CN117318798A - Unmanned active communication scheduling method and system based on satellite - Google Patents
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Abstract
The application discloses a satellite-based unmanned active communication scheduling method and system. Comprising the following steps: a first satellite which is in communication connection with the unmanned vehicle currently acquires navigation information of the unmanned vehicle; the first satellite determines a plurality of driving nodes on the driving path and node time corresponding to the driving nodes according to the navigation information; determining a second satellite covering the corresponding driving node at the node time by the first satellite according to the ephemeris information of the plurality of satellites; the first satellite determines a third satellite which sequentially establishes communication connection with the unmanned vehicle on a driving path from the second satellite, generates corresponding communication scheduling information and sends the communication scheduling information to the unmanned vehicle; and the unmanned vehicle actively establishes communication connection with the third satellite at the driving node in sequence according to the communication scheduling information in the driving process of the driving path. Thereby achieving the technical effect of ensuring the safety and smoothness of the running process of the unmanned vehicle.
Description
Technical Field
The application relates to the technical fields of unmanned and satellite communication, in particular to an unmanned active communication scheduling method and system based on satellites.
Background
With the continuous development of unmanned technologies, lightweight unmanned technologies are continuously developed. The lightweight unmanned technology refers to that an unmanned vehicle communicates with a cloud server or an edge server which is close to the cloud server through low-delay communication, so that image videos and various sensor data are transmitted to the cloud server or the edge server. And then the cloud server or the edge server transmits an instruction to the unmanned vehicle in real time according to the received image video and the sensor data so as to control the running of the unmanned vehicle.
With the continuous development of satellite constellation technology, satellite constellations are also gradually applied to unmanned vehicles. The satellite constellation has the advantages of wide coverage, no need of installing sensors or base stations on roads, and the like, so that the satellite constellation inevitably plays an increasing role in unmanned technology.
In the unmanned system based on satellite constellation, because different satellite coverage areas are different, and a plurality of satellites in the same area can overlap in some cases, the unmanned vehicle needs to determine which satellite to communicate with at different positions on a path during running. In order to ensure that the unmanned vehicle can smoothly communicate with the satellite of the satellite constellation, and further because the unmanned vehicle is in lightweight arrangement and cannot bear more calculation tasks, the unmanned vehicle needs to schedule and plan the satellite communication in advance under the condition of reducing the calculation amount as much as possible, so that the safety and smoothness of the running process of the unmanned vehicle are ensured.
The publication number is CN116367308A, and the name is a method and device for determining a terminal data transmission mode and electronic equipment. Wherein the method comprises the following steps: under the condition that the terminal initiates a first service request, the terminal determines whether the satellite wave beam is in an overlapped coverage area according to the position information and the signal measurement information; under the condition that satellite beams are in an overlapping coverage area, a first proxy module corresponding to the terminal and a second proxy module corresponding to the server end are connected in a double-link mode; determining a data transmission mode of the double-link connection according to the service attribute and the channel link quality; the first proxy module sends the data packet to be transmitted to the second proxy module in a data transmission mode.
The publication number is CN115276765A, and the name is an ATDM satellite communication scheduling method facing to service priority. According to the system model, the service priority, the user priority and the system throughput are simultaneously considered, an objective function is established, constraint conditions are determined, and an improved ant colony algorithm is provided for solving the model.
Disclosure of Invention
The embodiment of the disclosure provides a satellite-based unmanned active communication scheduling method and system, which enable an unmanned vehicle to schedule and plan satellite communication in advance under the condition of reducing calculation amount as much as possible in the running process of the unmanned vehicle, and ensure the safety and smoothness of the running process of the unmanned vehicle.
According to one aspect of an embodiment of the present disclosure, there is provided a satellite-based unmanned active communication scheduling method, including: a first satellite which is in communication connection with the unmanned vehicle at present acquires navigation information of the unmanned vehicle, wherein the navigation information comprises a driving path of the unmanned vehicle; the first satellite determines a plurality of driving nodes on a driving path and node time corresponding to the driving nodes according to the navigation information, wherein the node time indicates the time of the unmanned vehicle reaching the driving nodes; determining a second satellite covering the corresponding driving node at the node time by the first satellite according to the ephemeris information of the plurality of satellites; the first satellite determines a third satellite which sequentially establishes communication connection with the unmanned vehicle on a driving path from the second satellite, generates corresponding communication scheduling information and sends the communication scheduling information to the unmanned vehicle; and the unmanned vehicle actively establishes communication connection with the third satellite at the driving node in sequence according to the communication scheduling information in the driving process of the driving path.
According to another aspect of an embodiment of the present disclosure, there is also provided a satellite-based unmanned active communication dispatch system, including a satellite constellation and an unmanned vehicle. The satellite constellation is configured for: acquiring navigation information of the unmanned vehicle through a first satellite which is in communication connection with the unmanned vehicle at present, wherein the navigation information comprises a driving path of the unmanned vehicle; determining a plurality of driving nodes and node time corresponding to the driving nodes on a driving path through a first satellite according to navigation information, wherein the node time indicates the time of reaching the driving nodes by the unmanned vehicle; determining, by the first satellite, a second satellite that covers the corresponding travel node at the node time according to ephemeris information of the plurality of satellites associated in the satellite constellation; and determining a third satellite which sequentially establishes communication connection with the unmanned vehicle on a driving path from the second satellite through the first satellite, generating corresponding communication scheduling information, and sending the communication scheduling information to the unmanned vehicle. And the unmanned vehicle is configured to actively establish communication connection with the third satellite at the driving node in sequence according to the communication scheduling information during driving of the driving path.
According to the embodiment of the disclosure, the unmanned vehicle can send a request for communication scheduling to the currently contacted satellite at any time during running. The satellite obtains ephemeris information of the associated satellite in the satellite constellation and navigation information of the unmanned vehicle based on the request for communication schedule. Thus, the satellite determines a plurality of traveling nodes and corresponding node times on the traveling path according to the navigation information, and then the satellite determines a satellite capable of covering the traveling nodes at the node times according to the ephemeris information. And then determining a satellite which is in communication connection with the unmanned vehicle from the satellites covering the driving nodes, generating corresponding communication scheduling information according to the determined satellite, and sending the communication scheduling information to the unmanned vehicle, so that the unmanned vehicle actively establishes communication connection with the satellite determined by the communication scheduling information at the driving nodes in sequence according to the communication scheduling information.
Therefore, in the mode, the unmanned vehicle only needs to send a communication scheduling request to the currently-communicated satellite, the satellite communicated with the unmanned vehicle can replace the unmanned vehicle to communicate with other satellites of the satellite constellation according to the communication scheduling request of the unmanned vehicle, the communication satellite with the unmanned vehicle at each driving node of the driving path is determined through calculation, corresponding communication scheduling information is generated, and the communication scheduling information is sent to the unmanned vehicle. Therefore, the unmanned vehicle can actively establish communication connection with the constellation satellite at each driving node in the driving process of the path. Therefore, the unmanned vehicle needs to schedule and plan satellite communication in advance under the condition of reducing the calculated amount as much as possible, and the safety and smoothness of the running process of the unmanned vehicle are ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and do not constitute an undue limitation on the disclosure. In the drawings:
FIG. 1A is a schematic diagram of a satellite-based unmanned system according to an embodiment of the present application;
FIG. 1B is a schematic diagram of a hardware architecture of a satellite according to an embodiment of the present application;
FIG. 1C is a schematic diagram of a hardware architecture of an unmanned vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of a satellite-based unmanned active communication dispatch method according to an embodiment of the present application;
FIG. 3 is a schematic illustration of an unmanned vehicle in communication with other satellites through a currently communicatively coupled satellite according to an embodiment of the present application;
FIG. 4 is a schematic diagram of various wave positions in a satellite footprint according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a satellite scanning various wave positions with multiple beams according to an embodiment of the present application;
FIG. 6 is a schematic illustration of pels of a correlation zone associated with each traveling node according to an embodiment of the present application;
FIG. 7 is a schematic illustration of an unmanned vehicle corresponding to each travel node according to an embodiment of the present application;
FIG. 8 is a schematic illustration of an unmanned vehicle according to an embodiment of the present application;
fig. 9 is a schematic diagram of a model for determining feature type information according to an embodiment of the present application.
Detailed Description
In order to better understand the technical solutions of the present disclosure, the following description will clearly and completely describe the technical solutions of the embodiments of the present disclosure with reference to the drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are merely embodiments of a portion, but not all, of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the disclosure described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Examples
In accordance with the present embodiment, a satellite-based unmanned active communication scheduling method embodiment is provided, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions. Although a logical order is depicted in the flowchart, in some cases the steps depicted or described may be performed in a different order than presented herein.
Fig. 1A is a schematic diagram of a satellite-based unmanned system according to an embodiment of the present application. Referring to fig. 1A, the unmanned vehicle 10 travels on a path S, where at the present time, the unmanned vehicle 10 is located at the P0 position and communicates with the satellite 200, and the unmanned is realized under the control of the satellite 200. For example, the unmanned vehicle 10 uploads the photographed image video and the collected sensor data to the satellite 200, so that the satellite 200 transmits an instruction to the unmanned vehicle 10. In addition, and with reference to FIG. 1A, satellite 200 is also in communication with ground station 30 and is connected to a remote navigation server 40 via ground station 30.
In addition, referring to FIG. 1A, satellites 200-202, satellites 210 a-210 c, satellites 220 a-220 c, and the like constitute a satellite constellation. The satellites can be controlled and scheduled uniformly by the ground station 30, and can also perform communication interaction.
FIG. 1B further illustrates a schematic diagram of the hardware architecture of satellites 200-202, satellites 210 a-210 c, and satellites 220 a-220 c of FIG. 1A. The structure of the satellite 20 shown in fig. 1B may be applicable to the satellites 200 to 202, 210a to 210c, and 220a to 220c shown in fig. 1A. Referring to FIG. 1B, satellites 200-202, satellites 210 a-210 c, and satellites 220 a-220 c comprise integrated electronics systems, including: processor, memory, bus management module and communication interface. Wherein the memory is coupled to the processor such that the processor can access the memory, read program instructions stored in the memory, read data from the memory, or write data to the memory. The bus management module is connected to the processor and also to a bus, such as a CAN bus. The processor can communicate with the satellite-borne peripheral connected with the bus through the bus managed by the bus management module. In addition, the processor is also in communication connection with the camera, the star sensor, the measurement and control transponder, the data transmission equipment and other equipment through the communication interface. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1B is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, satellites 200-202, satellites 210 a-210 c, and satellites 220 a-220 c may also include more or fewer components than shown in FIG. 1B, or have a different configuration than shown in FIG. 1B.
Fig. 1C further illustrates a schematic diagram of the hardware architecture of the unmanned vehicle 10 of fig. 1A. Referring to fig. 1C, the unmanned vehicle 10 may include one or more processors (which may include, but are not limited to, a microprocessor MCU, a processing device such as a programmable logic device FPGA, etc.), a memory for storing data, a transmission device for communication functions, and an input/output interface. Wherein the memory, the transmission device and the input/output interface are connected with the processor through a bus. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1C is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the ground system may also include more or fewer components than shown in FIG. 1C, or have a different configuration than shown in FIG. 1C.
It should be noted that one or more of the processors and/or other data processing circuits shown in fig. 1B and 1C may be referred to herein generally as a "data processing circuit. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the computing device. As referred to in the embodiments of the present disclosure, the data processing circuit acts as a processor control (e.g., selection of the variable resistance termination path to interface with).
The memory shown in fig. 1B and 1C may be used to store software programs and modules of application software, such as a program instruction/data storage device corresponding to the satellite-based unmanned active communication scheduling method in the embodiment of the present disclosure, and the processor executes the software programs and modules stored in the memory, thereby performing various functional applications and data processing, that is, implementing the satellite-based unmanned active communication scheduling method of the application program. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
It should be noted here that, in some alternative embodiments, the apparatus shown in fig. 1B and 1C described above may include hardware elements (including circuits), software elements (including computer code stored on a computer readable medium), or a combination of both hardware elements and software elements. It should be noted that fig. 1B and 1C are only one example of a specific example, and are intended to illustrate the types of components that may be present in the above-described devices.
In the above-described operating environment, according to a first aspect of the present embodiment, there is provided a satellite-based unmanned active communication scheduling method implemented by an unmanned system of an unmanned vehicle shown in fig. 1A. Fig. 2 shows a schematic flow chart of the method, and referring to fig. 2, the method includes:
S202: a first satellite which is in communication connection with the unmanned vehicle at present acquires navigation information of the unmanned vehicle, wherein the navigation information comprises a driving path of the unmanned vehicle;
s204: the first satellite determines a plurality of driving nodes on a driving path and node time corresponding to the driving nodes according to the navigation information, wherein the node time indicates the time of the unmanned vehicle reaching the driving nodes;
s206: determining second satellites covering corresponding running nodes at node time and first frequency information of beams of the running nodes covered by each second satellite by the first satellite according to ephemeris information of the plurality of associated satellites;
s208: the first satellite determines a third satellite which sequentially establishes communication connection with the unmanned vehicle on a driving path from the second satellite, generates corresponding communication scheduling information and sends the communication scheduling information to the unmanned vehicle;
s210: and the unmanned vehicle actively establishes communication connection with a third satellite in sequence according to the communication scheduling information in the running process of the running path.
Specifically, referring to fig. 1A, at the P0 position of the path S, the unmanned vehicle 10 transmits navigation information of the unmanned vehicle to the satellite 200 (i.e., the first satellite) that establishes communication connection when it is necessary to construct communication schedule information for communication with the satellite constellation (S202). The navigation information includes information of the path S shown in fig. 1A. Wherein in the present embodiment, the navigation information of the unmanned vehicle 10 may be acquired from the navigation server 40, for example. For example, the unmanned vehicle 10 may obtain navigation information from the navigation server 40 via the satellite 200 and the ground station 30. So that the unmanned vehicle 10 can transmit navigation information to the satellite 200. Of course, the satellite 200 may directly acquire the navigation information from the navigation server 40 in response to a request for communication scheduling transmitted from the unmanned vehicle 10.
Then, the satellite 200 determines a plurality of travel nodes (e.g., P1 and P2, etc.) on the travel path S and node times corresponding to the travel nodes P1 and P2, etc., based on the navigation information, wherein the node times indicate times when the unmanned vehicle 10 arrives at the travel nodes (S204). Thus, the satellite 200 determines the sequence information including the traveling nodes (P1, P2, etc.) on the path S as shown in the following table 1:
TABLE 1
The satellite 200 predicts that the unmanned vehicle 10 will travel along the path S to the travel node P1 at the future time T1, travel along the path S to the travel node P2 at the future time T2, and the like, based on the navigation information.
Then, the satellite 200 acquires ephemeris information of each satellite from the associated plurality of satellites 201 to 202, satellites 210a to 210c, satellites 220a to 220c, and the like, wherein the ephemeris information of each satellite records the moving track and the corresponding time of the corresponding satellite. Thus, satellite 200 determines, based on the ephemeris information, satellites (e.g., satellites 210a to 210 c) that can cover traveling node P1 at time T1 and satellites (e.g., satellites 220a to 220 c) that can cover traveling node P2 at time T2. Then, the satellite 200 determines a satellite, such as the satellite 210a, that establishes a communication connection with the unmanned vehicle 10 at the P1 node from the satellites 210a to 210c, and determines a satellite, such as the satellite 220a (i.e., the third satellite), that establishes a communication connection with the unmanned vehicle 10 at the P2 node from the satellites 220a to 220 c. Then, the satellite 200 generates corresponding communication schedule information according to the determined third satellite, as shown in the following table 2:
TABLE 2
Then, the satellite 200 transmits the communication schedule information to the unmanned vehicle 10 (S208).
Then, when the unmanned vehicle 10 travels to the travel node P1 during the travel of the travel path S, communication is actively established with the satellite 210a according to the communication schedule information shown in table 2 so as to travel along the travel path S under the control of the satellite 210a, and when the unmanned vehicle 10 reaches the travel node P2, communication is actively established with the satellite 220a according to the communication schedule information shown in table 2 so as to travel along the travel path S under the control of the satellite 220 a.
As described in the background art, in the unmanned system based on satellite constellation, because different satellite coverage ranges are different, and sometimes multiple satellites in the same area are overlapped, the unmanned vehicle needs to determine which satellite to communicate with at different positions on the path during driving. Therefore, in order to ensure that the unmanned vehicle can smoothly communicate with the satellites of the satellite constellation, more calculation tasks cannot be undertaken due to the lightweight arrangement of the unmanned vehicle.
In view of this, the unmanned vehicle can send a request for communication schedule to the currently contacted satellite at any time during traveling. The satellite obtains ephemeris information of the associated satellite in the satellite constellation and navigation information of the unmanned vehicle based on the request for communication schedule. Thus, the satellite determines a plurality of traveling nodes and corresponding node times on the traveling path according to the navigation information, and then the satellite determines a satellite capable of covering the traveling nodes at the node times according to the ephemeris information. And then determining a satellite which is in communication connection with the unmanned vehicle from the satellites covering the driving nodes, generating corresponding communication scheduling information according to the determined satellite, and sending the communication scheduling information to the unmanned vehicle, so that the unmanned vehicle actively establishes communication connection with the satellite determined by the communication scheduling information at the driving nodes in sequence according to the communication scheduling information.
Therefore, in the method, the unmanned vehicle only needs to send a communication scheduling request to the currently-communicated satellite, the satellite communicated with the unmanned vehicle can replace the unmanned vehicle to communicate with other satellites of the satellite constellation according to the communication scheduling request of the unmanned vehicle, the satellite which is communicated with the unmanned vehicle at each driving node of the driving path finally is determined through calculation, corresponding communication scheduling information is generated, and the communication scheduling information is sent to the unmanned vehicle. Therefore, the unmanned vehicle can actively establish communication connection with the constellation satellite at each driving node in the driving process of the path. Therefore, the satellite communication is scheduled and planned in advance under the condition that the calculated amount of the unmanned vehicle needs to be reduced as much as possible, and the safety and smoothness of the running process of the unmanned vehicle are ensured.
Optionally, the method further comprises: the first satellite transmits communication schedule information to the unmanned vehicle, and simultaneously transmits a communication token which establishes communication connection with the unmanned vehicle at a node time corresponding to each traveling node to a third satellite corresponding to each traveling node according to the communication schedule information. And the unmanned vehicle actively establishes communication connection with the third satellite at the driving node, comprising: the unmanned vehicle sends a first communication connection request for establishing communication connection to a third satellite corresponding to the driving node at the driving node; the third satellite verifies the first communication connection request according to the communication token received from the first satellite; and the third satellite establishes a communication connection with the unmanned vehicle after verifying the first communication connection request.
Specifically, referring to fig. 3, satellite 200 determines satellite 210a that establishes communication with unmanned vehicle 10 at traveling node P1 and satellite 220a that establishes a communication connection with unmanned vehicle 10 at traveling node P2. Not only the communication schedule information but also a token for establishing a communication connection with the unmanned vehicle 10 at time T1 and a token for establishing a communication connection with the unmanned vehicle 10 at time T2 are transmitted to the satellite 210a, respectively, to the unmanned vehicle 10.
Thus, at time T1, when the unmanned vehicle 10 travels to the travel node P1 and transmits a communication connection request (i.e., a first communication connection request) to establish a communication connection to the satellite 210a, the satellite 210a verifies the communication connection request based on the token received from the satellite 200, and after the communication connection request passes the verification, establishes a communication connection with the unmanned vehicle 10.
At time T2, when the unmanned vehicle 10 travels to the travel node P2 and transmits a communication connection request to establish a communication connection to the satellite 220a, the satellite 220a verifies the communication connection request based on the token received from the satellite 200, and establishes a communication connection with the unmanned vehicle 10 after the communication connection request passes the verification.
In this way, the satellite 210a and the satellite 220a can verify the communication connection request sent by the unmanned vehicle 10 according to the token sent by the satellite 200, so as to prevent an illegal user from establishing communication connection with the satellite 210a and the satellite 220a, thereby enhancing the security of the satellite constellation.
Optionally, after the unmanned vehicle sends the first communication connection request for establishing the communication connection to the third satellite, the method further comprises: and under the condition that the unmanned vehicle receives the response information of the third satellite in the preset first time slot, forwarding a second communication connection request for establishing communication connection to the third satellite through the first satellite.
Specifically, for example, after the unmanned vehicle 10 transmits a communication connection request (i.e., a first communication connection request) to establish a communication connection to the satellite 210a at the traveling node P1, the unmanned vehicle 10 waits for response information of the satellite 210 a. In the case where the unmanned vehicle 10 waits for the first time slot but does not receive the response information of the satellite 210a, the unmanned vehicle 10 forwards the second communication connection request to the satellite 210a through the satellite 200, so that the satellite 210a verifies the second communication connection request after receiving the second communication connection request, and establishes a communication connection with the unmanned vehicle 10 after verification.
For another example, after the unmanned vehicle 10 transmits a communication connection request (i.e., a first communication connection request) for establishing a communication connection to the satellite 220a at the traveling node P2, the unmanned vehicle 10 waits for response information of the satellite 220 a. In the case where the unmanned vehicle 10 waits for the first time slot but does not receive the response information of the satellite 220a, the unmanned vehicle 10 forwards the second communication connection request to the satellite 210a through the satellite 200, so that the satellite 220a verifies the second communication connection request after receiving the second communication connection request, and establishes a communication connection with the unmanned vehicle 10 after verification.
In this way, when the unmanned vehicle arrives at the driving node and cannot establish communication connection with the corresponding satellite, the communication connection request can still be forwarded to the satellite through the currently connected satellite, so that communication connection can be established with the corresponding satellite. Therefore, stability and safety of communication of the unmanned vehicle in the driving process are improved.
Optionally, the method further comprises: the third satellite sends a third communication connection request for establishing communication connection to the unmanned vehicle under the condition that the communication connection request sent by the unmanned vehicle is not received in a second time slot preset after the corresponding node time; the unmanned vehicle verifies the third communication request according to the communication scheduling information; and the unmanned vehicle establishes a communication connection with the third satellite after verifying the third communication request.
Specifically, for example, in a case where the satellite 210a (i.e., the third satellite) does not receive the communication connection request of the unmanned vehicle 10 at time T1, it waits for a predetermined time slot (i.e., the second time slot), and in a case where the communication connection request of the unmanned vehicle 10 is still not received in the time slot, it actively transmits the communication connection request (i.e., the third communication connection request) for establishing the communication connection to the unmanned vehicle 10. So that the unmanned vehicle 10 can verify the communication connection request according to the communication schedule information. And after verifying the communication connection request, the unmanned vehicle 10 establishes a communication connection with the satellite 210 a.
For another example, the satellite 220a (i.e., the third satellite) waits for a predetermined time slot (i.e., the second time slot) when the communication connection request of the unmanned vehicle 10 is not received at time T2, and actively transmits the communication connection request (i.e., the third communication connection request) for establishing the communication connection to the unmanned vehicle 10 when the communication connection request of the unmanned vehicle 10 is not received in the time slot. So that the unmanned vehicle 10 can verify the communication connection request according to the communication schedule information. And after verifying the communication connection request, the unmanned vehicle 10 establishes a communication connection with the satellite 220 a.
Therefore, in the mode, under the condition that the unmanned vehicle does not send a communication connection establishment request to the corresponding satellite for some reasons after reaching the driving node, the satellite can actively send the communication connection establishment request to the unmanned vehicle, so that the situation that the unmanned vehicle loses communication connection with a satellite constellation is avoided.
Optionally, after the third satellite sends the third communication connection request to the unmanned vehicle, the method further includes: and the third satellite forwards a fourth communication connection request for establishing communication connection to the unmanned vehicle through the first satellite under the condition that the third satellite does not receive the response information of the unmanned vehicle in a preset third time slot.
Specifically, for example, after the satellite 210a transmits a communication connection request (i.e., a third communication connection request) to establish a communication connection to the unmanned vehicle 10, the satellite 210a waits for response information of the unmanned vehicle 10. In the case where the satellite 210a waits for the third time slot, but does not receive the response information of the unmanned vehicle 10, the satellite 210a forwards the fourth communication connection request to the unmanned vehicle 10 through the satellite 200, so that the unmanned vehicle 10 can receive the fourth communication connection request through the satellite 200, verify the fourth communication connection request, and establish a communication connection with the satellite 210a after the verification.
For another example, after the satellite 220a transmits a communication connection request (i.e., a third communication connection request) to establish a communication connection to the unmanned vehicle 10, the satellite 220a waits for response information of the unmanned vehicle 10. In the case where the satellite 220a has waited for the third time slot, but has not received the response information of the unmanned vehicle 10, the satellite 220a forwards the fourth communication connection request to the unmanned vehicle 10 through the satellite 200, so that the unmanned vehicle 10 can receive the fourth communication connection request through the satellite 200, verify the fourth communication connection request, and establish a communication connection with the satellite 220a after the verification.
In this way, in the case that the satellite corresponding to the driving node cannot establish communication connection with the unmanned vehicle, the communication connection request can still be forwarded to the unmanned vehicle through the currently connected satellite, so that communication connection can be established with the unmanned vehicle. Therefore, stability and safety of communication of the unmanned vehicle in the driving process are improved.
Optionally, the operation of the first satellite to determine a third satellite from the second satellites that establishes a communication connection with the unmanned vehicle in sequence along the travel path includes: acquiring first frequency information of a beam covering a traveling node from a second satellite; determining a ground object type related to the driving node; determining second frequency information matched with the driving node according to the ground object type; and determining a third satellite from the second satellites based on the first frequency information and the second frequency information.
Specifically, fig. 4 is a schematic diagram of each wave position P1 to Pn in the coverage area of the satellite according to the embodiment of the present application. Referring to fig. 4, satellites 20 (including satellites 200-202, satellites 210 a-210 c, satellites 220 a-220 c, etc.) in the present embodiment can provide satellite communication services for users with respective wave positions P1-Pn in the covered area E. Referring to fig. 4, for example, the coverage area E of the satellite 20 includes a plurality of wave positions P1 to Pn, and the satellite 20 can provide satellite communication services to the covered plurality of wave positions P1 to Pn. One beam of each satellite 20 may scan one of the wave positions P1 to Pn.
Fig. 5 is a schematic diagram of scanning each wave position in a coverage area by m wave beams B1 to Bm by a satellite according to an embodiment of the present application. Referring to FIG. 5, at the same time, the satellite 20 may scan different wave positions P1 Pn in the coverage area E with m beams B1 Bm, where m < n. The satellite switches among the wave positions P1-Pn through m wave beams, and provides satellite communication service for the wave positions P1-Pn in a time division mode.
And the satellite 20 may select beams of different frequency bands to scan each of the wave positions, where the frequency bands that may be selected include:
Ka frequency band: the Ka band has an operating frequency range of about 26.5 GHz to 40 GHz, with a corresponding wavelength range of about 7.2 mm to 11.3 mm.
Ku frequency band: the Ku band operates at a frequency range of about 12 GHz to 18 GHz, with a corresponding wavelength range of about 2.5 cm to 3.75 cm.
C frequency band: the C band has an operating frequency range of about 4 GHz to 8 GHz, with a corresponding wavelength range of about 7.5 cm to 15 cm.
L frequency band: the L band has an operating frequency range of about 1 GHz to 2 GHz, with a corresponding wavelength range of about 15 cm to 30 cm.
Wherein, from L frequency band, C frequency band, ku frequency band to Ka frequency band, the frequency of wave beam gradually increases, and data transmission rate gradually increases.
Therefore, each satellite 210a to 210c can determine the beam for scanning the wave position where the traveling node P1 is located and the frequency band of the beam according to its own multi-beam scanning schedule.
Thus, in the process in which the satellite 200 (i.e., the first satellite) determines a satellite (i.e., the third satellite) that establishes a communication connection with the unmanned vehicle 10 at the traveling node P1 from the satellites 210a to 210c and the like (i.e., the second satellite), frequency information (i.e., the first frequency information) for scanning the beam covering the traveling node P1 is collected from the satellites 210a to 210c and the like. In the process in which the satellite 200 determines a satellite (i.e., a third satellite) that establishes a communication connection between the traveling node P2 and the unmanned vehicle 10 from the satellites 220a to 220c and the like (i.e., the second satellite), the satellites 220a to 220c and the like are collected for scanning frequency information (i.e., first frequency information) of a beam covering the traveling node P2 and the like. As shown in table 3 below:
TABLE 3 Table 3
Then, the satellite 200 determines the ground object type information corresponding to the traveling node P1 and the traveling node P2. For example, in this embodiment, the feature type may be one of the following feature types: tree land feature type, building land feature type, air land feature type, hilly mountain land feature type, and water body feature type. However, in the same place area, for example, the traveling node P1 and the traveling node P2, there is a possibility that a plurality of types of ground feature are mixed, so the ground feature type information in the present embodiment may be, for example, the proportion information of various types of ground feature related to the traveling node P1; and ratio information of various feature types related to the traveling node P2.
Then, the satellite 200 determines the related information (i.e., the second frequency information) of the frequency band suitable for communication at the traveling node P1 according to the ground object type information corresponding to the traveling node P1; and determines the related information (i.e., the second frequency information) of the frequency band suitable for communication at the traveling node P2 based on the feature type information corresponding to the traveling node P2.
Then, the satellite 200 finally determines a satellite (for example, the satellite 210 a) for establishing communication with the unmanned vehicle 10 at the traveling node P1, based on the information on the frequency band suitable for communication at the traveling node P1 and the frequency band of the beam of the scanning traveling node P1 by the satellites 210a to 210 c. The satellite 200 finally determines a satellite (e.g., the satellite 220 a) for establishing communication with the unmanned vehicle 10 at the traveling node P2, based on the information about the frequency band suitable for communication at the traveling node P2 and the frequency band in which the satellites 220a to 220c scan the beam of the traveling node P2.
For example, in satellite communications, different earth types are different in attenuation and interference of satellite signals. For example, in densely constructed areas or hilly mountains, the attenuation of signals is greater; in areas with fewer buildings or empty spaces, the attenuation degree for signals is smaller. So that the beams used are not the same in areas with greater signal attenuation and areas with less signal attenuation. Therefore, in a densely built area or a hilly mountain area, the use of a frequency band with a lower frequency is beneficial to reducing the attenuation of signals, thereby ensuring the stability of communication; in the space-ground object type, the frequency band with higher frequency is beneficial to improving the data transmission rate.
Accordingly, the satellite 200 can determine the satellite (i.e., the satellite 210 a) with the scanned beam most matching the ground pattern of the traveling node P1 according to the related information of the frequency band adapted to the ground pattern information of the traveling node P1 and the frequency band of the beam scanned by the satellites 210a to 210c by the traveling node P1. In addition, the satellite 200 scans the frequency band of the beam of the traveling node P2 according to the related information of the frequency band adapted to the ground object type information of the traveling node P2 and the satellites 220a to 220c, so as to determine the satellite (i.e., the satellite 220 a) with the scanned beam most matching the ground object type of the traveling node P2.
In this way, the satellites 210a and 220a with the frequency bands of the scanning beams more matched with the ground feature type of the unmanned vehicle 10 can be selected to establish communication connection with the unmanned vehicle 10, so that communication between the unmanned vehicle 10 and satellite constellations can be realized more stably and efficiently.
Further optionally, the operation of determining the feature type information related to the driving node includes: determining pixels of a relevant area related to the driving node from a remote sensing image containing the driving node; acquiring spectrum characteristics corresponding to the pixels, wherein the spectrum characteristics are used for indicating reflectivity data of different frequency bands corresponding to the pixels; acquiring reference spectrum characteristics corresponding to end members of different ground object types, wherein the end members are used for indicating that pixels of only one ground object type are included, and the reference spectrum characteristics include reflectivity data of different frequency bands corresponding to the end members of different ground object types; determining abundance values of the signal attenuated ground object types in the pixels according to the frequency spectrum characteristics and the reference frequency spectrum characteristics corresponding to different ground object type end members; and determining an abundance average value of the signal attenuated ground object types of all the pixels in the relevant area as ground object type information according to the abundance value of the signal attenuated ground object types in the pixels.
Referring to fig. 6, the satellite 200 may determine a correlation area E2 with the traveling node P1 and a correlation area E3 with the traveling node P2 in the remote sensing image. Specifically, the traveling node P1 is described as an example.
Satellite 200 first acquires a relevant region E2 including traveling node P1, and acquires each of pixels U1 to UL in relevant region E2.
Then, the satellites 200 acquire reference spectrum features corresponding to the end members of different ground object types, respectively. The reference spectral feature may be predetermined, for example, by measurement. In this embodiment, the reference spectrum features corresponding to the end members of different feature types include, for example:
reference spectral features F of forest end members corresponding to the type of forest land object 1 ：
F 1 =[f 11 , f 12 ,...,f 1u ]Wherein f 1x (x= 1~u) is the reflectivity data of different frequency bands corresponding to the forest end members.
Reference spectral features F of building end members corresponding to types of building features 2 ：
F 2 =[f 21 , f 22 ,...,f 2u ]Wherein f 2x (x= 1~u) is the reflectivity data of different frequency bands corresponding to the building end members.
Reference spectral features F of air-to-ground end members corresponding to air-to-ground object types 3 ：
F 3 =[f 31 , f 32 ,...,f 3u ]Wherein f 3x (x= 1~u) is the reflectivity data of different frequency bands corresponding to the air-ground end members.
Reference spectral features F of hilly mountain end members corresponding to hilly mountain feature types 4 ：
F 4 =[f 41 , f 42 ,...,f 4u ]Wherein f 4x (x= 1~u) is the reflectivity data of different frequency bands corresponding to the end members of hilly and mountain areas.
Reference spectrum characteristic F of water body end member corresponding to water body ground object type 5 ：
F 5 =[f 51 , f 52 ,...,f 5u ]Wherein f 5x (x= 1~u) is the reflectivity data of different frequency bands corresponding to the water body end members.
The satellite 200 then builds an equation according to the following formula:
（1）
wherein k is 1 The abundance value of the forest end member in the pixel U1; k (k) 2 The abundance value of the building end member in the pixel U1; k (k) 3 Is the abundance value of the air-ground end member in the pixel U1; k (k) 4 The abundance value of the end member in the pixel U1 is the hilly and mountain area; k (k) 5 Is the abundance value of the water body end member in the pixel U1.
Thus, the computing device in satellite 200 will determine the spectral feature Fd of pel U1, the reference spectral feature F of the forest end member 1 Reference spectral features F of building end members 2 Reference spectral features F of air-to-ground end members 3 Reference spectral features F of hilly mountain end members 4 Reference spectral features F of water body end members 5 Substituting the above formula (1) to obtain the abundance value k 1 ~k 5 . Satellite 200 is determining an abundance value k 1 ~k 5 Then, the abundance value k of the end member corresponding to the tree land feature type, the building land feature type and the hilly and mountain land feature type in the pixel U1 can be determined 1 、k 2 And k 4 . Then, satellite 200 will have an abundance value k 1 、k 2 And k 4 The sum is taken as the abundance value of the ground object type of signal attenuation in the pixel U1.
With reference to the same operations as described above, satellite 200 determines abundance values of the ground object type of signal attenuation in all pixels U2 to UL of the relevant area E2 associated with the traveling node P1.
Then, after the abundance values of the signal attenuated ground object types of all the pixels U1-UL in the relevant area E2 are determined, the abundance values of the signal attenuated ground object types in all the pixels U1-UL are averaged, so that the abundance average value of the signal attenuated ground object types in the relevant area E2 relevant to the driving node P1 is obtained and is used as ground object type information corresponding to the relevant area E2.
In addition, the same method is adopted for determining the ground object type information of the relevant area related to other driving nodes P2 and the like.
In addition, the invention further provides a method for determining the ground object type information.
Specifically, fig. 7 is a schematic diagram of an unmanned vehicle corresponding to each traveling node according to an embodiment of the present application. As shown with reference to fig. 7, in an actual case, the unmanned vehicle 10 travels except at the travel node P0. The unmanned vehicle 11 is traveling at the traveling node P1, and the unmanned vehicle 12 is traveling at the traveling node P2. The satellite 200 may thus communicate with the unmanned vehicle 11 and the unmanned vehicle 12 via a constellation of satellites.
In addition, FIG. 8 further illustrates a schematic diagram of an unmanned vehicle that may be used to indicate the unmanned vehicles 10-12. Referring to fig. 8, for example, a plurality of cameras may be provided for the unmanned vehicles 10 to 12, and for example, in this embodiment, 8 cameras Cam1 to Cam8 may be provided for the unmanned vehicles 10 to 12. Therefore, the unmanned vehicles 10-12 can acquire images of the surrounding environment of the unmanned vehicles 10-12 through the cameras Cam 1-Cam 8.
Therefore, when the satellite 200 needs to determine the ground object type information related to the driving node, images captured by the cameras of the unmanned vehicles 10 to 12 of the driving node can be acquired, and the ground object type information determined according to the remote sensing image can be corrected and compensated by using the images.
Specifically, the traveling node P1 is still described as an example. When determining the ground object type information of the traveling node P1, the satellite 200 may acquire, from the unmanned vehicle 11 of the traveling node P1, an image related to the environment of the traveling node P1 acquired by the unmanned vehicle 11 through a satellite constellation.
For example, cameras Cam1 to Cam8 of the unmanned vehicle 11 may capture images Img1 to Img8, respectively. For example, the camera Cam1 captures an image Img1; the camera Cam2 shoots an image Img2; ..; camera Cam7 captures an image Img7 and camera Cam8 captures an image Img8.
In addition, in the present embodiment, the images Img1 to Img8 are images including 3 channels, for example. And will not be described in detail hereinafter. Thus, the satellite 200 acquires images Img1 to Img8 acquired by the unmanned vehicle 11.
Then, the satellite 200 inputs the acquired images Img1 to Img8 to the ground object type information determination model based on the convolutional neural network. Wherein fig. 9 shows a schematic diagram of the ground object type information determination model. Referring to fig. 9, the feature type information determining module includes: a plurality of convolution/pooling layers; fully connected layer and softmax classifier.
The softmax classifier outputs a feature type vector q= [ Q ] corresponding to the feature type 1 , q 2 , q 3 , q 4 , q 5 ] T 。
Wherein q 1 Representing the proportion of the tree land object type in the surrounding environment of the driving node P1; q 2 Representing the proportion of the building ground object type in the surrounding environment of the driving node P1; q 3 Representing the proportion of the ground object type in the surrounding environment of the driving node P1; q 4 Representing the proportion of the hilly mountain land object type in the surrounding environment of the driving node P1; q 5 Representing the specific gravity of the water body ground object type in the surrounding environment of the driving node P1.
The satellite 200 can compensate and correct the abundance value vector K of the abundance value of each ground object type determined based on the remote sensing image based on the ground object type vector Q by using the following formula, to obtain a compensated and corrected ground object type information vector H:
（2）
Wherein,，/>representing the average abundance value of the forest end member in the relevant area E2; />Representing the average abundance of building end members in the relevant area E2; />Representing the average abundance value of the air-ground end member in the related area E2; />Representing the average abundance of the hilly mountain end members in the relevant region E2; />And the average value of the abundance of the water body end member in the relevant area E2 is represented.
Q=[q 1 , q 2 , q 3 , q 4 , q 5 ] T ，q 1 Representing the proportion of the tree land object type in the surrounding environment of the driving node P1; q 2 Representing the proportion of the building ground object type in the surrounding environment of the driving node P1; q 3 Representing the proportion of the ground object type in the surrounding environment of the driving node P1; q 4 Representing the proportion of the hilly mountain land object type in the surrounding environment of the driving node P1; q 5 Representing the specific gravity of the water body ground object type in the surrounding environment of the driving node P1.
H=[h 1 , h 2 , h 3 , h 4 , h 5 ] T ，h 1 A correction compensation value representing the proportion of the tree land object type in the surrounding environment of the driving node P1; h is a 2 A correction compensation value representing the specific weight of the building ground object type in the surrounding environment of the driving node P1; h is a 3 A correction compensation value representing the specific gravity of the ground object type in the surrounding environment of the traveling node P1; h is a 4 Representing the surrounding environment of the hilly and mountain land feature type at the driving node P1A corrected compensation value of the occupied specific gravity; h is a 5 And the correction compensation value represents the proportion of the water body ground object type in the surrounding environment of the driving node P1.
Alpha and beta are scale factors, where the sum of alpha and beta is 1. Can be trained by a sample training method of a known linear regression model.
Therefore, the ground object type information at the running node P1 can be determined more accurately, and the communication frequency band matched with the running node P1 can be determined more accurately.
Optionally, the operation of determining the second frequency information matched with the driving node according to the ground object type information includes: and determining second frequency information matched with the related area according to the abundance mean value serving as the ground object type information by using a preset mapping table.
Specifically, the satellite 200 is provided with a mapping table as follows:
TABLE 4 Table 4
The satellite 200 may determine the adapted frequency band (i.e. the second frequency information) according to the interval to which the abundance mean of the ground object type of the signal attenuation of the relevant area belongs.
According to the embodiment of the disclosure, the unmanned vehicle can send a request for communication scheduling to the currently contacted satellite at any time during running. The satellite obtains ephemeris information of the associated satellite in the satellite constellation and navigation information of the unmanned vehicle based on the request for communication schedule. Thus, the satellite determines a plurality of traveling nodes and corresponding node times on the traveling path according to the navigation information, and then the satellite determines a satellite capable of covering the traveling nodes at the node times according to the ephemeris information. And then determining a satellite which is in communication connection with the unmanned vehicle from the satellites covering the driving nodes, generating corresponding communication scheduling information according to the determined satellite, and sending the communication scheduling information to the unmanned vehicle, so that the unmanned vehicle actively establishes communication connection with the satellite determined by the communication scheduling information at the driving nodes in sequence according to the communication scheduling information.
Therefore, in the mode, the unmanned vehicle only needs to send a communication scheduling request to the currently-communicated satellite, the satellite communicated with the unmanned vehicle can replace the unmanned vehicle to communicate with other satellites of the satellite constellation according to the communication scheduling request of the unmanned vehicle, the communication satellite with the unmanned vehicle at each driving node of the driving path is determined through calculation, corresponding communication scheduling information is generated, and the communication scheduling information is sent to the unmanned vehicle. Therefore, the unmanned vehicle can actively establish communication connection with the constellation satellite at each driving node in the driving process of the path. Therefore, the unmanned vehicle needs to schedule and plan satellite communication in advance under the condition of reducing the calculated amount as much as possible, and the safety and smoothness of the running process of the unmanned vehicle are ensured.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A satellite-based unmanned active communication scheduling method, comprising:
a first satellite which is in communication connection with an unmanned vehicle currently acquires navigation information of the unmanned vehicle, wherein the navigation information comprises a driving path of the unmanned vehicle;
the first satellite determines a plurality of driving nodes on the driving path and node time corresponding to the driving nodes according to the navigation information, wherein the node time indicates the time of the unmanned vehicle reaching the driving nodes;
the first satellite determines a second satellite covering the corresponding running node at the node time according to the ephemeris information of the plurality of satellites;
the first satellite determines a third satellite which is sequentially connected with the unmanned vehicle in the driving path from the second satellite, generates corresponding communication scheduling information and sends the communication scheduling information to the unmanned vehicle; and
And the unmanned vehicle actively establishes communication connection with the third satellite at the driving node in sequence according to the communication scheduling information in the driving process of the driving path.
2. The method as recited in claim 1, further comprising: the first satellite transmitting, to a third satellite corresponding to each traveling node, a communication token establishing communication connection with the unmanned vehicle at the node time corresponding to each traveling node according to the communication schedule information while transmitting the communication schedule information to the unmanned vehicle, and
the process of actively establishing communication connection between the unmanned vehicle and the third satellite at the driving node comprises the following steps:
the unmanned vehicle sends a first communication connection request for establishing communication connection to a third satellite corresponding to the driving node at the driving node;
the third satellite verifies the first communication connection request according to the communication token received from the first satellite; and
the third satellite establishes a communication connection with the unmanned vehicle after verifying the first communication connection request.
3. The method of claim 2, further comprising, after the unmanned vehicle sends a first communication connection request to the third satellite to establish a communication connection:
and the unmanned vehicle forwards a second communication connection request for establishing communication connection to the third satellite through the first satellite under the condition that the unmanned vehicle does not receive the response information of the third satellite in a preset first time slot.
4. The method as recited in claim 2, further comprising:
the third satellite sends a third communication connection request for establishing communication connection to the unmanned vehicle under the condition that the communication connection request sent by the unmanned vehicle is not received in a second time slot preset after the corresponding node time;
the unmanned vehicle verifies the third communication connection request according to the communication scheduling information; and
the unmanned vehicle establishes a communication connection with the third satellite after verifying the third communication connection request.
5. The method of claim 4, further comprising, after the third satellite transmits the third communication connection request to the unmanned vehicle:
And under the condition that the third satellite does not receive the response information of the unmanned vehicle in a preset third time slot, forwarding a fourth communication connection request for establishing communication connection to the unmanned vehicle through the first satellite.
6. The method of claim 1, wherein the operation of the first satellite determining a third satellite from the second satellites that sequentially establishes a communication connection with the unmanned vehicle on the travel path comprises:
the first satellite acquires first frequency information of a beam covering the traveling node from the second satellite;
the first satellite determines ground object type information related to the driving node;
the first satellite determines second frequency information matched with the driving node according to the ground feature type information; and
the first satellite determines the third satellite from the second satellite according to the first frequency information and the second frequency information.
7. The method of claim 6, wherein determining the terrain type information associated with the travel node comprises:
determining pixels of a relevant area relevant to the driving node from a remote sensing image containing the driving node;
Acquiring spectrum characteristics corresponding to the pixels, wherein the spectrum characteristics are used for indicating reflectivity data of different frequency bands corresponding to the pixels;
acquiring reference spectrum characteristics corresponding to end members of different ground object types, wherein the end members are used for indicating pixels only comprising one ground object type, and the reference spectrum characteristics comprise reflectivity data of different frequency bands corresponding to the end members of different ground object types;
determining abundance values of the signal attenuated ground object types in the pixels according to the frequency spectrum characteristics and the reference frequency spectrum characteristics corresponding to the end members of different ground object types; and
and determining an abundance average value of the signal attenuated ground object type of each pixel in the related area as the ground object type information according to the abundance value of the signal attenuated ground object type in the pixel.
8. The method of claim 7, wherein determining second frequency information matching the traveling node based on the feature type information comprises: and determining the second frequency information matched with the related area according to an abundance mean value serving as the ground object type information by using a preset mapping table.
9. The method of claim 8, wherein the mapping table maps different intervals of abundance values of signal-attenuated ground-object types in the picture elements to corresponding communication signal bands.
10. A satellite-based unmanned active communication scheduling system, which comprises a satellite constellation and an unmanned vehicle, and is characterized in that,
the satellite constellation is configured to:
acquiring navigation information of an unmanned vehicle through a first satellite which is in communication connection with the unmanned vehicle at present, wherein the navigation information comprises a driving path of the unmanned vehicle;
determining a plurality of driving nodes on the driving path and node time corresponding to the driving nodes through the first satellite according to the navigation information, wherein the node time indicates the time of the unmanned vehicle reaching the driving nodes;
determining, by the first satellite, a second satellite that covers a corresponding travel node at the node time according to ephemeris information of the plurality of satellites associated in the satellite constellation; and
determining a third satellite which sequentially establishes communication connection with the unmanned vehicle on the driving path from the second satellite through the first satellite, generating corresponding communication scheduling information, sending the communication scheduling information to the unmanned vehicle, and
And the unmanned vehicle is configured to actively establish communication connection with the third satellite at the driving node in sequence according to the communication scheduling information in the driving process of the driving path.
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