried out on a specific country or region or the sea area near a certain hidden danger nuclear power station is particularly monitored, a system operation region investigation mode is adopted, in the region investigation mode, a cube star seat subsystem operates on a preset track, a cube star autonomously plans a region scanning gesture sequence, gesture control is carried out, the specific region is subjected to investigation, the longest time monitoring of a target region in a reentry period is realized, and specifically, firstly, cube star scanning gesture sequence planning is carried out on the target region; then the ground station annotates relevant attitude instructions to the satellite; the ocean monitoring buoy subsystem in the corresponding area collects water area data and then uploads the data to the satellite; the ground data processing subsystem is used for collecting remote sensing data and buoy data of each orbit of the overhead satellite and generating a greenhouse gas concentration distribution map of a target area, an ocean radioactive substance content distribution map of the area and carbon emission estimation data in a specific time interval;
3) Emergency response mode
When the volcanic eruption, forest fire and explosion accidents occur in a certain area or the nuclear sewage of a nuclear power station in the sea is leaked, the ground data processing subsystem is used for manually triggering or an emergency response mode of the automatic triggering system is used for alarming through the buoy detection value of the corresponding area, in the emergency response mode, a cube star constellation operates on a preset track, the cube star performs staring observation on the hot spot area through gesture control, the longest time monitoring of the hot spot area in a reentry period is realized, and particularly, when the response to quicker buoy detects that the 37Cs content greatly exceeds the conventional value range or the continuous multi-day concentration value is increased, the corresponding alarm can be sent out; and then, the ground station uploads staring imaging instructions to the satellite or the satellite autonomously plans the area where the corresponding buoy is located, and the ground data processing subsystem combines the collected remote sensing data of each orbit of the overhead satellite and the buoy data to generate a greenhouse gas concentration distribution map, a marine radioactive substance content distribution map, a greenhouse gas propagation prediction map and a marine radioactive substance propagation prediction map of the accident area.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (10)

1. The world integrated global environment-friendly monitoring system based on the cube star constellation comprises a monitoring satellite star seat subsystem, a marine monitoring buoy subsystem and a ground data processing subsystem, wherein the monitoring satellite constellation subsystem consists of 3 6u cube stars; the ocean monitoring buoy subsystem is arranged in the nearby sea area of all the global coastal nuclear power stations, can detect radioactive substances leaked into the sea water in real time, and sends detected data to the satellite seat subsystem, so that a real-time monitoring network facing the global nuclear power stations is formed; the ground data processing subsystem is mainly used for controlling satellite operation and receiving satellite data, and can acquire the monitoring data of the monitoring satellite seat subsystem on the atmosphere and the ocean and the monitoring data of the ocean monitoring buoy subsystem on the ocean, judge and position and early warn the environmental accident of nuclear leakage of the nuclear power station.
2. The space-earth integrated global environment-friendly monitoring system based on the constellation of the cubic satellites, which is disclosed in claim 1, is characterized in that the monitoring satellite seat subsystem consists of 3 non-coplanar cubic satellites, the cubic satellites adopt a rectangular body with the size of 6u and the configuration of an unfolding solar wing, and have the three-axis stable attitude control capability, the monitoring satellite constellation subsystem comprises a comprehensive information management module, an attitude control module, a power module and a data processing module, and the comprehensive information management module is responsible for the management and control of the on-orbit flight tasks of the cubic satellites and consists of a plurality of plug-in board type computer processing boards; the attitude control module is responsible for attitude control of the cube star and comprises 1 sun sensor, 2 star sensors, 3 reaction flywheels and 1 mechanical gyro; the power module is responsible for power management and power distribution of the cube star and comprises an expansion solar panel, a power management singlechip and a storage battery, wherein the storage battery adopts a multifunctional lithium battery structure form integrally designed with the side cabin plate, so that the space in the star is effectively increased; the data processing and transmitting module is in charge of preprocessing ground image information acquired by the camera load and receiving real-time monitoring data sent by the sea surface buoy.
3. The system for monitoring global environment protection integrated world based on the constellation of the cubic satellites according to claim 2, wherein the effective load of the cubic satellites of the satellite base subsystem is monitored and comprises a visible light infrared integrated multispectral camera and an internet of things load, the multispectral camera can detect the spectral information of a target, acquire continuous and narrow-band image data with high spectral resolution, and can monitor the growth conditions of marine organisms such as marine algae, the change of seawater color and the CO in the atmosphere 2 Absorption of a particular spectrum; the internet of things load terminal is an ultra-long distance wireless transmission scheme based on a spread spectrum technology, and is divided into an on-board part and a sea surface buoy part, wherein the on-board part of the internet of things load terminal collects radioactive substance detection data and buoy coordinates sent by the buoy on the sea surface.
4. The system for monitoring the environmental protection of the world based on the constellation of cubic stars according to claim 3, wherein the growth conditions and the seawater color change of marine organisms such as algae mainly mean that the marine algae have great influence on the seawater color, including diatom, green algae, blue algae, red algae and brown algae, when nuclear pollution radioactive substances enter the ocean, the enriched nuclides cause diseases and death of the marine organisms due to internal irradiation or external irradiation, and the eutrophication of the seawater is caused, meanwhile, as the nuclear radiation resistance of most of the blue algae is stronger, the diatom, the green algae and the red algae are relatively weaker, the eutrophication seawater enables the blue algae to be greatly propagated, the blue algae belongs to prokaryotes, the chlorophyll is enriched, the chlorophyll in the ocean can reach about 1.5-2 times of the original level, the color of the ocean water body is caused to be changed, and strong absorption occurs in a blue-green band, and strong scattering occurs in a red band, so that the characteristic brown color is presented, and the ocean radiation can be indirectly observed by adopting a multi-nuclear optical channel to realize the spectral monitoring of the radiation distribution of the ocean radiation.
5. The world-wide integrated global environment-friendly monitoring system based on the cube star constellation according to claim 3, wherein in the internet of things load, the monitoring satellite constellation subsystem internet of things terminal and the sea buoy in the loRa-based satellite internet of things scheme all adopt the loRa modulation technology and are adapted according to the communication scene.
6. The world-wide integrated global environment-friendly monitoring system based on the constellation of the cube star as claimed in claim 5, wherein the load of the spaceborne LoRa thing networking comprises a memory, an MCU, a power module, a power amplifier/LNA module, a CAN communication interface, a 28V power supply interface and a UART data interface, and the LoRa module realizes the functions of data modulation and demodulation and ad hoc networking; the memory realizes the function of storing the received data; the power amplifier/LNA is a bidirectional amplifier, can bear the functions of power amplification during transmitting and low-noise amplification during receiving, and the MCU realizes the functions of reading and writing data streams and configuring parameters of the LoRa module.
7. The world-wide integrated global environmental protection monitoring system based on a constellation of cubic satellites according to any one of claims 1-6, wherein the ocean monitoring buoy subsystem comprises a plurality of ocean buoys, each ocean buoy is arranged near a nuclear power plant and can automatically detect the function of radioactive substances in seawater, and the detection data is sent to the cubic satellites through the internet of things and then transmitted to a ground station by the cubic satellites.
8. The world-wide integrated global environment-friendly monitoring system based on a constellation of cubic satellites according to claim 7, wherein the ocean buoy comprises a monitoring module, a positioning module, an internet of things module, a power module and a power module, the monitoring module comprises a radiation detection unit and a mass spectrum detection unit, the radiation detection unit is used for automatically monitoring and detecting radioactive substances in a water body, the radiation detection unit is used for detecting radiation dose of gamma rays, and the mass spectrum monitoring unit is mainly used for detecting radioactive particles in the ocean; the positioning module is provided with a global positioning system and is used for acquiring real-time position information of the buoy; the internet of things module is provided with an internet of things load antenna system, can communicate with the monitoring satellite constellation subsystem, and sends water quality information detected by the buoy to the monitoring satellite constellation subsystem; the power module comprises a battery array and a battery, electric energy is provided for all equipment on the buoy, the buoy can change in position along with the movement of seawater, and the power module corrects the position of the buoy according to the information of the positioning module.
9. The system for global environmental protection monitoring based on the constellation of cubic satellites according to any one of claims 1 to 7, wherein the main task of the ground data processing subsystem is to measure and control the constellation of cubic satellites, and the method for receiving and processing data by the ground data processing subsystem comprises the following steps:
Step one, receiving greenhouse gas remote sensing images, ocean blue algae remote sensing images and buoy detection data transmitted back by satellites;
step two, preprocessing the data, including noise reduction, fitting and interpolation, and also including removing data wild values, specific noise and interference;
step three, post-processing is carried out on the data, wherein the post-processing comprises image processing, signal processing, multi-information fusion and state optimal estimation;
and fourthly, forming real-time daily concentration estimation of the regional and global greenhouse gases, real-time daily concentration estimation of the regional and global marine radioactive substances, long-period statistical analysis of the regional and global greenhouse gas concentrations, and long-period statistical analysis of the regional and global marine radioactive substances.
10. The world integrated global environmental protection monitoring system based on the constellation of the cubic star according to any one of claims 1-9, wherein the world integrated environmental protection monitoring system based on the constellation of the cubic star mainly has three operation modes:
1) Global census mode
During daily operation, the system is in a global screening mode, in the global screening mode, the cubic star seat subsystem operates on a preset track, and the cubic star carries out bottom-of-the-sky rail passing scanning by controlling remote sensing load through side sway, so that the global is monitored in a mode of maximum ground coverage; the ocean monitoring buoy subsystem collects data of a corresponding water area and uploads the data to the cubic star seat subsystem through the Internet of things; the ground data processing subsystem is used for collecting remote sensing data of each orbit of the overhead satellite and marine monitoring buoy subsystem data and generating a global greenhouse gas concentration distribution map, a global marine radioactive substance content distribution map and other finished advanced data;
2) Area detail mode
When carbon investigation is required to be carried out on a specific country or region or the sea area near a certain hidden danger nuclear power station is particularly monitored, a system operation region investigation mode is adopted, in the region investigation mode, a cube star seat subsystem operates on a preset track, a cube star autonomously plans a region scanning gesture sequence, gesture control is carried out, the specific region is subjected to investigation, the longest time monitoring of a target region in a reentry period is realized, and specifically, firstly, cube star scanning gesture sequence planning is carried out on the target region; then the ground station annotates relevant attitude instructions to the satellite; the ocean monitoring buoy subsystem in the corresponding area collects water area data and then uploads the data to the satellite; the ground data processing subsystem is used for collecting remote sensing data and buoy data of each orbit of the overhead satellite and generating a greenhouse gas concentration distribution map of a target area, an ocean radioactive substance content distribution map of the area and carbon emission estimation data in a specific time interval;
3) Emergency response mode
When the volcanic eruption, forest fire and explosion accidents occur in a certain area or the nuclear sewage of a nuclear power station in the sea is leaked, the ground data processing subsystem is used for manually triggering or an emergency response mode of the automatic triggering system is used for alarming through the buoy detection value of the corresponding area, in the emergency response mode, a cube star constellation operates on a preset track, the cube star performs staring observation on the hot spot area through gesture control, the longest time monitoring of the hot spot area in a reentry period is realized, and particularly, when the response to quicker buoy detects that the 37Cs content greatly exceeds the conventional value range or the continuous multi-day concentration value is increased, the corresponding alarm can be sent out; and then, the ground station uploads staring imaging instructions to the satellite or the satellite autonomously plans the area where the corresponding buoy is located, and the ground data processing subsystem combines the collected remote sensing data of each orbit of the overhead satellite and the buoy data to generate a greenhouse gas concentration distribution map, a marine radioactive substance content distribution map, a greenhouse gas propagation prediction map and a marine radioactive substance propagation prediction map of the accident area.
CN202310212261.9A 2023-03-07 2023-03-07 World integration global environmental protection monitoring system based on cube star constellation Pending CN116399816A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117669126A (en) * 2023-10-11 2024-03-08 宁波麦思捷科技有限公司武汉分公司 Large-scale buoy networking method and system for marine environment research
CN117647243B (en) * 2024-01-30 2024-04-16 山东星辰卫星技术有限公司 Gaze monitoring method and system based on 6U cube star

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117669126A (en) * 2023-10-11 2024-03-08 宁波麦思捷科技有限公司武汉分公司 Large-scale buoy networking method and system for marine environment research
CN117647243B (en) * 2024-01-30 2024-04-16 山东星辰卫星技术有限公司 Gaze monitoring method and system based on 6U cube star

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