CN105068549B - A kind of autonomous continuous planing method of satellite task - Google Patents
A kind of autonomous continuous planing method of satellite task Download PDFInfo
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Abstract
A kind of autonomous continuous planing method of satellite task, satellite is at a time, according to satellite orbit and target control area collection G, calculate the executable task for entering set G, and by task according to long-range mission, mid-term task, the hierarchical planing method of short time duty, with reference to the current state set S of satellite, judge whether task can be included in new set of tasks P '.If multiple tasks, which are performed, resource contention, conflict resolution is carried out according to the rule worked out in advance.Update current task set P and set P ' to be consistent, the short time duty for extracting the arrival startup time in set P is performed to real-time system.Final updating set G and set S.The present invention solves satellite independent of external world's control and information injection, accurate to perceive oneself state and external environment condition, independently controls the problem of satellite is to complete various tasks, improves satellite Autonomous ability to work, and the risk of critical failure occurs in reduction satellite.
Description
Technical field
The present invention proposes a kind of autonomous continuous planing method of satellite task, what more particularly to a kind of utilization satellite Autonomous was obtained
The information such as whole championship is put, track, satellite discharging depth, illumination conditions, resource status, whole star safe condition, enter planet and upload lotus
Task Autonomous is continuously planned, is reduced ground intervening surface, control, is strengthened satellite reliability.
Background technology
The in-orbit task management of current satellite, most of work still needs ground to be controlled, and this control is existed
It is many to influence satellite security, the factor of reliability in orbit, it is in particular in following aspects：
1st, selecting sun-synchronous orbit earth observation satellite more, being characterized in controllable segmental arc short (each more than ten minutes), having
Time in control interval length (about 10 hours of transit time twice) is imitated, so after satellite is overseas breaking down, treats that ground is sent out
Now and make respective handling, it usually needs more than 10 hours, the in-orbit safety of satellite was difficult to be guaranteed；
2nd, satellite needs the data volume noted big, in very short time of passing by every time, it is necessary to the upper substantial amounts of program control command of note and
Other control information.Satellite key equipment once breaks down, to ensure the satellite times on safety satellite, all stars of memory block
Business is all removed, it is impossible to autonomous to recover, it is necessary to send substantial amounts of instruction reset task by ground, it is difficult to ensure that satellite is in-orbit
Continuous and steady operation；
3rd, with the development of Chinese Space cause, space device is more and more, and the task of in-orbit monitoring is increasingly weighed, and is leaned on
The need for artificial monitoring in real time, processing much can not meet under the new situation.
Therefore, in-orbit autonomous, the continuous planning function of satellite task is potentiated and enhanced, is to improve satellite transit reliability, it is real
One of guarantee of existing satellite great-leap-forward development.
The content of the invention
The technology of the present invention solves problem：Overcome based on manual intervention, and constrained by ground observing and controlling resources supplIes
The problem that conventional satellite mode of operation is brought is there is provided a kind of autonomous continuous planing method of satellite task, using according to whole championship
Put, track, satellite discharging depth, illumination conditions, resource status, the information such as whole star safe condition, enter planet and upload lotus task
Autonomous continuous planning, performs task when satellitosis is safe, cancel or be delayed performing satellite task when dangerous, solve satellite not
Extraneous control and information injection are relied on, it is accurate to perceive oneself state and external environment condition, independently control satellite to complete various
The problem of business, the in-orbit Task Autonomous planning ability of satellite is improved, the risk of critical failure occurs in reduction satellite.
The technical solution of the present invention：A kind of autonomous continuous planing method of satellite task, step is as follows：
(1) satellite is run along own orbit, and obtaining sub-satellite track by upper note orbital tracking (draws sub-satellite track
For sub-satellite track figure, following sub-satellite track is sub-satellite track figure, it is possible to use spacecraft flight simulation softward STK is obtained
Sub-satellite track), at a time t0, satellite on track from t0Start, to t1The point at moment carries out uniform sampling, obtains
Multiple sub-satellite track sampled points, enter target control area G according to the sampled point of settingiJudgment criterion, judge that these are adopted
Whether sampling point enters target control area GiIf, the target control area G of satelliteiPlane is more where Track of Sub-Satellite Point
The sub-satellite track of satellite (is plotted as sub-satellite track figure, the polygonal region is on sub-satellite track figure by side shape region
Set polygonal region), i=1 ... n, n are positive integer, and the target control area collection G of satellite includes multiple target controls of satellite
Region GiIf the sampled point on satellite trajectory enters target control area Gi, and sampled point from enter target control area GiTo from
Open target control area GiTime span be more than or equal to 10 minutes and less than or equal to 30 minutes, then judge the target control area
GiCorresponding satellite load task meets the time span requirement of tasks carrying, judges the task to enter target control area collection
G task；If the sampled point on satellite trajectory does not enter into target control area GiOr sampled point from enter target control area Gi
To leaving target control area GiTime span be less than 10 minutes or more than 30 minutes, then judge target control area GiIt is right
The satellite load task answered is unsatisfactory for the time span requirement of tasks carrying, does not regard the task as entrance target control area collection
G task；Sampled point enters target control area GiAt the time of for this enter target control area collection G task startup when
Carve, sampled point leaves target control area GiAt the time of for this enter target control area collection G task finish time, enter
Target control area collection G task is divided into long-range mission, mid-term task and short time duty by Startup time；
(2) t of satellite is obtained0The state set S at moment, including whole star safe condition, satellite that satellite Autonomous judges are put
The mutex amount state of public resource, illumination conditions in electric depth, star；Define whole star safe condition for it is safe when, satellite electricity
Source is working properly, attitude control subsystem is working properly, bus communication normal, Star Service central computer is working properly；Public money on star
The mutex amount state in source includes mutual exclusion and without mutual exclusion two states；Illumination conditions include illumination and no light；
(3) if the task that step (1) enters target control area collection G is long-range mission, the task is directly brought into
New set of tasks P ', when satellite orbits, moves closer to target control area, the Startup time of task becomes
Change, gradually become mid-term task, then short time duty is changed into from mid-term task；
(4) if the task that step (1) enters target control area collection G is mid-term task, appointing for mission planning is carried out
Business attribute, i.e., need the parameter judged, including whole star safe condition, required by task depth of discharge when performing the mid-term task；
The current state set S Satellites depth of discharge of step if (2) satellite is more than mid-term required by task depth of discharge, and
Whole star safe condition is safety, then the mid-term task is included to new set of tasks P '；
If the current state set S Satellites depth of discharge of step (2) satellite is less than or equal to required by task depth of discharge,
Or whole star safe condition is dangerous, then the mid-term task does not include new set of tasks P '；
The mid-term task gradually becomes short time duty with the shortening of Startup time；
(5) if the task that step (1) enters current task object set G is short time duty, the task of mission planning is carried out
Attribute, i.e., need the parameter judged when performing the short time duty, including whole star safe condition, required by task depth of discharge, mutually
Denounce semaphore, illumination conditions；
If the current state set S Satellites depth of discharge of step (2) satellite is more than required by task depth of discharge, and step
(2) state of mutex amount related to the short time duty in the current state set S of satellite is without mutual exclusion, the safe shape of whole star
State be safety, illumination conditions to there is illumination, then the short time duty is included to new set of tasks P '；
Pacify if the current state set S Satellites depth of discharge of step (2) satellite is more than required by task depth of discharge, whole star
Total state is safety, illumination conditions to have related to the short time duty in illumination, but the current state set S of step (2) satellite
Mutex amount state to there is a mutual exclusion, carry out conflict resolution, if conflict can clear up, the short time duty included newly
Set of tasks P ', if conflict can not clear up, the short time duty does not include new set of tasks P '；
If the current state set S Satellites depth of discharge of step (2) satellite is less than or equal to required by task depth of discharge,
Either whole star safe condition is that dangerous or illumination conditions are no light, then the short time duty does not include new set of tasks
P’；
(6) if inconsistent as the new set of tasks P ' and current task set P obtained by step (3), (4), (5),
Current task set P is updated, makes current task set P with being kept as the new set of tasks P ' obtained by step (3), (4), (5)
Unanimously；
(7) short time duty of Startup time is reached in the set of tasks P after extraction step (6) updates, holding for satellite is delivered to
Row unit is performed；
(8) as satellite control area GiIn task be performed both by finishing, by satellite control area GiFrom target control area
Collect in G and delete；Mutex amount state, the depth of discharge of satellite in renewal step (2) current state set S；
(9) return to step (1), until the target control area collection G of satellite is sky, completes planning.
T in the step (1)1-t0, i.e., the sampling time be 100 minutes, uniform sampling at intervals of 10 seconds.
Target control area G in the step (1)i, i.e. the overlay area of load operation, by the entrance of sampled point and from
The execution for the corresponding load task in the region that the control satellite that comes has had been loaded into, the region uses Convex Polygon Domain table
Show, preset the zone boundary of the convex polygon, and can be by the side of the in-orbit modification overlay area of remote control injecting data
Boundary, sets the vector on each summit in region of known convex polygon as P1, P2, P3, P4 and P5, P is to be adopted in Track of Sub-Satellite Point
The vector of sampling point, then the sampled point enter polygonal area judgment criterion be：
(P2-P1)×(P-P1)>0； (1)
(P3-P2)×(P-P2)>0； (2)
(P4-P3)×(P-P3)>0； (3)
(P5-P4)×(P-P4)>0； (4)
(P1-P5)×(P-P5)>0； (5)
5 formula of the above are all met, then judge that satellite enters control area Gi；As long as there is a formula to be unsatisfactory for, then sentence
Determine satellite and leave control area, the vector multiplications (×) of two vectors is equal to absolute value and is multiplied multiplied by with the sine value of angle theta between vector,
0 °≤θ≤180 °, the direction of gained vector meets the right-hand rule after vector multiplication.
The attribute of task in the step (3), in addition to task id, task priority, Startup time, corresponding target control
Region processed；Startup time is calculated by satellite Autonomous, and sampled point is task at the time of entering task corresponding target control area
Startup time；Same target control area GiWhen the Startup time of corresponding multiple tasks is reached, the high task of priority is first
Perform.
The Startup time of step (1) described long-range mission is more than 60min, the Startup time of mid-term task for 21min~
60min, the Startup time of short time duty is 0~20min.
Step (5) Satellite performs the public resource that needs to use of multiple tasks simultaneously, including data transmission equipment, deposits admittedly
Storage, data transmission equipment, it some times happens that the situation of inadequate resource is, it is necessary to carry out conflict resolution, the method for carrying out conflict resolution is：
If operational order conflict of the multiple tasks to same data transmission equipment or load, that is, occur a data transmission equipment or load
Lotus is opened by a task, when data transmission equipment or load operation do not have completion after opening, and situation about being closed by another task, then
Adjustment is to same data transmission equipment or the operational order of load, i.e., according to the execution time of instruction, by OPEN and out code
It is ranked up, only carries out first OPEN and last out code, makes the data transmission equipment or load normal work, if
It can not adjust, then cancel low priority task and perform；
If use time conflict of the multiple tasks to same storage admittedly, when that low task of priority shortens execution
Between or cancel.
The advantage of the present invention compared with prior art is：
(1) program control command and other control information are previously implanted with existing ground, are arrived when the time of execute instruction, Star Service
Main frame can send design of the series of instructions to perform task and compare, autonomous judgement work(of the present invention with tasks carrying on star
Energy.Satellite dynamically adjusts will performing for task according to target area, when satellite judges will have task to be activated, is starting
The information such as the satellite discharging depth of satellite, illumination conditions, resource status, whole star safe condition are analyzed first before, sentenced
Whether the state of disconnected present satellites meets task start condition, if satellite is in unsafe condition or public resource using there is punching
It is prominent, then cancel or adjust the execution of task in time, greatly reduce the risk of whole star.
(2) existing satellite needs note big data quantity program control command and other control information, the key equipment one of satellite
Denier is broken down, and the satellite task on all stars of memory block is all removed, it is impossible to autonomous to recover, it is necessary to send a large amount of by ground
Instruction carry out task recovery.Compared with the pattern, the autonomous continuous planing method of satellite task that the present invention is used can be advance
Target control area collection, Strategy of Conflict Resolution, task start condition etc. are stored on star.Even if key equipment breaks down,
Still it can be reloaded after restarting, and the executable task according to the autonomous Dynamic Programming of satellitosis newly in real time.These tasks
Planning consider the real-time safe condition of satellite, health effect will not be caused to satellite, while ensure that the company of satellite task
It is continuous to perform.
(3) the autonomous continuous planing method of a kind of satellite task of the invention, to improving satellite operation efficiency, contexture by self task
Ability, strengthens the reliability of satellite, and saving valuable ground observing and controlling resource has great meaning.
Brief description of the drawings
Fig. 1 is continuous duty planning flow chart of the present invention
Fig. 2 is that satellite orbit of the present invention calculates schematic diagram；
Fig. 3 is the hierarchical mission planning schematic diagram of the present invention；
Fig. 4 is resource contention schematic diagram of the present invention.
Embodiment
The present invention is described in further detail with instantiation below in conjunction with the accompanying drawings：
The autonomous continuous planning system of satellite task be provided with satellite " target control area collection ", " current state collection " and
" current task collection "." current task collection " is actually a kind of prediction, is shown if satellite is wanted to run according to pre-, our institute's phases
Hope a series of tasks performed.Satellite should have the ability of serial update plan.The system rudimentary algorithm is as follows：
P is " current task collection ", and initialization P is sky；
G is " target control area collection ", and initialization G is sky；
S is " current state collection ", and initialization S is sky.
Assuming that giving P and G, (S is independently obtained by whole star, and G is by G1、G2……GnIndividual target control area composition, when passing by
Artificial upper note carries out region setting)：
The C that conflicts (P, G, S) between a, calculating G, S and former set of tasks P；
B, using Strategy of Conflict Resolution update P (in the range of resource constraint)；
The short-term activity task that c is extracted in " current task collection " is performed to real-time system；
D updates G, deletes the target no longer needed；
E updates S, obtains current state；
F returns to a.
Implement flow as shown in Figure 1.Assuming that satellite at a time carries out mission planning.Calculate first and enter target
Control area collection G task, if long-range mission, then the set of tasks P ' for being directly brought into new；If mid-term task, according to
Whole star safe condition, satellite discharging depth profile in state set S, judgement task, which is cancelled, still includes new set of tasks
P’；If short time duty, the whole star safe condition in state set S, satellite discharging depth, illumination conditions, public money
The mutex amount state status in source, judges set of tasks P ' or progress conflict resolution that the task is directly brought into new.If
Need to carry out conflict resolution, and conflict can be cleared up by task adjustment, then the task after adjustment is included to new task-set
P ' is closed, cancels this subtask if it can not clear up.If P ' and current task set P are inconsistent, update P and appoint with new
Business set P ' is consistent.
For the short time duty in set P, when there is task to reach the startup time, then the task is given to the real-time system of satellite
System is performed.Update satellite " target control area collection " G and " current state collection " S, in mission planning next time, it is necessary to according to
New G and S planning " current task collection " P.
As shown in figure 1, the present invention's comprises the following steps that：
(1) as shown in Figure 1, it is assumed that satellite at a time carries out mission planning, calculate first and enter target control area
Domain collection G task.The task of current satellite is mainly the execution for carrying out driving task by target of region interested, therefore can be with
The work of satellite is controlled using region control method, for different target areas, corresponding load task is made and fills
It is loaded on star, entering different target areas by satellite starts different load tasks.Noting orbital tracking in the passing of satelline can
To obtain sub-satellite track, software has the automatic discrimination function that substar longitude and latitude degrees of data is currently located to satellite, and will
The comparison of the load operation region longitude and latitude upper-lower door limit value of the up injecting data of remote control and the latitude and longitude value of current substar, such as
The current substar longitude and latitude of fruit shows that track enters the overlay area of load operation within threshold value.
Calculate and enter some target control area G in target control area collection GiMethod：As shown in Fig. 2 load operation
Overlay area represented using Convex Polygon Domain, zone boundary can be preassigned, and remote control injecting data can be passed through
The border of in-orbit modification overlay area.
Whether control area is entered by orbit computation satellite：With polygon behavior example shown in Fig. 2, it is assumed that known each summit
Vector be P1, P2, P3, P4 and P5, P is the vector of certain point on satellite motion track, then the point enters polygonal area and sentenced
Disconnected criterion is：
(P2-P1)×(P-P1)>0； (1)
(P3-P2)×(P-P2)>0； (2)
(P4-P3)×(P-P3)>0； (3)
(P5-P4)×(P-P4)>0； (4)
(P1-P5)×(P-P5)>0； (5)
5 formula of the above are all met, then judge that satellite enters control area Gi；As long as there is a formula to be unsatisfactory for, then sentence
Determine satellite and leave control area, the vector multiplications (×) of two vectors is equal to absolute value and is multiplied multiplied by with the sine value of angle theta between vector,
0 °≤θ≤180 °, the direction of gained vector meets the right-hand rule after vector multiplication.
In order to realize the continuous planning of task, satellite can continuously carry out a mission planning (such as every 1 minute),
Each point coordinate value in 100 minutes on its track is calculated, sampled point interval can take 10 seconds.If satellite transit
Point on track enters some control area GiTime span meet and require (be more than 10 minutes, less than 30 minutes), then it is assumed that
The time span of this subtask is suitable, and the task is the entering target control area collection G of the task.
Embodiment 1：So that shown in Fig. 2, satellite carries out mission planning at the t0 moment, satellite will enter specific after finding 15 minutes
Region is operated, and this is a short time duty, now analyzes whether resource, state on star meet task start condition, if
Meet, then can be included in new set of tasks P '.This subtask needs to open number biography preheating in advance, therefore 10 minutes before tasks carrying
Open number and come into capable preheating, satellite is t1, as task Startup time at the time of entering target control area, and loading device starts
Start photograph.It is t2 at the time of satellite leaves target control area, now closes loading device, load task terminates.It is whole to carry
The work of lotus task is driven by whether satellite enters target control area, and t1 to t2 time span is 20 minutes, meets and carries
(the loading device working time is oversize or the too short normal work for being all unfavorable for equipment, normal work for the requirement of lotus equipment operating time
It is set greater than 10 minutes as duration, less than 30 minutes).
As described above, starting task using the method for Region control, it is possible to achieve the contexture by self of task on star, for same
Same task is performed a plurality of times on one target control area, and task is stored once, and is performed every subtask in the past and be required for
Upper note, greatly reduces task memory space in contrast；Task recovery after being broken down for satellite, can also be by satellite
It is autonomous to perform, reduce human intervention.
(2) the entrance target control area collection G obtained according to step (1) task, using hierarchical planing method.As schemed
Shown in 3, continuous mission planning takes grade formula to divide, and can be divided into long-range mission planning, mid-term mission planning and appoint in short term
Business planning., can be with 0~20min task for Startup time assuming that satellite has planned the task activity in following 100 minutes
It is considered short time duty, mid-term task is may be considered in 21~60min task for Startup time, it is big for Startup time
Long-range mission is may be considered in 60min task.
Long-range mission can be drawn in the more abstract enterprising professional etiquette of level, such as it is considered that being within this period of time
Thermal balance, the energy that heating circuit is consumed is not considered, other resource situations are not considered yet, as long as satellite enters target control area
This subtask is just brought into planning in domain.
If mid-term task, whole star safe condition, the satellite discharging depth of satellite are obtained according to state set S, if defending
Star depth of discharge is more than required by task depth of discharge, and whole star safe condition is safety, then the mid-term task is included into new appoint
Be engaged in set P '；If satellite discharging depth is dangerous less than or equal to required by task depth of discharge, or whole star safe condition, then
The mid-term task does not include new set of tasks P '；
Planning for short time duty considers satellitosis with then needing more details, and satellite is obtained according to state set S
Whole star safe condition, satellite discharging depth, mutex amount state, the illumination conditions of public resource etc., to ensure to meet condition
Task can be included in planning among.If satellite discharging depth is more than required by task depth of discharge, related to the short time duty
Mutex amount state be no mutual exclusion, whole star safe condition be safety, illumination conditions to there is illumination, then by the short time duty
Include new set of tasks P '；If it is safety, illumination that satellite discharging depth, which is more than required by task depth of discharge, whole star safe condition,
State is has illumination, but the state of the mutex amount related to the short time duty is to have mutual exclusion, it is necessary to according to working out in advance
Rule carry out conflict resolution, if conflict can clear up, the short time duty is included to new set of tasks P ', if conflict
It can not clear up, then the short time duty does not include new set of tasks P '；If satellite discharging depth is put less than or equal to required by task
Electric depth, either whole star safe condition is that dangerous or illumination conditions are no light, then the short time duty does not include new appoint
Be engaged in set P '.
Over time, carried out when long-range mission is changed into mid-term, short time duty with reference to more and more detailed parameter
Planning can obtain more accurate result.
Embodiment 2：As shown in figure 3, at a time t0 carries out mission planning to satellite, plan that the load in 100 minutes is appointed
Business.Assuming that a load task, ID is ZaiHeTask, into target control area collection G, and Startup time is 99 minutes, now for
Long-range mission, the set of tasks P ' for being directly brought into new.When satellite carries out mission planning every time between t0 and t1, the load task
All it is long-range mission, the set of tasks P ' for being directly brought into new, until reaching the t1 moment.Now during mission planning, the startup of task
Moment is changed into 60 minutes, and the task is changed into mid-term task, now needs whole star safe condition, the satellite in bonding state set S
Depth of discharge carries out mission planning, if whole star safe condition is safety, and satellite discharging depth be more than task discharge it is deep
Degree, then include new set of tasks P ' by task, otherwise do not include.When satellite carries out mission planning every time between t1 and t2,
The load task is all mid-term task, is required for whole star safe condition in bonding state set S, satellite discharging depth every time
Mission planning is carried out, until reaching the t2 moment.Now during mission planning, the Startup time of task is changed into 20 minutes, and the task becomes
For short time duty, whole star safe condition in bonding state set S, satellite discharging depth are now needed, mutex amount state,
Illumination conditions carry out mission planning.If whole star safe condition is safety, and satellite discharging depth is more than task and discharged deeply
Degree, there is illumination, when mutex amount state is without mutual exclusion, then task to be included to new set of tasks P ', otherwise carries out task
Conflict resolution, if conflict can clear up, the task after adjustment is included new set of tasks P ', otherwise not included；If whole
Star safe condition is dangerous, and either satellite discharging depth is not more than task depth of discharge or no light, and task is not included newly
Set of tasks P '.Over time, it is changed into 0 when the task start moment, represents that satellite enters target control area, load
Task starts to perform.
As described above, this hierarchical mission planning mode can effectively save computer resource, satellite operation effect is improved
Rate.(3) during step (2) carries out hierarchical mission planning, for the mission planning of short time duty, if task start bar
Part has with whole star status information to conflict, then carries out conflict resolution according to the rule worked out in advance.If conflict is adjusted by task
It is whole to clear up, then the task after adjustment is included to new set of tasks P ', cancelled this subtask if it can not clear up.
As shown in figure 4, for Strategy of Conflict Resolution, because satellite is possible to perform multiple tasks in synchronization, having very much
May occur the situation of inadequate resource or resource contention, therefore during satellite task planning, the factor of resource should be taken into full account, adopted
Strategy of Conflict Resolution is taken simultaneously and dynamically to plan new task.If operational order conflict of two tasks to same public resource,
Occur an equipment to be opened by a task, and situation about being closed by another task, then two tasks are adjusted to same public
The operational order of resource, makes equipment normal work.If can not adjust, cancel low priority task and perform.
Embodiment 3：By taking " number is passed " this public resource as an example, as shown in figure 4, task 1 opens several biographies at the T0 moment, in T2
Carve and close number biography；Task 2 opens several biographies at the T1 moment, and number biography is closed at the T3 moment.The implementation procedure of two tasks has intersection, and all makes
With " number is passed " this resource, there is a situation where resource contention.If not considering this resource contention during mission planning, two are appointed
Business is performed respectively, for task 2, is opened although number is passed at the T1 moment, is closed again by the instruction of task 1 at the T2 moment
Fall, therefore task 2 can not be performed normally.If taking Strategy of Conflict Resolution, the instruction of task can be carried out during mission planning
Adjustment, " opening several biographies " instruction of task 2 and " close number pass " instruction of task 1 are not performed, it is possible to ensure the normal of two tasks
Perform.
If use time conflict of two tasks to same public resource, when that low task of priority shortens execution
Between or cancel.
Embodiment 4：Assuming that satellite has planned that the P in following one hour has three tasks M1, M2 and M3 according to G and S, this three
Individual task all uses same core buffer.After first task is performed, used up partial memory buffering area, satellite
S changed.Satellite finds that remaining core buffer can not meet M2 and M3 while using according to the S after renewal, sends out
Conflict has been given birth to, therefore has re-started mission planning, has implemented Strategy of Conflict Resolution.Assuming that M3 priority is higher than M2 priority, can be with
The shortening M2 working times reduce the consumption to buffering area, or cancel M2, it is ensured that M3 execution.
As described above, Strategy of Conflict Resolution is used during task conflict, can be optimally using public resource on star, and carry
The high reliability of satellite, prevents resource excessively using causing satellite dangerous.
(4) step (3) is carried out after conflict resolution, obtains new set of tasks P '.If P ' differs with current task set P
Cause, then update P and new set of tasks P ' and be consistent.
(5) for the short time duty in the current task set P that is obtained in step (4), when there is task to reach the startup time,
The real-time system for then giving satellite by the task is performed.Due on star task contexture by self with per minute for cycle iterations, dynamic
Implementary plan, before short time duty is carved on startup, is all compared by satellite current state collection S with the real-time of task start condition,
To ensure to meet execution condition.
Task start condition design：In the present invention, it is necessary to which satellite is believed according to satellite discharging depth, illumination conditions, mutual exclusion
The information independences such as number amount state, whole star safe condition judge whether task includes new set of tasks P ', or reach when starting
Whether the short time duty at quarter can perform.Table 1 lists several load task plan attributes, to carry out condition judgment.
Table 1 is task start condition table
Embodiment 5：By taking load task 1 as an example, task 1 is when being changed into short time duty and being planned, in reading state set S
The entry condition of task 1 set in whole star safe condition, satellite discharging depth, mutex amount state, illumination conditions, with table 1
It is compared, judgment criterion is as follows：
" whole star safe condition "=0x66；
" satellite discharging depth ">C1；
" mutex amount "=0x66；(mutex amount is the mutex amount of public resource used in task 1)
" illumination "=0x66；
If conditions above is satisfied by, task 1 can be included to new set of tasks P ', or startup task 1 is performed
Task.It is unsatisfactory for if had ready conditions, task 1 cannot include new set of tasks P ' or start.
Satellite state information acquisition methods are as follows：
Whole star safe condition：Current whole star safe condition can be obtained by way of whole star remote measurement；Whole star safe condition
For it is safe when, satellite power supply is working properly, attitude control subsystem is working properly, bus communication is normal, the work of Star Service central computer
Normally.Above by each subsystem independent judgment, if having one it is abnormal, whole star safe condition is considered as dangerous.
Satellite discharging depth：The power consumption that event is performed in one work period of payload is predicted, and set up
The incidence relation predicted the outcome between depth of discharge (Qd), the then electric discharge that can be predicted required for current task is performed is deep
Degree；When satellite has performed a task, the electricity consumed according to the task of execution can calculate the electric discharge that satellite has been used up
The available depth of discharge of satellite after depth, and tasks carrying.The available depth of discharge of satellite reduces after execution task；Work as satellite
Into illumination period, the increase of satellite discharging depth.
Mutex amount：Assuming that " task 1 ", " task 2 " with " task 3 ", then can be with while can only have 1 task in execution
It is avoided to perform simultaneously by setting mutex amount.When one task start of any of which, then " mutex amount " this
Individual variable is set to 0x99, after this tasks carrying is complete, then the variable is set to 0x66, and other tasks obtain right of execution；Other two
Judge whether " mutex amount " this variate-value is 0x66 before individual tasks carrying, if " mutex amount " this variate-value
It is not 0x66, but 0x99 does not start then, i.e., the state of mutex amount is to have mutual exclusion；If " mutex amount " this variable
Value is that 0x66 just allows startup, the i.e. state of mutex amount to be without mutual exclusion.
Illumination：Satellite can be calculated by orbit prediction technology to enter ground shadow, go out the time of ground shadow.
As noted previously, as satellite Autonomous judged whole star safe condition, satellite discharging depth, satellite public resource it is mutual
Reprimand state, illumination conditions, substantially increase security, the reliability of satellite.
(6) according to the implementation status of step (5), target control area collection G and state set S is updated.In next subtask
, it is necessary to plan " current task plan collection " P according to new G and S during planning.Mission planning is until target control area collection G is sky
When terminate, by the ground staff again new target control area collection of upper note when satellite passes by, start new mission planning.
Satellite is during real-time working, due to various change, and the actual state of satellite can be caused not to be inconsistent with expection.Need
Real-time software carries out the iteration of above-mentioned job step, according to actual state, actual resource, the actual beginning and end of task
Time carrys out more new model.The autonomous continuous planning system of satellite task need to receive in the range of 1~10 second the activity of satellite and
The renewal of state simultaneously plans a subtask again, and this renewal every time is likely to meeting because the state and resource of former required by task
Do not conform to the actual conditions and produce conflict.As long as there is conflict to occur, satellite will planning tasks again, to adapt to new state and not
Carry out a series of planning of tasks.
The content that the present invention is not described in detail belongs to technology as well known to those skilled in the art.
Claims (6)
1. the autonomous continuous planing method of a kind of satellite task, it is characterised in that step is as follows：
(1) satellite is run along own orbit, obtains sub-satellite track by upper note orbital tracking, at a time t0, satellite is to rail
From t on mark0Start, to t1The point at moment carries out uniform sampling, multiple sub-satellite track sampled points is obtained, according to the sampling of setting
Point enters target control area GiJudgment criterion, judge these sampled points whether enter target control area GiIf, the mesh of satellite
Mark control area GiThe polygonal region of plane where Track of Sub-Satellite Point, i=1 ... n, n are positive integer, the target of satellite
Control area collection G includes multiple target control area G of satelliteiIf the sampled point on satellite trajectory enters target control area
Gi, and sampled point from enter target control area GiTo leaving target control area GiTime span be more than or equal to 10 minutes and
Less than or equal to 30 minutes, then target control area G is judgediCorresponding satellite load task meets the time span of tasks carrying
It is required that, judge the task to enter target control area collection G task；If the sampled point on satellite trajectory does not enter into target control
Region G processediOr sampled point from enter target control area GiTo leaving target control area GiTime span be less than 10 minutes or
More than 30 minutes, then target control area G is judgediThe time span that corresponding satellite load task is unsatisfactory for tasks carrying will
Ask, do not regard the task as the entering target control area collection G of the task；Sampled point enters target control area GiAt the time of for should
Into the Startup time of target control area collection G task, sampled point leaves target control area GiAt the time of enter mesh for this
The finish time of control area collection G task is marked, the task into target control area collection G by Startup time is divided into long-term appoint
Business, mid-term task and short time duty；
(2) t of satellite is obtained0The state set S at moment, including whole star safe condition, satellite discharging that satellite Autonomous judges are deep
The mutex amount state of public resource, illumination conditions on degree, star；Define whole star safe condition for it is safe when, satellite power supply work
Work is normal, attitude control subsystem is working properly, bus communication is normal, Star Service central computer is working properly；Public resource on star
Mutex amount state includes mutual exclusion and without mutual exclusion two states；Illumination conditions include illumination and no light；
(3) if the task that step (1) enters target control area collection G is long-range mission, the task is directly brought into new
Set of tasks P ', when satellite orbits, moves closer to target control area, the Startup time of task changes, by
Mid-term task is faded to, then short time duty is changed into from mid-term task；
(4) if the task that step (1) enters target control area collection G is mid-term task, the task category of mission planning is carried out
Property, i.e., the parameter judged, including whole star safe condition, required by task depth of discharge are needed when performing the mid-term task；
If the current state set S Satellites depth of discharge of step (2) satellite is more than mid-term required by task depth of discharge, and whole star
Safe condition is safety, then the mid-term task is included to new set of tasks P '；
The current state set S Satellites depth of discharge of step if (2) satellite is less than or equal to required by task depth of discharge, or
Whole star safe condition is dangerous, then the mid-term task does not include new set of tasks P '；
The mid-term task gradually becomes short time duty with the shortening of Startup time；
(5) if the task that step (1) enters current task object set G is short time duty, the task attribute of mission planning is carried out,
The parameter judged, including whole star safe condition, required by task depth of discharge, mutex are needed when performing the short time duty
Amount, illumination conditions；
If the current state set S Satellites depth of discharge of step (2) satellite is more than required by task depth of discharge, and step (2)
The state of the mutex amount related to the short time duty is without mutual exclusion, whole star safe condition in the current state set S of satellite
For safety, illumination conditions to there is illumination, then the short time duty is included to new set of tasks P '；
If the current state set S Satellites depth of discharge of step (2) satellite is more than required by task depth of discharge, the safe shape of whole star
State is that safety, illumination conditions are to have related to the short time duty mutual in illumination, but the current state set S of step (2) satellite
The state of reprimand semaphore carries out conflict resolution to there is mutual exclusion, if conflict can clear up, and the short time duty is included into new appoint
Be engaged in set P ', if conflict can not clear up, the short time duty does not include new set of tasks P '；
The current state set S Satellites depth of discharge of step if (2) satellite is less than or equal to required by task depth of discharge, or
Whole star safe condition is dangerous, or illumination conditions are no light, then the short time duty does not include new set of tasks P '；
(6) if inconsistent as the new set of tasks P ' and current task set P obtained by step (3), (4), (5), update
Current task set P, makes current task set P with being consistent as the new set of tasks P ' obtained by step (3), (4), (5)；
(7) short time duty of Startup time is reached in the set of tasks P after extraction step (6) updates, the execution list of satellite is delivered to
Member is performed；
(8) as target control area GiIn task be performed both by finishing, by target control area GiFrom target control area collection G
It is middle to delete；Mutex amount state, the depth of discharge of satellite in renewal step (2) current state set S；
(9) return to step (1), until the target control area collection G of satellite is sky, completes planning.
2. a kind of autonomous continuous planing method of satellite task according to claim 1, it is characterised in that the step (1)
Middle t1-t0, i.e., the sampling time be 100 minutes, uniform sampling at intervals of 10 seconds.
3. a kind of autonomous continuous planing method of satellite task according to claim 1, it is characterised in that the step (1)
Middle target control area Gi, i.e. the overlay area of load operation controls satellite to fill by entering and leaving for sampled point
The execution of the corresponding load task in the region carried, the region is represented using Convex Polygon Domain, presets this convex polygon
The zone boundary of shape, and can be by the border of the in-orbit modification overlay area of remote control injecting data, the known convex polygon of setting
Each summit in region vector be P1, P2, P3, P4 and P5, P " be Track of Sub-Satellite Point up-sample point vector, then the sampling
Putting the judgment criterion into polygonal area is：
(P2-P1)×(P”-P1)>0； (1)
(P3-P2)×(P”-P2)>0； (2)
(P4-P3)×(P”-P3)>0； (3)
(P5-P4)×(P”-P4)>0； (4)
(P1-P5)×(P”-P5)>0； (5)
5 formula of the above are all met, then judge that satellite enters target control area Gi；As long as there is a formula to be unsatisfactory for, then judge
Satellite leaves control area, and the vector multiplication (×) of two vectors is equal to absolute value and is multiplied multiplied by with the sine value of angle theta between vector, 0 °
The direction of gained vector meets the right-hand rule after≤θ≤180 °, vector multiplication.
4. a kind of autonomous continuous planing method of satellite task according to claim 1, it is characterised in that：The step (3)
Middle task includes task id, task priority, Startup time, corresponding target control area these attributes,；Startup time is by defending
Star is from host computer, and sampled point is the Startup time of task at the time of entering task corresponding target control area；Same target
Control area GiWhen the Startup time of corresponding multiple tasks is reached, the high task of priority is first carried out.
5. a kind of autonomous continuous planing method of satellite task according to claim 1, it is characterised in that：Step (1) is described
The Startup time of long-range mission is more than 60min, and the Startup time of mid-term task is 21min~60min, during the startup of short time duty
Carve as 0~20min.
6. a kind of autonomous continuous planing method of satellite task according to claim 4, it is characterised in that：The step (5)
Satellite performs the public resource that needs to use of multiple tasks simultaneously, including data transmission equipment, admittedly storage, data transmission equipment, occurs
The situation of inadequate resource is, it is necessary to carry out conflict resolution, and the method for carrying out conflict resolution is：
If operational order conflict of the multiple tasks to same data transmission equipment or load, that is, occur a data transmission equipment or load quilt
One task is opened, when data transmission equipment or load operation do not have completion after opening, and situation about being closed by another task, then is adjusted
To same data transmission equipment or the operational order of load, i.e., according to the execution time of instruction, OPEN and out code are carried out
Sequence, only carries out first OPEN and last out code, makes the data transmission equipment or load normal work, if can not
Adjustment, then cancel low priority task and perform；
If use time conflict of the multiple tasks to same storage admittedly, low that task of priority shorten the execution time or
Person cancels.
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