CN106228261A - The coordinated dispatching method of task and device between a kind of many earth observation satellites - Google Patents
The coordinated dispatching method of task and device between a kind of many earth observation satellites Download PDFInfo
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Abstract
The invention provides coordinated dispatching method and the device of task between a kind of many earth observation satellites, wherein, the method includes: obtain the directed acyclic graph that the task-set initial to be observed of each satellite is corresponding；Wherein, this directed acyclic graph includes content and the sequential connected relation of each task to be observed；Overlapping task is filtered out by the directed acyclic graph of each satellite of comparison；Wherein, this overlap task refers to perform more than the number at least two of satellite；The implementation effect of overlapping task is predicted according to the inherent parameters that can perform satellite；Implementation effect according to prediction obtains the actual execution satellite of overlapping task；Overlapping task in the task-set initial to be observed of the performed satellite in addition to actual execution satellite is deleted, generates the task-set final to be observed that can perform satellite.The embodiment of the present invention improves satellite imagery efficiency and the reasonability of the satellite imagery utilization of resources.
Description
Technical field
The present invention relates to earth observation satellite fortune control technology technical field, in particular to a kind of many earth observations
The coordinated dispatching method of inter-satellite task and device.
Background technology
As one of classification of paramount importance in spacecraft family, earth observation satellite (Earth Observing
Satellite, EOS) mainly utilize satellite borne sensor to detect earth surface and lower atmosphere layer to obtain for information about, tool
Have that overlay area is wide, persistent period length, not by unique advantages such as national boundaries, spatial domain are limited.At present, earth observation satellite is detectd in military affairs
Examine, prevent and reduce natural disasters, meteorological observation, environmental conservation, the numerous areas such as modern agriculture and the earth mapping have all played important work
With.
When earth observation satellite orbits, can according to demand different ground targets be imaged.Obtained
Ground image data by number pass passage real-time Transmission to grounded receiving station or be recorded on film, memorizer etc. storage set
Standby upper, by reclaim or with Radio Data-transmission by the way of send back ground, then by central station to these
Image data is processed and interpretation identification, therefrom obtains various valuable information.Imaging satellite ground control controls
System carries out imaging satellite task scheduling according to imaging task attribute information, satellite attribute information and the constraints determined；So
Generate load control instruction according to the result of task scheduling afterwards, after confirmation is errorless, via ground observing and controlling equipment, load is instructed
Send to imaging satellite, imaging satellite perform instruction；Then the image data of acquisition is sent to ground receiving equipment, then by
Other ground application systems process, and the data after finally processing are sent to user.In said process, task scheduling is direct
Have influence on the imaging task implementation effect of earth observation satellite system.
Along with development and the increase of ground image data demand of earth observation satellite technology, satellite starts needs and is adjusted to
As the side-looking angle Selection imaging task of equipment carries out imaging；Meanwhile, along with the continuous enhancing of satellite imagery motility, arranging
Imaging process must take into multiple imaging constraint to ensure that safety satellite runs the smooth enforcement with imaging plan reliably；Need
Imaging task scheduling to be carried out, determines imaging task plan.Owing to earth observation satellite high-speed cruising is in LEO, so often
Individual imaging task has the restriction of imaging time window；Again due to the ability of satellite imaging devices pose adjustment within a certain period of time
Limited, the conversion carrying out imaging action between imaging task needs to meet multiple imaging constraints.Therefore, it is however generally that, no
All of imaging task request in task scheduling time range can be carried out imaging；The imaging task that satellite performs every time is
One subset of imaging task data acquisition system, it is impossible to meeting all imaging task requests that user proposes, imaging efficiency is relatively low.
Along with the development of earth observation satellite technology, in order to alleviate this disparities between supply and demand, increasing earth observation is defended
There is performing in space the task of earth observation in star.But while number of satellite in orbit is continuously increased, relative to fast
The image data demand that speed increases, limited earth observation satellite resource still seems abnormal valuable.In order to make full use of over the ground
Observation satellite resource, needs those many earth observation satellites completing same imaging task plan are carried out comprehensive task tune
Degree, equilibrium considers various factors, distributes earth observation resource unitedly.Time when many earth observation satellites while the most in orbit, no
Arising that overlap with the imaging covering tape of satellite, the imaging demand in overlapping region can be clapped by different satellites
Taking the photograph, the imaging demand in intersection region may distribute to all satellites that it can be carried out imaging, and the demand that causes is by repeatedly
Repeat imaging, satellite imagery resource is utilized unreasonable.
And the satellite imagery utilization of resources irrational problem low for above-mentioned satellite imagery efficiency, the most not yet proposes effectively
Solution.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is to provide the collaborative tune of task between a kind of many earth observation satellites
Degree method and apparatus, to improve satellite imagery efficiency and the reasonability of the satellite imagery utilization of resources.
First aspect, embodiments provides the coordinated dispatching method of task between a kind of many earth observation satellites,
Including: obtain the directed acyclic graph that the task-set initial to be observed of each satellite is corresponding；Wherein, this directed acyclic graph includes each
The content of task to be observed and sequential connected relation；Overlapping task is filtered out by the directed acyclic graph of each satellite of comparison；Its
In, this overlap task refers to perform more than the number at least two of satellite；According to the pre-check weighing of the inherent parameters that can perform satellite
The implementation effect of folded task；Implementation effect according to prediction obtains the actual execution satellite of overlapping task；To defend except actual execution
Overlapping task in the task-set initial to be observed of the performed satellite outside star is deleted, generate can perform satellite finally wait see
Survey task-set.
In conjunction with first aspect, embodiments provide the first possible embodiment of first aspect, wherein, on
State and obtain the directed acyclic graph corresponding to task-set initial to be observed of each satellite and include: from current all tasks to be observed
In, filter out the task that the side-looking angular range of the scope corresponding with the time window of present satellites and present satellites all mates,
Using the set of the task of filtering out as the task-set initial to be observed of present satellites；Sequentially and appoint based on the time order and function performed
The principle of side-looking angle change minimum in business handoff procedure, connects for the task creation sequential in initial task-set to be observed and closes
System；It is the directed acyclic graph that present satellites sets up initial task-set to be observed according to above-mentioned sequential connected relation.
In conjunction with first aspect, embodiments provide the embodiment that the second of first aspect is possible, wherein, on
State the implementation effect according to the overlapping task of inherent parameters prediction that can perform satellite to include: obtain self ginseng that can perform satellite
Number, this inherent parameters includes the one in the value of utility that time window, memory capacity, energy expenditure and execution overlap task obtain
Or it is multiple；The implementation effect that can perform the overlapping task of satellite execution is calculated according to the inherent parameters obtained.
In conjunction with first aspect, embodiments provide the third possible embodiment of first aspect, wherein, on
The actual execution satellite stating the overlapping task of the acquisition of the implementation effect according to prediction includes: implementation effect in the implementation effect that will predict
Best satellite is defined as the actual execution satellite of overlapping task；Or, by the implementation effect of prediction is sent to user eventually
Hold, and the satellite receiving the return of this user terminal chooses instruction, this satellite is chosen the satellite of instruction in instruction and is defined as overlap
The actual execution satellite of task.
In conjunction with first aspect, embodiments provide the 4th kind of possible embodiment of first aspect, wherein, on
State and the overlapping task in the task-set initial to be observed of the performed satellite in addition to actual execution satellite is deleted, obtain holding
After the task-set final to be observed of row satellite, said method also includes: according to final task-set to be observed, generate each holding
The directed acyclic graph that the task-set final to be observed of row satellite is corresponding；According to the oriented nothing circle that final task-set to be observed is corresponding
Figure, filters out the sequence of the task to be observed that WEILIAN headed by sequential connected relation connects, obtains the task of final task-set to be observed
Execution route.
Second aspect, embodiments provides the cooperative scheduling device of task between a kind of many earth observation satellites,
Including: directed acyclic graph acquisition module, for obtaining the directed acyclic graph that the task-set initial to be observed of each satellite is corresponding；Its
In, this directed acyclic graph includes content and the sequential connected relation of each task to be observed；Overlapping task screening module, is used for leading to
The directed acyclic graph crossing each satellite of comparison filters out overlapping task；Wherein, this overlap task refers to perform the number of satellite extremely
It is two or more less；Implementation effect prediction module, for the execution according to the overlapping task of inherent parameters prediction that can perform satellite
Effect；Actual execution satellite acquisition module, obtains the actual execution satellite of overlapping task for the implementation effect according to prediction；?
Task-set generation module to be observed eventually, for the task-set initial to be observed by the performed satellite in addition to actual execution satellite
In overlapping task delete, generate and can perform the task-set final to be observed of satellite.
In conjunction with second aspect, embodiments provide the first possible embodiment of second aspect, wherein, on
State directed acyclic graph acquisition module to include: initial task-set signal generating unit to be observed, for from current all tasks to be observed
In, filter out the task that the side-looking angular range of the scope corresponding with the time window of present satellites and present satellites all mates,
Using the set of the task of filtering out as the task-set initial to be observed of present satellites；Sequential connected relation sets up unit, is used for
Based on the principle of side-looking angle change minimum in the time order and function order performed and task handoff procedure, for initial task to be observed
The task creation sequential connected relation concentrated；Directed acyclic graph sets up unit, and being used for according to sequential connected relation is present satellites
Set up the directed acyclic graph of initial task-set to be observed.
In conjunction with second aspect, embodiments provide the embodiment that the second of second aspect is possible, wherein, on
State implementation effect prediction module to include: inherent parameters acquiring unit, for obtaining the inherent parameters that can perform satellite, this self ginseng
Number includes one or more in the value of utility that time window, memory capacity, energy expenditure and execution overlap task obtain；Perform
Effect computing unit, for calculating the implementation effect that can perform the overlapping task of satellite execution according to the inherent parameters obtained.
In conjunction with second aspect, embodiments provide the third possible embodiment of second aspect, wherein, on
State actual execution satellite acquisition module to include: the first acquiring unit, for by best for implementation effect in the implementation effect of prediction
Satellite is defined as the actual execution satellite of overlapping task；Or, second acquisition unit, for by sending out the implementation effect of prediction
Deliver to user terminal, and the satellite receiving the return of this user terminal chooses instruction, and this satellite is chosen the satellite of instruction in instruction
It is defined as the actual execution satellite of overlapping task.
In conjunction with second aspect, embodiments provide the 4th kind of possible embodiment of second aspect, wherein, on
State device also to include: directed acyclic graph generation module, for according to final task-set to be observed, generate each satellite that performs
The directed acyclic graph that final task-set to be observed is corresponding；Tasks carrying path-generating module, for according to final task to be observed
The directed acyclic graph that collection is corresponding, filters out the sequence of the task to be observed that WEILIAN headed by sequential connected relation connects, generates and finally treat
The tasks carrying path of observation mission collection.
Between a kind of many earth observation satellites that the embodiment of the present invention provides, the coordinated dispatching method of task and device, pass through
The directed acyclic graph of each satellite can obtain the sequential between task to be observed and this task to be observed of each satellite even
Clearance system, and then filter out the overlapping task that can be performed by two or more satellites, perform to be somebody's turn to do further according to each satellite that performs
The implementation effect that overlapping task dopes obtains the actual execution satellite of this overlap task, and reality performs holding outside satellite
Overlapping task in the task-set initial to be observed of row satellite can optimize these after deleting can perform the most to be observed of satellite
Task-set；Aforesaid way effectively reduces multiple satellite overlay and performs the situation of same task, optimizes the task scheduling of satellite,
And then improve satellite imagery efficiency and the reasonability of the satellite imagery utilization of resources.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
Fig. 1 shows the coordinated dispatching method of task between a kind of many earth observation satellites that the embodiment of the present invention is provided
Flow chart；
Fig. 2 shows the structure of the sequential directed acyclic graph of a kind of satellite task to be observed that the embodiment of the present invention provided
Schematic diagram；
Fig. 3 shows the coordinated dispatching method of task between a kind of many earth observation satellites that the embodiment of the present invention is provided
In, obtain the flow chart of directed acyclic graph corresponding to the task-set initial to be observed of each satellite；
Fig. 4 shows that a kind of intersatellite oriented nothing that performs with overlapping task that the embodiment of the present invention is provided is enclosed
The structural representation of figure；
Fig. 5 shows the cooperative scheduling device of task between a kind of many earth observation satellites that the embodiment of the present invention is provided
Structural representation；
Fig. 6 shows the cooperative scheduling device of task between a kind of many earth observation satellites that the embodiment of the present invention is provided
In, the structural representation of directed acyclic graph acquisition module.
Illustrate:
201-observes period 202-task to be observed
203-sub-satellite track 204-sequential connected relation
401-first can perform the observation period 402-second of satellite can perform the observation period of satellite
403-overlap task 404-overlapping region
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
It is a part of embodiment of the present invention rather than whole embodiments.Generally real with the present invention illustrated described in accompanying drawing herein
The assembly executing example can be arranged with various different configurations and design.Therefore, below to the present invention's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Execute example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of not making creative work
There are other embodiments, broadly fall into the scope of protection of the invention.
And the satellite imagery utilization of resources irrational problem, the embodiment of the present invention low in view of existing satellite imagery efficiency
Providing coordinated dispatching method and the device of task between a kind of many earth observation satellites, this technology can use relevant software
Realize with hardware, be described below by embodiment.
Embodiment 1
The flow chart of the coordinated dispatching method of task, the method between a kind of many earth observation satellites shown in Figure 1
Can perform on computer or terminal, specifically include following steps:
Step S102, obtains the directed acyclic graph that the task-set initial to be observed of each satellite is corresponding；Wherein, this oriented nothing
Loop graph includes content and the sequential connected relation of each task to be observed；
Above-mentioned directed acyclic graph is also referred to as directed acyclic graph, it is generally the case that if a directed graph cannot push up from certain
Point sets out and returns to this summit through some limits, then this directed graph is directed acyclic graph；This directed acyclic graph is often used to represent
The scheduling between driving dependence or management role between event.
In embodiments of the present invention, directed acyclic graph is used for representing the sequential connected relation between task to be observed and treating
The management and dispatching of observation mission.Owing to task to be observed has fixing longitude and latitude, thus above-mentioned task to be observed once it is determined that,
The time accessing this task to be observed i.e. can determine that.Within the moonscope period, according to time series by abstract for observation mission it is
Summit, has obtained the one-to-one relationship of task to be observed and summit.If meeting sequential between two task vertexes to be observed even
, then there is a limit between above-mentioned two task vertexes to be observed in clearance system；Owing to the access on summit has time sequencing, above-mentioned
Limit be all directed edge, then the topological relation that summit and directed edge are formed just constitutes sequential directed acyclic graph.See Fig. 2 institute
The structural representation of the sequential directed acyclic graph of a kind of satellite task to be observed shown, this sequential directed acyclic graph is the most oriented
Acyclic graph, in the range of the observation period 201 centered by the sub-satellite track 203 of this satellite, need observation mission 202 and its
His multiple tasks to be observed；This task to be observed forms directed acyclic graph as shown in the right side of fig 2, and this directed acyclic graph includes often
Sequential connected relation 204 between the content of individual task to be observed and task to be observed.
Step S104, filters out overlapping task by the directed acyclic graph of each satellite of comparison；Wherein, this overlap task refers to
More than the number at least two of satellite can be performed；
Owing to the orbit Design of different earth observation satellites is different, the territory, imaging coverage of its correspondence is the most different, this satellite
Territory, imaging coverage is likely to occur overlapping, and the ground task to be observed in this overlapping region can be by many earth observation satellites
Imaging；Owing to the parameter of covering or time window etc. over the ground of different satellites may exist coincidence, some task meets two
Or the execution condition of multiple satellites, therefore these tasks can be performed by two or more satellites, and these tasks above-mentioned claim
For overlapping task；When carrying out initiating task distribution, above-mentioned overlapping task can initial at two or more satellites of duplicate allocation
In task-set to be observed.
Step S106, predicts the implementation effect of above-mentioned overlapping task according to the inherent parameters that can perform satellite；
Generally, the above-mentioned satellite that performs has one or more inherent parameters, according to the inherent parameters that can perform satellite
When predicting the implementation effect of above-mentioned overlapping task, different weighted values can be given by above-mentioned different inherent parameters, so that user
Calculate the implementation effect of above-mentioned overlapping task according to actual needs.
Step S108, obtains the actual execution satellite of above-mentioned overlapping task according to the above-mentioned implementation effect of prediction；
Step S110, by the weight in the task-set initial to be observed of the performed satellite in addition to above-mentioned actual execution satellite
Folded task is deleted, and generates the task-set final to be observed that can perform satellite.
Not comprising overlapping task in above-mentioned each task-set final to be observed performing satellite, the most each execution is defended
The task-set final to be observed of star is the most relatively independent.
In the said method of the present embodiment, the to be observed of each satellite can be obtained by the directed acyclic graph of each satellite
Sequential connected relation between task and this task to be observed, and then filter out the overlap that can be performed by two or more satellites
Task, performs the implementation effect that this overlap task dopes and obtains the actual of this overlap task further according to each satellite that performs and hold
Row satellite, after the overlapping task in the task-set initial to be observed of the performed satellite outside satellite that reality performed is deleted
Optimize these task-set final to be observed that can perform satellite；Said method effectively reduces multiple satellite overlay and performs same
The situation of business, optimizes the task scheduling of satellite, and then improves the reasonable of satellite imagery efficiency and the satellite imagery utilization of resources
Property.
In view of needing to pre-build the directed acyclic graph of each satellite, the most to be observed of each satellite of above-mentioned acquisition
The directed acyclic graph that business collection is corresponding, as it is shown on figure 3, comprise the steps:
Step S302, from current all tasks to be observed, filters out the model corresponding with the time window of present satellites
Enclose the task that the side-looking angular range with present satellites all mates, using initial as present satellites of the set of the task of filtering out
Task-set to be observed；
The embodiment of the present invention is when actual realization, it usually needs each satellite is set up initial task-set to be observed.
Step S304, in time order and function order based on execution and task handoff procedure, side-looking angle change minimum is former
Then, for the task creation sequential connected relation in above-mentioned initial task-set to be observed；
Step S306, is that present satellites sets up the oriented without circle of initial task-set to be observed according to above-mentioned sequential connected relation
Figure.
Concrete, to the directed acyclic graph more detailed description of the task-set initial to be observed of above-mentioned satellite be described as follows
Shown in literary composition:
Due to factors such as the rotations that earth observation satellite orbits the earth with the earth so that the imaging area of earth observation satellite
Territory can cover certain ground region, and this ground region scope can be come by the parameter of satellite borne sensor and sub-satellite track
Determine.This substar is above-mentioned earth observation satellite at the subpoint (or the intersection point on satellite and the earth's core line and ground) on ground,
This substar can represent by the geographic logitude of earth surface and latitude；Satellite motion and earth rotation make above-mentioned substar on ground
Ball surface is moved, and forms sub-satellite track.
Above-mentioned earth observation satellite be covered as this earth observation satellite effective visual range to ground over the ground.In task
In scheduling process, above-mentioned earth observation satellite is the sub-satellite track by this satellite and above-mentioned earth observation to the covering on ground
Satellite maximum side-looking angle comprehensively determines；When above-mentioned earth observation satellite orbits, its maximum side-looking angular range
Interior can observe that region is a belt-like zone with sub-satellite track as center line, the imaging task in this belt-like zone is all
Can be performed and imaging by this earth observation satellite.
When task m to be observed can be observed by satellite s ati, then this task to be observed can be expressed as tsk (i, m)；As
Fruit complete task tsk to be observed (i, m) after, and meet under side-looking constraints, can continue to observe task tsk to be observed
(i, n), then it represents that (i, m) (i, n) meets sequential connected relation to above-mentioned task tsk to be observed, should with above-mentioned task tsk to be observed
Sequential connected relation be Seq (tsk (and i, m), tsk (i, n)).
The sequential directed acyclic graph of above-mentioned satellite s ati can be expressed as Gi=(Vi, Ei), wherein, Vi=(VS, V0,
V1 ..., Vn, VE), this Vi is the set of the task to be observed according to time sequence, and above-mentioned VS is virtual starting point, and above-mentioned VE is virtual
Terminal, above-mentioned Ei is the set of directed edge, and this directed edge is also referred to as sequential connected relation, as shown in Figure 2.
In the sequential directed acyclic graph of above-mentioned satellite s ati, task Vm to be observed and Vn meet sequential connected relation, as
The end time really completing task Vm to be observed then claimed task Vm to be observed before starting the time performing task Vn to be observed
Being the precursor of task Vn to be observed, task Vn to be observed is the follow-up of task Vm to be observed.Above-mentioned task Vm to be observed is above-mentioned
A summit in sequential directed acyclic graph, out-degree d+ (Vm) of this task Vm to be observed is that the limit with Vm as afterbody is (time also referred to as
Sequence connected relation) bar number；In-degree d-(Vm) of this task Vm to be observed is that the limit with Vm as head (close by also referred to as sequential connection
System) bar number.
By setting up the directed acyclic graph of the task-set initial to be observed of present satellites, it is achieved that task to be observed preliminary
Distribution and scheduling.
In order to determine the satellite of the above-mentioned overlapping task of actual execution, above-mentioned basis can perform the pre-check weighing of inherent parameters of satellite
The implementation effect of folded task, comprises the steps:
(1) acquisition can perform the inherent parameters of satellite, and this inherent parameters includes time window, memory capacity, energy expenditure
With one or more performed in the value of utility that overlapping task obtains, also include other relevant parameters；
(2) satellite can be performed according to the inherent parameters calculating obtained and perform the implementation effect of overlapping task；
Above-mentioned overlapping task can make to perform to there is total task vertexes to be observed between the directed acyclic graph of satellite.Ginseng
A kind of structural representation performing intersatellite directed acyclic graph with overlapping task, has overlapping task
Perform intersatellite oriented without circle schematic diagram be also referred to as multi satellites joint sequential directed acyclic graph；With more than two in above-mentioned Fig. 4
Star can perform in case of inter-satellite has overlapping task, to describe overall environment by associating sequential directed acyclic graph and believe
Breath, can work in coordination with the coupling state of Optimal Decision-making environment.In this figure, the first observation period 401 and second that can perform satellite can
The observation period 402 performing satellite intersects, and occurs in that overlapping region 404；In this overlapping region 404, there is one or many
Individual overlapping task 403；This overlap task can be corresponding to combining in sequential directed acyclic graph.
Above-mentioned multi satellites joint sequential directed acyclic graph can be expressed as G=((Gi), E'), and wherein, above-mentioned (Gi) represents every
The individual oriented cycle-free subgraph of sequential performing satellite, above-mentioned E' is limit set, represents the company of same task between directed subgraph
Connect relation.During collaborative Optimal Decision-making, every passing of satelline safeguards that front ring is worked as in a sequential directed acyclic graph Gi reflection
Environment information；Above-mentioned directed acyclic graph Gi can be carried out dynamically by above-mentioned satellite by the communication information of decision rule information and acquisition
Update, worked in coordination with earth observation task.
By calculating the implementation effect that can perform the overlapping task of satellite execution, the reference that can obtain the overlapping task of distribution depends on
According to.
The embodiment of the present invention when implementing, the above-mentioned inherent parameters performing satellite can use four-tuple < Uim,
Avst, Amem, Aeng > represent, wherein, this Uim represents that above-mentioned satellite s ati that performs completes task tsk to be observed (i, m) institute
Obtain value of utility, this Avst represent can perform satellite s ati observe task tsk to be observed (i, m) shared by time window,
This Amem and Aeng represented respectively task tsk to be observed (i, m) needed for memory capacity and energy expenditure.
Having various ways in view of the actual execution satellite obtaining overlapping task, the above-mentioned implementation effect according to prediction obtains
Take the actual execution satellite of overlapping task, comprise the steps:
(1) satellite best for implementation effect in the implementation effect of prediction is defined as the actual execution satellite of overlapping task；
Or,
(2) by sending the implementation effect of prediction to user terminal, and the satellite receiving the return of this user terminal is chosen
Instruction, chooses this satellite the satellite of instruction in instruction and is defined as the actual execution satellite of overlapping task.
Obtained the actual execution satellite of overlapping task by above-mentioned various ways, can more efficiently realize overlapping task
Task scheduling, and then the task scheduling of multi-satellite is converted into the task scheduling of single satellite, satellite resource is closed
The distribution of reason ground.
In order to further determine that the observation mission collection and observation mission execution sequence that can perform satellite, above-mentioned will hold except actual
Overlapping task in the task-set initial to be observed of the performed satellite outside row satellite is deleted, and obtains performing the final of satellite
After task-set to be observed, said method also comprises the steps:
(1) according to final task-set to be observed, each corresponding having of task-set final to be observed performing satellite is generated
To acyclic graph；
(2) according to the directed acyclic graph that above-mentioned final task-set to be observed is corresponding, sequential connected relation is filtered out for head and the tail
The sequence of the task to be observed connected, obtains the tasks carrying path of final task-set to be observed.
Concrete, a tasks carrying path in the directed acyclic graph that above-mentioned final task-set to be observed is corresponding is (also referred to as
For observation path) p be represented by VS to VE the most end to end directed edge sequence (VS, Vk ... Vk+n, VE), this is oriented
The corresponding observation mission sequence of edge sequence.From the beginning of virtual starting point VS, to all tasks carrying paths structure of virtual termination VE
Become satellite all possible observation mission scheme, as shown in Figure 2.
By setting up the tasks carrying path of final task-set to be observed, the concrete sight that currently can perform satellite can be obtained
Survey path, obtain final task scheduling result, and be assigned with the resource of earth observation satellite rationally, uniformly.
Embodiment 2
Corresponding to said method embodiment 1, embodiments provide task between a kind of many earth observation satellites
Cooperative scheduling device, the structural representation of this device is as it is shown in figure 5, this device includes with lower module:
Directed acyclic graph acquisition module 50, for obtaining the oriented nothing circle that the task-set initial to be observed of each satellite is corresponding
Figure；Wherein, this directed acyclic graph includes content and the sequential connected relation of each task to be observed；
Overlapping task screening module 52, is connected with above-mentioned directed acyclic graph acquisition module 50, for defending by comparison is each
The directed acyclic graph of star filters out overlapping task；Wherein, this overlap task refers to perform more than the number at least two of satellite；
Implementation effect prediction module 54, connects with above-mentioned overlapping task screening module 52, for according to performing satellite
The implementation effect of the above-mentioned overlapping task of inherent parameters prediction；
Actual execution satellite acquisition module 56, is connected with above-mentioned implementation effect prediction module 54, for holding according to prediction
Row effect obtains the actual execution satellite of above-mentioned overlapping task；
Final task-set generation module 58 to be observed, is connected, for removing with the above-mentioned actual satellite acquisition module 56 that performs
Overlapping task in the task-set initial to be observed of the performed satellite outside actual execution satellite is deleted, and generation can perform satellite
Task-set final to be observed.
In the said apparatus of the present embodiment, the to be observed of each satellite can be obtained by the directed acyclic graph of each satellite
Sequential connected relation between task and this task to be observed, and then filter out the overlap that can be performed by two or more satellites
Task, performs the implementation effect that this overlap task dopes and obtains the actual of this overlap task further according to each satellite that performs and hold
Row satellite, after the overlapping task in the task-set initial to be observed of the performed satellite outside satellite that reality performed is deleted
Optimize these task-set final to be observed that can perform satellite；Said apparatus effectively reduces multiple satellite overlay and performs same
The situation of business, optimizes the task scheduling of satellite, and then improves the reasonable of satellite imagery efficiency and the satellite imagery utilization of resources
Property.
In view of needing to pre-build the directed acyclic graph of each satellite, above-mentioned directed acyclic graph acquisition module, such as Fig. 6 institute
Show, including such as lower unit:
Initial task-set signal generating unit 60 to be observed, for from current all tasks to be observed, filter out with currently
Scope that the time window of satellite is corresponding and the task that the side-looking angular range of present satellites all mates, by the task of filtering out
Gather the task-set initial to be observed as present satellites；
Sequential connected relation sets up unit 62, is connected with above-mentioned initial task-set signal generating unit 60 to be observed, for based on
The principle of side-looking angle change minimum in the time order and function order performed and task handoff procedure, for above-mentioned initial task to be observed
The task creation sequential connected relation concentrated；
Directed acyclic graph sets up unit 64, sets up unit 62 with above-mentioned sequential connected relation and is connected, for according to time above-mentioned
Sequence connected relation is the directed acyclic graph that present satellites sets up initial task-set to be observed.
By setting up the directed acyclic graph of the task-set initial to be observed of present satellites, it is achieved that task to be observed preliminary
Distribution and scheduling.
In order to determine the satellite of the above-mentioned overlapping task of actual execution, above-mentioned implementation effect prediction module includes such as lower unit:
Inherent parameters acquiring unit, for obtaining the inherent parameters that can perform satellite, this inherent parameters include time window,
One or more in the value of utility that memory capacity, energy expenditure and execution overlap task obtain；
Implementation effect computing unit, can perform holding of the satellite overlapping task of execution for calculating according to the inherent parameters obtained
Row effect.
By calculating the implementation effect that can perform the overlapping task of satellite execution, the reference that can obtain the overlapping task of distribution depends on
According to.
In view of the actual execution satellite obtaining overlapping task, there is various ways, above-mentioned actual execution satellite acquisition module
Including such as lower unit:
First acquiring unit, for being defined as overlapping task by satellite best for implementation effect in the implementation effect of prediction
Actual execution satellite；Or,
Second acquisition unit, for by sending the implementation effect of prediction to user terminal, and receives user terminal and returns
The satellite returned chooses instruction, satellite is chosen the satellite of instruction in instruction and is defined as the actual execution satellite of overlapping task.
Obtained the actual execution satellite of overlapping task by above-mentioned multiple device, can more efficiently realize overlapping task
Task scheduling, and then the task scheduling of multi-satellite is converted into the task scheduling of single satellite, satellite resource is closed
The distribution of reason ground.
In order to further determine that the observation mission collection and observation mission execution sequence that can perform satellite, many of above-mentioned one is right
Between ground observation satellite, the cooperative scheduling device of task also includes such as lower module:
Directed acyclic graph generation module, for according to final task-set to be observed, generates and each performs the final of satellite
The directed acyclic graph that task-set to be observed is corresponding；
Tasks carrying path-generating module, for the directed acyclic graph corresponding according to final task-set to be observed, filters out
The sequence of the task to be observed that WEILIAN connects headed by sequential connected relation, generates the tasks carrying path of final task-set to be observed.
By setting up the tasks carrying path of final task-set to be observed, the concrete sight that currently can perform satellite can be obtained
Survey path, obtain final task scheduling result, and be assigned with the resource of earth observation satellite rationally, uniformly.
The task scheduling of multi-satellite is converted into the task scheduling of single satellite by the embodiment of the present invention, more real
Show the scheduling of the comprehensive task to multi-satellite, improve satellite imagery efficiency and the reasonability of the satellite imagery utilization of resources.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (10)
1. the coordinated dispatching method of task between many earth observation satellites, it is characterised in that including:
Obtain the directed acyclic graph that the task-set initial to be observed of each satellite is corresponding；Wherein, described directed acyclic graph includes often
The content of individual task to be observed and sequential connected relation；
Overlapping task is filtered out by the directed acyclic graph of each described satellite of comparison；Wherein, described overlapping task refers to perform
More than the number at least two of satellite；
Implementation effect according to the described described overlapping task of inherent parameters prediction performing satellite；
Described implementation effect according to prediction obtains the actual execution satellite of described overlapping task；
The described overlap that can perform described in addition to performing satellite except described reality in the task-set initial to be observed of satellite is appointed
Business is deleted, and can perform the task-set final to be observed of satellite described in generation.
Method the most according to claim 1, it is characterised in that the task-set initial to be observed obtaining each satellite is corresponding
Directed acyclic graph includes:
From current all tasks to be observed, filter out the scope corresponding with the time window of present satellites and described when fashion
The task that the side-looking angular range of star all mates, using set initially the treating as described present satellites of the described task that filters out
Observation mission collection；
Principle based on side-looking angle change minimum described in the time order and function order performed and task handoff procedure, at the beginning of described
Begin the task creation sequential connected relation in task-set to be observed；
It is the directed acyclic graph that described present satellites sets up described initial task-set to be observed according to described sequential connected relation.
Method the most according to claim 1, it is characterised in that according to the described inherent parameters prediction performing satellite
The implementation effect of overlapping task includes:
The inherent parameters of satellite can be performed described in Huo Quing, described inherent parameters include time window, memory capacity, energy expenditure and
Perform one or more in the value of utility that described overlapping task obtains；
Satellite can be performed according to the described inherent parameters calculating obtained and perform the implementation effect of described overlapping task.
Method the most according to claim 1, it is characterised in that obtain described overlap according to the described implementation effect of prediction and appoint
The actual execution satellite of business includes:
Described satellite best for implementation effect in the described implementation effect of prediction is defined as the actual execution of described overlapping task
Satellite；Or,
By sending the described implementation effect of prediction to user terminal, and the satellite receiving the return of described user terminal chooses finger
Order, chooses described satellite the satellite of instruction in instruction and is defined as the actual execution satellite of described overlapping task.
Method the most according to claim 1, it is characterised in that can perform described in addition to described actual execution satellite
Described overlapping task in the task-set initial to be observed of satellite is deleted, and obtains the described task final to be observed that can perform satellite
After collection, described method also includes:
According to described final task-set to be observed, generate each described corresponding having of task-set final to be observed that can perform satellite
To acyclic graph；
According to the directed acyclic graph that described final task-set to be observed is corresponding, filter out that WEILIAN headed by sequential connected relation connects treats
The sequence of observation mission, obtains the tasks carrying path of described final task-set to be observed.
6. the cooperative scheduling device of task between many earth observation satellites, it is characterised in that including:
Directed acyclic graph acquisition module, for obtaining the directed acyclic graph that the task-set initial to be observed of each satellite is corresponding；Its
In, described directed acyclic graph includes content and the sequential connected relation of each task to be observed；
Overlapping task screening module, for filtering out overlapping task by the directed acyclic graph of each described satellite of comparison；Wherein,
Described overlapping task refers to perform more than the number at least two of satellite；
Implementation effect prediction module, for performing effect according to the described overlapping task of the described inherent parameters performing satellite prediction
Really；
Actual execution satellite acquisition module, obtains the actual execution of described overlapping task for the described implementation effect according to prediction
Satellite；
Final task-set generation module to be observed, for can perform at the beginning of satellite described in addition to described actual execution satellite
The described overlapping task begun in task-set to be observed is deleted, and can perform the task-set final to be observed of satellite described in generation.
Device the most according to claim 6, it is characterised in that described directed acyclic graph acquisition module includes:
Initial task-set signal generating unit to be observed, for from current all tasks to be observed, filters out and present satellites
Scope that time window is corresponding and the task that the side-looking angular range of described present satellites all mates, the described task that will filter out
Set as the task-set initial to be observed of described present satellites；
Sequential connected relation sets up unit, for based on side-looking angle described in the time order and function order performed and task handoff procedure
The principle of degree change minimum, for the task creation sequential connected relation in described initial task-set to be observed；
Directed acyclic graph sets up unit, for being that described present satellites is set up described initially waiting and seen according to described sequential connected relation
Survey the directed acyclic graph of task-set.
Device the most according to claim 6, it is characterised in that described implementation effect prediction module includes:
Inherent parameters acquiring unit, for obtaining the described inherent parameters that can perform satellite, described inherent parameters includes time window
One or more in the value of utility that the described overlapping task of mouth, memory capacity, energy expenditure and execution obtains；
Implementation effect computing unit, can perform the satellite described overlap of execution described in calculating according to the described inherent parameters obtained
The implementation effect of task.
Device the most according to claim 6, it is characterised in that the described actual satellite acquisition module that performs includes:
First acquiring unit, for being defined as described heavy by described satellite best for implementation effect in the described implementation effect of prediction
The actual execution satellite of folded task；Or,
Second acquisition unit, sends to user terminal for the described implementation effect by predicting, and receives described user eventually
The satellite that end returns chooses instruction, described satellite is chosen in instruction the satellite of instruction and is defined as described overlapping the actual of task and holds
Row satellite.
Device the most according to claim 6, it is characterised in that described device also includes:
Directed acyclic graph generation module, for according to described final task-set to be observed, generates and each described can perform satellite
The directed acyclic graph that final task-set to be observed is corresponding；
Tasks carrying path-generating module, for the directed acyclic graph corresponding according to described final task-set to be observed, filters out
The sequence of the task to be observed that WEILIAN connects headed by sequential connected relation, the task of generating described final task-set to be observed is held
Walking along the street footpath.
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