CN113965255A - Relay satellite task planning method and device for observing transmission coordination - Google Patents
Relay satellite task planning method and device for observing transmission coordination Download PDFInfo
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Abstract
The invention provides a relay satellite task planning method and a relay satellite task planning device for observing transmission coordination, wherein a target task set is obtained; then, determining a task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval in the target task set; further determining whether the mission planning scheme meets a preset conflict condition based on a conflict parameter of the mission planning scheme; and under the condition that the task planning scheme does not meet the conflict condition, adjusting the task planning scheme of the relay satellite based on the cooperative transmission task, the measurement and control task and the predetermined planning time interval until the task planning scheme meets the preset conflict condition. By the method, task conflicts of the relay satellite are reduced, and the task satisfaction rate is improved.
Description
Technical Field
The invention relates to the technical field of satellites, in particular to a relay satellite task planning method and device for observing transmission coordination.
Background
In the related art, task planning of a relay satellite system mainly aims at mining the potential of space-time-frequency resources, so that the effective relay transmission efficiency of the system is improved. However, as the number of users of the relay satellite increases, the system has a large task conflict in the task processing process of the users, and the task satisfaction rate is low.
Disclosure of Invention
In view of the above, the present invention provides a relay satellite task planning method and device for observing transmission coordination, so as to reduce task conflicts of relay satellites and improve task satisfaction rate.
In a first aspect, an embodiment of the present invention provides a relay satellite mission planning method for observing transmission coordination, including: acquiring a target task set; the target task set comprises a cooperative transmission task of a remote sensing satellite connected with the relay satellite and an independent task of the relay satellite; the independent tasks comprise measurement and control tasks and data transmission tasks; determining a task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval; determining whether the mission planning scheme meets a preset conflict condition based on a conflict parameter of the mission planning scheme; and if not, continuing to execute the step of determining the task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and the predetermined planning time interval until the task planning scheme meets the preset conflict condition.
Further, the planning time interval is determined by: and dividing preset scheduling time into a plurality of planning time intervals based on the system topology characteristics of the relay satellite and the statistical characteristics of the execution time of the target task set.
Further, the planning time interval includes a plurality of time intervals; the task planning scheme comprises a plurality of sub-schemes corresponding to planning time intervals; the method comprises the following steps of determining a mission planning scheme of the relay satellite based on a cooperative transmission mission, an independent mission and a predetermined planning time interval, wherein the mission planning scheme comprises the following steps: determining a cooperative transmission task corresponding to each planning time interval according to the time parameter of the cooperative transmission task; determining an independent task corresponding to a planning time interval according to the time parameter of the time window of the independent task; establishing a parallel operation service model of the task planning of the relay according to the cooperative transmission task, the independent task and the preset constraint condition corresponding to the planning time interval; and generating a sub-scheme corresponding to the relay satellite in the planning time interval based on a preset algorithm and the parallel operation service model.
Further, the time parameter of the cooperative transmission task includes a plurality of standby time windows of the cooperative transmission task and an execution time of the cooperative transmission task; the standby time window comprises an available time window or a disuse time window; when the abandoned time window is that the task planning scheme does not meet the preset conflict condition, in the task planning scheme, a standby time window corresponding to the cooperative transmission task is used; the step of determining the cooperative transmission task corresponding to the planning time interval according to the time parameter of the cooperative transmission task comprises the following steps: obtaining a time intersection of the available time window and the current planning time interval; if the time intersection is not empty, judging whether the time intersection is larger than or equal to the execution time; if the time interval is larger than or equal to the preset time interval, determining the cooperative transmission task as a cooperative transmission task corresponding to the planned time interval; if the current planning time interval is smaller than the preset planning time interval, the planning time interval which is adjacent to the current planning time interval and has intersection with the available time window and the current planning time interval are determined as the current planning time interval, and the step of obtaining the time intersection of the available time window and the current planning time interval is continuously executed.
Further, the sub-schemes include a primary scheduling scheme and a secondary scheduling scheme; the method comprises the steps of generating a corresponding sub-scheme of the relay satellite in a planning time interval based on a preset algorithm and a parallel operation service model, wherein the step comprises the following steps: determining a primary task set and a secondary task set based on the preset priority of the cooperative transmission task and the preset priority of the independent task; the preset priority of the tasks in the secondary task set is lower than the preset priority of the tasks in the primary task set; solving the primary task set through a preset algorithm, a parallel operation service model and a planning time interval, and determining a solving result as a primary scheduling scheme; the primary scheduling scheme comprises tasks in a primary task set and corresponding first scheduling time; judging whether the conflict parameters of the primary scheduling scheme meet preset conflict conditions or not; if yes, solving the secondary task set through a preset algorithm, a parallel operation service model, a planning time interval and first scheduling time, and determining a solving result as a secondary primary scheduling scheme; if not, determining the standby time window of the cooperative transmission task in the planning time interval as a disuse time window, and continuing to execute the step of determining the cooperative transmission task corresponding to the planning time interval according to the time parameter of the cooperative transmission task until the conflict parameter of the primary scheduling scheme meets the preset conflict condition.
Further, the step of solving the secondary task set through a preset algorithm, a parallel operation service model, a planning time interval and a first scheduling time, and determining a solving result as a secondary primary scheduling scheme includes: obtaining the residual planning time corresponding to the secondary task set based on the planning time interval and the first scheduling time; and solving the secondary task set through a preset algorithm, a parallel operation service model and the residual planning time, and determining a solving result as a secondary primary scheduling scheme.
Further, the conflict parameters comprise a conflict rate and/or a task-free execution time; the conflict condition comprises that the conflict rate is smaller than a first target threshold value, and/or the task-free execution time is smaller than a second target threshold value; the method comprises the following steps of determining whether a mission planning scheme meets a preset conflict condition based on conflict parameters of the mission planning scheme, wherein the steps comprise: calculating the conflict rate and/or task-free execution time of the task planning scheme; and judging whether the conflict rate of the task planning scheme is smaller than a first target threshold value and/or judging whether the task-free execution time of the task planning scheme is smaller than a second target threshold value.
Further, the planning time interval includes a plurality of time intervals; the task planning scheme comprises a plurality of sub-schemes corresponding to planning time intervals; the method further comprises the following steps: if the emergency task is received, determining a planning time interval corresponding to the emergency task according to the time window of the emergency task; determining whether the emergency task conflicts with the sub-scheme or not according to the determined current sub-scheme of the planning time interval; if the emergency task exists, determining that the emergency task is a cooperative transmission task or an independent task; if the emergency task is an independent task, replacing the emergency task with the independent task in the sub-scheme, and determining an updated sub-scheme of the planning time interval; and if the emergency task is a cooperative transmission task, planning the tasks and the emergency tasks in the sub-scheme through a preset algorithm to obtain an updated sub-scheme.
In a second aspect, an embodiment of the present invention further provides a relay satellite mission planning apparatus for observing transmission coordination, including: the task acquisition module is used for acquiring a target task set; the target task set comprises a cooperative transmission task of a remote sensing satellite connected with the relay satellite and an independent task of the relay satellite; the task planning module is used for determining a task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval; the conflict determination module is used for determining whether the mission planning scheme meets a preset conflict condition based on a conflict parameter of the mission planning scheme; and if not, continuing to execute the step of determining the task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and the predetermined planning time interval until the task planning scheme meets the preset conflict condition.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a processor and a memory, where the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the relay satellite mission planning method for observing transmission coordination.
In a fourth aspect, embodiments of the present invention further provide a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the above-mentioned relay satellite mission planning method for observing transmission coordination.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a relay satellite task planning method and a relay satellite task planning device for observing transmission coordination, wherein a target task set is obtained; then, determining a task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval in the target task set; further determining whether the mission planning scheme meets a preset conflict condition based on a conflict parameter of the mission planning scheme; and under the condition that the task planning scheme does not meet the conflict condition, adjusting the task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and the predetermined planning time interval until the task planning scheme meets the preset conflict condition. By the method, task conflicts of the relay satellite are reduced, and the task satisfaction rate is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a relay satellite mission planning method for observing transmission coordination according to an embodiment of the present invention;
FIG. 2 is a flow chart of a conventional mission planning scheme provided by an embodiment of the present invention;
fig. 3 is a flowchart of an emergency mission planning scheme according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a relay satellite task planning method and apparatus for observing transmission coordination according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the increase in the number of orbits of spacecraft, automation of the Relay Satellite System (TDRSS) service is becoming a real demand. A satellite-to-ground measurement and control technology-based resource distribution system by ibm (international Business Machines Corporation), and a random search-based resource distribution system developed by Computer Science Corporation (CSC). With the advance of the reservation service time being shortened and the task quantity being increased, the resource allocation efficiency requirement of the TDRSS system is also increased.
Regarding task planning and resource scheduling of the relay satellite system, main work focuses on fully mining resources such as space-time frequency and the like of task scheduling of the relay satellite system, improving the utilization rate of system resources, and serving full-bandwidth and full-time relay transmission as far as possible for users. The other work is that the remote sensing satellite needs the relay satellite to transmit data in real time, so that a data transmission window of the relay satellite and a task of the remote sensing satellite are jointly planned, and the real-time performance and the rapidity of the task of the remote sensing satellite are improved.
(1) In the aspects of fully mining resources such as time, space and frequency resources of relay satellite system task scheduling and improving the utilization rate of system resources, the related technology establishes a parallel scheduling model of time window constraint aiming at a service scene after double-satellite networking, and provides a Greedy-based random Adaptive Search algorithm (GRASP), so that the resource utilization rate of the TDRSS system is greatly improved.
With the construction and application of the skywire system in China, the task scheduling and resource management problem research of the TDRSS system is also continuously promoted. In 2004, the related technology analyzes the TDRSS scheduling characteristics and the corresponding constraint conditions based on the constraint satisfaction theory, and provides a CSP model of the relay satellite scheduling problem. And further, a dynamic scheduling model of the relay satellite is designed according to three conditions of time requirement change, new task addition and resource failure, and algorithm optimization with real-time feedback is carried out.
In order to improve service timeliness of the TDRSS system, a multi-satellite multi-antenna dynamic scheduling method is provided based on difference of antenna service resources and randomness of tasks in related technologies. In order to solve the problem of re-scheduling of the task after resource preemption caused by the emergency burst task, the related technology also provides a two-stage task scheduling strategy (comprising an initial scheduling stage and a dynamic scheduling stage), and the scheduling performance of the relay satellite system under various dynamic interference factors is optimized. A balance mechanism of a game theory is also introduced into the related technology, a repeated game framework with proper punishment and a forgiveness strategy is constructed, and meanwhile, resource conflict is reduced through a cooperation mode, so that the maximization of the total income of a user is realized.
(2) In the aspect of data transmission of relay satellites and task joint planning of remote sensing satellites, researchers of the national defense science and technology university provide a quick-response data transmission scheduling algorithm for independent tasks of the ground measurement and control tasks, and the method mainly combines and schedules the relay transmission and the independent tasks of the ground measurement and control tasks and improves the rapidity of task response. The xu frame of Beijing aerospace university and the like provide a satellite-ground combined routing planning method combining satellite data transmission and ground network transmission, so that the rapidity of satellite data transmission is improved.
The work mainly excavates resources such as space-time frequency and the like of task scheduling of the relay satellite system, improves the utilization rate of satellite resources, or improves the response rapidity and the task real-time performance of the remote sensing task through remote sensing satellite (sensing) -relay satellite data transmission-ground network transmission.
Because the satellite system resources are limited, the relay satellite users are more and more, the system still has larger conflicts to the user tasks and lower task satisfaction rate, and the tolerance degree or flexibility and optimization space on the task execution time are further mined by further combining the user tasks to reduce or eliminate the task conflicts. In addition, an important task of the relay satellite is to provide a relay transmission service for a global earth observation satellite (remote sensing satellite), task conflict of the relay satellite may cause change or adjustment of a mission plan of the remote sensing satellite, so for the remote sensing mission (data transmission) of the relay satellite, the mission plan of the relay satellite is closely related to the mission plan of the remote sensing satellite, and adjustment of one mission may bring adjustment of another mission. Therefore, when the remote sensing task planning of the relay satellite is carried out, the relay data transmission task and the remote sensing measurement and control task independent task (perception) can be considered to be jointly scheduled, namely, the perception-transmission associated task collaborative planning is considered, so that the conflict rate of the relay transmission task is reduced, and the task success rate of remote sensing observation and relay transmission is improved.
In summary, when the relay satellite system resources are limited, system users are more and more, and user tasks need to be combined, the relay data transmission task and the remote sensing measurement and control task (sensing) are jointly scheduled, that is, through sensing-transmission associated task collaborative planning, the delay tolerance of the sensing task is improved, the time window of relay transmission is extended, the conflict rate of the relay transmission task is further improved, and the task success rate of remote sensing observation and relay transmission is improved.
Based on the above problems, the relay satellite task planning method and device for observing transmission coordination provided by the embodiments of the present invention can be applied to a task planning scene of a relay satellite.
To facilitate understanding of the embodiment, a method for planning a relay satellite mission in cooperation with observation and transmission disclosed in the embodiment of the present invention is first described in detail.
The embodiment of the invention provides a relay satellite task planning method for observation and transmission cooperation, which comprises the following steps of:
step S100, acquiring a target task set; the target task set comprises a cooperative transmission task of a remote sensing satellite connected with the relay satellite and an independent task of the relay satellite.
The cooperative transmission task is generally a planning task of a remote sensing satellite connected with a relay satellite, and the task generally has a plurality of alternative time windows. The independent tasks of the relay satellite generally include measurement and control tasks and data transmission tasks, and have a relatively fixed time window.
And S102, determining a task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval.
In a specific implementation process, the planning time interval may be determined in the following manner: and dividing preset scheduling time into a plurality of planning time intervals based on the system topology characteristics of the relay satellite and the statistical characteristics of the execution time of the target task set. The topological characteristics of the system generally comprise the track connection relationship, communication links and the like of a relay satellite, a remote sensing satellite, an aircraft and the like. The statistical characteristics can include the execution duration, frequency and other characteristics of the tasks. The preset scheduling time is usually 24 hours, the planning period of the previous day can be shortened to several hours in the above manner, the planning time interval is reduced (for example, 24 hours are divided into a plurality of planning time intervals of more than 100 minutes), and meanwhile, the granularity of the task execution time is also reduced (the unit is changed from ten minutes to three or five minutes, and the time waste is also reduced). The method simultaneously reduces the problem scale, and can integrally replace and the like under the emergency condition to reduce the planning complexity.
The following analysis can be done with respect to complexity: assuming that the total number of planning tasks in the original 24 hours isJ u The planning complexity is
(usually with k)I>2)。
If the 24-hour plan is divided into N on the order of hourstsA planning time interval (also referred to as a "time slot" or "time interval", typically 100-ts5-15), the complexity of the time interval programming is approximately
. WhereinJ u To total number of tasks, JkcrossIs the total number of tasks (J) across the time intervalkcrossI.e. much less thanJ u ），kcopFor across time interval task complexity coefficient (k)copIs a constant),
for the time interval task complexity coefficient (
Is a constant). The complexity can be reduced by at least 1-2 orders of magnitude. (description wording consistent)
Specifically, the planning time interval may include a plurality of time intervals; correspondingly, the mission planning scenario comprises a plurality of sub-scenarios of planning time intervals. When determining the mission planning scheme of the relay satellite, the mission planning scheme can be determined by the following method:
(1) and determining the cooperative transmission task corresponding to the planning time interval according to the time parameter of the cooperative transmission task aiming at each planning time interval.
Specifically, the time parameter of the cooperative transmission task includes a plurality of standby time windows of the cooperative transmission task and an execution time of the cooperative transmission task; the standby time window comprises an available time window or a disuse time window; and when the disuse time window is that the task planning scheme does not meet the preset conflict condition, in the task planning scheme, cooperatively transmitting a standby time window corresponding to the task. In the process of determining the cooperative transmission task corresponding to the planning time interval, the time intersection of the available time window and the current planning time interval can be obtained first; if the time intersection is not empty, judging whether the time intersection is larger than or equal to the execution time; if the time interval is larger than or equal to the preset time interval, determining the cooperative transmission task as a cooperative transmission task corresponding to the planned time interval; if the current planning time interval is smaller than the preset planning time interval, determining the planning time interval which is adjacent to the current planning time interval and has intersection with the available time window and the current planning time interval as the current planning time interval, continuously executing the step of obtaining the time intersection of the available time window and the current planning time interval, thereby determining the cooperative transmission task corresponding to the planning time interval, and carrying out the joint task planning of a plurality of planning time intervals under the condition of needing.
(2) And determining the independent task corresponding to the planning time interval according to the time parameter of the time window of the independent task.
(3) And establishing a parallel operation service model of the task planning of the relay according to the cooperative transmission task, the independent task and the preset constraint condition corresponding to the planning time interval. The constraint may be a single execution of a single task only, etc.
(4) And generating a sub-scheme corresponding to the relay satellite in the planning time interval based on a preset algorithm and the parallel operation service model.
Generally, a task with a higher priority is executed first; the sub-schemes may include a primary scheduling scheme and a secondary scheduling scheme corresponding to different priority-to-task. Specifically, a primary task set and a secondary task set may be determined based on a preset priority of the cooperative transmission task and a preset priority of the independent task; the preset priority of the tasks in the secondary task set is lower than the preset priority of the tasks in the primary task set; then, solving the primary task set through a preset algorithm, a parallel operation service model and a planning time interval, and determining a solving result as a primary scheduling scheme; the primary scheduling scheme comprises tasks in a primary task set and corresponding first scheduling time; further judging whether the conflict parameters of the primary scheduling scheme meet preset conflict conditions or not; if yes, solving the secondary task set through a preset algorithm, a parallel operation service model, a planning time interval and first scheduling time, and determining a solving result as a secondary primary scheduling scheme; if not, determining the standby time window of the cooperative transmission task in the planning time interval as a disuse time window, and continuing to execute the step of determining the cooperative transmission task corresponding to the planning time interval according to the time parameter of the cooperative transmission task until the conflict parameter of the primary scheduling scheme meets the preset conflict condition.
In the process of determining the secondary primary scheduling scheme, the remaining scheduling time corresponding to the secondary task set can be obtained based on the scheduling time interval and the first scheduling time; and then solving the secondary task set through a preset algorithm, a parallel operation service model and the residual planning time, and determining a solving result as a secondary primary scheduling scheme.
Step S104, determining whether the mission planning scheme meets a preset conflict condition based on the conflict parameter of the mission planning scheme; and if not, continuing to execute the step of determining the task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and the predetermined planning time interval until the task planning scheme meets the preset conflict condition.
Specifically, the conflict parameters comprise a conflict rate and/or a task-free execution time; the conflict condition comprises that the conflict rate is less than a first target threshold value, and/or the task-free execution time is less than a second target threshold value. Firstly, the conflict rate and/or the task-free execution time of the task planning scheme can be calculated; and then judging whether the conflict rate of the task planning scheme is smaller than a first target threshold value and/or judging whether the task-free execution time of the task planning scheme is smaller than a second target threshold value, and further determining whether the task planning scheme meets the preset conflict condition.
In the working process of the relay satellite, if an emergency task is received, determining a planning time interval corresponding to the emergency task according to a time window of the emergency task; then determining whether the emergency task conflicts with the sub-scheme or not according to the determined current sub-scheme of the planning time interval; if the conflict exists, the emergency task needs to be determined as a cooperative transmission task or an independent task; when the emergency task is an independent task, the emergency task is replaced with the independent task in the sub-scheme, the updated sub-scheme of the planning time interval is determined, and then the conflict situation of the sub-scheme is further evaluated and adjusted; if the emergency task is a cooperative transmission task, planning the tasks and the emergency tasks in the sub-scheme through a preset algorithm to obtain an updated sub-scheme.
The embodiment of the invention provides a relay satellite task planning method for observing transmission coordination, which comprises the steps of firstly obtaining a target task set; then, determining a task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval in the target task set; further determining whether the mission planning scheme meets a preset conflict condition based on a conflict parameter of the mission planning scheme; and under the condition that the task planning scheme does not meet the conflict condition, adjusting the task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and the predetermined planning time interval until the task planning scheme meets the preset conflict condition. By the method, task conflicts of the relay satellite are reduced, and the task satisfaction rate is improved.
The embodiment of the invention also provides another relay satellite task planning method for observing transmission coordination, which is realized on the basis of the method shown in the figure 1. The method mainly aims at the problems that the task conflict rate is increased and the task satisfaction rate is low due to the fact that the tasks of the relay satellite system are increased along with the increase of the tasks of the user, fully utilizes the characteristics of the association of the user tasks (perception) and the relay transmission tasks, reduces or eliminates the task conflict and improves the user task satisfaction degree through perception-transmission associated task collaborative planning and resource scheduling.
Compared with the traditional relay satellite system task planning which mainly aims at excavating the potential of space-time-frequency resources and improving the effective relay transmission efficiency of the system, the method mainly aims at excavating the available time window of the remote sensing satellite user task through the perception-transmission joint task (also called as a perception-transmission associated task, a remote sensing-relay transmission associated task or a perception-relay transmission joint task), reducing task conflicts through expanding the time window and time tolerance and improving the completion rate of the task. Compared with the traditional sensing-relay transmission combined task planning based on the remote sensing satellite, the method does not take rapid transmission of remote sensing data as a main target, but takes task time window expansion as a main target, so that the task conflict rate is reduced, the task completion rate is improved, and the main problems, the optimization target and the concrete solution are different.
Compared with the related technology, the method has the following advantages:
(1) compared with the traditional joint planning of earth observation and communication: (i) different targets, the traditional 'observation to the ground and communication collaborative planning' focuses more on the real-time property and the rapidity of the remote sensing task and takes the minimum observation-transmission time as the target, and the 'communication and observation to the ground collaborative planning' takes the optimization performance of solutions such as task conflict reduction, high-priority task completion rate and the like as the target; (ii) the specific implementation methods are different, the traditional 'earth observation and communication collaborative planning' is generally realized by converting a minimum transmission time objective function into a shortest path search, and the 'communication and earth observation collaborative planning' is generally realized by adjusting the execution time of a measurement and control task and reducing conflicts through time window relaxation, so that the optimization performance of a solution is improved.
(2) Compared with the traditional relay transmission task planning method: (i) by introducing a perception transmission associated task (equivalent to the 'cooperative transmission task'), the time window and the delay tolerance degree of the transmission task are properly expanded, and the task conflict rate is reduced and eliminated by increasing the time window for executing the task and a plurality of possible choices; (ii) classification processing is carried out through whether the time delay of the tasks is tolerant or not, whether the transmission tasks are related or not and the like, rather than simple priority differentiation, the task characteristics are refined, the constraint conditions of the tasks are determined, and the search space of the solution can be properly reduced; (iii) planning time slots are divided based on the statistical relationship between tasks and topological connection, instead of continuous planning throughout the day, the problem scale can be properly reduced, the complexity is reduced, and meanwhile, the re-planning complexity can be reduced based on the integral replacement of time slot tasks in emergency tasks.
With reference to the flowchart of the conventional mission planning scheme shown in fig. 2 and the flowchart of the emergency mission planning scheme shown in fig. 3, the method mainly includes the following steps:
step 1: and (4) initializing a task planning of the relay satellite system, initializing a satellite constellation and dividing a planning time slot.
Step 2: aware transmission-related task planning and scheduling, and collision mitigation.
And step 3: emergency mission planning and scheduling, and conflict resolution.
And 4, step 4: and finishing the task planning and resource scheduling and issuing the scheme.
The step 1 is specifically realized by the following steps:
(1) and (4) initializing a constellation of the relay transmission system and loading orbit parameters.
(2) And loading a task target, and loading a task target track/position parameter.
(3) And (4) loading the space task of the relay satellite system.
(4) And dividing the task planning time slot based on the system topology change and the task duration statistical characteristics.
And dividing the scheduled time interval into a plurality of planning time slots according to topological characteristics of the relay satellite, the remote sensing satellite needing relay transmission and other aircrafts or spacecrafts and statistical characteristics of the execution time of the user task.
The step 2 is specifically realized by the following steps:
(1) and initializing parameters of a relay transmission task planning system.
(2) Constraint conditions of relay transmission tasks; the method mainly comprises the following steps: time windows, serving beams, serving latency, etc.
(3) And establishing a parallel operation service model for multi-satellite and multi-beam relay transmission task planning.
An objective function and constraint conditions of a parallel operation service model for multi-satellite and multi-beam relay transmission task planning are as follows:
there are three constraints in the above formula, where constraint 1 indicates that a single task is served only once, constraint 2 requires that the task execution time must be within the user's corresponding visible time window, and constraint 3 requires that the latency during the execution of adjacent tasks must be greater than the antenna latency. The specific parameter meanings are as follows:
u: user set (mainly referred to as aerospace vehicle users).
J: all tasks for all users are aggregated.
Ju: user' s
And the initiated task set is U belongs to U.
[TS,Te]：TSIs the scheduling start time TeIs the scheduling end time. Wherein [ TS,Te]= [T1S,T1e]∪[T2S,T2e]∪...∪[TNtsS,TNtse]，N ts Is the number of time slots (time division number).
MN: a set of available link resources. To simplify the model, there are
. n represents the service star number, m represents the time window, k =1 represents the laser link OSA, k =2 represents the Ka band monopole antenna link KSA, k =3 represents the S band monopole antenna link SSA, k =4, k =5, k =6 represents the S band phased array antenna multiple access link SMA.
Wherein for perceptual transmission-related task i, its time window m is actually a sequence of time windows { m }1，m2，…，mNswiI.e. that
Is shown as
，NswiRepresenting the total number of available time windows for the perceptual transmission of the associated task i.
(4) Task classification and prioritization. And dividing the tasks into perception transmission associated tasks and independent tasks, and performing priority sequencing.
The perception transmission associated tasks can acquire time windows executed by a plurality of associated tasks through the combined planning of the remote sensing satellite and the relay satellite, so that the delay tolerance of the associated tasks is improved, and more time resources and a larger conflict reduction space are provided for task conflict reduction. Independent tasks are relatively free of more time windows and greater delay tolerance, and conflicts are usually either executed or cancelled.
(5) And realizing initial task planning solution based on task planning, conflict elimination and cross-time-slot task cooperation of planning time slots. And in the task solving process, the optimization target of the product of the tasks and the weights thereof is maximized according to the scheduling rule.
And dividing the scheduled time interval into a plurality of planning time slots according to topological characteristics of the relay satellite, the remote sensing satellite needing relay transmission and other aircrafts or spacecrafts and statistical characteristics of the execution time of the user task. And performing multi-planning time slot combined scheduling on the tasks with the execution time length exceeding one planning time slot according to the priority to form an initial solution. And then, carrying out task planning solution through task planning of the same planning time slot and joint scheduling of multiple planning time slots. When the conflict rate of tasks or the cumulative non-execution time fraction after planning is less than a certain predetermined value, the conflict is considered to be eliminated. Otherwise, further returning to the optimization solution of task planning, including further acquiring a time window and reducing task conflicts by sensing the re-planning of the transmission associated tasks.
The task planning, scheduling and optimization solution can adopt various optimization algorithms, including heuristic intelligent optimization algorithm, mixed integer programming and other methods. The method mainly adopts an intelligent optimization algorithm.
(6) A primary scheduling scheme is generated. And generating a primary scheduling scheme based on the task planning solution result.
(7) And applying and scheduling secondary tasks. And distributing the time fragments left by the primary task planning to the secondary tasks based on the primary scheduling scheme, and performing resource distribution and scheduling of the secondary tasks to generate a secondary task planning and resource scheduling scheme.
(8) And finally generating a scheduling scheme. And generating a final scheduling scheme and a resource allocation scheme based on the primary scheduling scheme and the secondary scheduling scheme.
(9) Checking whether the final resource allocation scheme meets the requirement or meets the optimization termination condition. If yes, ending, and turning to the next step, otherwise, turning to (2) to continue optimizing.
(10) And finishing the conventional task planning and scheduling.
The step 3 is specifically realized by the following steps:
(1) and inserting the emergency tasks into the parallel planning model to form a new emergency planning model.
(2) And checking the task conflict condition based on the conventional task planning scheme, and determining whether the fast re-planning is needed or not according to the planning format. And if the fast planning is not needed, turning to (9) to carry out conventional mission planning. If rapid task re-planning is required, the next step is carried out.
(3) And (4) classifying emergency tasks. If the task is an independent task, single task insertion and replacement processing is firstly carried out, and if the single task insertion and replacement are unsuccessful, replacement and insertion processing of the time slot task are further considered. And if the task is a perception transmission associated task, re-optimizing the associated task and searching for a proper time window.
(4) And the insertion and conflict reduction of the emergency task. And after the task is inserted, checking task conflict, and if the task conflict is not eliminated, replanning and optimizing the system based on the perception transmission association task.
(5) And optimizing and recombining the multi-time slot planning task. The emergency task insertion causes the change of the planning time slot tasks, the optimization and the recombination of the multi-time slot planning tasks are needed, and the idle time fragments of the tasks among the time slots are reduced.
(6) And optimizing and recombining the multi-time slot planning task. The emergency task insertion causes the change of the planning time slot tasks, the optimization and the recombination of the multi-time slot planning tasks are needed, and the idle time fragments of the tasks among the time slots are reduced.
(7) A fast resource allocation scheme is generated. And generating a resource allocation scheme based on the optimization and recombination results of the multi-time slot planning task.
(8) And if the rapid resource allocation scheme meets the requirements, ending the emergency task insertion and planning, and turning to (10). Otherwise, entering a routine task planning process after the emergency task is inserted, and performing emergency task processing through the routine task planning, namely, switching to the next routine task planning.
(9) And (4) planning tasks in a conventional mode.
(10) And finishing emergency task planning.
The step 4 is specifically realized by the following steps:
and according to the task planning and resource scheduling scheme, after the auditing is passed, informing the related task application unit of the resources correspondingly distributed to the tasks applied by the related user units, and generating corresponding task instructions to be injected into the system.
In the method, the task planning and scheduling are combined through sensing-relay transmission, and the conflict is eliminated; in addition, emergency task planning and scheduling are carried out, and conflicts are eliminated. Compared with the prior art, the method has at least one of the following advantages:
(1) the resource scheduling method based on the remote sensing-relay transmission associated task collaborative planning expands the time window and the delay tolerance degree of a transmission task, reduces task conflicts and improves the user task satisfaction degree.
(2) The planning time slot is divided based on the task execution statistical time length, the time slot scheduling is carried out based on the planning time slot, and the complexity is reduced by reducing the task planning interval so as to reduce the number of tasks. Meanwhile, the task planning efficiency is improved through task replacement and local task adjustment in emergency task planning.
(3) By classifying tasks, including remote sensing-relay transmission associated tasks, different processing methods are adopted for different types of tasks, so that the task conflict rate and the planning complexity are reduced.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a relay satellite mission planning apparatus for observing transmission coordination, as shown in fig. 4, where the apparatus includes:
a task obtaining module 400, configured to obtain a target task set; the target task set comprises a cooperative transmission task of a remote sensing satellite connected with the relay satellite and an independent task of the relay satellite;
a mission planning module 402, configured to determine a mission planning scheme for the relay satellite based on the cooperative transmission mission, the independent mission, and a predetermined planning time interval;
a conflict determining module 404, configured to determine whether the mission planning scheme meets a preset conflict condition based on a conflict parameter of the mission planning scheme; and if not, continuing to execute the step of determining the task planning scheme of the relay satellite based on the cooperative transmission task, the measurement and control task and the predetermined planning time interval until the task planning scheme meets the preset conflict condition.
The relay satellite mission planning device for observation and transmission coordination provided by the embodiment of the invention has the same technical characteristics as the relay satellite mission planning method provided by the embodiment, so that the same technical problems can be solved, and the same technical effect can be achieved.
An embodiment of the present invention further provides an electronic device, referring to fig. 5, where the electronic device includes a processor 130 and a memory 131, the memory 131 stores machine executable instructions that can be executed by the processor 130, and the processor 130 executes the machine executable instructions to implement the relay satellite mission planning method for observing transmission coordination.
Further, the electronic device shown in fig. 5 further includes a bus 132 and a communication interface 133, and the processor 130, the communication interface 133 and the memory 131 are connected through the bus 132.
The Memory 131 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 133 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used. The bus 132 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 5, but this does not indicate only one bus or one type of bus.
The processor 130 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 130. The Processor 130 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 131, and the processor 130 reads the information in the memory 131 and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.
The embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are called and executed by a processor, the machine-executable instructions cause the processor to implement the relay satellite mission planning method based on observation and transmission coordination, and specific implementation may refer to method embodiments, and is not described herein again.
The observation and transmission cooperative relay satellite mission planning method and apparatus and the computer program product of the electronic device provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. A relay satellite task planning method for observing transmission coordination is characterized by comprising the following steps:
acquiring a target task set; the target task set comprises a cooperative transmission task of a remote sensing satellite connected with the relay satellite and an independent task of the relay satellite; the independent tasks comprise measurement and control tasks and data transmission tasks;
determining a mission planning scheme of the relay satellite based on the cooperative transmission mission, the independent mission and a predetermined planning time interval;
determining whether the task planning scheme meets a preset conflict condition based on the conflict parameter of the task planning scheme; and if not, continuing to execute the step of determining the task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval until the task planning scheme meets a preset conflict condition.
2. The method of claim 1, wherein the planned time interval is determined by:
and dividing preset scheduling time into a plurality of planning time intervals based on the system topology characteristics of the relay satellite and the statistical characteristics of the execution time of the target task set.
3. The method of claim 1, wherein the planned time interval comprises a plurality; the task planning scheme comprises a plurality of sub-schemes corresponding to planning time intervals;
determining a mission planning scenario for the relay satellite based on the cooperative transmission mission, the independent mission, and a predetermined planning time interval, comprising:
for each planning time interval, determining a cooperative transmission task corresponding to the planning time interval according to the time parameter of the cooperative transmission task;
determining an independent task corresponding to the planning time interval according to the time parameter of the time window of the independent task;
establishing a parallel operation service model of the task planning of the relay according to the cooperative transmission task, the independent task and the preset constraint condition corresponding to the planning time interval;
and generating a sub-scheme corresponding to the relay satellite in the planning time interval based on a preset algorithm and the parallel operation service model.
4. The method according to claim 3, wherein the time parameters of the cooperative transmission task comprise a plurality of spare time windows of the cooperative transmission task and an execution time of the cooperative transmission task; the standby time window comprises an available time window or a deprecated time window; the abandoning time window is a standby time window corresponding to the cooperative transmission task in the task planning scheme when the task planning scheme does not meet the preset conflict condition;
determining the cooperative transmission task corresponding to the planning time interval according to the time parameter of the cooperative transmission task, wherein the step comprises the following steps:
obtaining a time intersection of the available time window and the current planning time interval;
if the time intersection is not empty, judging whether the time intersection is larger than or equal to the execution time;
if the cooperative transmission task is larger than or equal to the planning time interval, determining the cooperative transmission task as the cooperative transmission task corresponding to the planning time interval;
if the current planning time interval is smaller than the preset planning time interval, the planning time interval which is adjacent to the current planning time interval and has intersection with the available time window and the current planning time interval are determined as the current planning time interval, and the step of obtaining the time intersection of the available time window and the current planning time interval is continuously executed.
5. The method of claim 3, wherein the sub-schemes comprise a primary scheduling scheme and a secondary scheduling scheme;
generating a sub-scheme corresponding to the relay satellite in the planning time interval based on a preset algorithm and the parallel operation service model, wherein the step comprises the following steps:
determining a primary task set and a secondary task set based on the preset priority of the cooperative transmission task and the preset priority of the independent task; the preset priority of the tasks in the secondary task set is lower than the preset priority of the tasks in the primary task set;
solving the primary task set through a preset algorithm, the parallel operation service model and the planning time interval, and determining a solving result as a primary scheduling scheme; the primary scheduling scheme comprises tasks in the primary task set and corresponding first scheduling time;
judging whether the conflict parameters of the primary scheduling scheme meet preset conflict conditions or not;
if yes, solving the secondary task set through a preset algorithm, the parallel operation service model, the planning time interval and the first scheduling time, and determining a solving result as a secondary primary scheduling scheme;
if not, determining the standby time window of the cooperative transmission task in the planning time interval as a disuse time window, and continuing to execute the step of determining the cooperative transmission task corresponding to the planning time interval according to the time parameter of the cooperative transmission task until the conflict parameter of the primary scheduling scheme meets the preset conflict condition.
6. The method according to claim 5, wherein the step of solving the secondary task set through a preset algorithm, the parallel operation service model, the planning time interval and the first scheduling time, and determining a solution result as a secondary primary scheduling scheme comprises:
obtaining the residual planning time corresponding to the secondary task set based on the planning time interval and the first scheduling time;
and solving the secondary task set through a preset algorithm, the parallel operation service model and the residual planning time, and determining a solving result as a secondary primary scheduling scheme.
7. The method of claim 1, wherein the conflict parameters comprise a conflict rate and/or a task-free execution time; the conflict condition comprises that the conflict rate is smaller than a first target threshold value, and/or the task-free execution time is smaller than a second target threshold value;
determining whether the mission planning scheme meets a preset conflict condition based on the conflict parameter of the mission planning scheme, wherein the step comprises the following steps:
calculating the conflict rate and/or task-free execution time of the task planning scheme;
and judging whether the conflict rate of the task planning scheme is smaller than a first target threshold value and/or judging whether the task-free execution time of the task planning scheme is smaller than a second target threshold value.
8. The method of claim 1, wherein the planned time interval comprises a plurality; the task planning scheme comprises a plurality of sub-schemes corresponding to planning time intervals;
the method further comprises the following steps:
if an emergency task is received, determining a planning time interval corresponding to the emergency task according to a time window of the emergency task;
determining whether the emergency task conflicts with the sub-scheme or not according to the determined current sub-scheme of the planning time interval;
if so, determining that the emergency task is a cooperative transmission task or an independent task;
if the emergency task is an independent task, replacing the emergency task with an independent task in the sub-scheme, and determining an updated sub-scheme of the planning time interval;
and if the emergency task is a cooperative transmission task, planning the tasks and the emergency tasks in the sub-scheme through a preset algorithm to obtain an updated sub-scheme.
9. A relay satellite mission planning device for observing transmission coordination is characterized by comprising:
the task acquisition module is used for acquiring a target task set; the target task set comprises a cooperative transmission task of a remote sensing satellite connected with the relay satellite and an independent task of the relay satellite; the independent tasks comprise measurement and control tasks and data transmission tasks;
the task planning module is used for determining a task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval;
the conflict determination module is used for determining whether the task planning scheme meets preset conflict conditions or not based on conflict parameters of the task planning scheme; and if not, continuing to execute the step of determining the task planning scheme of the relay satellite based on the cooperative transmission task, the independent task and a predetermined planning time interval until the task planning scheme meets a preset conflict condition.
10. An electronic device, comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any of claims 1 to 8.
11. A computer-readable storage medium having computer-executable instructions stored thereon which, when invoked and executed by a processor, cause the processor to implement the method of any of claims 1 to 8.
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| CN116760454A (en) * | 2023-08-09 | 2023-09-15 | 中国科学院空天信息创新研究院 | Relay satellite resource allocation method and device |
| CN116760454B (en) * | 2023-08-09 | 2023-10-13 | 中国科学院空天信息创新研究院 | Relay satellite resource allocation method and device |
| CN116961738A (en) * | 2023-09-21 | 2023-10-27 | 中国西安卫星测控中心 | Off-site incomplete backup method for key tracking arc section of aerospace measurement and control network |
| CN116961738B (en) * | 2023-09-21 | 2023-12-26 | 中国西安卫星测控中心 | Off-site incomplete backup method for key tracking arc section of aerospace measurement and control network |
| CN117371764A (en) * | 2023-12-05 | 2024-01-09 | 十方星链(苏州)航天科技有限公司 | Task planning method, device and equipment for relay satellite and storage medium |
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