CN107678848A - Repeater satellite task scheduling constrains the construction method and device of plan model - Google Patents
Repeater satellite task scheduling constrains the construction method and device of plan model Download PDFInfo
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- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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- G06F9/48—Program initiating; Program switching, e.g. by interrupt
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Abstract
The embodiments of the invention provide the construction method and device of a kind of repeater satellite task scheduling constraint plan model,This method is when building model,For the forward link of space-based backbone network relay satellite system,That is earth station --- repeater satellite --- user spacecraft,Or earth station --- repeater satellite --- repeater satellite --- user spacecraft,More repeater satellites be present,And in the case of between repeater satellite communication link being present,SEE time window is considered,Task attribute,The constraintss such as the propagation delay of resource-constrained scheduling user task is limited and communication delay is limited,So that the planning of repeater satellite task can be completed in the case where meeting above-mentioned constraints based on the task scheduling approach that the model obtains,Ensure that the higher task of priority can be by successful dispatch as much as possible,And then improve the efficiency of task scheduling.
Description
Technical field
The present embodiments relate to communication technical field, and in particular to a kind of repeater satellite task scheduling constrains plan model
Construction method and device.
Background technology
Due to repeater satellite limited amount, data service capabilities are limited, and with needing the user of repeater satellite service to navigate
The constraint of SEE time window between its device be present, therefore how the mission planning of rational layout dispatching of relays satellite is in raising
After satellite utilization rate, and then improve the key technology of the efficiency of whole Information Network.Existing relay satellite system task is adjusted
The main object of degree research is reservation type task, due to the complexity of repeater satellite Mission Scheduling, existing repeater satellite
Most of mathematical modeling of task scheduling is NP-hard problems, therefore existing solution party's fado is heuritic approach.The first
Algorithm solves the problems, such as mission planning using artificial bee colony algorithm, and it has initially set up the mathematical modeling of repeater satellite scheduling, provides
Fitness function and various constraintss, and using artificial bee colony algorithm search for and obtain preferably task scheduling side
Case.Second algorithm establishes the Task Scheduling Model existed under the conditions of more repeater satellites, and using based on population combine into
The resource allocation algorithm of change is solved.
However, during innovation and creation are realized, inventor has found that original repeater satellite dispatching algorithm is in modeling
Scene when only considering to have single repeater satellite mostly, such as the first algorithm.Second algorithm considers that more relayings be present defends
The scene of star, but communication link be present between have ignored repeater satellite in it, actually due to existing between repeater satellite
Communication link, therefore when some user spacecraft task needs some given trunk satellite to be serviced for it, it not only can be straight
Connect and contacted with this repeater satellite, and can indirectly be contacted with this repeater satellite by the method that repeater satellite relays.
Equally, in existing modeling (such as above-mentioned the first and second algorithm) considers that the time delay of task will
Ask, because between repeater satellite, repeater satellite and user's interstellar distance are very long, therefore data transmission delay is obvious, and many time delays are quick
Feel generic task, such as the transmission of measurement and control signal has strict requirements to data transmission delay, this make it that existing model can not
Meet this requirement.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of structure for repeater satellite task scheduling constraint plan model
Method and device.
In a first aspect, the embodiments of the invention provide a kind of structure side of repeater satellite task scheduling constraint plan model
Method, including：
Obtain the priority of default each scheduler task, the earliest start time that each task is successfully executed, all tasks
Maximum delay time and each repeater satellite on be each task service pot life window；
The earliest start time that is successfully executed according to the priority of each scheduler task, each task, all tasks
Maximum propagation time delay and pot life window, build the fitness function and constraints of the model；
Wherein, the pot life window, it is on the basis of the observability of repeater satellite and user spacecraft is met, meets and hold
The period of row preset task；The fitness function of the model, for in the specified priority, the early start
The target letter of optimal task schedule scheme is obtained under time and the maximum propagation time delay, under the constraint of the constraints
Number；The optimal task schedule scheme is that the most tasks for enabling higher priority, propagation delay smaller are successfully executed
Scheme.
Second aspect, the embodiments of the invention provide a kind of structure dress of repeater satellite task scheduling constraint plan model
Put, including：
Acquiring unit, obtain earliest start time that priority, each task of default each scheduler task be successfully executed,
It is the pot life window of each task service on the maximum delay time of all tasks and each repeater satellite；
Construction unit, during the early start being successfully executed for the priority according to each scheduler task, each task
Between, the maximum propagation time delay of all tasks and pot life window, build the fitness function and constraints of the model；
Wherein, the pot life window, it is on the basis of the observability of repeater satellite and user spacecraft is met, meets and hold
The period of row preset task；The fitness function of the model, for in the specified priority, the early start
The target letter of optimal task schedule scheme is obtained under time and the maximum propagation time delay, under the constraint of the constraints
Number；The optimal task schedule scheme is that the most tasks for enabling higher priority, propagation delay smaller are successfully executed
Scheme.
The third aspect, another embodiment of the present invention provide a kind of computer equipment, including memory, processor and
Storage is realized above-mentioned on a memory and the computer program that can run on a processor, during the computing device described program
The step of first aspect methods described.
Fourth aspect, another embodiment of the present invention provide a kind of computer-readable recording medium, are stored thereon with meter
Calculation machine program, when the program is executed by processor realize as described in relation to the first aspect method the step of.
The embodiments of the invention provide a kind of construction method of repeater satellite task scheduling constraint plan model, this method exists
When building model, --- repeater satellite --- user for the forward link of space-based backbone network relay satellite system, i.e. earth station
Spacecraft, or earth station --- repeater satellite --- repeater satellite --- user spacecraft, more repeater satellites be present, and
In the case of communication link being present between repeater satellite, SEE time window, task attribute, resource-constrained user have been considered
The constraintss such as the propagation delay of task scheduling is limited and communication delay is limited, so that being obtained based on the model for task
Scheduling scheme can complete the planning of repeater satellite task in the case where meeting above-mentioned constraints, ensure as much as possible preferential
The higher task of level can be by successful dispatch, and then improves the efficiency of task scheduling.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is a kind of construction method flow of repeater satellite task scheduling constraint plan model provided in an embodiment of the present invention
Figure；
Fig. 2 is a kind of construction device example structure of repeater satellite task scheduling constraint plan model provided by the invention
Schematic diagram；
Fig. 3 is a kind of computer equipment example structure block diagram provided by the invention.
Embodiment
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
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
In a first aspect, the embodiments of the invention provide a kind of structure side of repeater satellite task scheduling constraint plan model
Method, as shown in figure 1, including：
S101, obtain earliest start time that priority, each task of default each scheduler task be successfully executed, be all
It is the pot life window of each task service on the maximum delay time of task and each repeater satellite；
S102, the earliest start time being successfully executed according to priority, each task of each scheduler task, Suo Youren
The maximum propagation time delay and pot life window of business, build the fitness function and constraints of the model；
Wherein, the pot life window, it is on the basis of the observability of repeater satellite and user spacecraft is met, meets and hold
The period of row preset task；The fitness function of the model, for in the specified priority, the early start
The target letter of optimal task schedule scheme is obtained under time and the maximum propagation time delay, under the constraint of the constraints
Number；The optimal task schedule scheme is that the most tasks for enabling higher priority, propagation delay smaller are successfully executed
Scheme.
The embodiments of the invention provide a kind of construction method of repeater satellite task scheduling constraint plan model, this method exists
When building model, --- repeater satellite --- user for the forward link of space-based backbone network relay satellite system, i.e. earth station
Spacecraft, or earth station --- repeater satellite --- repeater satellite --- user spacecraft, more repeater satellites be present, and
In the case of communication link being present between repeater satellite, SEE time window, task attribute, resource-constrained user have been considered
The constraintss such as the propagation delay of task scheduling is limited and communication delay is limited, so that being obtained based on the model for task
Scheduling scheme can complete the planning of repeater satellite task in the case where meeting above-mentioned constraints, ensure as much as possible preferential
The higher task of level can be by successful dispatch, and then improves the efficiency of task scheduling.
In the specific implementation, it is to be understood that fitness function and the constraint of model are built in above-mentioned steps S102
Condition can be implemented in several ways, and the optional embodiment of one of which is introduced below.
(1) structure of the fitness function of model
The fitness function expression formula of model is：
Wherein, ρi=Pmax-pi, piThe task i specified for user priority, PmaxRepresent task priority weighted value
Maximum adds one, takes Pmax=11, pi∈ { 1,2,3 ..., 10 }, then ρiThe weighted value of expression task i priority, user specify
Task i priority it is higher, i.e. piρ that is smaller, then obtainingiBigger, i.e. the weighted value of task i priority is bigger.As user refers to
The priority for determining task i is pi=1, then the weighted value of task i priority is ρi=11-1=10.Weighted value ρiIt is bigger, represent
Task i priority is higher.
βi=Dmax-|Ti-ei|, DmaxRepresent the maximum delay of all tasks specified in advance, TiExpression task i is scheduled to
The Starting Executing Time of work(, eiThe earliest start time that the task i that user specifies is successfully executed is represented, | Ti-ei| represent task
I delay, the Starting Executing Time of task perform the time closer to the task early start that user specifies, i.e., | Ti-ei| it is smaller,
Then postpone smaller, weighted value βiIt is bigger.
χim={ 0,1 }, i ∈ J, m ∈ M, if χim=1, show that task i is dispatched successfully by repeater satellite m；Otherwise, show to adjust
Degree failure.
The target of the fitness function expression formula is to make higher priority, smaller, the more tasks of delay by success
Perform.(2) structure of model constraint function
The constraint equation of model is：
(6)
I, j ∈ J and i ≠ j, wherein i, j ∈ J and i ≠ j, δij=1
Wherein, if representing a task scheduling success, the task can only be scheduled to formula (2) on a repeater satellite
Work(, otherwise it is assumed that the task scheduling fails.
In formula (3), χijm={ 0,1 }, i, j ∈ J, m ∈ M, if χijm=1, show that repeater satellite m is stood after having performed task i
Perform task j.If showing, any two task is being dispatched to user spacecraft to constraint equation (3) by a repeater satellite
On, then execution sequence must one in front and one in back, that is, show that a repeater satellite is at most only a task clothes in the same time
Business.
Formula (4) be in order to ensure that being performed on same repeater satellite for task can line up an ordered sequence, while
It ensure that a repeater satellite can only at most perform a task in synchronization.
In formula (5), Wim=Bi∩Aim, BiRepresent earliest start time that the task i that specifies of user is successfully executed with most
The time window that the late end time is formed, AimRepresent to be the set of the repeater satellite m of task i services SEE time window, Wim
Represent on repeater satellite m to be the set of all pot life windows of task i services.So-called pot life window, is exactly meeting
On the basis of the observability of repeater satellite and user spacecraft, meet the task execution time section that user specifies.IfThen show task i in repeater satellite m pot life window w.Constraint
Conditional (5) task of indicating must is fulfilled for the constraint of SEE time window, is only possible to be scheduled successfully, and dispatches successful task
It is only capable of carrying out in an available time windows during execution.
In formula (6), diExpression task i duration, di=d0+di', d0For repeater satellite service beginning and termination phase
It is the time of consumption, relevant with the soft hardware equipment of space-based backbone network relay satellite system, such as needed in service preparatory stage, earth station
Connection is established, while is configured between star, star ground communication link device and data server system, in the end of service stage, ground
Needs of standing disconnect, and discharge and remove link, while discharge satellite resource, di' it is the actual data communication times of task i,
Submitted by user according to being actually needed.εijmRepresent that repeater satellite m has been performed when being immediately performed task j exchange after task i
Between.I, j ∈ J and i ≠ j, it is earliest to represent that task j is successfully executed
Period between the end time the latest that time started and task i are successfully executed.TiExpression task i scheduling successfully starts
Perform the time.If showing, two task i, j (j is performed after i) perform constraint equation (6) on same repeater satellite
When, task j Starting Executing Time TjT must have been performed in task ii+di+εijmAfterwards, a repeater satellite is further emphasized
A task can only be performed in synchronization.
In formula (7), οij={ 0,1 }, i, j ∈ J, if οij=1, then show that task i is performed before task j.Constraints
Formula (7) represents two task i on a repeater satellite, and when resource contention occurs for j, task i, j the execution time are that to have
It is overlapping, i.e., must be one previous in rear execution, also show a repeater satellite and be only one in synchronization
Task service.
In formula (8),For task i on repeater satellite m pot life window w at the beginning of between, in formula (9),To appoint
It is engaged in end times of the i on repeater satellite m pot life window w, wherein, i ∈ J, m ∈ M, w ∈ Wim.Constraint equation (8) and
Formula (9) expression task wants to be scheduled successfully, must just be performed in a pot life window, wherein constraint equation (8) table
Show task Starting Executing Time have to be larger than or equal to the pot life window at the beginning of between；Constraint equation (9) represents to appoint
The end time of business is necessarily less than or the end time equal to the pot life window.
In formula (10), tiRepresent that the task i that user specifies is scheduled for the maximum propagation time delay that user spacecraft is undergone.
V represents the speed of Electromagnetic Wave Propagation, gives tacit consent to v=3.0 × 108km/s。siExpression task i is scheduled for user spacecraft and undergone
Total propagation distance,Wherein, snRepresent the distance between earth station and repeater satellite n, smnIn expression
After the distance between satellite m and n,Represent distances of the repeater satellite m on pot life window w with user spacecraft.φi=
{ 0,1 }, i ∈ J, if φi=1, then show that task i meets propagation delay requirement.Constraint equation (10) represents that task i is scheduled
The maximum propagation time delay undergone to user spacecraft is not more than the maximum propagation time delay that user specifies, that is, meets that propagation delay will
Ask.
In formula (11),The task of further demonstrating that wants holding by successful dispatch
The row time must be in the pot life window between a certain repeater satellite and user spacecraft, also only in pot life window
Task can be performed.
The step of by above-mentioned structure fitness function and constraint function, you can obtain in the case where various current conditions constrain
More relay satellite system scheduling models.It must be gone out on missions point by appropriate optimized algorithm (such as the optimized algorithm such as genetic algorithm)
With scheme, the optimal solution of the model can be obtained.Wherein the optimal solution is make it that model fitness function (1) value is maximum, together
When meet (2) arrive (11) constraints optimal solution.The optimal solution may act as optimal task schedule scheme, applied to reality
In the case of task scheduling in.
Second aspect, the embodiments of the invention provide a kind of structure dress of repeater satellite task scheduling constraint plan model
Put, as shown in Fig. 2 including：
Acquiring unit 201, when obtaining the early start that priority, each task of default each scheduler task are successfully executed
Between, on the maximum delay time of all tasks and each repeater satellite be each task service pot life window；
Construction unit 202, the early start being successfully executed for the priority according to each scheduler task, each task
Time, the maximum propagation time delay of all tasks and pot life window, build the fitness function and constraints of the model；
Wherein, the pot life window, it is on the basis of the observability of repeater satellite and user spacecraft is met, meets and hold
The period of row preset task；The fitness function of the model, for in the specified priority, the early start
The target letter of optimal task schedule scheme is obtained under time and the maximum propagation time delay, under the constraint of the constraints
Number；The optimal task schedule scheme is that the most tasks for enabling higher priority, propagation delay smaller are successfully executed
Scheme.
Wherein, here fitness function and the structure of constraints is referred in first aspect for fitness letter
The detailed process of number and constraints construction step, will not be repeated here.
In the specific implementation, described device also includes：
Optimize unit 203, for based on the obtained model, the model to be asked for most using default optimized algorithm
Excellent solution, wherein the optimal solution is make it that the fitness function value is maximum and meets the solution of the constraints, and by institute
Optimal solution is stated to export as the optimal task schedule scheme.
By the construction device that the repeater satellite task scheduling that the present embodiment is introduced constrains plan model is to perform
The device of the construction method of repeater satellite task scheduling constraint plan model in the embodiment of the present invention, so it is real based on the present invention
The method for applying the structure of the repeater satellite task scheduling constraint plan model described in example, those skilled in the art can
Understand the embodiment of the construction device of the repeater satellite task scheduling constraint plan model of the present embodiment and its is various
Version, so how the construction device for constraining plan model for the repeater satellite task scheduling herein realizes that the present invention is real
The construction method for applying the constraint plan model of the repeater satellite task scheduling in example is no longer discussed in detail.As long as the affiliated technology in this area
Device used by the construction method of repeater satellite task scheduling constraint plan model, all belongs in personnel's implementation embodiment of the present invention
In the scope that the application to be protected.
Fig. 3 shows the structured flowchart of computer equipment provided in an embodiment of the present invention.
Reference picture 3, the computer equipment, including processor (processor) 301, memory (memory) 302, bus
303 and EBI 304；
Wherein, the processor 301 and memory 302 complete mutual communication by the bus 303, and bus connects
Mouth 304 is used for and external device carries out information exchange；
The processor 301 is used to call the programmed instruction in the memory 302, to perform above-mentioned each method embodiment
Method described in middle first aspect.
A kind of computer program product is also disclosed in the embodiment of the present invention, and the computer program product is non-temporary including being stored in
Computer program on state computer-readable recording medium, the computer program include programmed instruction, when described program instructs
When being computer-executed, computer is able to carry out the method described in above-mentioned each method embodiment first aspect.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium storing program for executing, and the non-transient computer is readable to deposit
Storage media stores computer instruction, and the computer instruction makes the computer perform above-mentioned each method embodiment first aspect institute
The method stated.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself
Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
Replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including some features rather than further feature, but the combination of the feature of different embodiments means to be in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment claimed it is any it
One mode can use in any combination.
Some unit embodiments of the present invention can be realized with hardware, or to be run on one or more processor
Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) are realized in gateway according to embodiments of the present invention, proxy server, system
Some or all parts some or all functions.The present invention is also implemented as being used to perform side as described herein
The some or all equipment or program of device (for example, computer program and computer program product) of method.It is such
Realizing the program of 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 obtained, and either be provided or with any other shape on carrier signal
Formula provides.
It should be noted that the present invention will be described rather than limits the invention for 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 symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
Claims (10)
- A kind of 1. construction method of repeater satellite task scheduling constraint plan model, it is characterised in that including：Obtain the priority of default each scheduler task, the earliest start time that each task is successfully executed, all tasks most It is the pot life window of each task service on big time delay and each repeater satellite；Earliest start time, the maximum of all tasks being successfully executed according to the priority of each scheduler task, each task Propagation delay and pot life window, build the fitness function and constraints of the model；Wherein, the pot life window, it is on the basis of the observability of repeater satellite and user spacecraft is met, it is pre- meets execution If the period of task；The fitness function of the model, for in the specified priority, the earliest start time And the object function of optimal task schedule scheme is obtained under the maximum propagation time delay, under the constraint of the constraints； The optimal task schedule scheme is the side that the most tasks for enabling higher priority, propagation delay smaller are successfully executed Case.
- 2. according to the method for claim 1, it is characterised in that the fitness function is as shown in formula one：Max f=∑ ∑s (ρiβi)χimFormula oneWherein, ρiThe weighted value of expression task i priority；ρi=Pmax-pi, piThe task i specified for user priority, Pmax Maximum for the priority of all tasks adds 1；βiThe weighted value of expression task i delay time；βi=Dmax-|Ti-ei|, DmaxRepresent that the maximum of default all tasks is prolonged Late, TiExpression task i dispatches successful Starting Executing Time, eiWhen representing the early start that default task i is successfully executed Between, | Ti-ei| represent task i time delay；χimThe situation that expression task i is performed；χim={ 0,1 }, i ∈ J, m ∈ M；If χim=1, show task i by repeater satellite m Dispatch successfully；Otherwise, task i scheduling failures are shown.
- 3. according to the method for claim 2, it is characterised in that the constraints includes：And i ≠ j formula threeAnd i ≠ j, j ≠ z formula fourFormula sixAnd i ≠ j, wherein i, j ∈ J and i ≠ j, δij=1Wherein, if formula two is used to constrain a task scheduling success, the task can only be scheduled on a repeater satellite Work(, otherwise it is assumed that the task scheduling fails；In formula three, χijm={ 0,1 }, i, j ∈ J, m ∈ M, if χijm=1, show that repeater satellite m is held immediately after having performed task i Row task j；If formula three is used for constraint, any two task is being dispatched to user spacecraft by a repeater satellite, relays Satellite is only a task service in the same time；Formula four can perform in order for constraining on same repeater satellite performing for task, while also constrain a relaying Satellite can only perform a task in synchronization；In formula five, Wim=Bi∩Aim, BiThe earliest start time that the task i that expression user specifies is successfully executed with tying the latest The time window that the beam time is formed, AimRepresent to be the set of the repeater satellite m of task i services SEE time window, WimRepresent It can be the set of all pot life windows of task i services on repeater satellite m；Expression task i whether in repeater satellite m can With in time window w,i∈J,m∈M,w∈WimIfThen show task i repeater satellite m it is available when Between in window w；Formula five is used to constrain task only when meeting the constraint of SEE time window, is only possible to be scheduled successfully, and dispatch It is only capable of carrying out in an available time windows during successful tasks carrying；In formula six, diExpression task i duration, di=d0+d′i, d0Disappear for repeater satellite service beginning and termination phase The time of consumption, d 'iFor the actual data communication times of task i；εijmRepresent that repeater satellite m has been performed to be immediately performed after task i times Business j swap time；I, j ∈ J and i ≠ j, represent task j by success Period between the end time the latest that the earliest start time and task i of execution are successfully executed；TiExpression task i is dispatched Successful Starting Executing Time；If formula six is used to constrain task i, task j when being performed on same repeater satellite, and task J is performed after task i, then task j Starting Executing Time TjT must have been performed in task ii+di+εijmAfterwards；In formula seven, οijExpression task i and task j execution sequence, οij={ 0,1 }, i, j ∈ J, if οij=1, then show to appoint Business i is performed before task j；Two task i that formula seven is used to constrain on a repeater satellite, when resource contention occurs for j, appoint Be engaged in i, and the j execution time can not be overlapping；In formula eight and formula nine,For task i on repeater satellite m pot life window w at the beginning of between,For task End times of the i on repeater satellite m pot life window w, wherein, i ∈ J, m ∈ M, w ∈ Wim.Formula eight and formula nine are used Want to be scheduled successfully in constraint task, must just be performed in a pot life window, wherein formula eight represents opening for task Begin perform the time have to be larger than or equal to the pot life window at the beginning of between；Formula nine represents that the end time of task must be small In or equal to the pot life window end time；In formula ten, tiRepresent that the task i that user specifies is scheduled for the maximum propagation time delay that user spacecraft is undergone；V is represented The speed of Electromagnetic Wave Propagation, v=3.0 × 108km/s；siExpression task i is scheduled for total propagation that user spacecraft is undergone Distance,Wherein, snRepresent the distance between earth station and repeater satellite n, smnRepresent repeater satellite m and n The distance between,Represent distances of the repeater satellite m on pot life window w with user spacecraft；φiWhether expression task i Meet the situation of propagation delay, φi={ 0,1 }, i ∈ J, if φi=1, then show that task i meets propagation delay requirement；Formula ten When being scheduled for maximum propagation time delay that user spacecraft undergone no more than the maximum propagation that user specifies for constraining task i Prolong；In formula 11,Showing that task wants must by the executable time of successful dispatch Must be in the pot life window between a certain repeater satellite and user spacecraft.
- 4. according to the method for claim 1, it is characterised in that methods described also includes：Based on the obtained model, the optimal solution of the model is asked for using default optimized algorithm, wherein the optimal solution Make it that the fitness function value is maximum and meets the solution of the constraints, and using the optimal solution as described optimal Task scheduling approach exports.
- A kind of 5. construction device of repeater satellite task scheduling constraint plan model, it is characterised in that including：Acquiring unit, obtain earliest start time that priority, each task of default each scheduler task be successfully executed, all It is the pot life window of each task service on the maximum delay time of task and each repeater satellite；Construction unit, the earliest start time being successfully executed for the priority according to each scheduler task, each task, institute There are the maximum propagation time delay and pot life window of task, build the fitness function and constraints of the model；Wherein, the pot life window, it is on the basis of the observability of repeater satellite and user spacecraft is met, it is pre- meets execution If the period of task；The fitness function of the model, for in the specified priority, the earliest start time And the object function of optimal task schedule scheme is obtained under the maximum propagation time delay, under the constraint of the constraints； The optimal task schedule scheme is the side that the most tasks for enabling higher priority, propagation delay smaller are successfully executed Case.
- 6. device according to claim 5, it is characterised in that the fitness function is as shown in formula one：Max f=∑ ∑s (ρiβi)χimFormula oneWherein, ρiThe weighted value of expression task i priority；ρi=Pmax-pi, piThe task i specified for user priority, Pmax Maximum for the priority of all tasks adds 1；βiThe weighted value of expression task i delay time；βi=Dmax-|Ti-ei|, DmaxRepresent that the maximum of default all tasks is prolonged Late, TiExpression task i dispatches successful Starting Executing Time, eiWhen representing the early start that default task i is successfully executed Between, | Ti-ei| represent task i time delay；χimThe situation that expression task i is performed；χim={ 0,1 }, i ∈ J, m ∈ M；If χim=1, show task i by repeater satellite m Dispatch successfully；Otherwise, task i scheduling failures are shown.
- 7. device according to claim 6, it is characterised in that the constraints includes：And i ≠ j formula threeAnd i ≠ j, j ≠ z formula fourFormula sixAnd i ≠ j, wherein i, j ∈ J and i ≠ j, δij=1Wherein, if formula two is used to constrain a task scheduling success, the task can only be scheduled on a repeater satellite Work(, otherwise it is assumed that the task scheduling fails；In formula three, χijm={ 0,1 }, i, j ∈ J, m ∈ M, if χijm=1, show that repeater satellite m is held immediately after having performed task i Row task j；If formula three is used for constraint, any two task is being dispatched to user spacecraft by a repeater satellite, relays Satellite is only a task service in the same time；Formula four can perform in order for constraining on same repeater satellite performing for task, while also constrain a relaying Satellite can only perform a task in synchronization；In formula five, Wim=Bi∩Aim, BiThe earliest start time that the task i that expression user specifies is successfully executed with tying the latest The time window that the beam time is formed, AimRepresent to be the set of the repeater satellite m of task i services SEE time window, WimRepresent It can be the set of all pot life windows of task i services on repeater satellite m；Expression task i whether in repeater satellite m can With in time window w,i∈J,m∈M,w∈WimIfThen show task i repeater satellite m it is available when Between in window w；Formula five is used to constrain task only when meeting the constraint of SEE time window, is only possible to be scheduled successfully, and dispatch It is only capable of carrying out in an available time windows during successful tasks carrying；In formula six, diExpression task i duration, di=d0+d′i, d0Disappear for repeater satellite service beginning and termination phase The time of consumption, d 'iFor the actual data communication times of task i；εijmRepresent that repeater satellite m has been performed to be immediately performed after task i times Business j swap time；I, j ∈ J and i ≠ j, represent task j by into Period between the end time the latest that the earliest start time and task i that work(performs are successfully executed；TiExpression task i is adjusted Spend successful Starting Executing Time；If formula six is used to constrain task i, task j when being performed on same repeater satellite, and appoints Business j is performed after task i, then task j Starting Executing Time TjT must have been performed in task ii+di+εijmAfterwards；In formula seven, οijExpression task i and task j execution sequence, οij={ 0,1 }, i, j ∈ J, if οij=1, then show to appoint Business i is performed before task j；Two task i that formula seven is used to constrain on a repeater satellite, when resource contention occurs for j, appoint Be engaged in i, and the j execution time can not be overlapping；In formula eight and formula nine,For task i on repeater satellite m pot life window w at the beginning of between,For task End times of the i on repeater satellite m pot life window w, wherein, i ∈ J, m ∈ M, w ∈ Wim.Formula eight and formula nine are used Want to be scheduled successfully in constraint task, must just be performed in a pot life window, wherein formula eight represents opening for task Begin perform the time have to be larger than or equal to the pot life window at the beginning of between；Formula nine represents that the end time of task must be small In or equal to the pot life window end time；In formula ten, tiRepresent that the task i that user specifies is scheduled for the maximum propagation time delay that user spacecraft is undergone；V is represented The speed of Electromagnetic Wave Propagation, v=3.0 × 108km/s；siExpression task i is scheduled for total propagation that user spacecraft is undergone Distance,Wherein, snRepresent the distance between earth station and repeater satellite n, smnRepresent repeater satellite m and n The distance between,Represent distances of the repeater satellite m on pot life window w with user spacecraft；φiWhether expression task i Meet the situation of propagation delay, φi={ 0,1 }, i ∈ J, if φi=1, then show that task i meets propagation delay requirement；Formula ten When being scheduled for maximum propagation time delay that user spacecraft undergone no more than the maximum propagation that user specifies for constraining task i Prolong；In formula 11,Showing that task wants must by the executable time of successful dispatch Must be in the pot life window between a certain repeater satellite and user spacecraft.
- 8. device according to claim 5, it is characterised in that described device also includes：Optimize unit, for based on the obtained model, asking for the optimal solution of the model using default optimized algorithm, its Described in optimal solution make it that the fitness function value is maximum and meets the solution of the constraints, and by the optimal solution Exported as the optimal task schedule scheme.
- 9. a kind of computer equipment, including memory, processor and storage can be run on a memory and on a processor Computer program, it is characterised in that realized during the computing device described program such as any methods describeds of claim 1-4 Step.
- 10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor The step of methods described as any such as claim 1-4 is realized during execution.
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