CN105426964B - A kind of satellite imagery and the Joint Task planing method that transmits - Google Patents

A kind of satellite imagery and the Joint Task planing method that transmits Download PDF

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CN105426964B
CN105426964B CN201510750978.4A CN201510750978A CN105426964B CN 105426964 B CN105426964 B CN 105426964B CN 201510750978 A CN201510750978 A CN 201510750978A CN 105426964 B CN105426964 B CN 105426964B
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胡笑旋
朱外明
靳鹏
程八
程八一
夏维
罗贺
马华伟
章密
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Hefei University of Technology
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Abstract

The invention discloses a kind of satellite imagery and the Joint Task planing method of transmission, is characterized in that including：1 obtains two-dimensional imaging data table and two-dimentional transmission data table；2 are solved using many algorithm mixed iterations, obtain program results.The present invention can realize that the angle of the overall situation for transmitting one from satellite imagery carries out planning calculating, so as to provide the control scheme optimization service for more optimizing.

Description

A kind of satellite imagery and the Joint Task planing method that transmits
Technical field
The invention belongs to satellite task planning technology field, specifically a kind of satellite imagery transmission with data relaying Integrated mission planning method.
Background technology
Satellite is the machine that mankind's manufacture is launched, and which flies on certain track, operates around the earth.Imaging satellite The imaging sensor for carrying can be passed through, the earth region which passed through and covered is imaged, and image is returned to ground Face station, uses for terrestrial user.At present, imaging satellite plays an important role in multiple applications such as national defence, people's livelihood, such as Environmental monitoring, soil prospecting, target search, automatic rescue etc..Satellite task planning is important link in the daily management and control of satellite, For processing contention of the user to satellite resource, make that rare satellite resource is as much as possible to meet user's request.
Satellite task planning refers mainly to the planning of two actions of satellite imagery and data down transmission, by mission planning, formulates Go out each satellite and plans are passed to the imaging plans sum of each task.The imaging plans that planning is obtained include satellite pair The start-stop imaging time of the select permeability of task and each task, the number that planning is obtained passes plans includes each satellite to various places Several biography task distribution at face station and the beginning and ending time passed per number of times.Current mission planning technology has as a drawback that：
(1) fail consideration imaging number biography joint planning well, i.e. satellite imagery is passed with number and individually planned, and Imaging sum passes two actions for height coupling, and individually planning can not carry out optimizing from global angle, and imaging is several The prerequisite of biography, in time number biography can make satellite release storage, so as to affect imaging planning, and, individually planning can not be from complete The angle compression time of flow process, makes task completing as early as possible, and in addition individually planning needs substantial amounts of human assistance to process, and is not implemented The planning service of automation；
(2) number passes the situation that planning does not account for data relaying, with the development of space technology, using data relay satellite Carry out data relaying feasible, and current planning technology does not consider the situation of data relaying, underuses space money Source makes data pass ground as early as possible back to reduce the stand-by period of user；
(3) derivation algorithm is single derivation algorithm, can not absorb the advantage of polyalgorithm in the solution procedure of single.
Content of the invention
The present invention is solution the shortcomings of the prior art, there is provided a kind of satellite imagery with data relaying and biography Defeated Joint Task planing method, to realizing that the angle of the overall situation for transmitting one from satellite imagery carries out planning calculating, so as to The control scheme optimization service for more optimizing can be provided.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of satellite imagery of the present invention and the Joint Task planing method that transmits, are applied to by NTIndividual taskNsIndividual imaging satelliteNCIndividual repeater satelliteAnd NPIndividual earth stationIn the mission planning scene of composition；ti Represent i-th task, 1≤i≤NT；sjJ-th imaging satellite is represented, j-th imaging satellite s is madejMaximum storage be Mmax, when Before be stored as M (sj)；J-th imaging satellite sjAn imaging sensor is carried, and there is synchronous imaging and transfer function；1 ≤j≤NS；ckRepresent k-th repeater satellite, 1≤k≤NC；plRepresent l-th earth station, l-th earth station plCan be simultaneously Receive the imaging data of multiple imaging satellites or repeater satellite transmission；1≤l≤Np；It is characterized in, the Joint Task planning side Method is carried out as follows：
Step 1：Obtain two-dimensional imaging data table and two-dimentional transmission data table：
Step 1.1, the acquisition NsIndividual imaging satellite is to NTAccess time window set D, N of individual tasksIndividual imaging satellite pair NCAccess time window the set F and N of individual repeater satelliteCIndividual repeater satellite is to NPThe access time window set L of individual earth station；
The NsIndividual imaging satellite is to NTThe access time window set D of individual task is two-dimensional imaging-task data sheet, and table Head includes：Task, imaging satellite start imaging time and terminate imaging time；Two-dimensional imaging-the task data sheet is often gone Data represent the imaging candidate scheme of place row task；
The NsIndividual imaging satellite is to NCThe access time window set F of individual repeater satellite is two-dimensional imaging-relay transmission data Table, and gauge outfit includes：Imaging satellite, repeater satellite, beginning transmission time and end transmission time；
The NCIndividual repeater satellite is to NPThe access time window set L of individual earth station is two-dimentional relaying-terrestrial transmission data Table, and gauge outfit includes：Repeater satellite, earth station, beginning transmission time and end transmission time；
Step 1.2, the imaging candidate scheme for each task in the two-dimensional imaging-task data sheet add numbering, from And form two-dimensional imaging data table；The two-dimensional imaging data table is traveled through, total that is imaged candidate scheme of each task is obtained Number；
Step 1.3, the two-dimensional imaging-relay transmission tables of data and two-dimentional relaying-terrestrial transmission tables of data are closed And, so as to form two-dimentional transmission data table；The gauge outfit of the two-dimentional transmission data table includes：Imaging satellite, transmitting satellite, ground Stand, start transmission time and terminate transmission time；The each row of data of the two-dimentional transmission data table represents the biography of be expert at satellite Defeated candidate scheme；
Step 2：Solved using many algorithm mixed iterations, obtain program results：
Step 2.1, at random generation NGIndividual one-dimensional integer vectorsvmM-th vector of expression, 1 ≤m≤NG；And have,Represent m-th vector vmIn i-th component, characterize i-th Business tiSelected candidate is imaged Protocol Numbers；M-th individuality vmLength be equal to task total number NT；
Using each vector in the vector set V as an individual, vmM-th individuality is represented, then NGEach and every one bodily form It is N on a large scaleGColony G；Each individuality is made to represent a solution scheme；
Make m-th individuality vmIn i-th componentSpan be zero to i-th task tiCandidate imaging side Integer value between case total number, whenWhen, represent m-th individuality vmIn representative solution scheme, i-th task tiNo Execute；
Step 2.2, mixed iteration is carried out to colony using genetic algorithm, ant group algorithm and particle cluster algorithm；
Step 2.2.1, maximum mixed iteration number of times is set as NM-U, current iteration number of times is set as α, and initialize α=1；
Step 2.2.2, judge α ＞ NM-UWhether set up, if so, then terminate iteration, obtain NM-UThe group of secondary iterated revision BodyOtherwise, 2.2.3 is gone to step；
Step 2.2.3, the pheromones data for updating ant group algorithm, update the flying speed of partcles data of particle cluster algorithm；
Step 2.2.4, from genetic algorithm, ant group algorithm, particle cluster algorithm randomly choose an algorithm, as the α time The Swarm Intelligence Algorithm of iteration；
Step 2.2.5, colony G is iterated using the Swarm Intelligence Algorithm of the α time iteration, obtains and update for the α time Colony Gα；
Step 2.2.6, the colony G updated using described the α timeαTo NsIndividual imaging satellite carries out the α time collision detection, and To NTIndividual task carries out the α time transmission plan, obtains the α time revised colony G 'α；
Step 2.2.7, α+1 is assigned to α；And return to step 2.2.2 is executed；
Step 2.3, the selection NM-UThe colony of secondary iterated revisionThe best individuality of middle fitness is mapped to NsIndividual On imaging satellite, and to NTIndividual task is transmitted planning, obtains NTThe program results of individual task, so that realize that Joint Task is advised Draw.
The characteristics of satellite imagery of the present invention is with the Joint Task planing method that transmits lies also in,
Collision detection in step 2.2.6 is to carry out according to the following procedure：
Step 1：Build the set of tasks T ' for abandoning executing；
Step 2：Empty j-th imaging satellite sjCurrently stored M (sj)；
Step 3, the colony G according to the α time renewalαIn m-th individuality vm,αIn i-th componentFrom the two dimension Obtain and i-th component in imaging data tableI-th corresponding task tiCandidate imaging scheme；I-th task tiCandidate's imaging scheme include：I-th task ti, imaging satellite satellite (ti), start imaging time IS (ti), knot Beam imaging time IE (ti)；So as to obtain NTN corresponding to individual componentTCandidate's imaging scheme of individual task；
Step 4, press NTThe sequencing of the beginning imaging time of individual task is ranked up, the task list after being sorted
Step 5, make i=1；
Step 6, judge i ＜ NTWhether set up, if so, 7 are then gone to step, is otherwise represented and is completed NTThe conflict inspection of individual task Survey；
Step 7 is obtained and is executing i-th task ziImaging satellite satellite (zi) on come i-th task ziOpen Previous task front (z before beginning imaging timei)；
Step 8, judge previous task front (zi) end imaging time whether in i-th task ziBeginning into As, before the time, if so, then going to step 9, otherwise going to step 13；
Step 9, renewal execute i-th task ziImaging satellite satellite (zi) currently stored M (satellite (zi))；
Step 10, judge M (satellite (zi)) ＜ MmaxWhether set up, if so, 11 are then gone to step, is otherwise gone to step 13；
Step 11, by i-th task ziIt is put into imaging satellite satellite (zi) tasks carrying list in, and go to step 12；
Step 12, to i-th task ziPlanning is transmitted, obtains executing i-th task ziTransmitting satellite trans (zi) and start transmission time TS (zi) and exported；And execution step 14；
Step 13, by i-th task ziIt is put in the set of tasks T ' for abandoning executing；And execution step 14；
Step 14, i+1 is assigned to i, and return to step 6 is executed.
The transmission plan of step 12 is to carry out according to the following procedure：
Step 1：According to i-th task z of the executioniImaging satellite satellite (zi), from the two dimension transmission number Obtain and imaging satellite satellite (z according in tablei) the transmission candidate scheme that matches；It is designated asN(zi) be expressed as satellite s atellite (zi) the transmission candidate scheme that matches Total number, winqRepresent q-th transmission candidate scheme；1≤q≤N(zi)；And have, q-th transmission candidate scheme winqIncluding： Transmitting satellite trans (winq), start transmission time start (winq), terminate transmission time end (winq)；When transmitting by Between start (winq) and terminate transmission time end (winq) between difference constitute time span；
Step 2：Assume i-th task ziBeginning transmission time TS (zi)=B,
Assume i-th task ziTransmitting satellite trans (zi) it is sky, make diRepresent i-th task ziDuring the transmission of needs Between；
Set q*For the transmission time window of final choice, and initialize q*=1；
Initialization q=1；
Step 3：Judge q ＜ N (zi) whether set up, if so, 8 are then gone to step, 4 are otherwise gone to step；
Step 4：Judge i-th task ziBeginning transmission time TS (zi) whether candidate scheme win is transmitted at q-thq's Time started start (winq) after, 5 are if so, then gone to step, otherwise, by i-th task ziIt is put into the task-set for abandoning executing Close in T ', go to step 7；
Step 5：Judge end (winq)-start(winq) value whether be more than or equal to task ziTransmission time d of needsi, If so, 6 are then gone to step, otherwise, 7 is gone to step；
Step 6：Make TS (zi)=start (winq), trans (tin)=trans (winq), q*=q, goes to step 7；
Step:7：Q+1 is assigned to q, 3 are gone to step；
Step 8：Make transmission time window q*Corresponding beginning transmission timeAnd export execution I-th task ziTransmitting satellite trans (zi) and start transmission data TS (zi).
Compared with the prior art, beneficial effects of the present invention are：
1st, the present invention is planned by being united two actions of satellite imagery and transmission so that the primary system plan is just The detailed executive plan of satellite imagery transmission can be obtained, planning calculating can be carried out from global angle, can either be obtained more Excellent program results, can reduce the stand-by period of terrestrial user from the time-consuming of global angle compression overall flow again, and And control scheme optimization service is achieved, reduce the link of human assistance；
2nd, the form by the relay resource of repeater satellite to be changed into time window of the invention, is dissolved into imaging transmission joint During planning so that planning calculates the situation for considering data relaying, takes full advantage of space propagation resource, can make into As the image that satellite shoots is transferred to terrestrial user as soon as possible, the stand-by period of user is further reduced；
3rd, of the invention during programming evaluation, using genetic algorithm, ant group algorithm, three realm algorithms of particle cluster algorithm Mixed iteration is solved, it is to avoid single algorithm is easily trapped into the inferior position of local optimum in solution procedure, absorbs polyalgorithm Solution advantage, makes solution more stable, more effective.
Description of the drawings
Fig. 1 is the planning scene graph of a kind of satellite imagery of the invention and the Joint Task planing method of transmission；
Fig. 2 is the planning flow chart of a kind of satellite imagery of the invention and the Joint Task planing method of transmission.
Specific embodiment
In the present embodiment, as shown in figure 1, a kind of satellite imagery with transmission Joint Task planing method, be applied to by NTIndividual taskNsIndividual imaging satelliteNCIndividual repeater satelliteAnd NPIndividual earth stationIn the mission planning scene of composition；ti Represent i-th task, 1≤i≤NT；sjJ-th imaging satellite is represented, j-th imaging satellite s is madejMaximum storage be Mmax, when Before be stored as M (sj)；J-th imaging satellite sjAn imaging sensor is carried, and there is synchronous imaging and transfer function；1≤j ≤NS；ckRepresent k-th repeater satellite, 1≤k≤NC；plRepresent l-th earth station, l-th earth station plCan receive simultaneously multiple Imaging satellite or the imaging data of repeater satellite transmission；1≤l≤Np；
The technical problem to be solved is in given task list, imaging satellite data, data relay satellite Under conditions of data, earth station's data, can make imaging satellite and repeater satellite carries out the execution for being imaged, transmitting to task Plan, specifically, as shown in Fig. 2 Joint Task planing method is to carry out as follows：
Step 1：Obtain two-dimensional imaging data table and two-dimentional transmission data table：
Step 1.1, acquisition NsIndividual imaging satellite is to NTAccess time window set D, N of individual tasksIndividual imaging satellite is to NCIndividual Access time window the set F and N of repeater satelliteCIndividual repeater satellite is to NPThe access time window set L of individual earth station；
NsIndividual imaging satellite is to NTThe access time window set D of individual task is two-dimensional imaging-task data sheet, and gauge outfit bag Include：Task, imaging satellite start imaging time and terminate imaging time；The each row of data of two-dimensional imaging-task data sheet is represented The imaging candidate scheme of be expert at task；
Table 1 illustrates the partial data in a two-dimensional imaging-task data, and front two data in table is task T001 Imaging candidate imaging scheme；
1 two-dimensional imaging of table-task data
NsIndividual imaging satellite is to NCThe access time window set F of individual repeater satellite is two-dimensional imaging-relay transmission tables of data, And gauge outfit includes：Imaging satellite, repeater satellite, beginning transmission time and end transmission time；
NCIndividual repeater satellite is to NPThe access time window set L of individual earth station is two-dimentional relaying-terrestrial transmission tables of data, and Gauge outfit includes：Repeater satellite, earth station, beginning transmission time and end transmission time；
Step 1.2, the imaging candidate scheme for each task in two-dimensional imaging-task data sheet add numbering, so as to shape Into two-dimensional imaging data table；Traversal two-dimensional imaging data table, obtains the total number of the imaging candidate scheme of each task；
For example, it is shown in table 2, in table 2 above-mentioned two-dimensional imaging data table 1 to be added the result after candidate scheme is numbered In, the total number of imaging candidate's imaging scheme of task T001 is 2；
2 two-dimensional imaging data table of table
Step 1.3, two-dimensional imaging-relay transmission tables of data and two-dimentional relaying-terrestrial transmission tables of data are merged, from And form two-dimentional transmission data table；The gauge outfit of two-dimentional transmission data table includes：Imaging satellite, transmitting satellite, earth station, start to pass Defeated time and end transmission time；The each row of data of two-dimentional transmission data table represents the transmission candidate scheme of be expert at satellite；
Table 3 illustrates the partial data in a two-dimentional transmission data table；
3 two-dimentional transmission data table of table
Step 2：Solved using many algorithm mixed iterations, obtain program results：
In complex combination problem solving process, carry out solving using single algorithm and there is certain inferior position, because of single calculation The optimizing mechanism of method may make solution be absorbed in local optimum, therefore carry out mixed iteration solution using polyalgorithm, can keep away Exempt from this inferior position；
Step 2.1, at random generation NGIndividual one-dimensional integer vectorsvmM-th vector of expression, 1 ≤m≤NG；And have,Represent m-th vector vmIn i-th component, characterize i-th Business tiSelected candidate is imaged Protocol Numbers；M-th individuality vmLength be equal to task total number NT；
Using each vector in vectorial set V as an individual, vmM-th individuality is represented, then NGEach and every one bodily form established practice Mould is NGColony G；Each individuality is made to represent a solution scheme；
Make m-th individuality vmIn i-th componentSpan be zero to i-th task tiCandidate imaging scheme total Integer value between number, whenWhen, represent m-th individuality vmIn representative solution scheme, i-th task tiDo not execute；
Step 2.2, mixed iteration is carried out to colony using genetic algorithm, ant group algorithm and particle cluster algorithm；
Step 2.2.1, maximum mixed iteration number of times is set as NM-U, current iteration number of times is set as α, and initialize α=1；
Step 2.2.2, judge α ＞ NM-UWhether set up, if so, then terminate iteration, obtain NM-UThe group of secondary iterated revision BodyOtherwise, 2.2.3 is gone to step；
Step 2.2.3, pheromones data for ant group algorithm are updated, update the particle flight speed for particle cluster algorithm Degrees of data, pheromones are with flying speed of partcles more new formula with reference to traditional ant group algorithm and particle cluster algorithm；
How the flying speed of partcles data in particle cluster algorithm are to update to pheromones data used in due to ant group algorithm The required assistance data of colony, needs to preserve in calculating process, therefore, in iterative process each time, all calculates renewal These data, it can be ensured that these data are not lost.
Step 2.2.4, from genetic algorithm, ant group algorithm, particle cluster algorithm randomly choose an algorithm, as the α time The Swarm Intelligence Algorithm of iteration；
Step 2.2.5, colony G is iterated using the Swarm Intelligence Algorithm of the α time iteration, obtains and update for the α time Colony Gα；
Step 2.2.6, the colony G updated using the α timeαTo NsIndividual imaging satellite carries out the α time collision detection, and to NT Individual task carries out the α time transmission plan, obtains the α time revised colony G 'α；
As the constraint that satellite imagery transmits Joint Task planning problem is excessively complicated, this correction solution scheme can only be adopted Mode enter row constraint process, each time after iteration, the solution that obtains coding is not necessarily feasible solution, using the side of collision detection Formula, will cause to solve infeasible task weeding out, solution will be modified to feasible solution；
Specifically, collision detection is to carry out according to the following procedure：
Step A：The set of tasks T ' for abandoning executing is built, for being stored in m-th individuality vmThe imaging conflict for carrying out Detecting and abandoning executing for task；
Step B：Empty j-th imaging satellite sjCurrently stored M (sj)；
Step C, the colony G according to the α time renewalαIn m-th individuality vm,αIn i-th componentFrom two-dimensional imaging Obtain and i-th component in tables of dataI-th corresponding task tiCandidate imaging scheme；I-th task tiCandidate Imaging scheme includes：I-th task ti, imaging satellite satellite (ti), start imaging time IS (ti), terminate imaging when Between IE (ti)；So as to obtain NTN corresponding to individual componentTCandidate's imaging scheme of individual task；
Step D, press NTThe sequencing of the beginning imaging time of individual task is ranked up, the task list after being sorted
Step E, make i=1；
Step F, judge i ＜ NTWhether set up, if so, G is then gone to step, is otherwise represented and is completed NTThe conflict inspection of individual task Survey；
Step G, acquisition are executing i-th task ziImaging satellite satellite (zi) on come i-th task zi's Start the previous task front (z before imaging timei)；
Step H, judge previous task front (zi) end imaging time whether in i-th task ziWhen starting to be imaged Between before, if so, then go to step I, otherwise go to step M；
Step I, renewal execute i-th task ziImaging satellite satellite (zi) currently stored M (satellite (zi))；
Judging imaging satellite satellite (zi) whether have enough memory spaces to store i-th task ziWhen, first Imaging satellite satellite (z will first be judgedi) executing task front (zi) and i task ziBetween whether have transport behavior, If there is transmission between the two tasks, imaging satellite satellite (zi) storage will obtain certain releasing Put, transmit how many data, how many memory spaces just discharged, here it is the renewal process of step i；
Step J, judge M (satellite (zi)) ＜ MmaxWhether set up, if so, K is then gone to step, M is otherwise gone to step；
Step K, by i-th task ziIt is put into imaging satellite satellite (zi) tasks carrying list in, and go to step l；
Step L, to i-th task ziPlanning is transmitted, obtains executing i-th task ziTransmitting satellite trans (zi) With beginning transmission time TS (zi) and exported；And execution step N；
Specifically, transmission plan is to carry out according to the following procedure：
Step is L.1：According to i-th task z of executioniImaging satellite satellite (zi), from two-dimentional transmission data table Obtain and imaging satellite satellite (zi) the transmission candidate scheme that matches；It is designated asN(zi) be expressed as satellite s atellite (zi) the transmission candidate scheme that matches Total number, winqRepresent q-th transmission candidate scheme；1≤q≤N(zi)；And have, q-th transmission candidate scheme winqIncluding： Transmitting satellite trans (winq), start transmission time start (winq), terminate transmission time end (winq)；When transmitting by Between start (winq) and terminate transmission time end (winq) between difference constitute time span；
Step is L.2：Assume i-th task ziBeginning transmission time TS (zi)=B, B are a time enough rearward；
Assume i-th task ziTransmitting satellite trans (zi) it is sky, make diRepresent i-th task ziDuring the transmission of needs Between；
Set q*For the transmission time window of final choice, and initialize q*=1；
Initialization q=1；
Step is L.3：Judge q ＜ N (zi) whether set up, if so, then go to step L.8, otherwise go to step L.4；
Step L4：Judge i-th task ziBeginning transmission time TS (zi) whether candidate scheme win is transmitted at q-thq Time started start (winq) after, if so, then go to step L.5, otherwise, by i-th task ziIt is put into and abandons appointing for execution In business set T ', go to step L.7；
From all feasible transmission time windows, a most forward feasible transmission time window is looked for as current task Transmission plan, so ensure that being first imaged for task is first transmitted；
Step is L.5：Judge end (winq)-start(winq) value whether be more than or equal to task ziThe transmission time of needs di, if so, then go to step L.6, otherwise, go to step L.7；
Step is L.6：Make TS (zi)=start (winq), trans (tin)=trans (winq), q*L.7=q, go to step；
Step is L.7：Q+1 is assigned to q, 3 are gone to step；
Step is L.8：Make transmission time window q*Corresponding beginning transmission timeAnd export and hold I-th task z of rowiTransmitting satellite trans (zi) and start transmission data TS (zi).
Step M, by i-th task ziIt is put in the set of tasks T ' for abandoning executing；And execution step N；
Step N, i+1 is assigned to i, and return to step F is executed.
Step 2.2.7, α+1 is assigned to α；And return to step 2.2.2 is executed；
Step 2.3, selection NM-UThe colony of secondary iterated revisionThe best individuality of middle fitness is mapped to NsIndividual imaging On satellite, and to NTIndividual task is transmitted planning, obtains NTThe program results of individual task, so that realize that Joint Task is planned.

Claims (2)

1. a kind of satellite imagery and the Joint Task planing method that transmits, are applied to by NTIndividual taskNsIndividual imaging satelliteNCIndividual repeater satelliteAnd NPIndividual earth stationIn the mission planning scene of composition；ti Represent i-th task, 1≤i≤NT；sjJ-th imaging satellite is represented, j-th imaging satellite s is madejMaximum storage be Mmax, when Before be stored as M (sj)；J-th imaging satellite sjAn imaging sensor is carried, and there is synchronous imaging and transfer function；1 ≤j≤NS；ckRepresent k-th repeater satellite, 1≤k≤NC；plRepresent l-th earth station, l-th earth station plCan be simultaneously Receive the imaging data of multiple imaging satellites or repeater satellite transmission；1≤l≤Np；It is characterized in that, the Joint Task planning side Method is carried out as follows：
Step 1：Obtain two-dimensional imaging data table and two-dimentional transmission data table：
Step 1.1, the acquisition NsIndividual imaging satellite is to NTAccess time window set D, N of individual tasksIndividual imaging satellite is to NCIndividual Access time window the set F and N of repeater satelliteCIndividual repeater satellite is to NPThe access time window set L of individual earth station；
The NsIndividual imaging satellite is to NTThe access time window set D of individual task is two-dimensional imaging-task data sheet, and gauge outfit bag Include：Task, imaging satellite start imaging time and terminate imaging time；The each row of data of the two-dimensional imaging-task data sheet Represent the imaging candidate scheme of be expert at task；
The NsIndividual imaging satellite is to NCThe access time window set F of individual repeater satellite is two-dimensional imaging-relay transmission tables of data, And gauge outfit includes：Imaging satellite, repeater satellite, beginning transmission time and end transmission time；
The NCIndividual repeater satellite is to NPThe access time window set L of individual earth station is two-dimentional relaying-terrestrial transmission tables of data, and Gauge outfit includes：Repeater satellite, earth station, beginning transmission time and end transmission time；
Step 1.2, the imaging candidate scheme for each task in the two-dimensional imaging-task data sheet add numbering, so as to shape Into two-dimensional imaging data table；The two-dimensional imaging data table is traveled through, the total number of the imaging candidate scheme of each task is obtained；
Step 1.3, the two-dimensional imaging-relay transmission tables of data and two-dimentional relaying-terrestrial transmission tables of data are merged, from And form two-dimentional transmission data table；The gauge outfit of the two-dimentional transmission data table includes：Imaging satellite, transmitting satellite, earth station, open Beginning transmission time and end transmission time；The each row of data of the two-dimentional transmission data table represents the transmission candidate of be expert at satellite Scheme；
Step 2：Solved using many algorithm mixed iterations, obtain program results：
Step 2.1, at random generation NGIndividual one-dimensional integer vectorsvmRepresent m-th vector, 1≤m ≤NG；And have, Represent m-th vector vmIn i-th component, characterize i-th task tiInstitute Candidate's imaging Protocol Numbers of selection；M-th individuality vmLength be equal to task total number NT；
Using each vector in the vector set V as an individual, vmM-th individuality is represented, then NGEach and every one bodily form established practice Mould is NGColony G；Each individuality is made to represent a solution scheme；
Make m-th individuality vmIn i-th componentSpan be zero to i-th task tiCandidate imaging scheme total Integer value between number, whenWhen, represent m-th individuality vmIn representative solution scheme, i-th task tiDo not execute；
Step 2.2, mixed iteration is carried out to colony using genetic algorithm, ant group algorithm and particle cluster algorithm；
Step 2.2.1, maximum mixed iteration number of times is set as NM-U, current iteration number of times is set as α, and initialize α=1；
Step 2.2.2, judge α ＞ NM-UWhether set up, if so, then terminate iteration, obtain NM-UThe colony of secondary iterated revisionOtherwise, 2.2.3 is gone to step；
Step 2.2.3, the pheromones data for updating ant group algorithm, update the flying speed of partcles data of particle cluster algorithm；
Step 2.2.4, from genetic algorithm, ant group algorithm, particle cluster algorithm randomly choose an algorithm, as the α time iteration Swarm Intelligence Algorithm；
Step 2.2.5, colony G is iterated using the Swarm Intelligence Algorithm of the α time iteration, obtains the colony for updating for the α time Gα；
Step 2.2.6, the colony G updated using described the α timeαTo NsIndividual imaging satellite carries out the α time collision detection, and to NT Individual task carries out the α time transmission plan, obtains the α time revised colony G 'α；
Step 2.2.7, α+1 is assigned to α；And return to step 2.2.2 is executed；
Step 2.3, the selection NM-UThe colony of secondary iterated revisionThe best individuality of middle fitness is mapped to NsIndividual imaging On satellite, and to NTIndividual task is transmitted planning, obtains NTThe program results of individual task, so that realize that Joint Task is planned；
Collision detection in step 2.2.6 is to carry out according to the following procedure：
Step 2.2.6.1：Build the set of tasks T ' for abandoning executing；
Step 2.2.6.2：Empty j-th imaging satellite sjCurrently stored M (sj)；
Step 2.2.6.3, the colony G according to the α time renewalαIn m-th individuality vm,αIn i-th componentFrom the two dimension Obtain and i-th component in imaging data tableI-th corresponding task tiCandidate imaging scheme；I-th task tiCandidate's imaging scheme include：I-th task ti, imaging satellite satellite (ti), start imaging time IS (ti), knot Beam imaging time IE (ti)；So as to obtain NTN corresponding to individual componentTCandidate's imaging scheme of individual task；
Step 2.2.6.4, press NTThe sequencing of the beginning imaging time of individual task is ranked up, the task row after being sorted Table
Step 2.2.6.5, make i=1；
Step 2.2.6.6, judge i ＜ NTWhether set up, if so, 2.2.6.7 is then gone to step, is otherwise represented and is completed NTIndividual task Collision detection；
Step 2.2.6.7 is obtained and is executing i-th task ziImaging satellite satellite (zi) on come i-th task zi's Start the previous task front (z before imaging timei)；
Step 2.2.6.8, judge previous task front (zi) end imaging time whether in i-th task ziBeginning Before imaging time, 2.2.6.9 is if so, then gone to step, 2.2.6.13 is otherwise gone to step；
Step 2.2.6.9, renewal execute i-th task ziImaging satellite satellite (zi) currently stored M (satellite(zi))；
Step 2.2.6.10, judge M (satellite (zi)) ＜ MmaxWhether set up, if so, 2.2.6.11 is gone to step then, no 2.2.6.13 is then gone to step；
Step 2.2.6.11, by i-th task ziIt is put into imaging satellite satellite (zi) tasks carrying list in, and turn step Rapid 2.2.6.12；
Step 2.2.6.12, to i-th task ziPlanning is transmitted, obtains executing i-th task ziTransmitting satellite trans (zi) and start transmission time TS (zi) and exported；And execution step 2.2.6.14；
Step 2.2.6.13, by i-th task ziIt is put in the set of tasks T ' for abandoning executing；And execution step 2.2.6.14；
Step 2.2.6.14, i+1 is assigned to i, and return to step 2.2.6.6 is executed.
2. satellite imagery according to claim 1 with transmission Joint Task planing method, it is characterised in that step 12 Transmission plan is to carry out according to the following procedure：
Step 1：According to i-th task z of the executioniImaging satellite satellite (zi), from the two-dimentional transmission data table Middle acquisition and imaging satellite satellite (zi) the transmission candidate scheme that matches；It is designated asN(zi) be expressed as satellite s atellite (zi) the transmission candidate scheme that matches Total number, winqRepresent q-th transmission candidate scheme；1≤q≤N(zi)；And have, q-th transmission candidate scheme winqIncluding： Transmitting satellite trans (winq), start transmission time start (winq), terminate transmission time end (winq)；When transmitting by Between start (winq) and terminate transmission time end (winq) between difference constitute time span；
Step 2：Assume i-th task ziBeginning transmission time TS (zi)=B,
Assume i-th task ziTransmitting satellite trans (zi) it is sky, make diRepresent i-th task ziThe transmission time of needs；
Set q*For the transmission time window of final choice, and initialize q*=1；
Initialization q=1；
Step 3：Judge q ＜ N (zi) whether set up, if so, 8 are then gone to step, 4 are otherwise gone to step；
Step 4：Judge i-th task ziBeginning transmission time TS (zi) whether candidate scheme win is transmitted at q-thqBeginning Time start (winq) after, 5 are if so, then gone to step, otherwise, by i-th task ziIt is put into the set of tasks T ' for abandoning executing In, go to step 7；
Step 5：Judge end (winq)-start(winq) value whether be more than or equal to task ziTransmission time d of needsi, if so, 6 are then gone to step, otherwise, 7 is gone to step；
Step 6：Make TS (zi)=start (winq), trans (tin)=trans (winq), q*=q, goes to step 7；
Step:7：Q+1 is assigned to q, 3 are gone to step；
Step 8：Make transmission time window q*Corresponding beginning transmission timeAnd export i-th of execution Task ziTransmitting satellite trans (zi) and start transmission data TS (zi).
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