CN113608844A - Multi-satellite on-orbit observation task planning method based on reducible contract network - Google Patents
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Abstract
The invention discloses a multi-satellite on-orbit observation task planning method based on a contractual contract network, which comprises the following steps: the main satellite screens and determines candidate satellites according to the received task requirements; the main satellite issues task requirements to each candidate satellite; each candidate satellite receives the task requirements and judges the task type, and for the common task, the objective function value is calculated and the bidding information is sent to the main satellite; for an emergency task, when a visible time window which meets the task requirement and is occupied by other common tasks exists, setting the other common tasks as tasks to be contracted, calculating an objective function value, and sending bidding information to the main satellite; the main satellite selects the candidate satellite with the minimum objective function value as a winning satellite according to the received bid information, and sends a winning notice to the winning satellite; and the winning bid satellite receives the winning bid notice, receives the task and processes the to-be-contracted task, thereby completing the multi-satellite task planning.
Description
Technical Field
The invention relates to the field of satellite task planning, in particular to a multi-satellite on-orbit observation task planning method based on a contractual contract network.
Background
The earth observation satellite captures ground image information through carried visible light, SAR and other observation loads, and provides technical support for numerous fields such as national defense construction, urban planning and the like. With the rapid development of aerospace technologies in China, the types and the number of current on-orbit satellites are rapidly increasing, and meanwhile, application scenes such as battlefield information support, sudden disaster observation and the like provide new timeliness requirements for observation tasks of the satellites, and the tasks are strong in timeliness, so that the task planning of the satellites is required to have the capability of rapid response.
Under the traditional satellite working mode of the celestial earth network, task planning usually adopts a centralized planning mode, collects the requirements in advance, plans uniformly, and sends instructions to the satellite in a satellite transit time window. This approach is highly dependent on the management of the ground station, and is less flexible and unable to meet the high timeliness requirements. A great deal of research has been conducted by many scholars both at home and abroad in satellite mission planning. The Liu-Song designs an on-satellite autonomous planning module architecture, and decomposes the regional target observation task into meta tasks which can be executed by the satellite and are equivalent to point target tasks. And a rolling task planning algorithm framework is designed and solved by an improved genetic algorithm by Wangfrui, so that the continuous planning of tasks is realized. The Li dazzler divides the regional targets into point targets and redistributes the point targets to different satellites for observation, and a multi-satellite multi-region collaborative cycle observation and iterative optimization task planning model is established. Globus and the like establish a constraint satisfaction problem model of multi-satellite mission planning, and consider two aspects of demand priority and satellite remote sensing equipment constraint. The ESA establishes a task planning model aiming at the Cosmo-Skymed constellation and the Pleiades constellation, and solves the problem by adopting tabu search, heuristic algorithm and the like.
However, most of the existing methods are directed at small-scale satellites and even single satellites, and the planning model is solved mainly through heuristic algorithms such as genetic algorithm and the like. When the satellite scale becomes large, the solving efficiency and the solving quality are difficult to guarantee. In addition, the current method mainly solves the problem of uniformly distributing satellite observation resources for determining tasks in batches, and needs to solve the problem of timely planning of the tasks when the tasks arrive in real time along with the development and popularization of the satellite technology and the increase of the requirement on the timeliness of the tasks.
The contract network algorithm simulates a bidding mechanism in the market, carries out negotiation among a plurality of individuals and is mainly used for solving the task allocation problem in a distributed system. Tasks in the traditional contract network algorithm are distributed to all satellites, and when the number of the satellites is large, the communication pressure of the system is increased. And the traditional contract network carries out indiscriminate bidding on all tasks, but the satellite tasks have different requirements and different emergency degrees, so that the priority of emergency tasks such as natural disaster monitoring cannot be ensured.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-satellite on-orbit observation task planning method based on a contractual contract network.
In order to achieve the above object, the present invention provides a multi-satellite on-orbit observation task planning method based on a contractual contract network, the method comprising:
the main satellite screens and determines candidate satellites according to the received task requirements;
the main satellite issues task requirements to each candidate satellite;
each candidate satellite receives the task requirement and judges the task type, and for a common task, when a visible time window meeting the task requirement exists, a target function value is calculated, and bidding information is sent to the main satellite;
for an emergency task, when a visible time window which meets the task requirement and is occupied by other common tasks exists, setting the other common tasks as tasks to be contracted, calculating an objective function value, and sending bidding information to the main satellite;
the main satellite selects the candidate satellite with the minimum objective function value as a winning satellite according to the received bid information, and sends a winning notice to the winning satellite;
and the winning bid satellite receives the winning bid notice, receives the task, judges whether the task needs to be reduced or not, and performs reduction processing on the original task if the task needs to be reduced, thereby completing the multi-satellite task planning.
As an improvement of the above method, the task requirements include: the method comprises the following steps of (1) satellite observation load type requirements, position coordinates of a target, task type, latest starting execution time of a task, task duration and cost for a satellite to execute the task; wherein, the position coordinate of the target is expressed by longitude and latitude; the task types comprise an emergency task and a common task; the cost of the satellite to perform this task includes energy consumption and maneuvering costs.
As an improvement of the above method, the method further comprises: for a common task or an emergency task, when a visible time window meeting the task requirement does not exist, the candidate satellite sends label discarding information to the main satellite.
As an improvement of the above method, for a common task, when a visible time window meeting the task requirement exists, calculating an objective function value, and sending bidding information to the main satellite; the method specifically comprises the following steps:
for a common task, the candidate satellite calls simulation calculation software to obtain a visible time window of the satellite for the task in a planning period;
judging whether the visible time window is longer than the task duration; if not, sending label discarding information to the main satellite; if yes, further judging whether the visible time window is occupied by other tasks, and if so, sending label discarding information to the primary satellite; if not, calculating the objective function value and sending the bidding information to the main satellite.
As an improvement of the above method, for an emergency task, when a visible time window which meets the task requirement and is occupied by other common tasks exists, setting the other common tasks as tasks to be contracted, calculating an objective function value, and sending bidding information to the main satellite; the method specifically comprises the following steps:
for an emergency task, the candidate satellite calls simulation calculation software to obtain a visible time window of the satellite for the task in a planning period;
judging whether the visible time window is longer than the task duration; if not, sending label discarding information to the main satellite; if yes, further judging whether the visible time window is occupied by other common tasks, if not, calculating a target function value, and sending bidding information to the main satellite; if the current time window is occupied, setting other occupied common tasks as tasks to be contracted, still using the visible time window as a bidding time period, calculating an objective function value, and sending bidding information to the main satellite.
As a modification of the above method, the objective function value is calculated; the method specifically comprises the following steps:
calculating an objective function value F according to the formulaminComprises the following steps:
Fmin＝αTime+βCost
where α and β are coefficients of the product second Time at the start of execution and the Cost of the satellite to execute the task, respectively.
As an improvement of the above method, the bid-winning satellite receives the bid-winning notification, receives the task, and determines whether a task to be contracted is required, and if so, performs the contraction processing of the original task, thereby completing the multi-satellite task planning, specifically including:
the winning bid satellite receives the winning bid notice, receives the task, judges whether the task needs to be reduced or not, and sends the reduction notice to the main satellite if the task needs to be reduced;
the main star makes a solution to the original task.
As an improvement of the above method, the method further comprises:
and if the main satellite receives the label discarding information of all the candidate satellites, the task planning fails, and the process is finished.
Compared with the prior art, the invention has the advantages that:
1. by providing the multi-satellite task planning method based on the reducible contract network, the problem of satellite resource allocation of earth observation tasks can be solved quickly and effectively, and the response timeliness of a satellite system to the tasks is improved;
2. satellite screening before the start of the task bidding effectively reduces the communication overhead of the system and improves the planning efficiency;
3. when the emergency task arrives, the scheduled common task can be subjected to reduction operation, so that the priority of the emergency task is ensured, and the adaptability of the method to tasks with different priorities is improved.
Drawings
FIG. 1 is a flow chart of a multi-satellite on-orbit observation task planning method based on a contractual contract network.
Detailed Description
The invention adopts a distributed planning mode, comprehensively considers the task requirements of users and the on-satellite resource conditions, and optimizes the distribution of the effective load by a bidding mode, thereby improving the use benefit of the satellite system. The satellite distribution method aims at executing observation tasks as soon as possible, comprehensively considers satellite observation consumption and realizes satellite distribution of single observation tasks.
The technical scheme is as follows:
1) the main satellite screens other satellites according to task requirements;
2) the main satellite issues the task to the screened satellite passing through the step 1), the candidate satellite calculates an objective function value according to the task requirement, the self resource condition and the existing task arrangement, and a standard book is made, and at the moment, a task to be contracted may be generated; feeding back results to the main satellite;
3) the main satellite carries out bid evaluation work according to the result of the step 2), selects the candidate satellite with the minimum objective function, issues bid winning notification to the candidate satellite, signs a contract, and receives selection falling notification from other selection falling satellites;
4) for the task to be contracted generated in the step 2), if the satellite of the task to be contracted wins the bid, the satellite receives the bid-winning notice, then the task to be contracted is contracted, and a contract-releasing notice is sent to the main satellite;
5) and (4) the main star receives the contract-resolving notice, plans the task again and executes the step 1).
And 1) screening the satellite by the main satellite according to the type and the resolution of the satellite sensor required by the task, and enabling the screened satellite to become a candidate satellite.
In the step 2), the tasks are divided into two types, namely a common task and an emergency task, the planning of the common task does not influence the scheduled task, the priority of the emergency task is high, the scheduled common task can be subjected to reduction operation to meet the requirement of the emergency task, and the scheduled emergency task is not influenced. The bid evaluation process is shown in the attached drawings.
The objective function in the step 2) is expressed as:
Fmin＝αTime+βCost
wherein α + β is 1, α and β are weighting coefficients, and can be determined according to actual demand emphasis; time represents the product second of the execution start Time of the task observation Time window; cost represents the Cost of the satellite to perform the task, including energy consumption and maneuvering Cost.
The steps 4) and 5) are not needed to be executed if the task to be reduced does not exist or the satellite generating the task to be reduced does not win the bid; for the same satellite, the number of times of solution in a period of time is limited, for example, the maximum number of times of solution in a planning period can be about 3.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, embodiment 1 of the present invention provides a method for planning a multi-satellite on-orbit observation task based on a contractual contract network, which includes the following specific steps:
step 1) the main satellite receives the ith task TiIs described as
Ti(P, r, Location, TaskType, StartTime, Duration, Cost), and screening candidate satellites according to the task T;
(1) p is the requirement of the type of the satellite observation load, such as visible light, SAR and the like; r is the imaging resolution requirement; location is the position coordinate of the target and is expressed by longitude and latitude; the task type is a task type and is divided into an emergency task and a non-emergency task (a common task); StartTime represents the latest start execution time of the task; duration represents the Duration of the task; cost is the Cost of the satellite to perform the task, including energy consumption, maneuvering Cost and the like;
(2) the satellite meeting the requirements of the satellite observation load type P and the resolution r in the task description becomes a candidate satellite;
step 2) the main satellite sends out bid information to the candidate satellite, namely the description of the task T is Ti(P, r, Location, TaskType, StartTime, Duration, Cost), satellite pair task class for which bid information was receivedJudging the type TaskType, if the task is a common task, executing a step 3, and if the task is an emergency task, executing a step 4;
step 3) if the task is a common task, each candidate satellite calls STK software to obtain a visible time window of the satellite to the task in a planning period;
(1) judging whether the length of the visible time window is greater than the Duration length Duration of the task or not;
(2) if not, discarding the bid, and sending bid discarding information to the main satellite;
(3) if yes, judging whether the visible time window is occupied by tasks, if not, selecting the time window to calculate a target function value, and sending bidding information to the main satellite; if the satellite is occupied, discarding the beacon, and sending beacon discarding information to the main satellite;
wherein the objective function Fmin＝αTimei+βCosti；
Step 4) if the task is an emergency task, each candidate satellite calls simulation calculation software to obtain a visible time window of the satellite to the task in a planning period;
(1) judging whether the length of the visible time window is greater than the Duration length Duration of the task or not;
(2) if not, discarding the bid, and sending bid discarding information to the main satellite;
(3) if yes, judging whether the visible time window is occupied by tasks, if not, selecting the time window to calculate a target function value, and sending bidding information to the main satellite;
(4) if the time window is occupied, the original task becomes a task to be contracted, the time window is still used as a bidding time period, the objective function value is calculated, and bidding information is sent to the main satellite;
wherein the objective function Fmin＝αTimei+βCosti；
Step 5) the main satellite collects bidding or bid discarding information of all candidate satellites and evaluates the bids, if the bidding or bid discarding information is the bid discarding information, the planning is finished, and the task planning fails; otherwise, selecting the satellite with the minimum objective function value as a winning satellite, and sending winning notification to the winning satellite;
step 6), after receiving the bid winning information, the bid winning satellite judges whether a task needs to be reduced, if the task needs to be reduced, a reduction notification is sent to the main satellite, the main satellite reduces the original task, the task reenters the planning process, and the step 1 is executed;
and 7) if no task to be contracted exists, directly signing a contract, and finishing the planning.
The innovation points are as follows:
the invention adds a satellite screening mechanism. In the traditional contract network algorithm, all agents need to be bid, when the number of satellites is large, the communication pressure of the system is high, and after the satellites are preliminarily screened, bid information only needs to be sent to the satellites meeting the conditions, so that the communication and calculation amount is reduced; a solvable mechanism is designed to preferentially ensure the arrangement of emergency tasks.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A multi-satellite on-orbit observation task planning method based on a reducible contract network comprises the following steps:
the main satellite screens and determines candidate satellites according to the received task requirements;
the main satellite issues task requirements to each candidate satellite;
each candidate satellite receives the task requirement and judges the task type, and for a common task, when a visible time window meeting the task requirement exists, a target function value is calculated, and bidding information is sent to the main satellite;
for an emergency task, when a visible time window which meets the task requirement and is occupied by other common tasks exists, setting the other common tasks as tasks to be contracted, calculating an objective function value, and sending bidding information to the main satellite;
the main satellite selects the candidate satellite with the minimum objective function value as a winning satellite according to the received bid information, and sends a winning notice to the winning satellite;
and the winning bid satellite receives the winning bid notice, receives the task, judges whether the task needs to be reduced or not, and performs reduction processing on the original task if the task needs to be reduced, thereby completing the multi-satellite task planning.
2. The method for planning multi-satellite on-orbit observation tasks based on reducible contract nets according to claim 1, wherein the task requirements comprise: the method comprises the following steps of (1) satellite observation load type requirements, position coordinates of a target, task type, latest starting execution time of a task, task duration and cost for a satellite to execute the task; wherein, the position coordinate of the target is expressed by longitude and latitude; the task types comprise an emergency task and a common task; the cost of the satellite to perform this task includes energy consumption and maneuvering costs.
3. The method for planning multi-satellite on-orbit observation tasks based on the reducible contract net according to claim 1 or 2, wherein the method further comprises the following steps: for a common task or an emergency task, when a visible time window meeting the task requirement does not exist, the candidate satellite sends label discarding information to the main satellite.
4. The multi-satellite on-orbit observation task planning method based on the reducible contract network as claimed in claim 3, wherein for a common task, when a visible time window meeting the task requirement exists, an objective function value is calculated, and bid information is sent to a main satellite; the method specifically comprises the following steps:
for a common task, the candidate satellite calls simulation calculation software to obtain a visible time window of the satellite for the task in a planning period;
judging whether the visible time window is longer than the task duration; if not, sending label discarding information to the main satellite; if yes, further judging whether the visible time window is occupied by other tasks, and if so, sending label discarding information to the primary satellite; if not, calculating the objective function value and sending the bidding information to the main satellite.
5. The multi-satellite on-orbit observation task planning method based on the reducible contract network as claimed in claim 3, wherein for an emergency task, when a visible time window which meets task requirements and is occupied by other common tasks exists, the other common tasks are set as tasks to be reduced, objective function values are calculated, and bid information is sent to a main satellite; the method specifically comprises the following steps:
for an emergency task, the candidate satellite calls simulation calculation software to obtain a visible time window of the satellite for the task in a planning period;
judging whether the visible time window is longer than the task duration; if not, sending label discarding information to the main satellite; if yes, further judging whether the visible time window is occupied by other common tasks, if not, calculating a target function value, and sending bidding information to the main satellite; if the current time window is occupied, setting other occupied common tasks as tasks to be contracted, still using the visible time window as a bidding time period, calculating an objective function value, and sending bidding information to the main satellite.
6. The multi-satellite on-orbit observation task planning method based on the reducible contract net is characterized in that the objective function value is calculated; the method specifically comprises the following steps:
calculating an objective function value F according to the formulaminComprises the following steps:
Fmin＝αTime+βCost
where α and β are coefficients of the product second Time at the start of execution and the Cost of the satellite to execute the task, respectively.
7. The method for planning a multi-satellite in-orbit observation task based on a contractual contract network according to claim 1, wherein the winning satellite receives a winning bid notice, receives a task, and judges whether a reduction task is needed or not, if so, performs reduction processing on an original task, thereby completing the multi-satellite task planning, specifically comprising:
the winning bid satellite receives the winning bid notice, receives the task, judges whether the task needs to be reduced or not, and sends the reduction notice to the main satellite if the task needs to be reduced;
the main star makes a solution to the original task.
8. The method for planning multi-satellite on-orbit observation tasks based on reducible contract nets according to claim 3, further comprising:
and if the main satellite receives the label discarding information of all the candidate satellites, the task planning fails, and the process is finished.
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