CN116882142B - Method, equipment and medium for earth observation multi-level planning strategy based on loose coupling - Google Patents
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Abstract
The invention relates to a loose coupling-based earth observation multi-level planning strategy method, equipment and a storage medium, wherein the loose coupling-based earth observation multi-level planning strategy method comprises the following steps: s1, acquiring and analyzing comprehensive requirements; step S2, combining basic function positioning and characteristics of satellite systems of different orbit types to complete task decomposition and planning; and step S3, integrating and outputting a global multi-system and multi-level task planning scheme according to the task planning of each satellite system. The invention can independently plan the related tasks of each link from the ground and the satellite respectively, and forms a freely combinable multi-level planning scheme so as to realize the rapid response to the emergency and the full utilization of the satellite resources.
Description
Technical Field
The invention relates to the technical field of satellite earth observation task planning methods, in particular to an earth observation multi-level planning strategy method, equipment and medium based on loose coupling.
Background
With the development of autonomous satellite system technology, satellite autonomous management, online decision and inter-satellite cooperation are required to be higher and higher, the use flexibility of satellites is higher and higher, the novel autonomous satellite efficiency cannot be fully exerted simply by means of ground management, and quick response of high-timeliness tasks is difficult to realize. And the autonomous satellite planning mode realizes autonomous guidance, online decision and autonomous cooperation of the on-board tasks according to the real-time state information and the earth observation result, and forms a closed loop of observation and online planning. Therefore, how to implement an efficient autonomous multi-level star-ground collaborative task planning strategy becomes a problem to be solved.
For traditional global centralized ground task planning, no matter the satellite measurement and control, observation or data transmission tasks are planned which are not executed, the functions of dynamically planning satellite and ground station network resources and updating satellite plans in real time can not be achieved. And special tasks such as emergency planning, quick response planning and the like require to be planned on the fly at any time, and the newly added satellite system also needs to be integrated with the existing scheme and realize quick iteration of the observation scheme. Only through the ground global mission planning, the problem of too strong coupling of planning flows is often faced, and the satellite mission planning is difficult to quickly update in combination with new mission requirements.
The genetic algorithm is a meta-heuristic algorithm with better global searching capability, and can quickly search out a better solution in a solution space by a cross mutation method instead of finally falling into a certain local optimal solution like the traditional algorithm. Furthermore, genetic algorithms often have inherent parallelism, which can be used for single-node parallel computation or distributed computation, thereby enabling faster acquisition of an optimization scheme. However, the genetic algorithm does not perform well in the process of local search, if the genetic algorithm is independently applied, the time consumption is gradually and rapidly increased in the process of searching the optimal solution, and the searching efficiency is difficult to improve in the later period of evolution.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention aims to provide a loose coupling-based earth observation multi-level planning strategy method, equipment and storage medium, which are used for establishing an autonomous imaging planning model of a satellite based on the characteristics of an improved genetic algorithm, and can perform autonomous updating task planning according to the characteristics of various processes such as measurement and control, imaging and data transmission in task planning and the like and the decoupled core process.
In order to achieve the above object, the present invention provides a method for observing a multi-level planning strategy to earth based on loose coupling, comprising the following steps:
s1, acquiring and analyzing comprehensive requirements;
step S2, combining basic function positioning and characteristics of satellite systems of different orbit types to complete task decomposition and planning;
and step S3, integrating and outputting a global multi-system and multi-level task planning scheme according to the task planning of each satellite system.
According to an aspect of the present invention, in the step S2, it includes:
and decomposing the global task demands to multiple satellite systems, and generating corresponding task planning input for any satellite system to obtain a corresponding scheme.
According to one aspect of the present invention, in the step S2, the method specifically includes:
s21, performing ground global measurement and control task planning on any type of satellite system based on measurement and control rate, number of measurement and control antennas, coverage area of the measurement and control antennas and multiple measurement and control constraints of the load of the measurement and control antennas, and outputting a measurement and control scheme;
s22, performing ground global imaging task planning on a satellite system such as a person based on imaging resolution, a visible window, an instantaneous field of view and multiple types of imaging constraints of gesture movement capability, and combining factors of the target on the frequency of requirements of different observation loads to output an observation scheme;
step S23, planning an autonomous task on a planet for any satellite based on satellite gestures, energy and storage, and outputting a target observation time sequence and a gesture maneuvering scheme;
and step S24, carrying out ground global data transmission task planning on any type of satellite system based on the data transmission rate, the number of data transmission antennas, the coverage area of the data transmission antennas, the transmission data quantity and the multi-type data transmission constraint of the data transmission antenna load, and outputting a data transmission scheme.
According to an aspect of the present invention, in the step S21, the method specifically includes:
step S211, completing measurement and control visible calculation of a satellite on a certain point on the earth surface;
step S212, the maximum available antenna number of a single ground station at the same time and the occupation condition of each antenna are considered, and antenna constraint calculation is completed.
According to an aspect of the present invention, in the step S22, the method specifically includes:
step S221, completing imaging visible window calculation, wherein the imaging visible window calculation comprises geometric visible calculation and solar altitude angle calculation, the geometric visible calculation comprises view cone angle calculation and elevation angle calculation,
respectively calculating time windows of a solar altitude angle, a view cone angle and an elevation angle, and taking the intersection of the three time windows to obtain an imaging visible window of a satellite point-to-point target;
step S222, completing constraint calculation of imaging resolution, wherein the imaging resolution changes along with attitude maneuver of the satellite and is positively related to the distance between the satellite and an observation target;
and S223, completing constraint calculation of the target observation frequency.
According to an aspect of the present invention, in the step S23, the method specifically includes:
step S231, completing attitude maneuver constraint calculation, wherein the attitude maneuver constraint refers to that all observation targets in a task set are required to be in a central view field range, and load parameters related to the attitude maneuver constraint comprise view field half angle capacity and attitude maneuver capacity;
step S232, energy constraint calculation is completed;
step S233, completing storage constraint calculation;
step S234, optimizing and sequencing the meta-tasks from the angles of the observation time, resolution and the observation path.
According to an embodiment of the present invention, in step S234, an improved genetic algorithm is adopted to perform meta-task arrangement, and the optimization target is the total attitude maneuver duration or the total path length of the satellite, which specifically includes:
step S234a, executing a population initialization process, setting a genetic iteration value tp=0, setting a population maximum genetic iteration number dmax=200, and randomly generating w=100 initial individuals as a primary population group (0);
step S234b, obtaining an initial preferred solution by adopting an improved circle method;
step S234c, calculating fitness of individuals in the population group pA (tP), wherein the fitness is defined as total attitude maneuver duration or total path length;
step S234d, reserving adaptive individuals in the population, and then carrying out direct genetic iteration on excellent individuals in the population or carrying out genetic iteration on new population individuals generated by cross pairing to obtain a population group pA' (tP);
step S234e, cross operation is carried out on the population to obtain a population group pB (tP);
step S234f, performing mutation operation on the population to obtain a population group pC (tP);
step S234g, after obtaining the selected, crossed and mutated populations, integrate the group pA' (tP), group pB (tP) and group pC (tP), obtain the next generation population group pA (tP+1), and execute the next iteration.
According to an embodiment of the present invention, in the step S24, the method specifically includes:
s241, finishing data transmission visible window calculation, wherein the data transmission visible window calculation comprises view cone angle calculation and elevation angle calculation, respectively calculating time windows of the view cone angle and the elevation angle, and taking intersection of the two time windows to obtain a data transmission visible window of a satellite point-to-point target;
step S242, completing the computation of the constraint of the data transmission antenna.
According to an aspect of the present invention, there is provided an electronic apparatus including: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, the one or more computer programs are stored in the memory, and when the electronic device is running, the processor executes the one or more computer programs stored in the memory to cause the electronic device to execute a loosely coupled earth-based multi-level planning strategy method according to any of the above technical solutions.
According to one aspect of the present invention, there is provided a computer readable storage medium storing computer instructions which, when executed by a processor, implement a method of observing a multi-level planning strategy over earth based on loose coupling as set forth in any one of the above technical solutions.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a method, equipment and a storage medium for a ground observation multi-level planning strategy based on loose coupling, which can carry out layering and classification on a multi-level hybrid satellite system according to basic function positioning and characteristics, decompose global task demands on multiple satellite systems and generate corresponding task planning scheme input for each satellite system; aiming at the characteristics of various processes such as measurement and control, imaging and data transmission, related tasks of each link are independently planned from the ground and the satellite, a freely combinable multi-level planning scheme is formed, and therefore quick response to emergencies and full utilization of satellite resources are achieved.
Furthermore, the invention adopts an improved genetic algorithm to carry out meta-task arrangement, the algorithm mainly carries out optimized sequencing on meta-tasks from the angles of observation time, resolution and observation paths, the Hamilton improved circle method is also applied in the description before the iteration of the improved genetic algorithm starts, and a better initial population is obtained through continuous selection of sub-circles (and sequence adjustment) calculation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 schematically illustrates a flow chart of a method for providing a loosely coupled earth-based observation multi-level planning strategy in accordance with one embodiment of the invention;
FIG. 2 schematically illustrates the view angle constraint computing principle in step S221 according to an embodiment of the present invention;
FIG. 3 schematically illustrates the principle of calculation of the elevation constraint in step S221 according to an embodiment of the present invention;
FIG. 4 schematically illustrates a principle of calculation of solar altitude constraint in step S221 according to an embodiment of the present invention;
FIG. 5 schematically illustrates a detailed flowchart of genetic algorithm meta-task placement in step S234 in accordance with one embodiment of the present invention;
fig. 6 schematically shows a specific flowchart of task decomposition and planning in step S2 according to an embodiment of the present invention.
Detailed Description
The description of the embodiments of this specification should be taken in conjunction with the accompanying drawings, which are a complete description of the embodiments. In the drawings, the shape or thickness of the embodiments may be enlarged and indicated simply or conveniently. Furthermore, portions of the structures in the drawings will be described in terms of separate descriptions, and it should be noted that elements not shown or described in the drawings are in a form known to those of ordinary skill in the art.
Any references to directions and orientations in the description of the embodiments herein are for convenience only and should not be construed as limiting the scope of the invention in any way. The following description of the preferred embodiments will refer to combinations of features, which may be present alone or in combination, and the invention is not particularly limited to the preferred embodiments. The scope of the invention is defined by the claims.
As shown in fig. 1 to 6, the method for observing a multi-level planning strategy based on loose coupling earth of the present invention comprises the following steps:
s1, acquiring and analyzing comprehensive requirements;
step S2, combining basic function positioning and characteristics of satellite systems of different orbit types to complete task decomposition and planning;
and step S3, integrating and outputting a global multi-system and multi-level task planning scheme according to the task planning of each satellite system.
In the step S3, the method specifically includes: and integrating a global multi-system and multi-level task planning scheme according to measurement and control, imaging, data transmission task planning and satellite autonomous task planning results of each satellite system. And data management is carried out on the global scheme from the dimensions of the task target, the observation satellite, the task time and the like, data input is provided for evaluating the multi-level satellite system capacity, and screening and sorting and the like can be carried out from the task target, the observation satellite and the task time dimension.
In one embodiment of the present invention, preferably, in the step S2, it includes:
and decomposing the global task demands to multiple satellite systems, and generating corresponding task planning input for any satellite system to obtain a corresponding scheme.
As shown in fig. 6, in one embodiment of the present invention, preferably, in the step S2, the method specifically includes:
s21, performing ground global measurement and control task planning on any type of satellite system based on measurement and control rate, number of measurement and control antennas, coverage area of the measurement and control antennas and multiple measurement and control constraints of the load of the measurement and control antennas, and outputting a measurement and control scheme;
s22, performing ground global imaging task planning on a satellite system such as a person based on imaging resolution, a visible window, an instantaneous field of view and multiple types of imaging constraints of gesture movement capability, and combining factors of the target on the frequency of requirements of different observation loads to output an observation scheme;
step S23, planning an autonomous task on a planet for any satellite based on satellite gestures, energy and storage, and outputting a target observation time sequence and a gesture maneuvering scheme;
and step S24, carrying out ground global data transmission task planning on any type of satellite system based on the data transmission rate, the number of data transmission antennas, the coverage area of the data transmission antennas, the transmission data quantity and the multi-type data transmission constraint of the data transmission antenna load, and outputting a data transmission scheme.
In one embodiment of the present invention, preferably, in the step S21, the method specifically includes:
step S211, calculating a measurement and control visible window. The satellite's measurement and control of a point on the earth's surface is a vector operation in nature. Wherein the measurement and control visible calculation comprises a view cone angle calculation and an elevation angle calculation. Respectively calculating time windows of the angle constraint, and obtaining visible windows of the satellite to a certain point by taking intersection of the time windows;
step S212, antenna constraint calculation. In the antenna constraint calculation process, the maximum available number of antennas of a single ground station at the same time and the occupation situation of each antenna need to be considered. By constraining the number of antennas available at the same time, satellites that are not simultaneously linkable can be eliminated; by constraining the occupation of each antenna, the measurement and control instruction window of the satellite can be arranged in a balanced way or as soon as possible.
In one embodiment of the present invention, preferably, in the step S22, the method specifically includes:
step S221, imaging visible window calculation. The principle of imaging visible window calculation is similar to that of measurement and control window calculation, and the imaging visible calculation can be divided into two types: geometric visible calculations and solar altitude calculations, wherein the geometric visible calculations include cone angle calculations and elevation angle calculations. Respectively calculating time windows of the angle constraint, and obtaining visible windows of the satellite point-to-point targets by taking intersection of the three time windows;
in the step S221, specifically, the method includes:
step S221a, view cone angle constraint calculation. The satellite performs earth observation through imaging load, and a cone field load is taken as an example to introduce a cone angle calculation method. The cone field load typically has a cone half angle, and this parameter is denoted as α c 。
As shown in fig. 2, r site Is the vector from the center to the ground point, r sat Is a vector from the earth center to the satellite, and is formed by r site And r sat The difference results in a ground point to satellite vector Δr:
△r＝r sat -r site
deltar and r sat Is recorded as beta c The constraint that the view cone angle can be derived from the geometric relationship is beta c <α c 。
The cosine value of the cone angle can be calculated by the following formula:
thus, the cone constraint problem translates into V 1 And the half angle cosine value of the viewing cone.
Step S221b, elevation constraint calculation. As shown in FIG. 3, the point O is the centroid, r site For a vector from the centroid to the ground point, OP is the straight line where the vector is located, AB is the projection of the ground point local horizontal plane on the two-dimensional view, and the straight line AB is tangent to the ellipse. r is (r) sat Is a vector from the earth center to the satellite, and is formed by r sat And r site The difference gives Deltar. r is (r) nadir The zenith vector, which is also the normal vector to the local horizontal plane, is perpendicular to the line AB.
Normalized r nadir Can be calculated by the following formula:
wherein lat g And lon g Geographic latitude of ground points respectivelyDegree and longitude.
The angle between Deltar and OP is denoted as alpha e If an earth sphere model is adopted, alpha is e The complementary angle of the ground point to the satellite elevation angle. Will Δr and r nadir Is recorded as beta e Which is the complementary angle of the elevation angle of the earth point to the satellite under the earth ellipsoid model and the elevation angle gamma of the earth point to the satellite e And the balance is mutually remained. It is easy to find that the elevation deviation of the two models is r nadir And r site Is included in the bearing.
β e Cosine value or elevation angle gamma e The sine value of (c) can be calculated by the following formula:
thus, the elevation constraint problem translates to V 2 Relation to the minimum visible elevation sine value.
Step S221c, calculating solar altitude angle constraint. When the satellite carries a visible light imaging load to observe the ground, the influence of illumination on imaging needs to be considered. As shown in FIG. 4, the point O is the centroid, r site For a vector from the centroid to the ground point, AB is the projection of the ground point local horizontal plane on the two-dimensional view, with the straight line AB tangent to the ellipse. r is (r) sun Is the vector from the center of the earth to the sun, and is represented by r sun And r site The difference gives Deltar. r is (r) nadir Is a zenith vector, also the normal vector to the local horizontal plane, perpendicular to the line AB, where r nadir The calculation formula of (1) is the same as that in the elevation model.
Will Δr and r nadir Is denoted as cc beta s Which is the complementary angle of the elevation angle of the earth point to the sun under the earth ellipsoid model, and the elevation angle gamma of the sun s And the balance is mutually remained.
β s Cosine value or solar altitude angle gamma s The sine value of (c) can be calculated by the following formula:
thus, the illumination constraint problem of visible imaging load is converted into V 3 Relationship to the sine of the minimum solar altitude.
Step S222, calculating the imaging resolution constraint. Satellites have a basic nominal imaging resolution sR, but satellite earth observation tasks are often accompanied by attitude maneuver adjustments. The resolution of real-time imaging will change as the satellite maneuvers in attitude, the specific change being positively correlated with the distance of the satellite from the observed target. If the orbit height of the satellite is H, the real-time distance between the target and the satellite is L, and the real-time imaging resolution sR_t is:
if the real-time imaging resolution of the satellite cannot meet the observation requirement of the task target, the observation plan needs to be abandoned;
and S223, calculating the constraint of the target observation frequency. In the satellite earth observation task of the present description, the frequency requirement for observing the target may be single or multiple times, and the frequency requirement for observing different targets may also be different. If the target has no observation frequency requirement, the requirement is defaulted to be single observation. Assume that the observed frequency requirement corresponding to the current target is Pcf i The number of observations that have been completed before is Pf i The observation frequency constraint of the observation task needs to satisfy the following formula:
wherein n is the number of targets in the task, and if the current target is successfully observed, pf i ＝Pf i +1, otherwise Pf i Is unchanged.
In one embodiment of the present invention, preferably, in the step S23, the method specifically includes:
and step S231, calculating attitude maneuver constraint. Pose maneuver constraints refer to: the observed objects in the task set need to be within the central field of view, i.e. the imaging swath needs to cover all objects in the task set.
The load parameters involved in the attitude maneuver constraints include the field half angle capability and the attitude maneuver capability. After the visible window calculation, the attitude attribute of the satellite to the target needs to be calculated. The attitude maneuver constraint can be obtained by the following formula through the field half angle size of the load and the attitude attribute of the satellite to the observation target:
wherein, roll is m Roll angle attribute, the center of the field of view i Pitch is the roll angle attribute of the current target m Pitch, the pitch attribute at the center of the field of view i For pitch angle attribute of current target, ha v For the half angle capability of the field of view of satellite load in the direction perpendicular to the track of the point below the satellite, ha h The method is characterized in that the method is the field half angle capacity of satellite load in the direction parallel to the track of the satellite point, and n is the number of observation targets in the task set.
If the satellite does not have pitching capability, attitude maneuver constraints can be obtained by:
and step S232, energy constraint calculation. Satellites typically have a single turn of cumulative on-time wt_sum and a single maximum on-time wst _max limit. Therefore, the real-time energy conditions of the satellites need to be considered when scheduling the tasks of the satellites. The entry into the observation scheme may be arranged if the current task duration wst _cur meets the following condition:
wherein, wt_dis is the currently allocated observation time length;
step S233, storing constraint calculation. Satellites typically have a limit on the single turn cumulative imaging data amount imd _sum and the single maximum imaging data amount ims_max. Therefore, in compiling the satellite tasks, the real-time storage condition of the satellite needs to be considered. The entry into the observation scheme may be arranged if the current task data volume ims_cur satisfies the following condition:
wherein imd _dis is the storage space currently occupied by the satellite;
step S234, satellite auto-mission scheduling. The description adopts an improved genetic algorithm to carry out meta-task arrangement, and the algorithm mainly carries out optimized sorting on meta-tasks from the angles of observation time, resolution and observation paths.
The optimization objective of the genetic algorithm of the present description is the attitude maneuver total length or path total length of the satellite. Under this optimization objective, modeling of meta-task placement is similar to the traveler problem. The present description also applies the Hamilton modified circle method to calculate a better initial population by continuously selecting sub-circles (and adjusting the order) before the iterative algorithm of the genetic algorithm begins. As shown in fig. 5, the basic flow based on the genetic algorithm designed in the present description is as follows:
step S234a, executing a population initialization process, setting a genetic iteration value tp=0, setting a population maximum genetic iteration number dmax=200, and randomly generating w=100 initial individuals as a primary population group (0);
step S234b, obtaining an initial superior solution by adopting an improved circle method, obtaining a better result with fewer genetic iteration times, and reducing the time cost of program operation;
step S234c, calculating fitness of individuals in the population group pA (tP), wherein the fitness is defined as total attitude maneuver duration or total path length;
step S234d, retaining the adaptive individuals in the population, and then carrying out direct genetic iteration on the excellent individuals in the population or carrying out genetic iteration on the individuals in the new population generated by cross pairing to obtain the population group pA' (tP). The operation is based on an fitness evaluation function, and the random traversal sampling method is used for regeneration selection, and in addition, the proportion fitness and the local regeneration method are adopted;
step S234e, cross-manipulating the population to obtain the population group pB (tP), which is also the core step in the genetic algorithm. This step is performed by replacing and recombining part of the genes of individuals in the parent population, thereby generating a new population of individuals. The random gene demarcation point dividing method is adopted for cross operation, and the part which is possibly in conflict after the exchange is resolved, so that the searching capability of the algorithm can be improved by the operation in one step;
and step S234f, performing mutation operation on the population to obtain a population group pC (tP). This is done by setting the mutation rate, which is typically set to a small percentage, e.g., 8%, and a plurality of random genetic locus mutations. The mutation operation of the genetic algorithm can bring two improvements to solution set: firstly, the local random searching capability of an algorithm is improved, and when the genetic algorithm is iterated to the neighborhood of the optimal solution through cross operation, the solution set can be converged to the optimal solution more quickly through mutation operation; secondly, the diversity of the population is maintained, and the premature phenomenon of the population can be avoided to a certain extent;
step S234g, after obtaining the selected, crossed and mutated populations, integrate the group pA' (tP), group pB (tP) and group pC (tP), obtain the next generation population group pA (tP+1), and execute the next iteration.
In one embodiment of the present invention, preferably, in step S24, the method specifically includes:
s241, finishing data transmission visible window calculation, wherein the data transmission visible window calculation comprises view cone angle calculation and elevation angle calculation, respectively calculating time windows of the view cone angle and the elevation angle, and taking intersection of the two time windows to obtain a data transmission visible window of a satellite point-to-point target;
step S242, data transmission antenna constraint calculation. In the antenna constraint calculation process, the maximum available number of antennas of a single ground station at the same time and the occupation situation of each antenna need to be considered. The data transmission antenna takes the transmission data quantity and the transmission rate into consideration, calculates the time consumption of the antenna occupied by the transmission of each task, and can exclude satellites which cannot be linked at the same time by restraining the number of the available antennas at the same time; by constraining the occupancy of each antenna, the satellite's data transmission window can be arranged evenly or as soon as possible.
According to an aspect of the present invention, there is provided an electronic apparatus including: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, the one or more computer programs being stored in the memory, the processor executing the one or more computer programs stored in the memory when the electronic device is running, to cause the electronic device to perform a loosely coupled earth-based multi-level planning strategy method as in any of the above claims.
According to an aspect of the present invention, there is provided a computer readable storage medium storing computer instructions which, when executed by a processor, implement a method of observing a multi-level planning strategy over earth based on loose coupling as in any of the above technical solutions.
The invention discloses a loose coupling-based earth observation multi-level planning strategy method, equipment and a storage medium, wherein the loose coupling-based earth observation multi-level planning strategy method comprises the following steps: s1, acquiring and analyzing comprehensive requirements; step S2, combining basic function positioning and characteristics of satellite systems of different orbit types to complete task decomposition and planning; step S3, integrating and outputting a global multi-system and multi-level task planning scheme according to the task planning of each satellite system; for a multi-level hybrid satellite system, layering and classifying can be carried out according to basic function positioning and characteristics, global task demands are decomposed on the multi-class satellite system, and corresponding task planning scheme input is generated for each class of satellite system; aiming at the characteristics of various processes such as measurement and control, imaging and data transmission, related tasks of each link are independently planned from the ground and the satellite, a freely combinable multi-level planning scheme is formed, and therefore quick response to emergencies and full utilization of satellite resources are achieved.
Furthermore, the invention adopts an improved genetic algorithm to carry out meta-task arrangement, the algorithm mainly carries out optimized sequencing on meta-tasks from the angles of observation time, resolution and observation paths, the Hamilton improved circle method is also applied in the description before the iteration of the improved genetic algorithm starts, and a better initial population is obtained through continuous selection of sub-circles (and sequence adjustment) calculation.
Furthermore, it should be noted that the present invention can be provided as a method, an apparatus, or a computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
It is finally pointed out that the above description of the preferred embodiments of the invention, it being understood that although preferred embodiments of the invention have been described, it will be obvious to those skilled in the art that, once the basic inventive concepts of the invention are known, several modifications and adaptations can be made without departing from the principles of the invention, and these modifications and adaptations are intended to be within the scope of the invention. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Claims (7)
1. The earth observation multi-level planning strategy method based on loose coupling is characterized by comprising the following steps of:
s1, acquiring and analyzing comprehensive requirements;
step S2, combining basic function positioning and characteristics of satellite systems of different orbit types to complete task decomposition and planning;
step S3, integrating and outputting a global multi-system and multi-level task planning scheme according to the task planning of each satellite system;
in the step S2, specifically, the method includes:
s21, performing ground global measurement and control task planning on any type of satellite system based on measurement and control rate, number of measurement and control antennas, coverage area of the measurement and control antennas and multiple measurement and control constraints of the load of the measurement and control antennas, and outputting a measurement and control scheme;
s22, performing ground global imaging task planning on a satellite system such as a person based on imaging resolution, a visible window, an instantaneous field of view and multiple types of imaging constraints of gesture movement capability, and combining factors of the target on the frequency of requirements of different observation loads to output an observation scheme;
step S23, planning an autonomous task on a planet for any satellite based on satellite gestures, energy and storage, and outputting a target observation time sequence and a gesture maneuvering scheme;
step S24, carrying out ground global data transmission task planning on any type of satellite system based on the data transmission rate, the number of data transmission antennas, the coverage area of the data transmission antennas, the transmission data quantity and the multi-type data transmission constraint of the data transmission antenna load, and outputting a data transmission scheme;
in the step S23, specifically, the method includes:
step S231, completing attitude maneuver constraint calculation, wherein the attitude maneuver constraint refers to that all observation targets in a task set are required to be in a central view field range, and load parameters related to the attitude maneuver constraint comprise view field half angle capacity and attitude maneuver capacity;
step S232, energy constraint calculation is completed;
step S233, completing storage constraint calculation;
step S234, optimizing and sequencing meta-tasks from the angles of observation time, resolution and observation paths;
in step S234, an improved genetic algorithm is adopted to perform meta-task arrangement, and the optimization target is the total attitude maneuver duration or the total path length of the satellite, which specifically includes:
step S234a, executing a population initialization process, setting a genetic iteration value tp=0, setting a population maximum genetic iteration number dmax=200, and randomly generating w=100 initial individuals as a primary population group (0);
step S234b, obtaining an initial preferred solution by adopting an improved circle method;
step S234c, calculating fitness of individuals in the population group pA (tP), wherein the fitness is defined as total attitude maneuver duration or total path length;
step S234d, reserving adaptive individuals in the population, and then carrying out direct genetic iteration on excellent individuals in the population or carrying out genetic iteration on new population individuals generated by cross pairing to obtain a population group pA' (tP);
step S234e, cross operation is carried out on the population to obtain a population group pB (tP);
step S234f, performing mutation operation on the population to obtain a population group pC (tP);
step S234g, after obtaining the selected, crossed and mutated populations, integrate the group pA' (tP), group pB (tP) and group pC (tP), obtain the next generation population group pA (tP+1), and execute the next iteration.
2. The loose coupling based earth observation multi-level planning strategy method according to claim 1, characterized in that in said step S2, it comprises:
and decomposing the global task demands to multiple satellite systems, and generating corresponding task planning input for any satellite system to obtain a corresponding scheme.
3. The method of a loose coupling based earth observation multi-level planning strategy according to claim 1, characterized in that in said step S21, it specifically comprises:
step S211, completing measurement and control visible calculation of a satellite on a certain point on the earth surface;
step S212, the maximum available antenna number of a single ground station at the same time and the occupation condition of each antenna are considered, and antenna constraint calculation is completed.
4. The method of a loose coupling based earth observation multi-level planning strategy according to claim 1, characterized in that in said step S22, it specifically comprises:
step S221, completing imaging visible window calculation, wherein the imaging visible window calculation comprises geometric visible calculation and solar altitude angle calculation, the geometric visible calculation comprises view cone angle calculation and elevation angle calculation,
respectively calculating time windows of a solar altitude angle, a view cone angle and an elevation angle, and taking the intersection of the three time windows to obtain an imaging visible window of a satellite point-to-point target;
step S222, completing constraint calculation of imaging resolution, wherein the imaging resolution changes along with attitude maneuver of the satellite and is positively related to the distance between the satellite and an observation target;
and S223, completing constraint calculation of the target observation frequency.
5. The method of a loose coupling based earth observation multi-level planning strategy according to claim 1, wherein in step S24, specifically comprising:
s241, finishing data transmission visible window calculation, wherein the data transmission visible window calculation comprises view cone angle calculation and elevation angle calculation, respectively calculating time windows of the view cone angle and the elevation angle, and taking intersection of the two time windows to obtain a data transmission visible window of a satellite point-to-point target;
step S242, completing the computation of the constraint of the data transmission antenna.
6. An electronic device, comprising: one or more processors, one or more memories, and one or more computer programs; wherein the processor is connected to the memory, the one or more computer programs being stored in the memory, the processor executing the one or more computer programs stored in the memory when the electronic device is running, to cause the electronic device to perform the loose coupling based earth observation multi-level planning strategy method of any of claims 1 to 5.
7. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the loosely coupled earth-based observed multi-level planning strategy method of any of claims 1 to 5.
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