CN104090819A - Sky scanning multiple-objective task programming method for space astronomical satellite - Google Patents
Sky scanning multiple-objective task programming method for space astronomical satellite Download PDFInfo
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Abstract
The invention relates to a sky scanning multiple-objective task programming method for a space astronomical satellite. The method comprises the first step of grid division and numbering of a celestial sphere, the second step of processing of a visible window and constraint conditions, the third step of programming and modeling of multiple-objective tasks, the fourth step of resolving processing of a multiple-objective and multiple-constraint-condition programming model. According to the sky scanning multiple-objective task programming method for the space astronomical satellite, planet energy, storage and ground data transmission constraints are comprehensively considered, multiple-objective programming problem modeling is conducted from the aspects of the scientific detection requirement and the project implementation requirement, and a solution algorithm is provided to lower the time of conflict resolution and space complexity.
Description
Technical field
The present invention relates to satellite resource mission planning scheduling field, relate in particular to a kind of space astronomy satellite celestial sphere scan multiple goal mission planning method.
Background technology
The astronomical sight that space beyond space astronomical observation refers to from the high-altitude apart from ground tens kms to earth atmosphere carries out, is that the mankind accurately survey universe phenomenon, discloses universal law, promotes self progressive important channel.
As the efficient important leverage of implementing smoothly of satellite transit and detection mission, the research of Satellite Mission Scheduling planning strategy for reasonable arrangement survey plan, optimize star ground resource, that maximum realizes observed object is significant.Compared with traditional earth observation satellite task, space astronomy satellite has himself feature in mode of operation, comprises the several modes such as celestial sphere scan, ocean weather station observation, little day domain scanning.Wherein, celestial sphere scan, to liking whole celestial sphere, relies on orbital precession and attitude to change and realizes the scanning covering in whole day district, obtains whole sky maps; Meanwhile, celestial sphere scan needs continuous Dui Tian district continue to survey, and data volume is larger, and storage and land station's resource-constrained on star, how to utilize on limited land station and star that memory capacity realizes data efficient on star, biography is one of them difficult point down fast; In addition, for the class satellite mission planning problem of touring the heavens, need to consider the multiple constraint conditions such as resource on star, ground resource, sun avoiding angle and exceptions area, South Atlantic Ocean, to the multiple goal Complex Programming Problem modeling under multiple constraint condition with solve and bring certain difficulty.
For many space astronomy class scientific satellites of operation, developed a series of scheduling planning systems, but the long-term planning of paying close attention to task of these systems lacks the consideration to resources such as land stations more at present.Traditional earth observation mission planning model can not be applicable to tour the heavens mode of operation of class satellite task; And limited land station's resource also exists the problem of many stars concurrency conflict access, need in task planning modeling, unify to consider; In addition, scientific exploration demand and satellite engineering constraint demand need to be carried out balance, and the planing method that traditional single goal weighting merges is difficult to solve the optimization problem of multiple mission planning targets.
Summary of the invention
The object of the invention is the defect for prior art, consider the energy on star, storage and ground number and pass constraint, carry out Multiobjective Programming modeling from scientific exploration demand and engineering construction demand, a kind of space astronomy satellite celestial sphere scan multiple goal mission planning method is provided, and the algorithm proposing can reduce the Time & Space Complexity of conflict resolution.
For achieving the above object, the invention provides a kind of space astronomy satellite celestial sphere scan multiple goal mission planning method, described method comprises:
Step 1, celestial sphere grid is divided and numbering;
Step 2, its visibility window and constraint condition processing;
Step 3, multiple goal multiple constraint mission planning modeling;
Step 4, multiple goal multiple constraint mission planning model resolves processing.
Further, described step 1 is specially, for space astronomy satellite celestial sphere scan mission mode, based on view angle field range, whole day ball is carried out to fictitious graticule division, component unit sky district, and be numbered, calculate input is provided for celestial sphere scan mission planning its visibility window.
Further, described step 2 is specially, based on satellite orbit and attitude information, to input sky district of unit according to planning period unit of account sky district observation window of opportunity, moonscope constraint angle, abnormal work district, the satellite north the Atlantic, satellite earth are blocked etc. to this class constraint condition calculates simultaneously, observation window of opportunity place to go, bonding unit sky district does not meet the window of above-mentioned constraint condition, for next step unified planning of taking the energy, number biography into account provides input data.
Further, described step 3 is specially, and energy constraint, number is passed to constraint and consider with the constraint of observation period is unified, set up multiple goal mission planning model, the number of times that the object of planning is adjusted attitude is more few better, meanwhile, ensures the maximization of scanning day district's percentage of coverage.
Further, described step 4 is specially, for the celestial sphere scan task multitask plan model of setting up, adopt multi-objective particle swarm algorithm to solve, the solution vector of construction algorithm, design solution vector is adjusted strategy, reduces conflict and subdues the Space-time Complexity of process, the final program results that meets the object of planning that generates.
Space astronomy satellite celestial sphere scan multiple goal mission planning method of the present invention, consider on star and the constraint of ground number biography, carry out Multiobjective Programming modeling from scientific exploration demand and engineering construction demand, proposition derivation algorithm can reduce the Time & Space Complexity of conflict resolution.
Brief description of the drawings
Fig. 1 is the process flow diagram of space astronomy satellite celestial sphere scan multiple goal mission planning method of the present invention.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
The present invention maximizes covering and the minimum object of planning requirement of adjusting of observation attitude from celestial sphere, and the constraint conditions such as unified consideration number biography, the energy, propose a kind of celestial sphere scan multiple goal mission planning method.
Fig. 1 is the processing flow chart of space astronomy satellite celestial sphere scan multiple goal mission planning method of the present invention, and as shown in the figure, the present invention specifically comprises the steps:
Step 101, celestial sphere grid is divided and numbering;
Specifically comprise, for space astronomy satellite celestial sphere scan mission mode, based on view angle field range, whole day ball is carried out to fictitious graticule division, component unit sky district, and be numbered, calculate input is provided for celestial sphere scan mission planning its visibility window.
Because celestial sphere is a continuous sphere model, and computing machine can only be processed the data of discretize in essence.Therefore, must celestial sphere be divided and be numbered, by its discretize.The present invention intends according to current load visual field size, adopts fictitious graticule to divide celestial sphere, and by right ascension and a unit area of declination definition, i.e. unit sky district, as planning pretreatment stage input data.
Step 102, its visibility window and constraint condition processing;
Specifically comprise, based on satellite orbit and attitude information, to input sky district of unit according to planning period unit of account sky district observation window of opportunity, moonscope constraint angle, abnormal work district, the satellite north the Atlantic, satellite earth are blocked etc. to this class constraint condition calculates simultaneously, observation window of opportunity place to go, bonding unit sky district does not meet the window of above-mentioned constraint condition, for next step unified planning of taking the energy, number biography into account provides input data.
Constraint condition modeling refers to blocks constraint, the constraint of the satellite energy, satellite data transmission constraint etc. and carries out mathematical description and modeling the constraint of moonscope avoiding angle, the constraint of abnormal work district, the satellite north the Atlantic, satellite earth.
Before celestial sphere scan mission planning, need to carry out pre-service to the sky district of unit after discretize, according to satellite almanac data and orbital precession speed, calculate the observation window of opportunity in sky district of each unit and pass the land station's its visibility window receiving for number; Simultaneously, analyze the main constraints that combing goes out current planning tasks, these constraint conditions comprise two classes: a class is the constraint condition that does not meet observation requirement that can filter out at pretreatment stage, and as the constraint of exceptions area, South Atlantic Ocean, the sun are avoided, angle constraint, the earth block constraint, the moon blocks constraint, the shortest observation time constraint etc.; Another kind of is need to unify in planning modeling the constraint condition of considering, as memory capacity on star, ground number pass on ability, star the energy etc.For first class constraint condition, calculate according to satellite ephemeris, load installation site, celestial body ephemeris etc. in pre-service link especially, according to calculated value, the observation window that does not meet current observation requirement be removed.At this, the present invention provides input observation mission and output observation airplane meeting window definition:
Definition 1. definition input observation mission SpUnitMission, a SpUnitMission can be by a quadruple notation (unitID, sideLength, centerLat, centerLon), wherein, sky district of the unitID unit of representative numbering, sideLength represents day district's mesh spacing, the centerLat unit of representative sky district center point latitude, and centerLon represents central point longitude.
Definition 2. definition observation window of opportunity are SpUnitWin, a SpUnitWin can represent (winID by a five-tuple, unitID, startTime, endTime, satAtt), wherein winID represents observation airplane meeting window number, sky district of the unitID unit of representative numbering, and startTime represents the window start time, endTime represents the window end time, and satAtt is for representing attitude of satellite structure.
Step 103, multiple goal multiple constraint mission planning modeling;
Specifically comprise, energy constraint, number are passed to constraint and consider with the constraint of observation period is unified, set up multiple goal mission planning model, the number of times that the object of planning is adjusted attitude is more few better, meanwhile, ensures the maximization of scanning day district's percentage of coverage.
Multiple goal mission planning modeling is the window of opportunity collection to be planned with conflict to input, maximize and cover and the minimum object of planning requirement of adjusting of observation attitude according to celestial sphere, the constraint conditions such as unified consideration number biography, the energy, set up celestial sphere scan plan model objective function.
Set up multiple goal multiple constraint celestial sphere scan mission planning model, given first is to give a definition:
Define 3. satellites from task x
ito task x
jwhether through attitude, adjustment is designated as gesChg
k.Wherein, x
ik-1 the task arranging according to time sequencing, x
jk the task arranging according to time sequencing, note:
Define 4. task x
iwhether be observed and be designated as exec
i, definition:
Definition 5. is for the ease of energy constraint modeling, and establishing period t is the period that cannot charge in shadow region, t
1, t
2..., t
i..., t
nit is satellite observation window time collection within this period.If satellite battery pot life is t
pow, the observation window time sum being defined within this period is t
u,
Definition 6. passes constraint for the ease of logarithm and carries out modeling, establishes moment t
athe last finish time that crosses land station of satellite, t
bthe zero hour that satellite was about to land station, t
1, t
2..., t
i..., t
nthat satellite is at (t
a-t
b) observation window time in the period, the scan-data speed that defines satellite is scanRate (unit: Bit/s), the available storage of satellite is dataCap (unit: Bit).
Based on above definition, consider the constraints such as the energy, number biography and storage, be covered as the object of planning with the least possible attitude adjustment and unit as much as possible sky domain scanning, set up following celestial sphere scan Multiobjective programming models:
Objective function:
Constraint condition:
Wherein, N represents the number of task, i.e. the size of vectorial X; G (X) is the number of times that attitude is adjusted, and h (X) is the ratio of unit sky district sky district of the Zhan Zong unit number that do not scan.Can find out from simulated target function, solving target is to make the number of times of attitude adjustment more few better, and the unit sky district ratio of scanning is more low not good; Can find out from model constrained condition, first constraint condition is energy constraint, represents that the observation window time span sum of carrying out can not exceed the pot life of battery; Second and the 3rd constraint condition have defined several biographies and storage constraint, be illustrated respectively in satellite only the detection data total amount in land station's moment be no more than satellite memory capacity and satellite and cross land station's number and pass the period and meet minimum number and pass time requirement.
Step 104, multiple goal multiple constraint mission planning model resolves processing.
Specifically comprise, for the celestial sphere scan task multitask plan model of setting up, adopt multi-objective particle swarm algorithm to solve, the solution vector of construction algorithm, design solution vector is adjusted strategy, reduces conflict and subdues the Space-time Complexity of process, the final program results that meets the object of planning that generates.
Derivation algorithm can, for multiple goal multiple constraint plan model, adopt improved multi-objective particle swarm to resolve thinking, realizes quick, stable the resolving of plan model.
For set up multiple goal multiple constraint plan model, the present invention is on existing multi-objective particle swarm algorithm basis, according to steps such as solution vector design, adaptive value calculating, the calculating of non-domination solution vector set, solution vector adjustment, it is carried out to adaptability reform, can meet solving of model proposed by the invention.For solution vector design, this algorithm is a sky district of unit by each element definition of solution vector especially, and the value of each element is the ID of observation window of opportunity.According to grid, whole day ball is divided, the number in sky district of unit is relatively many, and its visibility window in sky district of each unit is relatively less a planning horizon, and greatly still index is little for the truth of a matter of search volume.Consider that just there is the correlativity of task in the sky district of unit of closing on locus, and locus task far away does not have correlativity, only the solution vector fragment optimum in guaranteed solution vector region of search can ensure to have optimum solution; Cross the border or observation window collision problem for element value in solution vector transition process, must carry out certain adjustment to it, make solution vector again become a feasible solution.In the time that element value crosses the border, close on strategy most by employing and choose the observation window of opportunity of a legal window as this task; In the time there is conflict in task window, the adjustment that the strategy that adopts Late Start priority of task early to carry out conflicts, simultaneously only with the current pending day certain neighborhood in district within the scope of sky district of unit compare, reduce the Time & Space Complexity of conflict resolution.
Above-described embodiment; object of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the foregoing is only the specific embodiment of the present invention; the protection domain being not intended to limit the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. a space astronomy satellite celestial sphere scan multiple goal mission planning method, is characterized in that, described method comprises:
Step 1, celestial sphere grid is divided and numbering;
Step 2, its visibility window and constraint condition processing;
Step 3, multiple goal multiple constraint mission planning modeling;
Step 4, multiple goal multiple constraint mission planning model resolves.
2. method according to claim 1, it is characterized in that, described step 1 is specially, for space astronomy satellite celestial sphere scan mission mode, based on view angle field range, whole day ball is carried out to fictitious graticule division, component unit sky district, and be numbered, for celestial sphere scan mission planning observation airplane can window calculation provide input.
3. method according to claim 1, it is characterized in that, described step 2 is specially, based on satellite orbit and attitude information, to input sky district of unit according to planning period unit of account sky district observation window of opportunity, moonscope constraint angle, abnormal work district, the satellite north the Atlantic, satellite earth are blocked etc. to this class constraint condition calculates simultaneously, observation window of opportunity place to go, bonding unit sky district does not meet the window of above-mentioned constraint condition, for next step unified planning of taking the energy, number biography into account provides input data.
4. method according to claim 1, it is characterized in that, described step 3 is specially, energy constraint, number are passed to constraint to be considered with the constraint of observation period is unified, set up multiple goal mission planning model, the number of times that the object of planning is adjusted attitude is more few better, meanwhile, ensures the maximization of scanning day district's percentage of coverage.
5. method according to claim 1, it is characterized in that, described step 4 is specially, for the celestial sphere scan task multitask plan model of setting up, adopt multi-objective particle swarm algorithm to solve, the solution vector of construction algorithm, design solution vector is adjusted strategy, reduce conflict and subdue the Space-time Complexity of process, the final program results that meets the object of planning that generates.
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