CN117909641A - Remote sensing constellation scale estimation method, system, equipment and medium - Google Patents
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Abstract
The application discloses a remote sensing constellation scale estimation method, a system, equipment and a medium, which comprise the following steps: collecting initial data and preprocessing to obtain first data; calculating to obtain a track parameter matrix, an observation time window and the number of full coverage strips of the region to be observed according to the first data; and calculating the constellation scale corresponding to each orbit parameter in the region to be observed according to the orbit parameter matrix, the observation time window and the total coverage band number, so as to obtain the average constellation scale of all orbit parameters, and outputting the average constellation scale as the remote sensing constellation scale. The technical scheme of the application has the covering capability of the irregular area to be observed, calculates the average constellation scale of all orbit parameters according to the parameters, can obtain the remote sensing constellation scale, and greatly improves the remote sensing constellation scale estimation precision of the irregular area to be observed.
Description
Technical Field
The present application relates to the field of constellation configuration estimation technologies, and in particular, to a remote sensing constellation scale estimation method, system, device, and medium.
Background
The remote sensing constellation can rapidly and effectively acquire the surface change, and is widely applied to the fields of homeland mapping, meteorological monitoring, marine coastal mapping and the like. Along with the rapid development of technology in recent years, the huge social value and economic benefit of the remote sensing constellation are increasingly remarkable. Meanwhile, along with the development of commercial aerospace, remote sensing constellation customization for clients has become a development trend. Constellation customization needs to be designed according to the focus of a user, an irregular region to be observed and a target object lead to the remote sensing constellation to present diversified trends, and the constellation scale range needs to be determined firstly to provide cost estimation and decision reference for clients and basic information for subsequent constellation optimization, so that the remote sensing constellation scale estimation aiming at the irregular region to be observed has important significance.
In the theory of traditional constellation design, the constellation scale calculation formula is only suitable for calculating the constellation scale of a satellite constellation (such as navigation constellation and communication constellation) with fixed field of view and no mobility on a target in a global coverage or regular area. However, the existing remote sensing satellites have certain gesture or tripod head maneuvering capability, and meanwhile, constellation customization needs to have covering capability on an irregular area, so that a constellation scale calculation formula in the traditional theory is not applicable any more, a remote sensing constellation scale estimation method aiming at the irregular area needs to be designed, and the research on the aspect is less at present.
Disclosure of Invention
The application provides a remote sensing constellation scale estimation method, a system, equipment and a medium, which are used for improving the remote sensing constellation scale estimation precision of an irregular observation area.
A remote sensing constellation scale estimation method, comprising:
Collecting initial data and preprocessing to obtain first data;
Calculating to obtain a track parameter matrix, an observation time window and the number of full coverage strips of the region to be observed according to the first data;
And calculating the constellation scale corresponding to each orbit parameter in the region to be observed according to the orbit parameter matrix, the observation time window and the total coverage strip number, so as to obtain the average constellation scale of all orbit parameters, and outputting the average constellation scale as a remote sensing constellation scale.
Further, the first data comprises satellite load parameters, region coordinate data to be observed, task time and constellation reference star orbit root number, and an orbit root number database established according to the constellation reference star orbit root number;
the orbit number of the constellation reference star comprises a semi-long axis a, an eccentricity e, an orbit inclination angle incl and an ascending intersection point barefoot Near-site argument/>And true near point angle/>；
The satellite load parameters comprise a satellite load view field half angle f and satellite attitude maneuver capability；
The coordinate data of the region to be observed comprises boundary coordinates of the region to be observed；
The task time comprises a constellation full coverage periodAnd task Start UTC time/>。
Further, the calculating the track parameter matrix of the region to be observed according to the first data includes:
setting the right warp difference of the rising intersection point as The true near point angle difference is/>Uniformly dispersing the right ascent point and the true near point angle distribution, wherein the dispersion formula is as follows:
；
Wherein N is the right ascent point and the right ascent point equal fraction; m is the true near point angle equal fraction;
then, the semi-major axis a, the eccentricity e, the track inclination angle inc and the near-spot amplitude angle are maintained Unchanged, according to the right warp/>, of the discrete rising intersection pointAnd true near point angle difference/>The track parameter matrix coe (i) is generated by a double loop iteration.
Further, the parameter matrix coe (i) includes an orbit state vector, and the generating the orbit parameter matrix coe (i) through double loop iteration includes the following steps:
the method comprises the steps of establishing a dynamic motion equation of a spacecraft subjected to perturbation, wherein the dynamic motion equation comprises the following specific steps:
；
wherein, Is the position vector of spacecraft,/>Is the acceleration vector of spacecraft,/>Is the main part of the mechanical model, i.e./>, two-body accelerationNon-spherical perturbation acceleration of the earth;
Under 2 nd order perturbation of the earth's non-spherical perturbation, The calculation formula of (2) is as follows:
；
wherein, Is the gravitational constant; /(I)Is the earth-centered distance of the satellite; x, y and z are the inertial system coordinates respectively; /(I)Is the average radius of the earth; j2 is the coefficient of the global non-spherical perturbation J2 term;
track recursion is carried out through an RKF4 (5) numerical integrator to obtain a track state vector under the earth inertia system in a full coverage period T 。
Further, the calculating the observation time window of the to-be-observed area according to the first data includes:
inertial system rail state Conversion to the coordinates of the point under the satellite in WGS84 coordinates/>；
According to the half angle f of the field of view of the satellite remote sensing load and the satellite attitude maneuver capabilityCalculating the observation center angle/>, of a satelliteThe calculation formula is as follows:
；
Wherein R 0 is the average radius of the earth;
Based on the central angle of observation of the satellite The allowable observation rectangular area CovR of the satellite is calculated, and the calculation formula is as follows:
；
Wherein k is an allowable observation area scaling factor, and the value range is 0.9-0.98; covR is the satellite footprint within the allowed observation rectangular region;
According to the coordinates of the points under the satellite The intersection arc segments with the allowed observation rectangular interval CovR generate a first set C R (i), extract the understar coordinates in the first set C R (i): /(I)；
Calculating the number of track lifting observation times according to the number of track lifting arc sections and track lowering arc sections in the first set C R (i)And derailment observation times/>。
Further, the calculating the number of the full coverage bands of the to-be-observed area according to the first data includes:
remote sensor breadth w=according to imaging satellite Subsurface Point track/>And decomposing the region to be observed into a plurality of parallel strips with fixed widths based on a static decomposition method, and counting the number of the parallel strips as the number of the full-coverage strips of the region to be observed.
Further, the calculating the constellation scale corresponding to each orbit parameter in the region to be observed includes:
According to the number of track lifting observations Rail-lowering observation times/>And number of full coverage stripes/>Calculate constellation size/>The calculation formula is as follows:
；
Where n a and n d are constant parameters, n=n a+nd;
According to the constellation scale The constellation scale range S is calculated, and the calculation formula is as follows:
；
where round () is a rounding function.
In a second aspect, the present application provides a remote sensing constellation scale estimation device, which adopts the following technical scheme:
a remote sensing constellation scale estimation device, comprising:
the acquisition module is used for acquiring initial data and preprocessing the initial data to obtain first data;
the first calculation module is used for calculating and obtaining a track parameter matrix, an observation time window and the number of full-coverage strips of the region to be observed according to the first data;
The second calculation module calculates constellation scales corresponding to each orbit parameter in the region to be observed according to the orbit parameter matrix, the observation time window and the total coverage strip number so as to obtain average constellation scales of all orbit parameters;
and the output module is used for outputting the average constellation scale.
In a third aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer readable storage medium comprising a computer program for implementing the method described above.
In a fourth aspect, the present application provides a computing device, which adopts the following technical scheme:
A computing device comprising a memory and a processor, the memory for storing a computer program which, when executed by the processor, implements the method described above.
In summary, the present application includes at least one of the following beneficial technical effects:
According to the remote sensing constellation scale estimation method, the remote sensing constellation scale estimation system, the remote sensing constellation scale estimation equipment and the remote sensing constellation scale estimation medium, various original data used for subsequent calculation can be obtained by collecting initial data and preprocessing the initial data; then, according to the first data, calculating to obtain a track parameter matrix, an observation time window and the number of full coverage strips of the area to be observed, so that the technical scheme of the application has the coverage capability of the irregular area to be observed; and calculating the constellation scale corresponding to each orbit parameter in the region to be observed according to the parameters so as to obtain the average constellation scale of all orbit parameters, thereby greatly improving the remote sensing constellation scale estimation accuracy of the irregular region to be observed.
Drawings
Fig. 1 is a schematic flow chart of a remote sensing constellation scale estimation method in an embodiment of the present application.
Description of the embodiments
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Referring to fig. 1, the embodiment of the application discloses a remote sensing constellation scale estimation method, which adopts the following technical scheme:
a remote sensing constellation scale estimation method, comprising:
S101: collecting initial data and preprocessing to obtain first data;
In the present embodiment, acquiring initial data includes determining satellite loading parameters from external inputs, namely input satellite loading field half angle f, satellite attitude (cradle head) maneuver capability ; Determining irregular target region coordinates, namely inputting boundary coordinates/>, of the region to be observed; Determining task time, i.e. input constellation full coverage period/>And task Start UTC time/>And determining the number of constellation reference star orbits by external input, including semi-long axis a, eccentricity e, orbit dip angle incl, ascending intersection point right ascent/>Near-site argument/>And true near point angle/>。
S102: and calculating to obtain a track parameter matrix of the region to be observed according to the first data:
In the present embodiment, the right ascent point and the right ascent point angle distribution are uniformly dispersed based on the number of constellation reference star orbits, and the right ascent point difference is set as The true near point angle difference is/>。
Wherein N is the right-way equal fraction of the rising intersection point; m is the true near point angle equal fraction.
Maintaining semi-major axis a, eccentricity e, track inclination angle inc and near-spot amplitude angleUnchanged, according to the right warp/>, of the discrete rising intersection pointAnd true near point angle difference/>The track parameter matrix coe (i) is generated by a double loop iteration.
Wherein coe is a track parameter matrix, i=1, 2, …, n·m; =1,2,…,M； />=1,2,…,N。
specifically, generating the track parameter library coe by dual loop iteration includes:
under the inertia system, a dynamic motion equation of the perturbed spacecraft is established based on Newton's second law as follows:
In the method, in the process of the invention, Is the position vector of spacecraft,/>Is the acceleration vector of spacecraft,/>Is the main part of the mechanical model, i.e./>, two-body accelerationNon-spherical perturbation acceleration of the earth;
Under 2 nd order perturbation of the earth's non-spherical perturbation, The calculation formula of (2) is as follows:
；
wherein, Is the gravitational constant; /(I)Is the earth-centered distance of the satellite; x, y and z are the inertial system coordinates respectively; /(I)Is the average radius of the earth; and J2 is the coefficient of J2 term of global non-spherical perturbation. After the orbit dynamics model is established, an RKF4 (5) numerical integrator is used for orbit recursion. Converting orbit parameter coe (i) into initial orbit state 0 (i) under the earth inertial system, and calculating the orbit state under the earth inertial system in the full coverage period T by combining orbit dynamics equation through RKF4 (5) integrator。
S103: calculating an observation time window of the region to be observed according to the first data;
In the present embodiment, it is necessary to first set the inertial system orbit state Conversion to the coordinates of the point under the satellite in WGS84 coordinates/>. Then according to the half angle f of the satellite remote sensing load field and the satellite attitude maneuver capability/>Calculating the observation center angle/>, of a satellite. Combined with observation center angle/>An allowable observation rectangular area CovR of the satellite can be calculated.
Where k is a scaling factor of the allowable observation area, and generally has a value of 0.9 to 0.98.
Calculating coordinates of points under the satelliteIntersecting arc segments (observable arc segments) with allowable observation rectangular sections CovR, and generating a set C R (i), namely, the observation segments/>, of the satellite to the target area can be extractedL is the length of C R (i), and the number of track lifting observation times/>, calculated according to the number of track lifting arc sections and track lifting arc sections in C R (i)And derailment observation times/>。
S104: calculating to obtain the total coverage strip number of the region to be observed according to the first data;
in the present embodiment, the remote sensor width w=according to the imaging satellite Subsurface Point track/>And the corresponding satellite orbit height h can decompose the region to be observed into parallel strips with fixed width based on a static decomposition method, and the number of the parallel strips is counted to obtain the number of the full-coverage strips of the region to be observed.
Specifically, the number of full coverage bands at each up-track observation is counted separatelyNumber of full coverage stripes per derailment observation/>（n=na+nd）。
According to the average azimuth angle of the track of the satellite under the track in the track lifting observation or the track descending observationThe coordinate conversion is carried out on the region to be observed, and the formula is as follows:
Then, calculating the amplification coefficient of the full coverage strip corresponding to the track lifting observation or the track lowering observation 。
Is available in the form of、/>。
S105: according to the constellation scale corresponding to each track parameter in the calculated region to be observed;
in this embodiment, the constellation size is calculated The calculation formula of (2) is as follows:
。
S106: the average constellation size for all orbit parameters is calculated.
According to the constellation scaleThe constellation scale range S is calculated, and the calculation formula is as follows:
The round () is a rounding function, and the constellation scale range S is an average constellation scale, i.e., the estimated remote sensing constellation scale.
The embodiment of the application also discloses a computing device.
A remote sensing constellation scale estimation device, comprising:
the acquisition module is used for acquiring initial data and preprocessing the initial data to obtain first data;
the first calculation module is used for calculating and obtaining a track parameter matrix, an observation time window and the number of full-coverage strips of the region to be observed according to the first data;
The second calculation module calculates constellation scales corresponding to each orbit parameter in the region to be observed according to the orbit parameter matrix, the observation time window and the total coverage strip number so as to obtain average constellation scales of all orbit parameters;
and the output module is used for outputting the average constellation scale.
The remote sensing constellation scale estimation device provided by the embodiment of the application can realize any one of the remote sensing constellation scale estimation methods, and the specific working process of each module in the remote sensing constellation scale estimation device can refer to the corresponding process in the method embodiment.
In several embodiments provided by the present application, it should be understood that the methods and systems provided may be implemented in other ways. For example, the system embodiments described above are merely illustrative; for example, a division of a module is merely a logical function division, and there may be another division manner in actual implementation, for example, multiple modules may be combined or may be integrated into another system, or some features may be omitted or not performed.
The embodiment of the application also discloses a computing device.
A computing device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing a method xx as described above when executing the computer program.
The embodiment of the application also discloses a computer readable storage medium.
A computer readable storage medium storing a computer program capable of being loaded by a processor and executing any one of the methods xx described above.
Wherein a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device; program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
In one embodiment of the present application, the working method of remote sensing constellation scale estimation may include the following steps:
S201: the satellite load parameters are input, and mainly comprise the steps of determining the half angle f=1.5 of a satellite remote sensing load field, the satellite attitude (cradle head) maneuvering capability alpha=40, a constellation full coverage period T=4 days and a task starting UTC time 2022.11.08 04:00:00, and the boundary coordinates of a target area are shown in the following table 1. And calculates the inertial to ground conversion matrix T ECI2FIX from the start UTC time and the full coverage period.
TABLE 1
S202: inputting constellation reference star orbit parameters, namely semimajor axis a= 6928.14 km, eccentricity e=0.0005, orbit inclination angle incl= 97.61 and ascending intersection point right ascent=0 °, Perigee argument/>=0 °, True near point angle/>=0°。
S203: setting n=4, m=2, then=90°，/>=180°, The track parameter database coe is shown in table 2 below.
TABLE 2
| Semi-long axis (km) | Eccentricity ratio | Inclination angle (°) | Near-site amplitude angle (°) | The intersection point is right through (degree) | True near point angle (°) |
| 6928.14 | 0.0005 | 97.61 | 0 | 0 | 0 |
| 6928.14 | 0.0005 | 97.61 | 0 | 90 | 0 |
| 6928.14 | 0.0005 | 97.61 | 0 | 180 | 0 |
| 6928.14 | 0.0005 | 97.61 | 0 | 270 | 0 |
| 6928.14 | 0.0005 | 97.61 | 0 | 0 | 180 |
| 6928.14 | 0.0005 | 97.61 | 0 | 90 | 180 |
| 6928.14 | 0.0005 | 97.61 | 0 | 180 | 180 |
| 6928.14 | 0.0005 | 97.61 | 0 | 270 | 180 |
S204: and (3) entering a cyclic iteration process, wherein i=1 at the beginning, converting coe (i) into a track state 0 under an inertial system, setting the recursion step length to be 60s, and setting the recursion time length to be 4 days, and performing track recursion by using an RK4 (5) integrator according to the established J2 perturbation track dynamics model to obtain the track state of the earth inertial system in a full coverage period.
S205: converting the state of the earth inertia track system into a satellite lower point track LLA; taking k=0.95 according to the calculated observation center angle of 4.6 degrees, the allowable observation area range is，/>; Calculating intersection of the satellite lower point coordinate LLA and the allowable observation rectangular range, and extracting the track lifting observation times of the satellite to the target areaAnd derailment observation times/>。
S206: remote sensor breadth w=according to imaging satelliteSubsurface Point track/>And the corresponding satellite orbit height h, and decomposing the region to be observed into parallel strips with fixed width based on a static decomposition method. According to the calculation process, the total coverage strip number/>, during each track lifting observation, is counted respectivelyNumber of full coverage stripes per derailment observation/>And finally multiplying the amplification factor k s corresponding to the track lifting observation and the track lowering observation.
S207: calculating constellation size according to
S208: if i is less than or equal to n·m, i.e., i is less than or equal to 8, i=i+1, and returns to S204.
S209: the calculated constellation size for each orbit parameter is calculated as shown in the following table. Finally, by weighted average, a constellation scale range s= [3,4] is obtained, the constellation scale range being as shown in table 3 below:
TABLE 3 Table 3
| Track parameter number | Constellation size |
| 1 | 3.58 |
| 2 | 3.10 |
| 3 | 2.87 |
| 4 | 3.86 |
| 5 | 3.01 |
| 6 | 3.74 |
| 7 | 3.86 |
| 8 | 2.87 |
From the above, the remote sensing constellation scale estimation method, system, device and medium provided by the embodiment of the application can obtain various original data used in subsequent calculation by collecting the initial data and preprocessing; then, according to the first data, calculating to obtain a track parameter matrix, an observation time window and the number of full coverage strips of the area to be observed, so that the technical scheme of the application has the coverage capability of the irregular area to be observed; and calculating the constellation scale corresponding to each orbit parameter in the region to be observed according to the parameters so as to obtain the average constellation scale of all orbit parameters, thereby greatly improving the remote sensing constellation scale estimation accuracy of the irregular region to be observed.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing description of the preferred embodiments of the application is not intended to limit the scope of the application in any way, including the abstract and drawings, in which case any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.
Claims (10)
1. A remote sensing constellation scale estimation method, comprising:
Collecting initial data and preprocessing to obtain first data;
Calculating to obtain a track parameter matrix, an observation time window and the number of full coverage strips of the region to be observed according to the first data;
And calculating the constellation scale corresponding to each orbit parameter in the region to be observed according to the orbit parameter matrix, the observation time window and the total coverage strip number, so as to obtain the average constellation scale of all orbit parameters, and outputting the average constellation scale as a remote sensing constellation scale.
2. The method according to claim 1, characterized in that: the first data comprises satellite load parameters, region coordinate data to be observed, task time, constellation reference star orbit root number and an orbit root number database established according to the constellation reference star orbit root number;
the orbit number of the constellation reference star comprises a semi-long axis a, an eccentricity e, an orbit inclination angle incl and an ascending intersection point barefoot Near-site argument/>And true near point angle/>；
The satellite load parameters comprise a satellite load view field half angle f and satellite attitude maneuver capability；
The coordinate data of the region to be observed comprises boundary coordinates of the region to be observed；
The task time comprises a constellation full coverage periodAnd task Start UTC time/>。
3. The method according to claim 2, wherein calculating the track parameter matrix of the region to be observed from the first data comprises:
setting the right warp difference of the rising intersection point as The true near point angle difference is/>Uniformly dispersing the right ascent point and the true near point angle distribution, wherein the dispersion formula is as follows:
；
Wherein N is the right ascent point and the right ascent point equal fraction; m is the true near point angle equal fraction;
then, the semi-major axis a, the eccentricity e, the track inclination angle inc and the near-spot amplitude angle are maintained Unchanged, according to the right warp/>, of the discrete rising intersection pointAnd true near point angle difference/>The track parameter matrix coe (i) is generated by a double loop iteration.
4. A method according to claim 3, characterized in that the parameter matrix coe (i) comprises an orbit state vector, and the generation of the orbit parameter matrix coe (i) by means of a double loop iteration comprises the following steps:
the method comprises the steps of establishing a dynamic motion equation of a spacecraft subjected to perturbation, wherein the dynamic motion equation comprises the following specific steps:
；
wherein, Is the position vector of spacecraft,/>Is the acceleration vector of spacecraft,/>Is the main part of the mechanical model, i.e./>, two-body accelerationNon-spherical perturbation acceleration of the earth;
Under 2 nd order perturbation of the earth's non-spherical perturbation, The calculation formula of (2) is as follows:
；
wherein, Is the gravitational constant; /(I)Is the earth-centered distance of the satellite; x, y and z are the inertial system coordinates respectively; /(I)Is the average radius of the earth; j2 is the coefficient of the global non-spherical perturbation J2 term;
track recursion is carried out through an RKF4 (5) numerical integrator to obtain a track state vector under the earth inertia system in a full coverage period T 。
5. The method of claim 4, wherein calculating an observation time window for the region to be observed from the first data comprises:
inertial system rail state Conversion to the coordinates of the point under the satellite in WGS84 coordinates/>；
According to the half angle f of the field of view of the satellite remote sensing load and the satellite attitude maneuver capabilityCalculating the observation center angle/>, of a satelliteThe calculation formula is as follows:
；
Wherein R 0 is the average radius of the earth;
Based on the central angle of observation of the satellite The allowable observation rectangular area CovR of the satellite is calculated, and the calculation formula is as follows:
；
Wherein k is an allowable observation area scaling factor, and the value range is 0.9-0.98; covR is the satellite footprint within the allowed observation rectangular region;
According to the coordinates of the points under the satellite The intersection arc segments with the allowed observation rectangular interval CovR generate a first set C R (i), extract the understar coordinates in the first set C R (i): /(I)；
Calculating the number of track lifting observation times according to the number of track lifting arc sections and track lowering arc sections in the first set C R (i)And derailment observation times/>。
6. The method of claim 5, wherein calculating the number of full coverage bands for the area to be observed from the first data comprises:
remote sensor breadth w=according to imaging satellite Subsurface Point track/>And decomposing the region to be observed into a plurality of parallel strips with fixed widths based on a static decomposition method, and counting the number of the parallel strips as the number of the full-coverage strips of the region to be observed.
7. The method according to claim 5 or 6, wherein the calculating the constellation size corresponding to each orbit parameter in the region to be observed comprises:
According to the number of track lifting observations Rail-lowering observation times/>And number of full coverage stripes/>Calculate constellation size/>The calculation formula is as follows:
；
Where n a and n d are constant parameters, n=n a+nd;
According to the constellation scale The constellation scale range S is calculated, and the calculation formula is as follows:
；
where round () is a rounding function.
8. A remote sensing constellation scale estimation device, comprising:
the acquisition module is used for acquiring initial data and preprocessing the initial data to obtain first data;
the first calculation module is used for calculating and obtaining a track parameter matrix, an observation time window and the number of full-coverage strips of the region to be observed according to the first data;
The second calculation module calculates constellation scales corresponding to each orbit parameter in the region to be observed according to the orbit parameter matrix, the observation time window and the total coverage strip number so as to obtain average constellation scales of all orbit parameters;
and the output module is used for outputting the average constellation scale.
9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a computer program for implementing the method of any of claims 1 to 7.
10. A computing device comprising a memory and a processor, the memory for storing a computer program that, when executed by the processor, implements the method of any of claims 1 to 7.
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2023
- 2023-12-06 CN CN202311664338.2A patent/CN117909641A/en active Pending
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