CN112817733B - Efficient satellite autonomous task planning task pool design method and system - Google Patents
Efficient satellite autonomous task planning task pool design method and system Download PDFInfo
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Abstract
An efficient satellite autonomous task planning task pool design method and system divide satellite tasks into two major categories, namely imaging tasks and data transmission tasks. The task information is divided into task level information and subtask level information by carrying out common feature extraction on the task information, wherein the task level information mainly comprises information such as task states, task serial numbers, priorities, subtask indexes, subtask numbers, imaging data amounts and the like, and the subtask level information mainly comprises information such as subtask serial numbers, push-broom modes, geographic coordinates, imaging time, attitude maneuver, camera states and the like. A task pool of classification hierarchy is established for receiving, storing and managing various tasks. Under the condition of limited satellite computer resources, the method effectively compresses satellite planning task data space through dynamic chip arrangement of the primary task pool and cyclic storage design strategy of the secondary task pool, and provides powerful support for dynamic insertion of tasks and efficient use of information through establishment of the multi-dimensional index table.
Description
Technical Field
The invention relates to a high-efficiency satellite autonomous task planning task pool design method and system, and belongs to the technical field of satellite attitude orbit control.
Background
A satellite performs an autonomous task planning algorithm on the satellite for the first time in China, the task planning algorithm is complex, the task information amount is large, a satellite-borne computer processor and memory resources are limited, and how to efficiently execute task planning software under the condition of existing hardware resources provides challenges for task software design. The satellite has large task uploading amount, the satellite needs to have the capability of uploading the number of observation tasks and data transmission tasks in a 24-hour planning window to be not less than 420 tasks in a conventional way, meanwhile, a satellite planning algorithm dynamically generates a certain number of task copies for the same uploading task, and the satellite also has the capability of task emergency (uploading of not less than 10 observation tasks in emergency) or dynamic and rolling task insertion; task planning involves a plurality of task types and a large number of tasks, task information is multiple, the data volume of a single task is up to more than 10K bytes, and a mode of sequentially storing task data brings great pressure to dynamic management of a memory space (an available memory area is smaller than 4M) and a memory space of a satellite. Meanwhile, the large data volume of the task information also provides a certain challenge for the rapid retrieval and efficient access of the task information.
Disclosure of Invention
The technical solution of the invention is as follows: the method and the system for designing the task pool for the autonomous task planning of the satellite are provided for efficiently managing task information on the satellite, can build an efficient task information pool of the satellite on the satellite, fully utilize limited satellite-borne computer processors and memory resources and are mainly used on a remote sensing satellite platform using the autonomous task planning technology.
The technical scheme of the invention is as follows:
an efficient satellite autonomous task planning task pool design method comprises the following steps:
(1) When the satellite runs in orbit, judging whether to execute dynamic insertion of the task pool in real time, namely judging whether a new task is injected or a new task copy is generated; if no new task is injected or no new task copy is generated, jumping to the step (7), and if the new task is injected or the new task copy is generated, jumping to the step (2);
(2) Establishing or maintaining a satellite primary task pool;
(3) Establishing or maintaining information association among the satellite primary task pools;
(4) Establishing or maintaining a secondary task pool of the satellite imaging task;
(5) Establishing or maintaining information association between a primary task pool and a secondary task pool of an imaging task;
(6) Establishing or maintaining a multi-dimensional index table of a task pool, including: a first order task Chi Quan order index table, a satellite orbit circle task index table, and an empty task index table;
(7) Accessing a task pool;
(8) And after each satellite orbit ring is finished, dynamically maintaining the task pool.
Further, the new task injection refers to a new task which is injected on the ground to the satellite, and the new task copy generation refers to a new task generated by the satellite-borne software due to different task execution modes.
Further, the step (2) establishes or maintains a satellite primary task pool, specifically:
according to the task characteristics of the remote sensing satellite, task information is divided into two types according to imaging tasks and data transmission tasks, a first-level imaging task pool and a first-level data transmission task pool are respectively established by using a structural body array, and X imaging tasks and Y data transmission tasks can be respectively contained; the imaging task information comprises task states, task serial numbers, priorities, subtask indexes, the number of subtasks and imaging data volume; the information of the data transmission task comprises task time and ground stations;
the primary task pool adopts a dynamic insertion mode, and new tasks are dynamically inserted into blank positions of the task pool, wherein the new tasks comprise newly injected tasks or newly generated task copies.
Further, the step (3) establishes or maintains information association between the satellite primary task pools, specifically:
the data transmission task comprises a time transmission task and a non-time transmission task, which both need the support of an imaging task, and the data transmission task and the imaging task have a corresponding relation: one data transmission task corresponds to one imaging task, the corresponding relationship is a one-to-one relationship, namely Y (l) corresponds to X (i), and binding is carried out through task serial numbers.
Further, the step (4) establishes or maintains a secondary task pool of satellite imaging tasks, specifically:
according to the characteristics of a single-point target or a regional target of an imaging task, the number of subtasks is variable, a secondary task pool is established for imaging subtask information, the secondary task pool information is specific task characteristic information and comprises subtask serial numbers, push-broom modes, geographic coordinates, imaging time, attitude maneuver and camera states, and the secondary task pool accommodates Z subtask information;
the secondary task pool adopts a circulating coverage mode, a secondary task pool position signal is established, new subtask information is sequentially inserted into the secondary task pool, and the secondary task pool adopts a circulating head coverage mode after being full; the secondary task pool position signal refers to: and indicating the occupation information of the effective subtask information of the secondary task pool in the pool, namely the insertable position of the new task.
Further, the step (5) establishes or maintains information association between the primary task pool and the secondary task pool of the imaging task, specifically:
the imaging primary task pool built in the step (2) stores imaging task information, the imaging secondary task pool built in the step (4) stores imaging subtask information, the secondary subtask information belongs to the imaging task information of the primary task pool, the imaging task information of the primary task pool and the imaging subtask information of the secondary task pool are in information association, and the corresponding relationship is one-to-many relationship, namely: x (i) corresponds to Z (j … k), and the imaging task information of the primary task pool is added with index information of imaging subtask information of the secondary task pool.
Further, the first-level task Chi Quan order index table refers to: sequencing an imaging primary task pool according to imaging latitude and time information when newly injecting tasks or newly generating task copies, and establishing or maintaining a latitude descending order and time ascending order index table to provide rapid access support for imaging and data transmission tasks;
the satellite orbit circle task index table refers to: each satellite orbit circle starts, a circle-corresponding imaging task or a data transmission task is selected from a first-level task pool according to whether the satellite task circle is visible or not, and a satellite circle-corresponding task index is established and maintained according to optimal imaging and data transmission time sequencing;
the empty task index table refers to: and establishing a first-level imaging and data transmission task pool empty space index, and finishing an empty task index table after each satellite orbit is finished, so as to provide index support for the insertion of new injection tasks or new generation task copies.
Further, the task pool is accessed, specifically:
when the satellite task is subjected to 24-hour rapid overall planning, traversing the primary task pool according to a primary task pool full-order task index table, and accessing the secondary task pool according to a corresponding subtask task index;
when each satellite orbit ring performs task planning and task execution, a satellite orbit ring-down task index table is established, and a two-stage task pool is accessed according to the satellite orbit ring-down task index table.
Further, after each satellite orbit ring is finished, the task pool is dynamically maintained, specifically:
after each satellite orbit circle is finished, the task which is executed and completed by the circle is set as invalid, the first-level task pool is subjected to defragmentation, a first-level task Chi Quan sequence index table and an empty task index table are maintained, and support is provided for new task insertion; the storage mode of the secondary task pool is cyclic coverage; the defragmentation refers to: advancing the unexecuted task index sequence in the full sequence index table, and placing the executed tasks into the empty task index table in sequence.
Further, after new task copy is generated after each new task injection or each task planning, the new task is inserted into the primary task pool according to the task type and indicated by the empty task index table, imaging subtask information is inserted into the imaging secondary task pool according to the imaging secondary task pool position signal aiming at the imaging task, the primary task Chi Quan sequence index table is maintained, and the empty task index table is updated.
Furthermore, the invention also provides a satellite autonomous task planning task pool system, which comprises:
dynamic insertion judgment module: when the satellite runs in orbit, judging whether to execute dynamic insertion of the task pool in real time, namely judging whether a new task is injected or a new task copy is generated; if no new task is injected or no new task copy is generated, directly executing the task pool access module; if new task injection exists or new task copy is generated, executing a primary task pool building module;
the primary task pool building module: establishing or maintaining a satellite primary task pool;
a primary task pool association module: establishing or maintaining information association among the satellite primary task pools;
the secondary task pool building module: establishing or maintaining a secondary task pool of the satellite imaging task;
a secondary task pool association module: establishing or maintaining information association between a primary task pool and a secondary task pool of an imaging task;
and an index table establishing module: establishing or maintaining a multi-dimensional index table of a task pool, including: a first order task Chi Quan order index table, a satellite orbit circle task index table, and an empty task index table;
a task pool access module: accessing a task pool;
dynamic maintenance module: and after each satellite orbit ring is finished, dynamically maintaining the task pool.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention overcomes the limitation of satellite space and time, and provides a task pool task storage and management method integrating classification and grading aiming at the problems of large task information quantity, quick search and dynamic task insertion related to a satellite task planning algorithm. The dynamic chip sorting of the primary task pool and the cyclic storage design strategy of the secondary task pool enable the internal memory space of task data which originally needs more than 4Mbytes to be compressed to be about 1.5Mbytes, so that the autonomous planning task data space of the satellite is effectively compressed; the establishment and unified maintenance of the multi-dimensional index table provides an efficient and reliable means for dynamic flexible insertion of tasks and access to the task pool.
(2) The method has universality, along with the improvement of satellite intelligence, a plurality of satellites need to realize on-orbit autonomous task planning in the future, and aiming at task information data management, the method provides a high-efficiency satellite autonomous task planning task pool design strategy. The method can be popularized and applied to all satellite system designs with intelligent autonomous mission planning, and particularly has remarkable effect under the condition of limited satellite-borne computer resources.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a functional schematic of a two-level task pool according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the accompanying drawings.
The method overcomes the limitation of satellite space and time, aims at the problems of large task information quantity, quick search and dynamic task insertion related to a satellite task planning algorithm, provides a task pool task storage and management method integrating classification and grading, and provides an efficient solution for efficient access and management of task information data. The dynamic chip sorting of the primary task pool and the cyclic storage design strategy of the secondary task pool enable the internal memory space of task data which originally needs more than 4Mbytes to be compressed to be about 1.5Mbytes, so that the autonomous planning task data space of the satellite is effectively compressed; the establishment and unified maintenance of the multi-dimensional index table provides an efficient and reliable means for dynamic flexible insertion of tasks and access to the task pool.
As shown in fig. 1, which is a flowchart of the method of the present invention, as can be seen from fig. 1, the method for designing an efficient satellite autonomous task planning task pool provided by the present invention specifically includes the following steps:
(1) When the satellite runs in orbit, judging whether to execute dynamic insertion of the task pool in real time, namely judging whether a new task is injected or a new task copy is generated; if no new task is injected or no new task copy is generated, the method jumps to step (7), and if the new task is injected or the new task copy is generated, the method jumps to step (2).
The new task injection refers to a new task which is injected on the satellite, and the new task copy generation refers to a new task generated by the satellite-borne software due to different task execution modes.
(2) And establishing or maintaining a satellite primary task pool. According to the task characteristics of the remote sensing satellite, task information is divided into two main types according to imaging tasks and data transmission tasks, a first-level imaging task pool and a first-level data transmission task pool are respectively established by using a structural body array (data structure), and X imaging tasks and Y data transmission tasks can be respectively contained. The first-level imaging task information comprises task level information and mainly comprises task state, task sequence numbers, priorities, subtask indexes, subtask quantity, imaging data quantity and the like. The series of task information comprises task time, ground station and other information. And (3) dynamically inserting a new task into a blank position of the task pool by adopting a dynamic insertion mode in the primary task pool, and jumping to the step (3). The new task includes a newly injected task or a newly generated task replica.
(3) Information association between the primary task pools is established or maintained.
The data transmission tasks comprise time transmission tasks and non-time transmission tasks, which all need the support of imaging tasks (satellite attitude maneuver), so that the data transmission tasks and the imaging tasks have corresponding relations, one data transmission task needs to correspond to one imaging task, the corresponding relations are one-to-one relations Y (l) - > X (i), and the data transmission tasks can be bound through task serial numbers when being concretely realized and jump to the step (4).
(4) And establishing or maintaining a secondary task pool of satellite imaging tasks.
According to the characteristics of imaging task single-point targets or regional targets, the number of subtasks is variable, a secondary task pool is established for imaging subtask information in order to save satellite memory space, and the secondary task pool information mainly comprises dozens of specific task characteristic information such as subtask serial numbers, push-broom modes, geographic coordinates, imaging time, attitude maneuver, camera states and the like, and the task pool can accommodate Z subtask information. The secondary task pool adopts a cyclic coverage mode, a secondary task pool position signal (indicating the occupation information of effective subtask information of the secondary task pool in the pool, namely the insertable position of a new task) is established, new subtask information is sequentially inserted into the task pool, and after the task pool is full, the cyclic head coverage mode is adopted, and the step (5) is skipped.
(5) And establishing or maintaining information association between the primary task pool and the secondary task pool of the imaging task.
The imaging primary task pool established in the step (2) stores imaging task level information, the imaging secondary task pool established in the step (4) stores imaging subtask level information, and the secondary subtask information is subordinate to the primary task pool task, so that the primary task pool task needs to be in information association with the secondary task pool subtask information, the corresponding relationship is one-to-many relationship X (i) - > Z (j … k), only the index information (subtask index) of the secondary task pool information is added to the primary task information, and the specific implementation can be realized through a data structure such as a pointer and the like, and the step (6) is skipped.
(6) Various index tables are built or maintained.
In order to realize efficient access of the task pool, a multi-dimensional index table of the task pool is established, and the multi-dimensional index table specifically comprises the following index tables:
A. establishing or maintaining a Chi Quan-order index table of all 24-hour (greater than 15 satellite orbits) primary tasks, after each new task is injected, sequencing an imaging primary task pool according to imaging latitude and time information, and establishing or maintaining a descending latitude and ascending time index table to provide rapid access support for imaging and data transmission tasks;
B. establishing or maintaining a satellite orbit circle task index table, starting each satellite orbit circle, selecting a circle-corresponding imaging task or a data transmission task in a task pool according to whether the satellite task circle is visible or not, and establishing and maintaining a satellite circle-corresponding task index according to optimal imaging and data transmission time sequencing so as to accelerate efficient access support of the imaging and data transmission tasks;
C. and establishing or maintaining an empty task index table, establishing a first-level imaging and data transmission task pool empty space index, and finishing the empty task index table after each satellite orbit is finished, so as to provide efficient index support for the insertion of new tasks.
Jump to step (7).
(7) And accessing the task pool.
A. As shown in fig. 2, after each new task is injected or each task planning is performed if a new task copy is generated, the new task is inserted into the primary task pool according to the task type and indicated by the empty task index table, imaging subtask information is inserted into the imaging secondary task pool according to the imaging secondary task pool position signal aiming at the imaging task, the primary task Chi Quan order index table is maintained, and the empty task index table is updated. And (5) jumping to the step (2), otherwise jumping to the step (7) B.
B. When the satellite task is subjected to 24-hour task rapid overall planning
Traversing the primary task pool according to the primary task pool full-order task index table, and accessing the secondary task pool according to the corresponding subtask task index.
C. When each satellite orbit ring performs task planning and task execution, a satellite orbit ring-down task index table is established according to the overall planning result A, and a two-stage task pool is accessed according to the satellite orbit ring-down task index table.
Jump to step (8).
(8) And after each satellite orbit ring is finished, dynamically maintaining the task pool.
After each satellite orbit circle is finished, the task which is executed and completed by the circle is set as invalid, the first-level task pool is subjected to defragmentation, a first-level task Chi Quan sequence index table and an empty task index table are maintained, and high-efficiency support is provided for new task insertion.
The defragmentation refers to: advancing the unexecuted task index sequence in the full sequence index table, and sequentially placing the executed tasks into the empty task index table
The traditional remote sensing satellite is characterized in that tasks are transmitted from the ground one by one in a satellite orbit, the next task information is received after the satellite is executed, a certain satellite performs an autonomous task planning algorithm on the satellite for the first time in China, the task planning algorithm is complex, the task information amount is large, the task loading amount of the satellite is large, and the satellite is required to have the capability of conventionally loading for 24 hours imaging and the number of data transmission tasks is not less than 420. The invention overcomes the limited satellite space and time and performs task storage and management of task pools in a set classification and classification mode. The dynamic chip sorting of the primary task pool and the cyclic storage design strategy of the secondary task pool enable the internal memory space of task data which originally needs more than 4Mbytes to be compressed to be about 1.5Mbytes, so that the autonomous planning task data space of a satellite is effectively compressed, and efficient and reliable means are provided for dynamic flexible insertion of tasks and access of task pools by the establishment and unified maintenance of a multi-dimensional index table.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (9)
1. A high-efficiency satellite autonomous task planning task pool design method is characterized by comprising the following steps:
(1) When the satellite runs in orbit, judging whether to execute dynamic insertion of the task pool in real time, namely judging whether a new task is injected or a new task copy is generated; if no new task is injected or no new task copy is generated, jumping to the step (7), and if the new task is injected or the new task copy is generated, jumping to the step (2);
(2) Establishing or maintaining a satellite primary task pool;
(3) Establishing or maintaining information association among the satellite primary task pools;
(4) Establishing or maintaining a secondary task pool of the satellite imaging task;
(5) Establishing or maintaining information association between a primary task pool and a secondary task pool of an imaging task;
(6) Establishing or maintaining a multi-dimensional index table of a task pool, including: a first order task Chi Quan order index table, a satellite orbit circle task index table, and an empty task index table;
(7) Accessing a task pool;
(8) After each satellite orbit ring is finished, dynamically maintaining a task pool;
the step (2) is to build or maintain a satellite primary task pool, which is specifically as follows:
according to the task characteristics of the remote sensing satellite, task information is divided into two types according to imaging tasks and data transmission tasks, a first-level imaging task pool and a first-level data transmission task pool are respectively established by using a structural body array, and X imaging tasks and Y data transmission tasks can be respectively contained; the imaging task information comprises task states, task serial numbers, priorities, subtask indexes, the number of subtasks and imaging data volume; the information of the data transmission task comprises task time and ground stations;
the primary task pool adopts a dynamic insertion mode, and a new task is dynamically inserted into a blank position of the task pool, wherein the new task comprises a newly injected task or a newly generated task copy;
the step (4) is to build or maintain a secondary task pool of the satellite imaging task, which is specifically as follows:
according to the characteristics of a single-point target or a regional target of an imaging task, the number of subtasks is variable, a secondary task pool is established for imaging subtask information, the secondary task pool information is specific task characteristic information and comprises subtask serial numbers, push-broom modes, geographic coordinates, imaging time, attitude maneuver and camera states, and the secondary task pool accommodates Z subtask information;
the secondary task pool adopts a circulating coverage mode, a secondary task pool position signal is established, new subtask information is sequentially inserted into the secondary task pool, and the secondary task pool adopts a circulating head coverage mode after being full; the secondary task pool position signal refers to: and indicating the occupation information of the effective subtask information of the secondary task pool in the pool, namely the insertable position of the new task.
2. An efficient satellite autonomous mission planning mission pool design method as claimed in claim 1, wherein: the new task injection refers to a new task which is injected on the satellite, and the new task copy generation refers to a new task generated by the satellite-borne software due to different task execution modes.
3. An efficient satellite autonomous mission planning mission pool design method as claimed in claim 1, wherein: the step (3) is to establish or maintain information association among the first-level task pools of the satellites, and specifically comprises the following steps:
the data transmission task comprises a time transmission task and a non-time transmission task, which both need the support of an imaging task, and the data transmission task and the imaging task have a corresponding relation: one data transmission task corresponds to one imaging task, the corresponding relationship is a one-to-one relationship, namely Y (l) corresponds to X (i), and binding is carried out through task serial numbers.
4. An efficient satellite autonomous mission planning mission pool design method as claimed in claim 1, wherein: the step (5) is to establish or maintain information association between a primary task pool and a secondary task pool of an imaging task, and specifically comprises the following steps:
the imaging primary task pool built in the step (2) stores imaging task information, the imaging secondary task pool built in the step (4) stores imaging subtask information, the secondary subtask information belongs to the imaging task information of the primary task pool, the imaging task information of the primary task pool and the imaging subtask information of the secondary task pool are in information association, and the corresponding relationship is one-to-many relationship, namely: x (i) corresponds to Z (j … k), and the imaging task information of the primary task pool is added with index information of imaging subtask information of the secondary task pool.
5. An efficient satellite autonomous mission planning mission pool design method as claimed in claim 1, wherein: the first order task Chi Quan order index table refers to: sequencing an imaging primary task pool according to imaging latitude and time information when newly injecting tasks or newly generating task copies, and establishing or maintaining a latitude descending order and time ascending order index table to provide rapid access support for imaging and data transmission tasks;
the satellite orbit circle task index table refers to: each satellite orbit circle starts, a circle-corresponding imaging task or a data transmission task is selected from a first-level task pool according to whether the satellite task circle is visible or not, and a satellite circle-corresponding task index is established and maintained according to optimal imaging and data transmission time sequencing;
the empty task index table refers to: and establishing a first-level imaging and data transmission task pool empty space index, and finishing an empty task index table after each satellite orbit is finished, so as to provide index support for the insertion of new injection tasks or new generation task copies.
6. An efficient satellite autonomous mission planning mission pool design method as described in claim 5, wherein: accessing a task pool, specifically:
when the satellite task is subjected to 24-hour rapid overall planning, traversing the primary task pool according to a primary task pool full-order task index table, and accessing the secondary task pool according to a corresponding subtask task index;
when each satellite orbit ring performs task planning and task execution, a satellite orbit ring-down task index table is established, and a two-stage task pool is accessed according to the satellite orbit ring-down task index table.
7. An efficient satellite autonomous mission planning mission pool design method as described in claim 5, wherein: after each satellite orbit ring is finished, dynamically maintaining a task pool, specifically:
after each satellite orbit circle is finished, the task which is executed and completed by the circle is set as invalid, the first-level task pool is subjected to defragmentation, a first-level task Chi Quan sequence index table and an empty task index table are maintained, and support is provided for new task insertion; the storage mode of the secondary task pool is cyclic coverage; the defragmentation refers to: advancing the unexecuted task index sequence in the full sequence index table, and placing the executed tasks into the empty task index table in sequence.
8. An efficient satellite autonomous mission planning mission pool design method as claimed in claim 1, wherein: after new task copies are generated after each new task injection or each task planning, the new tasks are inserted into the primary task pool according to the task types and indicated by the empty task index table, imaging subtask information is inserted into the imaging secondary task pool according to the imaging secondary task pool position signals aiming at the imaging tasks, the primary task Chi Quan sequence index table is maintained, and the empty task index table is updated.
9. A satellite autonomous mission planning mission pool system implemented in accordance with the efficient satellite autonomous mission planning mission pool design method as claimed in any of claims 1-8, comprising:
dynamic insertion judgment module: when the satellite runs in orbit, judging whether to execute dynamic insertion of the task pool in real time, namely judging whether a new task is injected or a new task copy is generated; if no new task is injected or no new task copy is generated, directly executing the task pool access module; if new task injection exists or new task copy is generated, executing a primary task pool building module;
the primary task pool building module: establishing or maintaining a satellite primary task pool;
a primary task pool association module: establishing or maintaining information association among the satellite primary task pools;
the secondary task pool building module: establishing or maintaining a secondary task pool of the satellite imaging task;
a secondary task pool association module: establishing or maintaining information association between a primary task pool and a secondary task pool of an imaging task;
and an index table establishing module: establishing or maintaining a multi-dimensional index table of a task pool, including: a first order task Chi Quan order index table, a satellite orbit circle task index table, and an empty task index table;
a task pool access module: accessing a task pool;
dynamic maintenance module: and after each satellite orbit ring is finished, dynamically maintaining the task pool.
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| CN103279974A (en) * | 2013-05-15 | 2013-09-04 | 中国科学院软件研究所 | High-accuracy high-resolution satellite imaging simulation engine and implementation method |
| CN106647787A (en) * | 2016-11-28 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Satellite onboard autonomous task planning method and system |
| CN106909644A (en) * | 2017-02-21 | 2017-06-30 | 中国科学院电子学研究所 | A kind of multistage tissue and indexing means towards mass remote sensing image |
| CN109214564A (en) * | 2018-08-30 | 2019-01-15 | 北京控制工程研究所 | A kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models |
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| CN103279974A (en) * | 2013-05-15 | 2013-09-04 | 中国科学院软件研究所 | High-accuracy high-resolution satellite imaging simulation engine and implementation method |
| CN106647787A (en) * | 2016-11-28 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Satellite onboard autonomous task planning method and system |
| CN106909644A (en) * | 2017-02-21 | 2017-06-30 | 中国科学院电子学研究所 | A kind of multistage tissue and indexing means towards mass remote sensing image |
| CN109214564A (en) * | 2018-08-30 | 2019-01-15 | 北京控制工程研究所 | A kind of remote sensing of the earth satellite Autonomous mission planning method with a variety of Planning Models |
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