CN112104485B - Multi-station multi-target decentralized data sharing decision operation management and control architecture - Google Patents
Multi-station multi-target decentralized data sharing decision operation management and control architecture Download PDFInfo
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Abstract
The invention discloses a multi-station multi-target decentralized data sharing decision operation management and control architecture, and aims to provide an overall architecture capable of realizing centerless multi-station multi-target task planning and scheduling. The invention is realized by the following technical scheme: the method comprises the steps that an upper-level center is used as a main node, a centerless mesh communication network for communicating any two points between the upper-level center and each navigation station is established by means of ground communication, satellite communication, beidou navigation communication and short wave communication, each navigation station adopts a centerless data sharing and decision mechanism and a sensing-evaluating-decision-executing closed loop to realize autonomous dynamic resource adjustment according to system management software and single station control software, each navigation station executes resource allocation and scheduling of the station according to a scheduling scheme generated by the station, the whole network decision of a system task planning scheme of each navigation station is completed by the same consensus strategy according to the centerless data sharing mechanism, and task reconstruction of a ground navigation system is executed according to a decision result.
Description
Technical Field
The invention relates to an operation framework which is mainly applied to a ground-based navigation system to solve the problems of task planning, scheduling and navigation resource reconstruction of the ground navigation system under the conditions of multi-target, simultaneous navigation, variable environment and the like and adopts a centerless mode to realize multi-station multi-target planning and scheduling.
Background
In daily life, everyone is performing various forms of navigational activities. Navigation is indispensable equipment in navigation bodies such as sea, land, air and sky, and with continuous development and progress of scientific technology, navigation means are more and more, and navigation precision is higher and higher. Navigation systems are divided into land-based navigation systems and satellite-based navigation systems. The land-based navigation is a navigation system which is arranged on the ground and used for positioning by the principle that intersection points are obtained by intersecting four spheres/three spheres by sending measurement signals to a user receiver. The land-based navigation adopts a positioning system that a ground station transmits signals and a target user receives the signals to complete positioning, and because of the clock error between the ground station and the user, the ground can be positioned only by four stations, and the four stations on the ground need high-precision time synchronization. Similar to a satellite navigation system, the wider the ground station geometry, the smaller the positioning geometry factor. If the ground stations are arranged in the territorial area of China, the ground navigation stations are arranged in large triangles of China, a better geometric relation can be formed with the navigation target, and the positioning geometric factor is reduced. The land-based navigation system consists of a user receiver, a superior command system and more than 4 sets of navigation stations, and a plurality of sets of navigation stations jointly form the ground navigation system. The user receiver completes navigation resolving according to the multi-station navigation signals, the superior center completes navigation task allocation, and the navigation station autonomously performs target tracking and provides navigation signals. In order to improve the application efficiency of the system, the navigation station can adopt a phased array system to ensure that the foundation navigation service is provided for dozens of targets at the same time. In the actual operation process, background factors such as system resources (including hardware, personnel and the like), service requirements, user behaviors, management strategies and the like are also changed frequently, and the background factors are main factors causing uncertainty of the ground navigation system. Meanwhile, at least 4 sets of navigation stations are required to work simultaneously to meet the requirement of the foundation navigation task, so that the ground navigation system is required to have the capabilities of task planning, resource scheduling, task reconstruction and the like. In the process of executing the navigation task, the navigation station is required to be capable of integrating information such as the health condition of equipment of each station of the system, the running state of the navigation task and the like, completing dynamic planning of a working mode and resource scheduling, ensuring tracking navigation of a plurality of navigation stations and multiple targets, and improving the anti-interference performance and the anti-interception capability. Meanwhile, in order to improve the usability of the system, the ground navigation system needs to adopt decentralized operation and self-organization and self-coordination combined work.
By "multicentralized" is meant that there are multiple central nodes in the system, as well as other non-central common nodes. Architecture centric refers to how many nodes a system can tolerate to crash and can continue to operate; the centralization of treatment means how many individuals and organizations are needed to finally control the system; logical centralization refers to whether the interface and data presented by the system appear as a single whole. Decentralization in architecture and governance brings three benefits to the distributed system: fault tolerance, attack resistance and collusion prevention.
Disclosure of Invention
The invention aims to solve the problems of task planning, scheduling and navigation resource reconstruction of the ground navigation system under the conditions of multi-target simultaneous navigation, environment variability and the like, and provides a communication network without a central station, which can improve the automation and intelligence level of the ground navigation system, has reliable automatic operation tasks, stronger survivability and higher reliability, and can realize the overall architecture of the task planning and scheduling of the multi-target without the central station. The problems of multi-target simultaneous navigation, environment variation and multi-station multi-target ground navigation system task planning, scheduling and navigation resource reconstruction in a complex environment are solved.
The above object of the present invention can be achieved by the following measures, and a multi-station multi-target decentralized data sharing decision operation management and control architecture comprises: the method comprises the following steps that an upper-level center is used as a main node, a center-free grid communication network for communicating any two points between the upper-level center and each navigation station is established by means of a ground communication network, satellite communication, beidou navigation communication and short wave communication, flat management is carried out between the upper-level center and each navigation station and between the upper-level center and each navigation station, each navigation station adopts a center-free data sharing and decision-making mechanism and sensing-evaluating-decision-executing closed-loop management according to system management software and single-station control software which are deployed on each navigation station, resources are automatically and dynamically adjusted, single-station and system task planning and scheduling are realized, and double closed-loop dynamic reconstruction of a ground navigation system and each navigation station is completed; in the task execution process, each navigation station has the function of a central main station of the ground navigation system, local station level resource distribution and scheduling are executed according to a scheduling scheme generated by the station, the whole network decision of the task planning scheme of each navigation station system is completed by adopting the same consensus strategy by relying on a centerless data sharing mechanism, and the task reconstruction of the ground navigation system is executed according to the decision result.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, a center-free command communication network for communicating any two points between a superior center command control station and each navigation station is established by means of ground communication network, satellite communication, beidou navigation communication, short wave communication and other technical means, so that a basic support is provided for realizing center-free whole network cooperation and consensus decision of a ground navigation system; the communication network does not need to be provided with a central station, planning and scheduling can be completed by cooperation of system management software and single-station control software which are deployed on each navigation station, each navigation station has the function of a central main station of a ground navigation system, and single-station and system task planning and scheduling are realized through software which is deployed on each navigation station. In the task execution process, when any navigation station (including the central main station) has a fault or is lost in the communication network, the rest navigation stations can still accurately realize the dynamic reconstruction of the system navigation resources and continuously execute related tasks. The ground navigation system can automatically complete the navigation task according to the task plan under the normal working condition; meanwhile, under the abnormal conditions of equipment failure in the navigation station, communication system failure, interference of the navigation station, interference of a target and the like, the processes of detection evaluation, failure disposal and the like of the failure can be automatically completed, and the automation and intelligent level of the ground navigation system is improved. The requirements of the equipment on system reliability, fault tolerance and dynamic reconfiguration capability are met. The problems of task planning, scheduling and navigation resource reconstruction of the ground navigation system under the conditions of multiple targets, simultaneous navigation, variable environment and the like can be solved.
According to the invention, system management software is adopted to cooperate with single-station control software around a superior center to establish a centerless data sharing mechanism in the whole network, so that the sharing of key data and a planning scheme is completed, and each station independently generates a task planning scheme and completes the consensus in the whole network by depending on the cooperative information of the whole network, thereby realizing the guarantee of decision consistency under effective bandwidth. The technologies of data compression, replication type decision making and the like ensure that reliable distributed decision making can be completed only by means of small data sharing under severe communication conditions to realize centerless management, and a completely centerless design is achieved. When the original communication node fails, any navigation station can take over the task of communicating with the superior center, so that the communication network of the ground navigation system has stronger survivability and higher reliability.
Aiming at the fault which can not be automatically eliminated by a single station, the method utilizes station-level reconstruction to complete high-real-time quick decision control based on the integrity of system-level navigation, realizes the system-level closed loop dynamic reconstruction of the interference condition perception of scheduling control from a macroscopic view by the system-level reconstruction, and can automatically complete a navigation task according to preset rules by the navigation station through the system-level and single-station level perception-evaluation-decision-execution double-closed loop dynamic reconstruction, and the navigation station independently operates among stations without depending on other navigation stations; realizing the non-centralization of single-station operation. The overall architecture of the centerless multi-station multi-target task planning and scheduling has a task dynamic reconstruction function under the condition of variable environments, the task planning and scheduling management of the ground navigation system is ensured, and the reliability of automatic task operation is improved.
The invention adopts a centerless data sharing system to realize data sharing among navigation stations, and system operation reports with the same format are generated in the self-closed loop monitoring and management process of each station. Marking the system operation report of the station according to the system coordination time, and broadcasting the related report to other navigation stations in a fixed repetition period. In this case, each navigation station can obtain the operation report of the whole network system within fixed repetition, and it is ensured that other navigation stations can still obtain the operation state of the whole system after each navigation station has an abnormal condition.
The invention uses centerless copy decisions, since each navigation station runs the same software, while obtaining the same system running reports. The task planning and scheduling results are theoretically the same. Under the condition, each navigation station executes the resource allocation and scheduling plan of the navigation station according to the task planning scheme finished by the software of the navigation station, decentralized distributed scheduling finishes the centerless task planning and scheduling management of the whole system, and the dependence on a central master station is reduced. By introducing a consensus mechanism, each navigation station adds a local station task planning scheme sharing mechanism in a system operation report, and each navigation station can monitor and evaluate the actual task planning and execution conditions of other navigation stations in real time. When different task planning results occur, the stations adopt the same consensus mechanism, so that the normal operation of the system is ensured, and the situation that the duplicate decision results of the navigation stations are inconsistent due to emergency situations such as communication system abnormity, unknown abnormity of software and hardware of the navigation stations and the like in the practical engineering application process is avoided.
The invention is based on a duplicate central master station framework, each navigation station has the capacity of the central master station, and the central master station at the current moment is different from other navigation stations only in that only the central master station is responsible for communicating with a superior center. The same software is deployed at each navigation station, and the consistency of each station on the cognition of the ground navigation system is ensured by using a data sharing and decision mechanism, so that decentralization in the practical sense is achieved. Meanwhile, when the original central master station fails, other navigation stations can be switched to the master station independently and the ground navigation system can be maintained to work.
The invention combines a centerless communication network, a replicated central main station architecture and a data sharing and decision mechanism, monitors and evaluates the running state of the ground navigation system through software deployed on each navigation station, and realizes the planning and scheduling of single station and system tasks according to the evaluation and analysis result, so that the ground navigation system running control management system has stronger robustness and environmental adaptability.
Drawings
FIG. 1 is a schematic diagram of a multi-station multi-target decentralized data sharing decision operation management and control architecture according to the present invention;
FIG. 2 is a schematic diagram of a communication network topology;
FIG. 3 is a schematic diagram of a replicated central master station task planning and scheduling architecture;
FIG. 4 is a schematic diagram of the single station mission planning and scheduling of the present invention;
FIG. 5 is a schematic diagram of the system mission planning and scheduling of the present invention;
the invention is further described below with reference to the following figures and examples.
Detailed Description
Refer to fig. 1 and 2. In a preferred embodiment described below, a multi-station multi-target decentralized data sharing decision operation management and control architecture includes: the method comprises the following steps that an upper-level center is a main node, a center-free grid communication network for communicating any two points between the upper-level center and each navigation station is established by means of a ground communication network, satellite communication, beidou navigation communication and short wave communication technologies, the upper-level center and each navigation station are subjected to flattened management, the upper-level center and each navigation station construct a comprehensive communication network of a grid network topology structure, and each navigation station adopts a center-free data sharing and decision-making mechanism and perception-evaluation-decision-execution closed-loop management according to system management software and single-station control software which are deployed on each navigation station, so that resources are automatically and dynamically adjusted, single-station and system task planning and scheduling are realized, and double-closed-loop dynamic reconfiguration of a ground navigation system and each navigation station is completed; in the task execution process, each navigation station has the function of a central main station of the ground navigation system, local station level resource distribution and scheduling are executed according to a scheduling scheme generated by the station, the whole network decision of the task planning scheme of each navigation station system is completed by adopting the same consensus strategy depending on a centerless data sharing mechanism, and task reconstruction of the ground navigation system is executed according to a decision result.
Each navigation station comprises: the system management software and the single station control software which are deployed on each navigation station complete data communication services with the superior center and other navigation stations, and complete whole network navigation task adjustment and control services at the same time. And the single station control software monitors the equipment health management service in the station through a closed loop in the station, generates a navigation station running state, residual navigation resources, an abnormal report and a system running report of a task planning scheme in the same format, and completes evaluation of beam resources, baseband resource management service and navigation integrity and target deviation in the station. And data sharing is carried out among all navigation stations, and the copied decision is used for carrying out data interaction among all navigation stations through a communication network. Each navigation station marks the system operation report of the station according to the system coordination time, broadcasts related reports to other navigation stations in a fixed repetition period, and obtains the operation report of the whole network system in the fixed repetition period, thereby ensuring that other navigation stations can still obtain the operation condition of the whole system after each navigation station has abnormal conditions. The superior center communicates with the central main station through a communication network, issues a navigation task and corrects or approves a navigation task planning scheme, and updates data sharing at regular time according to the running state of the navigation station, the residual navigation resources of the navigation station, target state parameters, an exception report and the task planning scheme.
Refer to fig. 2 and 3. Each navigation station managed device comprises a transmitting extension, a receiving extension, a time-frequency extension and a base band extension, each navigation station takes an upper-level center as a main node to establish a grid network topology network for any two-point communication between each navigation station, all nodes in the network have the same level, the navigation stations are mutually mirror images and mutually equivalent, and the operation state and task scheduling scheme of each navigation station can be interacted in real time through a communication network. In order to ensure reliable operation of the foundation navigation task, the communication network provides a data interaction basis for decentralized operation control management of the ground navigation system, and each navigation station automatically and dynamically adjusts resources according to the operation state of the system. In essence, the network has no central node, and in order to conveniently distinguish the navigation station directly communicating with the superior center, named as the replicated central station of the ground navigation system, the replicated central station can be switched randomly as required, and the double closed-loop dynamic reconstruction is realized without central data sharing and decision and sensing-evaluation-decision-execution, so that each navigation station has the full function of bearing the central main station.
The centerless data sharing system is characterized in that a centerless mode is adopted for data sharing among navigation stations in consideration of the reliability requirement of a ground navigation system.
The centerless copy decision-making means that after the ground navigation system obtains a system operation report through a data sharing mechanism, task planning and scheduling are carried out aiming at abnormal conditions. Because each navigation station runs the same software and simultaneously obtains the same system running report, each navigation station executes the resource allocation and the scheduling plan of the station according to the task planning scheme finished by the software of the navigation station, and further finishes the centerless task planning and scheduling management of the whole system.
The common recognition mechanism means that conditions such as communication system abnormality or navigation station software and hardware abnormality can cause inconsistency of replicated decision results of each navigation station, and further, smooth execution of a navigation task is influenced. In order to prevent the situation, each navigation station adds a task planning scheme of the station into a system operation report, and each navigation station can monitor and evaluate the actual task planning and execution situation of other navigation stations in real time. When the task planning results are different, the stations adopt the same consensus mechanism to perform scheme election, and further normal operation of the system is guaranteed.
See fig. 4. The method comprises the steps that single-station control software deployed on a navigation station regularly detects the running state of the station, when the running state of the navigation station is detected to be changed, running state evaluation of the station is carried out, analysis decision is carried out according to the evaluation result of the station, and if the state of the station can meet task running requirements, re-planning is not needed, and state detection is continued; and when the station can not ensure the task to run, the resource allocation of the station is carried out again, and the flow of the station is dynamically planned in a closed loop automatically.
See fig. 5. In the task planning and scheduling of the ground navigation system, system management software deployed on navigation stations detects the system running state of the ground navigation system, and when the running state of the ground navigation system is detected to change, the system running state evaluation is carried out according to the evaluation results of the navigation stations and the communication and time synchronization state of the system, and analysis decision is carried out according to the evaluation results. When the current state meets the task requirement according to the decision result, planning is not needed again to continue to carry out state detection; when the current state does not meet the task operation requirement, the system task scheduling is carried out again, and meanwhile, the task scheduling result of the station is distributed to other stations through the approval of the superior, so that the automatic closed-loop dynamic planning flow of the ground navigation system is realized. The implementation of the solution may be carried out after approval by the operator, according to the user requirements.
The foregoing is directed to the preferred embodiment of the present invention and it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (10)
1. A multi-station multi-target decentralized data sharing decision operation management and control architecture comprises the following steps: the upper-level center is a main node, and a centerless mesh communication network for communicating any two points between the upper-level center and each navigation station is established by means of ground communication network, satellite communication, beidou navigation communication and short wave communication technology, and is characterized in that: the method comprises the following steps that flat management is carried out among a superior center, each navigation station and each navigation station, the superior center and the navigation stations form a comprehensive communication network with a grid network topology structure, each navigation station adopts a centerless data sharing and decision-making mechanism and sensing-evaluating-decision-executing closed loop according to system management software and single station control software which are deployed on each navigation station, resources are automatically and dynamically adjusted, single station and system task planning and scheduling are realized, and double closed loop dynamic reconstruction of a ground navigation system and each navigation station is completed; in the task execution process, each navigation station has the function of a central main station of the ground navigation system, local station level resource distribution and scheduling are executed according to a scheduling scheme generated by the station, the whole network decision of the task planning scheme of each navigation station system is completed by adopting the same consensus strategy depending on a centerless data sharing mechanism, and task reconstruction of the ground navigation system is executed according to a decision result; the consensus mechanism means that each navigation station adds a task planning scheme of the station into a system operation report, each station can obtain the planning schemes of all stations, and a consistent task planning scheme can be obtained through the same election strategy; the centerless data sharing and decision mechanism means that centerless data sharing strategies are adopted among navigation stations to complete data synchronization of system operation states and a task planning scheme, a consensus mechanism is utilized to guarantee data consistency, and finally centerless task planning and scheduling management of the whole system are guaranteed.
2. The multi-station multi-target decentralized data sharing decision-making operation management and control architecture according to claim 1, characterized in that: the navigation stations are deployed with the same system management software and single station control software, and the system management software is responsible for data communication services with a superior center and other navigation stations and simultaneously completes whole-network navigation task adjustment and control services.
3. The multi-station multi-target decentralized data sharing decision operation management and control architecture according to claim 2, characterized in that: and the single station control software monitors the health state of equipment in the station through a closed loop in the station, generates a navigation station running state, residual navigation resources, an exception report and a system running report of a task planning scheme with the same format, and finishes evaluation of beam resources, baseband resource management services, navigation integrity and target deviation in the station.
4. The multi-station multi-target decentralized data sharing decision operation management and control architecture according to claim 1, characterized in that: and data sharing is carried out among all navigation stations, and the replicated decision is subjected to data interaction among all navigation stations through a communication network.
5. The multi-station multi-target decentralized data sharing decision operation management and control architecture according to claim 1, characterized in that: each navigation station marks the system operation report of the station according to the system coordination time, broadcasts related reports to other navigation stations in a fixed repetition period, and obtains the operation report of the whole network system in the fixed repetition period, thereby ensuring that other navigation stations can still obtain the operation condition of the whole system after each navigation station has abnormal conditions.
6. The multi-station multi-target decentralized data sharing decision operation management and control architecture according to claim 1, characterized in that: the superior center communicates with the central master station through a communication network, issues a navigation task and corrects or approves a navigation task planning scheme, and updates shared data regularly according to the running state of the navigation station, the residual navigation resources of the navigation station, target state parameters, an exception report and the task planning scheme.
7. The multi-station multi-target decentralized data sharing decision operation management and control architecture according to claim 1, characterized in that: each navigation station managed device comprises a transmitting extension, a receiving extension, a time-frequency extension and a base band extension, each navigation station takes an upper-level center as a main node, a mesh network for communication between any two points of each navigation station is established, the levels of all nodes in the mesh network are the same, the navigation stations are mutually mirrored and mutually equivalent, the running state and task scheduling scheme of each navigation station can be interacted in real time through a communication network, when an original communication node fails, any navigation station can take over a task for communicating with the upper-level finger control center, even if any node stops working, other nodes can be automatically reorganized and continue to work normally, and a communication network established by means of various communication means has strong redundancy backup and anti-destruction capability.
8. The multi-station multi-target decentralized data sharing decision operation management and control architecture according to claim 1, characterized in that: the method comprises the steps that single-station control software deployed on a navigation station regularly detects the running state of the station, when the running state of the navigation station is detected to be changed, running state evaluation of the station is carried out, analysis decision is carried out according to the evaluation result of the station, and if the state of the station can meet task running requirements, re-planning is not needed, and state detection is continued; and when the station can not ensure the task to run, the resource allocation of the station is carried out again, and the flow of the station is dynamically planned in an automatic closed-loop manner.
9. The multi-station multi-target decentralized data sharing decision-making operation management and control architecture according to claim 1, characterized in that: in the task planning and scheduling of the ground navigation system, system management software deployed on navigation stations detects the system running state of the ground navigation system, and when the running state of the ground navigation system is detected to change, the system running state evaluation is carried out according to the evaluation results of the navigation stations and the communication and time synchronization state of the system, and analysis decision is carried out according to the evaluation results.
10. The multi-station multi-target decentralized data sharing decision-making operation management and control architecture according to claim 9, characterized in that: when the current state meets the task requirement according to the decision result, the state detection is carried out without planning again; when the current state is found not to meet the task running requirement, system task scheduling is carried out again, and the task scheduling result of the station is distributed to other stations, so that the automatic closed-loop dynamic planning process of the ground navigation system is realized.
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