CN109657930B - Resource alliance construction method of cooperative task based on virtual constellation - Google Patents

Resource alliance construction method of cooperative task based on virtual constellation Download PDF

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CN109657930B
CN109657930B CN201811439976.3A CN201811439976A CN109657930B CN 109657930 B CN109657930 B CN 109657930B CN 201811439976 A CN201811439976 A CN 201811439976A CN 109657930 B CN109657930 B CN 109657930B
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靳鹏
夏忠
胡笑旋
夏维
姚靖宇
崔勇
任送莲
张凯
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Hefei University of Technology
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Abstract

The invention provides a resource alliance construction method of a cooperative task based on a virtual constellation, and relates to the field of satellite resource organization. The method comprises the following steps: when a virtual constellation management and control system receives a task to be processed, a plurality of satellites are selected according to the requirement information of the task to be processed to form a candidate satellite set, one satellite is randomly selected from the candidate satellite set to serve as a satellite leader, and the task to be processed is sent to the satellite leader; when the satellite leader receives the tasks to be processed, calculating the pursuit interest degree, the credibility, the timeliness and the income value of each satellite in the candidate satellite set aiming at the tasks to be processed; determining an objective function; and determining a satellite alliance corresponding to the task to be processed according to the objective function, and executing the task to be processed by utilizing the satellite alliance. The invention can effectively organize and optimize the satellite resources.

Description

Resource alliance construction method of cooperative task based on virtual constellation
Technical Field
The invention relates to the technical field of satellite scheduling, in particular to a resource alliance construction method of cooperative tasks based on a virtual constellation.
Background
The satellite has wide application and use values in a plurality of fields, but because the function and the capability of the satellite are limited by self, namely the orbit of the satellite is invariable and fixed, a single target cannot be monitored in real time without interruption, and only periodic imaging of the target can be realized, so that the target in a target area cannot be effectively detected and covered in time, and the satisfactory requirement required by a user cannot be met, therefore, the trend of multi-satellite combined earth observation appears in the actual satellite observation, and the concepts of centralized satellite formation, satellite constellation and the like also appear, although the imaging coverage range of the satellite combination mode is larger and the revisiting period is shorter, the task cannot be met efficiently compared with the development speed of the task requirement at present, and because the satellite combination mode has to develop, emit, manage and maintain the satellite, making its construction expensive. Therefore, there is a need for improved optimization of the organization of satellite resources.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a resource alliance construction method based on a virtual constellation cooperative task, which can effectively organize and optimize satellite resources.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a resource alliance construction method of a cooperative task based on a virtual constellation, which comprises the following steps:
when a virtual constellation management and control system receives a task to be processed, selecting a plurality of satellites according to the requirement information of the task to be processed to form a candidate satellite set, randomly selecting one satellite from the candidate satellite set as a satellite leader, and sending the task to be processed to the satellite leader;
when the satellite leader receives the task to be processed, calculating the pursuit interest degree, the credibility, the timeliness and the profit value of each satellite in the candidate satellite set aiming at the task to be processed; determining an objective function according to the pursuit interest degree, the credibility, the timeliness and the income value of each satellite in the candidate satellite set, wherein the optimization objective of the objective function is the maximum efficiency of a satellite alliance corresponding to the task to be processed, and the constraint condition of the objective function is that the capacity of the satellite alliance is larger than the capacity requirement of the task to be processed; and determining a satellite alliance corresponding to the task to be processed according to the target function, and executing the task to be processed by utilizing the satellite alliance.
(III) advantageous effects
The embodiment of the invention provides a resource alliance construction method of cooperative tasks based on a virtual constellation, which is used for constructing a satellite alliance aiming at each cooperative task and providing a targeted resource set for each cooperative task, so that the requirements of different tasks are met, and the problem of processing a plurality of cooperative tasks in a dynamic environment can be solved. The resource alliance construction method is a distributed cooperation scheme, is suitable for an environment with rapidly increased task requirements, can perform overall optimization on satellite resources, realizes effective organization and optimization on the satellite resources, solves various types of tasks, and improves the utilization rate of the satellite resources and the completion rate of the tasks. In addition, the virtual constellation management and control system selects one satellite from the candidate satellite set as a satellite leader to calculate the capacity of each satellite, and then selects a plurality of satellites to form a satellite alliance.
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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 schematic flowchart of a resource federation establishment method based on virtual constellation cooperative tasks in an embodiment of the present 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 invention provides a resource alliance construction method of cooperative tasks based on virtual constellations, which comprises the following steps of:
s100, when a virtual constellation management and control system receives a task to be processed, selecting a plurality of satellites according to the requirement information of the task to be processed to form a candidate satellite set, randomly selecting one satellite from the candidate satellite set as a satellite leader, and sending the task to be processed to the satellite leader;
it can be understood that, when the virtual constellation management and control system receives a task to be processed, the satellite alliance of the task to be processed is constructed according to the steps S100 and S200, so that for each task to be processed, a corresponding satellite alliance is constructed, that is, when the virtual constellation management and control system receives a plurality of tasks to be processed, a plurality of satellite alliances are constructed, and distributed management and control are implemented.
The satellite alliance may also be referred to as a resource alliance, and the task to be processed may also be referred to as a cooperative task, that is, a task requiring cooperative processing of a plurality of satellites.
The requirement information of the task to be processed refers to information such as load, resolution, time requirement, priority and the like required by the task to be processed.
It can be understood that the process of selecting a plurality of satellites according to the requirement information of the task to be processed may include: and selecting a plurality of satellites which meet the requirement information from a plurality of satellites, and forming a candidate satellite set by the plurality of satellites.
It can be understood that one satellite is selected from the candidate satellite set as a satellite leader, the satellite leader is a calculation center of all satellites in the candidate satellite set, the capacity of each satellite in the candidate satellite set for processing the tasks to be processed is calculated, and therefore a plurality of satellites suitable for completing the tasks to be processed are selected to form a satellite alliance.
S200, when the satellite leader receives the task to be processed, calculating the pursuit interest degree, the reliability, the timeliness and the profit value of each satellite in the candidate satellite set aiming at the task to be processed; determining an objective function according to the pursuit interest degree, the credibility, the timeliness and the income value of each satellite in the candidate satellite set, wherein the optimization objective of the objective function is the maximum efficiency of a satellite alliance corresponding to the task to be processed, and the constraint condition of the objective function is that the capacity of the satellite alliance is larger than the capacity requirement of the task to be processed; and determining a satellite alliance corresponding to the task to be processed according to the objective function, and executing the task to be processed by utilizing the satellite alliance.
The interest degree and the reliability of pursuit are evaluated on the satellite from the perspective of logic interest, the timeliness and the profit value are evaluated on the satellite from the perspective of economic profit, the satellite is simultaneously evaluated from the two aspects, and therefore a more appropriate satellite can be selected to perform a task.
The interest level of the pursuit is the interest level of the pursuit catcher in completing the task to be processed, and when the interest level is higher, the pursuit catcher is more willing to receive the task to be processed. The so-called chaser is a satellite. The pursuit interestingness of the ith satellite in the candidate satellite set can be calculated by adopting a first formula, wherein the first formula comprises:
Figure BDA0001884431800000041
in the formula, sjc i The number of available time windows of the ith satellite for the task to be processed, n is the number of satellites in the candidate satellite set, H 1 Is said to beDegree of completion required to process a task, H 0 V1 being the degree of completion of the task to be processed i And the interest degree of the i-th satellite in pursuit.
The first formula includes two parts, the first part is
Figure BDA0001884431800000051
The second part is
Figure BDA0001884431800000052
The first part is the ratio of the number of available time windows of the ith satellite for the tasks to be processed to the total number of the available time windows of all the satellites in the candidate satellite set for the tasks to be processed, which embodies load balancing, namely, the tasks to be processed are handed to idle satellites.
The second part represents the urgency of the pending task. The completion degree required for the task to be processed, for example, the number of meta-tasks included in the task to be processed; the completion degree of the pending task, for example, the number of completed meta-tasks in the pending task. The so-called meta-task is a subtask that is split up from the task to be processed and can be completed by one satellite.
The trustworthiness refers to the trustworthiness of the satellite, and the specific calculation process may include:
a1, establishing a task M to be processed j Data set D of Mj In the data set D Mj The information of the requirement, the target and the like of the task to be processed is recorded, and the related information of the satellite which executes the same task as the task to be processed is also recorded.
A2, data set M j Each piece of information in the data is converted into Boolean type data; for example, the information of whether a satellite has performed the same task as the task to be processed is converted into 1 and 0 representing true and false.
A3, according to data set M j The trustworthiness of the ith satellite is calculated according to the relevant information in the (1). Specifically, the following second formula may be used to calculate the trustworthiness of the ith satellite:
Figure BDA0001884431800000053
in the formula, v2 i Is the trustworthiness of the ith satellite, pj j An evaluation value N obtained after the ith satellite processes the task which is the same as the task to be processed for the jth time S The number of times of completing the same task as the task to be processed for the ith satellite, N O The number of times the same task as the pending task is committed to completion but not completed for the ith satellite.
Wherein, N S 、N O Can be derived from a data set M j And (4) obtaining.
The second formula is divided into two parts, the first part is
Figure BDA0001884431800000061
The second part is
Figure BDA0001884431800000062
The first part is an average evaluation value, and each satellite is given an evaluation value after completing a task, so that the first part represents the average evaluation value of the ith satellite after completing the same task as the task to be processed.
The second part is a penalty factor, which gives a certain penalty to satellites that committed to completion but were not completed for all reasons. The credibility concept of cooperative behavior is introduced, namely, unwatched commitments have a reduction effect on the credibility.
The timeliness is a time requirement to be considered by a chaser for completing a task to be processed, and as time goes by, the task value is reduced, so that the task needs to be completed in the fastest time to achieve the optimal effect. Specifically, the timeliness of the ith satellite may be calculated by using a third formula, where the third formula includes:
Figure BDA0001884431800000063
in the formula, v3 i And the timeliness of the ith satellite, T is the deadline of the task to be processed, and T is the time for the ith satellite to promise the completion of the task to be processed.
The satellite consumes certain cost in the process of executing the mission, for example, communication cost, power invested in executing the mission, and the like, and certainly, the mission is also completed with certain reward, so the profit value can be understood as a difference value between the reward obtained when the satellite completes the mission and the paid cost, and specifically, a fourth formula can be adopted to calculate the profit value of the ith satellite, where the fourth formula includes:
Figure BDA0001884431800000064
in the formula, v4 i For the value of the benefit of the ith satellite,
Figure BDA0001884431800000065
the cost for the ith satellite to complete the pending task,
Figure BDA0001884431800000066
the reward value obtained for the ith satellite to complete the pending task.
The efficiency of a satellite, the efficiency z of the ith satellite can be determined according to the interest degree, the reliability, the timeliness and the profit value of the pursuit i The calculation formula of (c) can be calculated by using the following formula:
z i ＝av1 i +βv2 i +θv3 i +δv4 i
in the formula, a, β, θ, and δ are weighted values of the interest level, the reliability level, the timeliness level, and the profit value, respectively.
Further, the performance of all satellites in the satellite alliance for pending tasks may be calculated using the following formula:
Figure BDA0001884431800000071
it can be understood that z (gro) is the performance of the satellite alliance corresponding to the task to be processed, v1i is the pursuit interest of the ith satellite in the satellite alliance, v2 i V3i is the time efficiency of the ith satellite in the satellite alliance, v4 is the trustworthiness of the ith satellite in the satellite alliance i And m is the income value of the ith satellite in the satellite alliance, and m is the number of the satellites in the satellite alliance.
The above formula for calculating the performance of the satellite alliance is an objective function, and the optimization goal of the objective function is the maximum performance of the satellite alliance, namely z (gro) maximum.
Each satellite corresponds to an N A Capability vector of dimension, capability vector of ith satellite
Figure BDA0001884431800000072
Wherein N is A Quantitative representation of satellites s from different aspects by individual elements i The ability to perform a task. The capability vector of the satellite alliance is the sum of the capability vectors of all the satellites in the satellite alliance and is recorded as Abi Gro 。
Different tasks have different capacity requirements, and the task M to be processed j Can be expressed as
Figure BDA0001884431800000073
The capability requirement vector is also N A The dimension vector also quantitatively reflects the capability requirements of the task to be processed in different aspects.
The requirements of the satellite alliance to be able to perform the pending tasks are: the capability of the satellite alliance is greater than the capability requirement of the task to be processed, so the constraints of the objective function may include:
Figure BDA0001884431800000074
it will be understood that Abi Gro A capability vector for the satellite alliance, the capability vector for the satellite alliance being a capability vector for all satellites in the satellite allianceThe sum of the total weight of the components,
Figure BDA0001884431800000075
for the task M to be processed j The capability requirement vector.
When the task to be processed is completed, the satellite alliance is released, and the data set D of the task to be processed is subjected to Mj An update is made for the next satellite alliance establishment procedure for the same mission. If the task can not be completed beyond the deadline of the task to be processed, quitting the construction of the satellite alliance in the period, and carrying out data set D Mj And (6) updating.
It can be understood that the observation of the satellite to the earth task needs to meet the following conditions that each observation task must be completed within a certain available time window, and the observation needs to meet the task requirements at the same time, thereby reducing unnecessary observation; there must be sufficient settling time between two successive observations of the satellite; multitasking needs to take comprehensive benefits into consideration, and multitasking needs to be completed before the deadline.
It can be understood that different types of tasks usually need satellites with different numbers and different capabilities to cooperate with each other to complete the tasks, and therefore, a satellite alliance needs to be generated, and after the satellite alliance is formed, a proper resource allocation algorithm can be selected to perform resource task matching according to the environment, the states of the satellites and the tasks. In order to complete the task, each satellite in the satellite alliance may need to exchange information, which has the advantages of resource sharing, complementary advantages and common development compared with a centralized cooperation mode. Under ideal conditions, the resource output of each satellite platform in the alliance is multiple times of the original resource output, so that the cost is reduced, and the search efficiency is improved.
It will be appreciated that for pending tasks, all satellites in the satellite alliance share a common benefit and the benefit, i.e. the prize value, is distributed according to the contribution made by a single satellite to complete the task. For a formed satellite alliance, if a satellite exits the alliance, the satellite is subjected to certain punishment. In addition, the new satellite alliance obtained after the satellite exits the alliance can not obtain larger benefits than the previous satellite alliance without the satellite exiting, and therefore the stability of the satellite alliance is reflected.
The invention constructs a satellite alliance of cooperative tasks based on the virtual constellation, the virtual constellation gathers earth observation satellites which have different load characteristics, dynamically overlapped satellite access coverage and multi-center and multi-department control in a cooperative mode, the advantages of multi-satellite and multi-sensor virtual constellation observation are exerted, and the cooperative observation is realized so as to meet the earth observation requirements of users.
In the conventional technology, when a plurality of cooperative tasks need to be processed simultaneously, the virtual constellation and a plurality of satellite platforms negotiate for a plurality of times, and corresponding satellites are selected to form a resource union to complete the earth observation task. In practice, there are too many satellite platforms, there are too many satellite resources in each satellite platform, and a single satellite can perform multiple tasks, which increases the complexity and difficulty of the satellite resource organization. Therefore, in the conventional centralized cooperation manner, the load of the virtual constellation management and control system increases exponentially with the increase of the number of satellites, so that the overall cooperation efficiency is reduced, which adversely affects the parallelism, robustness and reliability of the system. Meanwhile, due to the dynamic uncertainty of the cooperative tasks and the task environment, the satellite resource alliance facing different cooperative tasks is also constantly changed, and the reduction of the overall cooperative efficiency is further reduced.
However, in the invention, a satellite alliance is constructed for each cooperative task, and a resource set with pertinence is provided for each cooperative task, so that the requirements of different tasks are met, and the problem of processing a plurality of cooperative tasks in a dynamic environment can be solved. The resource alliance construction method provided by the invention is a distributed cooperation scheme, is suitable for an environment with rapidly increased task requirements, realizes effective organization and optimization of resources, solves various types of tasks, and improves the utilization rate of satellite resources and the completion rate of the tasks. In addition, the virtual constellation management and control system selects one satellite from the candidate satellite set as a satellite leader to calculate the capacity of each satellite, and then selects a plurality of satellites to form a satellite alliance, so that the satellite leader is used as a calculation center of the candidate satellite set, the calculation amount of the virtual constellation management and control system can be greatly reduced, the load of the global virtual constellation is dispersed, and compared with a traditional centralized cooperation mode, the method can greatly improve the cooperation efficiency and improve the parallelism, robustness and reliability of the system.
In addition, the resource alliance construction method provided by the invention selects the most suitable resource alliance for completing the task from the satellite candidate set of the complex task on the premise of ensuring that the resource can complete the task, and can meet the resource dynamic organization requirement of the complex task. When the environment changes, a resource alliance meeting the requirements of the current task can be formed quickly, real-time dynamic adjustment of resource allocation is facilitated to the change of the environment, and therefore the resource use efficiency is improved.
It should be noted that, in this document, relational terms such as first and second, and the like are 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 (4)

1. A resource alliance construction method of cooperative tasks based on virtual constellations is characterized by comprising the following steps:
when a virtual constellation management and control system receives a task to be processed, selecting a plurality of satellites according to the requirement information of the task to be processed to form a candidate satellite set, randomly selecting one satellite from the candidate satellite set as a satellite leader, and sending the task to be processed to the satellite leader;
when the satellite leader receives the tasks to be processed, calculating the pursuit interest degree, the reliability degree, the timeliness and the profit value of each satellite in the candidate satellite set aiming at the tasks to be processed, wherein the timeliness is determined by the deadline of the tasks to be processed and the time promised by the ith satellite in the candidate satellite set to complete the tasks to be processed, and the profit value is determined by the cost consumed by the ith satellite for completing the tasks to be processed and the reward value obtained by the ith satellite for completing the tasks to be processed; determining an objective function according to the pursuit interest degree, the credibility, the timeliness and the income value of each satellite in the candidate satellite set, wherein the optimization objective of the objective function is the maximum efficiency of a satellite alliance corresponding to the task to be processed, and the constraint condition of the objective function is that the capacity of the satellite alliance is greater than or equal to the capacity requirement of the task to be processed; determining a satellite alliance corresponding to the task to be processed according to the target function, and executing the task to be processed by utilizing the satellite alliance;
calculating the pursuit interest degree of the ith satellite in the candidate satellite set by adopting a first formula, wherein the first formula comprises the following steps:
Figure DEST_PATH_IMAGE002
in the formula (I), the compound is shown in the specification,sjc i the number of available time windows of the ith satellite for the task to be processed, n is the number of satellites in the candidate satellite set,H 1 is said to beThe degree of completion required to process the task,H 0 is the degree of completion of the task to be processed,v1 i the interest degree of the i-th satellite in pursuit;
calculating the trustworthiness of the ith satellite by using a second formula, wherein the second formula comprises:
Figure DEST_PATH_IMAGE004
in the formula (I), the compound is shown in the specification,v2 i to be the trustworthiness of the ith satellite,pj j the evaluation value obtained after the ith satellite processes the task which is the same as the task to be processed for the jth time,N s the number of times the same task as the pending task is completed for the ith satellite,N 0 the number of times of committing to completion for the ith satellite but not completing the same task as the task to be processed;
the objective function includes:
Figure DEST_PATH_IMAGE006
in the formula (I), the compound is shown in the specification,Z（Gro）for the performance of the satellite alliance corresponding to the pending task,v1 i for the pursuit interest of the ith satellite in the satellite union,v2 i for the trustworthiness of the ith satellite in the satellite federation,v3 i for the timeliness of the ith satellite in the satellite consortium,v4 i for the value of the benefit of the ith satellite in the satellite union,a, beta, theta, deltaWeight values of interest level, reliability, timeliness and profit value are respectively considered,mthe number of satellites in the satellite union.
2. The method of claim 1, wherein calculating the timeliness of the ith satellite uses a third formula comprising:
Figure DEST_PATH_IMAGE008
in the formula (I), the compound is shown in the specification,v3 i for the time-efficiency of the ith satellite,Tis the deadline time for the task to be processed,tcommitting time for the ith satellite to complete the pending task.
3. The method of claim 1, wherein the value of the benefit of the ith satellite is calculated using a fourth formula, the fourth formula comprising:
Figure DEST_PATH_IMAGE009
in the formula (I), the compound is shown in the specification,v4 i for the value of the benefit of the ith satellite,C Mi the cost for the ith satellite to complete the pending task,B Mi a prize value obtained for the ith satellite to complete the pending task.
4. The method of claim 1, wherein the constraints comprise:
Figure DEST_PATH_IMAGE011
in the formula (I), the compound is shown in the specification,Abi Gro a capability vector for the satellite alliance, the capability vector for the satellite alliance being a sum of capability vectors of all satellites in the satellite alliance,Req Mj for the task to be processedM j The capability requirement vector.
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