CN117632430A - Agile satellite imaging instruction sequence autonomous generation method based on mapping table - Google Patents
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Abstract
The invention discloses an autonomous generation method of an imaging instruction sequence of an agile satellite based on a mapping table, which comprises the following steps: matching a task system mapping table, a service instruction mapping table and a time constraint mapping table according to task basic information, service information and time information of a current task in sequence; obtaining constraint conditions for executing the current task; generating a satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition, wherein the satellite imaging task instruction sequence is used for indicating the system to execute the current task according to the execution content under the constraint of the constraint condition. According to the method provided by the invention, the task information is matched with various mapping tables, so that the automatic generation of the instruction on the satellite body can be realized, the participation of manual work and relay satellites is not needed, the dependence of the instruction generation on the communication between the manual work and the satellite and the ground can be reduced, the instruction generation efficiency can be improved, and the risk of instruction failure can be reduced.
Description
Technical Field
The invention belongs to the technical field of satellite communication, and particularly relates to an autonomous generation method of an agile satellite imaging instruction sequence based on a mapping table.
Background
The instruction construction is a key link in the task planning of the spacecraft, plays a vital role in the technical field of satellite-borne software, and is a basic step of the spacecraft capable of executing tasks according to a preset target. With the continuous progress of the aerospace technology, the deep space exploration task is gradually complicated and flexible, and the instruction construction technology needs to be improved. The current instruction structure mainly adopts a ground manual structure, and needs to perform a large amount of calculation and simulation, so that the waste of manpower and time resources is caused. The current method is also limited by the limited ground communication time window when the spacecraft operates, and the timeliness and correctness cannot be ensured by manually constructing instructions on the ground aiming at burst tasks. Therefore, it is important to study on-orbit autonomous construction technology of the satellite command.
At present, the star-service instruction construction in China depends on manual completion, and a great deal of time and manpower are consumed. When task information is received, an expert firstly disassembles the task and corresponds to the related system, then designs each instruction by combining the task information and instruction constraint conditions, and then fills the instruction information. This severely leads to inefficiency in instruction construction. And human intervention inevitably introduces deviations and errors, increasing the risk of instruction construction errors. In addition, after the instruction construction is completed, the instruction is also required to be uploaded to the satellite, the uploading process is particularly complicated, the information can be transmitted by means of inter-satellite communication for complex tasks or dense instructions, in view of the fact that the inter-satellite communication window is limited, the problem that the communication window is out of date in the uploading process is likely to occur, the uploading of the instructions is realized in a wireless communication mode, and the risk of task failure is increased due to occupation of other satellite resources.
Therefore, the current satellite instruction generation method needs to be manually involved, and the instruction transmission process may need to pass through a relay satellite, so that the instruction generation efficiency is low, and the failure risk is high.
Disclosure of Invention
The embodiment of the invention provides an autonomous generation method of an imaging instruction sequence of a agile satellite based on a mapping table, which can solve the problems that the current satellite instruction generation method needs manual participation, and the instruction transmission process possibly needs to pass through a relay satellite, so that the instruction generation efficiency is low and the failure risk is high.
In a first aspect, an autonomous generation method of an agile satellite imaging instruction sequence based on a mapping table provided by an embodiment of the present invention includes: matching a task system mapping table according to task basic information in task information of a current task to obtain a system for executing the current task, wherein the task information comprises the task basic information, service information and time information; matching a service instruction mapping table according to the task information of the current task to obtain the execution content of the current task; matching the time constraint mapping table according to the task time information of the current task to obtain constraint conditions for executing the current task; generating a satellite imaging task instruction sequence instruction according to the task basic information, the system, the execution content and the constraint condition, wherein the satellite imaging task instruction sequence instruction is used for instructing the system to execute the current task according to the execution content under the constraint of the constraint condition.
According to the method provided by the invention, the task information is matched with various mapping tables, so that the automatic generation of the instruction on the satellite body can be realized, the participation of manual work and relay satellites is not needed, the dependence of the instruction generation on the communication between the manual work and the satellite and the ground can be reduced, the instruction generation efficiency can be improved, and the instruction aging risk can be reduced.
In one possible implementation manner of the first aspect, the system may include one or more of the following: program control system, data transmission antenna system, camera system.
In a possible implementation manner of the first aspect, if the system for executing the current task includes a program control system, the task information further includes program control information, before generating the satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition, the program control instruction mapping table may be matched according to the task information of the current task, so as to obtain the program control satellite instruction. Then generating a service satellite instruction according to the system, the execution content and the constraint condition; and generating a satellite imaging task instruction sequence according to the service satellite instruction and the program control satellite instruction.
In a possible implementation manner of the first aspect, the current task may include at least one subtask, and the execution content includes one or more of the following: the execution time of each subtask, the imaging class of the camera, the working mode of the system.
In one possible implementation of the first aspect, the constraint may include one or more of the following: motorized lead time of each subtask, task maximum execution duration of each subtask.
In a possible implementation manner of the first aspect, the constraint condition may be obtained by matching a time constraint mapping table according to time information of a current task or according to time information of a current task and time information of a previous task.
In a possible implementation manner of the first aspect, before the task system mapping table is matched according to the task basic information in the task information of the current task to obtain the system for executing the current task, the task setting information may be obtained, and the task system mapping table, the service instruction mapping table, the time constraint mapping table and the program control instruction mapping table are determined according to the task setting information.
According to the method provided by the invention, the task information is matched with various mapping tables, so that the automatic generation of the instruction on the satellite body can be realized, the participation of manual work and relay satellites is not needed, the dependence of the instruction generation on the communication between the manual work and the satellite and the ground can be reduced, the instruction generation efficiency can be improved, and the instruction aging risk can be reduced. Further, the related files of the mapping table described in various forms are stored in the satellite, so that the readability and the repairability of the mapping table can be improved, and a user can conveniently modify and adjust the mapping table according to the requirements, so that the mobility of the method provided by the invention is improved.
In a second aspect, an embodiment of the present invention provides an autonomous generation device for an imaging instruction sequence of an agile satellite based on a mapping table, where the device includes a processing unit; the processing unit is used for:
matching a task system mapping table according to task basic information in task information of a current task to obtain a system for executing the current task, wherein the task information comprises the task basic information, service information and time information;
matching a service instruction mapping table according to service information of the current task to obtain execution content of the current task;
according to the time information of the current task, matching a time constraint mapping table to obtain constraint conditions for executing the current task;
generating a satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition, wherein the satellite imaging task instruction sequence is used for indicating the system to execute the current task according to the execution content under the constraint of the constraint condition.
In one possible implementation manner of the second aspect, the system may include one or more of the following: program control system, data transmission antenna system, camera system.
In a possible implementation manner of the second aspect, if the system for executing the current task includes a program control system, the task information further includes program control information, before generating the satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition, the processing unit may be configured to match the program control instruction mapping table according to the task information of the current task, to obtain the program control satellite instruction. Then generating a service satellite instruction according to the system, the execution content and the constraint condition; and generating a satellite imaging task instruction sequence according to the service satellite instruction and the program control satellite instruction.
In a possible implementation manner of the second aspect, the current task may include at least one subtask, and the execution content includes one or more of the following: the execution time of each subtask, the imaging class of the camera, the working mode of the system.
In one possible implementation manner of the second aspect, the constraint condition may include one or more of the following: motorized lead time of each subtask, task maximum execution duration of each subtask.
In a possible implementation manner of the second aspect, the processing unit may be specifically configured to match the time constraint mapping table according to the time information of the current task or according to the time information of the current task and the time information of the previous task, so as to obtain the constraint condition.
In a possible implementation manner of the second aspect, the apparatus may further include an obtaining unit, where the obtaining unit may be configured to obtain the task setting information before matching the task system mapping table according to the task information of the current task, to obtain a system for executing the current task. The processing unit may be further configured to determine a task system mapping table, a service instruction mapping table, a time constraint mapping table, and a program control instruction mapping table according to the task setting information.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory is configured to store a computer program; the processor may be adapted to execute a computer program (instructions) stored in a memory to implement the method of the first aspect described above.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing a computer program which, when executed, performs a method as in the first aspect.
It will be appreciated that the advantages of the second to fourth aspects may be found in the relevant description of the first aspect and are not repeated here.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: according to the method provided by the invention, the task information is matched with various mapping tables, so that the automatic generation of the instruction on the satellite body can be realized, the participation of manual work and relay satellites is not needed, the dependence of the instruction generation on the communication between the manual work and the satellite and the ground can be reduced, the instruction generation efficiency can be improved, and the instruction aging risk can be reduced.
Drawings
Fig. 1 is a flow chart of an autonomous generation method of an imaging instruction sequence of an agile satellite based on a mapping table according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a task system mapping table according to an embodiment of the present invention;
FIG. 3 is a schematic view of a task mapping table matching system according to an embodiment of the present invention;
fig. 4 is a schematic view of a scenario of matching execution contents according to a service instruction mapping table according to an embodiment of the present invention;
FIG. 5 is a schematic view of a scenario in which constraint conditions are matched according to a time constraint mapping table according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a scenario for matching program-controlled satellite instructions according to a program-controlled mapping table according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a satellite command according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an autonomous generation device of an imaging instruction sequence of an agile satellite based on a mapping table according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but embodiments of the present invention are not limited thereto.
The mapping table-based autonomous generation method of the imaging instruction sequence of the agile satellite can be applied to satellites such as communication satellites and remote sensing satellites, and the specific type of the satellites is not limited in the embodiment of the invention.
Fig. 1 is a schematic flow chart of an autonomous generation method of an agile satellite imaging instruction sequence based on a mapping table according to an embodiment of the present invention. By way of example and not limitation, the method 100 may include steps S101-S105. The steps are described below.
S101, matching a task system mapping table according to task basic information of a current task to obtain a system for executing the current task.
For example, the task information of the current task may include task basic information, service information, and time information.
By way of example, the task basic information may include a task ID (task ID), a task type (IMType), a camera for imaging (fu_cam), and a camera number (cam_id).
By way of example, a system for performing a respective task may include one or more of the following: control system, data transmission antenna system, program control system, camera system.
Alternatively, the camera system may include a visible camera, an infrared camera, and a wide-format camera.
In some embodiments, the system performing the current task may be determined based on task base information in the task information (e.g., task type or camera used for imaging), matching a task system mapping table.
For example, if the current task includes multiple systems, each system may be used to perform one of the subtasks in the current task. Each subtask has own execution time length and execution time.
In one possible implementation, the task system mapping table may store mapping relationships between different task basic information (e.g., task types or cameras used for imaging) and the system.
For example, referring to fig. 2, when imtype=0x4000 in the task information, the system performing the current task includes a program control system, a data transmission antenna system, and a control system. When fu_cam in the task information is d1= 1>0, the systems performing the current task are the visible camera and the infrared camera in the camera system.
For example, referring to FIG. 3, the mission system mapping table may be stored in the satellite in the form shown by the following formula.
Where, the assignment indicates that it is a task system mapping table, the param is a value for determining a condition of the system, for example, "IMType and fu_cam", and the Terminal is a system corresponding to the condition. Different values of IMType and fu_cam correspond to different characteristic value sequences, respectively, e.g. imtype=0x4000 corresponds to param 1 Post-eigenvalue sequence value 1 ,value 2 ,...,value j . Different systems also correspond to different characteristic values, and the characteristic values of the system for executing the current task can be matched according to the param characteristic sequence, so that the system for executing the current task is obtained.
In one example, if the program control system is matched according to the task system mapping table, step S104 and step S102 may be performed simultaneously.
In another example, if the program control instruction mapping table is not matched according to the task system mapping table, only the steps S102, S103 and S105 are needed.
In other embodiments, before executing step S101, the task setting information may be acquired first, and the task system mapping table, the service instruction mapping table, the time constraint mapping table, and the program control instruction mapping table may be determined according to the task setting information.
In one possible approach, the task system map, business instruction map, time constraint map, and program instruction map may be stored in the satellite in a form similar to equation (1) above.
In another possible implementation manner, the method can be further described through second-order predicate logic, and files described through the second-order predicate logic are stored in the satellite, so that a user can conveniently analyze the feasibility of the method.
In one example, referring to the task system mapping table in equation (1), performing a second order predicate logic description on it may result in a file as shown in the following equation:
where x represents a task. The assignment (x) indicates that the task x belongs to the "assignment" set, i.e. it is a task that needs to fulfill a specific condition. UsingThe symbols "present", "→" denote a logical "implication", i.e. if the preceding condition is met, the following condition must also be met. That is, the predicates P, Q and R exist to satisfy the conditions of parameter (x, P), value (P, Q), valid_value (Q), and terminal_value (x, R). This condition means that if a task x belongs to the "transmission" set, then there is a parameter name P and a parameter value name Q, and Q is a valid parameter value, then the Terminal (system) value of task x is R.
In another example, referring to the business instruction mapping table in the following formula (10), a second order predicate logic description is performed on the business instruction mapping table, and a file shown in the following formula can be obtained:
where x represents an instruction. Terminal (x) means that instruction x belongs to the "Terminal" set, i.e. the current Terminal instruction. UsingThe symbols "present", "→" denote a logical "implication", i.e. if the preceding condition is met, the following condition must also be met. That is, the predicates C, Q and R exist to satisfy the conditions of condition_name (x, C), value (C, Q), valid_value (Q), and encoding_value (x, R). This condition is expressed as If an instruction x belongs to the "Terminal" set, then there are C, Q, R elements that satisfy the condition of instruction x as C, C has a value of Q, and Q is a valid value. And instruction x is present with number R.
In yet another example, a second order predicate logic description of the program controlled instruction mapping table in equation (12) below may be referred to as a file as shown in the following equation:
where x represents an instruction. The transmission (x) indicates that task x belongs to the "transmission" set, i.e. it is a task that needs to meet a specific condition. UsingThe symbols "present", "→" denote a logical "implication", i.e. if the preceding condition is met, the following condition must also be met. I.e. the presence predicates P, Q and R satisfy property condition Conditions of (x, P), value (P, Q), valid_value (Q), and encoding (x, R). This condition means that if a task x belongs to the "transmission" set, then there is a parameter name P and a parameter value name Q, and Q is a valid parameter value, then the encoding value of instruction x is R.
In yet another example, a second order predicate logic description of the time constraint map in equation (11) below may be found with reference to the time constraint map, which may be a file as shown in the following equation:
Where x represents an instruction constraint. Restaint (x) means that constraint x belongs to the "restaint" set. UsingThe symbol "present", "→" means logic "inclusive", e.g.)If the former condition is satisfied, the latter condition must also be satisfied. That is, there are predicates C, Q, S and R that satisfy the conditions of condition_name (x, C), value (C, Q), valid_value (Q), parameter (x, S), and property (x, R). This condition means that if an instruction constraint x belongs to the "reset" set, there are C, Q, S, R four elements that satisfy the condition of instruction x as C, the value of C as Q, and Q as a valid value. And the value of parameter for which constraint x exists is S, property is R.
In another possible implementation manner, the mapping table can be described in a functional manner, and the file described by the function is stored in the satellite, so that the user can conveniently understand the mapping relation in each mapping table.
In one example, referring to the task system mapping table in the above formula (1), describing a function thereof, a file shown in the following formula may be obtained:
terminal=Mission(param i (value j )),i=1,2,3,...,n,j=1,2,3...m (6)
this function represents that the selected system depends on the attribute information param in the task information mix i Value of (2) j . When i, j take different values, they correspond to different terminal.
In another example, referring to the service instruction mapping table in the following formula (10), describing a function thereof, a file shown in the following formula may be obtained:
instruction=Terminal(condition i (value j )),i=1,2,3,...,n,j=1,2,3...m (7)
this function indicates that the execution content (instrumentation) of the current task depends on the value valuej of the attribute information conditionni in the task information corresponding to the system. When i, j take different values, they correspond to different instractions.
In yet another example, a function description of the program-controlled instruction mapping table in the following formula (12) may be referred to as a file shown in the following formula:
this function shows that the program-controlled satellite instructions depend on the critical condition property in the Instruction condition And encoding. When i, j take different values, they correspond to different instractions.
In yet another example, a function description of the time constraint map in equation (11) below may be referred to as a file as shown in the following equation:
this function represents that the constraint depends on the key element property in restaint conditioni Value of (2) j . When i, j take different values, they correspond to different restpoints.
S102, matching the service instruction mapping table according to the service information of the current task to obtain the execution content of the current task.
For example, the current task may be split into at least one subtask.
By way of example, the execution of the current task may include one or more of the following: the execution time of each subtask, the imaging class of the camera, the working mode of the system.
For example, the service instruction mapping table may store mapping relations between different service information and different execution contents, and may be matched according to attribute information in the task information, so as to obtain the execution content of the current task.
By way of example, the service information may include: information such as a camera (fu_cam) used for imaging, an imaging type (f_calt) of the camera, an antenna type (DTAType), and the like.
For example, when the system is a camera system and the imaging category f_calt=1, the imaging category of the corresponding camera may include calibration imaging, and the execution duration of the subtask performed by the camera system may be 2 minutes. If the current task is executed at a time of 10:00 and the execution time is 3 minutes, the execution time of the subtasks executed by the camera (i.e., the time to start imaging) may be 10:00. When the system is a camera, the imaging category f_calt=4, the imaging category of the corresponding resulting camera may include direct imaging, and the execution duration of the subtasks performed by the camera may be 40 seconds. When the system is a data transmission antenna system, the working mode of the data transmission antenna system can be a recording mode, and the execution time (i.e. the time for starting recording) of the data transmission antenna can be 10:00.
In one example, a similar service instruction mapping table may also be stored in the satellite in the form of equation (10), see equation (10) below.
Wherein terminal_id represents an identification of a system executing a current task, id is an instruction block code of the system, condition is a characteristic value sequence corresponding to a judgment condition for determining execution content of the current task, and the judgment condition is stored in a satellite in different characteristic values. The encoding_value is a feature value sequence corresponding to the execution content under the condition. When the specific value of the encoding_value is obtained according to different conditions, the execution content of the current task can be determined.
For example, referring to fig. 4, the execution systems obtained from the task system mapping table are visible cameras and infrared cameras. The feature values of the corresponding encoding_value are 0x11 and 120 when the value of the camera (fu_cam) used for imaging and the imaging class (f_calt) of the camera are all 2, which means that single scale imaging is 120 seconds.
And S103, matching the time constraint mapping table according to the time information of the current task to obtain the constraint condition for executing the current task.
By way of example, the time information may include: push broom flag (f_scantype), execution time of current task (t 0), execution duration of current task (dt), maneuver time of current task (texe).
By way of example, the constraints may include one or more of the following: motorized lead time of each subtask, task maximum execution duration of each subtask.
In some embodiments, the time constraint mapping table may be matched according to the time information of the current task or the time information of the current task and the time information of the last task, so as to obtain the constraint condition for executing the current task.
In one possible implementation manner, if the system for executing the current task includes a control system, the time constraint mapping table may be matched according to the time information of the current task and the time information of the previous task, so as to obtain the constraint condition for executing the current task.
For example, if f_scantype=0 for the current task, the push-broom mode of the control system is active push-broom; f_scantype=0 of the last task, the push-broom mode of the control system is also active push-broom, the maneuver time of the current task is texe, the task lead time of the subtask executed by the control system is 2 seconds, and the maneuver time of the subtask is texe-2.0.
In another possible implementation manner, the time constraint mapping table may be matched according to the time information of the current task, so as to obtain the constraint condition for executing the current task.
For example, when the execution system of the subtask is a camera, the values of the camera (fu_cam) used for imaging and the imaging class (f_calt) of the camera are all 2, the execution time of the current task is t0, the execution time period is dt, the post-task time is 30 seconds, the imaging end time of the camera is t0+dt+30, and the maximum execution time period of the task (i.e., the maximum imaging time period of the camera) is 10 minutes.
In one example, the time constraint map may also be stored in the satellite in the form of equation (11), see equation (11) below.
Wherein, restrant represents a time constraint mapping table, time constraintThe mapping table can reflect the Terminal type (terminal_id), the judgment condition (condition) for determining the constraint condition, and the constraint condition (property) obtained finally target ) Instruction encoding (property) condition_i ) Mapping relation between maneuvering time (parameter).
For example, referring to fig. 5, when camera number 96, i.e., the broad camera, is selected, the current task includes a broad camera plus electronics task and a broad camera imaging subtask. The execution time of the electron-adding task is at least 30 seconds earlier than the imaging time of the imaging subtask.
And S104, matching a program control instruction mapping table according to program control information of the current task to obtain a program control satellite instruction.
In some embodiments, the task information may also include programming information. The program control information of the current task may include switch identification (ONOFF), antenna type (dtatipe), antenna identification (DTAID), antenna primary backup (fi_dtlc), operation Mode dta_mode, and the like, which may represent information of an operation state of the system when the current task is executed. The programmed information may be used to determine the operating state of the system, such as; working mode, power on, power off, data transmission, pointing direction, etc.
For example, referring to fig. 6, dtatipe=1 is a data transmission antenna, and when the switch flag onoff=1 is set, the data transmission antenna needs to be turned on. The operation Mode dta_mode=0, and the operation Mode of the data transmission antenna may be a playback Mode.
In one example, a satellite may store a plurality of programmed satellite instructions that have been written. The index of at least one program-controlled satellite instruction can be obtained by matching the program-controlled instruction mapping table according to the attribute information for representing the working state of the system. And then calling the stored program-controlled satellite instruction according to the index of the program-controlled satellite instruction.
Similarly, the programmed instruction map may be stored in the satellite in the form of equation (12) below.
Wherein, the Instruction represents a program control Instruction mapping table and property condition_i In order to determine the characteristic value corresponding to the attribute information such as the judging condition DTAType, DTAID, fi _DTLC of the index of the program-controlled satellite instruction, encoding is the characteristic value of the index of the program-controlled satellite instruction obtained according to the attribute information.
For example, referring to fig. 6, when onoff=1, dtatipe=1, dtaid=1, fi_dtlc=0, program-controlled satellite instructions with indexes 10, 16, 6, 7 in sequence are matched, and these 4 instructions can be used to indicate in sequence: the data transmission system executes the start-up of the ground data transmission phased array antenna 1, the data transmission system executes the pointing of the data transmission phased array waves to the ground station 1, the data transmission system executes the direct-through of the X microwave switch 1, and the data transmission system executes the direct-through of the X microwave switch 2.
S105, generating a satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition.
For example, if the current task includes multiple subtasks, the satellite imaging task instruction sequence may include multiple instructions.
For example, a sequence of satellite imaging task instructions may be used to instruct the system to perform a current task based on execution subject to constraints.
In some embodiments, if the mapping table of the task system is not matched to the mapping table of the program control instruction (i.e. not matched to the program control system), the system for executing the current task, the execution content of the current task, the constraint condition of the current task, the task information of the current task, and the satellite instruction template may be directly filled in to obtain the satellite imaging task instruction sequence according to the steps S101-S103.
In one possible implementation, the satellite instruction templates may include a plurality of modules, and the instructions corresponding to each sub-task may fill in information of the corresponding module according to the system executing the sub-task.
For example, referring to fig. 7, the satellite instruction templates may include instruction block time, instruction block code, task ID, control system module 701, visible and infrared camera module 702, wide camera module 703, and data antenna module 704.
In one example, the task ID in the satellite instruction template may be filled in according to the task ID in the task information. According to the execution time and execution duration of each subtask in the execution content of the current task and the constraint conditions of the current task, the time and duration in the visible camera and infrared camera module 702, the wide camera module 703 and the data transmission antenna module 704 are filled in. The mode in the broad camera module 703 is filled in according to the camera imaging category in the execution of the current task. The control mode in the control system module 701 and the mode in the data transmission instruction module 704 are filled in according to the operation mode of the system in the execution content of the current task. The instruction block code is filled in according to the system executing the subtask. The numbers in the visible camera and infrared camera module 702 are filled in according to the camera numbers in the current task. And filling in instruction block time according to the activation time in the task information and the constraint condition of the current task.
For example, referring to fig. 7, if the task ID of the current task is 1 and includes 2 subtasks, two lines of contents may be filled in the satellite command template according to the above method. The first subtask is executed by the control system, the control mode of the control system is the active push-broom, the code of the active push-broom can be filled into 701, the task ID is filled into 1, and the instruction block code is filled into the instruction block code 93 of the control system. Since the maneuver time of the current task is 10:00:02, the task lead time of the subtask is 2 seconds, and the instruction block time is 10:00:00. The code corresponding to 10:00:00 can be written to the instruction block time. The remaining values in the row of instructions corresponding to the subtask may be filled in as default values, e.g., 0.
For example, referring to fig. 7, another subtask is performed by a visible camera with camera number 96. The camera number 96 may be filled in to the camera number in 702. The execution time of the current task is 10:00:00, the duration is 120 seconds, the post-task time of the subtask is 30 seconds, and the time in 702 can be filled in as a code corresponding to 10:00:00, and the duration is filled in as 150. The maneuver time of the current task is 9:59:55, the maneuver lead time is 5 seconds, and codes corresponding to 9:59:50 can be filled in to the instruction block time. The task ID is filled in to 1, and the instruction block code is filled in to the instruction block code 94 corresponding to the visible camera. The remaining values in the row of instructions corresponding to the subtask may be filled in as default values, e.g., 0.
In other embodiments, if the program control system is matched according to the task system template, the system for executing the current task obtained in steps S101-S103, the execution content of the current task, the constraint condition of the current task, the task information of the current task, and the satellite instruction template may be directly filled in to obtain the service satellite instruction. And filling in a satellite instruction template according to the index of the program-controlled satellite instruction, the task information of the current task and the constraint condition of the current task to obtain the program-controlled satellite instruction. Finally, the program-controlled satellite instructions and the service satellite instructions together form a satellite imaging task instruction sequence (see 700 in fig. 7) of the current task.
The method for filling out the service satellite instruction is the same as the method for filling out the satellite instruction when the program control system is not matched, except that the service satellite instruction is obtained.
For example, the task ID in the satellite instruction template may be filled in according to the task ID in the current task information. And filling out the instruction block codes according to the indexes of the program-controlled satellite instructions. And filling in instruction block time according to the maneuvering time of the current task and the constraint condition of the current task.
For example, referring to fig. 7, the fill task ID is 1 and the instruction block codes of the four subtasks performed by the programming system are sequentially filled in 10, 16, 6, 7. Because the task lead time of the four subtasks is 6 seconds, 4 seconds, 1 second and 0 seconds (i.e. the four subtasks do not need to be executed in advance), the instruction block time of the four subtasks is sequentially filled in as follows: 9:59:49, 9:59:51, 9:59:54, 9:59:55.
Fig. 8 is a schematic structural diagram of an autonomous generation device of an agile satellite imaging instruction sequence based on a mapping table according to an embodiment of the present invention. By way of example, and not limitation, apparatus 800 may include a processing unit 810.
The processing unit 810 may be configured to:
matching a task system mapping table according to task basic information in task information of a current task to obtain a system for executing the current task, wherein the task information comprises the task basic information, service information and time information;
matching a service instruction mapping table according to service information of the current task to obtain execution content of the current task;
according to the time information of the current task, matching a time constraint mapping table to obtain constraint conditions for executing the current task;
and generating a satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition.
The satellite imaging task instruction sequence is used for instructing the system to execute the current task according to the execution content under the constraint of the constraint condition.
In one possible implementation, the system may include one or more of the following: program control system, data transmission antenna system, camera system.
In one possible implementation, if the system for executing the current task includes a program control system, and the task information further includes program control information, the processing unit may be configured to match the program control instruction mapping table according to the program control information of the current task to obtain the program control satellite instruction before generating the satellite instruction according to the task information, the system, the execution content and the constraint condition. Then generating a service satellite instruction according to the system, the execution content and the constraint condition; and generating a satellite imaging task instruction sequence according to the service satellite instruction and the program control satellite instruction.
In one possible implementation, the current task may include at least one subtask, and the execution includes one or more of the following: the execution time of each subtask, the imaging class of the camera, the working mode of the system.
In one possible implementation, the constraints may include one or more of the following: motorized lead time of each subtask, task maximum execution duration of each subtask.
In one possible implementation manner, the processing unit may be specifically configured to match the time constraint mapping table according to the time information of the current task or according to the time information of the current task and the time information of the previous task, so as to obtain the constraint condition.
In a possible implementation manner, the apparatus may further include an obtaining unit 820, where the obtaining unit 820 may be configured to obtain the task setting information before matching the task system mapping table according to the task information of the current task to obtain the system for executing the current task. The processing unit may be further configured to determine a task system mapping table, a service instruction mapping table, a time constraint mapping table, and a program control instruction mapping table according to the task setting information.
According to the method provided by the invention, the task information is matched with various mapping tables, so that the automatic generation of the instruction on the satellite body can be realized, the participation of manual work and relay satellites is not needed, the dependence of the instruction generation on the communication between the manual work and the satellite and the ground can be reduced, the instruction generation efficiency can be improved, and the instruction aging risk can be reduced.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 900 as shown in fig. 9 may include: at least one processor 910 (only one processor is shown in fig. 9), a memory 920, and a computer program 930 stored in the memory 920 and executable on the at least one processor 910, the processor 910 implementing the steps in any of the various method embodiments described above when executing the computer program 930.
The electronic device 900 may be a processing device such as a robot, which can implement the method described above, and the embodiment of the present invention does not limit the specific type of the electronic device.
It will be appreciated by those skilled in the art that fig. 9 is merely an example of an electronic device 900 and is not meant to be limiting and that more or fewer components than shown may be included or certain components may be combined or different components. For example, the electronic device 900 may also include an input-output interface.
The processor 910 may be a central processing unit (Central Processing Unit, CPU), the processor 910 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASTC), field programmable gate arrays (Filed Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic device discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 920 may be an internal storage unit, such as a hard disk or memory, in some embodiments. The memory 920 may also be an external storage device in other embodiments, such as a plug-in hard disk, a smart memory Card (Smart Memory Card, SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), etc. Further, the memory 920 may also include both internal storage units and external storage devices. The memory 920 is used to store an operating system, application programs, boot Loader (Boot Loader), data, other programs, and the like, such as program codes of the computer program. The memory 920 may also be used to temporarily store data that has been output or is to be output.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, only the division of the above functional units and mapping tables is illustrated, and in practical application, the above functional allocation may be performed by different functional units and mapping tables, that is, the internal structure of the apparatus is divided into different functional units or mapping tables, so as to perform all or part of the functions described above. The functional units and the mapping table in the embodiment can be integrated in one processing unit, or each unit can exist alone physically, or two or more units are integrated in one unit, and the integrated units can be realized in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and the mapping table are only for convenience of distinguishing each other, and are not used for limiting the protection scope of the present invention. The specific working process of the unit and the mapping table in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Embodiments of the present invention also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.
Embodiments of the present invention provide a computer program product which, when run on an electronic device, causes the electronic device to perform steps that may be carried out in the various method embodiments described above.
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 present invention may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a camera device/system apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Embodiments of the present invention also provide a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the respective method embodiments described above.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the details or descriptions of some embodiments may be found in the related descriptions of other embodiments.
Claims (10)
1. An autonomous generation method of an imaging instruction sequence of an agile satellite based on a mapping table is characterized by comprising the following steps:
matching a task system mapping table according to task basic information in task information of a current task to obtain a system for executing the current task, wherein the task information comprises the task basic information, service information and time information;
matching a service instruction mapping table according to the service information of the current task to obtain the execution content of the current task;
according to the time information of the current task, matching a time constraint mapping table to obtain constraint conditions for executing the current task;
generating a satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition, wherein the satellite imaging task instruction sequence is used for indicating the system to execute the current task according to the execution content under the constraint of the constraint condition.
2. The method of claim 1, wherein the system comprises one or more of: program control system, data transmission antenna system, camera system.
3. The method of claim 2, wherein the system comprises a programmed system and the task information further comprises programmed information;
Wherein before generating a satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition, the method further comprises:
according to the program control information of the current task, matching a program control instruction mapping table to obtain a program control satellite instruction;
the generating a satellite imaging task instruction according to the task basic information, the system, the execution content and the constraint condition comprises the following steps:
generating a service satellite instruction according to the system, the execution content and the constraint condition;
and generating the satellite imaging task instruction sequence according to the service satellite instruction and the program-controlled satellite instruction.
4. A method according to claim 3, wherein the current task comprises at least one subtask and the execution comprises one or more of: the execution time of each subtask, the imaging category of the camera and the working mode of the system.
5. The method of claim 4, wherein the constraints include one or more of: the method comprises the steps of maneuvering front time of each subtask, task rear time of each subtask and task maximum execution duration of each subtask.
6. A method according to claim 3, wherein before matching the task basic information in the task information according to the current task with the task system mapping table to obtain the system for executing the current task, the method further comprises:
and acquiring task setting information, and determining the task system mapping table, the business instruction mapping table, the time constraint mapping table and the program control instruction mapping table according to the task setting information.
7. The method according to claim 1, wherein said matching the time constraint map according to the time information of the current task to obtain the constraint condition for executing the current task comprises:
and matching the time constraint mapping table according to the time information of the current task or according to the time information of the current task and the time information of the last task to obtain the constraint condition.
8. The device for autonomously generating the imaging instruction sequence of the agile satellite based on the mapping table is characterized by comprising a processing unit, wherein the processing unit is used for:
matching a task system mapping table according to task basic information in task information of a current task to obtain a system for executing the current task, wherein the task information comprises the task basic information, service information and time information;
Matching a service instruction mapping table according to the service information of the current task to obtain the execution content of the current task;
according to the time information of the current task, matching a time constraint mapping table to obtain constraint conditions for executing the current task;
generating a satellite imaging task instruction sequence according to the task basic information, the system, the execution content and the constraint condition, wherein the satellite imaging task instruction sequence is used for indicating the system to execute the current task according to the execution content under the constraint of the constraint condition.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that the processor implements the method according to any of claims 1-7 when executing the computer program.
10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of claims 1-7.
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