CN112104406A - Self-adaptive autonomous task planning method and system - Google Patents
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Abstract
The embodiment of the invention provides a self-adaptive autonomous task planning method, which realizes the transmission and interaction of various information and the iterative optimization of different satellite schemes through inter-satellite communication in a topological network formed by a plurality of satellites. In the aspect of task planning, the fitness of all tasks to be planned on the satellite is calculated through a designed fitness function, and the tasks with high adaptability weight are planned preferentially. In the process of scheme iteration, comparison optimization is carried out between schemes of different satellites, and if the same task exists between the two schemes, the two schemes are subjected to selection according to the calculated fitness of the task. The two processes are carried out interactively through inter-satellite communication, the satellite can adaptively obtain the task most suitable for the arrangement of the satellite in the process, the task adaptive weight of the arrangement of the whole system is maximum, and the whole process has high autonomy, independence and high efficiency.
Description
Technical Field
The invention relates to the technical field of satellite mission planning, in particular to a self-adaptive autonomous mission planning method and a self-adaptive autonomous mission planning system.
Background
The satellite task planning plays a key role in the whole satellite application process, mainly solves the effective allocation and planning of satellite resources, completes the observation tasks submitted by users to the maximum extent, and is one of the main factors influencing the use efficiency of the satellite.
Most satellite mission planning is currently performed on the ground, a mission planning scheme is injected to the satellite during the period that the satellite ground communication is available, and the satellite performs a mission according to the planned scheme.
However, ground planning methods have significant delays in responding to new information and new opportunities, and planning cycles are typically limited to times constrained by contact opportunities, with delay times varying from minutes to hours. Namely, the existing satellite mission planning has poor timeliness.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a self-adaptive autonomous mission planning method and a self-adaptive autonomous mission planning system, which solve the technical problem of poor timeliness of the conventional self-adaptive autonomous mission planning method.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, a self-adaptive autonomous mission planning method is provided, which includes the following steps:
s1, the local satellite receives a cooperative planning start notice sent by the initiating satellite, judges whether the single satellite planning and the cooperative planning conflict, if so, takes the task scheme in the cooperative planning time domain as an initial solution for the local satellite to participate in the cooperative planning, directly sends the part of the task scheme not in the cooperative planning time domain to the execution module, and deletes the task in the part of the task scheme directly executed in the task scheme set; otherwise, directly go to S2;
s2, initializing each satellite to generate a task information set, wherein the task information set comprises: a task set and a task scheme set;
s3, each satellite reads task information to be planned and puts the task information into a task set, an initiating satellite in collaborative planning signs on the task set of the satellite, and the task set is transmitted to the satellite with communication connection;
s4, synchronizing the task set information among the satellites, judging whether the task set contains signatures of all other satellites, if so, turning to S5, and if not, putting the tasks in the task set of the satellite into the received task set and deleting repeated tasks;
s5, calculating the time window information of each task on the satellite, and constructing all time window sets of the tasks on a single satellite;
s6, calculating the fitness of each task on each time window; putting the result into a single time window fitness set of the task on a single star;
s7, acquiring a fitness set of the task on a single star based on the single time window fitness set of the task on the single star;
s8, sorting the tasks in the task set based on the fitness set and the weight of the tasks on a single star to generate a task queue;
s9, generating a task scheme based on the task queue and the task planning algorithm flow, and putting the task scheme into a task scheme set;
s10, the collaborative planning initiating star transmits the task scheme set and the fitness set to the satellite with communication connection in a transmission mode of ring topology, after other satellites with communication connection receive the information transmitted by the initiating star, tasks in the task scheme set are compared and accepted according to the received fitness information of the scheme and the fitness information of the scheme of the satellite, the task scheme set of the satellite is updated, and the scheme and the fitness information of the satellite are transmitted to the next satellite;
s11, if the task scheme sets on both sides are transmitted back to the initiating star, selecting a more optimal task scheme set according to the weight of the schemes in the task scheme set, taking the task scheme set as an optimal scheme set, and then jumping to S12, otherwise, entering S10;
s12, synchronizing the task schemes of all satellites, and transmitting the optimal scheme set and the collaborative planning completion notification to other satellites by the initiating satellite; and other satellites update the known system optimal scheme of the satellite according to the information sent by the initiating satellite, and send the updated scheme to the execution module of the satellite.
Further, the method further comprises:
when there are multiple satellites simultaneously initiating the collaborative planning start notification, it is necessary to determine the initiating satellite according to the timestamps of the collaborative planning start notification of the multiple satellites before executing step S1.
Further, the task information set further includes: the method comprises the steps of collecting all time windows of tasks on a single star, collecting the fitness of the single time window of the tasks on the single star and collecting the fitness of the tasks on the single star.
Further, the calculating the time window information of each task on the local star and constructing a set of all time windows of the tasks on a single star includes:
the satellite planning module calculates each task m E TsAll time window sets on the own satellite, all time window sets TW on the single satellite for the initialized taskmsThe updating is carried out, and the updating is carried out,
Further, calculating the fitness of each task on each time window; and putting the result into a single time window fitness set of the task on a single star, comprising:
sequentially taking out every n time windows of the task m, comparing the time windows with time windows of other tasks, and searching other task time windows overlapped with the time windows; calculating the fitness of the time window of the task on the satellite through a fitness function; and calculating the fitness of all tasks on each time window of a single star by analogy, and putting the result into a single time window fitness set FW of the tasks on the single starsWherein the fitness function is as follows:
in the formula:
S＝{1,2,...,s,...NSdenotes the set of satellites;
Ts1,2, 3.., m represents a set of tasks on satellite s.
Further, the acquiring a fitness set of the task on a single star based on a single time window fitness set of the task on the single star includes:
acquiring the number of the time windows which can be arranged on a single satellite by a single task and the fitness of the single task on the single satellite in each time window based on a single time window fitness set of the task on the single satellite, adding the fitness of the single task on the single satellite in each time window to obtain total fitness, and dividing the total fitness by the number of the time windows to obtain the fitness of the single task on the single satellite; and putting the obtained fitness of the single task on the single star into a fitness set of the single task on the single star.
Further, the step of sequencing the tasks in the task set based on the fitness set and the weight of the tasks on a single star to generate a task queue includes:
sequentially calculating queue sorting values of tasks in the task set, sorting the tasks from high to low according to the queue sorting values, and generating a task queue, wherein the queue sorting values are the weights tvmFitness
Further, in step S10, the transmission manner of the ring topology includes:
the ring topology has the condition of bidirectional transmission, the initiating satellite in the ring topology can simultaneously send information to the satellites on two sides, and other satellites in the ring topology can only transmit information in one direction, cannot directly transmit the information back to the initiating satellite and can only transmit the information to other satellites on the other side except the initiating satellite.
Further, in step S10, the comparing and accepting the tasks in the task scheme set according to the received fitness information of the scheme and the fitness information of the self-satellite scheme includes:
and if the two task scheme sets have the same task, selecting or rejecting the task according to the fitness, reserving the task with high fitness, and deleting the task with lower fitness.
In a second aspect, an adaptive autonomous mission planning system is proposed, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
(III) advantageous effects
The invention provides a self-adaptive autonomous task planning method and a self-adaptive autonomous task planning system. Compared with the prior art, the method has the following beneficial effects:
the invention can quickly generate a better feasible task scheme by adopting a self-adaptive autonomous task planning method, and the scheme is generated by autonomous negotiation iteration of fitness among satellites without ground assistance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a satellite mission planning module performing planning scheme segmentation processing during a single-satellite mission planning phase in this embodiment;
FIG. 3 is a schematic diagram illustrating inter-satellite information transfer in a ring topology according to the present embodiment;
fig. 4 is a diagram illustrating the ratio of the overlap length to the length of the task time window in this embodiment.
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 are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application solves the technical problem of poor timeliness of the existing mission planning method by providing the self-adaptive autonomous mission planning method, and improves timeliness of mission planning.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
the embodiment of the invention provides a self-adaptive autonomous task planning method, which realizes the transmission and interaction of various information and the iterative optimization of different satellite schemes through inter-satellite communication in a topological network formed by a plurality of satellites. In the aspect of task planning, the fitness of all tasks to be planned on the satellite is calculated through a designed fitness function, and the tasks with high adaptability weight are planned preferentially. In the process of scheme iteration, comparison optimization is carried out between schemes of different satellites, and if the same task exists between the two schemes, the two schemes are subjected to selection according to the calculated fitness of the task. The two processes are carried out interactively through inter-satellite communication, the satellite can adaptively obtain the task most suitable for the arrangement of the satellite in the process, the task adaptive weight of the arrangement of the whole system is maximum, and the whole process has high autonomy, independence and high efficiency.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
The embodiment of the invention provides a self-adaptive autonomous task planning method, which comprises the following steps of S1-S12:
s1, the local satellite receives a cooperative planning start notice sent by the initiating satellite, judges whether the single satellite planning and the cooperative planning conflict, if so, takes the task scheme in the cooperative planning time domain as an initial solution for the local satellite to participate in the cooperative planning, directly sends the part of the task scheme not in the cooperative planning time domain to the execution module, and deletes the task in the part of the task scheme directly executed in the task scheme set; otherwise, directly go to S2;
s2, initializing each satellite to generate a task information set, wherein the task information set comprises: a task set and a task scheme set;
s3, each satellite reads task information to be planned and puts the task information into a task set, an initiating satellite in collaborative planning signs on the task set of the satellite, and the task set is transmitted to the satellite with communication connection;
s4, synchronizing the task set information among the satellites, judging whether the task set contains signatures of all other satellites, if so, turning to S5, and if not, putting the tasks in the task set of the satellite into the received task set and deleting repeated tasks;
s5, calculating the time window information of each task on the satellite, and constructing all time window sets of the tasks on a single satellite;
s6, calculating the fitness of each task on each time window; putting the result into a single time window fitness set of the task on a single star;
s7, acquiring a fitness set of the task on a single star based on the single time window fitness set of the task on the single star;
s8, sorting the tasks in the task set based on the fitness set and the weight of the tasks on a single star to generate a task queue;
s9, generating a task scheme based on the task queue and the task planning algorithm flow, and putting the task scheme into a task scheme set;
s10, the collaborative planning initiating star transmits the task scheme set and the fitness set to the satellite with communication connection in a transmission mode of ring topology, after other satellites with communication connection receive the information transmitted by the initiating star, tasks in the task scheme set are compared and accepted according to the received fitness information of the scheme and the fitness information of the scheme of the satellite, the task scheme set of the satellite is updated, and then the scheme and the fitness information of the satellite are transmitted to the next satellite;
s11, if the task scheme sets on both sides are transmitted back to the initiating star, selecting a more optimal task scheme set according to the weight of the schemes in the task scheme set, taking the task scheme set as an optimal scheme set, and then jumping to S12, otherwise, entering S10;
s12, synchronizing the task schemes of all satellites, and transmitting the optimal scheme set and the collaborative planning completion notification to other satellites by the initiating satellite; and other satellites update the known system optimal scheme of the satellite according to the information sent by the initiating satellite, and send the updated scheme to the execution module of the satellite.
The embodiment of the invention adopts a self-adaptive autonomous task planning method to quickly generate a better feasible task scheme, and the scheme is generated by autonomous negotiation iteration of fitness among satellites without ground assistance.
Each step is described in detail below.
In step S1, the local satellite receives a collaborative planning start notification sent by the initiating satellite, determines whether the single-satellite planning and the collaborative planning conflict, if so, takes the task scheme in the collaborative planning time domain as an initial solution for the local satellite to participate in the collaborative planning, directly sends the partial task scheme not in the collaborative planning time domain to the execution module, and deletes the task in the task scheme set that is directly executed on the partial scheme; otherwise, the process proceeds directly to S2. The specific implementation process is as follows:
in the embodiment of the invention, a scheme segmentation strategy based on a planning time domain is designed. When the satellite receives a collaborative planning start notification sent by other satellites, two possible states are available, one is that the mission planning module is in an idle state, and then the satellite can directly join the collaborative planning initiated by other satellites in the idle state without generating conflict; another is that the mission planning module of the satellite is in the single-satellite mission planning stage, and for this case, it is not preferable to directly interrupt the single-satellite planning, because this may cause a certain time domain solution vacancy, and as shown in fig. 2, if the single-satellite planning is terminated forcibly and the collaborative planning is directly performed, the solution vacancy at t1 may be caused. Therefore, firstly, the single-satellite planning is executed as usual to generate a planning scheme, then the planning scheme needs to be processed in different situations, and for the part of the scheme t1 which is not in the collaborative planning time domain, the scheme is directly sent to the execution module of the satellite for execution; the part of the solution t2 in the collaborative planning time domain is directly used as the initial solution of the satellite in the collaborative planning phase. The conflict between the single-satellite planning and the collaborative planning can be processed by a method for segmenting the planning scheme, so that the planning logic is more complete.
The specific process of step S1 is:
the method comprises the steps that the satellite receives a collaborative planning starting notice sent by an initiating satellite (other satellites), judges whether the satellite is performing collaborative planning or just completes single-satellite planning, if yes, takes a task scheme in a collaborative planning time domain as an initial solution for the satellite to participate in collaborative planning, directly sends a partial scheme not in the collaborative planning time domain to an execution module, and deletes tasks in the partial scheme directly executed in a task scheme set; if not, the process proceeds directly to S2.
It should be noted that, when there are multiple satellites to initiate the collaborative planning start notification at the same time, the initiating satellite needs to be determined according to the timestamps of the collaborative planning start notifications of the multiple satellites before executing step S1. In a specific implementation process, aiming at the problem, the embodiment of the invention designs a notification conflict resolution strategy initiated by collaborative planning. The method comprises the following specific steps:
the problem of conflict caused by the fact that multiple satellites simultaneously initiate collaborative planning notification is solved. As shown in fig. 3, two cases can be considered.
Firstly, two or more satellites launch collaborative planning notification, but the launching time is not at the same time. In this case, it is assumed that satellite a and satellite C initiate collaborative planning but the initiation times are not at the same time, in which case a time stamp of the notification issuance time needs to be added to the issued notification. When the B satellite receives the notifications from A, C, and if the timestamp of the notification sent by A is earlier than that of the C satellite, the B satellite does not continue to transmit the notification of the C satellite, but continues to transmit the notification of the A satellite, and the problem of the notification conflict of the collaborative planning initiation is solved by the method of the notification with the timestamp.
And secondly, two or more satellites initiate the collaborative planning notification, and the initiating time is the same, namely the timestamps sent by the notification are the same. In this case, assuming that the satellite a and the satellite C initiate the collaborative planning but the initiating time is the same time, the time when the notification reaches the satellite B needs to be compared, because the inter-satellite information delivery times are not substantially the same, in this case, the notification reaching time of the satellite A, C in the log file only needs to be searched, and assuming that the notification reaching time of the satellite C is earlier, the satellite B does not continue to deliver the notification of the satellite a but continues to deliver the notification of the satellite C, and the problem of time conflict of the notification initiated by the collaborative planning is handled by such a method of inquiring the arrival time of the notification.
In step S2, each satellite is initialized to generate a task information set, where the task information set includes: a set of tasks and a set of task solutions. The specific implementation process is as follows:
and initializing each satellite to generate a task information set. The task information set comprises: task set TsSet of task solutions PsSet of all time windows TW of a task on a single starmsSingle time window fitness set FW of task on single starsFitness set of tasks on single starFTs. It should be noted that all the sets generated by initialization are empty sets, and data is put into the empty sets through subsequent steps (constructing and acquiring a set in subsequent steps both refer to putting data into the empty sets).
In step S3, each satellite reads the information of the task to be planned and puts it into the task set, and the initiating satellite in collaborative planning signs on the task set of the satellite. The set of tasks is passed to a satellite having a communication connection. The specific implementation process is as follows:
reading task information to be planned in a task pool by each satellite and putting the task information into a task set T of each satellitesThe co-planned initiating star s is in the local star task set TsSigning, and then firstly collecting the task TsTo a satellite having a communication connection.
In step S4, the task set information between satellites is synchronized, whether the task set includes signatures of all other satellites is determined, if yes, the process proceeds to step S5, and if not, the tasks in the task set of the satellite are put into the received task set, and the repeated tasks are deleted. The specific implementation process is as follows:
other satellites receive the transmitted task set, whether the task set contains the signatures of all other satellites is judged, if yes, the process is switched to S5, and if not, the tasks in the task set of the satellite are put into the received task set TsAnd (4) deleting repeated tasks while putting in, and signing the set by the satellite for receiving after the above process is completed, and then continuously sending to the satellite of the next communication connection.
In step S5, time window information of each task on the own star is calculated, and a set of all time windows of the tasks on a single star is constructed. The specific implementation process is as follows:
the Satellite planning module starts to call STK (Satellite Kit) to calculate m ∈ T of each tasksAll time window sets on the own satellite, all time window sets TW on the single satellite for the initialized taskmsThe updating is carried out, and the updating is carried out,
In step S6, a fitness of each task on each time window is calculated; and puts the results into a single set of time window fitness for the task on a single star. The specific implementation process is as follows:
in the embodiment of the invention, a calculation function of the fitness of a single task arranged on a satellite in a certain planning time domain is designed. The function is used for respectively calculating the fitness of each time window arrangement of all tasks on the satellite based on all time windows of all the tasks on the satellite in the current time domain, and therefore the fitness of each task arrangement on the satellite is calculated. The method comprises the following specific steps:
firstly, synchronizing the information of the tasks to be planned in the current time domain among the satellites, and after synchronization is completed, the task set of each satellite contains the information of the tasks to be planned in the time domain. And then, calculating the time windows on the orbit of the satellite for each task in sequence, and putting all the time windows of each task on the satellite into a time window set after calculating. And then, calculating the time window fitness of each task, and comparing each time window of each task with the time windows of other tasks in sequence. For example, to calculate the fitness of the nth time window of task m on satellite s, it is necessary to find out whether the time window is matched with the time windows of other tasksIf so, calculating the ratio of the overlap length to the nth time window length of the task m, as shown in fig. 4 below, wherein the dotted arrow represents the time window overlap portion, and the ratio can be obtained by dividing the length of the solid arrow by the length of the dotted arrow. Then, after the traversal is finished, taking the average value of all the ratios as the fitness of the nth time window of the task m
The specific calculation formula is as follows:
in the formula:
S＝{1,2,...,s,...NSdenotes the set of satellites;
Ts1,2,3, m represents any of the satellites sService sets
And the fitness of all time windows of all tasks on the star can be calculated by analogy.
The specific process of S6 is as follows: sequentially taking out every n time windows of the task m, comparing the time windows with time windows of other tasks, searching other task time windows overlapped with the time windows, and calculating the fitness of the time window of the task on the satellite through a fitness function; and calculating the fitness of all tasks on each time window of a single star by analogy, and putting the result into a single time window fitness set FW of the tasks on the single starsAmong them.
The fitness calculation method in the embodiment of the invention has the following advantages:
firstly, the fitness can be calculated before the task planning is carried out, so that the influence of the task planning process is avoided, and the task planning can be guided to carry out and the iteration of a scheme can be guided;
in the whole collaborative planning process, the fitness is calculated only once before task planning, all task fitness calculation adopts the same calculation standard, and is only related to the time window information of the tasks, so that the objectivity and the comparability are high.
In step S7, a fitness set of the task on a single star is obtained based on a single time window fitness set of the task on the single star. The specific implementation process is as follows:
acquiring the number of schedulable time windows of a single task on a single satellite and the fitness of the single task on the single satellite in each time window based on a single time window fitness set of the task on the single satellite, adding the fitness of the single task on the single satellite in each time window to obtain total fitness, dividing the total fitness by the number of the time windows to obtain the fitness of the single task on the single satellite (for example, a task 1 is scheduled on a satellite A, and the task 1 is scheduled on the satellite A within a time domain with 3 time windows, so that the single time window fitness on the single satellite (the satellite A) can be calculated on the satellite A according to the fitness function in the step S6 by using the 3 time windows, and the fitness of the single task on the single satellite refers to the above fitnessAverage of those 3 time window fitness) (
The higher the value of (b), the lower the fitness of the task m on the satellite, otherwise, the higher the fitness); putting the obtained fitness of the single task on the single star into a fitness set FT of the single task on the single starsIn (1).
In step S8, the tasks in the task set are sorted based on the fitness set and the weight of the task on a single star, and a task queue is generated. The specific implementation process is as follows:
calculating task set T in sequencesQueue rank value of task (queue rank value ═ weight tv)mFitness
) Sorting the tasks from high to low according to the queue sorting value to generate a task queue Qs. The weight is an attribute of each task itself at the time of generation, reflects the importance of the task, and is directly read by the task.
In step S9, a task plan is generated based on the task queue and the task planning algorithm flow, and the task plan is placed in a task plan set. The specific implementation process is as follows:
slave task queue QsThe tasks are sequentially taken out, an initial task scheme is generated through a task planning algorithm (including an insertion algorithm, a shift algorithm and a deletion algorithm, which all belong to the prior art and are not described herein again), and then the scheme is stored into a task scheme set PsAmong them.
In step S10, the collaborative planning initiating satellite transmits the task scheme set and the fitness set to the satellite with communication connection in a transmission manner of ring topology, and after receiving the information transmitted from the initiating satellite, the other satellites with communication connection perform a comparison and accepting on the tasks in the task scheme set according to the received fitness information of the scheme and the fitness information of the satellite scheme, update the satellite task scheme set, and transmit the scheme and the fitness information of the satellite to the next satellite. The specific implementation process is as follows:
collaborative planning initiates bundle of star task scheme set PsFitness set FTsTogether to a satellite having a communication connection; the other satellites receive the transmitted information, the tasks in the task scheme sets are compared, if the two task scheme sets have the same task, the tasks are selected or rejected according to the corresponding fitness of the tasks on different satellites, the tasks with low fitness in the task scheme sets are deleted, and the task scheme sets are updated; and finally, the updated task scheme set and the fitness set are sent to other satellites with communication connection. It should be noted that, the ring topology has a bidirectional transfer situation, that is, the initiating satellite in the ring topology can send information to the satellites on both sides at the same time, and the other satellites (non-initiating satellites) in the ring topology can only transfer information in one direction, because it cannot directly transfer information back to the initiating satellite, it can only transfer information to the other sides except the initiating satellite.
In step S11, if both task solution sets on both sides are transmitted back to the initiating star, then a more optimal task solution set is selected according to the weight of the solutions in the task solution set, and the task solution set is used as the system-known optimal solution set, and then the process jumps to S12, otherwise, the process proceeds to S10, and the specific implementation process is as follows:
and judging whether all task fitness degrees corresponding to the updated task scheme set reach the maximum collaborative planning time, if so, indicating that the updated task scheme set is the optimal collaborative scheme, executing the next step S12, otherwise, returning to S10, and continuing to update the task scheme set.
In step S12, the task schemes of the satellites are synchronized, the initiating satellite transmits the optimal scheme set and the collaborative planning completion notification to other satellites, and the other satellites update the known system optimal scheme of the satellite according to the information sent by the initiating satellite, and send the updated scheme to the execution module of the satellite.
In the embodiment of the invention, a collaborative planning scheme synchronization strategy is designed in the steps S11-S12, so that the synchronization of the current optimal collaborative planning scheme can be realized in the collaborative planning braking process. And two conditions for finishing the collaborative planning are provided, wherein one condition is that the task scheme sets on both sides are transmitted back to the initiating star, and the second condition is that the planning time of the collaborative planning reaches the upper limit, and the system sends out a collaborative planning braking notice.
For the first case, the initiating satellite sends the optimal solution known by the system to other satellites, and the other satellites can directly replace the satellite solution into the received optimal solution known by the system, so that the solution synchronization is realized. The synchronization mode is that the initiating satellite determines the optimal scheme, and then the scheme is transmitted for one turn in one way, so that the optimal scheme synchronization can be realized.
For the second case, a scheme synchronization process is required, and since this is a scheme delivery and iterative optimization process, the system does not know which satellite the optimal solution of the whole system is currently located at when the end notification is received, and therefore the scheme synchronization process is required. As shown in fig. 3, assuming that the satellite a is the initiating satellite of the collaborative planning, when the preset collaborative planning time is reached, the satellite a sends out a notification of ending the collaborative planning, and sends the known optimal solution of the satellite to B, E two satellites with communication connections, B, E two satellites immediately stop the collaborative planning when receiving the notification of ending the collaborative planning and the optimal solution transmitted by the satellite a, sign the notification of ending the collaborative planning, and then start to compare the known optimal solution of the satellite with the optimal solution of the satellite a, and reserve a more optimal set of system solutions as the known optimal collaborative solution of the satellite. B, E two satellites continue to transmit the notification of the end of the collaborative planning and the best collaborative scheme known by the satellite until the notification and the best collaborative scheme containing all other satellite signatures are finally transmitted to the satellite A, the whole scheme synchronization phase is ended, and each satellite obtains the best scheme known by the system. The method is also initiated by the initiating satellite firstly, but the two-way transmission is needed at the moment, because the two-side transmission is carried out, the collected information is necessarily gathered together on the opposite satellite, the optimal scheme of the current system can be determined after the scheme information of all the satellites are interpersonal, and then the synchronization of the optimal scheme can be realized in the process of continuing to carry out the two-side transmission.
An embodiment of the present invention further provides an adaptive autonomous mission planning system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the computer program.
It can be understood that, the self-adaptive autonomous mission planning system provided in the embodiment of the present invention corresponds to the above-mentioned self-adaptive autonomous mission planning method, and for the explanation, examples, and beneficial effects of the relevant contents, reference may be made to the corresponding contents in the self-adaptive autonomous mission planning method, which are not described herein again.
In summary, compared with the prior art, the method has the following beneficial effects:
1. the embodiment of the invention adopts a self-adaptive autonomous task planning method to quickly generate a better feasible task scheme, and the scheme is generated by autonomous negotiation iteration of fitness among satellites without ground assistance.
2. The embodiment of the invention designs a notification conflict resolution strategy for collaborative planning initiation adaptive to the ring topology structure, solves the conflict problem when a plurality of satellites simultaneously send out collaborative planning notifications, and can better enable all satellites to achieve consensus and enable the collaborative planning process to be carried out more smoothly.
3. The embodiment of the invention designs a scheme segmentation strategy based on a planning time domain, which can better solve the problem of time domain conflict between single-satellite planning and collaborative planning and can ensure that a satellite which is performing single-satellite planning when receiving a collaborative planning notification smoothly transits to a collaborative planning stage.
4. The fitness calculation function designed by the embodiment of the invention can make certain evaluation and effect prediction on the effect of the task arranged on each satellite in advance before planning, and the calculated fitness has a good guiding effect on the following task planning and scheme iteration process.
5. The embodiment of the invention designs a collaborative planning scheme synchronization strategy, which can realize the synchronization of the optimal scheme of the current system in the collaborative planning braking process. The process of sending the collaborative planning completion notification and the process of synchronizing the system optimal scheme are fused together, so that the synchronization of the system optimal scheme can be realized more quickly.
It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An adaptive autonomous mission planning method, comprising the steps of:
s1, the local satellite receives a cooperative planning start notice sent by the initiating satellite, judges whether the single satellite planning and the cooperative planning conflict, if so, takes the task scheme in the cooperative planning time domain as an initial solution for the local satellite to participate in the cooperative planning, directly sends the part of the task scheme not in the cooperative planning time domain to the execution module, and deletes the task in the part of the task scheme directly executed in the task scheme set; otherwise, directly go to S2;
s2, initializing each satellite to generate a task information set, wherein the task information set comprises: a task set and a task scheme set;
s3, each satellite reads task information to be planned and puts the task information into a task set, an initiating satellite in collaborative planning signs on the task set of the satellite, and the task set is transmitted to the satellite with communication connection;
s4, synchronizing the task set information among the satellites, judging whether the task set contains signatures of all other satellites, if so, turning to S5, and if not, putting the tasks in the task set of the satellite into the received task set and deleting repeated tasks;
s5, calculating the time window information of each task on the satellite, and constructing all time window sets of the tasks on a single satellite;
s6, calculating the fitness of each task on each time window; putting the result into a single time window fitness set of the task on a single star;
s7, acquiring a fitness set of the task on a single star based on the single time window fitness set of the task on the single star;
s8, sorting the tasks in the task set based on the fitness set and the weight of the tasks on a single star to generate a task queue;
s9, generating a task scheme based on the task queue and the task planning algorithm flow, and putting the task scheme into a task scheme set;
s10, the collaborative planning initiating star transmits the task scheme set and the fitness set to the satellite with communication connection in a transmission mode of ring topology, after other satellites with communication connection receive the information transmitted by the initiating star, tasks in the task scheme set are compared and accepted according to the received fitness information of the scheme and the fitness information of the scheme of the satellite, the task scheme set of the satellite is updated, and the scheme and the fitness information of the satellite are transmitted to the next satellite;
s11, if the task scheme sets on both sides are transmitted back to the initiating star, selecting a more optimal task scheme set according to the weight of the schemes in the task scheme set, taking the task scheme set as an optimal scheme set, and then jumping to S12, otherwise, entering S10;
s12, synchronizing the task schemes of all satellites, and transmitting the optimal scheme set and the collaborative planning completion notification to other satellites by the initiating satellite; and other satellites update the known system optimal scheme of the satellite according to the information sent by the initiating satellite, and send the updated scheme to the execution module of the satellite.
2. An adaptive, autonomous mission planning method according to claim 1, characterized in that it further comprises:
when there are multiple satellites simultaneously initiating the collaborative planning start notification, it is necessary to determine the initiating satellite according to the timestamps of the collaborative planning start notification of the multiple satellites before executing step S1.
3. An adaptive, autonomous mission planning method according to claim 1, wherein said set of mission information further comprises: the method comprises the steps of collecting all time windows of tasks on a single star, collecting the fitness of the single time window of the tasks on the single star and collecting the fitness of the tasks on the single star.
4. The adaptive autonomous mission planning method of claim 1 wherein said computing time window information for each task on a local star and constructing a set of all time windows for the tasks on a single star comprises:
the satellite planning module calculates each task m E TsAll time window sets on the own satellite, all time window sets TW on the single satellite for the initialized taskmsThe updating is carried out, and the updating is carried out,
5. An adaptive, autonomous mission planning method according to any of claims 1 to 4, wherein said calculating the fitness of each mission over each time window; and putting the result into a single time window fitness set of the task on a single star, comprising:
sequentially taking out every n time windows of the task m, comparing the time windows with time windows of other tasks, and searching other task time windows overlapped with the time windows; calculating the fitness of the time window of the task on the satellite through a fitness function; and calculating the fitness of all tasks on each time window of a single star by analogy, and putting the result into a single time window fitness set FW of the tasks on the single starsWherein the fitness function is as follows:
in the formula:
S＝{1,2,...,s,...NSdenotes the set of satellites;
Ts1,2, 3.., m represents a set of tasks on satellite s.
6. An adaptive autonomous mission planning method according to any one of claims 1 to 4, wherein the acquiring a fitness set of a mission on a single star based on a single time window fitness set of the mission on the single star comprises:
acquiring the number of the time windows which can be arranged on a single satellite by a single task and the fitness of the single task on the single satellite in each time window based on a single time window fitness set of the task on the single satellite, adding the fitness of the single task on the single satellite in each time window to obtain total fitness, and dividing the total fitness by the number of the time windows to obtain the fitness of the single task on the single satellite; and putting the obtained fitness of the single task on the single star into a fitness set of the single task on the single star.
7. An adaptive autonomous mission planning method according to any one of claims 1 to 4, wherein the step of sorting the tasks in the set of tasks based on the fitness set and the weight of the tasks on a single star to generate a mission queue comprises:
sequentially calculating queue sorting values of tasks in the task set, sorting the tasks from high to low according to the queue sorting values, and generating a task queue, wherein the queue sorting values are the weights tvmFitness
8. An adaptive autonomous mission planning method according to any of claims 1 to 4, wherein in step S10, the transmission mode of the ring topology comprises:
the ring topology has the condition of bidirectional transmission, the initiating satellite in the ring topology can simultaneously send information to the satellites on two sides, and other satellites in the ring topology can only transmit information in one direction, cannot directly transmit the information back to the initiating satellite and can only transmit the information to other satellites on the other side except the initiating satellite.
9. An adaptive autonomous mission planning method according to any one of claims 1 to 4, wherein in step S10, the comparing and accepting the missions in the mission plan set according to the received fitness information of the scenario and the fitness information of the current satellite scenario includes:
and if the two task scheme sets have the same task, selecting or rejecting the task according to the fitness, reserving the task with high fitness, and deleting the task with lower fitness.
10. An adaptive, autonomous mission planning system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of the preceding claims 1 to 9 when executing the computer program.
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