CN111935775A - Autonomous scheduling method and system for centralized inter-satellite data transmission task - Google Patents
Autonomous scheduling method and system for centralized inter-satellite data transmission task Download PDFInfo
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Abstract
The invention provides a centralized inter-satellite data transmission task autonomous scheduling method and system, which adopt an inter-satellite low-speed data network to interact task instruction control and feedback information in real time, generate time interval requirements for an inter-satellite transmission task after a slave satellite finishes processing on an imaging task, apply for a master satellite through the inter-satellite low-speed data network, receive the slave satellite high-speed data task planning autonomous scheduling by the master satellite, comprehensively consider the constraint of the master satellite on one-to-many receiving of the slave satellite, perform transmission conflict resolution and high-speed data transmission task planning, send a planning result containing inter-satellite high-speed data link channel allocation and time interval allocation to the slave satellite through the inter-satellite low-speed data network, receive the task scheduling from the slave satellite, and send data to the master satellite through the inter-satellite high-speed data link channel in a time interval specified by the master satellite. The problems of long planning and scheduling period, long control chain, poor timeliness and the like of ground task scheduling are solved, and the timeliness of the multi-satellite system is improved.
Description
Technical Field
The invention relates to the field of collaborative task planning among multiple spacecrafts, in particular to a centralized inter-satellite data transmission task autonomous scheduling method and system.
Background
With the continuous increase of the number of on-orbit satellites, the continuous upgrading of the satellite capacity requirements, the generation of large-scale networking satellites and formation satellites, and the new requirements of multi-satellite cooperation, inter-satellite interconnection, data transmission and on-satellite data intelligent processing are provided.
The networking or formation satellite of the earth observation task generally comprises an imaging satellite and an intelligent satellite, wherein the imaging satellite generally extracts ground feature, ship and regional slice data in an image after the imaging task is executed, on-orbit real-time processing of the image or a signal is executed to obtain feature description of the slice data, the imaging satellite packages the slice data together with the feature description information and transmits the slice data to the intelligent satellite through an inter-satellite link, and the intelligent satellite collects and processes multi-satellite data in a centralized manner to obtain high-level description and cognition of a specific region or a global range.
The intelligent satellite is usually constrained by inter-satellite communication bandwidth, channel number, switching time, pointing range, starting time and the like, only the data of a limited number of satellites can be received in a certain time period, and the task planning and scheduling of inter-satellite data transmission are required. The traditional satellite management and control is uniformly scheduled on the ground, and due to the reasons of limited visible time of a measurement and control link, long scheduling period, long management and control link, poor timeliness and the like, the problems of poor collaboration timeliness and transmission conflict of the real-time scheduling of the high-dynamic-change in-orbit multi-data transmission task cannot be solved.
Comparing the similar published methods: a joint mission planning method for satellite imaging and transmission (patent document, CN105426964A) performs planning calculation from the global perspective of satellite imaging transmission integration, thereby providing more optimized automatic planning service. The present application differs significantly from it in the following: 1) the task backgrounds are different, the application is oriented to multi-satellite cooperative inter-satellite transmission, and the contrast patent is oriented to single-satellite ground transmission; 2) the algorithm is different: the method is more beneficial to implementation on the satellite by utilizing a heuristic rule algorithm, and compared with the patent which adopts optimization algorithms such as genetic particle swarm and the like, the method cannot be used on the satellite for a while; 3) the processing flows are different, the method comprises the whole processes of central star task awakening, member star feedback, central star planning result distribution, member star execution and the like, the compared patent is single-star internal task processing, and the method comprises the calculation processes of imaging planning, downloading planning and the like and does not comprise the whole process.
Comparing the similar published methods: a data relay satellite system task planning method (patent document 108053051a) based on task splitting and aggregation is used for splitting and aggregating tasks in a network; constructing a feasible solution sequence for the preprocessed task; and carrying out local search on the constructed feasible solution, and outputting a task planning result. The present application differs significantly from it in the following: 1) the task backgrounds are different, the method is oriented to formation cooperative fusion data transmission, and the contrast patent is oriented to a relay satellite receiving task; 2) the window planning and scheduling methods are different, a priority ordering processing mode based on arrival time, data volume and the like is adopted for a multi-satellite application window, and meanwhile, the switching allowance of a transmission window is considered, so that the problem of task connection conflict of multi-satellite transmission channels is mainly solved. Compared with the patent, the task with longer transmission time is divided into a plurality of task elements, the task with short transmission time, high coincidence rate of a scheduling window and similar request satellite positions is combined into one task element. 3) The flow time sequences are different, the method comprises the whole processes of central star task awakening, member star feedback, central star planning result distribution, member star execution and the like, and compared patents mainly aim at algorithm description and do not refer to inter-star cooperation time sequences.
In summary, no centralized inter-satellite data transmission autonomous scheduling related method oriented to the centralized on-board processing requirements of intelligent satellites is available.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a centralized inter-satellite data transmission task autonomous scheduling method and system.
The invention provides an autonomous scheduling method of a centralized inter-satellite data transmission task, which comprises the following steps:
a transmission task starting step: the main satellite starts an inter-satellite high-speed data transmission task, reads task information and starts on-satellite autonomous task scheduling;
an inter-satellite task initiating step: the master satellite initiates a cooperative task, writes task information into a data packet, and sends the task information to the slave satellite through an inter-satellite low-speed data network;
the slave star responds to the task step: after receiving task information sent by a main satellite from a satellite, if data transmission is required, starting on-satellite data processing and packaging, calculating a visible time period of a link with the main satellite, estimating on-satellite processing and preparation time, estimating transmission time according to data volume and transmission rate, and generating feedback information of an inter-satellite transmission task;
a satellite task feedback step: the slave star writes the feedback information into a data packet and sends the feedback information to the master star through an inter-star low-speed data network;
planning a main satellite task: the master satellite receives the feedback information of the slave satellites, processes the feedback information according to the receiving channels in a grouping mode, applies for a slave satellite window of each channel, carries out data validity check, resolves conflict between a new window and an existing window, generates a planning and scheduling result, and repeats in a circulating mode;
a planning result distribution step: the master satellite writes the planning and scheduling result into a data packet and sends the data packet to the slave satellite through an inter-satellite low-speed data network;
a secondary star instruction generation step: the slave star analyzes the data packet sent by the master star, generates a corresponding channel switch and a transmitted delay instruction chain, inserts the delay instruction chain into a slave star instruction queue and waits for execution;
a step of generating a main star instruction: the main star carries out window combination according to the occupation condition of each generated channel receiving window, generates a delay instruction chain of a channel receiving switch by the combined window, inserts the delay instruction chain into a main star instruction queue and waits for execution;
the data transmission executing step: and the master satellite and the slave satellite respectively execute the control instruction of the high-speed data channel between the satellites at the time of triggering the delay instruction and execute data transceiving.
Preferably, the inter-satellite high-speed data transmission task is started by remote control or program control, and the task information comprises: the number n and the number i of the receiving channels opened by the main satellite, the starting time Ts _ i and the ending time Te _ i of the opening of each channel.
Preferably, in the inter-satellite task initiating step, the task information further includes: the inter-satellite high-speed data transmission task starting method comprises an inter-satellite high-speed data transmission task starting flag _ z, a task starting time T0, a task duration dt and main satellite orbit information, wherein T0 is less than or equal to any Ts _ i, i is 1 … n, T0+ dt is greater than or equal to any Te _ i, and the main satellite orbit information is used for calculating the direction and a time window which can be built with a main satellite from satellite pre-extrapolation.
Preferably, the feedback information includes: the ready state flag _ c, the slave star number sat _ id, the number i of the receiving channel of the application master star, the front edge t _ ready of the transmittable window, the transmission time t _ pass or the rear edge t _ END of the transmittable window.
Preferably, the task planning step of the master satellite is processed once at regular intervals within the time from T0 to T0+ dt, and the scheduling optimization based on a certain rule is carried out on the windows simultaneously applied by a plurality of slave satellites.
Preferably, the data validity check includes: and removing the secondary star window with the data packet XOR and the check error, removing the secondary star window with the transmission time length exceeding the limit, and removing the secondary star window with the end time exceeding the limit.
Preferably, the conflict resolution of the new window and the existing window comprises:
firstly, taking out unplanned slave star windows and planned effective windows, and sorting according to the leading edge time t _ ready and the transmission duration t _ pass of the slave star windows respectively; whether each new window can be inserted into the receiving time interval of the main satellite within the time from Ts _ i to Te _ i or not is detected in sequence, the new window is inserted into the receiving time interval of the main satellite after the current time T _ now, the new window is not overlapped with the planned auxiliary satellite window, and a certain margin T _ pre is reserved between the new window and the planned auxiliary satellite window.
Preferably, the planning and scheduling result includes: a scheduling result valid flag _ p, a satellite number sat _ id, a channel number i, a satellite start transmission time t _ start and a satellite end transmission time t _ end;
and the channel switch and the transmitted delay instruction chain are generated according to the effective dispatching result flag _ p, the read channel number i, the start transmission t _ start from the star and the end transmission time t _ end.
Preferably, the method further comprises the following steps:
and a transmission task ending step: at the end of the task, the master and slave stars perform state recovery actions.
The invention provides a centralized autonomous scheduling system for an inter-satellite data transmission task, which comprises:
a transmission task starting module: the main satellite starts an inter-satellite high-speed data transmission task, reads task information and starts on-satellite autonomous task scheduling;
the inter-satellite task initiating module: the master satellite initiates a cooperative task, writes task information into a data packet, and sends the task information to the slave satellite through an inter-satellite low-speed data network;
the slave star response task module: after receiving task information sent by a main satellite from a satellite, if data transmission is required, starting on-satellite data processing and packaging, calculating a visible time period of a link with the main satellite, estimating on-satellite processing and preparation time, estimating transmission time according to data volume and transmission rate, and generating feedback information of an inter-satellite transmission task;
the slave star task feedback module: the slave star writes the feedback information into a data packet and sends the feedback information to the master star through an inter-star low-speed data network;
a main satellite task planning module: the master satellite receives the feedback information of the slave satellites, processes the feedback information according to the receiving channels in a grouping mode, applies for a slave satellite window of each channel, carries out data validity check, resolves conflict between a new window and an existing window, generates a planning and scheduling result, and repeats in a circulating mode;
a planning result distribution module: the master satellite writes the planning and scheduling result into a data packet and sends the data packet to the slave satellite through an inter-satellite low-speed data network;
the slave star instruction generation module: the slave star analyzes the data packet sent by the master star, generates a corresponding channel switch and a transmitted delay instruction chain, inserts the delay instruction chain into a slave star instruction queue and waits for execution;
the main star instruction generation module: the main star carries out window combination according to the occupation condition of each generated channel receiving window, generates a delay instruction chain of a channel receiving switch by the combined window, inserts the delay instruction chain into a main star instruction queue and waits for execution;
the data transmission execution module: and the master satellite and the slave satellite respectively execute the control instruction of the high-speed data channel between the satellites at the time of triggering the delay instruction and execute data transceiving.
Compared with the prior art, the invention has the following beneficial effects:
the inter-satellite low-speed data network is adopted to carry out task control and feedback information interaction in real time, and the main satellite receives the slave satellite high-speed data task planning and autonomous scheduling in an on-orbit manner, so that the problems of long planning and scheduling period, long control chain, poor timeliness and the like of ground task scheduling are solved, and the timeliness of a multi-satellite system is improved.
The centralized scheduling is realized by the main satellite for overall planning based on multiple constraints, the algorithm is simple, the on-satellite calculation complexity is low, and the operation is efficient. The method can effectively solve the problem of autonomous scheduling of inter-satellite data transmission for processing requirements on the intelligent satellite centralized satellite.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the algorithm;
fig. 2 is a diagram illustrating a result of multi-channel window planning.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment provides a centralized inter-satellite data transmission task autonomous scheduling method, which is oriented to the requirement of centralized processing of data on a multi-satellite, aims at an intelligent satellite (a master satellite) to receive a member satellite (a slave satellite) data transmission autonomous scheduling task, adopts an inter-satellite low-speed data network to interact task instruction control and feedback information in real time, performs on-orbit planning autonomous scheduling on a master satellite receiving slave satellite high-speed data task, solves the problems of long scheduling period, long control chain, poor timeliness and the like of ground task scheduling, and improves the timeliness of a multi-satellite system. The centralized scheduling is realized by the main satellite for overall planning based on multiple constraints, the algorithm is simple, the on-satellite calculation complexity is low, and the operation is efficient. The method can effectively solve the problem of autonomous scheduling of inter-satellite data transmission for processing requirements on the intelligent satellite centralized satellite.
To explain the technical content, structural features, achieved objects, and advantageous effects of the present embodiment in detail, the present embodiment is described in detail below with reference to the accompanying drawings, and fig. 1 shows a flowchart of a centralized inter-satellite data transmission task autonomous scheduling method, which is composed of a ground management control, a master satellite, and a plurality of slave satellites, wherein the ground management control can initiate a multi-satellite data transmission task and can detect the multi-satellite execution process telemetry, and the master satellite and the slave satellites include two types of inter-satellite links, i.e., a low-speed inter-satellite link and a high-speed inter-satellite link, wherein the inter-satellite low-speed data link is generally a wide beam and is used for transmitting tasks and command information, and the inter-satellite high-speed data link is generally a narrow beam and is used for transmitting a large. And (4) planning data transmission tasks among the main satellites and the planets. The method comprises the following steps:
step 1: starting a transmission task: and the main satellite starts an inter-satellite high-speed data receiving task, reads task information and starts an on-satellite autonomous task scheduling module.
The inter-satellite high-speed data transmission task can be started by remote control or program control, and the task information comprises the number n and the number i of receiving channels opened by the main satellite, the starting time Ts _ i and the ending time Te _ i of each channel, and the like. The main satellite generally has a plurality of receiving channels, and can be fully opened or partially opened in one task, wherein n refers to the total number of channels opened at this time; each channel is influenced by various constraints such as transmission frequency, starting preparation time, transmitting power, storage capacity and the like, and the starting time period and the ending time period of the opening can be different after the same.
Step 2: initiating an inter-satellite task: and the master satellite initiates a cooperative task, writes the task information into a data packet, and sends the task information to the slave satellite through the inter-satellite low-speed data network.
After the master satellite starts a task, information is sent to the slave satellite, and the information sent to the slave satellite through the inter-satellite low-speed data network comprises the following information: the inter-satellite high-speed data transmission task starting flag _ z, 1 represents starting, and other values represent non-starting; a task starting time T0, at which time both the master star and the slave star should be ready for transmission, and T0 is less than or equal to any Ts _ i (i is 1 … n); the task duration dt, T0+ dt is greater than or equal to any Te _ i; the main satellite orbit information is used for calculating the direction and the time window which can be linked with the main satellite by preshrunk calculation from the satellite; one or more channel numbers that are open; and so on.
And step 3: the slave star responds to the task: after receiving a task starting message sent by a main satellite, if a data transmission requirement exists, a slave satellite starts on-satellite data processing and packaging, calculates a period of time visible with a link of the main satellite, estimates on-satellite processing and preparation time, estimates transmission time according to data volume and transmission rate, and generates feedback information of an inter-satellite transmission task.
The slave star feedback information includes: the ready state flag _ c, 1 represents ready, and the other values represent ready; the satellite number sat _ id; applying for a main satellite to receive a channel number i, wherein the number is the intersection of the channel number opened by the main satellite and the available channel number of a slave satellite; the leading edge t _ ready of the transmittable window is a predicted value at the moment, represents the moment when the attitude, the antenna pointing direction and the starting preparation of the transmission channel are made, and has an immediate sending condition; a transmission time length t _ pass, which represents the time length of the transmitter power-down or power-off after the transmission of the pilot code and the effective data is finished from t _ ready to ensure that the transmission of each satellite does not influence each other; the back edge t _ END of the window can be transmitted, and the slave satellite must close the transmission channel beyond the moment; and so on.
And 4, step 4: and (3) feedback from the star task: the slave star writes the feedback information into a data packet and sends the feedback information to the master star through the inter-satellite low-speed data network.
And 5: planning a main satellite task: the master satellite receives the feedback information of the slave satellites, processes the feedback information according to the receiving channels in a grouping mode, applies for a slave satellite window of each channel, carries out data validity check, resolves conflict between a new window and an existing window, generates a planning and scheduling result, and repeats in a circulating mode.
In the above step, the data validity check includes: and (3) rejecting a slave star window with data packet XOR and error checking, rejecting a slave star window with over-limit transmission time (t _ pass > Te _ i-Ts _ i), and rejecting a slave star window with over-limit ending time (t _ ready + t _ pass > Te _ i).
Generally, a high-speed data receiving task needs to receive slave satellite data as early as possible, processing of the slave satellite data on the satellite can be started as soon as possible, in order to avoid poor final scheduling result caused by the fact that windows are inserted one by one, task planning processing of a master satellite is performed once (for example, 10s) at a certain time interval within the time from T0 to T0+ dt, and scheduling optimization based on certain rules can be performed on windows simultaneously applied by a plurality of slave satellites within the time interval. In the conflict resolution process of the new window and the planned window, firstly taking out unplanned slave star windows and planned effective windows, and respectively sequencing according to the leading edge time t _ ready (the adjacent window is preferred) of the slave star windows and the transmission time t _ pass (the time is short and preferred, and the received star number is as much as possible); whether each new window can be inserted into the receiving time interval of the main satellite as early as possible within the time from Ts _ i to Te _ i and after the current time T _ now is detected in sequence, the new window is not overlapped with the planned auxiliary satellite window, and a certain margin T _ pre is reserved between the new window and the planned auxiliary satellite window for state preparation or transmission interference avoidance. As shown in fig. 2, an illustration is given of one master satellite 2 channel receiving 4 slave satellite data.
The planning and scheduling result comprises the following steps: a scheduling result valid flag _ p (if 1 represents valid, and the others represent invalid), a satellite number sat _ id, a channel number i, a satellite start transmission time t _ start, and a satellite end transmission time t _ end.
Step 6: distributing a planning result: the master satellite writes the planning and scheduling result into a data packet and sends the data packet to the slave satellite through the inter-satellite low-speed data network.
And 7: generating from the star instructions: and the slave star analyzes the task data packet sent by the master star, generates a corresponding channel switch and a transmitted delay instruction chain, inserts the delay instruction chain into a slave star instruction queue and waits for execution.
And the channel switch and the transmitted delay instruction chain read the channel number i, start transmission t _ start from the star and end transmission time t _ end according to the effective scheduling result flag _ p. The start and end times of the satellite reception need to be strictly executed, and mutual interference of multi-satellite transmission is avoided.
And 8: and (3) generation of a main star instruction: the main star can carry out window combination according to the occupation condition of each channel receiving window generated in real time, and generates a delay instruction chain of a channel receiving switch by the combined window, inserts the delay instruction chain into a main star instruction queue and waits for execution.
The window merging is beneficial to reducing the channel switching times and reducing the satellite energy consumption, and the window merging rule is that the distance between adjacent windows is smaller than a threshold value needing to be merged. As shown in fig. 2.
And step 9: the data transmission is carried out: and the master satellite and the slave satellite respectively execute control instructions of antenna pointing, starting up, shutting down and the like of the high-speed data channel between the satellites at the time of triggering the delay instruction, and execute data receiving and sending.
Step 10: and (5) ending the transmission task: at the end of the task, the master and slave stars perform state recovery actions.
The state recovery actions generally include turning off the receive channel stand-alone, antenna mechanism reset, attitude-to-day orientation, stored data purge, and the like. The task end time is T0+ dt.
The invention adopts an inter-satellite low-speed data network to carry out real-time interaction of task instruction control and feedback information aiming at an intelligent satellite (a master satellite) to receive a member satellite (a slave satellite) data transmission autonomous scheduling task, generates a time interval requirement for the inter-satellite transmission task after the slave satellite finishes the on-satellite processing of an imaging task, the application is provided for the main satellite through the inter-satellite low-speed data network, the main satellite receives the high-speed data tasks of the auxiliary satellites for planning and autonomous scheduling, the constraints of one-to-many receiving communication frequency bands, the number of channels, switching time, pointing range, starting time length and the like of the main satellite and the auxiliary satellites are comprehensively considered, the conflict resolution and the high-speed data transmission tasks are carried out, and sending the planning result containing the inter-satellite high-speed data link channel allocation and the time interval allocation to the slave satellite through the inter-satellite low-speed data network, receiving the task scheduling by the slave satellite, and sending data to the master satellite through the inter-satellite high-speed data link channel in the time interval specified by the master satellite. The problems of long planning and scheduling period, long control chain, poor timeliness and the like of ground task scheduling are solved, and the timeliness of the multi-satellite system is improved. The centralized scheduling is realized by the main satellite for overall planning based on multiple constraints, the algorithm is simple, the on-satellite calculation complexity is low, and the operation is efficient. The method can effectively solve the problem of autonomous scheduling of inter-satellite data transmission for processing requirements on the intelligent satellite centralized satellite.
The invention also provides a centralized autonomous scheduling system for the data transmission tasks between the satellites, which comprises the following steps:
a transmission task starting module: and starting the inter-satellite high-speed data transmission task by the main satellite, reading task information and starting on-satellite autonomous task scheduling.
The inter-satellite task initiating module: and the master satellite initiates a cooperative task, writes the task information into a data packet, and sends the task information to the slave satellite through the inter-satellite low-speed data network.
The slave star response task module: after receiving task information sent by a main satellite, a slave satellite starts on-satellite data processing and packaging if the task information has data transmission requirements, calculates the period of time visible with a link of the main satellite, estimates on-satellite processing and preparation time, estimates transmission time according to data volume and transmission rate, and generates feedback information of an inter-satellite transmission task.
The slave star task feedback module: the slave star writes the feedback information into a data packet and sends the feedback information to the master star through the inter-satellite low-speed data network.
A main satellite task planning module: the master satellite receives the feedback information of the slave satellites, processes the feedback information according to the receiving channels in a grouping mode, applies for a slave satellite window of each channel, carries out data validity check, resolves conflict between a new window and an existing window, generates a planning and scheduling result, and repeats in a circulating mode.
A planning result distribution module: the master satellite writes the planning and scheduling result into a data packet and sends the data packet to the slave satellite through the inter-satellite low-speed data network.
The slave star instruction generation module: and the slave star analyzes the data packet sent by the master star, generates a corresponding channel switch and a transmitted delay instruction chain, inserts the delay instruction chain into a slave star instruction queue and waits for execution.
The main star instruction generation module: and the main star carries out window combination according to the generated occupation condition of each channel receiving window, generates a delay instruction chain of a channel receiving switch by the combined window, inserts the delay instruction chain into a main star instruction queue and waits for execution.
The data transmission execution module: and the master satellite and the slave satellite respectively execute the control instruction of the high-speed data channel between the satellites at the time of triggering the delay instruction and execute data transceiving.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An autonomous scheduling method for a centralized inter-satellite data transmission task is characterized by comprising the following steps:
a transmission task starting step: the main satellite starts an inter-satellite high-speed data transmission task, reads task information and starts on-satellite autonomous task scheduling;
an inter-satellite task initiating step: the master satellite initiates a cooperative task, writes task information into a data packet, and sends the task information to the slave satellite through an inter-satellite low-speed data network;
the slave star responds to the task step: after receiving task information sent by a main satellite from a satellite, if data transmission is required, starting on-satellite data processing and packaging, calculating a visible time period of a link with the main satellite, estimating on-satellite processing and preparation time, estimating transmission time according to data volume and transmission rate, and generating feedback information of an inter-satellite transmission task;
a satellite task feedback step: the slave star writes the feedback information into a data packet and sends the feedback information to the master star through an inter-star low-speed data network;
planning a main satellite task: the master satellite receives the feedback information of the slave satellites, processes the feedback information according to the receiving channels in a grouping mode, applies for a slave satellite window of each channel, carries out data validity check, resolves conflict between a new window and an existing window, generates a planning and scheduling result, and repeats in a circulating mode;
a planning result distribution step: the master satellite writes the planning and scheduling result into a data packet and sends the data packet to the slave satellite through an inter-satellite low-speed data network;
a secondary star instruction generation step: the slave star analyzes the data packet sent by the master star, generates a corresponding channel switch and a transmitted delay instruction chain, inserts the delay instruction chain into a slave star instruction queue and waits for execution;
a step of generating a main star instruction: the main star carries out window combination according to the occupation condition of each generated channel receiving window, generates a delay instruction chain of a channel receiving switch by the combined window, inserts the delay instruction chain into a main star instruction queue and waits for execution;
the data transmission executing step: and the master satellite and the slave satellite respectively execute the control instruction of the high-speed data channel between the satellites at the time of triggering the delay instruction and execute data transceiving.
2. The method according to claim 1, wherein the inter-satellite high-speed data transmission task is initiated by remote control or program control, and the task information includes: the number n and the number i of the receiving channels opened by the main satellite, the starting time Ts _ i and the ending time Te _ i of the opening of each channel.
3. The method according to claim 2, wherein in the inter-satellite task initiating step, the task information further includes: the inter-satellite high-speed data transmission task starting method comprises an inter-satellite high-speed data transmission task starting flag _ z, a task starting time T0, a task duration dt and main satellite orbit information, wherein T0 is less than or equal to any Ts _ i, i is 1 … n, T0+ dt is greater than or equal to any Te _ i, and the main satellite orbit information is used for calculating the direction and a time window which can be built with a main satellite from satellite pre-extrapolation.
4. The method of claim 1, wherein the feedback information comprises: the ready state flag _ c, the slave star number sat _ id, the number i of the receiving channel of the application master star, the front edge t _ ready of the transmittable window, the transmission time t _ pass or the rear edge t _ END of the transmittable window.
5. The method for autonomously scheduling a centralized inter-satellite data transmission task according to claim 1, wherein the master satellite task planning step is performed at regular intervals within a time period from T0 to T0+ dt, and a window simultaneously applied by a plurality of slave satellites is scheduled and optimized based on a certain rule.
6. The method for autonomous scheduling of centralized inter-satellite data transmission tasks according to claim 1, wherein the data validity check comprises: and removing the secondary star window with the data packet XOR and the check error, removing the secondary star window with the transmission time length exceeding the limit, and removing the secondary star window with the end time exceeding the limit.
7. The method of claim 2, wherein the centralized inter-satellite data transmission task autonomous scheduling, wherein the new window and existing window conflict resolution comprises:
firstly, taking out unplanned slave star windows and planned effective windows, and sorting according to the leading edge time t _ ready and the transmission duration t _ pass of the slave star windows respectively; whether each new window can be inserted into the receiving time interval of the main satellite within the time from Ts _ i to Te _ i or not is detected in sequence, the new window is inserted into the receiving time interval of the main satellite after the current time T _ now, the new window is not overlapped with the planned auxiliary satellite window, and a certain margin T _ pre is reserved between the new window and the planned auxiliary satellite window.
8. The method of claim 1, wherein the planning and scheduling result comprises: a scheduling result valid flag _ p, a satellite number sat _ id, a channel number i, a satellite start transmission time t _ start and a satellite end transmission time t _ end;
and the channel switch and the transmitted delay instruction chain are generated according to the effective dispatching result flag _ p, the read channel number i, the start transmission t _ start from the star and the end transmission time t _ end.
9. The method of claim 8, further comprising:
and a transmission task ending step: at the end of the task, the master and slave stars perform state recovery actions.
10. An autonomous scheduling system for centralized inter-satellite data transmission tasks, comprising:
a transmission task starting module: the main satellite starts an inter-satellite high-speed data transmission task, reads task information and starts on-satellite autonomous task scheduling;
the inter-satellite task initiating module: the master satellite initiates a cooperative task, writes task information into a data packet, and sends the task information to the slave satellite through an inter-satellite low-speed data network;
the slave star response task module: after receiving task information sent by a main satellite from a satellite, if data transmission is required, starting on-satellite data processing and packaging, calculating a visible time period of a link with the main satellite, estimating on-satellite processing and preparation time, estimating transmission time according to data volume and transmission rate, and generating feedback information of an inter-satellite transmission task;
the slave star task feedback module: the slave star writes the feedback information into a data packet and sends the feedback information to the master star through an inter-star low-speed data network;
a main satellite task planning module: the master satellite receives the feedback information of the slave satellites, processes the feedback information according to the receiving channels in a grouping mode, applies for a slave satellite window of each channel, carries out data validity check, resolves conflict between a new window and an existing window, generates a planning and scheduling result, and repeats in a circulating mode;
a planning result distribution module: the master satellite writes the planning and scheduling result into a data packet and sends the data packet to the slave satellite through an inter-satellite low-speed data network;
the slave star instruction generation module: the slave star analyzes the data packet sent by the master star, generates a corresponding channel switch and a transmitted delay instruction chain, inserts the delay instruction chain into a slave star instruction queue and waits for execution;
the main star instruction generation module: the main star carries out window combination according to the occupation condition of each generated channel receiving window, generates a delay instruction chain of a channel receiving switch by the combined window, inserts the delay instruction chain into a main star instruction queue and waits for execution;
the data transmission execution module: and the master satellite and the slave satellite respectively execute the control instruction of the high-speed data channel between the satellites at the time of triggering the delay instruction and execute data transceiving.
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