CN109272183A - A kind of optimization modeling method of vehicle load measurement equipment observation mission scheduling problem - Google Patents
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Abstract
The invention discloses a kind of optimization modeling methods of vehicle load measurement equipment observation mission scheduling problem, which is characterized in that comprises the steps of: that a. determines given data；B. optimization independent variable is chosen；C. optimization constraint is determined；D. optimizing index is chosen.It constructs the strong mathematical model of clever structure, scalability, creates condition to solve ground on-vehicle measuring device to Space-objects Observation Mission Scheduling.
Description
Technical field
The present invention relates to Modeling on Optimal field more particularly to a kind of vehicle load measurement equipment observation mission scheduling problems
Optimization modeling method.
Background technique
The present invention relates to a type ground on-vehicle measuring device (hereinafter referred to as equipment), deployed with devices is surveyed in specific ground
It stands, in the shorter time interval that extraterrestrial target crosses top, equipment can be observed it, which is known as equipment
To the observation window of extraterrestrial target, (it is special that the calculating of observation window is related to the movement that equipment working mechanism and extraterrestrial target need to meet
Property, photoelectric characteristic constraint, this problem and non-present invention concern emphasis, details are not described herein again).Equipment can be with carrier vehicle along highway
It is motor-driven, it travels to and fro between garage and survey station, survey station and survey station.It is needed after the specific survey station of the motor-driven arrival of equipment, before having observation state
The time-consuming for the preparation to be carried out is known as duration of run topen, needed after the primary observation of equipment completion, before having maneuvering condition
The time-consuming of the preparation of progress is known as collapsing time tclose, equipment standard for needing to carry out between the observation twice of same survey station
The time-consuming of standby work is known as t cooling timecool.Since the observation device that equipment uses is precision instrument, after observing several times,
Observation device needs to carry out necessary calibration and debugging, at this time equipment cisco unity malfunction.For any appliance, introduce surplus
The concept of remaining observation frequency, when remaining observation frequency is 0, it is believed that equipment failure.
One observation mission scheduling problem is related to the use of above-mentioned ground on-vehicle measuring device, which can describe such as
Under: existing M platform observation device, known, the remaining observation frequency of the initial position of each equipment is it is known that all devices earliest can be by t0
Moment sets out, need to be in t1To t2N number of extraterrestrial target is observed in time, available survey station there are L, it is desirable that provides most
Excellent observation program.
The essence of the above problem is a torpedo_damaged warship (Weapon Target Assignment, WTA) problem,
Engineering in practice, generally use the method for exhaustion or optimal method to solve.
But due to being related to the mapping relations of equipment, survey station and target three, and need time, remaining observation
The constraints such as number account for, and the kernel of problem is complex, dimension dissipates quickly, are difficult with traditional mathematics model to ask
Solution.
Summary of the invention
The present invention is intended to provide a kind of optimization modeling method of vehicle load measurement equipment observation mission scheduling problem, specifically
It is a kind of ground on-vehicle measuring device to the optimization modeling method of Space-objects Observation Mission Scheduling, constructs a knot
The mathematical model that structure is ingenious, scalability is strong is created to solve ground on-vehicle measuring device to Space-objects Observation Mission Scheduling
Condition is made.
The technical scheme is that a kind of optimization modeling method of vehicle load measurement equipment observation mission scheduling problem,
It is characterized in that comprising the steps of:
A. given data is determined；
B. optimization independent variable is chosen；
C. optimization constraint is determined；
D. optimizing index is chosen.
Further, the given data includes existing M platform observation device Ei, i=1,2 ..., M, equipment EiInitial bit
It is set to Pi, remaining observation frequency be Ri；All devices earliest can be by t0Moment sets out, need to be in t1To t2To N number of space mesh in time
Mark Tj, j=1,2 ..., N are observed；Available survey station has L, Sk, k=1,2 ..., L.
Wherein for introducing equipment to the observation window algorithm of extraterrestrial target, the present invention provides a kind of simple observation window
Algorithm, for other complicated algorithms, the present invention is equally applicable.
A kind of existing common observation window algorithm, in primary observation, the geometrical relationship of equipment and extraterrestrial target such as Fig. 1
Shown, equipment is located at ground survey station S, and extraterrestrial target T flies over the equipment crown with specific track, considers that the observation device of equipment is
Simple circular cone optical sensor and its be directed toward always perpendicular to local level, then its observation scope is the fixed a branch of circle of cone angle
Cone, once target flies into circular cone, then equipment can be implemented to observe to it, once target flies away from circular cone, then equipment is no longer implemented it
Observation.Therefore, equipment observation window algorithm can be expressed from the next
W=[t | γt(T, S) < γ0] (1)
In formula, γ0For equipment optical sensor cone angle, γt(T, S) is the calculation for calculating t moment target T to survey station S cone angle
Son.From the above equation, we can see that set at the time of observation window is actually goal satisfaction equipment observational constraints.
Further, the step b includes that (1) utilizes existing observation window algorithm, calculates t1To t2In time, equipment
It is deployed in SkSurvey station is to TjThe observation window set W of targetj,k,q, q=1,2 ..., qjk, by expression formula it is found that window in the set
Number shares qjkIt is a；(2) L survey station and N number of target are traversed, t is calculated1To t2In time, deployed with devices is in all survey stations to institute
There is observation window complete or collected works W existing for targetj,k,q, j=1,2 ..., N, k=1,2 ..., L, q=1,2 ..., qjk, by expression formula
It is found that window number shares q in the complete or collected workstotalIt is a,(3) introducing a length is qtotalA dimension
Group, x-th of element in array correspond to x-th of observation window, and value y is 0 to the integer between M, indicate x-th
Observation window distributes to y platform equipment and goes to execute observation mission.
Further, in the step c optimization constraint include equipment transition constraint, the constraint of remaining observation frequency, survey station into
It constrains out.
Further, the equipment transition constraint refers to that the layout of observation mission should be by the time kept in reserve of equipment, expansion
Time, gathering time, cooling time account for, it is ensured that each equipment can be completed all necessary dynamic within the given time
Make；
The calculating step of equipment transition constraint includes:
1. combing out all equipment being related to for given observation program and each equipment needing to implement observation
Window set；
2. needing to implement the element in the window set of observation to it according to time elder generation for i-th equipment in scheme
After be ranked up；
The window set for implementing observation is needed to be represented by 3. setting i-th equipment after sequenceAnd each window Wi,j,k,qTime lead and trail edges be respectivelyThen equipment
Transition constraint calculation method be
1) equipment, which by initial position transition to the 1st window corresponds to survey station and implements the time-constrain that need to meet of observation, is
In formula, tmove() is that the initial position of equipment and final position calculate motor-driven time-consuming calculation on known ground
Son, the process need to consider equipment maximum controllable velocity and geography information factor；
2) equipment by the α window correspond to survey station transition to+1 window of α correspond to survey station implement observation need to meet when
Between be constrained to
4. repeating the 2., 3. to walk, whether all devices transition times that check observation scheme is related to are enough, once occur not
The invalid situation of equation, then terminate calculating, determines that the observation program is unsatisfactory for equipment transition constraint.
Further, the remaining observation frequency constraint refers to the sight that an equipment is distributed in layout observation mission
It surveys number of tasks and its remaining observation frequency is not to be exceeded；
Steps are as follows for the calculating of remaining observation frequency constraint
1. having combed to have obtained i-th during calculating equipment transition constraint and having set for given observation program
The standby window set for needing to implement observationBy gathering it is found that distributing to the observation of i-th equipment
Number of tasks is αi, then its corresponding remaining observation frequency constraint is represented by
αi-Ri≤0 (4)
2. repeating the 1. to walk, whether all devices residue observation frequency that check observation scheme is related to is enough, once occur
The invalid situation of inequality, then terminate calculating, determines that the observation program is unsatisfactory for remaining observation frequency constraint.
Further, the survey station disengaging constraint refers to that the layout of observation mission should pass in and out equipment spent by survey station
Duration of run collapses time factor and accounts for, it is ensured that each survey station being capable of effective guarantee its all observation mission for being endowed；
Steps are as follows for the calculating of survey station disengaging constraint
1. combing out all survey stations being related to for given observation program and each survey station needing to implement observation
Window set；
2. needing to implement the element in the window set of observation to it according to time elder generation for k-th of survey station in scheme
After be ranked up；
The window set for implementing observation is needed to be represented by 3. setting k-th of survey station after sequenceThen the calculation method of survey station disengaging constraint is
1) if the window that k-th of survey station needs to implement observation is no more than 1, there is no survey stations to pass in and out about for the survey station
Beam；
2) if k-th of survey station needs the window for implementing observation to be no less than 2 ,+1 window of β window and β is needed
The survey station to be met disengaging is constrained to
4. repeating the 2., 3. to walk, whether all survey stations disengaging time that check observation scheme is related to conflicts, once occur not
The invalid situation of equation, then terminate calculating, determines that the observation program is unsatisfactory for survey station disengaging constraint.
Further, optimizing index includes total maneuvering distance, always observes duration, observed object number in the step d.
Further, total maneuvering distance features the summation that all devices in an observation program need motor-driven distance,
In order to reduce the cost of observation program, total maneuvering distance should be as small as possible；
Steps are as follows for the calculating of total maneuvering distance
1. having combed to have obtained i-th during calculating equipment transition constraint and having set for given observation program
The standby window set for needing to implement observationThen the maneuvering distance of i-th equipment is represented by
In formula, dmove() is the operator that the initial position of equipment and final position calculate maneuvering distance on known ground,
The process need to consider geography information factor；
2. total maneuvering distance is represented by
In formula, it should be pointed out that, the equipment for not having to distribute observation mission in observation program, maneuvering distance is taken as 0；
Total observation duration features an observation program to the total of the time window length of all Space-objects Observations
With, in order to improve the benefit of observation program, it is total observe duration should be as big as possible；
Steps are as follows for the calculating of total observation duration
1. having combed to have obtained i-th during calculating equipment transition constraint and having set for given observation program
The standby window set for needing to implement observationThen the observation duration of i-th equipment is represented by
2. always observation duration is represented by
In formula, it should be pointed out that, the equipment for not having to distribute observation mission in observation program, observation duration is taken as 0；
The observed object number features the number for all extraterrestrial targets that an observation program can cover, in order to mention
The benefit of high observation program, observed object number should be as more as possible；
The calculation method of the observed object number is, for given observation program, to comb out all skies being related to
Between target number Ninvol?.
The beneficial effects of the present invention are: for a kind of complicated ground on-vehicle measuring device to Space-objects Observation task tune
Degree problem, the present invention are explored from the visual angle of optimum theory, are proposed the description form of observation program, are met constraint and comment
Valence index constructs the strong optimal model of a kind of clever structure, scalability, to convert one for observation mission scheduling problem
The complete optimization problem of a element has important engineering significance to solve the problems, such as to create condition using optimum theory.
Detailed description of the invention
Fig. 1 is a kind of existing observation window calculation method schematic diagram；
Fig. 2 is the definition for optimizing independent variable in Optimized model of the present invention；
Fig. 3 is single device representative observation flow of task in observation program of the present invention；
Fig. 4 is single survey station representative observation flow of task in observation program of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.
The invention proposes the optimal models that an element is complete, and in specific implementation, which needs to cooperate corresponding
Optimization algorithm use.From the viewpoint of optimum theory, optimal model, which mainly answers optimization independent variable, to be what, optimizes certainly
Variable needs to meet any constraint, what 3 problem is the evaluation index of optimization independent variable be.This 3 problems are in technical solution
It has been elaborated that, further illustrated below with reference to a specific embodiment.
The present embodiment relies on Satellite Tool Kit (STK) software to realize.
Primary condition given first, takes t0、t1、t2Moment is respectively
t0=(2018 00:00:00UTCG of 24May)
t1=(2018 00:00:00UTCG of 1Jun)
t2=(2018 00:00:00UTCG of 8Jun)
The maximum controllable velocity for taking observation device carrier vehicle is 60km/h, and the duration of run of observation device collapses time, cooling
Time is respectively
topen=3h, tclose=1h, tcool=1h
Assuming that there is 6 observation devices, essential information is as shown in table 1
1 observation device primary condition of table
Assuming that observation need to be implemented to 4 Aerospace Satellite targets, in t1The clas sical orbit radical at moment is as shown in table 2
2 Aerospace Satellite target of table is in t1The clas sical orbit radical at moment
Assuming that available survey station has 4, essential information is as shown in table 3
3 survey station primary condition of table
| Number | Position latitude is through high (deg/deg/km) |
| S1 | (43.8/87.583/0) |
| S2 | (36.617/101.767/0) |
| S3 | (25.9394/107.002/0) |
| S4 | (38.041/114.479/0) |
One explanation is done with equipment computer aided algorithm to the equipment observation window algorithm that the present embodiment uses below.
The satellite that STK software is utilized in the present embodiment passes by calculating instrument Access to calculate equipment observation window, for
Each survey station adds a sensor object Sensor respectively, Sensor type is set as simple pyramid type, and cone angle takes 20deg,
Survey station can be obtained to the observation window of target using Access tool.For more accurate observation window algorithm, the present invention
Technical solution stand good.
Earth ball model is utilized to calculate maneuvering distance and the time kept in reserve of equipment in the present embodiment, namely assume for
Any two points on spherical surface, equipment is at the uniform velocity globally minor arc is motor-driven to terminal by starting point.For the more accurate motor-driven calculation of equipment
Method, technical solution of the present invention stand good.
Table 4 gives all survey stations for being calculated using Access tool to the set of the observation window of all targets.
Observation window complete or collected works of all survey stations of table 4 to all targets
As shown in Table 4, in the present embodiment, observation window complete or collected works share 31 elements.Therefore, the present embodiment is established most
The independent variable of Optimized model is the one-dimension array that length is 31.One group of independent variable is given below, calculates separately its corresponding optimization
Constraint and optimizing index.
Independent variable be taken as [0,3,0,0,3,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,
1,0,0]
The corresponding detecting strategy of independent variable is as shown in table 5
The corresponding observation program of 5 independent variable of table
The corresponding optimization constraint of independent variable is as shown in table 6
The corresponding optimization constraint of 6 independent variable of table
As shown in Table 6, this group of independent variable can satisfy all optimization constraints, be feasible observation program.
The corresponding optimizing index of independent variable is as shown in table 7
The corresponding optimizing index of 7 independent variable of table
| Total maneuvering distance (km) | Total observation duration (s) | Observed object number |
| 5117.215 | 123 | 4 |
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
Various corresponding changes and modifications, but these corresponding changes and modifications can be made according to the present invention by knowing those skilled in the art
All it should fall within the scope of protection of the appended claims of the present invention.
Claims (9)
1. a kind of optimization modeling method of vehicle load measurement equipment observation mission scheduling problem, which is characterized in that include following step
It is rapid:
A. given data is determined；
B. optimization independent variable is chosen；
C. optimization constraint is determined；
D. optimizing index is chosen.
2. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 1, feature
It is, the given data includes existing M platform observation device Ei, i=1,2 ..., M, equipment EiInitial position be Pi, remaining see
Survey number is Ri；All devices earliest can be by t0Moment sets out, need to be in t1To t2To N number of extraterrestrial target T in timej, j=1,
2 ..., N is observed；Available survey station has L Sk, k=1,2 ..., L.
3. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 1, feature
It is, the step b includes that (1) utilizes existing observation window algorithm, calculates t1To t2In time, deployed with devices is in SkSurvey station
To TjThe observation window set W of targetj,k,q, q=1,2 ..., qjk, by expression formula it is found that window number shares q in the setjk
It is a；(2) L survey station and N number of target are traversed, t is calculated1To t2In time, deployed with devices is in all survey stations to existing for all targets
Observation window complete or collected works Wj,k,q, j=1,2 ..., N, k=1,2 ..., L, q=1,2 ..., qjk, by expression formula it is found that in the complete or collected works
Window number shares qtotalIt is a,(3) introducing a length is qtotalOne-dimension array, the xth in array
A element corresponds to x-th of observation window, and value y is 0 to the integer between M, indicates to distribute to x-th of observation window the
Y platform equipment goes to execute observation mission.
4. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 1, feature
It is, optimization constraint includes equipment transition constraint, remaining observation frequency constraint, survey station disengaging constraint in the step c.
5. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 4, feature
It is, when the equipment transition constraint refers to that the layout of observation mission should be by the time kept in reserve of equipment, duration of run, gathering
Between, cooling time accounts for, it is ensured that each equipment can complete all necessary movements within the given time；
The calculating step of equipment transition constraint includes:
1. combing out all equipment being related to for given observation program and each equipment needing to implement the window of observation
Set；
2. for i-th equipment in scheme, it is needed to implement element in the window set of observation according to time order and function into
Row sequence；
The window set for implementing observation is needed to be represented by 3. setting i-th equipment after sequenceAnd it is every
A window Wi,j,k,qTime lead and trail edges be respectivelyThen the calculation method of equipment transition constraint is
1) equipment, which by initial position transition to the 1st window corresponds to survey station and implements the time-constrain that need to meet of observation, is
In formula, tmove() is that the initial position of equipment and final position calculate motor-driven time-consuming operator on known ground, should
Process need to consider equipment maximum controllable velocity and geography information factor；
2) equipment, which by the α window corresponds to survey station transition to+1 window of α and corresponds to survey station, implements the time that need to meet of observation about
Shu Wei
4. repeating the 2., 3. to walk, whether all devices transition times that check observation scheme is related to are enough, once there is inequality
Invalid situation then terminates calculating, determines that the observation program is unsatisfactory for equipment transition constraint.
6. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 4, feature
It is, the residue observation frequency constraint refers to that the observation mission number that an equipment is distributed in layout observation mission is not answered
More than its remaining observation frequency；
Steps are as follows for the calculating of remaining observation frequency constraint
1. having combed to have obtained i-th equipment during calculating equipment transition constraint needs for given observation program
Implement the window set of observationBy gathering it is found that distributing to the observation mission of i-th equipment
Number is αi, then its corresponding remaining observation frequency constraint representation be
αi-Ri≤0 (3)
2. repeating the 1. to walk, whether all devices residue observation frequency that check observation scheme is related to is enough, once occur differing
The invalid situation of formula, then terminate calculating, determines that the observation program is unsatisfactory for remaining observation frequency constraint.
7. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 4, feature
It is, the survey station disengaging constraint refers to that equipment should be passed in and out duration of run spent by survey station, received by the layout of observation mission
Hold together time factor to account for, it is ensured that each survey station being capable of effective guarantee its all observation mission for being endowed；
Steps are as follows for the calculating of survey station disengaging constraint
1. combing out all survey stations being related to for given observation program and each survey station needing to implement the window of observation
Set；
2. for k-th of survey station in scheme, it is needed to implement element in the window set of observation according to time order and function into
Row sequence；
The window set for implementing observation is needed to be represented by 3. setting k-th of survey station after sequenceThen
Survey station passes in and out the calculation method constrained
1) if the window that k-th of survey station needs to implement observation is no more than 1, there is no survey station disengaging constraints for the survey station；
2) if k-th of survey station needs the window for implementing observation to be no less than 2 ,+1 window of β window and β needs full
The survey station disengaging of foot is constrained to
4. repeating the 2., 3. to walk, whether all survey stations disengaging time that check observation scheme is related to conflicts, once there is inequality
Invalid situation then terminates calculating, determines that the observation program is unsatisfactory for survey station disengaging constraint.
8. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 1, feature
It is, optimizing index includes total maneuvering distance, always observes duration, observed object number in the step d.
9. the optimization modeling method of vehicle load measurement equipment observation mission scheduling problem according to claim 8, feature
It is, total maneuvering distance features the summation that all devices in an observation program need motor-driven distance, in order to reduce observation
The cost of scheme, total maneuvering distance should be as small as possible；
Steps are as follows for the calculating of total maneuvering distance
1. having combed to have obtained i-th equipment during calculating equipment transition constraint needs for given observation program
Implement the window set of observationThen the maneuvering distance of i-th equipment is represented by
In formula, dmove() is the operator that the initial position of equipment and final position calculate maneuvering distance on known ground, the process
It need to consider geography information factor；
2. total maneuvering distance is represented by
In formula, it should be pointed out that, the equipment for not having to distribute observation mission in observation program, maneuvering distance is taken as 0；
Total observation duration features an observation program to the summation of the time window length of all Space-objects Observations, is
Improve the benefit of observation program, it is total observe duration should be as big as possible；
Steps are as follows for the calculating of total observation duration
1. having combed to have obtained i-th equipment during calculating equipment transition constraint needs for given observation program
Implement the window set of observationThen the observation duration of i-th equipment is represented by
2. always observation duration is represented by
In formula, it should be pointed out that, the equipment for not having to distribute observation mission in observation program, observation duration is taken as 0；
The observed object number features the number for all extraterrestrial targets that an observation program can cover, and sees to improve
The benefit of survey scheme, observed object number should be as more as possible；
The calculation method of the observed object number is, for given observation program, to comb out all space mesh being related to
Target number Ninvol?.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810752850.5A CN109272183B (en) | 2018-07-10 | 2018-07-10 | Optimized modeling method for observing task scheduling problem of vehicle-mounted measuring equipment |
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| US20050216324A1 (en) * | 2004-03-24 | 2005-09-29 | Clevor Technologies Inc. | System and method for constructing a schedule that better achieves one or more business goals |
| CN104361234A (en) * | 2014-11-15 | 2015-02-18 | 北京理工大学 | Method for optimizing multi-star multitask observation dispatching under complicated constraint condition |
| CN106648852A (en) * | 2016-11-18 | 2017-05-10 | 合肥工业大学 | Multi-satellite mission scheduling method and device based on double ant colonies |
| CN107067145A (en) * | 2017-01-03 | 2017-08-18 | 中国船舶重工集团公司第七二四研究所 | A kind of radar cooperative detection system task scheduling effectiveness synthesis evaluation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20050216324A1 (en) * | 2004-03-24 | 2005-09-29 | Clevor Technologies Inc. | System and method for constructing a schedule that better achieves one or more business goals |
| CN104361234A (en) * | 2014-11-15 | 2015-02-18 | 北京理工大学 | Method for optimizing multi-star multitask observation dispatching under complicated constraint condition |
| CN106648852A (en) * | 2016-11-18 | 2017-05-10 | 合肥工业大学 | Multi-satellite mission scheduling method and device based on double ant colonies |
| CN107067145A (en) * | 2017-01-03 | 2017-08-18 | 中国船舶重工集团公司第七二四研究所 | A kind of radar cooperative detection system task scheduling effectiveness synthesis evaluation method |
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