CN113179122B - Satellite scheduling system - Google Patents
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- CN113179122B CN113179122B CN202110492807.1A CN202110492807A CN113179122B CN 113179122 B CN113179122 B CN 113179122B CN 202110492807 A CN202110492807 A CN 202110492807A CN 113179122 B CN113179122 B CN 113179122B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18521—Systems of inter linked satellites, i.e. inter satellite service
Abstract
The invention relates to a satellite scheduling system. Including at least an executive satellite and a ground station in communication with each other. The ground station comprises a task planning module, and the task planning module at least completes the scheduling of the execution satellite according to the following steps: preliminarily classifying the imaging tasks based on the imaging region information, the execution satellites and the imaging window time which are related to each other to establish an imaging task set which needs to be completed by at least two execution satellites in a coordinated mode; screening out at least two execution satellites which are formed by imaging time windows and can completely cover the imaging time corresponding to the imaging task based on the imaging time corresponding to the imaging task belonging to the third type; and setting the first executive satellite, the second executive satellite and/or the third executive satellite to execute the imaging task and the imaging data downloading task in an alternate mode based on the screened first executive satellite, the screened second executive satellite and the screened third executive satellite. The invention has high resource utilization rate.
Description
The application is CN201811321910.4, the application date is 11/7/2018, the application type is an invention patent, and the application name is a divisional application of the satellite efficient scheduling system.
Technical Field
The invention relates to the technical field of scheduling control, in particular to a satellite scheduling system.
Background
When the earth observation satellite runs on the orbit, different ground targets can be imaged according to requirements. The obtained ground image data are transmitted to a ground receiving station through a data transmission channel or recorded on storage equipment such as a film, a memory and the like, and are sent back to the ground through recovery or a radio data transmission mode, and then the ground data processing center processes, interprets and identifies the image data to obtain various valuable information. The imaging satellite ground command control system carries out imaging satellite task scheduling according to the imaging task attribute information, the satellite attribute information and the determined constraint condition; then generating a load control instruction according to a task scheduling result, after confirming that no error exists, sending the load instruction to an imaging satellite through ground measurement and control equipment, and executing the instruction by the imaging satellite; and then sending the obtained image data to ground receiving equipment, processing the image data by other ground application systems, and finally sending the processed data to a user. In the process, the task scheduling directly influences the imaging task execution effect of the earth observation satellite system. The frequent interaction of the ground station with the satellite requires sufficient satellite-to-ground communication time and a relatively stable operating environment, resulting in high operating costs.
With the development of earth observation satellite technology and the increase of ground image data requirements, the satellite starts to adjust the side viewing angle of the imaging equipment to select an imaging task for imaging; meanwhile, with the continuous enhancement of the imaging flexibility of the satellite, various imaging constraints must be considered in the imaging arrangement process so as to ensure the safe and reliable operation of the satellite and the smooth implementation of the imaging plan; and (4) imaging task scheduling is required to be carried out, and an imaging task plan is determined. Because the earth observation satellite runs in a near earth orbit at a high speed, each imaging task has the limitation of an imaging time window; and because the satellite imaging equipment has limited capability of posture adjustment within a certain time, the conversion of imaging actions between imaging tasks needs to meet various imaging constraint conditions. Therefore, in general, all imaging task requests within one task scheduling time range cannot be imaged; the imaging task executed by the satellite each time is a subset of the imaging task data set, and all imaging task requests proposed by users cannot be met, so that the imaging efficiency is low.
Patent document No. CN108055067A discloses a multi-satellite online cooperative scheduling method, which includes: each satellite generates a pre-planned observation scheme for the conventional target and executes the current observation scheme; when a new emergency target arrives, the main satellite screens load information capable of executing the task and sends the load information to the execution satellite; after receiving the information, each satellite locally calculates the visibility relation with the target, and generates and sends an observation report to the main satellite; the main satellite determines the satellite to execute the observation task according to each observation report, and distributes the task result to each satellite which determines to execute the new emergency target; and the observation task execution satellite adds the new cooperative task into the subsequent task to be planned, updates the own observation scheme and executes the new observation planning scheme. The invention reduces the frequent communication cost between the ground station and the satellite by an on-satellite autonomous task scheduling mode. However, after the execution satellite feeds back the observation report to the primary satellite, the primary satellite needs to complete the final scheduling decision, and the optimal solution can be obtained by performing communication iteration for multiple times between the designated execution satellite and the primary satellite in the whole process, so that the response speed for the newly added task cannot be effectively improved.
Disclosure of Invention
The word "module" as used herein describes any type of hardware, software, or combination of hardware and software that is capable of performing the functions associated with the "module".
In view of the deficiencies of the prior art, the present invention provides a satellite efficient dispatch constellation, which comprises at least a main satellite, an executive satellite and a ground station capable of establishing communication connection with each other. The main satellite schedules the execution satellite according to the following steps: and the main satellite screens out at least two execution satellites according to the mode that the sum of the imaging time windows of the execution satellites completely covers the imaging time of the imaging task, and divides the imaging time of the imaging task into main sub-imaging time and sub-imaging time. In a case where the secondary sub-imaging time is an imaging time window in which the executing satellites overlap each other, the executing satellite determines a time window in which it can execute the imaging task based on a constraint limit to divide the main sub-imaging time into a first sub-imaging time and a second sub-imaging time, and in a case where the executing satellite cannot execute the imaging task within the second sub-imaging time based on the constraint limit, the main satellite obtains a sub-imaging time having a smaller imaging time range in such a manner that the second sub-imaging time is divided until the executing satellite does not have the constraint limit within the main sub-imaging time, wherein: the executive satellite is configured to execute an imaging session during the first sub-imaging session and an operating mode for an unconstrained session during the second sub-imaging session.
According to a preferred embodiment, the primary satellite screens out at least two executing satellites as follows: establishing a first execution satellite list based on the mode that the imaging area of the imaging task falls into the strip coverage range of the execution satellite, and respectively screening out a first execution satellite and a second execution satellite according to the mode that the overlapping range of the imaging time window of the execution satellite and the execution starting time and the execution ending time of the imaging time is maximum, wherein: and screening at least one third execution satellite according to a mode that the overlapping range of the imaging time window and the imaging time is the largest under the condition that the imaging time window of the first execution satellite and the imaging time window of the second execution satellite can not completely cover the imaging time, wherein the imaging time window of the third execution satellite does not comprise the execution starting time and the execution ending time.
According to a preferred embodiment, in the case where the secondary sub-imaging time is an imaging time window in which the executing satellites overlap each other, the primary satellite schedules the executing satellites according to the following steps: dividing the secondary sub-imaging time into a plurality of sub-imaging time windows, and alternately executing the imaging task and the constraint removal task by the execution satellite based on the sub-imaging time windows; in the case where the executive satellite generates the constraint limit based on its insufficient storage capacity, the deconstruction task can be an imaging data download task where the executive satellite transmits imaging data it acquired to the ground station.
According to a preferred embodiment, said first executing satellite, said second executing satellite and said third executing satellite alternately execute said imaging task and said de-constraining task according to the following steps: dividing an imaging time window in which the first executing satellite and the third executing satellite overlap with each other into a plurality of first sub-imaging time windows and second sub-imaging time windows alternately arranged on a time axis based on a download time of imaging data, the first executing satellite performing the imaging task in accordance with the first sub-imaging time window and performing the unconstrained task in the second sub-imaging time window, the third executing satellite performing the constrained download task in accordance with the first sub-imaging time window and performing the imaging task in the second sub-imaging time window; or dividing an imaging time window in which the second executing satellite and the third executing satellite overlap with each other into a plurality of third sub-imaging time windows and fourth sub-imaging time windows alternately arranged on a time axis based on a download time of the imaging data, the second executing satellite executing the imaging tasks in the third sub-imaging time windows and executing the constraint releasing tasks in the fourth sub-imaging time windows, and the third executing satellite executing the constraint releasing tasks in the third sub-imaging time windows and executing the imaging tasks in the fourth sub-imaging time windows.
According to a preferred embodiment, the constraint limits can be determined at least from the own parameters of the executive satellite, including at least the battery status information and the memory capacity status information of the executive satellite, wherein: generating the constraint limit if a remaining capacity of memory to execute satellites is less than a memory capacity required to execute the imaging task; alternatively, the constraint limit is generated if the remaining power of the executive satellites is less than the power requirement required to perform the imaging task.
According to a preferred embodiment, when the ground station receives new imaging task requirement data of a third party, the ground station can process the new imaging task requirement data at least as follows: acquiring at least an imaging area and imaging time of the imaging task based on the newly added imaging task demand data; classifying the imaging tasks based on the self parameters of the executing satellites, the imaging areas and the imaging time to establish an imaging task set needing at least two executing satellites to complete cooperatively; and under the condition that the overlapped tasks in the overlapped task set can be independently completed by any one of the two executing satellites, acquiring the executing utility of the overlapped tasks based on the parameters of the remote sensing satellite, and distributing the imaging tasks to the remote sensing satellite with the optimal executing utility.
According to a preferred embodiment, the self-parameter further includes an imaging time window specifying an imaging region, and the execution utility of the overlapping task is measurable at least based on a ratio of the imaging time window to the imaging time, wherein: the execution utility reaches an optimal state in a manner that the ratio is increased. According to a preferred embodiment, the primary star divides the secondary sub-imaging time into a number of sub-imaging time windows according to the following steps: determining a remaining storage capacity of the executive satellite based on the memory capacity status information; dividing the sub-imaging times in a manner that imaging data acquired by the executive satellite during the imaging time and not downloaded to the ground station does not exceed the remaining storage capacity.
The invention also provides a satellite efficient scheduling method, which performs scheduling according to at least the following steps: and the main satellite screens out at least two execution satellites according to the mode that the sum of the imaging time windows of the execution satellites completely covers the imaging time of the imaging task, and divides the imaging time of the imaging task into main sub-imaging time and sub-imaging time. In the case where the secondary sub-imaging times are imaging time windows in which the execution satellites overlap each other, the execution satellites determine time windows in which they can execute imaging tasks based on constraint limits to divide the primary sub-imaging time into a first sub-imaging time and a second sub-imaging time. In the case that the executive satellite cannot execute the imaging task within the second sub-imaging time based on the constraint limit, the main satellite obtains a sub-imaging time with a smaller imaging time range in a manner of dividing the second sub-imaging time until the executive satellite does not have the constraint limit within the main sub-imaging time, wherein: the executive satellite is configured to execute an imaging session during the first sub-imaging session and an operating mode for an unconstrained session during the second sub-imaging session.
According to a preferred embodiment, the secondary sub-imaging time is divided into several sub-imaging time windows, and the executing satellite alternately executes the imaging tasks and the de-constraining tasks based on the sub-imaging time windows, wherein the de-constraining tasks can be imaging data downloading tasks in which the executing satellite transmits the imaging data it has acquired to the ground station, in case the executing satellite generates the constraint limit based on its insufficient storage capacity.
The invention has the beneficial technical effects that:
(1) the satellite efficient scheduling method screens the overlapped imaging tasks which can be jointly executed by a plurality of satellites, uniformly distributes the overlapped imaging tasks to a single execution satellite for execution, avoids the repeated imaging of the plurality of execution satellites to the same area, and can effectively improve the utilization rate of the execution satellite.
(2) According to the satellite efficient scheduling method, aiming at the imaging tasks needing to be completed by a plurality of satellites in a coordinated mode, the execution satellites related to the imaging tasks are screened in a mode of maximizing the overlapping range of the imaging time windows, and the number of the execution satellites can be reduced to the minimum. Meanwhile, the overlapped part of the imaging time windows of the execution satellites is divided, and the execution satellites are set to execute imaging tasks and data downloading tasks in an alternate mode, so that the sharp increase of the storage capacity of the execution satellites can be effectively reduced in a mode of improving the data turnover speed.
(3) The satellite efficient scheduling constellation has small calculation amount of the main satellite and the executive satellite. And the newly added imaging task can obtain a plurality of sub-imaging tasks with gradually reduced imaging time ranges in a step-by-step division mode, the re-distribution of the imaging task with the smaller imaging time range does not need to consider the execution satellite which is already distributed with the imaging task with the larger imaging time range, and the increase of the calculation load caused by obtaining the optimal solution by carrying out repeated iterative calculation according to the execution utility of all the execution satellites is avoided. Meanwhile, the sub-imaging task with the larger imaging time range is allocated earlier than the imaging task with the smaller imaging time range, so that even if the sub-imaging task is not executed, the imaging time can be covered to the maximum extent, or other imaging tasks need to be deleted to execute the sub-imaging task, the deletion amount of other tasks is smaller, and the influence on other tasks can be reduced.
Drawings
FIG. 1 is a schematic flow chart of a preferred method for efficient scheduling of satellites according to the present invention; and
fig. 2 is a schematic diagram of the modular connection relationship of the preferred satellite efficient dispatch system of the present invention.
List of reference numerals
1: and executing the satellite 2: and (3) a ground station: database with a plurality of databases
4: the task planning module 5: satellite positioning module 6: central processing module
1 a: master star
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present invention discloses a satellite scheduling system including at least an executive satellite 1 and a ground station 2 in communication with each other. The executing satellite may be a number of satellites distributed over different orbits for performing image acquisition tasks. The ground station is used to establish data communication with the actuating satellite so that control commands from the ground station can be transmitted to the actuating satellite at the moment the actuating satellite enters the communication coverage area of the ground station, and at the same time image data acquired by the actuating satellite can also be downloaded to the ground station at this moment. The number of the ground stations can be flexibly set according to actual use requirements. For example, in the case where the number of satellites to be performed in the earth observation task is increased in order to acquire more comprehensive earth image information or reduce the time during which a specific imaging area is not monitored by the satellites, the number of ground stations needs to be increased accordingly to relieve the communication pressure. Ground stations may be located at various locations on the earth to improve coverage for establishing communication connections with the performing satellites. Preferably, the satellite scheduling system may further comprise a database 3 for storing data. The database 3 can be configured with a ground station or a satellite. Preferably, the mission planning module, the satellite positioning module, the central processing module and the database may be provided as an accessory device in the ground station.
Preferably, the satellite dispatch system further comprises a satellite positioning module 5 for tracking the satellites to determine their orbital 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 executive satellite 1 can execute the corresponding planning task according to the received planning table containing the scheduling command, and further can determine the initial running track route according to the specified task in the planning table. For example, specific details such as data to be acquired, information to be received or transmitted, duration of continuous imaging of the specified area, start time or end time of imaging of the specified area, etc. may be included in the schedule for performing one or more tasks that the satellite needs to perform. Preferably, the executive satellite is configured to execute the operation modes in sequence after the scheduling tasks in the schedule are sequenced. For example, the current position of the executive satellite is the position a, the executive satellite needs to go to the position B and the position C respectively in the schedule to execute the imaging tasks, and the executive satellite can adopt, for example, a greedy algorithm to perform calculation based on the constraint condition borne by the executive satellite so as to sequence the imaging tasks. The constraints imposed on the implementation satellites may include, for example, battery capacity constraints, time conflict constraints, or memory capacity constraints. Specifically, when the current storage capacity of the satellite is not enough to meet the capacity requirement of going to the position B for imaging, the executing satellite selects to go to the position C first for imaging, so that the running track route of the executing satellite in a certain time period can be determined according to the destination of the executing satellite.
Preferably, several different satellites 1 for performing earth observation tasks may be arranged on different orbits to ensure an imaging range. Each executive satellite has a different imaging coverage area within its particular time window based on its orbit and rotation of the earth. At the same time, the orbital staggering of different satellites with respect to each other causes overlapping coverage of the imaging regions with respect to each other to occur between the satellites. The imaging regions in overlapping coverage may be repeatedly imaged by different satellites within the same time window or different time windows. For example, two satellites in different orbits can pass over the same region at the same time, so that the region can be imaged repeatedly at the same time. Alternatively, two satellites at the same altitude but in different directions of travel can pass over the same region at different times, and can then repeatedly image the region at different times.
Preferably, the satellite scheduling system further includes a central processing module 6 configured to cooperate with the ground station, and the operation trajectory of each executive satellite 1 can be predicted based on the satellite positioning module 5, so as to obtain the imaging coverage data of the executive satellite 1 in a certain time period. The central processing module 6 can obtain the overlapping area information of the executing satellites by integrating the imaging coverage data of each executing satellite. The overlap area information can include at least geographical location information of the overlap area and overlap time information between the respective satellites. For example, a, B, and C satellites are arranged in space in a manner to surround 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, a satellite and B satellite can overlap at a location, a satellite and C satellite can overlap at B location, B satellite and C satellite can overlap at C location, or a satellite, B satellite and C satellite can overlap at d location simultaneously. The coordinate data such as longitude or latitude corresponding to the overlapping area and capable of being recognized from the earth can be the geographical position information of the overlapping area.
Preferably, the imaging range of the satellite is circular so that it can image a certain area continuously for a set period of time. For example, the execution satellites located on geosynchronous orbits travel at the same speed as the earth's rotation speed, so that they can continue to image a specified area continuously for any length of time. For example, a low earth satellite, which can only perform continuous imaging for a set period of time in a specified area due to its traveling speed different from the earth's rotation speed. Therefore, satellites are often performed with temporal overlap when imaging in the overlap region. For example, if the a satellite can continuously image the a position at 8 to 12 points and the B satellite can continuously image the a position at 6 to 10 points, the time overlap between the a satellite and the B satellite is 8 to 10 points. That is, the time overlap information characterizes the same time period over which different performing satellites can simultaneously image the same imaging region.
Preferably, the ground station 2 can obtain the data of the requirement of the newly added imaging task from the third party, and the central processing module 6 can obtain at least the imaging time and the imaging area of the imaging task based on the data of the requirement of the newly added imaging task. The mission planning module is capable of forming an initial list of pending missions for each executing satellite based on the imaging time and the imaging region of the imaging mission. The task planning module completes the scheduling of the execution satellite in a mode of establishing an initial task list to be observed according to at least the following steps:
S1: a first list of executing satellites associated with the imaging task is established based on the imaging region of the imaging task.
Preferably, new imaging task requirement data from a plurality of third parties may be generated within a certain time period or at a certain time, and the following situations may occur between the imaging tasks required by each third party: in the imaging task required by each third party, the imaging areas are the same, and the imaging time is completely different; or the imaging areas are the same, and the imaging time is partially overlapped; or the imaging regions have an overlap and there is a local overlap in the imaging times. The attention degree of the imaging region can be determined by judging the imaging time and/or the repetition degree of the imaging region, and the high attention degree indicates that the imaging region is more emphasized by a third party and needs to be preferentially executed. For example, for the capital of a country and other common cities of the country, the attention degree of the capital is obviously higher than that of other cities, the high attention degree is often reflected in that the frequency of the appearance of the city in the task requirement data of the third party is high, or the imaging time required by the city is long so as to continuously image the city for a long time.
Preferably, the attention of the imaging area can be ranked based on task requirement information of a plurality of third parties. For example, the influencing factors of the degree of attention may include the number of third parties interested in the imaged region and the total imaging time of the region. The total imaging time refers to the sum of time required for continuously imaging the area in the information of a plurality of task requirements, for example, the time required for continuously imaging the area a by company A is T 1 The time for which company B needs to continuously image the a area is T 2 Then the total imaging time is T 1 And T 2 And (4) summing. The number of third parties paying attention to the imaging region and the total imaging time of the region can be used for establishing a calculation model of the attention degree in a mode of setting different weight proportions. For example, the number of third parties may be weighted more heavily than the total image time. The two can establish a calculation model of the attention degree according to the mode that the proportion is three to two. The attention degree of the imaging region can be specifically quantified through the attention degree calculation model, and the imaging region can be sequenced according to the quantification result.
Preferably, the strip coverage area can be obtained based on the orbit of the executive satellite, and whether the imaging area falls within the strip coverage area of the executive satellite can be determined by comparing the geographic position coordinates of the imaging area with the position coordinates of the strip coverage area. In the case where the imaging region falls within the strip coverage of an executing satellite, the executing satellite is defined as the executing satellite associated with the imaging region. By comparing the imaging regions of all satellites with the imaging region, a first list of satellites associated with the imaging region can be built. Preferably, the plurality of different imaging regions form a plurality of different first lists of executing satellites, and the plurality of first lists of executing satellites corresponding to the different imaging regions are integrated to form a first list set of executing satellites.
S2: a second list of executing satellites capable of executing the corresponding imaging tasks is determined based on the self-parameters of the executing satellites and the imaging time, and an overlapping set of tasks is determined based on the second list of executing satellites.
Preferably, the self-parameters of the implementation satellite may include, for example, one or more of imaging time window, orbit, battery status, memory capacity status, energy consumption, strip coverage determined based on the orbit. Several constraint limits on the respective imaging task can be determined by implementing the satellite's own parameters. For example, the storage capacity requirements for performing the satellites may vary based on the duration of the imaging session as the respective imaging session is performed. When the current remaining capacity of the performing satellite is less than that required for the imaging task, a constraint limit is generated to indicate that the performing satellite cannot complete the imaging task based on the current state. Alternatively, the point in time at which it passes through a specified region and the duration during which it can continuously image the specified region can be determined based on the orbit of the executing satellite. In the event that neither the point in time nor the duration intersects the imaging time of the imaging session, a constraint limit is generated to indicate that the executing satellite is unable to execute the imaging session.
Preferably, the second list of executing satellites is formed by performing screening deletion on executing satellites in the first list of executing satellites which cannot execute the specified imaging task, and the executing satellites which are screened and deleted form the third list of executing satellites which can execute the specified imaging task. And defining the imaging task as an overlapping task under the condition that the number of executing satellites in the second list of executing satellites corresponding to the imaging task is more than or equal to two. Overlapping tasks refer to imaging tasks that can be performed simultaneously by more than two performing satellites. Preferably, the second list of executing satellites and the third list of executing satellites are integrated to form a second set of executing satellites and a third set of executing satellites.
S3: and acquiring the execution utility of the overlapped tasks based on the self parameters of the executed satellite to determine an initial task list to be observed of the executed satellite.
Preferably, the number of the self-parameters of the execution satellite is generally multiple, and when the execution utility of the overlapping task is determined according to the self-parameters of the execution satellite, different self-parameters can be given with different weight values so that a third party can calculate the execution utility of the overlapping task according to actual needs. In particular, the implementation satellite own parameters may include, for example, one or more of an imaging time window, an orbit, a battery state, a memory capacity state, and an energy consumption. For satellites in execution that are outside of geosynchronous orbit, they are only capable of continuous imaging of a specified area for a certain period of time, i.e. their time window is sometimes long-limited. For example, a performing satellite can continue to image a specified area within two hours, and if the imaging time required for an imaging task required by a third party is five hours, the performing satellite can only complete a portion of the imaging task. The execution utility may be specifically quantified by, for example, a percentage of tasks that can be completed, e.g., the execution utility may be measured by a ratio of imaging time window to imaging time. If the b executive satellite can image the designated area within four hours continuously, it can complete 80% of the imaging task, and under the same condition, the executive utility of the b executive satellite is higher than that of the a executive satellite. Overlapping tasks may be divided for execution by the high performing satellites. The overlapping tasks are divided independently according to the execution utility, the overlapping tasks can be prevented from being executed by different satellites while the execution effect of the overlapping tasks is ensured, and limited satellite resources can be effectively utilized. An initial list of tasks to be observed for each executing satellite can be formed by redistributing all the overlapping tasks.
Preferably, the initial task list to be observed for the executed satellite further includes imaging tasks corresponding to imaging regions outside the overlapping region of the plurality of satellites. Several different satellites produce overlapping regions that can each be imaged based on their respective trajectories. I.e. the overlapping area can be photographed by more than two executing satellites. In the case where the imaging region involved in the third party's task requirement data does not fall within the overlap region, it indicates that the task can only be performed by a particular executing satellite directly associated with the imaging region, the task not belonging to the overlap task, which is directly assigned to the corresponding executing satellite for execution.
Example 2
This embodiment is a further improvement of embodiment 1, and repeated contents are not described again.
Preferably, the task planning module performs scheduling of the execution satellite in a manner of establishing an initial task list to be observed according to at least the following steps:
s1: the imaging tasks are preliminarily classified based on the imaging region information, the executive satellites, and the imaging window time associated with each other to establish an imaging task set requiring the cooperative completion of at least two executive satellites 1.
Preferably, the central processing module 6 is further configured to perform preliminary classification on the corresponding imaging tasks based on the newly added imaging task requirement data of the third party. The imaging tasks can be classified into a first type, a second type, and a third type, wherein the imaging tasks belonging to the first type are imaging tasks that cannot be completed without suitable satellite resources or based on other constraints, the imaging tasks belonging to the second type are imaging tasks that can be individually performed by any one of more than two executing satellites, and the imaging tasks belonging to the third type are imaging tasks that need to be completed by the cooperation of more than two executing satellites. The set of imaging tasks can be created by aggregating all of the imaging tasks of the third type. Imaging tasks belonging to the first type are rejected from execution by the satellite scheduling system. Preferably, the imaging tasks belonging to the second type are essentially overlapping tasks, which are individually assigned to the respective execution satellite in such a way that the execution utility is calculated. For example, an imaging task belonging to the second type can be simultaneously and independently completed by an a satellite and a b satellite, and the execution utility of the a satellite is higher than that of the b satellite, so that the imaging task is allocated to the a satellite for execution.
Preferably, the central processing module may perform preliminary classification on the imaging tasks by determining a correlation between the acquired task demand data of the third party and the historical task data stored in the database. For example, in the case that the imaging area in the acquired task requirement data of the third party matches the historical task data stored in the database, the central processing module screens out all executing satellites capable of executing the imaging task of the third party, and judges the overlapping condition of the imaging time of the imaging task and each executing satellite to realize the classification of the imaging task. When the imaging time of the imaging task does not overlap with the imaging time window of any one of the executing satellites, the imaging task is classified into a first type. The imaging tasks are classified into a second type when the imaging time of the imaging task is completely covered by the imaging time window of the at least one executing satellite. The imaging tasks are classified as a third type when the imaging time of the imaging task is partially covered by the imaging time window of the at least one executing satellite. For example, for an imaging task from 8 am to 8 am at an imaging time, which can be partially performed by an a-satellite, a b-satellite, and a c-satellite, the a-satellite can perform the imaging task from 8 am to 12 am, the b-satellite can perform the imaging task from 10 am to 5 pm, and the c-satellite can perform the imaging task from 3 pm to 8 pm, the imaging task is classified into a third type.
S3: and screening out at least two execution satellites based on the imaging time corresponding to the imaging task belonging to the third type, wherein the imaging time window formed by the at least two execution satellites can completely cover the imaging time corresponding to the imaging task.
Preferably, the number of executing satellites involved in imaging tasks belonging to the third type may be greater than two. The imaging time windows of different execution satellites have different overlap ranges with each other. The screening of the executive satellites according to the imaging time of the imaging task at least meets two principles: the number of selected execution satellites is the smallest and the overlapping area of the imaging time windows of the execution satellites with each other is the largest. For example, based on the start execution time and the end execution time of the imaging task, a plurality of first execution satellites including the start execution time and a plurality of second execution satellites including the end execution time are respectively filtered out. In the case that the imaging time windows of the first and second executing satellites do not completely cover the imaging time, at least one third executing satellite is selected from the executing satellites involved in the imaging task again, wherein the imaging time window of the third executing satellite has an overlapping region with the imaging time window of the first executing satellite and/or the imaging time window of the second executing satellite. The imaging time window of the third execution satellite does not include the execution start time and the execution end time. And the imaging task can be completely finished under the cooperative action of the first executive satellite, the second executive satellite and the third executive satellite.
Preferably, the screened first executing satellite and the screened second executing satellite are screened again to select only one first executing satellite and only one second executing satellite, wherein the finally screened first executing satellite and second executing satellite at least meet the following screening principles: the coverage range of the imaging time of the screened first executive satellite and the screened second executive satellite and the imaging task is maximum, the imaging time window between the first executive satellite and the third executive satellite is kept maximum, and/or the imaging time window between the second executive satellite and the third executive satellite is kept maximum. The overlapping range of the imaging time windows among the first executing satellite, the second executing satellite and the third executing satellite is set to be the maximum, so that the minimum number of executing satellites for completing the imaging task in a cooperative mode can be guaranteed to the maximum extent, and limited satellite resources can be effectively utilized.
S4: and determining imaging time windows which are overlapped with each other based on the screened first, second and third execution satellites, and setting the first, second and/or third execution satellites to execute imaging tasks and imaging data downloading tasks in an alternate mode under the condition that the imaging time windows which are overlapped with each other are divided into a plurality of sub-imaging time windows.
Preferably, the overlapping area of the respective imaging time windows of the first, second and third execution satellites with respect to each other is divided into several sub-imaging time windows based on the time of the download of the imaging data. For example, an executive satellite can acquire a megabyte of imaging data in 30 minutes, and in the case of an executive satellite establishing a communication connection with a ground station, it also takes 30 minutes for the imaging data to be fully transmitted 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, when an earthquake disaster area is subjected to imaging monitoring, the sub-imaging time window can be set to be smaller, so that an imaging image of the disaster area can be acquired more frequently and in real time.
Preferably, in the case where the imaging data acquired by the satellite 1 in a unit is performed more than the imaging data transmitted by the satellite 1 to the ground station 2 in a unit time, the overlapping imaging time windows are divided in such a way that the imaging data acquired by the satellite 1 in the imaging time and not downloaded to the ground station 2 do not exceed the remaining storage capacity. For example, the remaining storage capacity of the executive satellite is 500 megabits, the executive satellite can acquire 100 megabits of imaging data within 1min, the executive satellite can download 50 megabits of imaging data to the ground station within 1min, the length of the imaging time window in which the executive satellites overlap each other is 20min, the executive satellite can acquire 1000 megabits of imaging data in total when the length of the sub-imaging time window is 1min, and 500 megabits of imaging data can be downloaded to the ground station without exceeding the remaining storage capacity of the executive satellite, so the length of the sub-imaging time window can be set to 1 min.
Preferably, the imaging time window in which the first executing satellite and the third executing satellite overlap 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 the time axis, the first executing satellite establishes an initial task list to be observed in a manner that an imaging task is executed in the first sub-imaging time window and an imaging data downloading task is executed in the second sub-imaging time window, and the third executing satellite establishes the initial task list to be observed in a manner that the imaging data downloading task is executed in the first sub-imaging time window and the imaging task is executed in the second sub-imaging time window; and dividing an imaging time window, overlapped by a second executing satellite and a third executing satellite, 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 the imaging data, wherein the second executing satellite establishes an initial task list to be observed in a 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 the third executing satellite establishes the initial task list to be observed in a mode of executing the imaging data downloading task in the third sub-imaging time window and executing the imaging task in the fourth sub-imaging time window. For example, the imaging time windows of the first executive satellite and the second executive satellite overlapping each other are 8 o 'clock early to 10 o' clock early, which are divided into four sub-imaging time windows of 8 o 'clock early to half 8 o' clock early, 8 o 'clock early to half 9 o' clock early, 9 o 'clock early to half 9 o' clock early, and 9 o 'clock half to 10 o' clock early by division. The task lists for the first executing satellite and the second executing satellite from 8 a.m. to 10 a.m. are shown in table 1. For example, when a plurality of execution satellites are required to complete the imaging task continuously in an earthquake-stricken area, imaging data acquired by the execution satellites need to be fed back to the ground station in time, and meanwhile, the imaging data are transmitted to the ground station in time, so that constraint limitation caused by storage capacity in parameters of the execution satellites can be effectively reduced. Preferably, in case of constraint limitation, the imaging task assigned to the executing satellite 1 is redistributed to update its initial task list to be observed so as to avoid that the imaging task cannot be realized.
TABLE 1
Example 3
This embodiment is a further improvement of the foregoing embodiment, and repeated contents are not described again.
Preferably, the invention also provides a satellite high-efficiency scheduling constellation which at least comprises a plurality of executive satellites 1, a ground station 2 and a main satellite 1 a. The main satellite 1a is used for performing on-satellite autonomous scheduling on the newly added imaging task and transmitting the generated scheduling command to the execution satellite for execution. Preferably, the main satellite is provided with a database, a task planning module, a satellite positioning module and a central processing module to respectively complete corresponding tasks.
Preferably, when the ground station 2 receives the newly added imaging task requirement data of the third party, the ground station 2 can process the newly added imaging task requirement data at least as follows: acquiring at least an imaging area and imaging time of an imaging task based on real-time task demand data; classifying the imaging tasks based on the parameters, imaging areas and imaging time of the executive satellites 1 to establish an imaging task set needing to be completed by at least two executive satellites 1 in a coordinated mode; under the condition that the overlapped tasks in the overlapped task set can be independently completed by any one of the two execution satellites 1, the execution utility of the overlapped tasks is obtained based on the parameters of the remote sensing satellite, and the imaging tasks are distributed to the remote sensing satellite with the optimal execution utility. The ground station is used for processing the demand data in advance, so that the calculation load of the main satellite can be further reduced.
Preferably, the master satellite and the executive satellite are configured to perform data interaction to complete the scheduling assignment of the newly added imaging task according to the following steps:
s1: the main satellite 1a at least determines imaging time information and imaging area information of the newly added imaging task, wherein at least one execution satellite capable of completely or partially covering the imaging time of the newly added imaging task is screened out based on the imaging time information in a manner related to the minimum number of execution satellites.
Preferably, the main satellite 1a may configure the database 3, wherein the database 3 stores relevant data information of all executing satellites in the constellation, such as orbit, strip coverage, imaging time window for a specific area, and the like. The main satellite can compare the imaging area information of the newly added imaging task with the strip coverage range of each satellite stored in the database, and when the imaging area falls into the strip coverage range of the executing satellite, the executing satellite is preliminarily judged to be capable of executing the newly added imaging task. Preferably, the first executing satellite list is established by using a plurality of executing satellites of which all strip coverage areas comprise the imaging area.
Preferably, based on the starting execution time and the ending execution time of the newly added imaging task, a first execution satellite containing the starting execution time and a second execution satellite containing the ending execution time are respectively screened from the first execution satellite list in a mode of maximizing the coverage. For example, the imaging time range required for the new imaging task is from 8 a to 11 a, the imaging time window for a satellite to be executed is from 7 a to 9 a, and the imaging time window for B satellite to be executed is from 7 a to 10 a. And B, the coverage range of the imaging time required by the imaging time window of the executive satellite is large, and the executive satellite is preferentially screened out.
Preferably, in a case that the imaging time windows of the first executing satellite and the second executing satellite cannot completely cover the imaging time, at least one third executing satellite is screened again from the first executing satellite list, wherein the imaging time windows of the first executing satellite, the second executing satellite and the third executing satellite may have an overlap with each other, and the sum of the imaging time windows of the first executing satellite, the second executing satellite and the third executing satellite can completely cover the imaging time.
S2: the main satellite divides the imaging time into main sub-imaging time and sub-imaging time based on the end points of the imaging time windows of the first execution satellite, the second execution satellite and the third execution satellite, and divides the newly added imaging task into a first sub-imaging task and a second sub-imaging task based on the main sub-imaging time. The primary sub-imaging time is a non-overlapping portion of the imaging time window of the satellite being performed and the secondary sub-imaging time is an overlapping portion of the imaging time window of the satellite being performed. The imaging time of the first sub-imaging task is the main sub-imaging time, and the imaging time of the second sub-imaging task is the sub-imaging time. For example, the imaging time required for the new imaging task is 8 to 12 points earlier, the imaging time window for the a executive satellite is 7 to 10 points earlier, the imaging time window for the B executive satellite is 9 to 11 points earlier, and the imaging time window for the C executive satellite is half 10 to half 12 points earlier. The main sub-imaging times are 8 am early to 9 am early, 10 am early to half am early to 10 am early and 11 am early to 12 am early. The secondary imaging times were 9 am to 10 am and half am to 11 am. And A, executing the first sub-imaging task of the satellite, wherein the corresponding main sub-imaging time is from 8 points earlier to 9 points earlier.
Preferably, the main satellite transmits the information related to the first sub-imaging task to the corresponding executing satellite based on the main sub-imaging time, wherein the executing satellite divides the main sub-imaging time into a first sub-imaging time incapable of executing the first sub-imaging task and a second sub-imaging time capable of executing the first sub-imaging task based on its own parameters and constraint limits. Specifically, after the main satellite transmits a first sub-imaging task with a main sub-imaging time from 8 points earlier to 9 points earlier to the a executive satellite, the a executive satellite can determine the first sub-imaging time at which the a executive satellite cannot execute the first sub-imaging task based on constraint limits based on the information of its current executed imaging task, planned task, battery capacity, storage capacity and other parameters. For example, if the a performing satellite predicts that the remaining storage capacity after the current imaging task is performed can only satisfy the requirement of a half-hour imaging task, the a performing satellite determines the second sub-imaging time to be from 8 a half-first to 9 a-first, and from 8 a-first to 8 a-first, which is the first sub-imaging time that can be performed.
Preferably, the executive satellite is configured to: the unconstrained task is performed during a first sub-imaging time and the imaging task is performed during a second sub-imaging time. The executive satellite cannot execute the imaging task in the first sub-imaging time due to constraint limits such as capacity limit and electric quantity limit, and the constraint releasing task is a task of eliminating the constraint limits by executing the satellite. For example, if the executive satellite cannot perform the imaging task due to insufficient storage capacity, the unconstrained task is a data download task. By downloading the imaging data to the ground station, the constraint of insufficient storage capacity can be effectively eliminated.
Preferably, the satellites are implemented to transmit their respective first sub-imaging times to the main satellite, respectively. The main satellite repeatedly executes steps S1 and S2 to further divide the first sub-imaging time, thereby obtaining a sub-imaging task with a smaller imaging time range until the generated sub-imaging task can be completely executed by other executing satellites. In the case that the sub-imaging task does not have an execution satellite having an overlap with its sub-imaging time, the further division of the first sub-imaging time is ended, and the execution satellite associated therewith is updated in such a manner that the sub-imaging task is preferentially executed. For example, the first sub-imaging time of the a executive satellite is 8 o 'clock earlier to 9 o' clock earlier, and no imaging time window of other executive satellites contains the first sub-imaging time, so that only part of the tasks in the plan list of the a executive satellite are deleted, thereby enabling the a executive satellite to preferentially execute the sub-imaging tasks. The existing satellite scheduling system allocates imaging tasks to each execution satellite associated with the existing satellite scheduling system to obtain the execution utility of each execution satellite, and then the main satellite performs unified scheduling coordination according to the execution utilities of a plurality of execution satellites, so that the convergence to obtain the optimal solution is long in time, and newly-added emergency imaging tasks cannot be allocated in time. According to the method, after the execution satellite is screened in a mode that the overlapping range of the imaging time window is the largest, the newly added imaging task is divided into a plurality of sub-imaging tasks in a mode that the end point of the imaging time window of the execution satellite is divided into the imaging time, and the sub-imaging tasks are sent to the corresponding execution satellite, so that the execution satellite can determine the executable sub-imaging time according to the self state of the execution satellite. The sub-imaging tasks corresponding to the sub-imaging times that can be performed are immediately assigned to the performing satellite. And the sub-imaging tasks corresponding to the sub-imaging time which cannot be executed are divided again according to the imaging time window of the execution satellite associated with the sub-imaging time, and are distributed again until the divided sub-imaging tasks can be completely executed. This scheduling procedure has at least the following advantages: 1. the calculation amount of the main satellite and the executive satellite is small. The primary satellite is only responsible for screening the executive satellites associated with it according to the sub-imaging time. The execution satellite derives from its own parameters the imaging time period that can be executed. 2. The newly added imaging tasks can obtain a plurality of sub-imaging tasks with gradually reduced imaging time ranges in a step-by-step dividing mode, the re-distribution of the imaging tasks with smaller imaging time ranges does not need to consider the execution satellites which have distributed the imaging tasks with larger imaging time ranges, and the increase of calculation load caused by obtaining the optimal solution by carrying out repeated iterative calculation according to the execution utility of all the execution satellites is avoided. 3. The sub-imaging task with the larger imaging time range is allocated earlier than the imaging task with the smaller imaging time range, so that even if the sub-imaging task is not executed, the imaging time can be covered to the maximum extent, or other imaging tasks need to be deleted to execute the sub-imaging task, the deletion amount of other tasks is smaller, and the influence on other tasks can be reduced.
S3: the primary satellite schedules the executive satellites based on the secondary sub-imaging times as follows: and under the condition that the secondary sub-imaging time is divided into a plurality of sub-imaging time windows, setting the first execution satellite, the second execution satellite and/or the third execution satellite into a working mode for executing the imaging task and the imaging data downloading task in an alternate mode.
For example, the secondary sub-imaging time is 8 o 'clock earlier to 10 o' clock earlier, and the secondary sub-imaging time is the coverage of the imaging time windows of the first executing satellite and the second executing satellite. It is divided into four sub-imaging times of 8 o 'clock to 8 o' clock half early, 8 o 'clock half early to 9 o' clock early, 9 o 'clock early to 9 o' clock early and at 9 o 'clock half early to 10 o' clock early by division. The task lists for the first executing satellite and the second executing satellite from 8 a.m. to 10 a.m. are shown in table 1.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (10)
1. A satellite scheduling system comprising at least an executive satellite (1) and a ground station (2) in communication with each other, characterised in that said ground station (2) comprises a mission planning module for performing scheduling of the executive satellite at least according to the following steps:
s1: preliminarily classifying the imaging tasks based on the imaging region information, the executive satellites and the imaging window time which are related to each other to establish an imaging task set which needs to be cooperatively completed by at least two executive satellites (1);
s2: screening out three execution satellites which are formed by each other and can completely cover the imaging time corresponding to the imaging task based on the imaging time corresponding to the imaging task which needs to be completed by at least two execution satellites (1) in a cooperative manner;
s3: and determining imaging time windows which are overlapped with each other based on the screened first, second and third execution satellites, and setting the first, second and/or third execution satellites to execute imaging tasks and imaging data downloading tasks in an alternate mode under the condition that the imaging time windows which are overlapped with each other are divided into a plurality of sub-imaging time windows.
2. The satellite scheduling system of claim 1 wherein the mission planning module further performs scheduling of the satellites by:
S1: establishing a first list of executing satellites associated with the imaging region based on the imaging region of the imaging task;
s2: determining a second list of executing satellites capable of executing corresponding imaging tasks based on the self parameters of the executing satellites and the imaging time, and determining an overlapping task set based on the second list of executing satellites;
s3: and acquiring the execution utility of the overlapped tasks based on the self parameters of the executed satellite to determine an initial task list to be observed of the executed satellite.
3. The satellite dispatch system of claim 2, wherein the ground station (2) further comprises a central processing module that preliminarily classifies imaging tasks by determining an association of the acquired third party task demand data with historical task data stored in a database.
4. The satellite scheduling system of claim 3 wherein in the event that the imaging time windows of the first executing satellite and the second executing satellite are unable to fully cover the imaging time, at least one third executing satellite is again screened from the executing satellites involved in the imaging task,
wherein the imaging time window of the third executing satellite has an overlapping region with the imaging time window of the first executing satellite and/or the imaging time window of the second executing satellite.
5. Satellite dispatch system according to claim 4, characterized in that in case of constraint limits, the imaging tasks assigned to the executive satellite (1) are updated in such a way that they are reassigned to avoid imaging tasks being impossible.
6. The satellite dispatch system of claim 5, wherein the screened first and second performing satellites are rescreened to select only one first performing satellite and only one second performing satellite, wherein the finally screened first and second performing satellites satisfy at least the following screening criteria: the coverage range of the imaging time of the screened first execution satellite and the second execution satellite and the imaging task is maximum, the imaging time windows of the first execution satellite and the third execution satellite are kept maximum, and/or the imaging time windows of the second execution satellite and the third execution satellite are kept maximum.
7. The satellite scheduling system of claim 6 wherein the region of overlap of the respective imaging time windows of the first executing satellite, the second executing satellite, and the third executing satellite with one another is divided into a number of sub-imaging time windows based on the time of download of the imaging data.
8. The satellite scheduling system of claim 7 wherein in the event that the imaging data acquired by the executive satellite (1) in a unit is greater than the imaging data transmitted by the executive satellite (1) to the ground station (2) in a unit of time, overlapping imaging time windows are divided in such a way that the imaging data acquired by the executive satellite (1) in an imaging time and not downloaded to the ground station (2) does not exceed the remaining storage capacity.
9. The satellite scheduling system of claim 8 wherein the imaging time windows in which the first executing satellite and the third executing satellite overlap each other are divided into a plurality of first sub-imaging time windows and second sub-imaging time windows which are alternately arranged on the time axis, the first executing satellite establishes the initial task list to be observed in such a manner that the imaging tasks are executed in the first sub-imaging time windows and the imaging data download tasks are executed in the second sub-imaging time windows, and the third executing satellite establishes the initial task list to be observed in such a manner that the imaging data download tasks are executed in the first sub-imaging time windows and the imaging tasks are executed in the second sub-imaging time windows.
10. The satellite scheduling system of claim 9 wherein the imaging time window in which the second executing satellite and the third executing satellite overlap each other is divided into a plurality of third sub-imaging time windows and fourth sub-imaging time windows alternately arranged on the time axis based on the download time of the imaging data, the second executing satellite establishes the initial task list to be observed in such a manner that the imaging tasks are executed in the third sub-imaging time windows and the imaging data download tasks are executed in the fourth sub-imaging time windows, and the third executing satellite establishes the initial task list to be observed in such a manner that the imaging data download tasks are executed in the third sub-imaging time windows and the imaging tasks are executed in the fourth sub-imaging time windows.
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