CN112668193B - Method for allocating transmission tasks under resource scheduling constraint - Google Patents
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Abstract
The invention provides a method for allocating transmission tasks under the resource scheduling constraint, which can realize the quick allocation of the transmission tasks under the resource scheduling constraint. Based on deduction models such as a launching style, a launching platform and a launching rule, the method and the device develop task feasibility analysis, multi-point simultaneous launching time window rechecking analysis and the like, avoid conflicts and potential defects in time, space, capacity, interfaces, resources and the like which may appear in a launching plan and provide support for perfecting the launching plan. The transmitting task is subjected to conflict resolution and consumption reduction on dimensions such as the transmitting point position and the transmitting window sequence which can be called, and the overall optimization of various resource scheduling and transmitting time sequence coordination is achieved.
Description
Technical Field
The invention belongs to the technical field of transmission task allocation, and particularly relates to a transmission task allocation method under the constraint of resource scheduling.
Background
Due to the condition limitation of the rocket launching window, the rocket can not be launched at any time. In addition, due to the limitation of guarantee capability, the goal of all-weather and random transmission is difficult to realize. Therefore, the transmitting target and the carrying capacity are unified, the conflict of the transmitting task is eliminated on the dimensionalities of the callable transmitting point position, the transmitting window sequence and the like, the consumption is reduced, the overall optimization of various resource scheduling and transmitting time sequence coordination is the problem in the technical field of the current transmitting task distribution, and a method for distributing the transmitting task is not provided in the prior art.
Disclosure of Invention
In view of this, the present invention provides a method for allocating a transmission task under resource scheduling constraint, which can realize fast allocation of the transmission task under resource scheduling constraint.
In order to achieve the above object, a method for allocating transmission tasks under the constraint of resource scheduling of the present invention comprises the following steps:
step 1, obtaining a launching plan;
step 2, detecting whether the multi-point simultaneous emission exists according to the emission plan, and if so, executing the step 2.1 to the step 2.4; otherwise, directly executing the step 3;
step 2.1, performing multi-point homogeneous shooting simulation scenario to generate a multi-point homogeneous shooting simulation scenario;
step 2.2, combining a multipoint simultaneous injection collision analysis algorithm to carry out multipoint simultaneous injection simulation deduction;
step 2.3, synchronizing the multipoint simultaneous emission simulation deduction process to a digital earth for displaying;
step 2.4, outputting a multi-point simultaneous injection simulation deduction result so as to obtain a multi-point simultaneous injection recheck analysis conclusion;
step 3, combining the launching plan, the simulation environment and the meteorological hydrological information to carry out simulation scenario and generate a simulation scenario script;
constructing a simulation model; the simulation model comprises a carrier rocket model, a launching vehicle model, a launching and erecting system model, a measurement and control station model, a measurement and control vehicle model, a launching satellite model, a launching position model, a satellite testing plant model, an optical imaging model, an electronic reconnaissance model and an infrared early warning model;
step 4, according to the simulation scenario script and the simulation model, combining the set step length and time alignment to carry out simulation deduction; synchronizing the simulation deduction process to the digital earth for displaying to generate simulation data and a simulation result;
and 5, performing simulation evaluation according to the simulation data and the simulation result obtained in the step 4 by combining the emission plan evaluation model and the indexes to obtain a task feasibility analysis conclusion.
The multi-point simultaneous emission collision analysis algorithm flow is as follows:
firstly, inputting a collision early warning threshold, the launching time, the launching point position and the launching azimuth angle of two vehicles, and the standard trajectory and the deviation trajectory of the two vehicles;
secondly, calculating a position vector of a launching system of the slave carrier by taking the launching time of the master carrier as a reference;
thirdly, judging whether the flying is neat, if so, turning to the fourth step, and otherwise, outputting the collision probability of 0;
fourthly, calculating position vectors of the two carriers in the meeting plane;
fifthly, calculating a safe distance and a relative distance between the two carriers;
sixthly, searching for the approach time and the minimum approach distance between the two carriers;
seventhly, carrying out proximity judgment, if so, turning to the eighth step, and otherwise, outputting the collision probability of 0;
eighthly, calculating collision probability;
ninthly, outputting the calculated collision probability;
step ten, judging a threshold, if so, turning to the step ten, and otherwise, outputting a flight safety prompt;
step ten, outputting a danger alarm prompt;
the collision probability is the probability that the approach distance between two vehicles is less than the sum of their safe radii.
The specific process of the simulation scenario in the step 3 is as follows:
firstly, performing imagination generation, specifically as follows:
visual force deployment and attribute setting are supported, a model example is configured according to task requirements, entity basic information editing is carried out, command relations are set, and generation of a planned file is achieved;
secondly, performing planning management, including planning list display, new creation, opening, storage, additional storage or deletion;
realizing the basic setting of the imagination, including the imagination of a name, the selection of a task area and the simulation step length of the task time;
thirdly, importing a launching plan, analyzing information of a satellite orbit, a carrier trajectory and a maneuvering path, setting parameters of the orbit, the trajectory and the path of the simulation entity according to the launching plan, and converting the parameters into simulation scenario contents;
fourthly, compiling according to the emission command relation and the strength to complete the emission deployment and the command relation setting;
and fifthly, realizing action plan planning according to the launching task flow, making action links of launching, track entering and running, and generating a launching action simulation scenario.
The specific process of constructing the simulation model comprises the following steps:
firstly, constructing a launching and erecting system model which is an auxiliary device model before launch of the carrier rocket and is attached to a launching vehicle, so that the carrier rocket can be converted from a lying state to a erecting state;
secondly, constructing a carrier rocket model, calculating a flight trajectory according to preset launching data, flying according to a preset trajectory, performing sub-level separation, fairing separation and effective load release flight time sequence actions, sending the satellite into a preset orbit, and having the one-rocket multi-satellite capability;
thirdly, constructing a rocket test plant model which has the functions of storing and testing rockets;
fourthly, constructing a red square satellite model as a satellite entity model carrying a specific sensor;
fifthly, constructing a satellite test plant model, wherein the satellite test plant model has the functions of storing and testing the emergency networking satellite and assembling the satellite on a launching vehicle;
sixthly, constructing a launch position model as a region type entity model, deploying various launch vehicle launching devices in the region, and providing necessary guarantee service functions;
constructing a measurement and control station model as a ground fixed station model, and having the function of tracking the flight state of the carrier rocket and the satellite orbit situation;
eighthly, constructing a measurement and control vehicle model as a ground maneuvering station model, and having the functions of tracking the flight state of the carrier rocket and the satellite orbit situation and meeting the measurement and control requirements from the rocket launching point to the primary separation point;
constructing a blue optical imaging satellite model which has the function of performing high-precision imaging on ground targets in a field of view according to the movement of a preset orbit;
step ten, constructing a blue electronic reconnaissance satellite model which has the function of maneuvering according to a preset orbit and sensing electromagnetic signals within a certain range of the sub-satellite points;
and step eleven, constructing a blue Fang Gongwai early warning satellite model, and having the function of sensing the flight target infrared signals in the space range of the intersatellite point according to the preset orbital maneuver.
In the step 4, the specific process of simulation deduction is as follows:
the method comprises the steps that firstly, an analysis configuration scenario file is opened, information in the scenario file is displayed, and the dynamic position of a launching vehicle, the flying condition of a carrier and the coverage condition of a satellite are displayed in real time;
secondly, monitoring the simulation situation, and displaying maneuvering, launching and satellite in-orbit operation;
thirdly, carrying out simulation operation control, realizing the control of simulation starting, suspension, continuation and simulation ending, and setting simulation advancing time step length, simulation double speed or resetting;
fourthly, carrying out operations of zooming in, zooming out, homing and roaming on the map according to the needs of the user; analyzing and counting the online data by using an event log, data display and task management online display unit;
fifthly, displaying the simulation progress in a progress bar form, and taking the simulation time as a trigger condition for terminating the simulation;
sixthly, recording data generated by simulation in the simulation process, and calling the recorded data for playback after the simulation is finished;
and seventhly, displaying the action process, the on-orbit running state of the satellite and the space-time coverage condition of the satellite to the target in the three-dimensional scene.
Wherein the form of the progress bar includes a completion percentage and an expected completion time.
In step 5, the simulation evaluation process specifically includes:
firstly, creating and managing an index system, displaying the index system in a graph or table mode, and supporting not less than 10 levels of index levels;
secondly, establishing an index system template library, and carrying out classification management on index systems of different types of carrier rockets;
thirdly, calling an index system template from an index system template library;
fourthly, managing a data source and a data set, and setting the data source and the data type of each evaluation index;
fifthly, preprocessing the index data to obtain data of each assessment index;
sixthly, normalizing the index data to obtain the index data under the same evaluation scale;
and seventhly, calculating and generating the weight of each index by using an evaluation model and an evaluation criterion of an analytic hierarchy process and an expert scoring method, and combining index data to obtain a comprehensive evaluation result.
And in the eighth step of the multipoint simultaneous emission collision analysis algorithm, the collision probability of the two carriers is obtained through the integral of the two-dimensional probability density function in the circular domain.
The basic formula for calculating the collision probability of the two vehicles is as follows:
wherein R is A Calculating the parameter mu for the joint safety radius of two vehicles, each collision probability y 、μ z 、σ y And σ z Obtained from the following equation:
μ y ＝Y 21m
μz＝Z 21m
σ 1z ＝(Z 1+ +Z 1- )/6
σ 2z ＝(Z 2+ +Z 2- )/6
σ 1y ＝(Y 1+ +Y 1- )/6
σ 2y ＝(Y 2+ +Y 2- )/6
wherein, Y 1+ 、Z 1+ Error pipeline positive deviation for main carrier position;
Y 1- 、Z 1- pipeline negative deviation for main carrier position error;
Y 2+ 、Z 2+ is a positive deviation from the carrier position error pipeline;
Y 2- 、Z 2- for negative deflection of the pipe from vehicle position errorA difference;
Y 21m 、Z 21m as a slave carrier position vector
Two components of (a);
is the position vector of the slave carrier under the arrow system of the master carrier.
Has the advantages that:
the invention is based on deduction models such as a transmitting style, a transmitting platform, a transmitting rule and the like, carries out task feasibility analysis, multi-point simultaneous transmitting time window rechecking analysis and the like, avoids finding conflicts and potential defects in time, space, capacity, interfaces, resources and the like which may appear in a transmitting plan, and provides support for perfecting the transmitting plan. The transmitting task is subjected to conflict resolution and consumption reduction on dimensions such as the transmitting point position and the transmitting window sequence which can be called, and the overall optimization of various resource scheduling and transmitting time sequence coordination is achieved.
Drawings
FIG. 1 is a general flow diagram of the method of the present invention.
Fig. 2 is a flow chart of simulation deduction according to the present invention.
FIG. 3 is a simulation evaluation index system according to the present invention.
FIG. 4 is a flow chart of simulation evaluation according to the present invention.
FIG. 5 is a flow chart of a multi-point simultaneous injection collision analysis algorithm of the present invention.
Fig. 6 is a schematic diagram of the basic idea of the collision probability calculation of two vehicles according to the present invention.
FIG. 7 is a schematic view of the rocket body coordinate system definition of the vehicle of the present invention.
FIG. 8 is a schematic diagram of the collision probability calculation parameters in the encounter plane according to the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The general flow chart of the method of the invention is shown in figure 1, and comprises the following steps:
step 1, obtaining a launching plan;
step 2, detecting whether the multi-point simultaneous emission exists according to the emission plan, and if so, executing the step 2.1 to the step 2.4; otherwise, directly executing the step 3;
step 2.1, performing multi-point homogeneous shooting simulation scenario to generate a multi-point homogeneous shooting simulation scenario;
step 2.2, combining a point simultaneous injection collision analysis algorithm to carry out multi-point simultaneous injection simulation deduction;
step 2.3, synchronizing the simulation deduction process to the digital earth for displaying;
step 2.4, outputting a multi-point simultaneous injection simulation deduction result so as to obtain a multi-point simultaneous injection recheck analysis conclusion;
step 3, combining the launching plan, the simulation environment and the meteorological hydrological information to carry out simulation scenario and generate a simulation scenario script;
constructing a simulation model; the simulation model comprises a carrier rocket model, a launching vehicle model, a launching and erecting system model, a measurement and control station model, a measurement and control vehicle model, a launching satellite model, a launching position model, a satellite testing plant model, an optical imaging model, an electronic reconnaissance model and an infrared early warning model;
step 4, according to the simulation scenario script and the simulation model, combining the set step length and time alignment to carry out simulation deduction; synchronizing the simulation deduction process to the digital earth for displaying to generate simulation data and a simulation result;
and 5, performing simulation evaluation according to the simulation data and the simulation result obtained in the step 4 by combining the emission plan evaluation model and the indexes to obtain a task feasibility analysis conclusion.
The method for allocating the transmission tasks under the resource scheduling constraint is mainly based on deduction models such as a transmission style, a transmission platform and a transmission rule, performs task feasibility analysis and multi-point simultaneous emission time window rechecking analysis, finds conflicts and potential defects in time, space, capacity, interfaces, resources and the like which may appear in a transmission plan, and provides support for perfecting the transmission plan.
The task feasibility analysis specifically comprises the following steps: aiming at tasks of typical launching tracks such as SSO and LEO, the method comprehensively analyzes the capability conditions such as the current task state, the logistics support, the comprehensive situation and the like, and performs the feasibility of the tasks according to a plan by simulation analysis, including simulation planning, simulation model construction and simulation evaluation, and the specific process is as follows:
1.1 simulation scenario
The simulation scenario is mainly based on the launching plan, and the scenario design of task scene, task elements, task flow, task target, etc. is developed.
And importing the generated launching plan according to launching task requirements, finishing launching deployment, planning launching, on-orbit, running and other action plans according to command relation, force compilation and task flow, and forming a task simulation scenario file which can be recognized by a computer, wherein the file comprises information such as configuration, interface relation, event association and the like of all model examples required by simulation deduction.
Then, the generation and deployment of the simulation transmitting entity are completed, and the task action is mastered and restricted, which comprises the following steps: reading plan data from a launching plan, wherein the plan data comprises data such as launching requirements, satellite orbits, launching trajectories, measurement and control stationing, maneuvering paths and the like; setting a threat area, a target point/area and the like according to task requirements; storing the plan data into a planned file;
and the number of satellite orbits and launching trajectory maneuvering paths are set for simulation models of satellites, rockets, launching vehicles and the like.
Various environments are added to the battlefield specified by the scenario file, including meteorological environment settings and electromagnetic environment settings. The meteorological environment sets meteorological environment parameters including cloud, snow, rain, fog, air pressure, humidity and the like, and simulates the influence of the evolution of the weather condition in the launching scene on launching. The electromagnetic environment setting can set the weight influence of the electromagnetic environment on the aspects of the maneuverability, the detection capability, the fault probability and the like of the entity through the environment model attribute interface and the event interface, thereby realizing the association of the model attribute and the environment basic data and obtaining the final simulation scenario.
The simulation scheme flow is as follows:
step one, planning generation, supporting visual force deployment and attribute setting, configuring a model example according to task requirements, editing entity basic information, setting a command relation and realizing the generation of a planning file;
step two, planning management, including planning list display, new construction, opening, storage or additional storage, deletion and the like, and realizing planning basic settings, including planning names, selecting task areas, simulating task time step lengths and the like;
thirdly, importing a launching plan, analyzing information such as a satellite orbit, a carrier trajectory, a maneuvering path and the like, setting parameters such as an orbit, a trajectory, a path and the like of a simulation entity according to the launching plan, and converting the parameters into simulation scenario content;
fourthly, compiling according to the emission command relation and the strength to complete the emission deployment and the command relation setting;
and fifthly, realizing action plan planning according to the launching task flow, making action links such as launching, track entering, running and the like, and generating a launching action simulation scenario.
1.2 building simulation model
The simulation model building mainly comprises the steps of building simulation deduction models such as a launching style, a launching platform and a launching rule, developing model and platform interface design and system integration.
The simulation model mainly comprises entity models of space transportation, test launching, measurement control, command communication, task support, logistics support, spacecraft and the like, action models of task preparation, remote maneuvering, position deployment, punctual launching, withdrawal return and the like, and battlefield environment models of point location environment, task arrangement, space situation, flight navigation area and debris theory landing area distribution, satellite transit target area time period and the like.
And (4) combing the model information according to the functional requirements of the model, and dividing the simulation model into a red square model and a blue square model. The system mainly comprises a launch vehicle model, a launch erecting system model, a measurement and control station model, a measurement and control vehicle model, a launch satellite model, a launch position model and a satellite test plant model. The blue model mainly comprises an optical imaging model, an electronic reconnaissance model and an infrared early warning model.
The specific process of constructing the simulation model is as follows:
the method comprises the following steps of firstly, constructing a launching and erecting system model which is an auxiliary device model before launch of the carrier rocket and is attached to a launching vehicle, so that the carrier rocket can be converted from a lying state to a erecting state.
And secondly, constructing a carrier rocket model, calculating a flight trajectory according to preset launching data, flying according to a preset trajectory, performing flight time sequence actions such as sublevel separation, fairing separation, effective load release and the like, sending the satellite into a preset orbit, and having the one-rocket multi-satellite capability.
And thirdly, constructing a rocket test plant model which has the functions of storing and testing the rocket.
And fourthly, constructing a red square satellite model as a satellite entity model carrying a specific sensor.
And fifthly, constructing a satellite test plant model, storing and testing the emergency networking satellite, and assembling the satellite on the launching vehicle.
And sixthly, constructing a launching place model into an area type entity model, deploying various launch vehicles launching devices in the area, and providing necessary support service functions.
And seventhly, constructing a measurement and control station model as a ground fixed station model, and having the function of tracking the flight state of the carrier rocket and the satellite orbit situation.
And eighthly, constructing a measurement and control vehicle model as a ground maneuvering station model, and having the functions of tracking the flight state of the carrier rocket and the satellite orbit entering condition and meeting the measurement and control requirements from the rocket launching point to the primary separation point.
And ninthly, constructing a blue optical imaging satellite model, and having the function of performing high-precision imaging on the ground target in the field of view according to the preset orbital maneuver.
And step ten, constructing a blue electronic reconnaissance satellite model which has the function of maneuvering according to a preset orbit and sensing electromagnetic signals within a certain range of the sub-satellite points.
And step eleven, constructing a blue Fang Gongwai early warning satellite model, and having the function of sensing the flight target infrared signals in the space range of the intersatellite point according to the preset orbital maneuver.
1.3 simulation evaluation
And performing simulation deduction according to the simulation scenario script and the simulation model, collecting simulation deduction data, combining an evaluation index system, selecting an evaluation method, and forming a comprehensive evaluation conclusion aiming at the plan. The evaluation indexes mainly comprise five types, namely storage capacity, quick response capacity, carrying capacity, measurement and control capacity and space capacity.
The reserve capacity describes the reserve condition of the emission resource, and evaluates whether the existing resource meets the task requirement, whether the resource needs to be coordinated, whether the coherent emission condition can be met, and the like, wherein the reserve capacity comprises indexes such as the reserve rate of a spacecraft, the reserve rate of a carrier, the reserve rate of an emission unit, the reserve rate of a measurement and control device, and the like.
The quick response capability describes the capability of responding to task demands, whether the tasks can be completed or not is evaluated, and the time of each stage comprises the indexes of task planning time, assembly test time, maneuvering forwarding time, preparation time before shooting, ballistic flight time and the like.
The carrying capacity describes the ballistic flight and control conditions of the carrier, whether the carrier flies according to a preset ballistic trajectory or not is evaluated, whether the debris landing zone is in a safety range or not is evaluated, and the spacecraft can enter a preset orbit and comprises indexes such as position precision, pressure precision, speed precision, thrust precision, yaw precision, separation moment precision, landing zone precision and orbit entering precision.
The measurement and control capability describes the situation of continuous tracking measurement and control of the ground measurement and control equipment on the carrier, and whether the measurement and control coverage situation and the measurement and control precision meet task requirements or not is evaluated, wherein the measurement and control coverage situation and the measurement and control positioning precision meet the task requirements.
The space capability describes the coverage capability of the spacecraft on a target after the orbit entering, and whether the task can be completed quickly or well is described by evaluating the space capability, wherein the task can comprise indexes such as first coverage time, accumulated coverage time and revisit period.
The simulation evaluation process comprises simulation deduction and simulation evaluation processes, wherein a three-dimensional visual launching situation is provided for a user, and the conditions of maneuvering forward, position deployment, rocket flight, on-orbit operation, space coverage and the like can be visually displayed. The simulation deduction process is shown in fig. 2, and specifically includes the following steps:
the method comprises the steps that firstly, an analysis configuration scenario file is opened, information in the scenario file is displayed, and information such as the dynamic position of a launching vehicle, the flying condition of a carrier and the coverage condition of a satellite is displayed in real time;
secondly, monitoring the simulation situation, and displaying links such as maneuvering, launching, satellite in-orbit operation and the like, so that a user can visually and comprehensively know the task condition and the satellite coverage capability;
thirdly, carrying out simulation operation control, realizing the control of simulation starting, pausing, continuing, simulation ending and the like, and setting simulation advancing time step length, simulation double speed or resetting and the like;
fourthly, the map can be amplified, reduced, returned, roamed and the like according to the needs of the user; analyzing and counting the online data by using an event log, data display and task management online display unit;
fifthly, displaying the simulation progress in a form of a progress bar (including a completion percentage and predicted completion time), wherein the simulation time can be used as a trigger condition for terminating the simulation;
sixthly, recording data generated by simulation in the simulation process, and calling the recorded data for playback after the simulation is finished;
and seventhly, displaying the action process, the in-orbit running state of the satellite, the space-time coverage condition of the satellite on the target and the like in the three-dimensional scene.
The simulation evaluation is mainly used for supporting the feasibility evaluation requirement of the launching task, constructing an evaluation index system, an evaluation model and an evaluation criterion, further evaluating the launching effect and giving an evaluation conclusion and related suggestions. The simulation evaluation index system is shown in fig. 3, the simulation evaluation process is shown in fig. 4, and the simulation evaluation process specifically includes the following steps:
firstly, creating and managing an index system, displaying the index system in a graph or table mode, and supporting not less than 10 levels of index levels;
secondly, establishing an index system template library, and carrying out classification management on index systems of different types of carrier rockets;
thirdly, calling an index system template from an index system template library;
fourthly, managing a data source and a data set, and setting the data source, the data type and the like of each evaluation index;
fifthly, index data are preprocessed to obtain data of each assessment index;
sixthly, performing index data normalization processing to obtain index data under the same evaluation scale;
and seventhly, providing various evaluation models and evaluation criteria such as an analytic hierarchy process, an expert scoring method and the like, calculating the weight of each index, and combining index data to obtain a comprehensive evaluation result.
The multi-point simultaneous emission time window rechecking analysis specifically comprises the following steps: and carrying out centralized and unified rechecking on each emission time window to ensure that the multipoint simultaneous emission condition is met. The collision probability between any two vehicles is calculated according to the standard trajectory and deviation trajectory analysis of the vehicles, and an analysis calculation basis is provided for reasonably selecting a safe launching window, so that the occurrence probability of serious accidents in the launching task implementation process is greatly reduced.
Specifically, a flowchart of the multipoint simultaneous emission collision analysis algorithm is shown in fig. 5, and the algorithm flow is as follows:
firstly, inputting a collision early warning threshold, the launching time, the launching point position and the launching azimuth angle of two vehicles, and the standard trajectory and the deviation trajectory of the two vehicles;
secondly, calculating a position vector of a launching system of the slave carrier by taking the launching time of the master carrier as a reference;
step three, performing level flight judgment, if yes, turning to step four, and otherwise, outputting the collision probability Pc =0;
fourthly, calculating position vectors of the two carriers in the meeting plane;
fifthly, calculating a safe distance and a relative distance between the two carriers;
sixthly, searching for the approach time and the minimum approach distance between the two carriers;
seventhly, performing approach judgment, if so, switching to the eighth step, and otherwise, outputting the collision probability Pc =0;
eighthly, calculating a collision probability parameter;
ninthly, outputting the collision probability Pc;
step ten, judging a threshold, if so, turning to the step ten, and otherwise, outputting a flight safety prompt;
and step eleven, outputting a danger alarm prompt.
A basic idea diagram of the calculation of the collision probability of the two vehicles is shown in fig. 6. The basic idea of the vehicle collision probability calculation is as follows: the main carrier is known at t 10 State vector of time of day
Sum error covariance matrix P 1 (t 10 ) At t from the carrier 20 State vector of time of day
Sum error covariance matrix P 2 (t 20 ) Wherein the state vector
And the covariance matrix P are described in the same coordinate system (e.g., the transmit coordinate system). The two vehicles fly according to respective ballistic trajectories, and the distance between the two vehicles is determined to be the nearest at a certain future moment through a proper approach analysis algorithm, wherein the closest moment is t tca When the state vectors and the error covariance matrices of the two carriers are respectively
P 1 (t tca ) And
P 2 (t tca ) According to
P 1 (t tca ) And
P 2 (t tca ) The probability P of collision of two vehicles can be calculated c 。
The preconditions for the calculation of the probability of a collision of two vehicles are as follows:
1) Standard ballistic parameters under the launching coordinate systems of the two vehicles are known;
2) The deviation trajectory parameters of the two vehicles in the launching coordinate system are known;
3) The vehicle position error follows a three-dimensional gaussian distribution.
When the distance between two vehicles is smaller than the sum of the safe radiuses of the two vehicles, collision is considered to be possible, so that the collision probability is defined as the probability that the approaching distance between the two vehicles is smaller than the sum of the safe radiuses of the two vehicles, the calculation process of the probability is essentially to solve the problem of triple integration of a probability density function in an error ellipsoid, the integral calculation process is complex and is inconvenient to program, and therefore equivalent transformation is needed. When the two carriers are closest to each other in distance, an meeting plane of the two carriers is defined in a proper reference datum, the two carriers are located in the plane, so that the problem of calculating the collision probability (the problem of integrating a three-dimensional probability density function in an ellipsoid) can be converted into the problem of calculating the integral of a two-dimensional PDF in a circular domain, and after the conversion, the collision probability of the two carriers is obtained through the integral of the two-dimensional probability density function in the circular domain.
The schematic diagram of the vehicle arrow coordinate system definition of the invention is shown in FIG. 7, and the origin of coordinates is the center of mass O of the vehicle M ，X M The axis pointing towards the head of the carrier and coinciding with the arrow shaft, Y M The shaft is passing through O M In the cross-section of (1) pointing to the III control plane, Z M Axis and X M Axis, Y M The axes constitute the right hand coordinate system, i.e. pointing to the IV control plane. The control surface refers to the position of a traditional rudder wing, and the position pointing to the launching direction is regarded as the I control surface no matter whether the rudder wing exists or not when the carrier is erected on the launcher.
In the main carrier arrow coordinatesIs O M1 -X M1 Y M1 Z M1 Meeting plane Y M1 O M1 Z M1 The collision probability of two vehicles can be expressed as:
wherein y and z are coordinate values of the mass center of the slave carrier on the y axis and the z axis of the rocket body coordinate system of the master carrier, and mu y 、μ z 、σ y And σ z The parameters are calculated for the collision probability in the meeting plane, as shown in fig. 8. In FIG. 8, O M1 Is the main carrier centroid, O M2 From the centre of mass of the vehicle, R A Is the combined safety radius of two vehicles, R tca Is the minimum approach distance between the two vehicle centroids. When R is satisfied tca ≤R A In the case of (3), the collision probability is calculated by equation (3.1). Each collision probability calculation parameter mu y 、μ z 、σ y 、σ z Can be obtained from the following equation:
μ y ＝Y 21m
μz＝Z 21m
σ 1z ＝(Z 1+ +Z 1- )/6
σ 2z ＝(Z 2+ +Z 2- )/6
σ 1y ＝(Y 1+ +Y 1- )/6
σ 2y ＝(Y 2+ +Y 2- )/6
wherein, Y 1+ 、Z 1+ Error pipeline positive deviation for main carrier position;
Y 1- 、Z 1- pipeline negative deviation for main carrier position error;
Y 2+ 、Z 2+ is a positive deviation from the carrier position error pipeline;
Y 2- 、Z 2- negative deviation of the pipeline from carrier position error;
Y 21m 、Z 21m as a slave carrier position vector
Two components of (a);
is the position vector of the slave carrier under the arrow system of the master carrier.
Further, according to the analysis conclusion of relevant literature data (space fragment collision probability fast algorithm based on space compression and infinite series, white display, chen Lei, applied mathematic report, vol. 32, no. 2, and 3 months 2009), it can be known that after the infinite series expansion is performed in the formula (3.1), only the first term is taken as the approximate value of probability integral, and the magnitude of the relative truncation error is 10 -5 Or smaller, and negligible, thus an approximate calculation formula for equation (3.1) is given as follows:
the formula (3.2) is a basic formula for calculating the collision probability of the two vehicles.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method for allocating transmission tasks under the constraint of resource scheduling is characterized by comprising the following steps:
step 1, obtaining a launching plan;
step 2, detecting whether the multi-point simultaneous emission exists according to the emission plan, and if so, executing the step 2.1 to the step 2.4; otherwise, directly executing the step 3;
step 2.1, performing multi-point homogeneous shooting simulation scenario to generate a multi-point homogeneous shooting simulation scenario;
step 2.2, combining a multipoint simultaneous injection collision analysis algorithm to carry out multipoint simultaneous injection simulation deduction;
step 2.3, synchronizing the multipoint simultaneous emission simulation deduction process to the digital earth for displaying;
step 2.4, outputting a multi-point simultaneous injection simulation deduction result so as to obtain a multi-point simultaneous injection recheck analysis conclusion;
step 3, combining the launching plan, the simulation environment and the meteorological hydrological information to carry out simulation scenario to generate a simulation scenario;
constructing a simulation model; the simulation model comprises a carrier rocket model, a launching vehicle model, a launching and erecting system model, a measurement and control station model, a measurement and control vehicle model, a launching satellite model, a launching position model, a satellite testing plant model, an optical imaging model, an electronic reconnaissance model and an infrared early warning model;
step 4, according to the simulation scenario script and the simulation model, combining the set step length and time alignment to carry out simulation deduction; synchronizing the simulation deduction process to the digital earth for displaying to generate simulation data and a simulation result;
and 5, performing simulation evaluation according to the simulation data and the simulation result obtained in the step 4 by combining the emission plan evaluation model and the indexes to obtain a task feasibility analysis conclusion.
2. The method of claim 1, wherein the multi-point simultaneous emission collision analysis algorithm comprises the following steps:
firstly, inputting a collision early warning threshold, the launching time, the launching point position and the launching azimuth angle of two vehicles, and the standard trajectory and the deviation trajectory of the two vehicles;
secondly, calculating a position vector of a launching system of the slave carrier by taking the launching time of the master carrier as a reference;
thirdly, judging whether the flying is neat, if so, turning to the fourth step, and otherwise, outputting the collision probability of 0;
fourthly, calculating position vectors of the two carriers in the meeting plane;
fifthly, calculating a safe distance and a relative distance between the two carriers;
sixthly, searching for the approach time and the minimum approach distance between the two carriers;
seventhly, carrying out proximity judgment, if so, turning to the eighth step, and otherwise, outputting the collision probability of 0;
eighthly, calculating collision probability;
ninthly, outputting the calculated collision probability;
step ten, judging a threshold, if so, turning to the step ten, and otherwise, outputting a flight safety prompt;
step ten, outputting a danger alarm prompt;
the collision probability is the probability that the approach distance between two vehicles is less than the sum of their safe radii.
3. The method for allocating transmission tasks under the constraint of resource scheduling according to claim 1, wherein the specific process planned in the simulation in the step 3 is:
firstly, performing imagination generation, specifically as follows:
visual force deployment and attribute setting are supported, a model example is configured according to task requirements, entity basic information editing is carried out, command relations are set, and generation of a planned file is achieved;
secondly, performing planning management, including planning list display, new creation, opening, storage, additional storage or deletion;
realizing the basic setting of the imagination, including the imagination of a name, the selection of a task area and the simulation step length of the task time;
thirdly, importing a launching plan, analyzing information of a satellite orbit, a carrier trajectory and a maneuvering path, setting parameters of the orbit, the trajectory and the path of the simulation entity according to the launching plan, and converting the parameters into simulation scenario contents;
fourthly, compiling according to the emission command relation and the strength to complete the emission deployment and the command relation setting;
and fifthly, realizing action plan planning according to the launching task flow, making action links of launching, track entering and running, and generating a launching action simulation scenario.
4. The method for allocating transmission tasks under the constraint of resource scheduling of claim 1, wherein the specific process for constructing the simulation model comprises:
firstly, constructing a launching and erecting system model which is an auxiliary device model before launch of the carrier rocket and is attached to a launching vehicle, so that the carrier rocket can be converted from a lying state to a erecting state;
secondly, constructing a carrier rocket model, calculating a flight trajectory according to preset launching data, flying according to a preset trajectory, performing sub-level separation, fairing separation and effective load release flight time sequence actions, sending the satellite into a preset orbit, and having the one-rocket multi-satellite capability;
thirdly, constructing a rocket test plant model which has the functions of storing and testing rockets;
fourthly, constructing a red square satellite model as a satellite entity model carrying a specific sensor;
fifthly, constructing a satellite test plant model, wherein the satellite test plant model has the functions of storing and testing the emergency networking satellite and assembling the satellite on a launching vehicle;
sixthly, constructing a launching place model as an area type entity model, deploying various launch vehicles launching devices in the area, and providing necessary guarantee service functions;
seventhly, constructing a measurement and control station model as a ground fixed station model, wherein the measurement and control station model has the function of tracking the flight state of the carrier rocket and the satellite orbit situation;
eighthly, constructing a measurement and control vehicle model as a ground maneuvering station model, and having the functions of tracking the flight state of the carrier rocket and the satellite orbit situation and meeting the measurement and control requirements from the rocket launching point to the primary separation point;
ninthly, constructing a blue optical imaging satellite model which has the function of performing high-precision imaging on ground targets in a field of view according to the movement of a preset orbit;
step ten, constructing a blue electronic reconnaissance satellite model which has the function of maneuvering according to a preset orbit and sensing electromagnetic signals within a certain range of the sub-satellite points;
and step eleven, constructing a blue Fang Gongwai early warning satellite model, and having the function of sensing the flight target infrared signals in the space range of the intersatellite point according to the preset orbital maneuver.
5. The method for allocating transmission tasks under the constraint of resource scheduling of claim 1, wherein in the step 4, the specific process of simulation deduction is as follows:
the method comprises the steps that firstly, an analysis configuration scenario file is opened, information in the scenario file is displayed, and the dynamic position of a launching vehicle, the flying condition of a carrier and the coverage condition of a satellite are displayed in real time;
secondly, monitoring the simulation situation, and displaying maneuvering, launching and satellite in-orbit operation;
thirdly, carrying out simulation operation control, realizing the control of simulation starting, suspension, continuation and simulation ending, and setting simulation propulsion time step length, simulation double speed or resetting;
fourthly, carrying out operations of zooming in, zooming out, homing and roaming on the map according to the needs of the user; analyzing and counting the online data by using an event log, data display and task management online display unit;
fifthly, displaying the simulation progress in a progress bar form, and taking the simulation time as a trigger condition for terminating the simulation;
sixthly, recording data generated by simulation in the simulation process, and calling the recorded data for playback after the simulation is finished;
and seventhly, displaying the action process, the in-orbit running state of the satellite and the space-time coverage condition of the satellite on the target in the three-dimensional scene.
6. The method of claim 5, wherein the form of the progress bar comprises a completion percentage and an expected completion time.
7. The method for allocating transmission tasks under the resource scheduling constraint of claim 1, wherein in the step 5, the simulation evaluation process specifically comprises the following steps:
firstly, creating and managing an index system, displaying the index system in a graph or table mode, and supporting not less than 10 levels of index levels;
secondly, establishing an index system template library, and carrying out classification management on index systems of different types of carrier rockets;
thirdly, calling an index system template from an index system template library;
fourthly, managing a data source and a data set, and setting the data source and the data type of each evaluation index;
fifthly, preprocessing the index data to obtain data of each assessment index;
sixthly, performing normalization processing on the index data to obtain the index data under the same evaluation scale;
and seventhly, calculating the weight of each index by using an evaluation model and an evaluation criterion of an analytic hierarchy process and an expert scoring method, and combining index data to obtain a comprehensive evaluation result.
8. The method for allocating transmission tasks under the constraint of resource scheduling as recited in claim 2, wherein in the eighth step of the multi-point simultaneous emission collision analysis algorithm, the collision probability of the two carriers is obtained by integrating a two-dimensional probability density function in a circular domain.
9. The method of claim 8, wherein the basic formula for calculating the collision probability of two carriers is as follows:
wherein R is A Calculating a parameter mu for the combined safe radius of two vehicles, each collision probability y 、μ z 、σ y And σ z Obtained from the following equation:
μ y ＝Y 21m
μz＝Z 21m
σ 1z ＝(Z 1+ +Z 1- )/6
σ 2z ＝(Z 2+ +Z 2- )/6
σ 1y ＝(Y 1+ +Y 1- )/6
σ 2y ＝(Y 2+ +Y 2- )/6
wherein, Y 1+ 、Z 1+ Error pipeline positive deviation for main carrier position;
Y 1- 、Z 1- pipeline negative deviation for main carrier position error;
Y 2+ 、Z 2+ is a positive deviation from the carrier position error pipeline;
Y 2- 、Z 2- negative deviation of the pipeline from carrier position error;
Y 21m 、Z 21m as a slave carrier position vector
Two components of (a);
is the position vector of the slave carrier under the arrow system of the master carrier.
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