CN-115345418-B - On-board full-autonomous task planning method based on subsurface point earth surface attribute forecasting result

CN115345418BCN 115345418 BCN115345418 BCN 115345418BCN-115345418-B

Abstract

The invention discloses a satellite full-autonomous task planning method based on a satellite ground surface attribute forecasting result, which fully utilizes a digital map stored by a satellite navigation positioning system, presets a full-autonomous in-home observation task, a full-autonomous sun-based land observation task and a full-autonomous pair-day scaling task according to the working content of a satellite, obtains the starting time and the ending time of the task by obtaining ground surface attributes such as land/sea, sun/shadow, in/out of the country and the like, realizes the autonomous generation of the task, solves the dependence of the satellite observation task on a ground operation control system, realizes the autonomous controllability of the observation task, and improves the utilization rate and usability of satellite loads.

Inventors

JIANG YU
YUAN YONG
ZHANG XINWEI
CAO HAIYI
HUANG JIN
TIAN HEXIANG
LIU YIMING

Assignees

中国空间技术研究院
中国空间技术研究院

Dates

Publication Date: 20260421
Application Date: 20220627
Priority Date: 20220627

Claims (6)

1. A satellite full-autonomous task planning method based on a satellite ground surface attribute forecasting result is characterized by comprising the steps of firstly presetting each task template for satellite software, then autonomously identifying imaging areas meeting the requirements of boundary conditions of each task according to the satellite ground surface attribute of the satellite forecast, obtaining moments of entering and exiting the imaging areas as starting moments and ending moments of the tasks, and combining the preset task templates to generate autonomous tasks; Each task template comprises a full-autonomous in-environment observation task, a full-autonomous sun-to-land observation task and a full-autonomous daily calibration task; Identifying an imaging area of a full-automatic daily calibration task according to satellite-borne point attributes of satellite forecast, and obtaining the daily calibration method of the task starting time and the task ending time comprises the following steps: The method comprises the steps of regularly acquiring sun/shadow information of a satellite under-satellite point after 90 minutes, starting to record the number of times of acquiring the sun information once the condition of changing the shadow into the sun occurs, adding 1 to the circle count when the number of times of acquiring the sun information reaches 10 times, otherwise continuing to judge the shadow into the sun information, recording the star time T 3 of acquiring the sun information for the 15 th circle when the circle count is 15, taking T 30 =T 3 -3min as the starting time of a task, and taking T 31 =T 3 -1min as the ending time of the task; and merging and judging the data recording sequences in the full-autonomous task and the ground-surface-filling task, if the shutdown instruction of the previous task overlaps with the startup instruction sending time of the next task, merging the tasks, and canceling the sending of the two groups of instructions, otherwise, calling the sending of the related instructions of the tasks.
2. The method for planning an on-board autonomous task according to claim 1, wherein the method for acquiring the in-plane observation at the start time and the end time of the task by identifying the imaging region of the in-plane observation task according to the satellite-borne point attribute of the satellite forecast is as follows: Acquiring the information of the satellite navigation positioning system predicted under the satellite after 90 minutes, and taking the satellite time T 10 for acquiring the information of the satellite for the first time as the starting time of a task once the information of the satellite is acquired for 6 times continuously; And then continuously acquiring the intra-satellite/extra-satellite information of the satellite navigation positioning system predicted under the satellite after 90 minutes at fixed time, taking the satellite time T 11 for acquiring the extra-satellite information for the first time as the ending time of the task once the extra-satellite information is acquired for 6 times continuously, and discarding the acquired T 10 time and re-judging according to the intra-satellite observation method if the extra-satellite information is not acquired for 6 times continuously within a period of time from the time T 10 .
3. The method for planning an on-board autonomous mission of claim 1, wherein the method for identifying an imaging region of an autonomous solar-terrestrial survey mission based on satellite-predicted satellite-borne point attributes to obtain Yang Zhaoliu-ground survey at a start time and an end time of the mission comprises: the satellite navigation positioning system forecast method comprises the steps of regularly acquiring sun/shadow information of a satellite under-satellite point after 90 minutes, starting to judge land/sea information once the sun information is acquired for 10 times continuously, and taking a satellite time T 20 for acquiring the overseas information for the first time as the starting time of a task once the land information is acquired for 6 times continuously; And then continuously acquiring sun/shadow information of the satellite under the satellite after 90 minutes, taking the time T 21 corresponding to the first acquired 'shadow information' or the first acquired 'ocean information' as the end time of the task once the 'shadow information' or the 'ocean information' is acquired continuously for 10 times or the 'ocean information' is acquired continuously for 6 times, and discarding the acquired time T 20 and re-judging according to the Yang Zhaoliu-observation method if the 'shadow information' or the 'ocean information' is not acquired continuously for 10 times within a period of time from T 20 .
4. The method for planning the on-board autonomous task according to claim 1, 2 or 3, wherein the task duration is calculated from the start time and the end time corresponding to each task, if the task duration is greater than or equal to 60 seconds, the task is considered to be executable for conflict detection, and if the task duration is less than 60 seconds, the task is deleted.
5. The method for on-board autonomous mission planning of claim 1, 2 or 3, wherein when a conflict exists in the conflict detection, only the latest mission is reserved and the remaining missions with the conflict are deleted.
6. The method for planning on-board autonomous mission of claim 1,2 or 3, wherein a plurality of mission templates are preset according to the type of mission to be performed by the satellite, and a user can select one or more of the templates according to the observation requirement.

Description

On-board full-autonomous task planning method based on subsurface point earth surface attribute forecasting result Technical Field The invention relates to the technical field of on-board task planning, in particular to an on-board full-automatic task planning method based on a prediction result of an attribute of the ground surface of a point below a satellite. Background The traditional satellite earth observation method relies on ground task planning, and needs to artificially estimate satellite flight trajectories, analyze the relative relation between an observed object and an under-satellite point, and passively receive and execute ground earth injection observation tasks. The satellite cannot respond quickly to the dynamic change of the observation requirement due to the restriction of factors such as short satellite-ground interaction time. Due to the development of satellite-borne electronic technology, satellite autonomous mission planning technology has become a research hotspot in the aerospace field. The method converts the visibility of satellite load to targets into time-attitude information, designs a generation method and an on-machine adjustment strategy of a conflict-free task sequence, can be used for satellite autonomous planning of multi-point target observation tasks, but is not suitable for autonomous generation and management of regional target tasks. At present, research on an on-board autonomous mission planning technology focuses on point targets, and no patent relates to a planning method aiming at area targets. Disclosure of Invention In view of the above, the invention provides an on-board full-autonomous task planning method based on a satellite subsurface point earth surface attribute forecasting result, which solves the problem that a satellite is dependent on a ground operation control system for an area-oriented target observation task, realizes autonomous controllability of the observation task, and improves the utilization rate and usability of satellite load. A satellite full-autonomous task planning method based on a satellite ground surface attribute forecasting result comprises the steps of presetting task templates for satellite software, then autonomously identifying imaging areas meeting the requirements of boundary conditions of each task according to satellite forecasting satellite ground surface attributes, obtaining moments of entering and exiting the imaging areas as starting moments and ending moments of the tasks, combining the preset task templates to generate autonomous tasks, continuously generating autonomous tasks by satellites according to the method, detecting conflicts among generated main tasks, between the main tasks and ground injection tasks, merging tasks without conflicts, executing the tasks with conflicts, and deleting the tasks with conflicts. Preferably, each task template comprises a full-autonomous intra-environment observation task, a full-autonomous sun-to-land observation task and a full-autonomous daily scaling task. Preferably, according to satellite forecast satellite lower point attributes, identifying imaging areas of a full-automatic in-environment observation task, and obtaining in-environment observation methods of task starting time and task ending time comprises the following steps: Acquiring the information of the satellite navigation positioning system predicted under the satellite after 90 minutes, and taking the satellite time T10 for acquiring the information of the satellite for the first time as the starting time of a task once the information of the satellite is acquired for 6 times continuously; And then continuously acquiring the intra-satellite/extra-satellite information of the satellite navigation positioning system predicted under the satellite after 90 minutes at fixed time, taking the satellite time T11 for acquiring the extra-satellite information for the first time as the ending time of the task once the extra-satellite information is acquired continuously for 6 times, and discarding the acquired T10 time and re-judging according to the intra-satellite observation method if the extra-satellite information is not acquired continuously for 6 times within a period of time from the T10 time. Preferably, according to satellite forecast satellite lower point attributes, identifying imaging areas of a full-autonomous sun-to-land observation task, and obtaining Yang Zhaoliu-land observation methods of task starting time and task ending time comprises the following steps: The satellite navigation positioning system forecast method comprises the steps of regularly acquiring sun/shadow information of a satellite under-satellite point after 90 minutes, starting to judge land/sea information once the sun information is acquired for 10 times continuously, and taking the satellite time T20 for acquiring the overseas information for the first time as the starting time of a task once the land information is acquired for 6