CN107864007A - The Duo Xingduo earth stations resources co-allocation management method of facing area target - Google Patents
The Duo Xingduo earth stations resources co-allocation management method of facing area target Download PDFInfo
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Abstract
The invention discloses a kind of Duo Xingduo earth stations resources co-allocation management method of facing area target, solves Duo Xingduo earth stations resource coordinating planning problem, its implementation process is：Ground control centre builds resource dependency graph, communication resource Lothrus apterus figure and communication resource conflict graph generation satellite unloading scheme respectively by obtaining earth station and satellite information；Satellite access regional aim is calculated with target area information and satellite ephemeris, all possible feasible satellite unloading scheme is extracted from satellite unloading scheme；Scheme constructses weighted digraph is unloaded for every kind of feasible satellite, travels through all weighted digraphs, the coordinates measurement totality unloading scheme and upper note observing and controlling instruction that coverage rate is big and hop count is few are found out using the addition of labeling algorithm and definition.The present invention improves resource utilization and mission planning efficiency, reduces the complexity of resource management, the resource management available for earth observation satellite system.
Description
Technical Field
The invention belongs to the technical field of spatial information, mainly relates to cooperative distribution management of satellite and ground station resources, and particularly relates to a coverage area target-oriented multi-satellite multi-ground station cooperative distribution resource management method which can be used for task planning and scheduling of a ground observation satellite system.
Background
The earth observation satellite system is an important infrastructure in China, and the main working process mainly comprises two stages of earth observation and data unloading. Specifically, the ground image information is acquired by various sensors equipped in the observation satellite and is unloaded to the ground station. However, the contradiction between the requirement of the drastic observation task and the scarcity of resources such as observation satellites, ground stations and the like is increasingly prominent. In order to alleviate the contradiction, it is an objective urgent need to research how to efficiently and reasonably arrange limited satellite and ground station resources to improve the resource utilization efficiency so as to meet the task requirements of users.
The observation targets of the satellite mainly include the following three types: the first type is a point target, which refers to a target capable of being contained in one-time imaging, such as a port; the second category is moving objects, which means that the geographic location of the object is time-varying, such as a moving vehicle; the third type is a regional target, which is a target that needs to be imaged multiple times and can be completed by using an image synthesis technology, such as: and (5) making a map. The point target may be regarded as a region target with a zero area, and the moving target may be regarded as a region target including a motion trajectory. Thus, the observation of both point and moving objects can be considered as the observation of regional objects. If the observation area is larger than the sensor width limit of the satellite, single-satellite multi-time cooperative observation or multi-satellite multi-time cooperative observation and multi-ground-station cooperative reception of observation data are required. Therefore, the problem to be solved is to determine which satellites are selected and at what time and in what observation mode (i.e. the yaw angle of the sensor), and by which ground stations data reception is performed at what time.
In the past, most resource allocation management research works respectively consider the earth observation or data unloading stage, and focus on the task planning of point targets. The Hongrae Kim plans the regional target in the article "Session scheduling optimization of SAR satellite constellation for organizing system response", but neglects the stage of data unloading, the observed complete data can not be guaranteed to be successfully unloaded to the ground station, thereby affecting the task completion efficiency. Therefore, resource allocation management needs to combine two phases of ground observation and data offloading to improve the task completion rate. However, less research work has combined these two phases. For example, in the article "Planning and scheduling algorithms for the COSMO-SkyMed constellations" of Nicola bianchissi, although two phases are considered, it only aims at the observation of a point target by a specific COSMO-SkyMed system, and lacks a Planning method for a regional target with higher coordination requirements for satellites and ground stations. Thus, this method cannot be applied to regional targets, thereby affecting efficient use of earth observation satellite system resources. Therefore, a multi-satellite multi-ground-station resource collaborative allocation management method for area-oriented target joint earth observation and data unloading needs to be designed.
Disclosure of Invention
The invention aims to provide a regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method which is higher in efficiency and more sufficient in resource utilization aiming at the defects of the existing research.
The invention relates to a regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method which is characterized by comprising the following steps:
(1) the ground control center acquires information of a ground station and a satellite: the ground control center obtains the position information of the ground station and the orbit parameter information of the on-orbit satellite, and calculates the access time of the satellite and the ground station.
(2) Constructing a resource relation graph: constructing a satellite access ground station resource relation graph G according to the time of satellite access ground station1(V(G1),E(G1) Wherein, the satellite accesses the resource relation graph G of the ground station1Is V (G)1) The set of edges is E (G)1)。
(3) Constructing a communication resource conflict-free map and a communication resource conflict map: the ground control center accesses the ground station resource relation graph G according to the satellite1Generating a communication resource collision free map G2And communication resource conflict graph G4。
(4) And (3) generating a satellite unloading scheme: conflict free graph G from communication resources2And communication resource conflict graph G4All conflict-free satellite offloading solutions are generated.
(5) Constructing an available satellite unloading scheme: all possible available satellite offloading solutions containing targets that can access the region are extracted from the conflict-free satellite offloading solutions.
(6) Constructing a weighted directed graph: the ground control center constructs a resource weighted directed graph G according to the sequence of the unloading time of the data to be unloaded of the target in the satellite access area according to the available satellite unloading schemedirected。
(7) Generating an overall unloading scheme: ground control center in resource weighted directed graph GdirectedSearching for the best satellite feasible unloading scheme, and finally generating the overall unloading scheme.
Weighting directed subgraphs for each resourcePerforming a label algorithm to search paths with large coverage and small number of hops, wherein the addition uses a defined addition to operateDefining an addition operationFirst, the target area numbers are merged. Then, summing the weights under each number, that is:wherein { idk}＝{idi}∪{idj}。
(8) Determining an optimal scheme and annotating instructions: the ground control center selects an optimal scheme from the generated total unloading scheme according to the user requirements, and firstly sends a measurement and control instruction to each measurement and control ground station according to the scheme to inject the selected satellite for load control, including the time when the sensor is opened and the angle of the side swing is large for data acquisition; and then sending a data receiving instruction to each data transmission ground station to perform antenna selection and data reception of the ground station, and completing multi-satellite multi-ground-station resource collaborative allocation management.
The invention comprehensively considers two stages of earth observation and data unloading, and improves the resource utilization rate of the earth observation satellite system.
Compared with the prior art, the invention has the following advantages:
1) the invention represents the relativity of satellite and ground station resource access from space and time by constructing the satellite access ground station resource relation graph, and provides a foundation for the cooperation of the two resources. The conflict-free and conflict-free satellite and ground station resource access situations are characterized by constructing a communication resource conflict-free map and a communication resource conflict map. The problem of intermittent transmission of the satellite and the ground station in the earth observation system is converted into an independent set problem in a conflict graph, and the complexity of the problem is greatly simplified.
2) The present invention first rectangularly shapes the region targets, and then gives different weights to divide each region target. Therefore, the continuity and the importance among the sub-region targets are considered to eliminate the independence of the segmentation, and under the condition that satellite resources are limited, the maximum resource utilization rate, the maximum useful information amount and the shortest time reaction mechanism are ensured. The invention cooperates with the side-sway mode of the sensors of a plurality of satellites, defines a special addition of firstly solving a union set and then solving a weight sum, and efficiently reflects the coverage measurement standard of an area target, thereby ensuring the effectiveness and timeliness of task completion. Furthermore, the resource waste caused by the uncoordination among the satellites is effectively eliminated.
3) The invention represents the resources of five dimensions of satellite, ground station, communication, time and coverage rate by constructing the resource weighted directed graph, and effectively decouples the complicated and complicated relationship among the multi-dimensional resources. The complexity of the resource management problem in the earth observation satellite system is greatly simplified, and technical support is provided for the resource management in the earth observation satellite system.
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FIG. 1 is a general flow chart of an implementation of the present invention;
FIG. 2 is a resource diagram, wherein FIG. 2(a) is a resource relationship diagram of a satellite access ground station, FIG. 2(b) is a conflict-free communication resource diagram, FIG. 2(c) is a resource diagram with a conflict relationship, and FIG. 2(d) is a conflict communication resource diagram;
FIG. 3 is a partially sectioned view;
FIG. 4 is a resource weighted directed subgraph constructed in accordance with the present invention;
FIG. 5 is a graph comparing simulated coverage obtained with the present invention and a random scheme;
FIG. 6 is a graph comparing simulation of data offload completion times using the present invention and a random scheme.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Example 1
This example is presented from an earth observation satellite system to illustrate the implementation of the present invention. Referring to fig. 1, the earth observation satellite system used in the present invention includes a ground control center, an earth observation satellite, and a ground station section. The earth observation satellite system is assumed to be composed of I satellites distributed in a sun synchronous orbit. Each earth observation satellite is equipped with H sensors of different resolution. The yaw angle range of each sensor is [ -30 °,30 ° ]. Suppose that the number of ground stations is M and the stations are distributed locally, and each ground station is provided with n transceiver devices. The geographic location of the target area is randomly generated globally.
In the past, most of the resource management research work of the earth observation satellite system only considers the earth observation stage or the data unloading stage respectively, and the complex coupling of the earth observation stage and the data unloading stage is ignored. In particular, the study of the coupling relationship between the two phases of the regional target is important because of the special requirement of the regional target on the coverage rate, that is, the requirement of the integrity of the unloaded data. However, no method for managing resource collaborative allocation in the earth observation and data unloading stages aiming at the joint consideration of regional targets has been proposed so far.
Aiming at the current situation, the invention develops the research of multi-satellite multi-ground station resource collaborative allocation management facing to the regional target and provides a multi-satellite multi-ground station resource collaborative allocation management facing to the regional target, which is shown in figure 1 and comprises the following steps:
(1) the ground control center acquires information of a ground station and a satellite: the ground control center needs to acquire the information of the ground station, including the longitude and latitude of the ground station and the parameters of the receiving and transmitting equipment of the ground station. The information of the needed satellite comprises orbit parameter information of the orbit satellite and transceiver parameters. And calculating the access time of the satellite and the ground station according to the information.
(2) Constructing a resource relation graph: constructing a satellite access ground station resource relation graph G according to the time of satellite access ground station1(V(G1),E(G1) Wherein, the satellite accesses the resource relation graph G of the ground station1Is V (G)1) The set of edges is E (G)1). Satellite access ground station resource relation graph G1The availability and the conflict of communication resources of the satellite and the ground station are described, and technical support is provided for the multi-satellite multi-ground station resource collaborative allocation management.
(3) Constructing a communication resource conflict-free map and a communication resource conflict map: the ground control center accesses the ground station resource relation graph G according to the satellite1Generating a communication resource collision free map G2And communication resource conflict graph G4. Communication resource conflict free map G2Communication resource availability between the satellite and the ground station is characterized. Communication resource conflict graph G4Conflicts in the use of communication resources between the satellite and the ground station are revealed.
(4) And (3) generating a satellite unloading scheme: conflict free graph G from communication resources2And communication resource conflict graph G4All conflict-free satellite offloading solutions are generated. First, for communication resource conflict graph G4Performing conflict resolution and then integrating communication resources without conflict G2The available communication resources are thus available for all possible combinations of available communication resources, i.e. all collision-free satellite offloading schemes.
(5) Constructing an available satellite unloading scheme: all possible available satellite offloading solutions containing targets that can access the region are extracted from the conflict-free satellite offloading solutions. The step mainly comprises the steps of selecting different available satellite unloading schemes according to different regional targets, and having adaptability.
(6) Constructing a weighted directed graph: the ground control center constructs a resource weighted directed graph G according to the sequence of the unloading time of the data to be unloaded of the target in the satellite access area according to the available satellite unloading schemedirected. Resource weighted directed graph GdirectedThe resources of the earth observation satellite system are characterized from five dimensions of satellite resources, ground station resources, communication resources, time resources and coverage. Resource weighted directed graph GdirectedCorresponding to all possible available satellite offloading schemes, i.e., one possible available satellite offloading scheme corresponding to one resource weighted directed subgraph thereofNamely, it is
(7) Generating an overall unloading scheme: ground control center in resource weighted directed graph GdirectedSearching for the best satellite feasible unloading scheme, and finally generating the overall unloading scheme. In particular, a directed subgraph is weighted for each resourcePerforming a label algorithm to search paths with large coverage and few hops, wherein the addition uses a defined addition to operateDefining an addition operation: firstly, the numbers of the target area are subjected to union set, and then the weights under each number are summed, namely:wherein { idk}＝{idi}∪{idj}。
(8) Determining an optimal scheme and annotating instructions: user demand refers to whether coverage is focused on area targets or data offload time is complete. The ground control center selects an optimal scheme from the generated total unloading scheme according to the user requirements, and firstly sends a measurement and control instruction to each measurement and control ground station according to the scheme to inject the selected satellite for load control, including when to turn on a sensor for data acquisition and how many angles to swing laterally; and then, sending a data receiving instruction to each data transmission ground station to perform antenna selection and data receiving (namely data unloading) of the ground station, and completing multi-satellite multi-ground-station resource collaborative allocation management.
The invention represents the relativity of the satellite and the ground station resource access by constructing the satellite access ground station resource relation graph, and provides a foundation for the cooperation of two space resources. The conflict-free and conflict-free performances of the satellite and ground station resource access conditions are characterized by constructing a communication resource conflict-free map and a communication resource conflict map. Based on this, the problem of intermittent transmission to satellites and ground stations in the earth observation system can be converted into the problem of the maximum independent set in the conflict graph, and the complexity of the problem is greatly simplified.
Example 2
The regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method is the same as the resource relationship graph constructed in the step (2) in the embodiment 1, and specifically comprises the following steps:
(2a) building a resource relationship graph G1Set of points V (G)1)＝{S}∪{T}∪N∪SatWherein S is a virtual source node, T is a virtual destination node,set of virtual points for ground stations, SatFor the set of satellite nodes to be considered,the ith satellite is given an opportunity to access the nth set of transceiver devices of the mth ground station for the ith time.
(2b) Building a resource relationship graph G1Edge set E (G)1) I.e. E (G)1) -SS { (U.S.G { (U.T {) CV, wherein SS is the virtual source node S to the satellite node Si∈SatOf the set of edges, SG, to construct a satellite node Si∈SatTo the set of virtual points N of the ground station, NT being the virtual node for constructing the ground stationThe set of edges to the virtual destination node T and the CV are virtual node sets between the constructed ground stationsAndand virtual node set within ground stationAndthe sets of edges between which there is a conflict are conflict edges. The satellite access ground station resource relation graph represents three-dimensional resources of a satellite, a ground station and communication, describes the condition of using communication resources by the satellite and the ground station, and provides technical support for multi-satellite multi-ground station resource collaborative allocation management.
Example 3
The regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method, as in embodiment 1-2, the ground control center in step (3) constructs a communication resource conflict-free map and a communication resource conflict map, which specifically includes:
(3a) accessing ground station resource relationship graph G from satellite1Deleting the conflict edge and the point connected with the conflict edge to obtain the communication resource conflict-free graph G2(V(G2),E(G2)). Accessing ground station resource relationship graph G from satellite1Medium erasure communication resource collision free map G2The resource graph G with the conflict relationship is obtained by the aggregation of all nodes and edges except the satellite node, the virtual source node and the destination node3＝G3(V(G3),E(G3))。
(3b) Resource graph G with conflict relationship3Middle edge E (G)3) The CV representation is a communication resource conflict graph G4(V(G4),E(G4) Set of points V (G)4) Wherein, the edge set E (G)4) Forming a communication resource conflict graph G4. The communication resource conflict-free map reveals the availability of communication resources to the satellite and the ground station. Communication resource conflict maps characterize the conflict in the use of communication resources by satellites and ground stations. The conflict-free property and the conflict property of the satellite and the ground station for the use of the communication resources are represented by constructing the communication resource conflict-free graph and the communication resource conflict graph, the problem of intermittent transmission of the satellite and the ground station in the earth observation system can be converted into the problem of the maximum independent set in the conflict graph, and the complexity of the problem is greatly simplified.
Example 4
The regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method is the same as the embodiment 1-3, and the ground control center generates the satellite unloading scheme in the step (4), which specifically comprises the following steps:
(4a) finding a communication resource conflict graph G4(V(G4),E(G4) MS ═ MS) of the maximum independent setiGet the maximum independent set MS ═ MSiDot inversion inMapping to resource graph G with conflict relationships3Edge set in (1)
(4b) Conflict-free map G at communication resource by using Dijkstra algorithm or Bellman-Ford algorithm2Finds all paths from the virtual source node S to the destination node TExtracting edges from pathAnd (3) forming an edge set:then, set the edge EMSThe ith component inAnd edge set EfeasibleAre merged into a new setFinally, forming a total feasible output edge setI.e., a collision-free satellite offloading scheme. The satellite unloading scheme can be generated by utilizing the existing mature maximum independent set algorithm and Dijkstra algorithm, so that the complexity of problem solving is greatly reduced.
Example 5
The regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method is the same as the embodiment 1-4, and the ground control center generates the available satellite unloading scheme in the step (5), which specifically comprises the following steps:
(5a) the ground control center calculates the minimum rectangular area coverage targetArea and is denoted as the smallest rectangular area RECmin＝{(x1,y1),(x2,y2),(x3,y3),(x4,y4) Wherein (x)i,yi) Representing longitude and latitude coordinates.
(5b) According to the requirement of the approximation degree, dividing the whole minimum rectangular area RECminDivided into Num sub-rectangles RECiAnd numbered as id; calculating each sub-rectangle RECiCenter longitude and latitude ofSub-rectangle RECiDifferent weights are given according to prior knowledge:(each id corresponds to a weight), satellite satiThe coverage of the sub-rectangles is converted into the coverage of the rectangle center, and a coverage id set is obtainedThe invention provides a method for covering an area target by using a minimum rectangular area, which is characterized in that the rectangular area is divided, and each divided sub-rectangle is endowed with different weights. The method not only considers the coherence and importance among the sub-region targets to eliminate the independence of segmentation, but also ensures the maximized resource utilization rate, the maximized useful information amount and the shortest time reaction mechanism under the condition that the satellite resources are limited. In addition, the method can well depict the target in the irregular area, and has general practical value.
(5c) Set of edges at total feasible outputEach feasible set ofExtracting a set TS containing satellitesaccess(representing a set of satellites having access to a target area)Set of edges with satellites(i.e., the available offload scenario).
Example 6
The regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method is the same as that in the embodiments 1 to 5, and the ground control center constructs the resource weighted directed graph G in the step (6)directedThe method specifically comprises the following steps:
(6a) to edge setEach set ofAre all modeled as a resource weighted directed subgraphConstructing an overall resource weighted directed graphTime axis is expressed in timeAscending sorting and dividing, wherein each time point corresponds to a satellite, namely:according to SiFrom TSaccessTo obtainWherein,andindicating satellite satiThe start time and end time of the area object are accessed.
(6b) According to the satellite sat at a timeiTarget end time of access areaFinding a minimum target end time greater than the access areaOf the satellite satiStart time of access to ground stationNamely, the ith satellite visits the mth ground station for the ith time to select the start time of the nth set of transceiver equipment, and thus a resource weighted directed subgraph is constructedOne hop node in the above, and so on. Corresponding to edge sets in the graphIs the corresponding setThe invention represents the resources of five dimensions of satellite, ground station, communication, time and coverage rate by constructing the resource weighted directed graph, and effectively decouples the complicated and complicated relationship among the multi-dimensional resources. The complexity of the resource management problem in the earth observation satellite system is greatly simplified, and technical support is provided for the resource management in the earth observation satellite system.
A more complete and thorough example is given below to further illustrate the invention
Example 7
The regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method is the same as the embodiment 1-6, referring to fig. 1, and the system scene used by the invention comprises a ground control center, a ground observation satellite and a ground station part. The earth observation satellite system consists of I satellite nodes distributed on a sun synchronous orbit. The number of the ground stations is M, the stations are distributed locally, and each ground station is provided with n receiving and transmitting devices. The geographic location of the target area is randomly generated globally. And accessing the satellite in the area, selecting a proper resolution sensor and a proper yaw angle, and after shooting a part of area, moving to the coverage area of the ground station to download data.
Referring to fig. 1, the implementation steps of the invention are as follows:
step 1, according to the known ground station information, such as longitude and latitude of the ground station position, the antenna elevation angle and the like, and the orbit parameters of the in-orbit satellite, such as the orbit height, the inclination angle, the rising intersection and the right ascension, the ground control center calculates the access time of the satellite and the ground station.
(1a) Judging whether the ground station and the satellite are visible or not, wherein the judgment conditions are as follows: phi is more than 0.
If the above conditions are satisfied, the ground station and the satellite are visible, and the satellite can unload data to the ground station; otherwise, the satellite cannot communicate with the ground station. The judgment condition symbol Φ may be calculated by the following equation:
wherein,is a position vector of the satellite or satellites,for the position vector of the ground station, α is the elevation requirement of the ground station antenna to calibrate the satellite, typically α ═ 10 °Position vector of ground station obtained according to orbit of satelliteMay be obtained from a ground control center database.
(1b) Recording the starting time t of the judgment condition phi > 01And an end time t2And obtaining the access duration D ═ t of the satellite and the ground station2-t1。
And 2, the ground control center acquires relevant information of the regional target, such as longitude and latitude and area size of the geographic position of the regional target, and constructs a satellite access ground station resource relation graph according to the access time of the satellite and the ground station.
(2a) Virtual point set of ground station resourcesWherein each virtual nodeA visibility period for the ith satellite to visit the nth set of transceiver devices of the mth ground station. Each virtual nodeConstructed by computing a set of access durations for the satellite and the ground stationWhereinSelecting the time length of the nth set of transceiver equipment for the ith visit of the jth satellite to the mth ground station,andare respectively provided withAnd selecting the starting time and the ending time of the nth set of transceiver equipment for the ith satellite visiting the mth ground station. In particular, ifThen build the node
(2b) Constructing a virtual source node S and a virtual destination node T, uniformly numbering all available satellite resources in space to obtain a satellite node set Sat＝{SiI belongs to (1, 2.,. I) } to form a resource relation graph G of the satellite access ground station1(V(G1),E(G1) Point set V (G)1)＝{S}∪{T}∪N∪Sat. The virtual source node S and the virtual destination node T are constructed for the requirement of convenience in subsequent path calculation, I represents the maximum satellite number, I represents the ith satellite, and E (G)1) Resource relation graph G for satellite access ground station1(V(G1),E(G1) ) edge sets.
(2c) Construction of satellite access ground station resource relation graph G1(V(G1),E(G1) Edge set E (G)1)。
(2c1) Building a virtual source node S to a satellite node Si∈SatThe edge set SS of (1), the satellite S having the condition of accessing the target areai∈SatAnd virtual node S construct edge SSiand added to the edge set SS, i.e. SS ═ SS @ u @ { SS @i}。
(2c2) Construction of satellite node Si∈SatVirtual point set to ground stationTo the satellite S having the condition of accessing the ground stationi∈SatAnd ground station virtual pointAdding edgeNamely, it isThe judgment conditions are as follows:is established, then(meaning j corresponds to satellite Si)。
(2c3) Constructing virtual nodes of a ground stationEdge set NT to virtual destination node T, virtual node to all ground stationsAnd a virtual destination node TInstant edge set
(2c4) Building virtual node set between ground stationsAndand virtual node set within ground stationAndbetween sets of protruding edges CV, storeAdding edges between conflicting virtual nodesOrNamely, it isOrThe judgment conditions are as follows:
the first situation is as follows: ground station virtual nodeAnd ground station virtual nodeAccess durationAnd access durationThere is an intersection, i.e. one of the following conditions:and
case two: ground station virtual nodeAnd ground station virtual nodeAccess durationAnd access durationThere is an intersection, i.e. one of the following conditions:and
(2d) construction of satellite access ground station resource relation graph G1(V(G1),E(G1) Edge set E (G)1) I.e. E (G)1)＝SS∪SG∪NT∪CV。
Through step 2, as shown in fig. 2(a), a satellite access ground station resource relation graph is constructed through the calculated access conditions of the satellite and the ground station. Point S represents a virtual source node and T represents a virtual destination node. Three nodes in the first column behind the source node represent three earth observation satellites, a ground station is represented by a dashed box, a plurality of virtual nodes of the ground station are divided into two groups, and each group represents a transmitting-receiving device of the ground station and is represented by an ellipse. The nodes within the ellipse represent the visible time periods accessed by a certain set of transceivers of a certain satellite and local area station. The satellite and these virtual node connections are represented by edges that are accessible. Each satellite may be connected to these virtual nodes in its nearby ground stations as well as to other ground stations, as long as the communication resources meet the access conditions. The weights on the sides represent the length of time of the range. It is emphasized that the time intervals between satellite and ground station access are marked by red and thick lines, if any. Thus, a satellite access ground station resource relation graph is constructed.
And 3, the ground control center generates a communication resource conflict graph according to the satellite access ground station resource relation graph, and outputs all conflict-free satellite unloading schemes through conflict resolution.
(3a) Satellite access ground station resource relation graph G1(V(G1),E(G1) Generate a collision free map G of communication resources2(V(G2),E(G2)). Accessing ground station resource relationship graph G from satellite1(V(G1),E(G1) Referring to fig. 2(a), the conflict-free communication resource map G is generated by deleting the conflict edge and the point connected to the conflict edge2(V(G2),E(G2) See fig. 2(b), it can be seen by comparing fig. 2(a) that two points and one edge are deleted in the top ground station, three points and two edges are deleted in the middle ground station, and one point and one edge are deleted in the bottom ground station. Namely forThe following iterative operations are performed: e (G)2)＝E(G1)-(c,d)，V(G2)＝V(G1)-c-d。
(3b) Satellite access ground station resource relation graph G1(V(G1),E(G1) Generate a resource graph G with conflict relationships3(V(G3),E(G3)). Accessing ground station resource relationship graph G from satellite1(V(G1),E(G1) See fig. 2(a) for a conflict-free map G of communication resource deletion2(V(G2),E(G2) See fig. 2(b) that the resource graph G with conflict relationship is obtained by collecting all nodes and edges except the satellite node, the virtual source node and the destination node3＝G3(V(G3),E(G3) See FIG. 2(c), i.e., G)3(V(G3),E(G3))＝G1(V(G1),E(G1))-G'2(V(G'2),E(G'2) Wherein, forUpdate E (G'2)＝E(G'2)∪(c,d)，V(G'2)＝V(G2)-{c}∪{d}，V(G3)＝V(G1)-V(G'2)，E(G3)＝E(G1)-E(G'2)。
(3c) By having a conflict switchResource graph G of system3(V(G3),E(G3) Generate a communication resource conflict graph G4(V(G4),E(G4))。
Resource graph G with conflict relationship3(V(G3),E(G3) See edge E (G) in FIG. 2(c)3) \ { CV ∪ SS } is represented as a communication resource conflict graph G4(V(G4),E(G4) See point set V (G) in FIG. 2(d)4) Wherein, the edge set E (G)4) Constructing a communication resource conflict graph G as shown in fig. 2(d)4(V(G4),E(G4))。
(3d) Conflict-free map G by communication resources2(V(G2),E(G2) ) and communication resource conflict graph G4(V(G4),E(G4) All possible collision-free satellite offloading solutions are generated.
Finding a communication resource conflict graph G by using a coloring algorithm4(V(G4),E(G4) MS ═ MS) of the maximum independent seti}. Setting the maximum independent set MS as { MS ═ MSiMapping points in the map to a resource map G with conflict relationship in reverse direction3Edge set in (1)It is worth noting that:wherein,
conflict-free map G at communication resource by using Dijkstra algorithm or Bellman-Ford algorithm2Finds all paths from the virtual source node S to the destination node TExtracting edges from pathForm edge setsThen, set the edge EMSThe ith component inAnd edge set EfeasibleAnd become a new setFinally, forming a total feasible output edge setFor example, first, see a communication resource collision free map G as in FIG. 2(b)2Using Dijkstra algorithm or Bellman-Ford algorithm to find available satellite offloading scheme, see then communication resource conflict graph G as in fig. 2(d)4(V(G4),E(G4) Using a coloring algorithm to find the largest possible available satellite offloading solution. And finally, integrating the two satellite unloading schemes to generate all possible conflict-free satellite unloading schemes.
And 4, calculating the minimum rectangular area coverage target area by the ground control center according to the orbit parameters of the orbiting satellite and the geographical position information of the area target. Then, the rectangular area is divided into a plurality of sub-rectangles according to the requirement of approximation degree, different weights are given to each sub-matrix according to importance, the coverage of the sub-rectangles by the satellite is approximate to the coverage of the centers of the sub-rectangles, and then the total weight sum of the satellite to the area target is calculated. And extracts from the conflict-free satellite offloading solutions all possible available satellite offloading solutions that contain the access-capable regional targets.
(4a) Referring to fig. 3, the ground control center receives a regional target task request, and first obtains the geographic location coordinates and the area size of the regional target. And then calculating the minimum rectangular area for full coverage, and further dividing the rectangular area. The more small rectangular regions that are divided, the higher the degree of approximation to the region object.
The smallest rectangular area is denoted RECmin＝{(x1,y1),(x2,y2),(x3,y3),(x4,y4) Wherein (x)i,yi) Representing longitude and latitude coordinates, and the numbering order is clockwise. Dividing the whole rectangular area RECminThe division is performed into Num ═ MN sub-rectangles. Referring to fig. 3, the target region is divided into 154 sub-rectangles in this example. To simplify the calculation, coordinates of two adjacent points of the rectangle are set to be the same longitude or latitude, and then the rectangular area can be represented as RECmin＝{(x1,y1),(x2,y1),(x1,y2),(x2,y2) And simultaneously calculating the precision difference and the dimensionality difference of each point at equal intervals:coordinates of each point divided by point (x)1,y1) As a starting point, how many steps to go in the longitude and latitude directions, respectively, are calculated, the longitude step size being ΔlongitudeDimension step size of ΔlatitudeIf the longitude direction of the point X goes by X steps and the latitude direction goes by y steps, the coordinate of the point X is: (x)1+Δlongitudex,y1+Δlatitudey). Each point thus constitutes a Num-MN sub-rectangular region.
(4b) Coverage of a rectangular area translates to coverage of a sub-rectangular area.
In order to calculate whether a sub-rectangle is covered, here the equivalent rectangle center is covered, the coordinates of the center of each sub-rectangle need to be calculated. Firstly, the rectangles are numbered ID e ID in sequence from latitude to longitude, wherein the ID is {1, 2. Then, the position location of the submatrix in the matrix area is determined. Finally passing through the position location of the sub-rectangle and its central coordinateFinding the center coordinates of the sub-rectangles according to the corresponding relationship, whereinTo represent the correspondence between the position of the sub-matrix and its central latitude and longitude coordinates. The submatrix position location calculation may be by the following relationship:
idmodN＝xmod，yrem＝id-xmodN。
if y isremWhen the value is equal to 0, thenOtherwise yremNot equal to 0, thenThe central coordinates of the sub-rectangles are calculated by using a first sub-matrix REC1Is calculated by the location relative to it, i.e. how many steps to go to longitude and latitude. Submatrix REC1The center coordinates of (a) are:for the submatrix RECiIf the longitude is satisfiedThe longitude coordinate of the matrix center isIf it is satisfied withThe longitude coordinate of the matrix center isIf the latitude satisfiesThe coordinate of the central dimension of the matrix isThe longitude coordinate of the matrix center isThen the coordinates of the center of the matrix are obtained
(4c) For different sub-matrices RECiDifferent weights are given according to prior knowledge:wherein,as a center coordinate ofOf the submatrix RECi. By usingRepresentation sub-matrix RECiThe number id corresponds to the weight w. For example, referring to fig. 3, if the edge sub-rectangle of the rectangle does not have the relevant information of the coverage area target, the weight may be given as 0, and the information of other coverage area targets is given different weights based on the corresponding importance of the information.
(4d) Record each satellite satiCovering all sub-rectangles RECiThe set of ids of (a).
Judging satellite satiWhether a rectangular REC with the number id can be covered under the condition of meeting the resolution requirementiThe conditions of (a) are as follows:
wherein,as a matrix RECiCenter coordinateTo satellite sat at time tiOf the sub-star point coordinateA distance of (d), hiAs satellite satiThe height of the track of (a) is,as satellite satiAngle of depression of sensor As satellite satiM is the mode number, and γ is the angle of each mode yaw.
If the condition is satisfied, recording the satellite satiId set of coverage area targets in planning cycle:and recording the starting time, the ending time and the number three-dimensional array of the satellite of the target in the access area If it is notThen TSaccess＝TSaccess∪{SatiWhere, TSaccessRepresenting a set of satellites having access to a target area.
(4e) For set at total feasible output edgeEach feasible set ofExtracting a set TS containing satellitesaccessThe edges of all satellites in the setThenFor example, consider an earth observation satellite system having three earth observation satellites. Two earth observation satellites use different sensor modes to acquire different regional target information, and one earth observation satellite does not have information of observing regional targets. The invention selects the feasible unloading schemes of two earth observation satellites capable of accessing regional targets from the feasible unloading schemes of the satellites. And the sensors of the two satellites are cooperated to avoid the repeated coverage of the two satellites to a target area, so that satellite resources and communication resources are saved, and target image data acquired by the two satellites can be unloaded to a ground station in an access time without conflict, so that an observation task is accurately and efficiently completed.
And 5, constructing a resource weighted directed graph by the ground control center according to the orbit parameters of the orbiting satellite and the geographical position information of the regional target.
For at fEOutputEach set inModeling a problem as a weighted directed subgraphAnd constructing a virtual source point S and a virtual destination node T, and referring to FIG. 2.Wherein,time axis is expressed in timeAscending sorting and dividing, wherein each time point corresponds to a satellite, namely:according to SiFrom TSaccessTo obtainAccording to the satellite sat at a timeiTarget end time of access areaFinding a minimum target end time greater than the access areaOf the satellite satiStart time of access to ground stationNamely, the ith satellite visits the mth ground station for the ith time to select the start time of the nth set of transceiver equipment, and thus a resource weighted directed subgraph is constructedOne hop node in the above, and so on. Corresponding to edge sets in the graphIs the corresponding set
Referring to fig. 4, fig. 4 is a resource weighted directed subgraph in which three blocks are listed. The first box contains six red nodes and is divided into two groups numbered k1 and k 2. Three points in the first group represent three different sensor modes: mode 1, mode 2 and mode 3. Each mode represents a different yaw angle of the sensor on one satellite. For example: the CBERS-1 satellite sensor roll range is 32 deg., for a total of 32 modes if each mode is rotated by 2 deg.. The number k1 represents the first visit to the target area, and similarly, the number k2 represents the second visit to the target area. And the satellite firstly visits the weight values of the edges in the resource weighted directed graph of the target area obtained by the target in the area in different modes, and carries out the second visit in the same way. But the weight addition must be calculated according to the addition defined above. Furthermore, one box corresponds to a point in time, as seen in fig. 4, the first box corresponds to a point in time t1, which corresponds to the time at which the satellite offloads data to the ground station. Then, the paths which have the largest weighted sum and small corresponding hop number and meet the task requirements, namely the optimal satellite combination and the sensor sidesway angle combination mode of the satellite, are found according to the ascending sequence of the time points.
And 6, searching the optimal satellite feasible unloading scheme in the conflict-free satellite unloading scheme by the ground control center according to the satellite resource scheme for survival of the weighted directed graph to generate a total scheme.
For each weighted rule directed graphPerforming a labeling algorithm, wherein the addition operates using defined additionsThe addition operation is defined as follows: first, the target area numbers are merged. Then, summing the weight under each number, namely:wherein, { idk}＝{idi}∪{idj}。
And 7, the ground control center selects an optimal scheme from the generated overall scheme according to the user requirements, and respectively sends a measurement and control instruction to each measurement and control ground station to inject the selected satellite for load control and each data transmission ground station to send a data receiving instruction for ground station antenna selection and data reception.
According to the invention, the ground control center calculates the time of the satellite accessing the ground station according to the ground station information (including position and the like) and the satellite ephemeris; constructing a resource relation graph through the calculated time, generating a communication resource conflict graph, and outputting all conflict-free total satellite unloading schemes through a conflict decomposition algorithm; calculating the condition of satellite access target area according to target area information (including position and the like) and satellite ephemeris, and constructing a weighted directed graph for each collision-free satellite unloading scheme through a series of operations such as rectangularization of the area target and the like; and traversing all the weighted directed graphs by the ground control center, and finding out paths with large coverage rate and small path length by using a labeling algorithm and defined addition to generate an optimal scheme. And the ground control center respectively sends a measurement and control instruction to each measurement and control ground station according to the optimal scheme, and the measurement and control instruction is injected to the selected satellite to carry out load control, and each data transmission ground station sends a data receiving instruction to carry out ground station antenna selection and data receiving. The invention uses the model of the graph to represent the intermittency and the correlation of the resources in the earth observation satellite system, and reduces the complexity of resource management.
The technical effects of the present invention will be explained again by simulation
Example 8
The regional target-oriented multi-satellite multi-ground station resource collaborative allocation management method is the same as the embodiment 1-7.
Simulation conditions
In the simulation scenario, the latitude and longitude coordinates of the regional targets are randomly generated from the longitude range [0 °,120 ° ] and the latitude range [ -30 °,60 ° ] respectively. Considering two area sizes of a square region object with side lengths of 2 ° and 4 °, respectively, the areas are 4 and 16, respectively. Consider 4 geostationary satellites distributed in a sun-synchronized orbit at 98.5 °, 98.87 °, 98.48 ° and 98.00 ° orbital inclinations CBERS-1, FY1, Worldview3 and quikbard, respectively. Wherein, the range of the side swing angle of the sensor on each satellite is [ -30 degrees, 30 degrees ]. The ground stations are respectively karsh, san and dense clouds, and the longitude and latitude of the ground stations are (76 degrees, 39.5 degrees), (109.5 degrees, 18 degrees), (116 degrees and 40 degrees).
Emulated content and results
It should be noted that, in the existing regional target-oriented resource distribution, there is no scheme for jointly considering ground observation and data unloading. Therefore, in the data unloading stage, random selection of some non-conflicting communication resources for data unloading, i.e. a random scheme, is considered as a comparison scheme with the present invention.
Simulation 1, comparing the coverage of the regional target with the random scheme by the method of the present invention, and as a result, effectively improving the coverage of the regional target by the cooperative communication resource allocation management of the present invention, see fig. 5, where fig. 5 is a simulation comparison graph of the coverage obtained by the method of the present invention and the random scheme.
As can be seen from FIG. 5, the present invention compares the coverage of the target area with the contrast scheme under two different area targets as the dimension of the area target changes. For the condition that the area of the target area is 4, the coverage rate in the dimensional range of-30 degrees and-18 degrees is obviously improved. Under the condition that the area of the target area is 16, the coverage rate of the invention is obviously improved in the dimensional range of [ -30 °, -10 ° ] and the dimensional range of [20 °,35 ° ]. Furthermore, earth station resources and communication resources are scarce and expensive for the satellite resources in earth observation satellite systems. Therefore, the invention can complete the maximum target area coverage rate by using the minimum resource cost.
Example 9
The area target-oriented multi-satellite multi-ground station resource collaborative allocation management method is the same as the embodiments 1-7, the simulation conditions and the contents are the same as the embodiments 1-8,
simulation 2, comparing the image data unloading completion time of the regional target with the simulation of the random scheme by the method of the present invention, and as a result, effectively reducing the image data unloading completion time of the regional target by using the cooperative communication resource allocation management of the present invention, see fig. 6, where fig. 6 is a simulation comparison graph of the data unloading completion time obtained by using the method of the present invention and the random scheme.
As can be seen from fig. 6, the present invention compares the target image data unload completion time and the comparison scheme under two different area regional targets as the dimension of the regional target changes. In the case of the target area of 4, the unloading completion time of the target image data in the dimensional range of [ -30 degrees, 60 degrees ] is obviously reduced. For the target area of 16, the present invention significantly reduces the target image data offload completion time in the dimensional range of-30 °,60 °, except in individual dimensions, such as-25 °, -20 °, -5 °, 0 °. Therefore, the invention can effectively reduce the time for unloading the image data of the area target. Particularly in emergency application scenarios, the invention can improve the response capability to emergency events.
In summary, the method for managing resource collaborative allocation of multiple satellites and multiple ground stations for regional targets disclosed by the present invention solves the problem of resource collaborative planning of multiple satellites and multiple ground stations, and the implementation process is as follows: the ground control center respectively constructs a resource relation graph, a communication resource conflict-free graph and a communication resource conflict graph to generate a satellite unloading scheme by acquiring information of the ground station and the satellite; calculating a satellite access area target according to the target area information and the satellite ephemeris, and extracting all possible satellite unloading schemes from the satellite unloading schemes; and constructing a weighted directed graph for each feasible satellite unloading scheme, traversing all weighted directed graphs, finding out paths with large coverage and few hops by using a labeling algorithm and defined addition to generate a total unloading scheme, and injecting a measurement and control instruction. The invention uses the model of the graph to represent the intermittence and the correlation of the resources in the earth observation satellite system, improves the resource utilization rate and the task planning efficiency, reduces the complexity of resource management, and can be used for the resource management of the earth observation satellite system.
Claims (6)
1. A multi-satellite multi-ground station resource collaborative allocation management method facing to regional targets is characterized by comprising the following steps:
(1) the ground control center acquires information of a ground station and a satellite: the ground control center acquires the position information of the ground station and the orbit parameter information of the in-orbit satellite and calculates the access time of the satellite and the ground station;
(2) constructing a resource relation graph: constructing a satellite access ground station resource relation graph G according to the time of satellite access ground station1(V(G1),E(G1) Therein, a satelliteAccessing a ground station resource relationship graph G1Is V (G)1) The set of edges is E (G)1)；
(3) Constructing a communication resource conflict-free map and a communication resource conflict map: the ground control center accesses the ground station resource relation graph G according to the satellite1Generating a communication resource collision free map G2And communication resource conflict graph G4；
(4) And (3) generating a satellite unloading scheme: conflict free graph G from communication resources2And communication resource conflict graph G4Generating all conflict-free satellite unloading schemes;
(5) constructing an available satellite unloading scheme: extracting all possible available satellite unloading schemes containing targets with access to the region from the conflict-free satellite unloading schemes;
(6) constructing a weighted directed graph: the ground control center constructs a resource weighted directed graph G according to the sequence of the return time of the target to be data of the satellite access area according to the available satellite unloading schemedirected；
(7) Generating an overall unloading scheme: ground control center in resource weighted directed graph GdirectedSearching for the best satellite feasible unloading scheme, and finally generating a total unloading scheme;
weighting directed subgraphs for each resourcePerforming a label algorithm to search for paths with large coverage and short hop count, wherein the addition uses a defined addition to operateDefining an addition operation: firstly, carrying out union set on the area numbers; then, summing the weights under each number, that is:wherein { idk}＝{idi}∪{idj}；
(8) Determining an optimal scheme and annotating instructions: the ground control center selects an optimal scheme from the generated total unloading scheme according to the user requirements, and firstly sends a measurement and control instruction to each measurement and control ground station according to the scheme to inject the selected satellite for load control, including when to turn on a sensor for data acquisition and how many angles to swing laterally; and then sending a data receiving instruction to each data transmission ground station to perform antenna selection and data reception of the ground station, and completing multi-satellite multi-ground-station resource collaborative allocation management.
2. The area-target-oriented multi-satellite multi-ground-station resource collaborative allocation management method according to claim 1, wherein the constructing of the resource relationship diagram in the step (2) specifically includes:
(2a) building a resource relationship graph G1Set of points V (G)1)＝{S}∪{T}∪N∪SatWherein S is a virtual source node, T is a virtual destination node,set of virtual points for ground stations, SatFor the set of satellite nodes to be considered,an opportunity for the jth satellite to access the nth set of transceiver equipment of the mth ground station for the ith time;
(2b) building a resource relationship graph G1Edge set E (G)1) I.e. E (G)1) -SS { (U.S.G { (U.T {) CV, wherein SS is the virtual source node S to the satellite node Si∈SatOf the set of edges, SG, to construct a satellite node Si∈SatTo the set of virtual points N of the ground station, NT being the virtual node for constructing the ground stationThe set of edges to the virtual destination node T and the CV are virtual node sets between the constructed ground stationsAndand virtual node set within ground stationAndthe sets of edges between which there is a conflict are conflict edges.
3. The area-target-oriented multi-satellite multi-ground-station resource collaborative allocation management method according to claim 1, wherein the ground control center in step (3) constructs a communication resource conflict-free map and a communication resource conflict map, specifically comprising:
(3a) accessing ground station resource relationship graph G from satellite1Deleting the conflict edge and the point connected with the conflict edge to obtain the communication resource conflict-free graph G2(V(G2),E(G2) Access from the satellite to the ground station resource relationship graph G)1Medium erasure communication resource collision free map G2The resource graph G with the conflict relationship is obtained by the aggregation of all nodes and edges except the satellite node, the virtual source node and the destination node3＝G3(V(G3),E(G3))；
(3b) Resource graph G with conflict relationship3Middle edge E (G)3) The CV representation is a communication resource conflict graph G4(V(G4),E(G4) Set of points V (G)4) Wherein, the edge set E (G)4) Forming a communication resource conflict graph G4。
4. The area-target-oriented multi-satellite multi-ground-station resource collaborative allocation management method according to claim 1, wherein the ground control center in step (4) generates a satellite unloading scheme, specifically including:
(4a) finding a communication resource conflict graph G4(V(G4),E(G4) MS ═ MS) of the maximum independent setiGet the maximum independent set MS ═ MSiMapping points in the map with conflict relation resource map G in reverse direction3Edge set in (1)
(4b) Conflict-free map G at communication resource by using Dijkstra algorithm or Bellman-Ford algorithm2Finds all paths from the virtual source node S to the destination node TExtracting edges from pathAnd (3) forming an edge set:then, set the edge EMSThe ith component inAnd edge set EfeasibleAre merged into a new setFinally, forming a total feasible output edge set
5. The area-target-oriented multi-satellite multi-ground-station resource collaborative allocation management method according to claim 1, wherein the ground control center in step (5) generates an available satellite offloading scheme, specifically including:
(5a) the ground control center calculates the minimum rectangular area coverage target area and expresses the minimum rectangular area RECmin＝{(x1,y1),(x2,y2),(x3,y3),(x4,y4) Wherein (x)i,yi) Representing longitude and latitude coordinates;
(5b) according to the requirement of the approximation degree, dividing the whole minimum rectangular area RECminDivided into Num sub-rectangles RECiAnd numbered as id; calculating each sub-rectangle RECiCenter longitude and latitude ofSub-rectangle RECiDifferent weights are given according to prior knowledge:(each id corresponds to a weight), satellite satiThe coverage of the sub-rectangles is converted into the coverage of the rectangle center, and a coverage id set is obtained
(5c) Set of edges at total feasible outputEach feasible set ofExtracting a set TS containing satellitesaccessSet of edges of all satellites in the system
6. The area-target-oriented multi-satellite multi-ground-station resource collaborative allocation management method according to claim 1, wherein the ground control center in step (6) constructs a resource weighted directed graph GdirectedThe method specifically comprises the following steps:
(6a) to edge setEach set ofAre all modeled as a resource weighted directed subgraphConstructing an overall resource weighted directed graphTime axis is expressed in timeAscending sorting and dividing, wherein each time point corresponds to a satellite, namely:according to SiFrom TSaccessTo obtainWherein,andindicating satellite satiA start time and an end time of the access area target;
(6b) according to the satellite sat at a timeiTarget end time of access areaFinding a minimum target end time greater than the access areaOf the satellite satiAt the beginning of the visit to the ground stationWorkshopNamely, the ith satellite visits the mth ground station for the ith time to select the start time of the nth set of transceiver equipment, and thus a resource weighted directed subgraph is constructedOne-hop node in the graph, and so on, corresponding to the edge set in the graphIs the corresponding set
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