CN112183929B - Imaging system of remote sensing satellite - Google Patents
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Abstract
The invention relates to an imaging system of a remote sensing satellite, which at least comprises a task scheduling module capable of scheduling the remote sensing satellite, wherein the task scheduling module is configured to: the method comprises the steps of dividing an imaging time window of at least two remote sensing satellites overlapping each other into at least two sub-imaging time windows based on the execution time and the execution area of an imaging task, and scheduling the at least two remote sensing satellites to alternately execute the imaging task and the imaging data downloading task based on the length of the sub-imaging time windows. According to the setting mode, a plurality of remote sensing satellites are configured into working modes for alternately executing imaging tasks and data downloading tasks, so that the time-limited requirement of imaging data can be effectively met, meanwhile, in the process of executing a certain imaging task, the satellites can fully or partially transmit imaging data generated by executing the imaging task to the ground, and further the defect of constraint limitation caused by insufficient storage capacity of the imaging data increased satellites is avoided.
Description
The invention relates to a division application of a task scheduling method based on look-ahead prediction, which has the application number 201811321889.8, the application date 2018, 11 and 07.
Technical Field
The invention relates to the technical field of scheduling control, in particular to a task scheduling method based on look-ahead prediction.
Background
The workflow of imaging satellites can be briefly described as follows: receiving an observation requirement proposed by a user; preprocessing the demands of users according to satellite resource characteristics to obtain standard planning input; planning and scheduling the input tasks according to a specific optimization algorithm by combining the use constraint of the ground station and the satellite to obtain a task scheduling scheme; scheduling the generated task scheduling scheme and generating instructions, uploading control instructions to a satellite through a ground station, imaging and playing back data by the satellite execution instructions, receiving imaging data by the ground station, and feeding back the imaging data to a user after data processing. The original observation requirements submitted by users often do not specify observation resources, the imaging time window is also ambiguous, and many complex user requirements such as regional target imaging tasks and the like are difficult to complete observation at one time, so that some processing is necessary for the original observation requirements of the users. On one hand, matching and screening are needed according to the observation requirements of users and the capability of satellites, and the optional satellites and the corresponding imaging time windows of the optional satellites are determined; on the other hand, the complex imaging task needs to be decomposed to generate a single subtask capable of being observed at one time. This problem has its specificity for different satellites and for different user observation needs. But the final purpose of preprocessing is to convert the normalized requirements set forth by the user into tasks that can be observed by one imaging process of the satellite, which are called meta-tasks. The meta-mission is the minimum imaging mission that a satellite can perform, and it contains specific position and time information, and can be considered as a strip that takes into account the geometrical relationship of the satellite's earth observation.
The general flow of imaging satellite mission planning preprocessing can be described as: and preliminarily determining optional resources for completing the requirements according to the imaging time, the imaging mode, the imaging quality, the solar altitude and the imaging angle in the user observation requirements, and deleting the user requirements without proper resources from the requirement set. The original user observation requirement is decomposed into strips which can be observed at one time. For example, using time pose vector to decompose the observed target, firstly converting the vertex coordinates of the target area into time pose vector by the time pose conversion module, then entering the target decomposition and synthesis module, determining the characteristic vector of the target by all the time pose vectors, carrying out stripe division and stripe clipping based on the description method of the time pose, carrying out static synthesis of the target by the user demand and satellite capability constraint, and then generating the stripe coordinate information of the meta-task by the time pose conversion module. Time window information for each meta-task stripe is calculated. And calculating a time window of a starting point center point of the strip, and processing the window according to the requirements of users such as an imaging time period, a ground shadow area and the like to obtain time window information of a meta-task generated after each cutting process. After the general process of preprocessing, the observation demands without proper observation resources are directly deleted, the complex observation demands are decomposed into schedulable meta-tasks, and the meta-tasks with time windows which cannot meet the requirements of users are also deleted, so that the original problems are simplified to a certain extent, and unnecessary search space is reduced during solving.
Patent document CN102298540B discloses a task scheduling method with priority for comprehensive benefit, firstly dividing task areas into strips, and then calculating the optimal observation time of each task. Judging whether the current task is in conflict with the last scheduled task at the optimal observation time point according to the attitude maneuver time between the current task and the last scheduled task, if so, the current task is not in foresight and cannot be scheduled, and if not, the current task is foresight, and a foresight result is obtained. For the task with the look-ahead result being reserved but having influence on the subsequent task, judging whether the current task can be arranged in the visible time window of the current task, and if not, processing the next task. And writing the current task which can be arranged at the optimal observation time point or within the visible window into the satellite action sequence, and finally outputting the processing results of all the tasks as the task scheduling results. The invention does not relate to the problem of how to avoid the rapid increase of the satellite storage capacity while meeting the requirement that the ground station receives the imaging data in time by matching the imaging time and the imaging data downloading time.
Disclosure of Invention
The term "module" as used herein describes any hardware, software, or combination of hardware and software capable of performing the functions associated with the "module".
In order to overcome the defects of the prior art, the invention provides a task scheduling method based on look-ahead prediction, a ground station at least generates a scheduling instruction for scheduling a remote sensing satellite based on real-time task demand data of a third party, and the ground station acquires an execution area and execution time of a current imaging task based on the real-time task demand data and is configured to generate the scheduling instruction at least according to the following steps: and under the condition that the current imaging task needs at least two remote sensing satellites to finish cooperatively, at least determining an imaging time window of which the first remote sensing satellite and the second remote sensing satellite are overlapped with each other, and dividing the overlapped imaging time window into at least two sub imaging time windows with different lengths. Acquiring the execution utility of at least one future execution task of each of the first remote sensing satellite and the second remote sensing satellite relative to the current imaging task, wherein: the first remote sensing satellite and the second remote sensing satellite generate the scheduling instruction based on the sub-imaging time window in a mode of alternately executing imaging tasks and imaging data downloading tasks. Existing satellites are not capable of downloading imaging data while performing imaging tasks based on their own constraints, and do not consider the distribution of the imaging data's downloading tasks during satellite scheduling. Existing imaging satellites typically unify and download imaging data to a ground station after completion of an imaging mission. When imaging observation is carried out on a disaster area, for example, real-time requirements are often met on data transmission so as to improve observation on the development state of events in the disaster area. According to the invention, the imaging task and the data downloading task of the remote sensing satellite are scheduled at the same time, so that the generation of constraint restriction can be better avoided, and the utilization efficiency of satellite resources is improved. The invention predicts the execution utility of the remote sensing satellite when executing the next imaging task based on the real-time state of the remote sensing satellite, divides the overlapping range of the imaging time windows according to the different lengths of the divided sub-imaging time windows, configures the remote sensing satellite with lower predicted execution utility to complete the data downloading task in the longer sub-imaging time window, and further can ensure that the remote sensing satellite can have more residual storage capacity after executing the current imaging task so as to improve the execution utility of the remote sensing satellite when executing the next imaging task.
According to a preferred embodiment, in case the first remote sensing satellite performs its future execution tasks with a higher execution utility than the second remote sensing satellite, the remote sensing satellite with lower execution utility is configured to: completing the imaging data downloading task in a sub-imaging time window with a longer length, and completing the imaging task in a sub-imaging time window with a shorter length; the remote sensing satellite with higher execution utility is configured to: and completing the imaging task in a sub-imaging time window with a longer length, and completing the imaging data downloading task in a sub-imaging time window with a shorter length.
According to a preferred embodiment, the ground station obtains the execution utility at least in the following steps: predicting self parameters of the remote sensing satellite when the current imaging task is completed, wherein the self parameters at least comprise storage capacity state information of the remote sensing satellite; determining the execution utility based at least on an absolute value of a difference between a remaining storage capacity of the remote sensing satellite and a storage capacity required to complete the future execution task, wherein: the execution utility reaches an optimal state in a manner that the absolute value of the difference value increases.
According to a preferred embodiment, based on the execution start time and the execution end time of the execution time, the first remote sensing satellite and the second remote sensing satellite are respectively screened out in a manner that an overlapping range of an imaging time window and the execution time is the largest, wherein: and screening at least one third remote sensing satellite according to the mode that the overlapping range of the imaging time window and the execution time is the largest under the condition that the imaging time window of the first remote sensing satellite and the second remote sensing satellite cannot completely cover the execution time.
According to a preferred embodiment, the first, second and third remote sensing satellites are scheduled according to the following steps: the imaging time window overlapped by the first remote sensing satellite and the third remote sensing satellite is divided into a plurality of first sub-imaging time windows and second sub-imaging time windows which are alternately arranged on a time axis based on the downloading time of imaging data, the first remote sensing satellite executes the imaging task in the first sub-imaging time window and the imaging data downloading task in the second sub-imaging time window, and the third remote sensing satellite executes the imaging data downloading task in the first sub-imaging time window and the imaging task in the second sub-imaging time window. Dividing an imaging time window of the second remote sensing satellite and the third remote sensing satellite, which are overlapped with each other, into a plurality of third sub-imaging time windows and fourth sub-imaging time windows which are alternately arranged on a time axis based on the downloading time of imaging data, wherein the second remote sensing satellite executes the imaging task in the third sub-imaging time window and the imaging data downloading task in the fourth sub-imaging time window, and the third remote sensing satellite executes the imaging task in the third sub-imaging time window and the fourth sub-imaging time window according to the imaging data downloading task.
According to a preferred embodiment, the ground station also generates the scheduling instructions as follows: establishing a first list of remote sensing satellites associated with the real-time task demand data based on an execution area of the real-time task demand data; determining a second list of remote sensing satellites capable of executing corresponding imaging tasks based on the self parameters of the remote sensing satellites and the execution time, and determining an overlapping task set based on the second list of remote sensing satellites, wherein: under the condition that the overlapping tasks in the overlapping task set can be independently completed by a single remote sensing satellite, acquiring the execution utility of the overlapping tasks based on the own parameters of the remote sensing satellite, generating the scheduling instruction in a mode of distributing the imaging tasks to the remote sensing satellite with the optimal execution utility, and determining the execution utility of the overlapping tasks at least based on the ratio of the imaging time window to the execution time.
According to a preferred embodiment, the first list of remote sensing satellites defined by all remote sensing satellites directly associated therewith is established based on the execution area in such a way that the execution area falls within the stripe coverage of the remote sensing satellites. And screening the remote sensing satellites capable of executing the imaging task from the first list of the remote sensing satellites in a mode that the execution time overlaps with the imaging time window of the remote sensing satellites so as to establish the second list of the remote sensing satellites. And taking the imaging task as an overlapping task under the condition that the number of the remote sensing satellites in the second list of the remote sensing satellites corresponding to the imaging task is greater than or equal to two.
According to a preferred embodiment, said self-parameters comprise at least a stripe coverage, a storage capacity status information, a battery capacity status information determined based on the orbit of the remote sensing satellite, said ground station being further configured to determine whether the remote sensing satellite generates a constraint limit based on said battery status information and/or said memory capacity status information of the specified remote sensing satellite, wherein: and updating the initial task list to be observed in a mode of reassigning the imaging tasks assigned to the remote sensing satellite under the condition of generating the constraint limit.
According to a preferred embodiment, the constraint limits are generated in case the remaining storage capacity of the remote sensing satellite is smaller than the storage capacity required for performing the imaging task; or generating the constraint limit if the remaining power of the remote sensing satellite is less than the power requirement required to perform the imaging task.
According to a preferred embodiment, the imaging data downloading task is an execution process of transmitting imaging data acquired by the remote sensing satellite to the ground station, and in a case that the imaging data acquired by the remote sensing satellite in a unit is more than the imaging data transmitted by the remote sensing satellite to the ground station in a unit time, the ground station divides the overlapped imaging time windows at least according to the following steps: and determining the residual storage capacity of the remote sensing satellite based on the storage capacity state information. The overlapping imaging time windows are partitioned in such a way that imaging data acquired by the remote sensing satellite during the execution time and not downloaded to the ground station does not exceed the remaining memory capacity.
The beneficial technical effects of the invention are as follows:
(1) According to the task scheduling method, the overlapping imaging tasks which can be jointly executed by the satellites are screened, and are uniformly distributed to the single remote sensing satellite for execution, so that repeated imaging of the plurality of satellite remote sensing satellites on the same area is avoided, and the utilization rate of the remote sensing satellite can be effectively improved.
(2) According to the task scheduling method, aiming at the imaging task which needs a plurality of satellites to cooperatively complete, the remote sensing satellites related to the imaging task are screened in a mode that the overlapping range of imaging time windows is the largest, so that the number of the remote sensing satellites can be reduced to the minimum. Meanwhile, the overlapping part of the imaging time windows of each remote sensing satellite is divided, and each remote sensing satellite is set to execute the imaging task and the data downloading task in an alternating mode, so that the sharp increase of the storage capacity of the remote sensing satellite can be effectively reduced in a mode of improving the data turnover speed.
(3) The task scheduling method can predict the execution utility of future execution tasks based on the self state of the remote sensing satellite, and the execution utility of the remote sensing satellite can be effectively improved in a mode of improving the residual storage capacity of the remote sensing satellite by adjusting the overlapping part of the imaging time windows to be divided into at least two sub imaging time windows with different lengths and using the sub imaging time window with longer length to finish the data downloading task of the remote sensing satellite with lower execution utility.
Drawings
FIG. 1 is a flow chart of a preferred task scheduling method of the present invention; and
FIG. 2 is a schematic diagram of a modular connection of a preferred task scheduling system of the present invention.
List of reference numerals
1: Remote sensing satellite 2: ground station 3: data storage server
4: Task scheduling module 5: satellite positioning module 6: central processing module
Detailed Description
The following detailed description refers to the accompanying drawings.
Example 1
As shown in fig. 1, the invention discloses a task scheduling system and method based on look-ahead prediction, which at least comprises a remote sensing satellite 1 and a ground station 2 which are communicated with each other. The remote sensing satellite may be several satellites distributed over different orbits for performing image acquisition tasks. The ground station is used for establishing data communication with the remote sensing satellite, so that a control command of the ground station can be transmitted to the remote sensing satellite when the remote sensing satellite enters a communication coverage area of the ground station, and meanwhile, image data acquired by the remote sensing satellite can be downloaded to the ground station at the same time. The number of the ground stations can be flexibly set according to actual use requirements. For example, in the case where the number of remote sensing satellites is increased in order to acquire more comprehensive earth image information or reduce the time period in which a specific imaging area is not monitored by the satellites in earth observation tasks, the number of ground stations is also required to be increased accordingly to relieve communication pressure. The ground stations may be located at various locations on the earth to improve the coverage of communication connections with the remote sensing satellites. Preferably, the task scheduling system may further comprise a data storage server 3 for storing data. The data storage server 3 can be matched with a ground station or a remote sensing satellite. Preferably, the task scheduling module, the satellite positioning module, the central processing module and the data storage server may be provided in the ground station as accessory devices.
Preferably, the mission scheduling system further comprises a satellite positioning module 5 for tracking satellites to determine their orbit information. For example, the orbit information determined by the satellite positioning module 5 may include latitude and longitude corresponding to the current position of the satellite. The remote sensing satellite 1 can execute corresponding planning tasks according to the received planning table containing the scheduling command, and then can determine the initial running track route according to the designated tasks in the planning table. For example, the schedule may include specific details of one or more tasks that the remote sensing satellite is required to perform, such as data that needs to be acquired, information that needs to be received or transmitted, duration of continuous imaging of the designated area, start time or end time of imaging of the designated area, and so forth. Preferably, the remote sensing satellite is configured to sequence the scheduled tasks in the schedule and then sequentially execute the scheduled tasks. For example, the current position of the remote sensing satellite is the A position, the remote sensing satellite needs to go to the B position and the C position respectively in the schedule to execute the imaging tasks, and the remote sensing satellite can perform calculation by adopting a greedy algorithm based on the constraint condition of the remote sensing satellite so as to order the imaging tasks. The constraints to which the remote sensing satellite is subject may include, for example, battery capacity constraints, time conflict constraints, or storage capacity constraints. Specifically, when the current storage capacity of the satellite is insufficient to meet the requirement of the capacity of the imaging task for going to the position B, the remote sensing satellite selects the position C to execute the imaging task, so that the running track route of the remote sensing satellite in a certain time period can be determined according to the destination of the remote sensing satellite.
Preferably, several different telemetry satellites 1 for performing earth-looking tasks may be arranged in different orbits to ensure imaging coverage. Based on the orbit of the remote sensing satellites and the rotation of the earth, each remote sensing satellite has different imaging coverage areas within a specific time window. At the same time, the staggering of the orbits of the different satellites with respect to each other causes overlapping coverage of the imaging area between the satellites. The imaging region in the overlapping coverage state may be repeatedly imaged by different satellites within the same time window or different time windows. For example, two remote sensing satellites in different orbits that can pass over the same region at the same time, thereby enabling simultaneous repeated imaging of the region at the same time. Or two remote sensing satellites which are positioned at the same operation altitude and have different operation directions can pass through the same area at different times and further can repeatedly image the area at different times.
Preferably, the task scheduling system further comprises a central processing module 6 which is matched with the ground station, and the running track of each remote sensing satellite 1 can be predicted based on the satellite positioning module 5, so that imaging coverage data of the remote sensing satellite 1 in a certain time period can be obtained. The central processing module 6 can obtain the overlapping area information of the remote sensing satellites by integrating the imaging coverage data of each remote sensing satellite. The overlapping region information can include at least geographical location information of the overlapping region and overlapping time information between the satellites. For example, the a, B, and C satellites are positioned in space in a manner surrounding the earth to perform imaging tasks on the earth. The a, B and C satellites can form the same or different overlapping regions with each other. For example, the a satellite can overlap with the B satellite at the a position, the a satellite can overlap with the C satellite at the B position, the B satellite can overlap with the C satellite at the C position, or the a satellite, the B satellite, and the C satellite can overlap at the d position simultaneously. The coordinate data such as longitude and latitude corresponding to the overlapping area, which can be identified from the earth, may be geographical location information of the overlapping area.
Preferably, the imaging range of the remote sensing satellite is circular so that it can continuously image an area for a set period of time. For example, a remote sensing satellite located in a geosynchronous orbit operates at the same speed as the earth's rotation so that it can continuously image a designated area for any length of time. For example, near earth satellites, which can only continuously image a designated area for a set period of time due to their different speeds of operation from the rotational speed of the earth. Thus, remote sensing satellites often also have time overlap when imaged in overlapping areas. For example, the a satellite can continuously image the a position from 8 to 12 points, and the B satellite can continuously image the a position from 6 to 10 points, and the time overlapping information between the a satellite and the B satellite is from 8 to 10 points. That is, the time overlapping information characterizes the same time period in which different remote sensing satellites can simultaneously image the same imaging region.
Preferably, the ground station 2 is capable of acquiring real-time task demand data from a third party, and the central processing module 6 is capable of acquiring at least the execution time and execution area of the imaging task based on the real-time task demand data. The task scheduling module can form scheduling instructions of each remote sensing satellite based on the execution time and the execution area of the imaging task. The task scheduling module completes the scheduling of the remote sensing satellite in a mode of establishing scheduling instructions at least according to the following steps:
S1: a first list of remote sensing satellites associated therewith is established based on the region of execution of the imaging mission.
Preferably, there is real-time task demand data from several third parties over a period of time or at some point in time, and the imaging tasks demanded by each of the third parties may be as follows: in the imaging task required by each third party, the execution areas are the same, and the execution time is completely different; or the execution areas are the same, and the execution time is partially overlapped; or the execution areas have overlapping, and the execution time has partial overlapping. The attention degree of the execution area can be determined by judging the execution time and/or the repetition degree of the execution area, and the high attention degree indicates that the execution area is more valued by a third party and needs to be executed preferentially. For example, for a capital of a country and other common cities of the country, the capital may be significantly more focused by a third party than other cities, often manifested in the high frequency of occurrence of the city in the third party's mission demand data, or the long execution time required for the city to continuously image the city for a long period of time.
Preferably, the attention of the execution area can be ordered based on task demand information of a plurality of third parties. For example, the impact factors of the degree of attention may include the number of third parties that are paying attention to the execution area and the total execution time of the area. The total execution time refers to the sum of time required to continuously image the area in the task demand information, for example, the time required to continuously image the area a by company a is T 1, the time required to continuously image the area a by company B is T 2, and the total execution time is the sum of T 1 and T 2. The number of third parties focusing on the execution area and the total execution time of the area can be used for establishing a calculation model of the attention degree in a mode of setting different weight proportions. For example, the weight proportion of the number of third parties is higher than the weight proportion of the total execution time. Both can build a calculation model of the degree of interest in a manner that the duty ratio is three to two. The attention degree of the execution area can be specifically quantized through the attention degree calculation model, and the quantization results are ranked according to the attention degree.
Preferably, the coverage area of the band can be obtained based on the running orbit of the remote sensing satellite, and whether the execution area falls into the coverage area of the band of the remote sensing satellite can be determined by comparing the geographic position coordinates of the execution area with the position coordinates of the coverage area of the band. In the case that the execution area falls within the band coverage of the remote sensing satellite, the remote sensing satellite is defined as the remote sensing satellite associated with the execution area. By comparing the imaged areas of all remote sensing satellites with the execution area, a first list of remote sensing satellites associated with the execution area can be created. Preferably, a plurality of different execution areas form a plurality of different remote sensing satellite first lists, and a plurality of remote sensing satellite first lists corresponding to the different execution areas are integrated to form a remote sensing satellite first list set.
S2: and determining a second list of remote sensing satellites capable of executing corresponding imaging tasks based on the self parameters and execution time of the remote sensing satellites, and determining an overlapping task set based on the second list of remote sensing satellites.
Preferably, the telemetry satellite's own parameters may include, for example, one or more of imaging time window, orbit, battery status, memory capacity status, energy consumption, band coverage determined based on the orbit. Several constraint limits on the corresponding imaging tasks can be determined by the parameters of the remote sensing satellites themselves. For example, the storage capacity requirements for the telemetry satellites vary based on the duration of the imaging session while the corresponding imaging session is being performed. When the current residual capacity of the remote sensing satellite is lower than the imaging mission, a constraint limit is generated to indicate that the remote sensing satellite cannot complete the imaging mission based on the current state. Or the point in time at which it passes through a designated area can be determined based on the orbit of the remote sensing satellite and the duration for which it can continuously image the designated area. In the event that neither the point in time nor the duration intersects the execution time of the imaging mission, a constraint limit is generated to indicate that the remote sensing satellite is unable to execute the imaging mission.
Preferably, the second list of remote sensing satellites is a remote sensing satellite capable of executing the specified imaging task formed by screening and deleting the remote sensing satellites incapable of executing the specified imaging task in the first list of remote sensing satellites, wherein the screened and deleted remote sensing satellites form a third list of remote sensing satellites. And defining the imaging task as an overlapping task under the condition that the number of the remote sensing satellites in the second list of the remote sensing satellites corresponding to the imaging task is greater than or equal to two. Overlapping tasks refer to imaging tasks that can be performed simultaneously by more than two remote sensing satellites. Preferably, the second list of remote sensing satellites and the third list of remote sensing satellites are integrated to form a second list set of remote sensing satellites and a third list set of remote sensing satellites.
S3: and acquiring the execution utility of the overlapping tasks based on the self parameters of the remote sensing satellite so as to determine the scheduling instruction of the remote sensing satellite.
Preferably, the self parameters of the remote sensing satellite generally comprise a plurality of self parameters, and when the execution effect of the overlapping tasks is determined according to the self parameters of the remote sensing satellite, different self parameters can be given different weight values so that a third party can calculate the execution effect of the overlapping tasks according to actual needs. In particular, the telemetry satellite's own parameters may include, for example, one or more of imaging time window, orbit, battery status, memory capacity status, energy consumption. For remote sensing satellites outside of the geosynchronous orbit, they can only continuously image a designated area for a certain period of time, i.e., their time window is limited in duration. For example, a remote sensing satellite can image a designated area continuously for two hours, and the required execution time of an imaging task required by a third party is five hours, then the remote sensing satellite can only complete a portion of the imaging task. The execution utility may be specifically quantified, for example, by being the percentage of tasks that can be completed, e.g., the execution utility may be measured as the ratio of the imaging time window to the execution time. If the b remote sensing satellite can continuously image the appointed area within four hours, the b remote sensing satellite can complete 80% of the imaging task, and under the same condition, the execution effectiveness of the b remote sensing satellite is higher than that of the a remote sensing satellite. Overlapping tasks may be divided into satellites with high execution utility for execution. The overlapping tasks are divided independently according to the execution effect, so that the overlapping tasks can be prevented from being executed by different satellites in an overlapping manner while the execution effect of the overlapping tasks is guaranteed, and limited satellite resources can be effectively utilized. The scheduling instruction of each remote sensing satellite can be formed by reassigning all overlapping tasks.
Preferably, the scheduling instruction of the remote sensing satellite further comprises an imaging task corresponding to an execution area outside the overlapping areas of the plurality of satellites. A number of different remote sensing satellites, based on their respective trajectories, create overlapping regions that can each be imaged. I.e. the overlapping area can be photographed by more than two remote sensing satellites. In the case that the execution area involved in the task demand data of the third party does not fall into the overlapping area, it is indicated that the task can only be executed by a specific remote sensing satellite directly associated with the execution area, and the task does not belong to the overlapping task, and is directly allocated to the corresponding remote sensing satellite for execution.
Example 2
This embodiment is a further improvement of embodiment 1, and the repeated contents are not repeated.
Preferably, the task scheduling module completes the scheduling of the remote sensing satellite in a manner of establishing scheduling instructions at least according to the following steps:
S1: the imaging tasks are initially classified based on the execution area information, imaging satellites and imaging window time associated with each other to create a set of imaging tasks requiring the coordinated completion of at least two remote sensing satellites 1.
Preferably, the central processing module 6 is further configured to preliminarily classify the corresponding imaging task based on real-time task demand data of the third party. Imaging tasks can be categorized into a first type, a second type, and a third type, wherein imaging tasks belonging to the first type are imaging tasks that cannot be completed without suitable satellite resources or based on other constraints, imaging tasks belonging to the second type are imaging tasks that can be performed by any one of two or more remote sensing satellites alone, and imaging tasks belonging to the third type are imaging tasks that need to be completed by co-operation of the two or more remote sensing satellites. By summarizing all third types of imaging tasks, a set of imaging tasks can be created. Imaging tasks belonging to the first type are rejected by the task scheduling system for execution. Preferably, the imaging tasks belonging to the second type are essentially overlapping tasks, which are individually assigned to the respective remote sensing satellites in a way that the utility is calculated. For example, an imaging mission belonging to the second type can be simultaneously and separately performed by an a-satellite and a b-satellite, the a-satellite having a higher performance than the b-satellite, and the imaging mission being assigned to the a-satellite for execution.
Preferably, the central processing module may perform preliminary classification of the imaging task by determining a correlation of the acquired task demand data of the third party with historical task data stored in the data storage server. The historical mission data includes at least an imaging region and a remote sensing satellite capable of performing an imaging mission. For example, in the case that the execution area in the acquired task demand data of the third party is matched with the historical task data stored in the data storage server, the central processing module screens out all remote sensing satellites capable of executing the imaging task of the third party, and judges the overlapping condition of the execution time of the imaging task and each remote sensing satellite so as to realize classification of the imaging task. And dividing the imaging task into a first class when the execution time of the imaging task is not overlapped with the imaging time window of any remote sensing satellite. The imaging tasks are classified into a second type when the execution time of the imaging tasks is completely covered by the imaging time window of the at least one telemetry satellite. The imaging mission is classified into a third type when an execution time of the imaging mission is partially covered by an imaging time window of at least one remote sensing satellite. For example, for an imaging mission whose execution time is from early 8 to late 8, which can be partially executed by a satellite, b satellite, and c satellite, a satellite can execute the imaging mission from early 8 to 12, b satellite can execute the imaging mission from early 10 to 5 pm, c satellite can execute the imaging mission from 3 to late 8 pm, then the imaging mission is classified into a third type.
S2: and screening at least two remote sensing satellites based on the execution time corresponding to the imaging task belonging to the third type, wherein the imaging time window formed by the at least two remote sensing satellites can completely cover the execution time corresponding to the imaging task.
Preferably, the number of remote sensing satellites involved in the imaging task belonging to the third type may be greater than two. Different remote sensing satellites have different overlapping ranges of imaging time windows with respect to each other. Screening the remote sensing satellite according to the execution time of the imaging task at least meets two principles: the number of remote sensing satellites screened is the smallest and the overlapping area of imaging time windows of the remote sensing satellites is the largest. For example, a plurality of first remote sensing satellites including the start execution time and a plurality of second remote sensing satellites including the end execution time are respectively selected based on the start execution time and the end execution time of the imaging task. And screening at least one third remote sensing satellite from the remote sensing satellites related to the imaging task again under the condition that the imaging time windows of the first remote sensing satellite and the second remote sensing satellite cannot completely cover the execution time, wherein the imaging time window of the third remote sensing satellite has an overlapping area with the imaging time window of the first remote sensing satellite and/or the imaging time window of the second remote sensing satellite. The imaging time window of the third remote sensing satellite does not include an execution start time and an execution end time. And then the imaging task can be completely completed under the synergistic effect of the first remote sensing satellite, the second remote sensing satellite and the third remote sensing satellite.
Preferably, the screened first remote sensing satellite and the second remote sensing satellite are screened again to select a unique first remote sensing satellite and a unique second remote sensing satellite, wherein the finally screened first remote sensing satellite and second remote sensing satellite at least meet the following screening principle: the coverage of the execution time of the screened first remote sensing satellite, the screened second remote sensing satellite and the imaging task is maximum, the imaging time window between the first remote sensing satellite and the third remote sensing satellite is kept maximum, and/or the imaging time window between the second remote sensing satellite and the third remote sensing satellite is kept maximum. The overlapping range of imaging time windows among the first remote sensing satellite, the second remote sensing satellite and the third remote sensing satellite is set to be the largest, so that the minimum number of remote sensing satellites for completing imaging tasks in a synergistic mode can be ensured to the greatest extent, and therefore limited satellite resources can be effectively utilized.
S3: and determining imaging time windows overlapped with each other based on the screened first remote sensing satellite, the second remote sensing satellite and the third remote sensing satellite, and setting the first remote sensing satellite, the second remote sensing satellite and/or the third remote sensing satellite to execute imaging tasks and imaging data downloading tasks in an alternating mode under the condition that the imaging time windows overlapped with each other are divided into a plurality of sub-imaging time windows.
Preferably, the overlapping area of the imaging time windows of the first remote sensing satellite, the second remote sensing satellite and the third remote sensing satellite is divided into a plurality of sub-imaging time windows based on the downloading time of the imaging data. For example, a remote sensing satellite can acquire a megabytes of imaging data in 30 minutes, and in the case where the remote sensing satellite establishes a communication connection with a ground station, the remote sensing satellite also takes 30 minutes to fully transmit the imaging data to the ground station. The overlapping area of the imaging time windows is divided in such a way that each sub-imaging time window is 30 minutes. Or the size of each sub-imaging time window can be flexibly set according to actual requirements. For example, in imaging monitoring of an earthquake disaster area, the sub-imaging time window may be set smaller so that imaging images of the disaster area can be acquired more frequently and in real time.
Preferably, in the case where the remote sensing satellite 1 acquires more imaging data in units than the remote sensing satellite 1 transmits to the ground station 2 in units of time, the overlapping imaging time windows are divided in such a way that the imaging data acquired by the remote sensing satellite 1 in the execution time and not downloaded to the ground station 2 does not exceed the remaining storage capacity. For example, the remaining storage capacity of the remote sensing satellite is 500 megabits, the remote sensing satellite can collect 100 megabits of imaging data in 1min, the remote sensing satellite can download 50 megabits of imaging data to the ground station in 1min, the length of the imaging time window in which the remote sensing satellites overlap each other is 20min, and when the length of the sub-imaging time window is 1min, the remote sensing satellite can collect 1000 megabits of imaging data altogether, and can download 500 megabits of imaging data to the ground station, which does not exceed the remaining storage capacity of the remote sensing satellite, so the length of the sub-imaging time window can be set to 1min.
Preferably, the imaging time window of the first remote sensing satellite and the third remote sensing satellite overlapped with each other is divided into a plurality of first sub-imaging time windows and second sub-imaging time windows which are alternately arranged on a time axis, the first remote sensing satellite establishes a scheduling instruction in a mode of executing an imaging task in the first sub-imaging time window and executing an imaging data downloading task in the second sub-imaging time window, and the third remote sensing satellite establishes a scheduling instruction in a mode of executing an imaging data downloading task in the first sub-imaging time window and executing an imaging task in the second sub-imaging time window; dividing an imaging time window of the second remote sensing satellite and a third remote sensing satellite which are overlapped with each other into a plurality of third sub-imaging time windows and fourth sub-imaging time windows which are alternately arranged on a time axis based on the downloading time of imaging data, establishing a scheduling instruction by the second remote sensing satellite according to the mode of executing an imaging task in the third sub-imaging time window and executing an imaging data downloading task in the fourth sub-imaging time window, and establishing the scheduling instruction by the third remote sensing satellite according to the mode of executing an imaging data downloading task in the third sub-imaging time window and executing an imaging task in the fourth sub-imaging time window. For example, the overlapping imaging time window of the first remote sensing satellite and the second remote sensing satellite is 8 to 10 points earlier, and the imaging time window is divided into 8 to 8 points earlier, 9 to 9 points earlier, and four sub imaging time windows of 9 to 10 points earlier by dividing the imaging time window. The task list for the first and second telemetry satellites at 8 th to 10 th early is shown in table 1. For example, when a plurality of remote sensing satellites are required to finish the imaging task together, imaging data acquired by the remote sensing satellites need to be timely fed back to the ground station, and meanwhile, the imaging data are timely transmitted to the ground station, so that constraint limitation caused by storage capacity in self parameters of the remote sensing satellites can be effectively reduced. Preferably, in the case of constraint, the scheduling instructions are updated in such a way that the imaging tasks allocated to the telemetry satellite 1 are reassigned to avoid that the imaging tasks cannot be realized.
TABLE 1
Example 3
This embodiment is a further improvement of the foregoing embodiment, and the repeated contents are not repeated.
Preferably, the task scheduling module completes the scheduling of the remote sensing satellite in a manner of establishing scheduling instructions at least according to the following steps:
S1: acquiring the starting execution time and the ending execution time of an imaging task which needs to be completed cooperatively by at least two remote sensing satellites 1, screening out at least one first remote sensing satellite and at least one second remote sensing satellite which respectively contain the starting execution time and the ending execution time, and screening out at least one third remote sensing satellite under the condition that the imaging time windows of the first remote sensing satellite and the second remote sensing satellite cannot completely cover the execution time of the imaging task when being combined.
Preferably, the task scheduling module is capable of ordering the first and second telemetry satellites based on their length of imaging time windows. For example, the task scheduling module sorts the first remote sensing satellite and the second remote sensing satellite in such a way that the length of the imaging time window gradually decreases. The longer the imaging time window is, the higher the utility of the imaging satellite to perform the imaging task. And selecting the first remote sensing satellite and the second remote sensing satellite with the longest imaging time window as remote sensing satellites for executing the imaging task.
Preferably, at least one third remote sensing satellite is selected in case the imaging time windows of the first remote sensing satellite and the second remote sensing satellite are combined to not completely cover the execution time of the imaging task. The imaging time window of the third remote sensing satellite can have an overlapping area with the first remote sensing satellite and/or the second remote sensing satellite, so that the full coverage of the execution time of the imaging task can be completed through the first remote sensing satellite, the second remote sensing satellite and at least one third remote sensing satellite.
S2: and respectively determining a first future execution task, a second future execution task and a third future execution task of the first remote sensing satellite, the second remote sensing satellite and the third remote sensing satellite relative to the current execution task.
Preferably, the next task that each can perform can be determined based on the trajectory of the remote sensing satellite, the imaging time window and its own parameters. For example, the remote sensing satellite can execute the imaging task on the area a from 9 to 10 early at the current moment, and can determine that the remote sensing satellite can execute the imaging task on the area B from 3 pm to 4 pm according to the running track and the imaging time window, and the execution of the imaging task does not restrict the own parameters such as the storage capacity, the battery capacity and the like of the remote sensing satellite, so that the next task of the remote sensing satellite can be determined to execute the imaging task on the area B from 3 pm to 4 pm. The first future execution task, the second future execution task, and the third future execution task may be the next tasks that the telemetry satellite is capable of performing.
S3: based on the self state of the remote sensing satellite after the current imaging task is completed, the execution utilities of the first future execution task, the second future execution task and the third future execution task are predicted, and the first future execution task, the second future execution task and the third future execution task are ordered based on the execution utilities.
Preferably, after the remote sensing satellite performs the current imaging task, the parameters of the remote sensing satellite, such as battery capacity, storage capacity and the like, will change. For example, imaging data acquired by remote sensing satellites is not transmitted to the ground station in time, resulting in a reduction in available storage capacity.
Preferably, the utility of future execution tasks may be predicted based at least on the storage capacity of the telemetry satellite. For example, the remote sensing satellite only has 500 megabits of storage capacity after performing the current imaging task, and the remote sensing satellite has 600 megabits of imaging data acquisition amount in performing the future imaging task, so that the remote sensing satellite has poor performing utility. In order to improve the execution utility of the remote sensing satellite to execute future execution tasks, the method can be completed by improving the residual storage capacity of the remote sensing satellite. Preferably, the magnitude of the execution utility may be determined based on the absolute value of the difference between the required storage capacity and the remaining storage capacity. For example, a memory capacity of 600 megabytes is required, and an execution utility of 550 megabytes is higher than an execution utility of 500 megabytes.
S4: the method comprises the steps of dividing an imaging time window overlapping range of a first remote sensing satellite, a second remote sensing satellite and a third remote sensing satellite into at least two sub-imaging time windows and sub-imaging time windows with different lengths according to a mode of improving execution utility, and setting the first remote sensing satellite, the second remote sensing satellite and/or the third remote sensing satellite to execute imaging tasks and imaging data downloading tasks according to an alternating mode, wherein the sub-imaging time windows with longer lengths are respectively used for executing data downloading tasks of remote sensing satellites with lower utility and executing imaging tasks of remote sensing satellites with higher utility, and the sub-imaging time windows with shorter lengths are respectively used for executing imaging tasks of remote sensing satellites with lower utility and executing data downloading tasks of remote sensing satellites with higher utility.
Preferably, the overlapping range of the imaging time windows of the first remote sensing satellite and the second remote sensing satellite may be divided into a first sub-imaging time window and a second sub-imaging time window having different lengths from each other. For example, the overlapping range of the time windows of the first remote sensing satellite and the second remote sensing satellite is 8 to 11 points earlier, the first sub-imaging time window is 8 to 10 points earlier, and the second sub-imaging time window is 10 to 11 points earlier. Under the condition that the first remote sensing satellite performs the current imaging task, the residual storage capacity is 500 megabytes, and the residual storage capacity of the second remote sensing satellite after performing the current imaging task is 300 megabytes, so that the execution effectiveness of the second remote sensing satellite in executing the future execution task is lower than that of the first remote sensing satellite based on the residual storage capacity. The longer time window is firstly configured to the second remote sensing satellite with lower execution utility to execute the data downloading task, and the longer time window is simultaneously configured to the first remote sensing satellite with higher execution utility to execute the imaging task. The second remote sensing satellite with lower execution utility can download more imaging data through a longer time window to improve the residual storage capacity, so that the second remote sensing satellite has higher execution utility when executing future execution tasks.
It should be noted that the above-described embodiments are exemplary, and that a person skilled in the art, in light of the present disclosure, may devise various solutions that fall within the scope of the present disclosure and fall within the scope of the present disclosure. It should be understood by those skilled in the art that the present description and drawings are illustrative and not limiting to the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (7)
1. An imaging system of a remote sensing satellite, comprising at least a task scheduling module (4) capable of scheduling the remote sensing satellite (1), characterized in that the execution utility is determined at least based on an absolute value of a difference between a remaining storage capacity of the remote sensing satellite (1) and a storage capacity required for completing future execution of imaging tasks, the task scheduling module (4) being configured to:
Based on the execution time and the execution area of an imaging task which can be completed completely through the mutual cooperation of more than two remote sensing satellites (1), dividing an imaging time window of which at least two remote sensing satellites (1) are overlapped with each other into at least two sub-imaging time windows with different lengths according to a mode of improving the execution utility, and scheduling the at least two remote sensing satellites (1) to alternately execute the imaging task and the imaging data downloading task based on the length of the sub-imaging time windows;
The remote sensing satellite (1) with lower execution utility is configured to complete the imaging data downloading task in a longer sub-imaging time window and complete the imaging task in a sub-imaging time window with shorter length;
The remote sensing satellite (1) with higher execution utility is configured to complete the imaging task in a longer sub-imaging time window and complete the imaging data downloading task in a sub-imaging time window with shorter length.
2. The imaging system of claim 1, wherein the task scheduling module (4) is configured to generate scheduling instructions based on real-time task demand data of a third party via the ground station (2), wherein,
Under the condition that at least two remote sensing satellites (1) are required to be completed cooperatively in the current imaging task, at least determining an imaging time window of which the first remote sensing satellite and the second remote sensing satellite are overlapped with each other, and dividing the overlapped imaging time window into at least two sub imaging time windows with different lengths;
acquiring the execution utility of at least one future execution task of the first remote sensing satellite and the second remote sensing satellite relative to the current imaging task;
The first remote sensing satellite and the second remote sensing satellite generate the scheduling instruction based on the sub-imaging time window in a mode of alternately executing imaging tasks and imaging data downloading tasks.
3. Imaging system according to claim 2, characterized in that the task scheduling module (4) is configured to:
Predicting self parameters of the remote sensing satellite (1) when the current imaging task is completed, wherein the self parameters at least comprise storage capacity state information of the remote sensing satellite (1);
Determining the execution utility based at least on an absolute value of a difference between a remaining storage capacity of the remote sensing satellite (1) and a storage capacity required to complete the future execution task, wherein:
the execution utility reaches an optimal state in a manner that the absolute value of the difference value increases.
4. The imaging system according to claim 3, wherein the task scheduling module (4) is configured to screen the first and the second telemetry satellites, respectively, in such a way that an overlapping range of an imaging time window and the execution time is maximized, based on an execution start time and an execution end time of the execution time, wherein:
And screening at least one third remote sensing satellite according to the mode that the overlapping range of the imaging time window and the execution time is the largest under the condition that the imaging time window of the first remote sensing satellite and the second remote sensing satellite cannot completely cover the execution time.
5. The imaging system according to claim 4, wherein the task scheduling module (4) is configured to:
Dividing an imaging time window of the first remote sensing satellite and the third remote sensing satellite which are overlapped with each other into a plurality of first sub-imaging time windows and second sub-imaging time windows which are alternately arranged on a time axis based on the downloading time of imaging data, wherein the first remote sensing satellite executes the imaging task in the first sub-imaging time window and the imaging data downloading task in the second sub-imaging time window, and the third remote sensing satellite executes the imaging data downloading task in the first sub-imaging time window and the imaging task in the second sub-imaging time window;
Dividing an imaging time window of the second remote sensing satellite and the third remote sensing satellite, which are overlapped with each other, into a plurality of third sub-imaging time windows and fourth sub-imaging time windows which are alternately arranged on a time axis based on the downloading time of imaging data, wherein the second remote sensing satellite executes the imaging task in the third sub-imaging time window and the imaging data downloading task in the fourth sub-imaging time window, and the third remote sensing satellite executes the imaging task in the third sub-imaging time window and the fourth sub-imaging time window according to the imaging data downloading task.
6. The imaging system according to claim 5, wherein the task scheduling module (4) is configured to:
establishing a first list of remote sensing satellites (1) associated with the real-time task demand data based on an execution region of the real-time task demand data;
determining a second list of remote sensing satellites (1) capable of performing corresponding imaging tasks based on the own parameters of the remote sensing satellites (1) and the execution time, and determining an overlapping task set based on the second list of remote sensing satellites (1), wherein:
under the condition that the overlapping tasks in the overlapping task set can be independently completed by a single remote sensing satellite (1), acquiring the execution utility of the overlapping tasks based on the own parameters of the remote sensing satellite (1), and generating a scheduling instruction in a mode of distributing the imaging tasks to the remote sensing satellite (1) with optimal execution utility,
The utility of the execution of the overlapping tasks can be determined based at least on the ratio of the imaging time window to the execution time.
7. The imaging system of claim 6, wherein the task scheduling module (4) is configured to:
Establishing a first list of remote sensing satellites (1) defined by all remote sensing satellites (1) directly associated therewith based on the execution region in such a way that the execution region falls within the band coverage of the remote sensing satellites (1);
screening out the remote sensing satellites (1) capable of executing the imaging task from the first list of the remote sensing satellites (1) in a mode that the execution time overlaps with an imaging time window of the remote sensing satellites (1) so as to establish a second list of the remote sensing satellites (1);
And taking the imaging task as an overlapping task under the condition that the number of the remote sensing satellites (1) in the second list of the remote sensing satellites (1) corresponding to the imaging task is greater than or equal to two.
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