CN103679352B - A kind of satellite demand processing system based on bargain game conflict resolution - Google Patents

A kind of satellite demand processing system based on bargain game conflict resolution Download PDF

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CN103679352B
CN103679352B CN201310632262.5A CN201310632262A CN103679352B CN 103679352 B CN103679352 B CN 103679352B CN 201310632262 A CN201310632262 A CN 201310632262A CN 103679352 B CN103679352 B CN 103679352B
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邱虎
刘明亮
喻文勇
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China Center for Resource Satellite Data and Applications CRESDA
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Abstract

一种基于协商对策冲突消解的卫星需求处理系统,客户端采集模块确定卫星的初步访问轨迹输出给用户;用户向采集单归档模块提交访问需求单;采集单归档模块将产品数据反馈至相应用户,并将剩余合法访问需求单按照优先级排序并存储归档;采集单处理模块按照优先级顺序提取采集单信息,将采集单信息中时间信息和空间信息进行冗余消解,生成采集任务单并发送至卫星任务规划模块;卫星任务规划模块将采集任务单中的观测区域按照卫星成像能力进行条带划分,结合卫星轨道访问特性,生成卫星观测单;指令生成模块将卫星观测单生成遥控指令,上注至卫星;采集单反馈模块从卫星地面数据处理公共管理平台获取卫星观测单对应的数据信息,并将其存储在产品库中。

A satellite demand processing system based on negotiation countermeasures and conflict resolution. The client acquisition module determines the initial access trajectory of the satellite and outputs it to the user; the user submits an access request form to the acquisition order archiving module; the acquisition order archiving module feeds back the product data to the corresponding user, And the remaining legal access demand sheets are sorted according to priority and stored and archived; the collection sheet processing module extracts the collection sheet information according to the priority order, and eliminates the redundancy of the time information and space information in the collection sheet information, generates a collection task sheet and sends it to Satellite mission planning module; the satellite mission planning module divides the observation area in the acquisition task list into strips according to the satellite imaging capability, and combines the satellite orbit access characteristics to generate a satellite observation list; the instruction generation module generates a remote control command from the satellite observation list, as noted above To the satellite; the collection sheet feedback module obtains the data information corresponding to the satellite observation sheet from the satellite ground data processing public management platform, and stores it in the product library.

Description

一种基于协商对策冲突消解的卫星需求处理系统A Satellite Requirement Processing System Based on Negotiation Countermeasure Conflict Resolution

技术领域technical field

本发明属于卫星计划编排方法,具体涉及一种基于协商对策冲突消解算法的卫星需求处理方法。The invention belongs to a satellite planning arrangement method, in particular to a satellite demand processing method based on a negotiation countermeasure conflict resolution algorithm.

背景技术Background technique

随着国内遥感卫星技术水平提高,应用范围不断扩大,用户对卫星的需求也越来越多,需求提交的形式也多样,包括电话、传真、网络等。对卫星有效载荷的任务管控是地面运行系统的管理控制核心,系统对各级别用户需求进行汇集分析,将用户需求转化为控制高分辨率对地观测系统的控制指令,调度安排对地观测平台采集获取观测数据和地面系统接收资源完成数据的接收和传输。并完成对星地系统的监控管理和指挥调度。With the improvement of domestic remote sensing satellite technology and the continuous expansion of application scope, users have more and more demands for satellites, and the forms of demand submission are also diverse, including telephone, fax, and Internet. The task management and control of the satellite payload is the core of the management and control of the ground operation system. The system collects and analyzes the needs of users at all levels, converts the user needs into control instructions for controlling the high-resolution earth observation system, and schedules the acquisition of the earth observation platform. Obtain observation data and ground system receiving resources to complete data reception and transmission. And complete the monitoring management and command and dispatch of the star-ground system.

地面系统通常划分任务订单处理子系统来实现该项功能,该子系统是受理用户观测需求的信息枢纽,负责接收不同用户的数据采集需求,生成规范化描述的系统观测任务;同时对所有任务进行预处理,包括点目标的可见性分析以及对区域目标的划分,高分辨率对地观测卫星系统对区域目标的覆盖能力分析,任务冲突性分析等,另外还要对系统任务的执行状态进行跟踪与监控,并对用户订单信息、订单对应的任务信息及任务的执行状态信息进行综合管理。The ground system usually divides the task order processing subsystem to realize this function. This subsystem is the information hub that accepts user observation requirements, and is responsible for receiving data collection requirements from different users and generating standardized descriptions of system observation tasks; Processing, including the visibility analysis of point targets and the division of regional targets, the coverage capability analysis of high-resolution earth observation satellite systems for regional targets, task conflict analysis, etc. In addition, the execution status of system tasks must be tracked and Monitor and comprehensively manage user order information, task information corresponding to the order, and task execution status information.

上述用户需求处理方法是目前普遍采用的方法,可以完成当前各种用户采集需求,但也存在以下三方面的问题,一是用户参与及交流度不够,用户需求的响应时间较长;二是对于描述宽泛的用户需求,特别是要求大量卫星参与目标任务规划时,任务冲突消解效率不高;三是该方法需要较多的人工参与,增加了对人员的工作复杂度和出错概率。The above-mentioned user demand processing method is a method commonly used at present, which can meet the current various user collection needs, but there are also the following three problems. First, the user participation and communication are not enough, and the response time of user needs is long; To describe broad user requirements, especially when a large number of satellites are required to participate in target mission planning, the efficiency of task conflict resolution is not high; third, this method requires more manual participation, which increases the complexity of the work and the probability of error for personnel.

在冲突消解方面,一般是依据用户事先确定的目标来设计、选择算法,在调度的过程中从一定程度上消解了这一阶段可能存在的冲突,如多个时间窗口对同一目标任务的冲突,多个任务对同一个时间窗口的资源冲突等。对于用户需求、订单级别等调度的预处理阶段的冲突问题研究较少。In terms of conflict resolution, the algorithm is generally designed and selected based on the goals determined by the user in advance, and the possible conflicts at this stage are resolved to a certain extent during the scheduling process, such as conflicts between multiple time windows for the same target task, Multiple tasks have resource conflicts for the same time window, etc. There are few studies on conflicts in the preprocessing stage of scheduling such as user requirements and order levels.

发明内容Contents of the invention

本发明的技术解决问题是:针对现有技术缺陷,提供一种基于协商对策冲突消解的卫星需求处理系统,该系统能够方便快捷向用户提供定制的遥感数据。The technical problem solved by the present invention is to provide a satellite demand processing system based on negotiation countermeasures and conflict resolution, which can conveniently and quickly provide users with customized remote sensing data.

本发明的技术解决方案是:一种基于协商对策冲突消解的卫星需求处理系统,包括客户端采集模块、采集单归档模块、采集单处理模块、卫星任务规划模块、采集单反馈模块;The technical solution of the present invention is: a satellite demand processing system based on negotiation countermeasure conflict resolution, including a client acquisition module, an acquisition order filing module, an acquisition order processing module, a satellite task planning module, and an acquisition order feedback module;

客户端采集模块利用卫星最新轨道根数确定卫星的初步访问轨迹,并输出给用户;用户根据卫星的初步访问轨迹向采集单归档模块提交访问需求单;The client acquisition module determines the initial access track of the satellite by using the latest orbital number of the satellite, and outputs it to the user; the user submits the access request form to the acquisition list archiving module according to the initial access track of the satellite;

采集单归档模块对接收的所有的访问需求单进行合法性检查,丢弃非法访问需求单并反馈至相应用户,并查询产品库中是否存储合法访问需求单对应的产品数据,若存在,则直接从产品库中将产品数据反馈至相应用户,并将剩余合法访问需求单按照优先级排序并存储归档;The acquisition order archiving module checks the validity of all received access demand forms, discards illegal access demand forms and feeds them back to the corresponding users, and inquires whether the product data corresponding to legal access demand forms is stored in the product library. In the product library, the product data is fed back to the corresponding users, and the remaining legal access demand orders are sorted according to priority and stored for archiving;

采集单处理模块按照优先级顺序从已归档的访问需求单中提取采集单信息,将采集单信息中时间信息和空间信息进行冗余消解,生成采集任务单并发送至卫星任务规划模块;所述的采集任务单与访问需求单之间具有映射关系;The collection sheet processing module extracts the collection sheet information from the archived access demand sheets according to the order of priority, eliminates the redundancy of time information and space information in the collection sheet information, generates a collection task sheet and sends it to the satellite mission planning module; There is a mapping relationship between the collection task list and the access demand list;

卫星任务规划模块将采集任务单中的观测区域按照卫星成像能力进行条带划分,结合卫星轨道访问特性,生成卫星观测单;所述的采集任务单与卫星观测单之间具有映射关系;The satellite task planning module divides the observation area in the collection task list into strips according to the satellite imaging capability, and generates a satellite observation list in combination with the satellite orbit access characteristics; there is a mapping relationship between the collection task list and the satellite observation list;

指令生成模块将卫星观测单生成遥控指令,上注至卫星;The command generation module generates remote control commands from the satellite observation list and uploads them to the satellites;

采集单反馈模块从卫星地面数据处理公共管理平台获取卫星观测单对应的数据信息,并将其存储在产品库中。The acquisition sheet feedback module obtains the data information corresponding to the satellite observation sheet from the satellite ground data processing public management platform, and stores it in the product library.

所述指令生成模块实现步骤如下:The implementation steps of the instruction generating module are as follows:

(1)建立遥感卫星遥感指令发送链路规则;(1) Establish remote sensing satellite remote sensing command sending link rules;

(2)建立卫星正向指令模板库:首先梳理卫星所有工作项目,将每个工作项目设置索引;然后将卫星每个工作项目分解为基本操作单元,每个基本操作单元设置索引编号,并为每个基本操作单元的输入参数项进行信息标注;所述的基本操作单元为遥感卫星工作载荷的不同工作模式;(2) Establish a satellite forward command template library: first sort out all the work items of the satellite, and set an index for each work item; then decompose each work item of the satellite into basic operation units, set the index number for each basic operation unit, and set the index number for each basic operation unit The input parameter items of each basic operation unit are marked with information; the basic operation units are different working modes of the remote sensing satellite workload;

(3)建立指令模板规则序列库:根据遥感卫星各基本操作单元的工作过程,将每个基本操作单元的执行步骤、间隔时间、执行码字存储在各自的指令模板规则序列库中;(3) Establishing an instruction template rule sequence library: according to the working process of each basic operation unit of the remote sensing satellite, the execution steps, interval time, and execution code words of each basic operation unit are stored in the respective instruction template rule sequence library;

(4)根据用户输入的探测计划,调用卫星正向指令模板库,确定本次探测计划对应的工作项目以及每个工作项目下的基本操作单元;(4) According to the exploration plan input by the user, call the satellite forward command template library, and determine the work items corresponding to this exploration plan and the basic operation units under each work item;

(5)根据步骤(4)中确定的基本操作单元调用相应的指令模板规则序列库,根据遥感卫星的指令封装格式将上述确定的工作项目、基本操作单元以及基本操作单元的执行步骤、间隔时间、执行码字进行封装,生成完整的卫星可执行的指令序列块;(5) Call the corresponding instruction template rule sequence library according to the basic operation unit determined in step (4), and use the above-mentioned determined work item, basic operation unit, and execution steps and interval time of the basic operation unit according to the instruction encapsulation format of the remote sensing satellite , Encapsulate the codeword to generate a complete satellite-executable instruction sequence block;

(6)从上述生成的指令序列块中解析出基本操作单元,判断指令序列块中基本操作单元的执行步骤、间隔时间是否符合卫星逆向指令参数项模板库中的约束要求,若不符合,则人工检查用户输入的探测计划以及步骤(3)中建立的指令模板规则序列库,修改后从步骤(4)开始重新执行;否则转步骤(7);(6) Analyze the basic operation unit from the command sequence block generated above, and judge whether the execution steps and interval time of the basic operation unit in the command sequence block meet the constraint requirements in the satellite reverse command parameter item template library, if not, then Manually check the detection plan entered by the user and the command template rule sequence library established in step (3), and re-execute from step (4) after modification; otherwise, go to step (7);

(7)将符合约束条件的指令序列块存储,并按照步骤(1)中建立的遥感指令发送链路规则发送至卫星指令上注中心,由卫星指令上注中心上传至卫星。(7) Store the command sequence blocks that meet the constraint conditions, and send it to the satellite command posting center according to the remote sensing command sending link rules established in step (1), and the satellite command posting center uploads it to the satellite.

所述的卫星逆向指令参数项模板库包括指令码字序号、指令码字序列、指令内容、指令约束时序要求和指令模板关联要求;所述的指令内容与基本操作单元对应;The satellite reverse command parameter item template library includes command code word sequence number, command code word sequence, command content, command constraint timing requirements and command template association requirements; the command content corresponds to the basic operation unit;

将卫星工作载荷不同工作模式下的约束条件转换成约束公式,存储在指令约束时序要求中;根据用户输入的探测计划,将基本操作单元每个执行步骤的执行先后顺序存储在指令模板关联要求中。Convert the constraints under different working modes of the satellite workload into constraint formulas, and store them in the instruction constraint timing requirements; according to the exploration plan input by the user, store the execution sequence of each execution step of the basic operation unit in the instruction template association requirements .

所述步骤(1)中遥感指令发送链路规则采用“三判二”的链路机制,即对于每个指令序列块,均发送三次,抽取其中的两个指令序列块进行CRC比对,将比对通过的指令序列块发送。In the step (1), the remote sensing instruction transmission link rule adopts the link mechanism of "three judgments and two", that is, for each instruction sequence block, it is sent three times, and two instruction sequence blocks are extracted for CRC comparison. Compare the passed instruction sequence blocks to send.

本发明与现有技术相比有益效果为:Compared with the prior art, the present invention has beneficial effects as follows:

(1)本发明客户端采集模块利用卫星最新轨道根数确定卫星的初步访问轨迹,并输出给用户,既为用户提供了提取数据需求的依据,方便了用户对数据观测时间的初步把握,又可以为服务端的卫星计划编排减轻了初级需求单的消解压力,提高用户获取数据的可行性和成功率。(1) The client acquisition module of the present invention utilizes the latest orbit elements of satellites to determine the preliminary access trajectory of satellites, and outputs them to users, which not only provides users with the basis for extracting data requirements, but also facilitates users' preliminary grasp of data observation time, and It can be used for the satellite plan arrangement on the server side, which reduces the pressure on the primary demand list, and improves the feasibility and success rate of users to obtain data.

(2)本发明将接收的访问需求单进行整合归并考虑任务单需求种类、卫星工作约束、数据存储限制、数据下传限制等因素。针对用户类型多样的采集需求,基于协商对策的冲突消解算法能更好发挥其优势作用,对任务规划中调度预处理阶段中在卫星资源参数层产生的冲突问题进行优化协商处理,进而生成满足卫星载荷约束、地面站接收约束等各种约束条件的观测任务计划和数据接收计划。(2) The present invention integrates the received access demand orders and considers factors such as the type of task order demand, satellite work constraints, data storage restrictions, and data download restrictions. Aiming at the collection needs of various types of users, the conflict resolution algorithm based on negotiation countermeasures can better play its advantageous role, and optimize and negotiate the conflicts generated in the satellite resource parameter layer in the scheduling preprocessing stage in mission planning, and then generate satellites that meet the requirements. Observation mission plans and data reception plans for various constraints such as load constraints and ground station reception constraints.

附图说明Description of drawings

图1为本发明系统组成框图;Fig. 1 is a system block diagram of the present invention;

图2为本发明客户端需求采集流程;Fig. 2 is the client demand collection process of the present invention;

图3为本发明任务单接收流程;Fig. 3 is the process of receiving the task order of the present invention;

图4为本发明任务单处理流程;Fig. 4 is the task list processing flow of the present invention;

图5为本发明任务规划流程示意图。Fig. 5 is a schematic diagram of the task planning process of the present invention.

具体实施方式detailed description

下面结合附图对本发明做进一步详细说明。本发明一种基于协商对策冲突消解的卫星需求处理系统,如图1所示,包括客户端采集模块、采集单归档模块、采集单处理模块、卫星任务规划模块、采集单反馈模块;各模块协同工作既为用户提供了提取数据需求的依据,方便了用户对数据观测时间的初步把握,又可以为服务端的卫星计划编排减轻了初级需求单的消解压力。The present invention will be described in further detail below in conjunction with the accompanying drawings. A satellite demand processing system based on negotiation countermeasure conflict resolution of the present invention, as shown in Figure 1, includes a client acquisition module, an acquisition order archiving module, an acquisition order processing module, a satellite task planning module, and an acquisition order feedback module; each module cooperates The work not only provides users with a basis for extracting data requirements, but also facilitates users' preliminary grasp of the data observation time, and can also relieve the pressure of the initial demand list for the satellite plan arrangement on the server side.

(一)客户端采集模块(1) Client acquisition module

客户端采集模块利用卫星最新轨道根数确定卫星的初步访问轨迹,并输出给用户;用户根据卫星的初步访问轨迹向采集单归档模块提交访问需求单;如图2所示:The client acquisition module uses the latest satellite orbital elements to determine the satellite’s initial access trajectory, and outputs it to the user; the user submits an access request form to the acquisition order archiving module according to the satellite’s initial access trajectory; as shown in Figure 2:

客户端采集模块可以设计为BS结构或者CS结构,包括卫星资源选择、时间选择、区域选择、结果展示、提交任务等元素,见表1,用户可以通过人机交互界面选择相应参数,客户端采集模块根据用户的选择,利用卫星最新轨道根数确定卫星的初步访问轨迹,即可以采用HPOP轨道预报算法完成卫星过境时间计算,卫星观测覆盖时间计算,卫星进出地球阴影区时刻,卫星的星下点轨迹和卫星传感器的扫描覆盖区等预报。The client acquisition module can be designed as a BS structure or a CS structure, including elements such as satellite resource selection, time selection, area selection, result display, and task submission, as shown in Table 1. According to the user's choice, the module uses the latest satellite orbit elements to determine the satellite's initial access trajectory, that is, the HPOP orbit prediction algorithm can be used to complete the calculation of satellite transit time, satellite observation coverage time calculation, the time when the satellite enters and exits the earth's shadow area, and the sub-satellite point of the satellite Forecasts such as trajectories and scan coverage areas of satellite sensors.

表1客户端计划编排人机界面元素说明Table 1 Description of client-side planning and orchestration man-machine interface elements

用户提交的访问需求单主要分为常规采集任务单、用户采集任务单和快反采集任务单,三类访问需求单的优先级顺序为快反采集任务单高于用户采集任务单高于常规采集任务单,访问需求单内部数据见表2:The access request orders submitted by users are mainly divided into regular collection task orders, user collection task orders, and fast reverse collection task orders. The priority order of the three types of access demand orders is that quick reverse collection task orders are higher than user collection task orders and are higher than regular collection tasks. See Table 2 for the internal data of the task list and access demand list:

表2采集任务单内部数据表Table 2 Collection task list internal data table

(二)采集单归档模块(2) Acquisition single filing module

如图3所示,采集单归档模块对接收的所有的访问需求单进行合法性检查,丢弃非法访问需求单并反馈至相应用户,并查询产品库中是否存储合法访问需求单对应的产品数据,若存在,则直接从产品库中将产品数据反馈至相应用户,并将剩余合法访问需求单按照优先级排序并存储归档;As shown in Figure 3, the acquisition order archiving module checks the validity of all received access demand forms, discards illegal access demand forms and feeds back to the corresponding users, and queries whether the product data corresponding to legal access demand forms is stored in the product library. If it exists, the product data will be directly fed back to the corresponding user from the product library, and the remaining legal access demand orders will be sorted according to priority and stored for archiving;

优先级排序首先将所有的访问需求单进行分类,按照快反采集任务单高于用户采集任务单高于常规采集任务单的原则进行排序;然后将同类访问需求单下根据用户自定义的优先级进行排序。Priority sorting first classifies all access demand orders, and sorts them according to the principle that quick response collection task orders are higher than user collection task orders than regular collection task orders; then sort the same type of access demand orders according to user-defined priority put in order.

(三)采集单处理模块(3) Acquisition single processing module

采集单处理模块按照优先级顺序从已归档的访问需求单中提取采集单(即采集任务单)信息,将采集单信息中时间信息和空间信息进行冗余消解,生成采集任务单并发送至卫星任务规划模块;所述的采集单与访问需求单之间具有映射关系;采集单主要基于协商对策的任务冲突消解算法生成,协商对策求解的基本思想是,如果对策的各方都能遵守一些共同的准则来选择对策的解,那么只要这些准则对各方都是“合理的”和“可接受的”,他们就可以在不必存在一个真实仲裁人的情况下,按着满足某个“仲裁程序”来求得协商对策解。其工作流程主要包含以下环节(附图4):The acquisition order processing module extracts the information of the acquisition order (i.e. the acquisition task order) from the archived access demand order according to the order of priority, eliminates the redundancy of the time information and space information in the acquisition order information, generates the acquisition task order and sends it to the satellite Task planning module; there is a mapping relationship between the collection list and the access demand list; the collection list is mainly generated based on the task conflict resolution algorithm of the negotiation strategy. Criteria to choose the solution of the game, then as long as these criteria are "reasonable" and "acceptable" to the parties, they can satisfy an "arbitration procedure" without the need for a real arbitrator. "To find a solution to the negotiation strategy. Its workflow mainly includes the following links (see Figure 4):

(1)采集单提取;按照采集单采集时间参数索引出在较短时间周期内将参与规划的采集单,再按照采集单的优先级进行分类。(1) Extraction of collection slips; according to the collection time parameters of the collection slips, the collection slips that will participate in the planning within a short period of time are indexed, and then classified according to the priority of the collection slips.

(2)采集单显示;将采集单的采集区域在地图界面中显示。(2) Collection sheet display: display the collection area of the collection sheet on the map interface.

(3)采集单冗余处理;人工选择采集单,将空间重叠及时间重叠采集单按照约定的任务冲突消解算法进行计算,删除重复冗余的采集单。(3) Redundancy processing of collection sheets: manual selection of collection sheets, calculation of spatially overlapping and time overlapping collection sheets according to the agreed task conflict resolution algorithm, and deletion of redundant collection sheets.

(4)采集单输出;将上一步中冲突消解前后的采集单建立映射关系,根据轨道计算与预报,判断冲突消解后的采集单是否具有可见时间窗口,若无,则标记为无法完成的采集任务单;若有,则将该消解后的采集任务单作为卫星任务规划模块的输入。(4) Output the collection list; establish a mapping relationship between the collection list before and after the conflict resolution in the previous step, and judge whether the collection list after the conflict resolution has a visible time window according to the orbit calculation and forecast. If not, mark it as an acquisition that cannot be completed task list; if there is, the digested acquisition task list is used as the input of the satellite mission planning module.

(5)采集单查询与反馈;将冲突消解前后的采集单状态标识,给用户的反馈查询。(5) Collection order query and feedback; the status identification of the collection order before and after conflict resolution is given to the user for feedback query.

(四)卫星任务规划模块(4) Satellite mission planning module

卫星任务规划模块将采集任务单中的观测区域按照卫星成像能力进行分解成单个“元任务”,即将一个大区域的采集任务,结合卫星轨道访问特性,分解成多个按照卫星的幅宽为基本单元的元任务。The satellite task planning module decomposes the observation area in the acquisition task list into a single "meta task" according to the satellite imaging capability, that is, a large-area acquisition task, combined with the satellite orbit access characteristics, is decomposed into multiple tasks based on the satellite width. The unit's meta-task.

由于采集任务单安排的不确定性,以及受到卫星本身的能量约束等,同时每个任务计划要采用动作所消耗的能量难以量化,所以要求对任务规划算法进行不断的迭代寻优。在本次算法实现中每次选取未安排任务队列中优先级最高的任务,根据元任务合成收益值最大的原则选取下一个将要处理的元任务,并在单个任务观测安排完毕以后马上安排任务回传,然后检查观测任务和回传任务是否符合所有约束,以此来决定任务的取舍。任务规划算法的描述如下,总体流程图如附图5所示。Due to the uncertainty of the arrangement of the collection task list and the energy constraints of the satellite itself, and the energy consumed by the actions of each mission plan is difficult to quantify, continuous iterative optimization of the mission planning algorithm is required. In this implementation of the algorithm, the task with the highest priority in the unscheduled task queue is selected each time, and the next meta-task to be processed is selected according to the principle of the maximum synthetic profit value of the meta-task, and the task is arranged to return immediately after the single task observation and arrangement are completed Then check whether the observation task and the return task meet all the constraints, so as to decide the choice of the task. The mission planning algorithm is described as follows, and the overall flow chart is shown in Figure 5.

Step1:获取采集单处理模块输出的采集任务单,并将其分解为元任务;Step1: Obtain the collection task list output by the collection order processing module, and decompose it into meta-tasks;

Step2:读取元任务信息;Step2: Read meta task information;

Step3:对记录元任务进行扩段处理,即当某一任务超出地面站可接收范围时,采用记录模式,将短的元任务条带扩展为符合卫星覆盖条带的长条带;Step3: Extend the recording meta-task, that is, when a certain task exceeds the receiving range of the ground station, use the recording mode to expand the short meta-task strip to a long strip that meets the satellite coverage strip;

Step4:按照优先级从高到低的顺序排列元任务,形成元任务列表;Step4: Arrange the meta-tasks in order of priority from high to low to form a meta-task list;

Step5:按优先级最高的规则选取当前任务Ti,检查是否任务已经执行完毕,如果是转则Step9;Step5: Select the current task Ti according to the rule with the highest priority, check whether the task has been executed, if so, go to Step9;

Step6:按照规则决定当前任务Ti是否安排观测,如果安排转Step7,否则转Step4;Step6: Determine whether the current task Ti arranges observation according to the rules, if it is arranged, go to Step7, otherwise go to Step4;

Step7:判断Ti是否为记录任务,如果是记录任务,则按规则检查离Ti最近的回传窗口是否能安排回传,如果能安排转Step8,否则转Step4;Step7: Determine whether Ti is a recording task. If it is a recording task, check whether the return window closest to Ti can arrange a return according to the rules. If it can be arranged, go to Step8, otherwise go to Step4;

Step8:检查Ti的电量、存储以及各种约束,满足则则将任务Ti放入观测方案列表中;Step8: Check the power, storage and various constraints of Ti, if satisfied, put the task Ti into the observation plan list;

Step9:检查是否还有可用的回传窗口,若有则安排常规任务,并对Ti进行约束检查,通过约束检查的Ti则可以放入观测方案列表中,若没有则输出最终规划方案。Step9: Check whether there is still an available return window, if so, schedule routine tasks, and perform a constraint check on Ti, Ti that passes the constraint check can be placed in the observation plan list, if not, output the final planning plan.

(五)指令生成模块(5) Instruction generation module

指令生成模块将卫星观测单生成遥控指令,上注至卫星;具体实现步骤如下:The command generation module generates remote control commands from the satellite observation list and uploads them to the satellites; the specific implementation steps are as follows:

(1)建立遥感卫星遥感指令发送链路规则;为保证在链路发送过程中数据的有效性和可靠性,在链路协议上采用“三判二”的链路机制,即对于每个指令任务,均发送三次,抽取其中的两个指令数据块进行CRC(校验和)比对,若结果一致,则可确保发送指令数据的100%正确性。(1) Establish link rules for sending remote sensing commands from remote sensing satellites; in order to ensure the validity and reliability of data in the process of link sending, the link mechanism of "three judgments and two" is adopted in the link protocol, that is, for each command The tasks are sent three times, and two instruction data blocks are extracted for CRC (checksum) comparison. If the results are consistent, 100% correctness of the sent instruction data can be ensured.

(2)建立卫星正向指令模板库;(2) Establish satellite forward command template library;

首先梳理卫星所有工作项目,一般包括实传成像、记录成像、回放、侧摆成像、载荷参数调整等。First of all, sort out all the work items of the satellite, which generally include real transmission imaging, recording imaging, playback, side swing imaging, load parameter adjustment, etc.

然后将每个工作项目分解为基本操作单元,例如实传成像包括A相机实传成像、B相机实传成像;侧摆成像包括整星正角度侧摆和整星负角度侧摆;载荷参数调整包括A相机调焦、B相机增益调整等。Then decompose each work item into basic operation units, for example, real-time imaging includes A-camera real-time imaging and B-camera real-time imaging; side-sway imaging includes whole-star positive-angle side-way and whole-star negative-angle side-way; load parameter adjustment Including A camera focus adjustment, B camera gain adjustment, etc.

再次,为每个基本操作单元设置索引编号(即模板编号),同时将基本操作单元输入参数项等信息标注,下表1为模板库实例:Again, set the index number (i.e. template number) for each basic operation unit, and at the same time mark the input parameter items of the basic operation unit and other information. The following table 1 is an example of the template library:

例如:实现侧摆-8度实传成像的工作任务,则将调用模板号为M[1]、M[2]、M[1+n]三个模板共同完成该项任务,同时也将获取完成该项工作任务所需的参数个数和参数内容。For example: to realize the work task of side swing -8 degree real transmission imaging, three templates with template numbers M[1], M[2] and M[1+n] will be called to complete the task together, and at the same time, the The number of parameters and parameter content required to complete the work task.

(3)建立指令模板规则序列库;(3) Establish an instruction template rule sequence library;

该规则序列库的主要内容是建立每个基本操作单元的指令项序列,详细约定各操作项的执行步骤、间隔时间、指令码字等,用于完成单个工作任务项。下表2为A相机实时成像M[1]指令模板规则序列库实例:The main content of the rule sequence library is to establish the sequence of instruction items for each basic operation unit, specify the execution steps, interval time, instruction code words, etc. of each operation item in detail, and use it to complete a single task item. The following table 2 is an example of the A camera real-time imaging M[1] command template rule sequence library:

将各种载荷工作项目编目入库,各指令码字、执行步骤及间隔时间等分别建立对应数据库表结构,同时,可以定期对指令模板进行维护、添加宏动作与指令映射维护等。The various load work items are cataloged and stored in the database, and the corresponding database table structure is established for each instruction code word, execution step, and interval time. At the same time, the instruction template can be regularly maintained, and macro actions and instruction mapping maintenance can be added.

(4)根据卫星观测单,调用卫星正向指令模板库,确定本次观测对应的工作项目以及每个工作项目下的基本操作单元;(4) According to the satellite observation list, call the satellite forward command template library, determine the work items corresponding to this observation and the basic operation unit under each work item;

(5)根据步骤(4)中确定的基本操作单元调用相应的指令模板规则序列库,根据遥感卫星的指令封装格式将上述确定的工作项目、基本操作单元以及基本操作单元的执行步骤、间隔时间、执行码字进行封装,生成完整的卫星可执行的指令序列块;(5) Call the corresponding instruction template rule sequence library according to the basic operation unit determined in step (4), and use the above-mentioned determined work item, basic operation unit, and execution steps and interval time of the basic operation unit according to the instruction encapsulation format of the remote sensing satellite , Encapsulate the codeword to generate a complete satellite-executable instruction sequence block;

不同遥感卫星有类似的指令封装格式,一般为有效数据区的前后分别封装上块头和快尾,生成固定长度的完整指令数据帧。下表3为其通常的封装结构:Different remote sensing satellites have similar command encapsulation formats. Generally, the block header and fast tail are respectively encapsulated before and after the effective data area to generate a complete command data frame of fixed length. The following table 3 is its usual package structure:

例如:实现侧摆-8度实传成像的工作任务,则将调用模板号为M[1]、M[2]、M[1+n]三个模板共同完成该项任务,其有效指令数据为:01 AA 10 60 33 E1 01 04 FF 09 AA D835 E1 01 04 FF 0A AA。封装后的指令块为:B1 B2 69 DC 32 5F 01 AA 10 60 33 E1 0104 FF 09 AA D8 35 E1 01 04 FF 0A AA 92 25 AA AA AA AA AA AA AA AA AA AA AA AAAA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AAAAAA。For example: to realize the work task of side swing -8 degree real transmission imaging, three templates with template numbers M[1], M[2] and M[1+n] will be called to complete the task together, and the effective instruction data For: 01 AA 10 60 33 E1 01 04 FF 09 AA D835 E1 01 04 FF 0A AA. The packaged command block is: B1 B2 69 DC 32 5F 01 AA 10 60 33 E1 0104 FF 09 AA D8 35 E1 01 04 FF 0A AA 92 25 AA AA AA AA AA AA AA AA AA AA AA AAAA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AA AAAAAA.

(6)从上述生成的指令序列块中解析出基本操作单元,判断指令序列块中基本操作单元的执行步骤、间隔时间是否符合卫星逆向指令参数项模板库中的约束要求,若不符合,则人工检查用户输入的探测计划以及步骤(3)中建立的指令模板规则序列库,修改后从步骤(4)开始重新执行;否则转步骤(7);(6) Analyze the basic operation unit from the command sequence block generated above, and judge whether the execution steps and interval time of the basic operation unit in the command sequence block meet the constraint requirements in the satellite reverse command parameter item template library, if not, then Manually check the detection plan entered by the user and the command template rule sequence library established in step (3), and re-execute from step (4) after modification; otherwise, go to step (7);

卫星逆向指令参数项模板库包括指令码字序号、指令码字序列、指令内容、指令约束时序要求和指令模板关联要求;所述的指令内容与基本操作单元对应;指令约束时序要求中存储约束公式,该约束公式根据卫星工作载荷不同工作模式下的约束条件转换而成,比如相机的开机指令应晚于开机指令至少40s,即可以用表3中指令约束时序要求中T[1]-T[2]<-40s来表示。The satellite reverse command parameter item template library includes command code word sequence number, command code word sequence, command content, command constraint timing requirements and command template association requirements; the command content corresponds to the basic operation unit; the constraint formula is stored in the command constraint timing requirements , the constraint formula is converted according to the constraint conditions of different working modes of the satellite workload. For example, the start-up command of the camera should be at least 40s later than the start-up command, that is, T[1]-T[ 2]<-40s to represent.

指令模板关联要求中存储基本操作单元每个执行步骤的执行先后顺序。例如M[1]为模板号,Cod[1][i]=InCod[j]表示正向表2中的指令模板规则序列库的指令代码应和逆向模板库指令码字序列相同。The execution order of each execution step of the basic operation unit is stored in the instruction template association requirement. For example M[1] is the template number, and Cod[1][i]=InCod[j] represents that the instruction code of the instruction template rule sequence library in the forward table 2 should be identical with the reverse template library instruction code word sequence.

根据不同卫星的特性,约束条件还包括使用的正向指令模板号、指令的可变参数数量、参数的取值约束等。According to the characteristics of different satellites, the constraints also include the number of the forward command template used, the number of variable parameters of the command, and the value constraints of the parameters.

下表4为逆向指令参数模板库实例。Table 4 below is an example of the reverse command parameter template library.

(7)将符合约束条件的指令序列块存储,并按照步骤(1)中建立的遥感指令发送链路规则发送至卫星指令上注中心,由卫星指令上注中心上传至卫星。(7) Store the command sequence blocks that meet the constraint conditions, and send it to the satellite command posting center according to the remote sensing command sending link rules established in step (1), and the satellite command posting center uploads it to the satellite.

(六)采集单反馈模块(6) Acquisition single feedback module

采集单反馈模块从卫星地面数据处理公共管理平台获取卫星观测单对应的数据信息,并将其存储在产品库中。采集单反馈模块可以根据获取的卫星观测单对应的数据信息确定卫星观测单的处理状态及完成情况,并反馈至用户。The acquisition sheet feedback module obtains the data information corresponding to the satellite observation sheet from the satellite ground data processing public management platform, and stores it in the product library. The acquisition order feedback module can determine the processing status and completion status of the satellite observation order according to the data information corresponding to the obtained satellite observation order, and then feedback to the user.

卫星地面数据处理公共管理平台为卫星数据处理地面系统信息交互及监控平台,为卫星领域公知平台。The satellite ground data processing public management platform is a satellite data processing ground system information interaction and monitoring platform, which is a well-known platform in the satellite field.

本发明为用户提供方便、透明、快捷的数据采集渠道和结果,可用于遥感卫星的业务化运行。The invention provides users with convenient, transparent and fast data collection channels and results, and can be used for the operational operation of remote sensing satellites.

本发明未详细说明部分属于本领域技术人员公知常识。Parts not described in detail in the present invention belong to the common knowledge of those skilled in the art.

Claims (3)

1.一种基于协商对策冲突消解的卫星需求处理系统,其特征在于:包括客户端采集模块、采集单归档模块、采集单处理模块、卫星任务规划模块、指令生成模块、采集单反馈模块;1. A satellite demand processing system based on negotiation strategy conflict resolution, characterized in that: comprising a client acquisition module, an acquisition order filing module, an acquisition order processing module, a satellite mission planning module, an instruction generation module, and an acquisition order feedback module; 客户端采集模块利用卫星最新轨道根数确定卫星的初步访问轨迹,并输出给用户;用户根据卫星的初步访问轨迹向采集单归档模块提交访问需求单;The client acquisition module determines the initial access track of the satellite by using the latest orbital number of the satellite, and outputs it to the user; the user submits the access request form to the acquisition list archiving module according to the initial access track of the satellite; 采集单归档模块对接收的所有的访问需求单进行合法性检查,丢弃非法访问需求单并反馈至相应用户,并查询产品库中是否存储合法访问需求单对应的产品数据,若存在,则直接从产品库中将产品数据反馈至相应用户,并将剩余合法访问需求单按照优先级排序并存储归档;The acquisition order archiving module checks the validity of all received access demand forms, discards illegal access demand forms and feeds them back to the corresponding users, and inquires whether the product data corresponding to legal access demand forms is stored in the product library. In the product library, the product data is fed back to the corresponding users, and the remaining legal access demand orders are sorted according to priority and stored for archiving; 采集单处理模块按照优先级顺序从已归档的访问需求单中提取采集单信息,将采集单信息中时间信息和空间信息进行冗余消解,生成采集任务单并发送至卫星任务规划模块;所述的采集任务单与访问需求单之间具有映射关系;The collection sheet processing module extracts the collection sheet information from the archived access demand sheets according to the order of priority, eliminates the redundancy of time information and space information in the collection sheet information, generates a collection task sheet and sends it to the satellite mission planning module; There is a mapping relationship between the collection task list and the access demand list; 卫星任务规划模块将采集任务单中的观测区域按照卫星成像能力进行条带划分,结合卫星轨道访问特性,生成卫星观测单;所述的采集任务单与卫星观测单之间具有映射关系;The satellite task planning module divides the observation area in the collection task list into strips according to the satellite imaging capability, and generates a satellite observation list in combination with the satellite orbit access characteristics; there is a mapping relationship between the collection task list and the satellite observation list; 指令生成模块将卫星观测单生成遥控指令,上注至卫星;The command generation module generates remote control commands from the satellite observation list and uploads them to the satellites; 采集单反馈模块从卫星地面数据处理公共管理平台获取卫星观测单对应的数据信息,并将其存储在产品库中;The collection sheet feedback module obtains the data information corresponding to the satellite observation sheet from the satellite ground data processing public management platform, and stores it in the product library; 所述指令生成模块实现步骤如下:The implementation steps of the instruction generating module are as follows: (1)建立遥感卫星遥感指令发送链路规则;(1) Establish remote sensing satellite remote sensing command sending link rules; (2)建立卫星正向指令模板库:首先梳理卫星所有工作项目,将每个工作项目设置索引;然后将卫星每个工作项目分解为基本操作单元,每个基本操作单元设置索引编号,并为每个基本操作单元的输入参数项进行信息标注;所述的基本操作单元为遥感卫星工作载荷的不同工作模式;(2) Establish a satellite forward command template library: first sort out all the work items of the satellite, and set an index for each work item; then decompose each work item of the satellite into basic operation units, set the index number for each basic operation unit, and set the index number for each basic operation unit The input parameter items of each basic operation unit are marked with information; the basic operation units are different working modes of the remote sensing satellite workload; (3)建立指令模板规则序列库:根据遥感卫星各基本操作单元的工作过程,将每个基本操作单元的执行步骤、间隔时间、执行码字存储在各自的指令模板规则序列库中;(3) Establishing an instruction template rule sequence library: according to the working process of each basic operation unit of the remote sensing satellite, the execution steps, interval time, and execution code words of each basic operation unit are stored in the respective instruction template rule sequence library; (4)根据用户输入的探测计划,调用卫星正向指令模板库,确定本次探测计划对应的工作项目以及每个工作项目下的基本操作单元;(4) According to the exploration plan input by the user, call the satellite forward command template library, and determine the work items corresponding to this exploration plan and the basic operation units under each work item; (5)根据步骤(4)中确定的基本操作单元调用相应的指令模板规则序列库,根据遥感卫星的指令封装格式将上述确定的工作项目、基本操作单元以及基本操作单元的执行步骤、间隔时间、执行码字进行封装,生成完整的卫星可执行的指令序列块;(5) Call the corresponding instruction template rule sequence library according to the basic operation unit determined in step (4), and use the above-mentioned determined work item, basic operation unit, and execution steps and interval time of the basic operation unit according to the instruction encapsulation format of the remote sensing satellite , Encapsulate the codeword to generate a complete satellite-executable instruction sequence block; (6)从上述生成的指令序列块中解析出基本操作单元,判断指令序列块中基本操作单元的执行步骤、间隔时间是否符合卫星逆向指令参数项模板库中的约束要求,若不符合,则人工检查用户输入的探测计划以及步骤(3)中建立的指令模板规则序列库,修改后从步骤(4)开始重新执行;否则转步骤(7);(6) Analyze the basic operation unit from the command sequence block generated above, and judge whether the execution steps and interval time of the basic operation unit in the command sequence block meet the constraint requirements in the satellite reverse command parameter item template library, if not, then Manually check the detection plan entered by the user and the command template rule sequence library established in step (3), and re-execute from step (4) after modification; otherwise, go to step (7); (7)将符合约束要求的指令序列块存储,并按照步骤(1)中建立的遥感指令发送链路规则发送至卫星指令上注中心,由卫星指令上注中心上传至卫星。(7) Store the command sequence blocks that meet the constraint requirements, and send them to the satellite command posting center according to the remote sensing command sending link rules established in step (1), and the satellite command posting center uploads them to the satellite. 2.根据权利要求1所述的一种基于协商对策冲突消解的卫星需求处理系统,其特征在于:所述的卫星逆向指令参数项模板库包括指令码字序号、指令码字序列、指令内容、指令约束时序要求和指令模板关联要求;所述的指令内容与基本操作单元对应;2. a kind of satellite demand processing system based on negotiation strategy conflict resolution according to claim 1, is characterized in that: described satellite reverse command parameter item template storehouse comprises command code word serial number, command code word sequence, command content, Instruction constraint timing requirements and instruction template association requirements; the instruction content corresponds to the basic operation unit; 将卫星工作载荷不同工作模式下的约束要求转换成约束公式,存储在指令约束时序要求中;根据用户输入的探测计划,将基本操作单元每个执行步骤的执行先后顺序存储在指令模板关联要求中。Convert the constraint requirements under different working modes of the satellite workload into constraint formulas, and store them in the command constraint timing requirements; according to the exploration plan input by the user, store the execution sequence of each execution step of the basic operation unit in the command template association requirements . 3.根据权利要求1所述的一种基于协商对策冲突消解的卫星需求处理系统,其特征在于:所述步骤(1)中遥感指令发送链路规则采用“三判二”的链路机制,即对于每个指令序列块,均发送三次,抽取其中的两个指令序列块进行CRC比对,将比对通过的指令序列块发送。3. A kind of satellite demand processing system based on negotiation strategy conflict resolution according to claim 1, characterized in that: in the step (1), the remote sensing command transmission link rule adopts the link mechanism of "three judgments and two", That is, each instruction sequence block is sent three times, two instruction sequence blocks are extracted for CRC comparison, and the instruction sequence block that passes the comparison is sent.
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