CN108256771B - Variable-period multi-satellite emergency task planning method and system with different scheduling mechanisms - Google Patents

Variable-period multi-satellite emergency task planning method and system with different scheduling mechanisms Download PDF

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CN108256771B
CN108256771B CN201810060178.3A CN201810060178A CN108256771B CN 108256771 B CN108256771 B CN 108256771B CN 201810060178 A CN201810060178 A CN 201810060178A CN 108256771 B CN108256771 B CN 108256771B
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靳鹏
王超超
夏维
胡笑旋
孙海权
张海龙
罗贺
马华伟
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Hefei University of Technology
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Abstract

The invention provides a variable-period multi-satellite emergency task planning method and system with different scheduling mechanisms, which can cope with a complex full flow of emergency task planning integration in a planning mode of combining fixed-period overall decision planning and local adjustment planning based on measurement and control opportunities, and solves the influence of uncertain arrival of emergency tasks on task planning; considering the practical constraint that the emergency task can be observed only after the instruction is injected and can be completed only by being transmitted under the ground station, an emergency task preprocessing scheme is designed and the deadline requirement of the emergency task is met. Meanwhile, the characteristic that the earlier the emergency task is completed, the better the emergency task is, the weighting mechanism of the time window of the emergency task is designed, and the emergency task is guaranteed to be downloaded as soon as possible.

Description

Variable-period multi-satellite emergency task planning method and system with different scheduling mechanisms
Technical Field
The invention relates to the field of satellite search, in particular to a variable-period multi-satellite emergency task planning method and system with different scheduling mechanisms.
Background
The remote sensing satellite is used for observing or searching a target on the ground or on the sea by using various remote sensors carried by a satellite. The remote sensing satellite has the advantages of wide coverage area, long duration, no limitation of airspace and national boundary and the like in earth observation, so that the remote sensing satellite plays an important role in aspects of ocean search, military investigation and the like.
The remote sensing satellite receives a conventional task and an emergency task when executing an observation task, wherein the emergency task is different from the conventional task in terms of needing to be completed within a completion time limit and the earlier the completion time is, the different is better.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a variable-period multi-satellite emergency task planning method and system with different scheduling mechanisms, which can be used for integrally planning a decision-making plan with a fixed period and an emergency task planning integrated full flow combined with a local adjustment plan based on a measurement and control opportunity, and solves the influence of uncertain arrival of emergency tasks on task planning; considering the practical constraint that the emergency task can be observed only after the instruction is injected and can be completed only by being transmitted under the ground station, an emergency task preprocessing scheme is designed and the deadline requirement of the emergency task is met. Meanwhile, the characteristic that the earlier the emergency task is completed, the better the emergency task is, the weighting mechanism of the time window of the emergency task is designed, and the emergency task is guaranteed to be downloaded as soon as possible.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, a method for planning a variable-period multi-satellite emergency task with different scheduling mechanisms is provided, and the method includes the following steps:
acquiring all conventional tasks in a first preset time period, all emergency tasks in a fifth preset time period and all emergency tasks in a second preset time period;
acquiring a visible time window of each satellite of each conventional task in a third preset time period, acquiring an uplink time window between each satellite and the measurement and control station in the third preset time period, and taking the end time of the earliest uplink time window of each satellite as the first uplink end time of each satellite; the ending time of the first preset time period is equal to the starting time of the third preset time period, and the duration of the third preset time period is a preset planning period;
selecting a time window with the starting time of the visible time window being later than the first upper note ending time of the corresponding satellite from the visible time windows of each conventional task on each satellite to obtain the available visible time window of each conventional task;
the weight of the available visible time window of each conventional task is equal to the weight of the corresponding conventional task;
acquiring a visible time window of each satellite of each emergency task in a fourth preset time period, acquiring an uplink time window between each satellite and the measurement and control station in the fourth preset time period, and taking the end time of the earliest uplink time window of each satellite as a second uplink end time of each satellite; wherein a start time of the fourth predetermined period of time is equal to an end time of the second predetermined period of time or a fifth predetermined period of time, the end time of the fourth predetermined period of time being equal to the end time of the third predetermined period of time;
selecting a time window with the starting time of the visible time window later than the second uploading ending time of the corresponding satellite from the visible time windows of the emergency tasks on the satellites to obtain alternative available visible time windows of the emergency tasks;
acquiring a download time window between each satellite and the ground station in the fourth preset time period, selecting the download time window with the ending time being earlier than the finishing time limit of each emergency task as a standby download time window of each emergency task on each satellite, and taking the starting time of the latest standby download time window of each emergency task on each satellite as the latest observation time limit of each emergency task on each satellite;
selecting a time window with the ending time of the visible time window being earlier than or equal to the latest observation period of each emergency task on the corresponding satellite from the alternative visible time windows of each emergency task on each satellite to obtain an available visible time window of each emergency task;
the weight of each available visible time window of each emergency task is equal to the sum of the weight of the corresponding emergency task and the weight increment of each available visible time window; the weight increment is determined according to the quotient of the first time period and the second time period of the corresponding available visible time window and the weight of the corresponding emergency task; the starting time of the first time period is the ending time of a first preset time window, the ending time of the first time period is the cut-off time of the corresponding emergency task, and the second time period is the maximum value of the first time period;
the first predetermined time window is a backup download time window having a start time later than or equal to the end time of the corresponding available visible time window and being the shortest distance from the corresponding available visible time window on the corresponding satellite;
selecting task execution time windows for each conventional task and emergency task according to the available visible time window of each conventional task on each satellite, the weight of each available visible time window of each conventional task, the available visible time window of each emergency task on each satellite and the weight of each available visible time window of each emergency task;
the first preset time period, the second preset time period and the fifth preset time period are time intervals for task planning, and as time advances, tasks which continuously arrive are planned in different first preset time periods, second preset time periods or fifth preset time periods.
Further, the method calculates the weight increment using the following equation:
Figure BDA0001555077730000031
where Δ w represents the weight increment, β represents a predetermined scaling factor, Δ t represents a time length of the first periodmaxRepresents a time length, w, of the second time periodeRepresenting the weight of the emergency task.
Further, the method comprises the following steps:
setting a plurality of overall planning decision-making moments, wherein the time lengths of any two adjacent overall planning decision-making moments are the same;
setting a plurality of emergency scheduling decision moments, wherein the emergency scheduling decision moments are the starting time of each upper injection time window between each satellite and the measurement and control station;
judging whether the preset tasks with the number larger than or equal to the preset number exist at each overall planning decision time; if the preset tasks with the number larger than or equal to the preset number exist, determining that a first preset time period is a time period between the current overall planning decision time and the previous overall planning decision time, determining that a fifth preset time period is a time period between the current overall planning decision time and the last emergency scheduling decision time before the previous overall planning decision time, and triggering the operation of acquiring all conventional tasks in the first preset time period and all emergency tasks in the fifth preset time period; the predetermined tasks comprise planned unexecuted conventional tasks, planned unexecuted emergency tasks, unplanned conventional tasks, unplanned emergency tasks, conventional tasks received in a time period between a current overall planning decision time and a previous overall planning decision time and emergency tasks received in a time period between the current overall planning decision time and the previous overall planning decision time;
at each emergency scheduling decision time, determining an overall planning decision time which is before the current emergency scheduling decision time and is closest to the current emergency scheduling decision time to obtain a reference time; judging whether the reference time is earlier than the previous emergency scheduling decision time of the current emergency scheduling decision time, if so, determining that the second preset time period is a time period between the current emergency scheduling decision time and the previous emergency scheduling decision time; if the reference time is later than the previous emergency scheduling decision time of the current emergency scheduling decision time, determining the second preset time period as the time period of the corresponding reference time and the current emergency scheduling decision time; and judging whether the emergency tasks are received within the second preset time period, and if so, triggering the operation of acquiring all the emergency tasks within the second preset time period.
Further, when receiving the emergency tasks within the second predetermined time period, the method selects a task execution time window for each emergency task by using the following steps:
acquiring all emergency tasks received within the second preset time period;
sequencing all the emergency tasks received in the second preset time period according to the Priority of the emergency tasks from large to small;
the priority of the emergency task is determined by the following steps:
weight w for emergency tasksiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000052
Carrying out standardization processing on the numerical values;
the weight w of the normalized emergency task is used according to the following formulaiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000053
Computing task priority
Figure BDA0001555077730000051
Wherein R isD、RNIs a proportionality coefficient;
sequencing all available visible time windows of each emergency task according to the sequence of the weights of the available visible time windows from large to small to obtain a plurality of available time window sets of the emergency tasks;
selecting a first available visible time window in the emergency task available time window set corresponding to a first emergency task according to the sequence of the emergency tasks to obtain a time window to be inserted;
judging whether the time window to be inserted can be inserted into a task planning sequence or not, if so, inserting the time window to be inserted into the task planning sequence, and taking the time window to be inserted as an execution time window of the current emergency task; if the time window to be inserted cannot be inserted in the task planning sequence, updating the time window to be inserted into a second available visible time window in the emergency task available time window set, judging whether the updated time window to be inserted can be inserted in the task planning sequence or not, if the updated time window to be inserted can be inserted in the task planning sequence, inserting the updated time window to be inserted into the task planning sequence, and taking the updated time window to be inserted as an execution time window of the current emergency task; if the task planning sequence cannot insert the updated to-be-inserted time window, updating the to-be-inserted time window to be a third available visible time window in the emergency task available time window set until the to-be-inserted time window is updated to be a last available visible time window in the emergency task available time window set, if the updated to-be-inserted time window cannot be inserted in the task planning sequence, calculating a difference value between the weight of each available visible time window of the current emergency task and the weight of each conflict time window in the task planning sequence, deleting the conflict time window corresponding to the minimum difference value, inserting the corresponding available visible time window into the task planning sequence, taking the corresponding available visible time window as an execution time window of the current emergency task, and judging whether other time windows can be inserted in the conflict task or not, if yes, inserting, and if not, ending.
Further, the method selects a task execution time window for each emergency task and/or each routine task when the number of the predetermined tasks is larger than or equal to the predetermined number, by using the following steps:
acquiring all conventional tasks in a first preset time period and all emergency tasks in a fifth preset time period;
and selecting a task execution time window for each emergency task and/or each conventional task by using an accurate algorithm, wherein the maximum total weight of the tasks is achieved.
In a second aspect, a variable period multi-star emergency mission planning system with different scheduling mechanisms is provided, the system comprising:
the task acquisition module is used for acquiring all conventional tasks in a first preset time period, all emergency tasks in a fifth preset time period and all emergency tasks in a second preset time period;
a first upper note end time determining module, configured to acquire a time window visible on each satellite for each conventional task in a third predetermined time period, acquire an upper note time window between each satellite and the measurement and control station in the third predetermined time period, and use an end time of an earliest upper note time window of each satellite as a first upper note end time of each satellite; the ending time of the first preset time period is equal to the starting time of the third preset time period, and the duration of the third preset time period is a preset planning period;
the first time window screening module is used for selecting a time window with the starting time of the visible time window being later than the first upper note ending time of the corresponding satellite from the visible time windows of each conventional task on each satellite to obtain the available visible time window of each conventional task;
a first weight determination module, configured to determine a weight of the available visible time window for each of the regular tasks to be equal to a weight of its corresponding regular task;
a second betting end time determining module, configured to acquire a visible time window of each satellite for each emergency task in a fourth predetermined time period, acquire a betting time window between each satellite and the measurement and control station in the fourth predetermined time period, and use an end time of an earliest betting time window of each satellite as a second betting end time of each satellite; wherein a start time of the fourth predetermined period of time is equal to an end time of the second predetermined period of time or a fifth predetermined period of time, the end time of the fourth predetermined period of time being equal to the end time of the third predetermined period of time;
the second time window screening module is used for selecting a time window with the starting time of the visible time window being later than the second uploading ending time of the corresponding satellite from the visible time windows of each emergency task on each satellite to obtain alternative available visible time windows of each emergency task;
a latest observation time limit determining module, configured to obtain a download time window between each satellite and the ground station within the fourth predetermined time period, select a download time window whose end time is earlier than a completion time limit of each emergency task, as a standby download time window of each emergency task on each satellite, and use a start time of a latest standby download time window of each emergency task on each satellite as a latest observation time limit of each emergency task on each satellite;
the third time window screening module is used for selecting a time window with the ending time of the visible time window being earlier than or equal to the latest observation period of each emergency task in the corresponding satellite from the alternative visible time windows of each emergency task on each satellite to obtain the available visible time window of each emergency task;
a second weight determination module for each said available visible time window for each contingency task having a weight equal to the sum of the weight of the corresponding contingency task and the weight increment of each said available visible time window; the weight increment is determined according to the quotient of the first time period and the second time period of the corresponding available visible time window and the weight of the corresponding emergency task; the starting time of the first time period is the ending time of a first preset time window, the ending time of the first time period is the cut-off time of the corresponding emergency task, and the second time period is the maximum value of the first time period; the first predetermined time window is a backup download time window having a start time later than or equal to the end time of the corresponding available visible time window and being the shortest distance from the corresponding available visible time window on the corresponding satellite;
a task planning module for selecting task execution time windows for each conventional task and emergency task according to the available visible time window of each conventional task on each satellite, the weight of each available visible time window of each conventional task, the available visible time window of each emergency task on each satellite and the weight of each available visible time window of each emergency task;
the first preset time period, the second preset time period and the fifth preset time period are time intervals for task planning, and as time advances, tasks which continuously arrive are planned in different first preset time periods, second preset time periods or fifth preset time periods.
Further, the second weight determination module calculates the weight increment using the following equation:
Figure BDA0001555077730000081
where Δ w represents the weight increment, β represents a predetermined scaling factor, Δ t represents a time length of the first periodmaxRepresents a time length, w, of the second time periodeRepresenting the weight of the emergency task.
Further, the system further comprises:
the system comprises a first time setting module, a second time setting module and a judging module, wherein the first time setting module is used for setting a plurality of overall planning decision-making moments, and the time lengths of any two adjacent overall planning decision-making moments are the same;
the second time setting module is used for setting a plurality of emergency scheduling decision time, wherein the emergency scheduling decision time is the starting time of each upper injection time window between each satellite and the measurement and control station;
the first time determination module is used for judging whether the preset tasks with the number larger than or equal to the preset number exist at each overall planning decision time; if the preset tasks with the number larger than or equal to the preset number exist, determining that a first preset time period is a time period between the current overall planning decision time and the previous overall planning decision time, determining that a fifth preset time period is a time period between the current overall planning decision time and the last emergency scheduling decision time before the previous overall planning decision time, and triggering the operation of acquiring all conventional tasks in the first preset time period and all emergency tasks in the fifth preset time period; the predetermined tasks comprise planned unexecuted conventional tasks, planned unexecuted emergency tasks, unplanned conventional tasks, unplanned emergency tasks, conventional tasks received in a time period between a current overall planning decision time and a previous overall planning decision time and emergency tasks received in a time period between the current overall planning decision time and the previous overall planning decision time;
the second time determination module is used for determining a planning decision time before the current emergency scheduling decision time and closest to the current emergency scheduling decision time at each emergency scheduling decision time to obtain a reference time; judging whether the reference time is earlier than the previous emergency scheduling decision time of the current emergency scheduling decision time, if so, determining that the second preset time period is a time period between the current emergency scheduling decision time and the previous emergency scheduling decision time; if the reference time is later than the previous emergency scheduling decision time of the current emergency scheduling decision time, determining the second preset time period as the time period of the corresponding reference time and the current emergency scheduling decision time; and judging whether the emergency tasks are received within the second preset time period, and if so, triggering the operation of acquiring all the emergency tasks within the second preset time period.
Further, the system further comprises:
the task sequencing module is used for sequencing all the emergency tasks received within the second preset time period according to the Priority of the emergency tasks from large to small;
the priority calculation module is used for calculating the priority of the emergency task by using the following steps:
weight w for emergency tasksiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000092
Carrying out standardization processing on the numerical values;
the weight w of the normalized emergency task is used according to the following formulaiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000093
Computing task priority
Figure BDA0001555077730000091
Wherein R isD、RNIs a proportionality coefficient;
the time window sequencing module is used for sequencing all available visible time windows of each emergency task according to the sequence of the weights of the available visible time windows from large to small to obtain a plurality of available time window sets of the emergency tasks;
the to-be-inserted time window determining module is used for selecting a first available visible time window in the emergency task available time window set corresponding to a first emergency task according to the sequence of the emergency tasks to obtain a to-be-inserted time window;
the task planning module is further used for judging whether the time window to be inserted can be inserted in a task planning sequence or not, if the time window to be inserted can be inserted, inserting the time window to be inserted into the task planning sequence, and taking the time window to be inserted as an execution time window of the current emergency task; if the time window to be inserted cannot be inserted in the task planning sequence, updating the time window to be inserted into a second available visible time window in the emergency task available time window set, judging whether the updated time window to be inserted can be inserted in the task planning sequence or not, if the updated time window to be inserted can be inserted in the task planning sequence, inserting the updated time window to be inserted into the task planning sequence, and taking the updated time window to be inserted as an execution time window of the current emergency task; if the task planning sequence cannot insert the updated to-be-inserted time window, updating the to-be-inserted time window to be a third available visible time window in the emergency task available time window set until the to-be-inserted time window is updated to be a last available visible time window in the emergency task available time window set, if the updated to-be-inserted time window cannot be inserted in the task planning sequence, calculating a difference value between the weight of each available visible time window of the current emergency task and the weight of each conflict time window in the task planning sequence, deleting the conflict time window corresponding to the minimum difference value, inserting the corresponding available visible time window into the task planning sequence, taking the corresponding available visible time window as an execution time window of the current emergency task, and judging whether other time windows can be inserted in the conflict task or not, if yes, inserting, and if not, ending. .
Further, the system further comprises: when the presence is greater than or equal to a predetermined number of predetermined tasks:
the task obtaining module is further used for obtaining all conventional tasks in a first preset time period and all emergency tasks in a fifth preset time period;
the task planning module is further configured to select a task execution time window for each emergency task and/or each routine task using a precision algorithm to achieve a maximum total weight for tasks.
(III) advantageous effects
The embodiment of the invention provides a variable-period multi-satellite emergency task planning method and system with different scheduling mechanisms, which can be used for solving the problem that the uncertain arrival of emergency tasks has influence on task planning by the integrated whole process of emergency task planning combining fixed-period overall decision planning and local adjustment planning based on measurement and control opportunities; considering the practical constraint that the emergency task can be observed only after the instruction is injected and can be completed only by being transmitted under the ground station, an emergency task preprocessing scheme is designed and the deadline requirement of the emergency task is met. Meanwhile, the characteristic that the earlier the emergency task is completed, the better the emergency task is, the weighting mechanism of the time window of the emergency task is designed, and the emergency task is guaranteed to be downloaded as soon as possible.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow diagram of a variable period multi-star emergency mission planning method for different scheduling mechanisms in accordance with one embodiment of the present invention;
FIG. 2 is a block diagram of a variable period multi-star emergency mission planning system of different scheduling mechanisms in accordance with one embodiment of the present invention;
FIG. 3 is a schematic view of a drive mode setting in one embodiment of the present invention;
FIG. 4 is a schematic diagram of a fixed period schedule in a driving mode according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a local adjustment plan in a driving mode according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of time window screening in accordance with an embodiment of the present invention;
FIG. 7 is a schematic illustration of the determination of the first time period and the second time period in one embodiment of the invention;
FIG. 8 is a diagram illustrating task classification according to an embodiment of the present invention;
FIG. 9 is an input/output schematic diagram of a variable period multi-star emergency mission planning method for different scheduling mechanisms in an embodiment of the present invention;
FIG. 10 is a flowchart of a method for variable period multi-star emergency mission planning for different scheduling mechanisms in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following first describes some parameters and method steps that are required in the embodiments of the present invention.
The set of elements of a task in emergency mission planning can be represented by a five-tuple: { AT; DT; class; TW; w, wherein the weight of the emergency task is represented as w, the category of the emergency task is represented as Class, the arrival time of the emergency task is represented as AT, the deadline of the emergency task is represented as DT, and the time window of the emergency task is represented as TW.
The set of emergency tasks is denoted E and the number of emergency tasks is denoted NE(ii) a The regular set of tasks is denoted J and the number of regular tasks is denoted NJ(ii) a The total task set is expressed as I ═ E ═ U; the set of satellites is denoted S and the number of satellites is denoted NS(ii) a The measurement and control opportunity set is represented as F, the data transmission opportunity set is represented as G, and the task feasible time window set is represented as TWi＝{[WSi,WEi]I belongs to I, and the number of time windows of the satellite S to the task I is expressed as
Figure BDA0001555077730000121
The nth set of time windows for task I on satellite S is shown as
Figure BDA0001555077730000122
The measurement and control opportunity time window set is expressed as
Figure BDA0001555077730000123
The data transmission opportunity time window set is represented as
Figure BDA0001555077730000124
The weight of task I is denoted as wi。
Decision variables
Figure BDA0001555077730000125
In the embodiment of the invention, the maximum total weight for completing the task is an objective function, and a mathematical model for the emergency task planning of the whole process is established:
Figure BDA0001555077730000131
for uncertainty factors of dynamic arrival of emergency tasks, the influence of the emergency tasks on the original planning system should be considered, the change of the task state in the original planning system is called disturbance, and the measure of the disturbance represents delta disturbanceiWhen the emergency task i is not changed, Δ disturbiTaking 0, when the observation time window of the emergency task i changes, delta disturbance i1, when the emergency task i is deleted from the planning list, delta disturbanceiAnd taking 2. Considering the influence of the dynamic arrival of the emergency task on the original system task sequence, the objective function of minimized disturbance should be satisfied:
M inΔdisturbi
based on the above method, this embodiment provides a variable-period multi-satellite emergency mission planning method with different scheduling mechanisms, as shown in fig. 1, the method includes the following steps:
100. acquiring all conventional tasks in a first preset time period, all emergency tasks in a fifth preset time period and all emergency tasks in a second preset time period;
110. acquiring a visible time window of each satellite of each conventional task in a third preset time period, acquiring an uplink time window between each satellite and the measurement and control station in the third preset time period, and taking the end time of the earliest uplink time window of each satellite as the first uplink end time of each satellite; the ending time of the first preset time period is equal to the starting time of the third preset time period, and the duration of the third preset time period is a preset planning period;
120. selecting a time window with the starting time of the visible time window being later than the first upper note ending time of the corresponding satellite from the visible time windows of each conventional task on each satellite to obtain the available visible time window of each conventional task;
the weight of the available visible time window of each conventional task is equal to the weight of the corresponding conventional task;
130. acquiring a visible time window of each satellite of each emergency task in a fourth preset time period, acquiring an uplink time window between each satellite and the measurement and control station in the fourth preset time period, and taking the end time of the earliest uplink time window of each satellite as a second uplink end time of each satellite; wherein a start time of the fourth predetermined period of time is equal to an end time of the second predetermined period of time or a fifth predetermined period of time, the end time of the fourth predetermined period of time being equal to the end time of the third predetermined period of time;
140. selecting a time window with the starting time of the visible time window later than the second uploading ending time of the corresponding satellite from the visible time windows of the emergency tasks on the satellites to obtain alternative available visible time windows of the emergency tasks;
150. acquiring a download time window between each satellite and the ground station in the fourth preset time period, selecting the download time window with the ending time being earlier than the finishing time limit of each emergency task as a standby download time window of each emergency task on each satellite, and taking the starting time of the latest standby download time window of each emergency task on each satellite as the latest observation time limit of each emergency task on each satellite;
160. selecting a time window with the ending time of the visible time window being earlier than or equal to the latest observation period of each emergency task on the corresponding satellite from the alternative visible time windows of each emergency task on each satellite to obtain an available visible time window of each emergency task;
170. the weight of each available visible time window of each emergency task is equal to the sum of the weight of the corresponding emergency task and the weight increment of each available visible time window; the weight increment is determined according to the quotient of the first time period and the second time period of the corresponding available visible time window and the weight of the corresponding emergency task; the starting time of the first time period is the ending time of a first preset time window, the ending time of the first time period is the cut-off time of the corresponding emergency task, and the second time period is the maximum value of the first time period;
180. the first predetermined time window is a backup download time window having a start time later than or equal to the end time of the corresponding available visible time window and being the shortest distance from the corresponding available visible time window on the corresponding satellite;
190. selecting task execution time windows for each conventional task and emergency task according to the available visible time window of each conventional task on each satellite, the weight of each available visible time window of each conventional task, the available visible time window of each emergency task on each satellite and the weight of each available visible time window of each emergency task;
the first preset time period, the second preset time period and the fifth preset time period are time intervals for task planning, and as time advances, tasks which continuously arrive are planned in different first preset time periods, second preset time periods or fifth preset time periods.
The embodiment considers the characteristic that the earlier the emergency task is completed, the better the emergency task is, and designs an emergency task time window weighting mechanism to ensure that the emergency task is downloaded as soon as possible.
In this embodiment, the variable period multi-satellite emergency mission planning method for different scheduling mechanisms calculates the weight increment by using the following formula:
Figure BDA0001555077730000151
where Δ w represents the weight increment, β represents a predetermined scaling factor, Δ t represents a time length of the first periodmaxRepresents a time length, w, of the second time periodeRepresenting the weight of the emergency task.
In one embodiment, the method for planning the variable-period multi-satellite emergency tasks with different scheduling mechanisms further comprises the following steps:
210. setting a plurality of overall planning decision-making moments, wherein the time lengths of any two adjacent overall planning decision-making moments are the same;
220. setting a plurality of emergency scheduling decision moments, wherein the emergency scheduling decision moments are the starting time of each upper injection time window between each satellite and the measurement and control station;
230. judging whether the preset tasks with the number larger than or equal to the preset number exist at each overall planning decision time; if the preset tasks with the number larger than or equal to the preset number exist, determining that a first preset time period is a time period between the current overall planning decision time and the previous overall planning decision time, determining that a fifth preset time period is a time period between the current overall planning decision time and the last emergency scheduling decision time before the previous overall planning decision time, and triggering the operation of acquiring all conventional tasks in the first preset time period and all emergency tasks in the fifth preset time period; the predetermined tasks comprise planned unexecuted conventional tasks, planned unexecuted emergency tasks, unplanned conventional tasks, unplanned emergency tasks, conventional tasks received in a time period between a current overall planning decision time and a previous overall planning decision time and emergency tasks received in a time period between the current overall planning decision time and the previous overall planning decision time;
240. at each emergency scheduling decision time, determining an overall planning decision time which is before the current emergency scheduling decision time and is closest to the current emergency scheduling decision time to obtain a reference time; judging whether the reference time is earlier than the previous emergency scheduling decision time of the current emergency scheduling decision time, if so, determining that the second preset time period is a time period between the current emergency scheduling decision time and the previous emergency scheduling decision time; if the reference time is later than the previous emergency scheduling decision time of the current emergency scheduling decision time, determining the second preset time period as the time period of the corresponding reference time and the current emergency scheduling decision time; and judging whether the emergency tasks are received within the second preset time period, and if so, triggering the operation of acquiring all the emergency tasks within the second preset time period.
The embodiment specifically discloses how to set a first predetermined time period, a second predetermined time period, and a fifth predetermined time period, that is, it is defined in which time periods the conventional task and the emergency task are acquired, and as time goes by, the conventional task and the emergency task in another corresponding time period are acquired, and this processing manner may be regarded as using a rolling optimization policy, and specifically may be:
the task is divided into a task set which has a certain overlapping degree according to the arrival time and continuously advances along with the scheduling time, and the task set is called a rolling window. At each scheduling, only tasks within the current rolling window are scheduled (i.e., only regular tasks and contingent tasks within a predetermined time period are acquired and processed). With the advance of the scheduling time, new tasks are added continuously, and tasks which complete scheduling are deleted gradually, so that the updating of the rolling window is realized.
The RHO strategy has the advantages that the complex dynamic scheduling problem can be decomposed into a plurality of simple static scheduling sub-problems, and the optimal solution of the original problem is replaced by the combination of the sub-problems with the chemical solutions, so that the difficulty in solving the pre-arranged problem is reduced. Dynamic tasks are selected for scheduling or rescheduling in a rolling propulsion mode, and a planning scheme can be adjusted in time to adapt to and track changes of the system state. In addition, since planning is required once in each rolling cycle, intelligent, precise, and heuristic algorithms can be used for planning.
In the embodiment, under the condition that a conventional task and an emergency task continuously and dynamically reach a system in an actual emergency task planning process, a rolling optimization strategy of a measurement and control window is designed, a reasonable planning mode is designed, a task scheduling result in a period is input to a subsequent rolling window as feedback, the rolling optimization and state feedback which are performed in an online cycle form a closed-loop control system by taking the maximized task weight and the maximized task number as optimization targets in the rolling window.
In this embodiment, when a predetermined condition is satisfied, the acquisition of a regular task within a predetermined time period is triggeredAnd the operation of the emergency task, and the time window screening of the conventional task and the emergency task is executed. The embodiment designs a driving mode, namely determining when the system performs task planning, and the reasonable driving mode is the key of the rolling optimization strategy. In order to solve the problem of dynamic arrival of emergency tasks and the influence of the instruction injection action of the measurement and control station on the task planning, the embodiment adopts a driving mode combining fixed-period overall planning and local adjustment planning based on measurement and control opportunities. As shown in FIG. 3, the time T is scheduledkThe tasks on all the task resources to be planned are planned uniformly, the overall planning of the fixed period is mainly used for solving the conventional task planning of large-batch and time-sharing arrival and the emergency tasks arriving in the period, and the scheduling time P isiLocal adjustment planning based on measurement and control opportunities is designed to solve emergency tasks which arrive dynamically before the measurement and control machine is met.
The decision-making overall planning based on the fixed period is an overall method for solving conventional tasks and emergency tasks which arrive in batches, specifically, as shown in fig. 4, aiming at uncertainty of arrival of emergency tasks, overall decision-making planning points based on Step steps are adopted, each decision-making point analyzes and judges task completion conditions planned last time and task planning conditions required by planning the planning, and when the scale (including the conventional tasks and the emergency tasks) of newly arrived tasks and unplanned tasks which need to be planned reaches a certain number, task planning with period is carried out on all satellite resources to be scheduled, and the maximum planning task weight is taken as a target, so that the overall planning and the overall situation of the emergency tasks are ensured.
Local adjustment planning based on measurement and control window is used for solving the problem that emergency tasks arrive in the overall scheduling room before the last fixed time on each measurement and control opportunity, as shown in fig. 5, in each PiAt a time, i.e. at TkThe measurement and control machine in the planning period in the secondary scheduling carries out judgment and decision before meeting, when a new emergency task arrives, the original planning sequence phi is locally adjusted, the newly arrived emergency task is inserted to form a new planning scheme for upper note, the disturbance of the original planning scheme is minimized as a target, and therefore the situation that the situation arrives is never determined is known is ensuredFlexibility in emergency mission planning.
In this embodiment, the classification of tasks of planned unexecuted normal tasks, planned unexecuted emergency tasks, unplanned normal tasks, and unplanned emergency tasks specifically includes the following steps:
as shown in fig. 8, since the scroll optimization requires multiple planning of the arriving task, the task state changes at each planning. And at each overall planning decision time, dividing the tasks into finished observation tasks FinishTask, executing observation tasks ExecuteTask, planned tasks PlanTask and newly arrived tasks ArrivalTask according to the task states. The judgment conditions are as follows: at the decision time T of overall planningkTo, for
Figure BDA0001555077730000181
Define if WEi＜TkThen Finishtask, e.g. Task1、Task2(ii) a If WSi＜Tk＜WEiThen it is an Executetask, such as Task3(ii) a If WSi＞TkThen PlanTask, e.g., Task4、Task5、Task6、Task7(ii) a If a task arrives Period between plans, Tk-1＜ATi＜TkThen it is a new arriving Task, e.g. Task8、Task9。
In one embodiment, when receiving the emergency tasks within the second predetermined time period, the variable-period multi-satellite emergency task planning method with different scheduling mechanisms selects a task execution time window for each emergency task by using the following steps:
310. acquiring all emergency tasks received within the second preset time period;
320. sequencing all the emergency tasks received in the second preset time period according to the Priority of the emergency tasks from large to small;
330. the priority of the emergency task is determined by the following steps:
340. rights to urgent tasksWeight wiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000183
Carrying out standardization processing on the numerical values;
350. the weight w of the normalized emergency task is used according to the following formulaiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000184
Computing task priority
Figure BDA0001555077730000182
Wherein R isD、RNIs a proportionality coefficient;
360. sequencing all available visible time windows of each emergency task according to the sequence of the weights of the available visible time windows from large to small to obtain a plurality of available time window sets of the emergency tasks;
370. selecting a first available visible time window in the emergency task available time window set corresponding to a first emergency task according to the sequence of the emergency tasks to obtain a time window to be inserted;
380. judging whether the time window to be inserted can be inserted into a task planning sequence or not, if so, inserting the time window to be inserted into the task planning sequence, and taking the time window to be inserted as an execution time window of the current emergency task; if the time window to be inserted cannot be inserted in the task planning sequence, updating the time window to be inserted into a second available visible time window in the emergency task available time window set, judging whether the updated time window to be inserted can be inserted in the task planning sequence or not, if the updated time window to be inserted can be inserted in the task planning sequence, inserting the updated time window to be inserted into the task planning sequence, and taking the updated time window to be inserted as an execution time window of the current emergency task; if the task planning sequence cannot insert the updated to-be-inserted time window, updating the to-be-inserted time window to be a third available visible time window in the emergency task available time window set until the to-be-inserted time window is updated to be a last available visible time window in the emergency task available time window set, if the updated to-be-inserted time window cannot be inserted in the task planning sequence, calculating a difference value between the weight of each available visible time window of the current emergency task and the weight of each conflict time window in the task planning sequence, deleting the conflict time window corresponding to the minimum difference value, inserting the corresponding available visible time window into the task planning sequence, taking the corresponding available visible time window as an execution time window of the current emergency task, and judging whether other time windows can be inserted in the conflict task or not, if yes, inserting, and if not, ending.
In one embodiment, the variable period multi-star emergency task planning method of different scheduling mechanisms selects a task execution time window for each emergency task and/or each regular task when the number of the predetermined tasks is larger than or equal to the predetermined number, by using the following steps:
410. acquiring all conventional tasks in a first preset time period and all emergency tasks in a fifth preset time period;
420. and selecting a task execution time window for each emergency task and/or each conventional task by using an accurate algorithm, wherein the maximum total weight of the tasks is achieved.
The process and principles of time window screening and weighting time windows are described in detail below by an embodiment.
Before task planning, considering the influence of a measurement and control opportunity F (namely an upper note time window) and a data transmission opportunity G (namely a lower transmission time window) on the task planning, performing task preprocessing on a task needing the task planning before each scheduling, and mainly performing task preprocessing on TW of the task i through AT and DT attributes of the task i and time dimension sequence between the measurement and control opportunity F and the data transmission opportunity Gi＝{[WSi,WEi]And (c) carrying out condition screening on | I ∈ I }.
As shown in fig. 6, the available window for a regular task should be AT after the arrival timej≤WSjAt the same time, since the task must be executed by the satellite observation after the instruction is filled, the task is observed in the observation time window TW of each satellitejMust be satisfied after the nearest measurement and control window from the planning moment
Figure BDA0001555077730000201
Thus eliminating
Figure BDA0001555077730000202
For a conventional task, there is no need to consider the task completion deadline, so the following four time windows should be reserved to enter the plan. For emergency tasks, task e needs to be at the deadline DTeIs done first, i.e. AT is satisfied firste≤WSe≤WEe≤DTeSecondly, due to the urgent requirement of the emergency task, the emergency task needs to be downloaded before the deadline, namely, the emergency task meets the requirement
Figure BDA0001555077730000203
Thus eliminating
Figure BDA0001555077730000204
Meanwhile, in order to meet the urgent requirement of the emergency task, the earlier the emergency task is downloaded, the better the emergency task is downloaded, the weight assignment is carried out on the time window of the primary screening according to an emergency task time window assignment mechanism, the downloading ground stations on each satellite corresponding to the screened time window of the emergency task are sequenced, the earlier the time window ending time of the ground station is, the higher the weight of the time window of the emergency task on the satellite to which the ground station belongs is, and the same weight of the time window downloaded by the same ground station is. The assignment formula is as follows:
Figure BDA0001555077730000205
wherein
Figure BDA0001555077730000206
For the s-th satelliteTime window of emergency task e, weThe time window is weighted to be the task weight w, delta omega is the weight increment corresponding to the emergency task, and the time window of the latest emergency task corresponding to the time window of the downloading ground station is 0eThe weight of the time window increases by Δ ω in order with ascending order. The value of Δ ω is related to the difference Δ t between the terminal time of downloading the ground station corresponding to each time window of the emergency task and the latest time window of downloading, as shown in fig. 7, the weight increment is calculated by the following formula:
Figure BDA0001555077730000207
where beta is the proportionality coefficient, Δ tmaxThe maximum difference in the end times of the download time windows.
The variable period multi-star emergency mission planning method of the different scheduling mechanisms of the present invention is described below by a specific embodiment.
The embodiment adopts an accurate algorithm to solve for the overall planning of a fixed period, and the local adjustment based on the measurement and control station adopts an insertion-replacement-insertion heuristic calculation algorithm, wherein the accurate algorithm is suitable for the overall planning of more tasks, and the insertion-replacement-insertion heuristic calculation algorithm is suitable for the local adjustment of the original planning scheme of small-scale tasks. In order to give consideration to global overall planning and task timeliness requirements, in the task planning process, firstly, an accurate algorithm is adopted for task overall planning, and then a heuristic algorithm is selected for task distribution planning, so that rolling optimization of emergency task planning is quickly achieved. As shown in fig. 9, the input/output of the present embodiment includes:
at each TkAnd performing global planning all the time, wherein the ILOG CPlex is used to perform overall planning and solving on tasks with the maximum total weight of the completed tasks and the fixed period of the emergency task planning corresponding to the objective function, so as to generate a task scheduling scheme.
At each PiLocal revision of original planning sequence is carried out on the emergency task, namely, an insert-replace-insert heuristic algorithm and a heuristic rule are adopted for local revision design of the emergency taskThen it is:
(1) and (3) completing task weight increase: after the emergency task is inserted, the overall weight must be ensured to be increased; (2) the disturbance measure is small: the insertion of the emergency task should ensure that the disturbance on the original planning sequence is small as much as possible; (3) the earlier the emergency task is completed, the better: emergency tasks should ensure that observations are completed before the deadline and are passed down to the ground station as soon as possible.
As shown in fig. 10, the method for planning variable-period multi-satellite emergency tasks with different scheduling mechanisms in this embodiment includes the following steps:
step 1: initializing and determining algorithm parameter Tk，Step，period，Pi
Step 2: t is0Planning all tasks by adopting an accurate algorithm at all times to form an initial planning scheme;
and step 3: judgment of TkAnd Tk-1Whether a large number of tasks (conventional tasks and/or emergency tasks) arrive in the process, if so, turning to the step 4; if not, turning to step 7;
and 4, step 4: performing overall planning on the emergency task and the conventional task by adopting an accurate algorithm to form a new planning scheme;
and 5: each PiWhether a new emergency task arrives at the front or not, if so, turning to step 6; if not, turning to step 7;
step 6: adjusting the emergency tasks into a planning sequence by adopting a heuristic algorithm to form a new planning scheme;
and 7: and executing the planning scheme.
Wherein the heuristic algorithm specifically comprises the following steps:
step 1: sequencing the arrived emergency tasks in a descending order according to the weight;
step 2: traversing all the planned task time windows in the original planning sequence phi, starting from the highest weight time window of the emergency task with the highest weight, sequentially judging whether the emergency task can be inserted or not by traversing the task time windows in a descending order according to the weight of the time windows, and if the emergency task can be inserted, entering Step 3; if not, go to Step 4;
step 3: inserting the rest tasks from high to low according to the weight of the time window in sequence, and repeating Step2 until all emergency tasks are inserted;
step 4: calculating the difference value between the emergency task time window weight and the conflict time window weight, and selecting the conflict time window with the minimum difference value for replacement;
step 5: and judging whether other time windows can be inserted into the conflict task, if so, inserting, and if not, ending.
According to the embodiment of the invention, the mission planning window of the long time domain is decomposed into a series of rolling planning windows which are closely connected, an emergency mission planning frame which combines a fixed-period overall decision planning and a local adjustment planning based on measurement and control opportunities is designed according to the uncertain arrival characteristics of missions, and the multi-satellite emergency mission planning is researched by taking the uncertainty and the timeliness of emergency missions as targets. The embodiment of the invention considers the practical constraint that the emergency task can be observed only after the instruction is injected and can be completed only after being downloaded at the ground station, designs the emergency task preprocessing module and meets the deadline requirement of the emergency task. Meanwhile, the characteristic that the earlier the emergency task is completed, the better the emergency task is, an emergency task time window assignment mechanism is designed, and the emergency task is guaranteed to be downloaded as soon as possible. The above embodiments of the present invention design an algorithm framework combining an accurate algorithm and a heuristic algorithm to solve the satellite task scheduling at different planning times.
Corresponding to the method of the above embodiment, the present invention also discloses a variable period multi-satellite emergency mission planning system with different scheduling mechanisms, as shown in fig. 2, the system includes:
the task acquisition module is used for acquiring all conventional tasks in a first preset time period, all emergency tasks in a fifth preset time period and all emergency tasks in a second preset time period;
a first upper note end time determining module, configured to acquire a time window visible on each satellite for each conventional task in a third predetermined time period, acquire an upper note time window between each satellite and the measurement and control station in the third predetermined time period, and use an end time of an earliest upper note time window of each satellite as a first upper note end time of each satellite; the ending time of the first preset time period is equal to the starting time of the third preset time period, and the duration of the third preset time period is a preset planning period;
the first time window screening module is used for selecting a time window with the starting time of the visible time window being later than the first upper note ending time of the corresponding satellite from the visible time windows of each conventional task on each satellite to obtain the available visible time window of each conventional task;
a first weight determination module, configured to determine a weight of the available visible time window for each of the regular tasks to be equal to a weight of its corresponding regular task;
a second betting end time determining module, configured to acquire a visible time window of each satellite for each emergency task in a fourth predetermined time period, acquire a betting time window between each satellite and the measurement and control station in the fourth predetermined time period, and use an end time of an earliest betting time window of each satellite as a second betting end time of each satellite; wherein a start time of the fourth predetermined period of time is equal to an end time of the second predetermined period of time or a fifth predetermined period of time, the end time of the fourth predetermined period of time being equal to the end time of the third predetermined period of time;
the second time window screening module is used for selecting a time window with the starting time of the visible time window being later than the second uploading ending time of the corresponding satellite from the visible time windows of each emergency task on each satellite to obtain alternative available visible time windows of each emergency task;
a latest observation time limit determining module, configured to obtain a download time window between each satellite and the ground station within the fourth predetermined time period, select a download time window whose end time is earlier than a completion time limit of each emergency task, as a standby download time window of each emergency task on each satellite, and use a start time of a latest standby download time window of each emergency task on each satellite as a latest observation time limit of each emergency task on each satellite;
the third time window screening module is used for selecting a time window with the ending time of the visible time window being earlier than or equal to the latest observation period of each emergency task in the corresponding satellite from the alternative visible time windows of each emergency task on each satellite to obtain the available visible time window of each emergency task;
a second weight determination module for each said available visible time window for each contingency task having a weight equal to the sum of the weight of the corresponding contingency task and the weight increment of each said available visible time window; the weight increment is determined according to the quotient of the first time period and the second time period of the corresponding available visible time window and the weight of the corresponding emergency task; the starting time of the first time period is the ending time of a first preset time window, the ending time of the first time period is the cut-off time of the corresponding emergency task, and the second time period is the maximum value of the first time period; the first predetermined time window is a backup download time window having a start time later than or equal to the end time of the corresponding available visible time window and being the shortest distance from the corresponding available visible time window on the corresponding satellite;
a task planning module for selecting task execution time windows for each conventional task and emergency task according to the available visible time window of each conventional task on each satellite, the weight of each available visible time window of each conventional task, the available visible time window of each emergency task on each satellite and the weight of each available visible time window of each emergency task;
the first preset time period, the second preset time period and the fifth preset time period are time intervals for task planning, and as time advances, tasks which continuously arrive are planned in different first preset time periods, second preset time periods or fifth preset time periods. .
The second weight determination module calculates the weight increment using the following equation:
Figure BDA0001555077730000241
where Δ w represents the weight increment, β represents a predetermined scaling factor, Δ t represents a time length of the first periodmaxRepresents a time length, w, of the second time periodeRepresenting the weight of the emergency task.
In one embodiment, the variable period multi-star emergency mission planning system with different scheduling mechanisms further comprises:
the system comprises a first time setting module, a second time setting module and a judging module, wherein the first time setting module is used for setting a plurality of overall planning decision-making moments, and the time lengths of any two adjacent overall planning decision-making moments are the same;
the second time setting module is used for setting a plurality of emergency scheduling decision time, wherein the emergency scheduling decision time is the starting time of each upper injection time window between each satellite and the measurement and control station;
the first time determination module is used for judging whether the preset tasks with the number larger than or equal to the preset number exist at each overall planning decision time; if the preset tasks with the number larger than or equal to the preset number exist, determining that a first preset time period is a time period between the current overall planning decision time and the previous overall planning decision time, determining that a fifth preset time period is a time period between the current overall planning decision time and the last emergency scheduling decision time before the previous overall planning decision time, and triggering the operation of acquiring all conventional tasks in the first preset time period and all emergency tasks in the fifth preset time period; the predetermined tasks comprise planned unexecuted conventional tasks, planned unexecuted emergency tasks, unplanned conventional tasks, unplanned emergency tasks, conventional tasks received in a time period between a current overall planning decision time and a previous overall planning decision time and emergency tasks received in a time period between the current overall planning decision time and the previous overall planning decision time;
the second time determination module is used for determining a planning decision time before the current emergency scheduling decision time and closest to the current emergency scheduling decision time at each emergency scheduling decision time to obtain a reference time; judging whether the reference time is earlier than the previous emergency scheduling decision time of the current emergency scheduling decision time, if so, determining that the second preset time period is a time period between the current emergency scheduling decision time and the previous emergency scheduling decision time; if the reference time is later than the previous emergency scheduling decision time of the current emergency scheduling decision time, determining the second preset time period as the time period of the corresponding reference time and the current emergency scheduling decision time; and judging whether the emergency tasks are received within the second preset time period, and if so, triggering the operation of acquiring all the emergency tasks within the second preset time period.
In one embodiment, the variable period multi-star emergency mission planning system with different scheduling mechanisms further comprises:
the task sequencing module is used for sequencing all the emergency tasks received within the second preset time period according to the Priority of the emergency tasks from large to small;
the priority calculation module is used for calculating the priority of the emergency task by using the following steps:
weight w for emergency tasksiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000262
Carrying out standardization processing on the numerical values;
the weight w of the normalized emergency task is used according to the following formulaiCompletion deadline DT and number of remaining time windows after screening
Figure BDA0001555077730000263
Computing task priority
Figure BDA0001555077730000261
Wherein R isD、RNIs a proportionality coefficient;
the time window sequencing module is used for sequencing all available visible time windows of each emergency task according to the sequence of the weights of the available visible time windows from large to small to obtain a plurality of available time window sets of the emergency tasks;
the to-be-inserted time window determining module is used for selecting a first available visible time window in the emergency task available time window set corresponding to a first emergency task according to the sequence of the emergency tasks to obtain a to-be-inserted time window;
the task planning module is further used for judging whether the time window to be inserted can be inserted in a task planning sequence or not, if the time window to be inserted can be inserted, inserting the time window to be inserted into the task planning sequence, and taking the time window to be inserted as an execution time window of the current emergency task; if the time window to be inserted cannot be inserted in the task planning sequence, updating the time window to be inserted into a second available visible time window in the emergency task available time window set, judging whether the updated time window to be inserted can be inserted in the task planning sequence or not, if the updated time window to be inserted can be inserted in the task planning sequence, inserting the updated time window to be inserted into the task planning sequence, and taking the updated time window to be inserted as an execution time window of the current emergency task; if the task planning sequence cannot insert the updated to-be-inserted time window, updating the to-be-inserted time window to be a third available visible time window in the emergency task available time window set until the to-be-inserted time window is updated to be a last available visible time window in the emergency task available time window set, if the updated to-be-inserted time window cannot be inserted in the task planning sequence, calculating a difference value between the weight of each available visible time window of the current emergency task and the weight of each conflict time window in the task planning sequence, deleting the conflict time window corresponding to the minimum difference value, inserting the corresponding available visible time window into the task planning sequence, taking the corresponding available visible time window as an execution time window of the current emergency task, and judging whether other time windows can be inserted in the conflict task or not, if yes, inserting, and if not, ending. .
In one embodiment, the variable period multi-star emergency mission planning system with different scheduling mechanisms further comprises: when the presence is greater than or equal to a predetermined number of predetermined tasks:
the task obtaining module is further used for obtaining all conventional tasks in a first preset time period and all emergency tasks in a fifth preset time period;
the task planning module is further used for selecting a task execution time window for each emergency task and/or each conventional task by utilizing an accurate algorithm to achieve the maximum task total weight
The system in the embodiment of the present invention is a product corresponding to the method in the embodiment of the present invention, and each step of the method in the embodiment of the present invention is completed by a component of the system in the embodiment of the present invention, and therefore, description of the same part is not repeated.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A variable-period multi-satellite emergency task planning method with different scheduling mechanisms is characterized by comprising the following steps:
acquiring all conventional tasks in a first preset time period, all emergency tasks in a fifth preset time period and all emergency tasks in a second preset time period;
acquiring a visible time window of each satellite of each conventional task in a third preset time period, acquiring an uplink time window between each satellite and the measurement and control station in the third preset time period, and taking the end time of the earliest uplink time window of each satellite as the first uplink end time of each satellite; the ending time of the first preset time period is equal to the starting time of the third preset time period, and the duration of the third preset time period is a preset planning period;
selecting a time window with the starting time of the visible time window being later than the first upper note ending time of the corresponding satellite from the visible time windows of each conventional task on each satellite to obtain the available visible time window of each conventional task;
the weight of the available visible time window of each conventional task is equal to the weight of the corresponding conventional task;
acquiring a visible time window of each satellite of each emergency task in a fourth preset time period, acquiring an uplink time window between each satellite and the measurement and control station in the fourth preset time period, and taking the end time of the earliest uplink time window of each satellite as a second uplink end time of each satellite; wherein a start time of the fourth predetermined period of time is equal to an end time of the second predetermined period of time or a fifth predetermined period of time, the end time of the fourth predetermined period of time being equal to the end time of the third predetermined period of time;
selecting a time window with the starting time of the visible time window later than the second uploading ending time of the corresponding satellite from the visible time windows of the emergency tasks on the satellites to obtain alternative available visible time windows of the emergency tasks;
acquiring a download time window between each satellite and the ground station in the fourth preset time period, selecting the download time window with the ending time being earlier than the finishing time limit of each emergency task as a standby download time window of each emergency task on each satellite, and taking the starting time of the latest standby download time window of each emergency task on each satellite as the latest observation time limit of each emergency task on each satellite;
selecting a time window with the ending time of the visible time window being earlier than or equal to the latest observation period of each emergency task on the corresponding satellite from the alternative visible time windows of each emergency task on each satellite to obtain an available visible time window of each emergency task;
the weight of each available visible time window of each emergency task is equal to the sum of the weight of the corresponding emergency task and the weight increment of each available visible time window; the weight increment is determined according to the quotient of the first time period and the second time period of the corresponding available visible time window and the weight of the corresponding emergency task; the starting time of the first time period is the ending time of a first preset time window, the ending time of the first time period is the cut-off time of the corresponding emergency task, and the second time period is the maximum value of the first time period;
the first predetermined time window is a backup download time window having a start time later than or equal to the end time of the corresponding available visible time window and being the shortest distance from the corresponding available visible time window on the corresponding satellite;
selecting task execution time windows for each conventional task and emergency task according to the available visible time window of each conventional task on each satellite, the weight of each available visible time window of each conventional task, the available visible time window of each emergency task on each satellite and the weight of each available visible time window of each emergency task;
the first preset time period, the second preset time period and the fifth preset time period are time intervals for task planning, and as time advances, tasks which continuously arrive are planned in different first preset time periods, second preset time periods or fifth preset time periods.
2. The method of claim 1, wherein the method calculates the weight increment using the following equation:
Figure DEST_PATH_IMAGE001
in the formula (I), the compound is shown in the specification,
Figure 884359DEST_PATH_IMAGE002
the weight increment is represented by a value representing the weight increment,
Figure DEST_PATH_IMAGE003
which represents a predetermined scaling factor, is,
Figure 54440DEST_PATH_IMAGE004
represents a length of time of the first period of time,
Figure DEST_PATH_IMAGE005
represents a length of time of the second period of time,
Figure 560508DEST_PATH_IMAGE006
is shown aseWeight of individual emergency tasks.
3. The method according to claim 1, characterized in that the method further comprises the steps of:
setting a plurality of overall planning decision-making moments, wherein the time lengths of any two adjacent overall planning decision-making moments are the same;
setting a plurality of emergency scheduling decision moments, wherein the emergency scheduling decision moments are the starting time of each upper injection time window between each satellite and the measurement and control station;
judging whether the preset tasks with the number larger than or equal to the preset number exist at each overall planning decision time; if the preset tasks with the number larger than or equal to the preset number exist, determining that a first preset time period is a time period between the current overall planning decision time and the previous overall planning decision time, determining that a fifth preset time period is a time period between the current overall planning decision time and the last emergency scheduling decision time before the previous overall planning decision time, and triggering the operation of acquiring all conventional tasks in the first preset time period and all emergency tasks in the fifth preset time period; the scheduled tasks comprise planned and unexecuted conventional tasks, planned and unexecuted emergency tasks, unplanned conventional tasks, unplanned emergency tasks, conventional tasks received in a time period between a current overall planning decision time and a previous overall planning decision time and emergency tasks received in a time period between the current overall planning decision time and a previous emergency scheduling decision time;
at each emergency scheduling decision time, determining an overall planning decision time which is before the current emergency scheduling decision time and is closest to the current emergency scheduling decision time to obtain a reference time; judging whether the reference time is earlier than the previous emergency scheduling decision time of the current emergency scheduling decision time, if so, determining that the second preset time period is a time period between the current emergency scheduling decision time and the previous emergency scheduling decision time; if the reference time is later than the previous emergency scheduling decision time of the current emergency scheduling decision time, determining the second preset time period as the time period of the corresponding reference time and the current emergency scheduling decision time; and judging whether the emergency tasks are received within the second preset time period, if so, triggering the operation of acquiring all the emergency tasks within the second preset time period.
4. The method according to claim 2, wherein said method sequences said emergency tasks upon receipt of an emergency task within said second predetermined time period, and selects a task execution time window for each of said emergency tasks in said sequenced order starting from a first emergency task, wherein said emergency tasks are sequenced by:
acquiring all emergency tasks received within the second preset time period;
task priority according to emergency tasks
Figure DEST_PATH_IMAGE007
Sequencing all the emergency tasks received within the second preset time period from large to small;
the priority of the emergency task is determined by the following steps:
weight on Emergency tasks
Figure 183250DEST_PATH_IMAGE008
Time limit of completion
Figure DEST_PATH_IMAGE009
And the number of remaining time windows after screening
Figure 3438DEST_PATH_IMAGE010
Carrying out standardization processing on the numerical values;
using the weight of the normalized emergency task according to the following formula
Figure 621502DEST_PATH_IMAGE008
Time limit of completion
Figure 531427DEST_PATH_IMAGE009
And the number of remaining time windows after screening
Figure 438203DEST_PATH_IMAGE010
Computing task priority
Figure DEST_PATH_IMAGE011
Wherein the content of the first and second substances,
Figure 530924DEST_PATH_IMAGE012
、
Figure DEST_PATH_IMAGE013
is a coefficient of proportionality that is,
Figure 737914DEST_PATH_IMAGE008
is as followsiThe weight of the individual emergency tasks,
Figure 320205DEST_PATH_IMAGE014
is as followsiThe task priority of each emergency task,
Figure DEST_PATH_IMAGE015
is as followsiAnd (4) an emergency task time window.
5. A method according to claim 3, wherein the method selects a task execution time-window for each emergency task when an emergency task is received within the second predetermined time period, using the steps of:
sequencing all available visible time windows of each emergency task according to the sequence of the weights of the available visible time windows from large to small to obtain a plurality of available time window sets of the emergency tasks;
selecting a first available visible time window in the emergency task available time window set corresponding to a first emergency task according to the sequence of the emergency tasks to obtain a time window to be inserted;
judging whether the time window to be inserted can be inserted into a task planning sequence or not, if so, inserting the time window to be inserted into the task planning sequence, and taking the time window to be inserted as an execution time window of the current emergency task; if the time window to be inserted cannot be inserted in the task planning sequence, updating the time window to be inserted into a second available visible time window in the emergency task available time window set, judging whether the updated time window to be inserted can be inserted in the task planning sequence or not, if the updated time window to be inserted can be inserted in the task planning sequence, inserting the updated time window to be inserted into the task planning sequence, and taking the updated time window to be inserted as an execution time window of the current emergency task; if the task planning sequence cannot insert the updated to-be-inserted time window, updating the to-be-inserted time window to be a third available visible time window in the emergency task available time window set until the to-be-inserted time window is updated to be a last available visible time window in the emergency task available time window set, if the updated to-be-inserted time window cannot be inserted in the task planning sequence, calculating a difference value between the weight of each available visible time window of the current emergency task and the weight of each conflict time window in the task planning sequence, deleting the conflict time window corresponding to the minimum difference value, inserting the corresponding available visible time window into the task planning sequence, taking the corresponding available visible time window as an execution time window of the current emergency task, and judging whether other time windows can be inserted in the conflict task or not, if yes, inserting, and if not, ending.
6. A variable period multi-satellite emergency mission planning system with different scheduling mechanisms, the system comprising:
the task acquisition module is used for acquiring all conventional tasks in a first preset time period, all emergency tasks in a fifth preset time period and all emergency tasks in a second preset time period;
a first upper note end time determining module, configured to acquire a time window visible on each satellite for each conventional task in a third predetermined time period, acquire an upper note time window between each satellite and the measurement and control station in the third predetermined time period, and use an end time of an earliest upper note time window of each satellite as a first upper note end time of each satellite; the ending time of the first preset time period is equal to the starting time of the third preset time period, and the duration of the third preset time period is a preset planning period;
the first time window screening module is used for selecting a time window with the starting time of the visible time window being later than the first upper note ending time of the corresponding satellite from the visible time windows of each conventional task on each satellite to obtain the available visible time window of each conventional task;
a first weight determination module, configured to determine a weight of the available visible time window for each of the regular tasks to be equal to a weight of its corresponding regular task;
a second betting end time determining module, configured to acquire a visible time window of each satellite for each emergency task in a fourth predetermined time period, acquire a betting time window between each satellite and the measurement and control station in the fourth predetermined time period, and use an end time of an earliest betting time window of each satellite as a second betting end time of each satellite; wherein a start time of the fourth predetermined period of time is equal to an end time of the second predetermined period of time or a fifth predetermined period of time, the end time of the fourth predetermined period of time being equal to the end time of the third predetermined period of time;
the second time window screening module is used for selecting a time window with the starting time of the visible time window being later than the second uploading ending time of the corresponding satellite from the visible time windows of each emergency task on each satellite to obtain alternative available visible time windows of each emergency task;
a latest observation time limit determining module, configured to obtain a download time window between each satellite and the ground station within the fourth predetermined time period, select a download time window whose end time is earlier than a completion time limit of each emergency task, as a standby download time window of each emergency task on each satellite, and use a start time of a latest standby download time window of each emergency task on each satellite as a latest observation time limit of each emergency task on each satellite;
the third time window screening module is used for selecting a time window with the ending time of the visible time window being earlier than or equal to the latest observation period of each emergency task in the corresponding satellite from the alternative visible time windows of each emergency task on each satellite to obtain the available visible time window of each emergency task;
a second weight determination module for each said available visible time window for each contingency task having a weight equal to the sum of the weight of the corresponding contingency task and the weight increment of each said available visible time window; the weight increment is determined according to the quotient of the first time period and the second time period of the corresponding available visible time window and the weight of the corresponding emergency task; the starting time of the first time period is the ending time of a first preset time window, the ending time of the first time period is the cut-off time of the corresponding emergency task, and the second time period is the maximum value of the first time period; the first predetermined time window is a backup download time window having a start time later than or equal to the end time of the corresponding available visible time window and being the shortest distance from the corresponding available visible time window on the corresponding satellite;
a task planning module for selecting task execution time windows for each conventional task and emergency task according to the available visible time window of each conventional task on each satellite, the weight of each available visible time window of each conventional task, the available visible time window of each emergency task on each satellite and the weight of each available visible time window of each emergency task;
the first preset time period, the second preset time period and the fifth preset time period are time intervals for task planning, and as time advances, tasks which continuously arrive are planned in different first preset time periods, second preset time periods or fifth preset time periods.
7. The system of claim 6, wherein the second weight determination module calculates the weight increment using the formula:
Figure 917540DEST_PATH_IMAGE001
in the formula (I), the compound is shown in the specification,
Figure 407427DEST_PATH_IMAGE002
the weight increment is represented by a value representing the weight increment,
Figure 436300DEST_PATH_IMAGE016
which represents a predetermined scaling factor, is,
Figure 923914DEST_PATH_IMAGE004
represents a length of time of the first period of time,
Figure 805282DEST_PATH_IMAGE005
represents a length of time of the second period of time,
Figure 98860DEST_PATH_IMAGE006
is shown aseWeight of individual emergency tasks.
8. The system of claim 6, further comprising:
the system comprises a first time setting module, a second time setting module and a judging module, wherein the first time setting module is used for setting a plurality of overall planning decision-making moments, and the time lengths of any two adjacent overall planning decision-making moments are the same;
the second time setting module is used for setting a plurality of emergency scheduling decision time, wherein the emergency scheduling decision time is the starting time of each upper injection time window between each satellite and the measurement and control station;
the first time determination module is used for judging whether the preset tasks with the number larger than or equal to the preset number exist at each overall planning decision time; if the preset tasks with the number larger than or equal to the preset number exist, determining that a first preset time period is a time period between the current overall planning decision time and the previous overall planning decision time, determining that a fifth preset time period is a time period between the current overall planning decision time and the last emergency scheduling decision time before the previous overall planning decision time, and triggering the operation of acquiring all conventional tasks in the first preset time period and all emergency tasks in the fifth preset time period; the predetermined tasks comprise planned unexecuted conventional tasks, planned unexecuted emergency tasks, unplanned conventional tasks, unplanned emergency tasks, conventional tasks received in a time period between a current overall planning decision time and a previous overall planning decision time and emergency tasks received in a time period between the current overall planning decision time and the previous overall planning decision time;
the second time determination module is used for determining a planning decision time before the current emergency scheduling decision time and closest to the current emergency scheduling decision time at each emergency scheduling decision time to obtain a reference time; judging whether the reference time is earlier than the previous emergency scheduling decision time of the current emergency scheduling decision time, if so, determining that the second preset time period is a time period between the current emergency scheduling decision time and the previous emergency scheduling decision time; if the reference time is later than the previous emergency scheduling decision time of the current emergency scheduling decision time, determining the second preset time period as the time period of the corresponding reference time and the current emergency scheduling decision time; and judging whether the emergency tasks are received within the second preset time period, if so, triggering the operation of acquiring all the emergency tasks within the second preset time period.
9. The system of claim 8, further comprising:
a task sequencing module for sequencing task priority according to emergency task
Figure DEST_PATH_IMAGE017
Sequencing all the emergency tasks received within the second preset time period from large to small;
the priority calculation module is used for calculating the priority of the emergency task by using the following steps:
weight on Emergency tasks
Figure 952547DEST_PATH_IMAGE008
Time limit of completion
Figure 611061DEST_PATH_IMAGE009
And the number of remaining time windows after screening
Figure 776463DEST_PATH_IMAGE010
Carrying out standardization processing on the numerical values;
using the weight of the normalized emergency task according to the following formula
Figure 811415DEST_PATH_IMAGE008
Time limit of completion
Figure 316346DEST_PATH_IMAGE009
And the number of remaining time windows after screening
Figure 942499DEST_PATH_IMAGE010
Computing task priority
Figure 296995DEST_PATH_IMAGE018
Wherein the content of the first and second substances,
Figure 870059DEST_PATH_IMAGE012
、
Figure DEST_PATH_IMAGE019
is a coefficient of proportionality that is,
Figure 495075DEST_PATH_IMAGE008
is as followsiThe weight of the individual emergency tasks,
Figure 495392DEST_PATH_IMAGE014
is as followsiThe task priority of each emergency task,
Figure 573070DEST_PATH_IMAGE015
is as followsiAnd (4) an emergency task time window.
10. The system of claim 9, further comprising:
the time window sequencing module is used for sequencing all available visible time windows of each emergency task according to the sequence of the weights of the available visible time windows from large to small to obtain a plurality of available time window sets of the emergency tasks;
the to-be-inserted time window determining module is used for selecting a first available visible time window in the emergency task available time window set corresponding to a first emergency task according to the sequence of the emergency tasks to obtain a to-be-inserted time window;
the task planning module is further used for judging whether the time window to be inserted can be inserted in a task planning sequence or not, if the time window to be inserted can be inserted, inserting the time window to be inserted into the task planning sequence, and taking the time window to be inserted as an execution time window of the current emergency task; if the time window to be inserted cannot be inserted in the task planning sequence, updating the time window to be inserted into a second available visible time window in the emergency task available time window set, judging whether the updated time window to be inserted can be inserted in the task planning sequence or not, if the updated time window to be inserted can be inserted in the task planning sequence, inserting the updated time window to be inserted into the task planning sequence, and taking the updated time window to be inserted as an execution time window of the current emergency task; if the task planning sequence cannot insert the updated to-be-inserted time window, updating the to-be-inserted time window to be a third available visible time window in the emergency task available time window set until the to-be-inserted time window is updated to be a last available visible time window in the emergency task available time window set, if the updated to-be-inserted time window cannot be inserted in the task planning sequence, calculating a difference value between the weight of each available visible time window of the current emergency task and the weight of each conflict time window in the task planning sequence, deleting the conflict time window corresponding to the minimum difference value, inserting the corresponding available visible time window into the task planning sequence, taking the corresponding available visible time window as an execution time window of the current emergency task, and judging whether other time windows can be inserted in the conflict task or not, if yes, inserting, and if not, ending.
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