CN113612525A - Low-orbit internet constellation satellite-ground link planning method based on constraint satisfaction - Google Patents

Low-orbit internet constellation satellite-ground link planning method based on constraint satisfaction Download PDF

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CN113612525A
CN113612525A CN202110992515.4A CN202110992515A CN113612525A CN 113612525 A CN113612525 A CN 113612525A CN 202110992515 A CN202110992515 A CN 202110992515A CN 113612525 A CN113612525 A CN 113612525A
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CN113612525B (en
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罗奇龙
孙超
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Shaanxi Xingyi Space Technology Co ltd
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Abstract

The invention provides a low-orbit internet constellation satellite-ground link planning method based on constraint satisfaction, which relates to the technical field of satellites and comprises the steps of constructing a satellite-ground geometric visible model; constructing an inter-satellite distance visible model; constructing a satellite-ground link visible model according to the satellite-ground geometric visible model; acquiring measurement data between a target satellite and ground gateway station equipment according to a satellite-ground link visible model; determining a constraint condition; determining the validity of the measurement data according to the constraint conditions, and establishing an effective measurement link matrix according to the validity of the measurement data; determining a satellite-ground networking planning principle; establishing a target satellite-ground link planning model according to the satellite-ground networking planning principle, the constraint conditions and the effective measurement link matrix; and calculating the target satellite-ground link planning model to obtain a satellite-ground link resource scheduling result. The method solves the problem that the low-orbit constellation without inter-satellite links neglects constellation configuration, and the planning constraint problems such as balanced use of constellation orbital planes and the like when multitask scheduling is carried out.

Description

Low-orbit internet constellation satellite-ground link planning method based on constraint satisfaction
Technical Field
The disclosure relates to the technical field of satellites, in particular to a low-orbit internet constellation satellite-ground link planning method based on constraint satisfaction.
Background
The satellite constellation (referred to as "constellation") is a satellite system which is composed of a plurality of satellites, the satellite orbits form a stable space geometric configuration, and the satellites keep a fixed space-time relationship and are used for completing a specific space mission. The orbit height of a single satellite in a middle-low orbit constellation is kept within the range of 500 km-25000 km, and the main borne space missions comprise: communication, navigation, and observation of the earth, etc. The internet constellation is a space system for realizing the satellite internet, the satellite is used as a node of the internet, and the low-orbit constellation is utilized to transfer the internet to the sky, so that the purpose of global coverage is realized.
The low-orbit internet constellation is an important component of national spatial information network infrastructure, the whole system after single-satellite networking can tolerate single-point faults more than a single satellite, the fault influence is eliminated to the maximum extent, and communication services can be provided for various spatial tasks such as weather, environment and disaster detection, resource investigation, topographic mapping, reconnaissance, communication broadcasting, scientific detection and the like more effectively and reliably.
The ground system, as an important component of the satellite internet system, can complete functions of satellite load, on-orbit operation management of the satellite internet and the like, and solve the problem of ground resource scheduling of guarantee such as remote control instruction sending, remote measurement data receiving, remote sensing data receiving, satellite orbit prediction and determination and the like during the operation of internet constellation. The number of satellites which can be simultaneously tracked and measured by each ground resource depends on the equipment system and the orbit of the satellites. And the ground resource scheduling is carried out according to the ground gateway station and equipment attribute information, the satellite orbit information, the platform state and the constraint condition, and the equipment is reasonably distributed according to the task planning result and the user requirement to provide support for the on-orbit operation management of the constellation. Fig. 1 is a schematic diagram of an internal satellite-ground network after being networked by using constellation satellites to quickly respond to user demands.
At present, most of domestic low earth orbit satellites adopt a single-satellite mode to execute aerospace application tasks, all-weather observation is difficult to realize, and the application tasks are seriously influenced after the satellite executing the specific application tasks fails. After the single-satellite networking forms a constellation, the limitation of a single-satellite working mode can be broken through cooperative operation among individual satellites and ground resource optimization scheduling, the reliability and the flexibility are higher, the space-ground-based measurement and control communication link optimization management is effectively improved, and the purpose of quickly responding to user requirements is achieved. Secondly, for a low-orbit internet constellation without inter-satellite links, information is rapidly transmitted according to the layout of ground gateway stations and a satellite-ground network inside the constellation, and the overall distribution and use conditions of measurement and control resources of the ground gateway stations directly influence the final completion degree and the resource utilization rate of satellite internet space missions. Therefore, reasonably efficient resource scheduling is one of the necessary conditions for maximizing the task benefit.
In the related technology, in the research of the low-orbit internet measurement and control resource scheduling problem, only the research which is carried out by taking a single-satellite mode as a scheduling object does not exist, and the research of the satellite-ground link planning is not uniformly considered in the aspects of constellation space configuration, resource cooperative control and the like after the group-satellite networking. Therefore, the present disclosure provides a solution to the problem of low-earth-orbit internet constellation satellite-ground link planning.
Disclosure of Invention
The embodiment of the disclosure provides a low-orbit Internet constellation satellite-ground link planning method based on constraint satisfaction, which can solve the problem that satellite-ground link planning after constellation networking cannot be realized in the prior art. The technical scheme is as follows:
according to a first aspect of the embodiments of the present disclosure, there is provided a method for planning a satellite-to-ground link of a low-earth internet constellation based on constraint satisfaction, the method including:
constructing a satellite-ground geometric visible model;
constructing an inter-satellite distance visible model;
constructing a satellite-ground link visible model according to the satellite-ground geometric visible model;
acquiring measurement data between a target satellite and ground gateway station equipment according to the satellite-ground link visible model;
determining constraint conditions according to the satellite-ground geometric visible model and the inter-satellite distance visible model;
determining the validity of the measurement data according to the constraint condition, and establishing an effective measurement link matrix according to the validity of the measurement data;
determining a satellite-ground networking planning principle;
establishing a target satellite-ground link planning model according to the satellite-ground networking planning principle, the constraint condition and the effective measurement link matrix;
and calculating the target satellite-ground link planning model to obtain a satellite-ground link resource scheduling result.
The embodiment of the disclosure provides a low-orbit internet constellation-earth link planning method based on constraint satisfaction, which comprises the steps of constructing a satellite-earth geometric visible model and an inter-satellite distance visible model, constructing the satellite-earth link visible model according to the satellite-earth geometric visible model, obtaining measurement data between a target satellite and ground gateway station equipment according to the satellite-earth link visible model, determining constraint conditions according to the satellite-earth geometric visible model and the inter-satellite distance visible model, determining the effectiveness of the measurement data according to the constraint conditions, establishing an effective measurement link matrix according to the effectiveness of the measurement data, determining a satellite-earth networking planning principle, finally establishing the target satellite-earth link planning model according to the satellite-earth networking planning principle, the constraint conditions and the effective measurement link matrix, and calculating the target satellite-earth link planning model to obtain a satellite-earth link resource scheduling result. The problem of planning constraints such as neglecting constellation configuration and constellation orbital plane balanced use when a low-orbit constellation without inter-satellite links is subjected to multi-task scheduling is solved. Meanwhile, the problems of low reliability, weak survivability and small flexibility of single-satellite planning are solved.
In one embodiment, the constructing the satellite-ground link visible model according to the satellite-ground geometric visible model includes:
determining a rain attenuation value of the satellite-ground link;
acquiring the functions of ground and satellite-borne measuring equipment and the installation position of a satellite-borne antenna;
and constructing a satellite-ground link visible model according to the satellite-ground geometric visible model, the rain attenuation value, the functions of the ground and satellite-borne measuring equipment and the installation position of a satellite-borne antenna.
In one embodiment, the constructing the star-earth geometric visible model comprises:
according to the formula
Figure BDA0003232895840000031
And
Figure BDA0003232895840000032
constructing the star-ground tableWhat visible model is;
wherein E is a pitch angle between a measurement and control antenna electric axis and a target satellite, beta is a geocentric angle from the ground gateway station equipment to the target satellite, R is a radial distance from the ground gateway station equipment to the target satellite, and R isEIs the earth center distance, h, of the ground gateway station equipmentsIs the orbital altitude of the target satellite.
In one embodiment, the determining the rain attenuation value of the satellite-ground link comprises:
according to formula ARAIN＝γRLE(dB) and formula
Figure BDA0003232895840000033
Determining a rain attenuation value of the satellite-ground link;
wherein, γRIs a path attenuation factor, LEFor the effective path of the electromagnetic wave in the rain, when there is rainfall, the rain area through which the electromagnetic wave passes is equivalent to the fact that a physical temperature T is connected in series on a downlinkmAttenuation of ARAINOf a passive attenuator, TSKYIs the air temperature, Δ TAThe rain attenuation value is shown.
In one embodiment, the constructing the satellite-ground link visible model according to the satellite-ground geometric visible model includes:
according to the formula
Figure BDA0003232895840000041
And
Figure BDA0003232895840000042
constructing a satellite-ground link visible model;
wherein R'maxIs the maximum measurement and control distance E 'of ground gateway station equipment after rain decay'minThe minimum measurement and control elevation angle of the ground gateway station equipment for tracking the target satellite after considering the rain fade is taken into consideration.
In one embodiment, the determining validity of the measurement data according to the constraint condition and establishing a valid measurement link matrix according to the validity of the measurement data includes:
let R be a ground gatewayThe radial distance between the station equipment and the target satellite, and E are the pitch angles between the electric axes of the measurement and control antennas and the target satellite; rmaxThe maximum measurement and control distance, E, of the ground gateway station equipmentminThe minimum elevation angle condition of the target satellite tracked by the ground gateway station equipment is set;
the constraint for valid measurement data is then expressed as: r is less than or equal to Rmax,E≥Emin；
Δ T is the time slice that satisfies the shortest measured arc length, T is the visible arc segment duration window, A ═ a1,a2,…,a|M|Is the set of tasks to be performed;
then the number of time slices in a visible arc time length window is expressed as
Figure BDA0003232895840000043
Aiming at the orbit measurement task of each satellite, M pieces of ground gateway station equipment and K pieces of constellation of satellite networking are arranged to participate in measurement, an M multiplied by K visible matrix is obtained, and when the measurement data in the time slice is effective, the corresponding satellite-ground link value is set to be 1; when the measurement data in the time slice is invalid, setting the corresponding satellite-ground link numerical value as '0' to obtain the effective measurement link matrix;
let t1Time satellite s internal interference signal strength of
Figure BDA0003232895840000044
The maximum tolerance degree of the ground gateway station equipment to the internal interference of the constellation is maxg_dis；t1The amount of rain falling from the time ground gateway station equipment g is
Figure BDA0003232895840000045
The maximum allowable range of the ground gateway station equipment operation for rainfall is maxg_rain；
At a certain time t1The condition that the star-ground geometric visible window is actually available is expressed as:
Figure BDA0003232895840000051
in one embodiment, the determining a satellite-ground networking planning principle includes:
setting Q as the maximum number of beams which can be formed by the ground gateway station equipment, and expressing the maximum target number which can be tracked by the ground gateway station equipment as Q less than or equal to Q;
let T1And T2Is two tasks in the task to be executed, and a task T is set1Is executed at time St1Task T2Is executed at time St2Task T1And task T2A minimum execution interval of ΔkIn execution order, task T1And task T2Is expressed as St2≥St1+Δk；
Let SDTMIs the start maintenance time, EDT, of the ground gateway station equipmentMIs the maintenance end time of the ground gateway station equipment, and the minimum maintenance time is Delta TMThen, the principle of the satellite-ground networking planning is expressed as:
SDTM≥EDTM+ΔTM。
in an embodiment, the building a target satellite-ground link planning model according to a preset satellite-ground networking planning principle and the effective measurement link matrix includes:
let A ═ a1,a2,…,a|M|Is the set of tasks to be performed, wijIs the task to be completed by the satellite i in the jth visible arc of the satellite during the scheduled time, 1<i<n,1<j<NiN is the number of satellites scheduled to perform the task, NiNumber of arc segments visible in the scheduling time for satellite i, S ═ S1,s2,…,s|G|Is the set of resources for the antenna beams of the ground station equipment, C represents the set of constraints containing all the constraints of the scheduling problem, TW represents the set of time windows, each task has a succession of time windows or none with respect to each resource, if not, indicating that the task cannot be executed on the resource, Th represents the scheduled deadline, and the resources of the satellite-ground link can be represented in the following formScheduling problem:
Θ＝{A,S,C,TW,Th}；
let tiE {0,1} represents task aiFor a given subset of tasks
Figure BDA0003232895840000052
If the task subset is
Figure BDA0003232895840000053
If any task is not satisfied, the scheduling result is invalid, and the task subset is completed
Figure BDA0003232895840000054
The requirements are expressed as:
Figure BDA0003232895840000055
let xi,jE {0,1} represents a resource selection decision variable if resource S is selectedjPerforming task aiThen xi,j＝1，TWi,jRepresenting the set of time windows available for the jth resource for the ith task,
Figure BDA0003232895840000061
represents a time window decision variable, if resource SjIn a time window
Figure BDA0003232895840000062
Internal execution task aiThen, then
Figure BDA0003232895840000063
Figure BDA0003232895840000064
Representing a set of feasible solutions that satisfy all scheduling constraints for a subset of tasks that must be completed
Figure BDA0003232895840000065
Must be provided withAllocating the matched resources and time window, expressed as:
Figure BDA0003232895840000066
let stiRepresenting task aiScheduling start time of diRepresenting task aiIf task aiAnd task ai′Simultaneously occupying one resource SjThen task aiAnd task ai′Must satisfy the following conditions:
C21＝{Z|xi,j*si-xi′,j*si′≥di′，if si≥si′,i，i′∈M，j∈S}；
C22＝{Z|xi，j*si′-xi′,j*si≥di,if si′≥si,i,i′∈M,j∈S}；
is provided with
Figure BDA0003232895840000067
Indicating the start time of the kth time window, any task that can be completed must begin at the available time window start time of the selected resource
Figure BDA0003232895840000068
After that, it is expressed as:
Figure BDA0003232895840000069
is provided with
Figure BDA00032328958400000610
Indicating the end time of the kth time window during which any task that can be completed must be executed within the available time window of the selected resource
Figure BDA00032328958400000611
And is included in the scheduling period Th, and is represented as:
Figure BDA00032328958400000612
C42＝{Z|0≤si+di≤Th,i∈M}；
f (Z) is a scheduling optimization objective function;
the target satellite-ground link planning model is as follows: max F (Z) ═ Σi∈M(tipi)。
piRepresenting task aiThe priority of (2).
In one embodiment, the constructing the inter-satellite distance visibility model includes:
let rsat1Is the orbital radius of sat1, rsat2Is the radius of the track of sat2,
Figure BDA00032328958400000613
is the angle between the track surfaces;
the maximum pointing angle between stars can be expressed as:
Figure BDA0003232895840000071
Figure BDA0003232895840000072
let the effective radiation power of sat1 be EIRPsat1Gain of antenna of sat2 is Gsat2Reception sensitivity of Ssat1The link loss from the antenna to the input of the receiving system is Lsat2The spatial losses from sat1 to sat2 are LspThe working frequency of the link is f;
then as the basis for avoiding the signal interference between the systems and in the systems, the reachable distance R of the signals between the satellites is calculatedsignalExpressed as:
Figure BDA0003232895840000073
it is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of an internal satellite-ground network after networking with constellation satellites to quickly respond to user requirements in the prior art;
fig. 2 is a flowchart of a low-earth-orbit internet constellation satellite-ground link planning method based on constraint satisfaction according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a satellite observation range of a ground station according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of a visibility range of inter-satellite distances provided by embodiments of the present disclosure;
FIG. 5 is a schematic diagram of an efficient measurement link matrix provided by an embodiment of the present disclosure;
fig. 6 is a flowchart of an arc segment collision solving process provided by an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The scenario in this example is as follows:
the satellite scene is formed by networking 800 small satellites, the orbit height is 1200km, and the satellite scene mainly provides internet access service. The ground scene is composed of 100 ground gateway stations, and all the ground stations are single-beam full-function measurement and control equipment. The 100 ground gateway stations are mainly distributed in the northeast, northwest, the west, the southeast and the north pole outside China.
The embodiment of the disclosure provides a low-orbit internet constellation satellite-ground link planning method based on constraint satisfaction, as shown in fig. 2, the method includes the following steps:
step 201, constructing a star-earth geometric visible model.
Optionally, a satellite-ground geometric visible model is constructed by using a J2000 earth inertial coordinate system according to the number of satellite orbits, the geometric layout of ground gateway station equipment and the site coordinates.
Illustratively, according to a formula
Figure BDA0003232895840000081
And
Figure BDA0003232895840000082
and constructing the satellite-ground geometric visible model.
Wherein, as shown in fig. 3, it is a schematic view of the observation range of the ground station to the satellite, G is the ground gateway station equipment, S is the on-orbit running satellite, E is the pitch angle between the measurement and control antenna electric axis and the target satellite, β is the geocentric angle from the ground gateway station equipment to the target satellite, R is the radial distance from the ground gateway station equipment to the target satellite, R is the distance between the ground gateway station equipment and the target satelliteEIs the earth center distance, h, of the ground gateway station equipmentsIs the orbital altitude of the target satellite.
Step 202, constructing an inter-satellite distance visible model.
Optionally, a geometric visible model between satellites is constructed according to the orbital elements and relative positions of the satellites with different orbital planes.
For example, as shown in FIG. 4, it is a schematic view of the visible range of the inter-satellite distance, let rsat1Is the orbital radius of sat1, rsat2Is the radius of the track of sat2,
Figure BDA0003232895840000083
is the angle between the orbital planes.
The maximum pointing angle between stars can be expressed as:
Figure BDA0003232895840000091
Figure BDA0003232895840000092
let the effective radiation power of sat1 be EIRPsat1Gain of antenna of sat2 is Gsat2Reception sensitivity of Ssat1The link loss from the antenna to the input of the receiving system is Lsat2The spatial losses from sat1 to sat2 are LspThe working frequency of the link is f;
then as the basis for avoiding the signal interference between the systems and in the systems, the reachable distance R of the signals between the satellites is calculatedsignalExpressed as:
Figure BDA0003232895840000093
and 203, constructing a satellite-ground link visible model according to the satellite-ground geometric visible model.
Optionally, determining a rain attenuation value of the satellite-ground link; acquiring the functions of ground and satellite-borne measuring equipment and the installation position of a satellite-borne antenna; and constructing a satellite-ground link visible model according to the satellite-ground geometric visible model, the rain attenuation value, the functions of the ground and satellite-borne measuring equipment and the installation position of a satellite-borne antenna.
Specifically, the rain attenuation value of the satellite-ground link is estimated according to noise radiated from the sky and the earth outside the ground station antenna and noise caused by the atmosphere and rainfall.
Illustratively, according to formula ARAIN＝γRLE(dB) and formula
Figure BDA0003232895840000094
Figure BDA0003232895840000095
Determining rain fade of satellite-to-ground linkThe value is obtained.
Wherein, γRIs a path attenuation factor, LEFor the effective path of the electromagnetic wave in the rain, when there is rainfall, the rain area through which the electromagnetic wave passes is equivalent to the fact that a physical temperature T is connected in series on a downlinkmAttenuation of ARAINOf a passive attenuator, TSKYIs the air temperature, Δ TAThe rain attenuation value is shown. The equivalent noise temperature is changed due to rainfall, so that the signal intensity is changed, the required power is changed when the signal with the equivalent intensity to that of the signal without rainfall is received, the changed part is the rain attenuation value, the value has a corresponding relation with the temperature change, and the temperature is an intermediate variable.
Illustratively, according to a formula
Figure BDA0003232895840000101
And
Figure BDA0003232895840000102
and constructing a satellite-ground link visible model.
Wherein R'maxIs the maximum measurement and control distance E 'of ground gateway station equipment after rain decay'minThe minimum measurement and control elevation angle of the ground gateway station equipment for tracking the target satellite after considering the rain fade is taken into consideration.
And step 204, acquiring measurement data between the target satellite and the ground gateway station equipment according to the satellite-ground link visible model.
Wherein the measurement data includes range, azimuth, and elevation data between the target satellite and the ground gateway station device.
Optionally, the resource screening and the selection of the scheduling duration are completed through preprocessing. The resource screening comprises available resource screening of ground gateway station equipment and programmable resources of space constellation satellites; the scheduling duration depends on the satellite-to-ground visibility forecast and the associated constraints.
The main factors of whether a ground gateway station equipment is available include: the operating conditions of the ground gateway station equipment and the local weather conditions. And marking the working state of the ground gateway station equipment according to the convention of the information transmission rule, screening available resources and participating in subsequent scheduling. Meanwhile, a rain attenuation value on the information transmission link is obtained according to weather analysis, the available priority of the ground gateway station equipment is determined according to the rain attenuation value, and relevant operation strategies such as power regulation of the ground gateway station equipment, suspension of the ground gateway station equipment and the like are assisted.
The main factors of whether the satellite resources can provide services include: the health of the satellite, internal interference and external interference of the constellation system. Internal interference and external interference are interference constraints in the inter-satellite distance visibility model. The available priorities of the satellites are marked by analyzing the satellite health information according to the real-time telemetry data of the satellites. Meanwhile, according to the satellite orbit information inside the constellation and outside the same frequency band, the inter-satellite distance forecasting result is obtained, and the operation required to be performed on the satellite, such as beam adjustment, power adjustment or service suspension, is judged.
Step 205, determining constraint conditions according to the satellite-ground geometric visible model and the inter-satellite distance visible model.
And step 206, determining the validity of the measurement data according to the constraint condition, and establishing an effective measurement link matrix according to the validity of the measurement data.
Optionally, after determining the validity of all the measurement data, the valid data is clipped according to the determined minimum time slice, and an effective measurement link matrix is established.
For example, let R be the radial distance between the ground gateway station equipment and the target satellite, and E be the pitch angle between the measurement and control antenna electric axis and the target satellite; rmaxThe maximum measurement and control distance, E, of the ground gateway station equipmentminIs the minimum elevation condition for the ground gateway station equipment to track the target satellite.
The constraint for valid measurement data is then expressed as: r is less than or equal to Rmax,E≥Emin；
Delta T is a time slice meeting the shortest measuring arc length, T is a visible arc segment time length window of the gateway station equipment tracking satellite, the window is simply referred to as a visible arc segment time length window, and A is { a ═ a }1,a2,…,a|M|Is the set of tasks to be performed.
Then the number of time slices in a visible arc time length window is expressed as
Figure BDA0003232895840000111
In this embodiment, the number of the time slices may be 1, and the purpose is that the time slices are used in an mxk visible matrix in a constellation of subsequent M gateway stations and K satellite networks, and it is a visible arc that is not a time slice that is involved in an actual mxk visible matrix, and the visible arc and the time slice are equivalent after "the number of the time slices is 1" is added.
Aiming at the orbit measurement task of each satellite, M pieces of ground gateway station equipment and K pieces of constellation participation measurement of satellite networking are arranged, and then an M multiplied by K visible matrix is obtained, wherein the M pieces of ground gateway station equipment adopt G1, G2 and … GMThat is, the measurement data satisfies R.ltoreq.R when the constraint such as rain fall is taken into consideration in the time slicemax，E≥EminIf the measurement data is valid, the corresponding satellite-ground link value is set to be 1; when the measured data in the time slice considering the rain attenuation and other constraints does not satisfy R ≦ Rmax，E≥EminIf the measured data is invalid, the corresponding satellite-ground link value is set to "0", and the obtained valid measured link matrix is shown in fig. 5, where t in fig. 5 is the starting time of each visible arc segment duration window.
Let t1Time satellite s internal interference signal strength of
Figure BDA0003232895840000112
The maximum tolerance degree of the ground gateway station equipment to the internal interference of the constellation is maxg_dis；t1The amount of rain falling from the time ground gateway station equipment g is
Figure BDA0003232895840000113
The maximum allowable range of the ground gateway station equipment operation for rainfall is maxg_rain。
At a certain time t1The condition that the star-ground geometric visible window is actually available is expressed as:
Figure BDA0003232895840000114
the condition is one of the constraints to be considered when establishing the satellite-ground link: interference constraints for satellite signals inside and outside the constellation.
And step 207, determining a satellite-ground networking planning principle.
Optionally, the resource allocation principle when a single satellite executes a task and the resource allocation principle when the whole constellation is planned are determined according to the geometric layout of the ground gateway station equipment resources and the spatial configuration of the constellation.
(1) Dynamic adjustment minimum principle: because the process of implementing the constellation on-orbit management support is dynamic, when the on-orbit operation management environment changes, such as the requirement changes suddenly, the ground resources are abnormal, and the like, the originally specified scheduling plan is influenced. In order to accommodate new on-track operational management requirements, the original schedule must be revised while following the least impact principles so that the adjusted schedule changes are as minimal as possible.
(2) And (3) conflict resolution strategy: when multiple satellites need the ground station to provide information transmission service at the same time, since the ground station can only provide service for a limited number of satellites, there may be a link scheduling conflict between the antenna beam of the ground gateway station and the constellation satellite. The specific strategy comprises the following steps:
priority principle: and when time conflict occurs, ensuring that the task with high priority preferentially obtains the use right of the arc segment.
The feasible principle is as follows: when the tasks of the ground gateway station equipment and the spacecraft are switched, sufficient time is guaranteed to be reserved for state adjustment and parameter configuration, so that the feasibility of a visible arc section is obtained. Typically, the task interval time is 5 minutes.
Principle preservation: when the solvable conflict occurs, the start-stop time of the visible arc segment is adjusted as much as possible to reserve an effective time period and complete the task, so that the task cannot be completed due to the deletion of available resources is avoided.
Non-preemptive principle: each available arc segment is assigned and cannot be preempted.
Exclusivity principle: the single-beam equipment can only provide measurement and control support for one spacecraft at a certain time.
Equipment burden balancing principle: the balance of the tasks undertaken by the system needs to be considered when resource scheduling is carried out, namely, the number of the tasks undertaken by each device is ensured to be not large, and the situation that one device undertakes too many tasks and the other device is too idle is avoided.
The specific arc segment collision solving process is shown in fig. 6, wherein M1 and N1 in fig. 6 are two adjacent time windows; me is the end time of the M1 time window, Et is the switching time of the device beam, Ns is the start time of the N1 time window; ms is the starting time of the M1 time window, Ne is the ending time of the N1 time window, Rn is the minimum observation duration of the N1 time window, and Rm is the minimum observation duration of the M1 time window.
For example, let Q be the maximum number of beams that can be formed by the ground gateway station equipment, and the maximum number of targets that can be tracked by the ground gateway station equipment is represented as Q ≦ Q;
let T1And T2Is two tasks in the task to be executed, and a task T is set1Is executed at time St1Task T2Is executed at time St2Task T1And task T2A minimum execution interval of ΔkIn execution order, task T1And task T2Is expressed as St2≥St1+Δk；
Let SDTMIs the start maintenance time, EDT, of the ground gateway station equipmentMIs the maintenance end time of the ground gateway station equipment, and the minimum maintenance time is Delta TMThen, the principle of the satellite-ground networking planning is expressed as:
SDTM≥EDTM+ΔTM。
and 208, establishing a target satellite-ground link planning model according to the satellite-ground networking planning principle, the constraint condition and the effective measurement link matrix.
For example, let A ═ a1，a2,…,a|M|Is the set of tasks to be performed, wijIs to schedule the time periodTask to be completed by Star i in its jth visible arc, 1<i<n,1<j<NiN is the number of satellites scheduled to perform the task, NiNumber of arc segments visible in the scheduling time for satellite i, S ═ S1,s2,…,s|G|Resource sets of antenna beams of the ground gateway station equipment, C represents a set of constraints containing all the constraints of the scheduling problem, TW represents a set of time windows indicating the conditions for which the satellite-ground geometrically visible window in step 206 above is actually available, each task has a series of time windows or none with respect to each resource, if not, indicating that the task cannot be executed on the resource, Th represents a scheduling deadline, and the scheduling problem of the satellite-ground link can be represented in the following form:
Θ＝{A,S,C,TW,Th}；
let tiE {0,1} represents task aiFor a given subset of tasks
Figure BDA0003232895840000131
If the task subset is
Figure BDA0003232895840000132
If any task is not satisfied, the scheduling result is invalid, and the task subset is completed
Figure BDA0003232895840000133
The requirements are expressed as:
Figure BDA0003232895840000134
let xi,jE {0,1} represents a resource selection decision variable if resource S is selectedjPerforming task aiThen xi,j＝1，TWi,jRepresenting the set of time windows available for the jth resource for the ith task,
Figure BDA0003232895840000141
representing time window decisionsVariable, if resource SjIn a time window
Figure BDA0003232895840000142
Internal execution task aiThen, then
Figure BDA0003232895840000143
Figure BDA0003232895840000144
Representing a set of feasible solutions that satisfy all scheduling constraints for a subset of tasks that must be completed
Figure BDA0003232895840000145
Matching resources and time windows must be allocated, represented as:
Figure BDA0003232895840000146
let stiRepresenting task aiScheduling start time of diRepresenting task aiIf task aiAnd task ai′Simultaneously occupying one resource SjThen task aiAnd task ai′Must satisfy the following conditions:
C21＝{Z|xi,j*si-xi′,k*si′≥di′，if si≥si′,i，i′∈M，j∈S}；
C22＝{Z|xi，j*si′-xi′,j*si≥di,if si′≥si,i,i′∈M,j∈S}；
is provided with
Figure BDA0003232895840000147
Indicating the start time of the kth time window, any task that can be completed must begin at the available time window start time of the selected resource
Figure BDA0003232895840000148
After that, it is expressed as:
Figure BDA0003232895840000149
is provided with
Figure BDA00032328958400001410
Indicating the end time of the kth time window during which any task that can be completed must be executed within the available time window of the selected resource
Figure BDA00032328958400001411
And is included in the scheduling period Th, and is represented as:
Figure BDA00032328958400001412
C42＝{Z|0≤si+di≤Th,i∈M}；
f (Z) is a scheduling optimization objective function;
the target satellite-ground link planning model is as follows: maxf (z) ═ Σi∈M(tipi)。
piRepresenting task aiThe priority of (2).
And 209, calculating the target satellite-ground link planning model to obtain a satellite-ground link resource scheduling result.
Optionally, in the case that multiple demand priorities to be scheduled are different, the level of the demand priority is used to measure the task value of completing the task. The method takes the weighted maximum of the task satisfaction rate and the resource saving rate as a scheduling target, takes days as a basic scheduling period, and establishes a target satellite-ground link planning model.
Illustratively, a heuristic algorithm suitable for solving a complex large-scale combinatorial optimization problem is selected, and a dynamic adjustment greedy algorithm is designed to improve the solving performance. The following mainly explains the algorithm improvement aspect:
1) the initial solution construction method based on the conflict degree comprises the following steps: and selecting the tasks to be scheduled by sequencing the unscheduled tasks based on the priority, and calculating the conflict degree of all the alternative arcs of the tasks to be scheduled and the scheduled task window, wherein the conflict degree comprises the conflict quantity and the conflict time sum. And selecting the arc segment with the minimum conflict degree each time, adding the arc segment into the arranged arc segment set, ensuring local optimization and being beneficial to increasing the current adaptive value function so as to obtain an initial solution with better performance.
2) Scheduling based on time slicing technique: aiming at the problem of 'resource fragmentation' in the traditional ground resource scheduling, the time slicing technology facing the global scheduling of the satellite-ground link resources is realized in the algorithm. And selecting proper time slice parameters according to the visible time length distribution of the constellation satellite and the ground station. If the period of the time slice is too long, the utilization rate of the satellite-ground link is too low; if the period of the time slice is too short, the satellite-ground link scheduling scale is increased, and the scheduling time is increased.
3) Interference avoidance technology based on prior information: the interference for the low-orbit constellation is mainly from the inside and outside of the system. The inner part is mainly from two stages, while the outer part mainly occurs over the equator. The traditional methods of resolving interference are load shutdown or attitude maneuver, but are only applicable to single-star mode. In order to solve the problem of constellation interference avoidance, prior information is added into an algorithm, and avoidance is achieved by means of planning.
In order to avoid the algorithm from falling into a loop or a feedback process without deep search, the dynamic adjustment process specifically operates as follows:
step 1: and obtaining a preliminary satellite-ground link arc section set through STK software, equally dividing visible arc sections into short visible arc sections according to the shortest measurement and control duration, and dividing the arc sections into I arc section sets to be scheduled according to the time intervals of the arc sections.
Step 2: all tasks currently outstanding are fetched as set TS. The set TS is forward sorted based on priority. Judging whether the set TS is empty, and if not, entering Step 3; otherwise, entering Step 9;
step 3: and selecting the task T with the highest priority, and screening all observation arc sections available for the task T to serve as a set A. The number T of observation arc segments required by the task T;
step 4: and judging whether the selected arc segment set is empty or not. If empty, go to Step 5; otherwise, entering Step 6;
step 5: and (4) calculating the conflict degrees of all arc sections and the rest arc sections in the set A, which are required based on the shortest time interval, and sorting the conflict degrees from small to large, and selecting t arc sections as candidate solutions. If the conflict degrees are the same, selecting the first t arc sections with the longest duration as candidate solutions, and repeating Step 1;
step 6: based on a conflict resolution strategy, deleting the satellite-ground link arcs in the set A, the interval between the selected arcs and the selected arcs is smaller than the shortest time interval requirement, and entering Step 7;
step 7: deleting unavailable satellite-ground link arcs based on the interference avoidance strategy, and entering Step 8;
step 8: selecting t satellite-ground link arc sections as candidate solutions according to a dynamic adjustment minimum principle, a track surface balancing strategy, a time delay minimum strategy and a current weighting satisfaction degree maximum principle, and entering Step 2;
step 9: and finishing the scheduling and outputting all the selected candidate solutions.
In simulation, for scheduling of 1000 tasks of an internet constellation of 800 satellites, a greedy algorithm result is shown in table 1, and table 1 is a constellation earth link planning greedy algorithm scheduling result.
TABLE 1
Figure BDA0003232895840000161
When the greedy search algorithm is adopted for satellite-ground link planning, because the current optimal decision is made at each stage of calculation and the decision can not be changed any more, the calculation does not need to be circulated or repeated. As can be seen from Table 1, the greedy algorithm operates at a high speed and can obtain a feasible solution in a short time.
The beneficial effects of this disclosure are as follows:
1. the invention discloses a satellite-ground link planning method based on a constraint satisfaction model, which solves the problem that low-orbit constellations without inter-satellite links ignore the constellation configuration, the balanced use of the constellation orbital plane and other planning constraints when multitask scheduling is carried out. Meanwhile, the problems of low reliability, weak survivability and small flexibility of single-satellite planning are solved.
2. A time slicing technology for global scheduling of satellite-ground link resources is provided. By dynamically selecting the time slice period parameters, the purpose of reasonably solving the contradiction between the resource fragmentation problem and the satellite-ground link scheduling time problem is achieved.
3. An interference avoidance technique based on a constraint satisfaction planning model is provided. And adopting prior information, satisfying the model through constraint, and realizing interference avoidance by means of planning.
4. Satellite orbit types to which the present disclosure applies include: a medium-low orbit internet constellation; the types of device resources used include: a gateway station single beam device and a gateway station multi beam device, a set of 100 ground gateway station device resources participating in scheduling. And adopting an improved heuristic greedy algorithm to carry out scheduling, wherein 418 seconds are required for completing scheduling.
Based on the constraint satisfaction-based low-orbit internet constellation satellite-ground link planning method described in the embodiment corresponding to fig. 2, an embodiment of the present disclosure further provides a computer-readable storage medium, for example, the non-transitory computer-readable storage medium may be a Read Only Memory (ROM), a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like. The storage medium stores computer instructions for executing the constraint satisfaction-based low-orbit internet constellation satellite-ground link planning method described in the embodiment corresponding to fig. 2, which is not described herein again.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

Claims (9)

1. A low-orbit Internet constellation satellite-ground link planning method based on constraint satisfaction is characterized by comprising the following steps:
constructing a satellite-ground geometric visible model;
constructing an inter-satellite distance visible model;
constructing a satellite-ground link visible model according to the satellite-ground geometric visible model;
acquiring measurement data between a target satellite and ground gateway station equipment according to the satellite-ground link visible model;
determining constraint conditions according to the satellite-ground geometric visible model and the inter-satellite distance visible model;
determining the validity of the measurement data according to the constraint condition, and establishing an effective measurement link matrix according to the validity of the measurement data;
determining a satellite-ground networking planning principle;
establishing a target satellite-ground link planning model according to the satellite-ground networking planning principle, the constraint condition and the effective measurement link matrix;
and calculating the target satellite-ground link planning model to obtain a satellite-ground link resource scheduling result.
2. The method of claim 1, wherein said constructing a satellite-to-ground link visibility model from said satellite-to-ground geometric visibility model comprises:
determining a rain attenuation value of the satellite-ground link;
acquiring the functions of ground and satellite-borne measuring equipment and the installation position of a satellite-borne antenna;
and constructing a satellite-ground link visible model according to the satellite-ground geometric visible model, the rain attenuation value, the functions of the ground and satellite-borne measuring equipment and the installation position of a satellite-borne antenna.
3. The method of claim 2, wherein the constructing the star-to-earth geometrically visible model comprises:
according to the formula
Figure FDA0003232895830000011
And
Figure FDA0003232895830000012
constructing the satellite-ground geometric visible model;
wherein E is a pitch angle between a measurement and control antenna electric axis and a target satellite, beta is a geocentric angle from the ground gateway station equipment to the target satellite, R is a radial distance from the ground gateway station equipment to the target satellite, and R isEIs the earth center distance, h, of the ground gateway station equipmentsIs the orbital altitude of the target satellite.
4. The method of claim 3, wherein determining the rain fade value for the satellite-to-ground link comprises:
according to formula ARAIN＝γRLE(dB) and formula
Figure FDA0003232895830000021
Determining a rain attenuation value of the satellite-ground link;
wherein, γRIs a path attenuation factor, LEFor the effective path of the electromagnetic wave in the rain, when there is rainfall, the rain area through which the electromagnetic wave passes is equivalent to the fact that a physical temperature T is connected in series on a downlinkmAttenuation of ARAINOf a passive attenuator, TSKYIs the air temperature, Δ TAThe rain attenuation value is shown.
5. The method of claim 4, wherein the constructing a satellite-to-ground link visibility model from the satellite-to-ground geometric visibility model comprises:
according to the formula
Figure FDA0003232895830000022
And
Figure FDA0003232895830000023
constructing a satellite-ground link visible model;
wherein R'maxIs the maximum measurement and control distance E 'of ground gateway station equipment after rain decay'minThe minimum measurement and control elevation angle of the ground gateway station equipment for tracking the target satellite after considering the rain fade is taken into consideration.
6. The method of claim 1, wherein determining validity of the measurement data according to the constraint condition and establishing a valid measurement link matrix according to the validity of the measurement data comprises:
setting R as the radial distance between the ground gateway station equipment and a target satellite, and setting E as the pitch angle between a measurement and control antenna electric axis and the target satellite; rmaxThe maximum measurement and control distance, E, of the ground gateway station equipmentminThe minimum elevation angle condition of the target satellite tracked by the ground gateway station equipment is set;
the constraint for valid measurement data is then expressed as: r is less than or equal to Rmax,E≥Emin；
Δ T is the time slice that satisfies the shortest measured arc length, T is the visible arc segment duration window, A ═ a1,a2,…,a|M|Is the set of tasks to be performed;
then the number of time slices in a visible arc time length window is expressed as
Figure FDA0003232895830000024
Aiming at the orbit measurement task of each satellite, M pieces of ground gateway station equipment and K pieces of constellation of satellite networking are arranged to participate in measurement, an M multiplied by K visible matrix is obtained, and when the measurement data in the time slice is effective, the corresponding satellite-ground link value is set to be 1; when the measurement data in the time slice is invalid, setting the corresponding satellite-ground link numerical value as '0' to obtain the effective measurement link matrix;
let t1Time satellite s internal interference signal strength of
Figure FDA0003232895830000031
The maximum tolerance degree of the ground gateway station equipment to the internal interference of the constellation is maxg_dis；t1The amount of rain falling from the time ground gateway station equipment g is
Figure FDA0003232895830000032
The maximum allowable range of the ground gateway station equipment operation for rainfall is maxg_rain；
At a certain time t1The condition that the star-ground geometric visible window is actually available is expressed as:
Figure FDA0003232895830000033
7. the method of claim 1, wherein determining the satellite-to-ground networking planning principle comprises:
setting Q as the maximum number of beams which can be formed by the ground gateway station equipment, and expressing the maximum target number which can be tracked by the ground gateway station equipment as Q less than or equal to Q;
let T1And T2Is two tasks in the task to be executed, and a task T is set1Is executed at time St1Task T2Is executed at time St2Task T1And task T2A minimum execution interval of ΔkIn execution order, task T1And task T2Is expressed as St2≥St1+Δk；
Let SDTMIs the start maintenance time, EDT, of the ground gateway station equipmentMAt the end of maintenance of the ground gateway station equipmentTime, minimum maintenance time Δ TMThen, the principle of the satellite-ground networking planning is expressed as:
SDTM≥EDTM+ΔTM。
8. the method according to claim 1, wherein the establishing a target satellite-ground link planning model according to a preset satellite-ground networking planning principle and the effective measurement link matrix comprises:
let A ═ a1,a2,…,a|M|Is the set of tasks to be performed, wijIs the task to be completed by the satellite i in the jth visible arc of the satellite during the scheduled time, 1<i<n,1<j<NiN is the number of satellites scheduled to perform the task, NiNumber of arc segments visible in the scheduling time for satellite i, S ═ S1,s2,…,s|G|The resource set of the antenna beams of the ground station equipment, C represents a constraint set containing all the constraints of the scheduling problem, TW represents a time window set, each task has a series of time windows or none with respect to each resource, if not, it represents that the task cannot be executed on the resource, Th represents the scheduled deadline, and the scheduling problem of the satellite-ground link can be represented in the following form:
Θ＝{A,S,C,TW,Th}；
let tiE {0,1} represents task aiFor a given subset of tasks
Figure FDA0003232895830000041
If the task subset is
Figure FDA0003232895830000042
If any task is not satisfied, the scheduling result is invalid, and the task subset is completed
Figure FDA0003232895830000043
The requirements are expressed as:
Figure FDA0003232895830000044
let xi,jE {0,1} represents a resource selection decision variable if resource S is selectedjPerforming task aiThen xi,j＝1，TWi,jRepresenting the set of time windows available for the jth resource for the ith task,
Figure FDA0003232895830000045
represents a time window decision variable, if resource SjIn a time window
Figure FDA0003232895830000046
Internal execution task aiThen, then
Figure FDA0003232895830000047
Figure FDA0003232895830000048
Representing a set of feasible solutions that satisfy all scheduling constraints for a subset of tasks that must be completed
Figure FDA0003232895830000049
Matching resources and time windows must be allocated, represented as:
Figure FDA00032328958300000410
let stiRepresenting task aiScheduling start time of diRepresenting task aiIf task aiAnd task ai′Simultaneously occupying one resource SjThen task aiAnd task ai′Must satisfy the following conditions:
C21＝{Z|xi,j*si-xi′,j*si′≥di′,if si≥si′,i,i′∈M,j∈S}；
C22＝{Z|xi，j*si′-xi′，j*si≥di,if si′≥si,i,i′∈M,j∈S}；
is provided with
Figure FDA00032328958300000411
Indicating the start time of the kth time window, any task that can be completed must begin at the available time window start time of the selected resource
Figure FDA00032328958300000412
After that, it is expressed as:
Figure FDA00032328958300000413
is provided with
Figure FDA00032328958300000414
Indicating the end time of the kth time window during which any task that can be completed must be executed within the available time window of the selected resource
Figure FDA00032328958300000415
And is included in the scheduling period Th, and is represented as:
Figure FDA0003232895830000051
C42＝{Z|0≤si+di≤Th,i∈M}；
f (Z) is a scheduling optimization objective function;
the target satellite-ground link planning model is as follows: max F (Z) ═ Σi∈M(tipi)。
piRepresenting task aiIn the priority ofAnd (4) stages.
9. The method of claim 1, wherein the constructing the inter-satellite distance visibility model comprises:
let rsat1Is the orbital radius of sat1, rsat2Is the radius of the track of sat2,
Figure FDA0003232895830000052
is the angle between the track surfaces;
the maximum pointing angle between stars can be expressed as:
Figure FDA0003232895830000053
Figure FDA0003232895830000054
let the effective radiation power of sat1 be EIRPsat1Gain of antenna of sat2 is Gsat2Reception sensitivity of Ssat1The link loss from the antenna to the input of the receiving system is Lsat2The spatial losses from sat1 to sat2 are LspThe working frequency of the link is f;
then as the basis for avoiding the signal interference between the systems and in the systems, the reachable distance R of the signals between the satellites is calculatedsignalExpressed as:
Figure FDA0003232895830000055
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