CN109102195B - Satellite autonomous online rolling task configuration method and system - Google Patents
Satellite autonomous online rolling task configuration method and system Download PDFInfo
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Abstract
The invention discloses a method and a system for configuring autonomous on-line rolling tasks of a satellite. When the serial port data contains the task requirement information, the priority level of the task requirement information is judged, and then the following two processing modes are adopted according to the priority level: when the task demand information is a conventional task, planning the conventional task according to a periodic trigger mechanism and making a conventional planning scheme; and when the task demand information is the burst task, planning the burst task according to an event triggering mechanism and making a burst planning scheme. The scheme not only solves the problem that the ground control mode is insufficient in the aspects of autonomy, timeliness and accuracy, but also breaks the limitation of the traditional ground control mode through the on-satellite autonomous mission planning system, so that the imaging satellite mission planning is improved in the aspects of autonomy, timeliness and accuracy.
Description
Technical Field
The invention relates to the technical field of space mission planning algorithms, in particular to a satellite autonomous online rolling mission configuration method and device.
Background
The imaging satellite is an earth observation satellite for acquiring ground image information from the outer space by using a satellite-borne remote sensor, and has the unique advantages of wide earth observation coverage, long operation time, no limit of national boundaries and airspaces, no need of considering personnel safety and the like, so the imaging satellite plays an important role in many fields of military observation, disaster prevention and control, environmental protection, urban planning, agriculture, weather and the like, and is the most representative satellite with the largest number of emissions in the world at present.
With the wide application of imaging satellites in many fields, the task planning of the imaging satellites is certainly a research field with vigorous development and great potential. In order to meet the infinite ground observation requirements and better exert the efficiency of the existing imaging satellite ground observation system in China, the theory of imaging satellite task planning and various technical methods are urgently sought.
The task planning of imaging satellites in the past space activities is completed by ground engineering. Namely, a planning scheme is made by ground engineering in advance, and then the planning scheme is uploaded to an imaging satellite through a proper uplink for offline execution. The following three disadvantages mainly exist in the mode:
1) the need to be highly dependent on ground engineering and therefore insufficient in terms of autonomy of satellite mission planning;
2) sufficient satellite-to-ground communication time is required, and thus, the timeliness of satellite mission planning is insufficient;
3) a relatively stable operating environment is required, and dynamic adjustment cannot be performed along with external changes, so that
The method is not enough in the precision of satellite mission planning.
The defects of autonomy, timeliness and accuracy existing in the mode highly depending on ground control cannot meet the requirement of increasingly complex space missions, so that the traditional ground control mode is changed through the research on an on-satellite autonomy mission planning system, and the mission planning of the imaging satellite is qualitatively improved in the aspects of autonomy, timeliness and accuracy.
Disclosure of Invention
The invention provides a method and a system for configuring an autonomous on-line rolling task of a satellite, which are used for overcoming the defects of the prior art that a control mode is insufficient in the aspects of autonomy, timeliness and accuracy and the like and improving the autonomy, timeliness and accuracy of satellite task configuration.
In order to achieve the purpose, the invention provides a satellite autonomous online rolling task configuration method, which comprises the following steps:
step A, when serial port data contains task demand information, judging the priority level of the task demand information;
b, if the task demand information corresponds to a conventional task with a lower priority level, planning the conventional task according to a periodic trigger mechanism and making a conventional planning scheme;
and if the task demand information corresponds to the emergency task with higher priority level, planning the emergency task according to an event triggering mechanism and making an emergency planning scheme.
The invention also provides a satellite autonomous online rolling task configuration system, which comprises a processor and a memory connected with the processor, wherein the memory stores a satellite autonomous online rolling task configuration program, and the satellite autonomous online rolling task configuration program realizes the steps of the method when being executed by the processor.
The invention provides a satellite autonomous online rolling task configuration method and a system, wherein serial port data is updated regularly according to a set period, when the serial port data contains task demand information, the task demand information is judged, if the task is a conventional task, a scheme is planned and sent according to a periodic trigger mechanism, if the task is an emergent task, the scheme is sent according to an event trigger mechanism, and the two aspects of the requirement of emergency response capability of the satellite and the restriction of limited resource of a satellite-borne computer are considered, wherein the satellite autonomous task planning system adopts a mixed trigger mode, adopts a periodic trigger mode under the conventional condition (without an emergency task), and performs task re-planning or dynamic adjustment according to the periodic trigger mode; and under the condition of emergency tasks (high priority level), an event trigger mode is adopted, and an emergency scheduling algorithm is immediately triggered to dynamically adjust the existing scheme, so that a rapid online rolling type task planning and scheduling mechanism for emergency is realized, and the on-board autonomous task planning system has the functions of self-triggering, automatic operation and self-management.
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 structures shown in the drawings without creative efforts.
Fig. 1 is a flowchart of a triggering mode of task planning in a method for configuring an autonomous online rolling task of a satellite according to an embodiment of the present invention;
fig. 2 is a flow chart of passive task processing in a method for configuring an autonomous online rolling task of a satellite according to an embodiment of the present invention;
fig. 3 is a flowchart of active task processing in a method for configuring an autonomous online rolling task of a satellite according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a processing procedure of a stereo imaging task in a method for configuring an autonomous on-line rolling task of a satellite according to an embodiment of the present invention;
fig. 5 is a flow chart of the processing of the regret mission planning in the method for configuring the autonomous on-line rolling mission of the satellite according to the embodiment of the present invention;
fig. 6 is a flow chart of regret-type task planning processing in the method for configuring autonomous online rolling tasks of satellites according to the embodiment of the present invention;
fig. 7 is a flowchart of a scheduling mechanism of task planning in the satellite autonomous online rolling task configuration method according to the embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a satellite autonomous online rolling task configuration method.
Example one
Referring to fig. 1, an embodiment of the present invention provides a method for configuring an autonomous online rolling task of a satellite, including:
step A, when serial port data contains task demand information, judging the priority level of the task demand information;
storing updated data (information is stored in a task demand information queue), starting a task processing algorithm, performing target visibility calculation on the data, generating a meta task, wherein the meta task comprises a specific recognizable and executable target task, and transferring the task from the task demand information queue to a queue to be planned;
step B, when the task demand information corresponds to a conventional task with a lower priority level, planning the conventional task according to a periodic trigger mechanism and making a conventional planning scheme;
and when the task demand information corresponds to the emergency task with higher priority level, planning the emergency task according to an event triggering mechanism and making an emergency planning scheme.
The on-satellite autonomous task planning system is a key for realizing autonomous operation of an imaging satellite, and has the main task of autonomously planning a series of ordered activity sets to form a planning scheme by a task processing algorithm (detailed in figures 2-4) and a task planning algorithm (detailed in figures 5 and 6) under the condition of meeting time requirements and resource constraints according to the task requirements of the imaging satellite, the current state of equipment and actions and effects which can be taken by the imaging satellite so as to complete a specific space task.
The task processing algorithm comprises three core processing algorithms of passive task processing, active task processing and stereo imaging task processing, the task planning algorithm comprises two core planning algorithms of regret type task planning and regret-free type task planning, and the following description is respectively given:
referring to fig. 2, the passive task processing flow: step 101, determining whether the received task is a BF point (since the high latitude area cannot be imaged, the critical point for determining the high latitude is referred to as the BF point): if yes, executing task processing, otherwise ending the task processing flow;
102, reading targets (target types: point targets, line targets and area targets) from a task demand queue and acquiring target related information;
step 103 of calculating correlation characteristics of respective vertexes constituting the acquired target (hereinafter, "respective vertexes constituting the acquired target" will be simply referred to as "target vertexes");
104, calculating the visibility of each vertex of the target according to the relevant characteristics of each vertex of the target, and considering that the target is wholly visible when each vertex of the target is visible; step 105, obtaining a time attitude vector of each vertex of the target: the information comprises information such as time windows of all vertexes of the target;
106, calculating a feature vector of the whole target according to the attitude vector of each vertex of the target;
step 107, dividing the strips according to the feature vector of the target: firstly, calculating or determining the number and the redundancy of the strips, and then actually dividing the corresponding strips;
step 108, generating a passive division general imaging element task;
and step 109, sending the newly generated meta task into a task queue to be planned.
Referring to fig. 3, the proactive task processing flow:
step 201, reading a target from a task requirement queue: and obtaining target related information;
step 202, calculating the minimum width of the satellite without sidesway according to the angle of view of the satellite, and setting the minimum width as the width of a single strip when the strip is divided;
step 203, calculating the subsatellite point (the subsatellite point is the intersection point of the connecting line of the earth center and the satellite on the earth surface and is expressed by the geography longitude and latitude, the ground point right below the satellite is called the subsatellite point): establishing a decomposition coordinate system with the geometric center C _ target as a Z axis, the rotation angle theta of the ground speed Vm as an X axis and the right-hand law as a Y axis;
step 204, fitting a push-broom track on a decomposition coordinate system by adopting multiple vertexes of a least square method, and calculating the number of strips;
step 205, judging whether the number of strips exceeds the limit: determine if the number of bands exceeds the limit? If it exceeds
If so, ending the processing flow in a failure mode; if the limit is not exceeded, the next processing flow is entered;
step 206, calculating the time attitude vector of each point of the strip;
step 207, calculating the visibility of the whole target (whether the satellite is visible to the target needs to be judged)
When the satellite is moving along a predetermined orbit, whether the satellite is shielded from the target or not, whether the satellite can direct the imaging load to the target by attitude maneuver, and the eigenvector (if the pitch angle of the satellite is fixed, the eigenrectangle can be actually represented by only four quantities, i.e., the earliest time, the latest time, the minimum yaw angle, and the maximum yaw angle. Written in vector form, called feature vector. ) (ii) a
Step 208, adjusting a time window through scene judgment;
step 209, verifying whether the partitioned stripe information is feasible; if the stripe division is not feasible, the processing flow ends in a failure mode; if the stripe division is feasible, entering the next processing flow;
and step 210, returning the meta task information and sending the meta task information into a task queue to be planned.
Referring to fig. 4, the imaging task processing flow:
step 301, judging a BF Point: if yes, executing task processing, otherwise ending the task processing flow;
step 302, reading a target from the task requirement queue: acquiring target related information;
step 303, calculating the characteristics of each vertex of the target: calculating the relevant characteristics of each vertex of the target;
step 304, target visibility calculation: only when each vertex of the target is visible, the target is regarded as visible as the whole;
step 305, obtaining a time attitude vector of each vertex of the target: the information comprises information such as time windows of all vertexes of the target;
step 306, calculating the overall target feature vector: calculating a characteristic vector of the whole target according to the attitude vector of each vertex of the target;
step 307, calculating an initial strip number StripNum to be divided for the feature vector according to the strip division width redundancy;
step 308, actually dividing the feature vector into strips of StripNum;
step 309, expanding the actually divided strips of StripNum according to the times of stereo imaging;
step 310, traversing and modifying the time postures of all the strips;
311, generating a stereoscopic imaging meta task;
and step 312, sending the newly generated meta task into a task queue to be planned. Referring to fig. 5, the repentance type mission planning flow:
step 401, ordering task sequences to be planned according to a certain rule;
is the task sequence planned, step 402? If the planning is finished, the process is ended; otherwise, executing the next step of the process and continuing the related work of task planning;
is the imaging time within the imaging time frame, step 403? If not, abandoning the task and taking down a task to be planned; if the time is in the range, executing the next step of the process, and continuing to perform the related work of task planning;
step 404, executing the judgment processing of whether the current task to be planned can be arranged;
step 405, see the execution result of the scheduling decision process, and decide whether the task to be planned can be scheduled? If not, the process proceeds to step 406; otherwise, execute the present flow step 407;
step 406, starting imaging, expanding a certain time duration, and turning to the step 403 of the process;
step 407, arranging attitude maneuver recording actions;
in step 408, is the scheduling of the previous step successful? If the task is unsuccessful, taking down a task to be planned, and turning to the step 402 of the flow to execute; otherwise, the next step of the process is executed;
in step 409, determine whether it is an actual transmission task? If the task is the real transmission task, the next step of the process is executed; otherwise, go to step 412;
step 410, finding out a data transmission window containing the real transmission window from the data transmission window sequence, and obtaining the ground station number corresponding to the window and which antenna is to be used for real transmission and rotation angle;
step 411, arranging backhaul tasks;
step 412, the sequence of actions is ordered. Referring to fig. 6, there is an regret-type mission planning flow:
step 501, sequencing task sequences to be planned according to a certain rule;
is the task sequence planned, step 502? If planning is completed, the flow is ended. Otherwise, executing the next step of the process and continuing the related work of task planning;
is the imaging time within the imaging time frame, step 503? If not, abandoning the task and taking down a task to be planned; if the time is within the time range, the next step of the process is executed, and the related work of task planning is continued.
Step 504, executing the judgment processing of whether the current task to be planned can be arranged;
step 505, checking the execution result of the scheduling decision process to determine whether the current task to be planned can be scheduled? If not, the process proceeds to step 506; otherwise, executing the procedure 507;
step 506, starting imaging, expanding a certain time length, and turning to step 503 of the process to execute;
step 507, arranging attitude maneuver recording actions;
step 508, is the scheduling of the previous step successful? If not, go to the procedure 509; otherwise, the flow is executed in step 511;
step 509, triggering repentance judgment: if the repentance is triggered, execute the present flow step 510; otherwise, the process proceeds to step 506;
step 510, executing regret processing-deleting low-income tasks; after the completion, the flow is shifted to the step 507 for execution;
in step 511, determine whether it is an actual transmission task? If the task is the real transmission task, the next step of the process is executed; otherwise, go to step 514;
step 512, finding the data transmission window containing the real transmission window from the data transmission window sequence, and obtaining the ground station number corresponding to the window and which antenna is to be used for real transmission and rotation angle;
step 513, arranging a return task;
step 514, the sequence of actions is ordered.
The on-board autonomous mission planning system adopts a satellite autonomous on-line rolling mission planning frame which mainly adopts an on-line rolling mission planning and scheduling mechanism, so that the on-board autonomous mission planning system has the functions of self-triggering, automatic operation and self-management.
The scheduling of the mission planning scheduling instants in the online rolling mission planning scheduling mechanism, while affected by a variety of factors (e.g., user demand, satellite demand time-of-injection planning, management center planning capabilities, etc.), can be attributed to periodic and eventuality factors, and thus can be classified as: a periodic trigger mode, an event trigger mode, and a hybrid trigger mode. The three modes are specifically described as follows:
periodic trigger mode: i.e. planning is performed at intervals. The interval may be uniform and constant or may be dynamically varied. The advantages of this mode are: the operation is simple, and the planning frequency is stable; the disadvantages of this mode are: firstly, when the period is long, the high timeliness of the task planning cannot be guaranteed, and secondly, when the period is short, the requirements on the computing efficiency, the stability and the measurement and control capability of the system are high;
event-triggered mode: namely, when new tasks arrive, the satellite state changes, and a decision department puts forward planning requirements and other conditions, the task planning can be responded in time. The advantages of this mode are: the method has higher sensitivity to the planning environment and can process emergency tasks in time; the disadvantages of this mode are: when emergency tasks are frequent, the planning time complexity is greatly increased, and the requirement on the satellite-borne computer is extremely high;
hybrid trigger mode: the combination of the periodic trigger mode and the event trigger mode is adopted, and the advantages of the periodic trigger mode and the event trigger mode are fully combined. The advantages of this mode: not only the capability of timely processing emergency tasks is considered, but also the time complexity of the algorithm is not high. When the emergency task is not received, task re-planning or dynamic adjustment is carried out according to a periodic trigger mode; and after receiving the emergency task, immediately triggering an emergency scheduling algorithm to dynamically adjust the existing scheme.
In summary, if the demand of the user on the emergency response capability of the satellite is considered, the task planning and scheduling by using the event trigger mode is an ideal mode, but the complete use of the event trigger mode cannot be realized due to the limitation of the resource of the satellite-borne computer. Therefore, the on-board autonomous mission planning system adopts a hybrid triggering mode in consideration of two aspects of requirements of emergency response capability of the satellite and restriction of limited resource of the on-board computer. In order to distinguish the conventional tasks from the emergency tasks, task priority (1-5) information is introduced into the task information, and the task priority is gradually increased from 5 → 1, namely, the priority 5 is the conventional task and the priority 1-4 is the emergency tasks with different priorities, a periodic trigger mode is adopted, and task re-planning or dynamic adjustment is carried out according to the periodic trigger mode; and under the condition of emergency tasks, an event trigger mode is adopted, and an emergency scheduling algorithm is immediately triggered to dynamically adjust the existing scheme, so that the rapid online rolling type task planning of the emergency is realized.
In the traditional ground planning and scheduling algorithm, an operator manually triggers and starts a ground planning software interface, and an onboard computer does not have the condition that the manual triggering and starting of the manual operation software interface, so that an onboard autonomous task planning system has the functions of self-triggering, automatic operation and self-management. Based on the problem of on-satellite autonomous mission planning and scheduling, a set of satellite autonomous on-line rolling type mission planning framework is designed, and a satellite autonomous on-line rolling type mission planning and scheduling mechanism is mainly adopted in the framework.
The satellite autonomous online rolling type task scheduling mechanism runs through all modules in the satellite autonomous mission planning system, and main modules (which are virtual modules and are specifically realized by programs) of the satellite autonomous mission planning system comprise: the system comprises a comprehensive cooperative management module, a resource management module, a task pool module, a task processing module, a task planning module, a scheme generation module and an execution management module.
The satellite autonomous online rolling type mission planning and scheduling mechanism adopts the mixed trigger mode and simultaneously adopts a four-thread parallel operation mode.
The functions, roles, and trigger patterns of each thread are shown in the following table:
TABLE 4 autonomous online rolling type description table for each thread of mission planning and scheduling mechanism for satellite
Preferably, before the step a, the method further comprises:
step 1, when real-time orbit data (the real-time orbit data specifically comprises epoch time, orbit eccentricity, orbit inclination angle, perigee angle, ascension of a rising intersection point, orbit semimajor axis and mean-perigee angle) exist in serial port data and a trigger period condition is met, storing extrapolated (orbit data obtained by calculating the orbit data within 7 days after the epoch time point of the real-time orbit data to the epoch time point) and updated earth shadow window information so as to provide resource information and resource state information; see thread one;
the step A comprises the following steps:
step 2, when target data (the target data specifically comprises a target number, a target name, a target type, a target description, a target geographic type, a target area, a country, a continent, a creation time and a creator) and data of a digital transmission window (the data of the digital transmission window specifically comprises a track cycle, an inbound time, an outbound time and a duration) exist in the serial port data, the target data and the data of the digital transmission window are updated and are respectively and correspondingly stored in a task requirement information queue and the data of the digital transmission window;
extracting task demand information to be subjected to task planning from the task demand information queue, and performing target visibility calculation by combining resource information (whether the satellite is visible to the target needs to judge whether the satellite is shielded or not when the satellite runs along a set orbit, and whether the satellite can make an imaging load point to the target through attitude maneuver or not), so as to generate a meta task of the task; transferring the tasks corresponding to the meta tasks to a queue to be planned; judging the priority level of the task corresponding to the meta-task according to the task demand information; see thread two;
the step B comprises the following steps:
step 3, when the tasks in the queue to be planned meet a task planning trigger period or trigger condition, performing task planning on the meta-tasks according to the mechanism corresponding to the priority levels according to the data transmission window information and the resource information, and generating an action sequence of the tasks; transferring the task corresponding to the action sequence to a planned queue; see thread three;
and 4, when a trigger period for sending the schemes is met (the generated schemes are sorted in an ascending order according to the execution starting time of each scheme, the difference value of the current time subtracted from the execution starting time of the first scheme is calculated, if the time difference value is 0min < 5min, the scheme is sent immediately, if the time difference value is more than 5min, the scheme is sent when the time difference value is 5min, and the like in the subsequent schemes), obtaining a scheme queue of the required scheme, checking the format of the scheme queue, and sending the scheme queue if the checking is successful. See thread four.
Preferably, the step 1 comprises:
step 11, receiving serial port data and judging whether real-time orbit data exists or not;
step 12, if the real-time orbit data exists, updating the real-time orbit data;
step 13, extrapolating 5400s orbit data and updating the earth shadow window information when the updated real-time orbit data meets the trigger period;
and step 14, storing the 5400s track data and the ground shadow window information in a resource management module to form resource data, wherein the resource management module provides resource information and resource state information according to the resource data.
Preferably, the resource data includes: orbit data, terrain window data, attitude data, antenna data, data of a solid state, and electrical quantity data.
Preferably, the step 2 includes:
step 21, receiving serial port data and judging whether target data and data transmission window data exist in the serial port data;
step 22, if the target data and the data of the transmission window exist, updating the target data and the data of the transmission window;
step 23, storing the updated target data and the updated data of the data transmission window into a task demand information queue and data transmission window information of the task pool module respectively;
step 24, starting a task processing algorithm (see the passive task processing flow, the active task processing flow and the imaging task processing flow algorithm and fig. 2, 3 and 4), and performing target visibility calculation by combining the task demand information acquired from the task demand information queue with the resource information by the task processing module to generate a meta task of the task;
and step 25, transferring the processed task from the task demand information queue of the task pool module to a queue to be planned through the execution management module. Preferably, the step 3 comprises:
step 31, when the tasks in the queue to be planned include conventional tasks, judging whether the conventional tasks meet the trigger period of task planning; when the tasks in the queue to be planned comprise the burst tasks, judging whether the burst tasks meet triggering conditions of task planning or not;
step 32, when the conventional task meets the trigger period of the task planning, or when the burst task meets the trigger condition of the task planning, starting a task planning algorithm;
step 33, acquiring meta task information and data transmission window information in the task pool and resource data in the resource management module, and performing task planning;
step 34, generating an action sequence of the task;
and step 35, transferring the planned tasks from the queue to be planned in the task pool module to the planned queue through the execution management module.
Preferably, the step 4 comprises:
step 41, when the trigger period of sending the scheme is met, obtaining a scheme queue to be sent from the task pool;
step 42, format check is carried out on the transmitted scheme queue;
step 43, if the format verification is successful, sending a scheme queue;
and step 44, transferring the tasks in the generated sending scheme from the planned task queue in the task pool module to the scheme queue through the execution management module.
Preferably, the execution management module is configured to monitor and manage a status of the task and a status of the resource.
The satellite imaging task planning adopts the traditional ground control mode to be not suitable for the requirements of future space missions, so the autonomous planning function of the imaging satellite is realized by researching an on-satellite autonomous task planning system.
The on-satellite autonomous task planning system needs to be established on the basis of a set of complete autonomous planning framework, namely a satellite autonomous online rolling task planning framework. The perfect satellite autonomous online rolling task planning architecture not only endows the on-board autonomous task planning system with the functions of self-triggering, automatic operation and self-management; compared with a ground control mode, the satellite autonomous task planning system has qualitative improvement in the aspects of autonomy, timeliness, accuracy and the like of satellite autonomous planning, and meanwhile, the generated task planning result is closer to the practical precision of engineering.
By the satellite autonomous online rolling task planning architecture provided by the embodiment, the satellite autonomous task planning system has the functions of self-triggering, automatic operation and self-management, and the timeliness of satellite task planning is ensured. Particularly for the planning result of the satellite, the dynamic adjustment can be timely carried out on the task planning result according to the change of the external environment, and the task planning accuracy is guaranteed.
The invention provides a satellite autonomous online rolling task configuration system.
Example two
Referring to fig. 2, an embodiment of the present invention provides a satellite autonomous online rolling task configuration system, including a processor and a memory connected to the processor, where the memory stores a satellite autonomous online rolling task configuration program, and the satellite autonomous online rolling task configuration program implements the steps of the method when executed by the processor. See embodiment one for a specific implementation.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A satellite autonomous online rolling task configuration method is characterized by comprising the following steps:
step A, when serial port data contains task demand information, judging the priority level of the task demand information;
b, if the task demand information corresponds to a conventional task with a lower priority level, planning the conventional task according to a periodic trigger mechanism and making a conventional planning scheme;
if the task demand information corresponds to the emergency task with higher priority level, planning the emergency task according to an event trigger mechanism and making an emergency planning scheme;
before the step A, the method further comprises the following steps:
step 1, storing extrapolated orbit data and updated earth shadow window information to provide resource information and resource state information when real-time orbit data exists in serial port data and a trigger period is met;
the step A comprises the following steps:
step 2, when the serial port data has target data and data of a data transmission window, updating the target data and the data of the data transmission window and respectively and correspondingly storing the target data and the data of the data transmission window in a task requirement information queue and the data transmission window information;
extracting task demand information from the task demand information queue, and performing target visibility calculation by combining resource information to generate a meta task of the task; transferring the tasks corresponding to the meta tasks to a queue to be planned; judging the priority level of the task corresponding to the meta-task according to the task demand information;
the step B comprises the following steps:
step 3, when the tasks in the queue to be planned meet a task planning trigger period or trigger condition, performing task planning on the meta-tasks according to the mechanism corresponding to the priority levels according to the data transmission window information and the resource information, and generating an action sequence of the tasks; transferring the task corresponding to the action sequence to a planned queue;
step 4, when the trigger period of the scheme sending is met, acquiring a scheme queue of the required scheme, checking the format of the scheme queue, and sending the scheme queue if the checking is successful;
for the four steps from step 1 to step 4, the task configuration method uses four threads to run in parallel:
the first thread is track data required by task processing and task planning generated by a periodic trigger mode when the serial port data has real-time track data and meets a trigger period in the step 1; a second thread is used for generating the meta task information of the task required by the task planning by using the event trigger mode when the serial port data has the target data and the number transmission window data in the step 2; a third thread is task action sequence information required by the mixed trigger mode generation scheme in the step 3 during task planning; and the thread four generates and sends the task scheme with the specified format by using the periodic trigger mode when the scheme is sent in the step 4.
2. The satellite autonomous online scrolling task configuration method according to claim 1, wherein said step 1 comprises:
step 11, receiving serial port data and judging whether real-time orbit data exists or not;
step 12, if the real-time orbit data exists, updating the real-time orbit data;
step 13, extrapolating 5400s orbit data and updating the earth shadow window information when the updated real-time orbit data meets the trigger period;
and step 14, storing the 5400s track data and the ground shadow window information in a resource management module to form resource data, wherein the resource management module provides resource information and resource state information according to the resource data.
3. The satellite autonomous online scrolling task configuration method of claim 2, wherein said resource data comprises: orbit data, terrain window data, attitude data, antenna data, data of a solid state, and electrical quantity data.
4. The satellite autonomous online scrolling task configuration method of claim 3, wherein said step 2 comprises:
step 21, receiving serial port data and judging whether target data and data transmission window data exist in the serial port data;
step 22, when the target data and the data of the number transmission window exist, updating the target data and the data of the number transmission window;
step 23, storing the updated target data and the updated data of the data transmission window into a task demand information queue and data transmission window information of the task pool module respectively;
step 24, starting a task processing algorithm, and performing target visibility calculation on the task demand information acquired from the task demand information queue by a task processing module in combination with resource information to generate a meta task of the task;
and step 25, transferring the processed task from the task demand information queue of the task pool module to a queue to be planned through the execution management module.
5. The satellite autonomous online scrolling task configuration method according to claim 4, wherein said step 3 comprises:
step 31, when the tasks in the queue to be planned include conventional tasks, judging whether the conventional tasks meet the trigger period of task planning; when the tasks in the queue to be planned comprise the burst tasks, judging whether the burst tasks meet triggering conditions of task planning or not;
step 32, when the conventional task meets the trigger period of the task planning, or when the burst task meets the trigger condition of the task planning, starting a task planning algorithm;
step 33, acquiring meta task information and data transmission window information in the task pool and resource data in the resource management module, and performing task planning;
step 34, generating an action sequence of the task;
and step 35, transferring the planned tasks from the queue to be planned in the task pool module to the planned queue through the execution management module.
6. The method of claim 5, wherein the mission planning algorithms in step 32 include regret-type mission planning and regret-free mission planning algorithms.
7. The satellite autonomous online scrolling task configuration method of claim 6, wherein said step 4 comprises:
step 41, when the trigger period of sending the scheme is met, obtaining a scheme queue to be sent from the task pool;
step 42, format check is carried out on the transmitted scheme queue;
step 43, if the format verification is successful, sending a scheme queue;
and step 44, transferring the tasks in the generated sending scheme from the planned task queue in the task pool module to the scheme queue through the execution management module.
8. The method for configuring the autonomous on-line rolling task of the satellite according to any one of claims 4 to 7, wherein the execution management module is used for monitoring and managing the state of the task and the state of the resource.
9. A satellite autonomous online rolling task configuration system, comprising a processor and a memory connected to the processor, wherein the memory stores a satellite autonomous online rolling task configuration program, and the satellite autonomous online rolling task configuration program implements the steps of the method according to any one of claims 1 to 8 when executed by the processor.
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| CN113176602B (en) * | 2021-04-19 | 2023-04-21 | 中国科学院微小卫星创新研究院 | On-orbit observation mode management system |
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