CN105955812A - Earth observation satellite task scheduling method and system - Google Patents

Abstract

The invention provides an earth observation satellite task scheduling method and system. Earth observation satellite tasks include an observation task and a downloading task. The method comprises the steps of inserting the observation task and/or the downloading task in the earth observation satellite tasks according to a preset constraint condition to obtain an initial earth observation satellite task sequence; and calculating the initial earth observation satellite task sequence through a preset first algorithm to obtain an earth observation satellite task sequence after scheduling. The observation task and/or downloading task is inserted in the earth observation satellite task according to the preset constraint condition to obtain the initial earth observation satellite task sequence, and the initial earth observation satellite task sequence is optimized through the first algorithm to obtain the earth observation satellite task sequence after scheduling, so that the satellite utilization efficiency is improved.

Description

A kind of method and system of earth observation satellite task scheduling

Technical field

The present invention relates to moonscope technical field, particularly relate to a kind of method of earth observation satellite task scheduling and be System.

Background technology

Earth observation satellite is a kind of important Image Acquisition platform, and they can run on track by remote sensor pair Ground target is observed, and by reaching earth station under the view data of acquisition, forms image product by post-production.When Before, earth observation satellite is through frequently as series emissions, and such as the high score series of China, plan is launched 7 commercial satellites, the most sent out Penetrate 2.These satellites can make up the most complete observation system, serves the information requirement of specific area.

The task scheduling of earth observation satellite refers to, according to certain optimization aim, (be called for short multiple earth observation tasks Observation mission) carry out scheduling, to determine the concrete satellite and concrete time performing each task, owing to being held by memorizer on star Amount limits, and often performs a number of observation mission, it is necessary to view data is transmitted back to earth station, to discharge storage appearance on star Amount.Therefore, earth observation and data down transmission always intert and carry out, and task scheduling also should include the (letter of data down transmission task Claim pass task down) scheduling.The difference of both task maximum is that observation mission produces according to user's request, in scheduling Before just it has been determined that and pass down what task dynamically produced according to amount of storage in the situation of scheduling and the star of satellite, at tune Cannot determine before degree.

The task scheduling of satellite is one of key technology affecting satellite application efficiency.But current a lot of research be by Observation mission and the task that passes down separate scheduling, and separately scheduling reduces the service efficiency of satellite, the most how by by observation Task and pass down the integrated scheduling of task, the service efficiency improving satellite becomes the problem needing solution badly.

Summary of the invention

For defect of the prior art, the invention provides a kind of method of earth observation satellite task scheduling and be System, improves the service efficiency of satellite.

First aspect, a kind of method that the invention provides earth observation satellite task scheduling, earth observation satellite task Including observation mission and under pass task, the method includes:

In described earth observation satellite task according to preset constraints insert observation mission and/or under pass task, To initial earth observation satellite task sequence；

By presetting the first algorithm, described initial earth observation satellite task sequence is carried out computing, the ground after being dispatched Ball observation satellite task sequence.

Optionally, described earth observation satellite task includes the observation mission of at least one earth observation satellite；

Described in described earth observation satellite task according to preset constraints insert observation mission and/or down pass appoint Business, including:

Obtain the first earth observation satellite memory capacity that observation mission has consumed before descending biography task each time and The energy that described first earth observation satellite consumes in each circle time；

When inserting observation mission in the earth observation satellite task of described first earth observation satellite, it is judged that the described earth Whether the memory capacity that observation satellite had consumed before biography task down is more than presetting memory capacity, and consumes in each circle time Energy whether more than presetting the energy consumed, the most do not perform the earth observation at described first earth observation satellite and defend Star task is inserted the observation mission of satellite；

Or；

When passing task under inserting in the earth observation satellite task of described first earth observation satellite, it is judged that the described earth Whether observation satellite is more than at the energy that each circle time has consumed is preset the energy consumed, and does not the most perform on described first ground The earth observation satellite task of ball observation satellite inserts down the task of biography.

Optionally, described by preset the first algorithm described initial earth observation satellite task sequence is carried out computing, Earth observation satellite task sequence after scheduling, including:

By default genetic algorithm, described initial earth observation satellite task sequence is carried out computing, the ground after being dispatched Ball observation satellite task sequence.

Optionally, described by default genetic algorithm, described initial earth observation satellite task sequence is carried out computing, Earth observation satellite task sequence after scheduling, including:

By the Crossover Strategy of window swap time, to the observation mission in initial earth observation satellite task sequence and under pass Task is intersected, it is thus achieved that goal set, and described goal set is the mesh that the observation mission after intersecting sorts according to target sequence number Mark set, each observation mission in described goal set all includes affiliated earth observation satellite and observation time window；

According to the earth observation satellite belonging to the observation mission in described goal set and observation time window, by described observation Task is inserted in the biography task down after intersection, the earth observation satellite task sequence after being intersected；

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation, obtains Earth observation satellite task sequence after scheduling.

Optionally, described to the observation mission in initial earth observation satellite task sequence and down pass task intersect, Including:

Observation mission in described initial earth observation satellite task sequence and the task that passes down are intersected respectively；

Described to the observation mission in the earth observation satellite task sequence after described intersection and down pass task make a variation, Including:

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation respectively.

Second aspect, present invention also offers the system of a kind of earth observation satellite task scheduling, and earth observation satellite is appointed Business include observation mission and under pass task, this system includes:

Insert module, in described earth observation satellite task according to preset constraints insert observation mission and/ Pass task under or, obtain initial earth observation satellite task sequence；

Computing module, for described initial earth observation satellite task sequence being carried out computing by default first algorithm, Earth observation satellite task sequence after being dispatched.

Optionally, described earth observation satellite task includes the observation mission of at least one earth observation satellite；

Described insertion module, specifically for:

Obtain the first earth observation satellite memory capacity that observation mission has consumed before descending biography task each time and The energy that described first earth observation satellite consumes in each circle time；

When inserting observation mission in the earth observation satellite task of described first earth observation satellite, it is judged that the described earth Whether the memory capacity that observation satellite had consumed before biography task down is more than presetting memory capacity, and consumes in each circle time Energy whether more than presetting the energy consumed, the most do not perform the earth observation at described first earth observation satellite and defend Star task is inserted the observation mission of satellite；

Or；

When passing task under inserting in the earth observation satellite task of described first earth observation satellite, it is judged that the described earth Whether observation satellite is more than at the energy that each circle time has consumed is preset the energy consumed, and does not the most perform on described first ground The earth observation satellite task of ball observation satellite inserts down the task of biography.

Optionally, described computing module, it is used for:

By default genetic algorithm, described initial earth observation satellite task sequence is carried out computing, the ground after being dispatched Ball observation satellite task sequence.

Optionally, described computing module, specifically for:

By the Crossover Strategy of window swap time, to the observation mission in initial earth observation satellite task sequence and under pass Task is intersected, it is thus achieved that goal set, and described goal set is the mesh that the observation mission after intersecting sorts according to target sequence number Mark set, each observation mission in described goal set all includes affiliated earth observation satellite and observation time window；

According to the earth observation satellite belonging to the observation mission in described goal set and observation time window, by described observation Task is inserted in the biography task down after intersection, the earth observation satellite task sequence after being intersected；

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation, obtains Earth observation satellite task sequence after scheduling.

Optionally, described computing module, it is additionally operable to:

Observation mission in described initial earth observation satellite task sequence and the task that passes down are intersected respectively；

Described computing module, is additionally operable to:

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation respectively.

As shown from the above technical solution, the present invention provides the method and system of a kind of earth observation satellite task scheduling, root According to default constraints insert in earth observation satellite task observation mission and/or under pass task, obtain initial earth observation Satellite task sequence, and by the first algorithm, initial earth observation satellite task sequence is optimized, the ground after being dispatched Ball observation satellite task sequence, improves the service efficiency of satellite.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to Other accompanying drawing is obtained according to these figures.

The moonscope that Fig. 1 provides for one embodiment of the invention and the schematic diagram passed down；

The schematic diagram of the object time window that Fig. 2 provides for one embodiment of the invention；

The schematic diagram of the transit time that Fig. 3 provides for one embodiment of the invention；

The schematic flow sheet of the method for the earth observation satellite task scheduling that Fig. 4 provides for one embodiment of the invention；

Fig. 5 passes down the structural representation of the chromosome after mechanism adjusts for the employing that one embodiment of the invention provides；

The schematic diagram of the chromosome coding that Fig. 6 provides for one embodiment of the invention；

The schematic diagram of two chromosomes for intersecting that Fig. 7 provides for one embodiment of the invention；

Fig. 8 passes down, for what one embodiment of the invention provided, the schematic diagram that task is intersected；

The schematic diagram of the goal set in the parent that Fig. 9 provides for one embodiment of the invention；

Figure 10 intersect for the parent that one embodiment of the invention provides after the schematic diagram of set of tasks；

The schematic diagram of the child chromosome after the intersection that Figure 11 provides for one embodiment of the invention；

The schematic diagram of the variation prochromosome that Figure 12 provides for one embodiment of the invention；

The schematic diagram passing down task variation that Figure 13 provides for one embodiment of the invention；

The schematic diagram of the variation after stain colour solid that Figure 14 provides for one embodiment of the invention；

The schematic flow sheet of the method for the earth observation satellite task scheduling that Figure 15 provides for another embodiment of the present invention；

The structural representation of the system of the earth observation satellite task scheduling that Figure 16 provides for one embodiment of the invention.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.

Before describing the details of the embodiment of the present invention in detail, first moonscope process is illustrated.

Satellite is running by remote sensor imaging on a surface target on track, and each imaging action can form one on the ground The individual imaging band with certain fabric width, such as the region in Fig. 1.One ground target only need to be imaged and once can complete to see Survey.The data that every time imaging obtains can be stored temporarily in the memorizer of satellite, when moonscope a number of target it After, need to reach earth station by under view data, to discharge memory span.Whole process is as shown in Figure 1.

Below several definition are illustrated:

Time window: satellite is constantly motion in orbit, and within given dispatching cycle, satellite has different rail rings Secondary.Imaging on a surface target must be carried out when satellite moves to the overhead of target in a certain track circle time, now satellite Remote sensor can be it can be seen that target within a time period, this time period is referred to as time window (as shown in Figure 2).Given Planning horizon in, general more than one time window between satellite and target, satellite the observation of target is needed wherein some Complete within time window, and the time window that target is observed will be generally less than visible time window, the beginning of observation time window Time is with the end time as shown in Figure 2.

Observe transit time: a satellite is when performing the observation mission of 2 successive, and intermediate demand has certain mistake Cross the time, to allow satellite remote sensor perform adjustment.The i.e. observation time started of latter task deducts the observation of previous task End time is greater than a transit time, as shown in Figure 3.

Data store: have memorizer on the star of a fixed capacity on satellite, and satellite is by temporary for the destination image data of observation Shi Cunfang is in memory.After passing data back earth station, the memory capacity of memorizer is released.Therefore the reality of memorizer Shi Rongliang is dynamically change in whole observation process.

Energy expenditure: satellite during observed object and down-transmitting data all can consumed energy, and satellite is each In individual track circle time, spendable energy is limited, and therefore in scheduling process, the energy expenditure in each circle time can not surpass The energy crossing this maximum limits.

Data down transmission: earth station can accept the data that satellite passes down.The same with observation mission, data down transmission is also required to Complete within time window.Owing to data down transmission can consume satellite energy, and take working time of satellite, therefore should to the greatest extent may be used Can make full use of and store on star, reduce the number of times of data down transmission as far as possible.

Pass down transit time: an earth station once can only receive the biography down of a satellite.If there have 2 satellites to need to be right Same earth station passes under successively, then need a transit time and allow earth station adjust reception antenna.

To the observation of many stars with pass down Mission Scheduling and be modeled, be first given in model the parameter of use, variable and Its mathematical symbol, then provides mathematical model to complete scheduling.Some parameters of the present embodiment can be as follows:

The observation of many stars is as follows with the mathematical model passing down the integrated scheduling problem of task, specifically includes following constraints:

$f=\max \[R_{num}\×\underset{i=1}{\overset{N_T}{\Σ}}\underset{j=1}{\overset{N_S}{\Σ}}\underset{k=1}{\overset{{\mathrm{NO}}_j}{\Σ}}{x}_{ij}^k+R_{wgt}\×\underset{i=1}{\overset{N_T}{\Σ}}\underset{j=1}{\overset{N_S}{\Σ}}\underset{k=1}{\overset{{\mathrm{NO}}_j}{\Σ}}{x}_{ij}^k\·{\mathrm{tv}}_i\]---\left(1\right)$

$\underset{j=1}{\overset{N_S}{\Σ}}\underset{k=1}{\overset{{\mathrm{NO}}_j}{\Σ}}{x}_{ij}^k\≤1,\∀i\∈\{1,2,...,N_T\}---\left(2\right)$

$\begin{array}{c}\begin{array}{ccc}{y}_{{\mathrm{mj}}_p}^{k_t}+y_{{\mathrm{mj}}_q}^{k_d}=1,& if& {\mathrm{gws}}_{{\mathrm{mj}}_q}^{k_d}<{\mathrm{gws}}_{{\mathrm{mj}}_p}^{k_t}<{\mathrm{gwe}}_{{\mathrm{mj}}_q}^{k_d}\end{array}\\ \&ForAll;j_p,j_q\&Element;\{1,2,...,N_S\},j_p\&NotEqual;j_q,\&ForAll;k_t,k_d\&Element;\{1,2,...,{\mathrm{NO}}_j\}\end{array}---\left(3\right)$

$\begin{array}{c}\begin{array}{cc}{\mathrm{gws}}_{{\mathrm{mj}}_p}^{k_t}\&GreaterEqual;{\mathrm{gwe}}_{{\mathrm{mj}}_q}^{k_d}+T_m& {\mathrm{gws}}_{{\mathrm{mj}}_p}^{k_t}>{\mathrm{gws}}_{{\mathrm{mj}}_q}^{k_d}\end{array}\\ \&ForAll;j_p,j_q\&Element;\left\{1,2,\mathrm{...},N_S\right\},j\&NotEqual;j_q,\&ForAll;k_t,k_d\&Element;\left\{1,2,\mathrm{...},{\mathrm{NO}}_j\right\}\end{array}---\left(5\right)$

$\begin{array}{ccc}(\underset{i=1}{\overset{N_T}{\&Sigma;}}{x}_{ij}^k\&CenterDot;{\mathrm{td}}_i+\underset{m=1}{\overset{N_G}{\&Sigma;}}({\mathrm{gwe}}_{mj}^k-{\mathrm{gws}}_{mj}^k)\&CenterDot;y_{mj}^k)\&CenterDot;{\mathrm{et}}_j\&le;E_j& \&ForAll;k\&Element;\{1,2,...,{\mathrm{NO}}_j\}& \&ForAll;j\&Element;\{1,2,...,N_S\}\end{array}---\left(6\right)$

$c_j^{start}=c_j^{end}=C_j---\left(7\right)$

$c_{j0}=c_j^{start}---\left(8\right)$

$\begin{array}{ccc}{c}_{j(a+1)}=c_{ja}+{\mathrm{tc}}_{{\mathrm{task}}_{j(a+1)}.id}& if& {\mathrm{task}}_{j(a+1)}.id>0\end{array}---\left(9\right)$

$\begin{array}{cc}{c}_{ja}\&le;C_j& \&ForAll;j\&Element;\{1,2,...,N_S\}\end{array}---\left(10\right)$

Formula (1) is object function, is made up of two parts, and one is executed observation mission quantity summation, and two is to have held The observation mission weight summation of row.Regulation goal is that the weighted sum making them maximizes, wherein, and R_num, R_wgtIt it is proportionality coefficient.

Constraint formula (2) represents that each observation mission at most can only be executed once.

Constraint formula (3) represents that earth station once can only receive the data down transmission of a satellite.

Constraint formula (4) represents if there being two observation missions successively to be performed by same satellite, then need between two tasks There are enough transit times.

Constraint formula (5) is if having two satellites successively to same earth station down-transmitting data, then earth station is receiving two Certain transit time is needed between the data down transmission of satellite.

Constraint formula (6) represents at the energy of each track circle time internal consumption, satellite not can exceed that ceiling capacity limits.

Constraint formula (7) (8) represented within given planning horizon, and satellite starts memory capacity when observing and end observation Time memory capacity be all maximum memory capacity.

After constraint formula (9) satellite performs observation mission, on the star taken, storage increases.

Constraint formula (10) represents that the data stored on satellite must not exceed the heap(ed) capacity of memorizer on star.

Fig. 4 shows the flow process signal of the method for a kind of earth observation satellite task scheduling that the embodiment of the present invention provides Figure, described earth observation satellite task include observation mission and under pass task, as shown in Figure 4, the method includes step:

401, in described earth observation satellite task according to preset constraints insert observation mission and/or down pass appoint Business, obtains initial earth observation satellite task sequence.

It will be appreciated that the observation that the present embodiment first obtained in earth observation satellite task before above-mentioned steps 401 is appointed Business.Then the memory capacity further according to satellite memorizer insert in the observation mission obtained observation mission and/or down pass appoint Business, inserts observation mission and/or the task that passes down can obtain including observation mission and pass down the initial earth observation satellite of task and appoint Business sequence.

Wherein, default constraints can be that the above-mentioned formula (2) that such as retrains is to the constraints retraining formula (10).

402, by default first algorithm, described initial earth observation satellite task sequence is carried out computing, after being dispatched Earth observation satellite task sequence.

Such as: by default genetic algorithm, described initial earth observation satellite task sequence is carried out computing, dispatched After earth observation satellite task sequence.Also will initial earth observation satellite task sequence in above-mentioned steps 401 as One chromosome carries out computing by genetic algorithm, finally gives the ground after the earth observation satellite task sequence after optimization is i.e. dispatched Ball observation satellite task sequence.

In a particular application, the present embodiment further comprises the second chromosome, for recording earth observation satellite task Memory capacity and the energy of consumption.It is mainly used for the energy of the memory capacity by record and consumption to the first dyeing Internal whether be inserted into observation mission and down pass task retrain and monitor.

Owing to data down transmission can consume satellite energy, and take working time of satellite, therefore should reduce data as far as possible The number of times passed down.Devise herein and pass mechanism under one, consider and pass down the quantitative relation between task and observation mission, to the greatest extent Amount makes full use of and stores on star, reduces the execution number of times passing down task.

As a example by such as Fig. 5, first all of task that passes down being inserted in chromosome A, satellite memory capacity is 4, also That is, at most perform 4 observation missions and be necessary for down passing, during less than 4 observation missions, need to judge that satellite is running into next Observation mission quantity before the secondary chance of biography down.In chromosome B as a example by Sat1,3 < 4；3+1=4, therefore first down pass appoint Business is set to not perform；2 < 4, but all mission bit streams of moonscope must pass, so passing under this under the most all Task retains execution, therefore uses this chromosome passed down after mechanism adjusts as shown in Figure 5.

Said method according to default constraints insert in earth observation satellite task observation mission and/or down pass appoint Business, is obtained initial earth observation satellite task sequence, and is carried out initial earth observation satellite task sequence by the first algorithm Optimize, the earth observation satellite task sequence after being dispatched, improve the service efficiency of satellite.

Described in above-mentioned steps 401, earth observation satellite task includes that the observation of at least one earth observation satellite is appointed Business；It can be appreciated that earth observation satellite is at least one.

Described in described earth observation satellite task according to preset constraints insert observation mission and/or down pass appoint Business, specifically includes following steps:

4011, the first earth observation satellite memory capacity that observation mission has consumed before descending biography task each time is obtained And the energy that described first earth observation satellite consumes in each circle time；

When 4012, inserting observation mission in the earth observation satellite task of described first earth observation satellite, it is judged that institute Whether state memory capacity that earth observation satellite consumed before biography task down more than presetting memory capacity, and in each circle time The energy consumed, whether more than presetting the energy consumed, does not the most perform the earth at described first earth observation satellite Observation satellite task is inserted the observation mission of satellite；

Or；

When passing task under 4013, inserting in the earth observation satellite task of described first earth observation satellite, it is judged that institute State whether earth observation satellite is more than the energy presetting consumption at the energy that each circle time has consumed, the most do not perform described The earth observation satellite task of the first earth observation satellite inserts down the task of biography.

By default genetic algorithm, described initial earth observation satellite task sequence is transported described in above-mentioned steps 402 Calculate, the earth observation satellite task sequence after being dispatched, including following sub-step:

4021, by the Crossover Strategy of window swap time, to the observation mission in initial earth observation satellite task sequence Under pass task and intersect, it is thus achieved that goal set, described goal set is that the observation mission after intersecting is arranged according to target sequence number The goal set of sequence, each observation mission in described goal set all includes affiliated earth observation satellite and observation time Window；

Concrete, described to the observation mission in initial earth observation satellite task sequence and down biography task intersect, Including:

Observation mission in described initial earth observation satellite task sequence and the task that passes down are intersected respectively.

4022, according to the earth observation satellite belonging to the observation mission in described goal set and observation time window, by institute State in the biography task down after observation mission is inserted into intersection, the earth observation satellite task sequence after being intersected；

Concrete, use reassembly algorithm that the observation mission in goal set carries out computing of recombinating, the most as detailed below Part is described.

4023, the observation mission in the earth observation satellite task sequence after described intersection and the task that passes down are become Different, after being dispatched earth observation satellite task sequence.

Concrete, described to the observation mission in the earth observation satellite task sequence after described intersection and down biography task enter Row variation, including:

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation respectively.

Below said method is carried out illustrated in greater detail, is exemplified below:

Task is passed under real-time condition arrangement according to satellite memorizer and energy expenditure.By satellite storage and energy expenditure Real time value chromosome is recorded, with chromosome A record satellite observation mission and under pass task, meanwhile, at chromosome A One virtual satellite of middle addition, for depositing the observation mission temporarily can not being performed.Carrying out often with chromosome B record satellite Memory capacity on the star taken before once biography task down, and the energy that satellite has consumed in each circle time, wherein Chromosome B is for assisting a ruler in governing a country the calculating to chromosome A, and checks feasibility and the effectiveness of the solution of chromosome A, i.e. by above-mentioned Step 4011 judges to step 4013.

With 10 observation missions (representing with 1-10), (representing with-1 ,-2 ,-2 represent that satellite is in numbering in 2 earth stations Pass down in this time time window of the earth station for-2, the biography task down also referred to as not performed), 2 satellite Sat1, Sat2 As a example by explain our coding structure, (figure being assumed, each task consumes the memory capacity and one of a unit as shown in Figure 6 The energy of individual unit, biography task not consumed energy and the memory capacity record value in chromosome B down that do not perform are 0).

Calculating fitness function:

Fitness function considers executed observation mission quantity and accounts for the ratio of all observation mission quantity, and holds The weight sum of the observation mission of row accounts for the ratio of the weight sum of all observation missions, shown in expression formula such as formula (11):

$fitness\left(i\right)=R_{num}=\frac{\underset{i=1}{\overset{N_T}{\&Sigma;}}\underset{j=1}{\overset{N_S}{\&Sigma;}}\underset{k=1}{\overset{{\mathrm{NO}}_j}{\&Sigma;}}{x}_{ij}^k}{N_T}+R_{wgt}*\frac{\underset{i=1}{\overset{N_T}{\&Sigma;}}\underset{j=1}{\overset{N_S}{\&Sigma;}}\underset{k=1}{\overset{{\mathrm{NO}}_j}{\&Sigma;}}{x}_{ij}^k\&CenterDot;{\mathrm{tv}}_i}{\underset{i=1}{\overset{N_T}{\&Sigma;}}{\mathrm{tv}}_i}---\left(11\right)$

Crossover Strategy:

Crossover Strategy based on window swap time. due to observation mission from down pass task character different, will pass down task with Observation mission is separately intersected.

As shown in Fig. 7 to 10, (in figure, the ceiling capacity consumption of the hypothesis each circle time of satellite is 5 units to Crossover Strategy, defends The memory capacity of star is 4 units).

Use Crossover Strategy based on window swap time herein, one time point of stochastic generation, on every satellite this time Between point after task sequence intersect.

First under pass task and intersect.As shown in Figure 8, after finding this time point in two parent chromosome All under pass task, then two parent chromosome biography task down after time point is intersected.

Then observation mission is intersected.Directly the observation mission after parent 1 and this time point of parent 2 is carried out Intersection there will be part observation mission loss and observation mission repeats problem.Concrete:

Step 1: respectively the independent formation of observation mission one the according to target sequence number in parent 1 and parent 2 is sorted Goal set, as shown in Figure 9.In this set, each element comprises two key elements: the satellite of performance objective, target performs correspondence Moonscope time window.As in parent 1, target 1 performs in first circle time of satellite 1, then the target of parent 1 correspondence is held First element of row time window array is

Execution time window corresponding to target after Step 2: swap time point, obtains new target and performs time window number Group.

Step 3: perform time window array according to target and pass down task intersection result, reconfiguring tasks carrying sequence Row.

After intersection as shown in Figure 10, chromosome is still a goal set, is not a sequence of scheduling.Cause This needs to recombinate this sequence of sets, as shown in algorithm 1.

Algorithm 1: target reassembly algorithm

Step 2 circulates the task in virtual satellite, the target pointed to according to task, calls algorithm 3 and inserts target

Algorithm 2: task insertion algorithm

Algorithm 3: target insertion algorithm (as a example by i):

Probability during owing to inserting is uncertain, and the child chromosome sequence after therefore recombinating may be such as Figure 11 institute Show.

Mutation Strategy:

Same point of variation passes down task variation and observation mission makes a variation.As a example by Figure 12 chromosome solved.

First under pass task variation, every satellite randomly chooses and under one, passes task, if the task that passes under this is to hold Row state, then made a variation as not perform；If the state that do not performs then makes a variation as execution state.As shown in figure 13, by selection Biography task down after time point makes a variation.

Then the variation to observation mission, uses the Mutation Strategy of time window restructuring, first by all after time point Formation goal set in the middle of virtual satellite is all put in business, then recombinates the goal set in virtual satellite, as Shown in algorithm 1.Eventually pass the chromosome being likely to be obtained after Mutation Strategy as shown in figure 14.

Below overall flow process is described in detail:

According to above-mentioned solution strategies, the overall procedure solved based on diplochromosome genetic algorithm is as shown in figure 15.Wherein N_p、p_c、p_m、p_gRepresent that population scale, crossover probability, mutation probability and the task that passes down effectively perform probability respectively.

Initialize: first all of task that passes down is inserted in chromosome A, often with p during insertion one biography task down_gGenerally Rate determines and passes whether task performs under this, and the time window of the task that passes down not performed is:Pass under inserting and appoint Business updates the information in chromosome B simultaneously.

The followed by insertion of observation mission.Devise herein and insert the initial solution generation strategy i.e. checked, to each Check when observation mission is inserted and constraints is met situation, be unsatisfactory for putting in virtual satellite of constraint.For Consider weight and energy the two index, weight density p of definition observation mission_iSuch as formula (12):

$p_i=\frac{{\mathrm{tv}}_i}{{\mathrm{td}}_i}---\left(12\right)$

Observation mission is ranked up by the size of weight density, big the giving priority in arranging for of weight density.In the fixing cycle In, all time windows of observation mission are fixing, therefore can in the time window set of this observation mission random choose one Individual, it is inserted in the middle of corresponding satellite task sequence, sees algorithm 2.Checking whether simultaneously and meet constraint, if be unsatisfactory for, then turning To next time window.Chromosome B is updated when often inserting an observation mission.

Select: go out to be suitable for by roulette selection method choice to be genetic to follow-on chromosome.

Intersect: according to above-mentioned Crossover Strategy, chromosome is intersected with crossover probability.

Variation: chromosome is made a variation with mutation probability according to above-mentioned Mutation Strategy.

Figure 16 shows the structural representation of the system of a kind of earth observation satellite task scheduling that the embodiment of the present invention provides Figure, described earth observation satellite task include observation mission and under pass task, it is characterised in that this system includes:

Insert module 161, for inserting observation mission according to default constraints in described earth observation satellite task Pass task under and/or, obtain initial earth observation satellite task sequence；

Computing module 162, for transporting described initial earth observation satellite task sequence by default first algorithm Calculate, the earth observation satellite task sequence after being dispatched.

One of the present embodiment preferred embodiment in, described earth observation satellite task includes at least one earth The observation mission of observation satellite；

Described insertion module, specifically for:

Obtain the first earth observation satellite memory capacity that observation mission has consumed before descending biography task each time and The energy that described first earth observation satellite consumes in each circle time；

When inserting observation mission in the earth observation satellite task of described first earth observation satellite, it is judged that the described earth Whether the memory capacity that observation satellite had consumed before biography task down is more than presetting memory capacity, and consumes in each circle time Energy whether more than presetting the energy consumed, the most do not perform the earth observation at described first earth observation satellite and defend Star task is inserted the observation mission of satellite；

Or；

When passing task under inserting in the earth observation satellite task of described first earth observation satellite, it is judged that the described earth Whether observation satellite is more than at the energy that each circle time has consumed is preset the energy consumed, and does not the most perform on described first ground The earth observation satellite task of ball observation satellite inserts down the task of biography.

One of the present embodiment preferred embodiment in, described computing module, be used for:

By default genetic algorithm, described initial earth observation satellite task sequence is carried out computing, the ground after being dispatched Ball observation satellite task sequence.

One of the present embodiment preferred embodiment in, described computing module, specifically for:

By the Crossover Strategy of window swap time, to the observation mission in initial earth observation satellite task sequence and under pass Task is intersected, it is thus achieved that goal set, and described goal set is the mesh that the observation mission after intersecting sorts according to target sequence number Mark set, each observation mission in described goal set all includes affiliated earth observation satellite and observation time window；

According to the earth observation satellite belonging to the observation mission in described goal set and observation time window, by described observation Task is inserted in the biography task down after intersection, the earth observation satellite task sequence after being intersected；

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation, obtains Earth observation satellite task sequence after scheduling.

One of the present embodiment preferred embodiment in, described computing module, be additionally operable to:

Observation mission in described initial earth observation satellite task sequence and the task that passes down are intersected respectively；

Described computing module, is additionally operable to:

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation respectively.

It should be noted that said system and said method are relations one to one, the implementation detail of said method with Sample is applicable to said system, and said system is no longer described in detail by the present embodiment.

In the description of the present invention, illustrate a large amount of detail.It is to be appreciated, however, that embodiments of the invention are permissible Put into practice in the case of there is no these details.In some instances, it is not shown specifically known method, structure and skill Art, in order to do not obscure the understanding of this description.

Similarly, it will be appreciated that disclose to simplify the present invention and help understand in each inventive aspect one or many Individual, above in the description of the exemplary embodiment of the present invention, each feature of the present invention is grouped together into single sometimes In embodiment, figure or descriptions thereof.But, the method for the disclosure should not explained and i.e. be wanted in reflecting an intention that Seek the application claims feature more more than the feature being expressly recited in each claim of protection.More precisely, such as As claims below is reflected, inventive aspect is all features less than single embodiment disclosed above. Therefore, it then follows claims of detailed description of the invention are thus expressly incorporated in this detailed description of the invention, the most each right is wanted Ask itself all as the independent embodiment of the present invention.

It will be understood by those skilled in the art that and the module in the equipment in embodiment adaptively can be changed And they are provided in one or more equipment that this embodiment is different.Can the module in embodiment or unit or Assembly is combined into a module or unit or assembly, and can put them into multiple submodule or subelement or subgroup in addition Part.Except at least some in such feature and/or process or unit is mutually exclusive part, any combination can be used To all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and the disclosedest any side Method or all processes of equipment or unit are combined.Unless expressly stated otherwise, this specification (includes that adjoint right is wanted Ask, make a summary and accompanying drawing) disclosed in each feature can be replaced by providing identical, equivalent or the alternative features of similar purpose.

Although additionally, it will be appreciated by those of skill in the art that embodiments more described herein include other embodiments Some feature included by rather than further feature, but the combination of the feature of different embodiment means to be in the present invention's Within the scope of and form different embodiments.Such as, in the following claims, embodiment required for protection appoint One of meaning can mode use in any combination.

The all parts embodiment of the present invention can realize with hardware, or to run on one or more processor Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that and can use in practice Microprocessor or digital signal processor (DSP) realize in the equipment of a kind of browser terminal according to embodiments of the present invention The some or all functions of some or all parts.The present invention is also implemented as performing side as described herein Part or all equipment of method or device program (such as, computer program and computer program).Such The program realizing the present invention can store on a computer-readable medium, or can have the shape of one or more signal Formula.Such signal can be downloaded from internet website and obtain, or provides on carrier signal, or with any other shape Formula provides.

The present invention will be described rather than limits the invention to it should be noted above-described embodiment, and ability Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference marks that should not will be located between bracket is configured to limitations on claims.Word " comprises " and does not excludes the presence of not Arrange element in the claims or step.Word "a" or "an" before being positioned at element does not excludes the presence of multiple such Element.The present invention and can come real by means of including the hardware of some different elements by means of properly programmed computer Existing.If in the unit claim listing equipment for drying, several in these devices can be by same hardware branch Specifically embody.Word first, second and third use do not indicate that any order.These word explanations can be run after fame Claim.

Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology The scope of scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.

Claims (10)

1. a method for earth observation satellite task scheduling, earth observation satellite task include observation mission and under pass task, It is characterized in that, the method includes:

In described earth observation satellite task according to preset constraints insert observation mission and/or under pass task, at the beginning of obtaining Beginning earth observation satellite task sequence；

By presetting the first algorithm, described initial earth observation satellite task sequence being carried out computing, the earth after being dispatched is seen Survey satellite task sequence.

Method the most according to claim 1, it is characterised in that described earth observation satellite task includes at least one earth The observation mission of observation satellite；

Described in described earth observation satellite task according to preset constraints insert observation mission and/or under pass task, bag Include:

Obtain the first earth observation satellite memory capacity that observation mission has consumed before descending biography task each time and described The energy that first earth observation satellite consumes in each circle time；

When inserting observation mission in the earth observation satellite task of described first earth observation satellite, it is judged that described earth observation Whether the memory capacity that satellite had consumed before biography task down is more than presetting memory capacity, and the energy consumed in each circle time Whether amount, more than presetting the energy consumed, does not the most perform the earth observation satellite at described first earth observation satellite and appoints Business is inserted the observation mission of satellite；

Or；

When passing task under inserting in the earth observation satellite task of described first earth observation satellite, it is judged that described earth observation Whether satellite is more than at the energy that each circle time has consumed is preset the energy consumed, and does not the most perform to see at described first earth Survey in the earth observation satellite task of satellite and insert down the task of biography.

Method the most according to claim 1, it is characterised in that described by preset the first algorithm the described initial earth is seen Survey satellite task sequence and carry out computing, the earth observation satellite task sequence after being dispatched, including:

By default genetic algorithm, described initial earth observation satellite task sequence being carried out computing, the earth after being dispatched is seen Survey satellite task sequence.

4. according to the method described in claim 1 or 3, it is characterised in that described by default genetic algorithm to described initially Ball observation satellite task sequence carries out computing, the earth observation satellite task sequence after being dispatched, including:

By the Crossover Strategy of window swap time, to the observation mission in initial earth observation satellite task sequence and under pass task Intersecting, it is thus achieved that goal set, described goal set is the object set that the observation mission after intersecting sorts according to target sequence number Closing, each observation mission in described goal set all includes affiliated earth observation satellite and observation time window；

According to the earth observation satellite belonging to the observation mission in described goal set and observation time window, by described observation mission It is inserted in the biography task down after intersection, the earth observation satellite task sequence after being intersected；

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation, is dispatched After earth observation satellite task sequence.

Method the most according to claim 4, it is characterised in that described to the sight in initial earth observation satellite task sequence Survey task and the task that passes down are intersected, including:

Observation mission in described initial earth observation satellite task sequence and the task that passes down are intersected respectively；

Described to the observation mission in the earth observation satellite task sequence after described intersection and down pass task make a variation, bag Include:

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation respectively.

6. a system for earth observation satellite task scheduling, earth observation satellite task include observation mission and under pass task, It is characterized in that, this system includes:

Insert module, in described earth observation satellite task according to preset constraints insert observation mission and/or under Biography task, obtains initial earth observation satellite task sequence；

Computing module, for described initial earth observation satellite task sequence being carried out computing by default first algorithm, obtains Earth observation satellite task sequence after scheduling.

System the most according to claim 6, it is characterised in that described earth observation satellite task includes at least one earth The observation mission of observation satellite；

Described insertion module, specifically for:

Obtain the first earth observation satellite memory capacity that observation mission has consumed before descending biography task each time and described The energy that first earth observation satellite consumes in each circle time；

When inserting observation mission in the earth observation satellite task of described first earth observation satellite, it is judged that described earth observation Whether the memory capacity that satellite had consumed before biography task down is more than presetting memory capacity, and the energy consumed in each circle time Whether amount, more than presetting the energy consumed, does not the most perform the earth observation satellite at described first earth observation satellite and appoints Business is inserted the observation mission of satellite；

Or；

When passing task under inserting in the earth observation satellite task of described first earth observation satellite, it is judged that described earth observation Whether satellite is more than at the energy that each circle time has consumed is preset the energy consumed, and does not the most perform to see at described first earth Survey in the earth observation satellite task of satellite and insert down the task of biography.

System the most according to claim 6, it is characterised in that described computing module, is used for:

By default genetic algorithm, described initial earth observation satellite task sequence being carried out computing, the earth after being dispatched is seen Survey satellite task sequence.

9. according to the system described in claim 6 or 8, it is characterised in that described computing module, specifically for:

By the Crossover Strategy of window swap time, to the observation mission in initial earth observation satellite task sequence and under pass task Intersecting, it is thus achieved that goal set, described goal set is the object set that the observation mission after intersecting sorts according to target sequence number Closing, each observation mission in described goal set all includes affiliated earth observation satellite and observation time window；

According to the earth observation satellite belonging to the observation mission in described goal set and observation time window, by described observation mission It is inserted in the biography task down after intersection, the earth observation satellite task sequence after being intersected；

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation, is dispatched After earth observation satellite task sequence.

System the most according to claim 9, it is characterised in that described computing module, is additionally operable to:

Observation mission in described initial earth observation satellite task sequence and the task that passes down are intersected respectively；

Described computing module, is additionally operable to:

Observation mission in earth observation satellite task sequence after described intersection and the task that passes down are made a variation respectively.