CN114297808B - Task allocation and resource scheduling method of avionics system - Google Patents

Task allocation and resource scheduling method of avionics system Download PDF

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CN114297808B
CN114297808B CN202111463215.3A CN202111463215A CN114297808B CN 114297808 B CN114297808 B CN 114297808B CN 202111463215 A CN202111463215 A CN 202111463215A CN 114297808 B CN114297808 B CN 114297808B
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task
miss
cluster
resource
aircraft
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CN114297808A (en
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何锋
周璇
王荣巍
余婧
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Beihang University
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Abstract

The invention discloses a task allocation and resource scheduling method of an avionics system, which comprises the steps of firstly adopting an AADL modeling language and an attribute expansion set thereof to carry out network construction on an MPAS model; then setting the bearing resource amount of the aircraft cluster and cluster members and the resource amount required by task allocation; judging the size of the load bearing resource quantity and the task resource quantity; after multiple round robin, the task scheduling is carried out by adopting a first adaptive allocation principle of priority of the residual resources. The method realizes the interconnection of the central controller of the avionics system → the cluster group → the cluster members by utilizing the connection attribute of AADL, and cooperates with the cluster members to undertake the task set by executing the tasks through the end systems in the cluster members. The method adapts to the characteristics of wide node distribution, large quantity and uneven density in an avionics system, and improves the undifferentiated access capability of cross-platform module level resources.

Description

Task allocation and resource scheduling method of avionics system
Technical Field
The invention relates to task Allocation and resource scheduling in an avionics system with multiple platforms, in particular to a task Allocation and resource scheduling method of the avionics system.
Background
The Avionics, is derived from the words Aviation and Electronics, representing a combination of the two subject areas of aeronautics and Electronics. The Avionics Information System (Avionics Information System) has been used with aircraft platforms and weapons on board as three major factors in measuring the operational performance of modern military aircraft. The three have close relationship, so that no advanced avionics integrated system exists, and no advanced combat aircraft exists. In the year of 2009, 01, advanced avionics integrated technology published by the national defense industry publishing society, and the authors include Xiong Hua Steel and Wang Chinese. In chapter 2, the avionics system function is introduced to mainly support the flight tasks of takeoff, navigation, landing and the like, and the battle tasks of detection, attack, transportation and the like of an airplane. Avionics systems include three aspects of functionality: (1) radio communication, navigation and identification; (2) detecting and countering with electrons; and (3) system control and management.
With the continuous diversification of flight tasks, the number of airborne avionic devices continues to increase, and avionic systems face various challenges such as cost and performance. With the rapid development of high and new technologies such as intelligent technology, big data technology and the like, a traditional single avionics system is difficult to complete a composite combat task, information of a battlefield cannot be shared, and the combat style gradually changes from single-platform combat to multi-platform cluster combat. From the complete process of flight mission, some airborne avionics equipment is often in an idle state, and in order to improve the utilization rate of airborne resources, deeper avionics system integration is urgently needed. At present, the integration of a single-platform Avionics system has reached a very high degree, for example, an Integrated Modular Avionics (IMA) system integrates information processing resources of each functional subsystem into a core processing system, and the potential for further integration of devices in a platform is not great. Therefore, the single-Platform limitation needs to be broken through, and a Multi-Platform Avionics System (MPAS) is constructed by using each single Platform as a network node, so as to realize the resource integration and sharing among the platforms. "an avionics cloud multilayer task scheduling model facing to drone swarm" published in 04 th 09.2019, joker wang wei, peak; the unmanned aerial vehicle simulation model topological structure is disclosed in the paper, and a network controller, a switch and an end system are carried in each unmanned aerial vehicle platform.
The mission of the multi-platform aviation electronic system is complex and dispersed, the reliability and the real-time performance of the function realization depend on reasonable resource scheduling distribution and timely network communication interaction, wherein the resource scheduling distribution is to carry out combined application on distributed resources to meet different functional requirements, and the network communication interaction is to transmit the processing information of the distributed resources in the form of messages between nodes of the system and modules in the nodes. The Software Defined Network (SDN) separates the control function from the Network node, and the core component SDN controller exists in the mode of a Network platform and enjoys centralized control right, has configurable algorithm, logic and rules, and can perform dynamic balance allocation of resources and traffic. Therefore, the SDN is introduced into a multi-platform aviation electronic system, so that physical distribution and logic comprehensive cross-platform resource scheduling can be effectively supported; the SDN controller masters a network topology structure and transmission conditions thereof, a routing strategy can be planned according to communication requirements, network communication load balance is guaranteed, and interaction is rapid.
Disclosure of Invention
The invention provides a task allocation and resource scheduling method of an avionics system, which comprises the steps of firstly adopting an AADL modeling language and an attribute expansion set thereof to carry out network construction on an MPAS model; then setting the load bearing resource quantity of the aircraft cluster group and cluster members and the resource quantity required by task allocation; judging the size of the load bearing resource quantity and the task resource quantity; after multiple round robin, the task scheduling is carried out by adopting a first adaptive allocation principle of priority of the residual resources. The method realizes the interconnection of the central controller of the avionics system → the cluster group → the cluster members by utilizing the connection attribute of AADL, and cooperates with the cluster members to undertake the task set by executing the tasks through the end systems in the cluster members. The method adapts to the characteristics of wide node distribution, large quantity and uneven density in an avionics system, and improves the undifferentiated access capability of cross-platform module level resources.
The invention relates to a task allocation and resource scheduling method of an avionics system, which comprises the following steps:
step one, constructing a network topology structure of an MPAS model;
step 11, setting configuration elements of MPAS;
the construction of the multi-platform avionic model MPAS is described according to a network topology structure diagram PIC, configuration elements Arch and a summary task set MISS, and is expressed as MPAS = { PIC, arch, MISS } in a set form;
the configuration element Arch comprises a central controller CenCon and I aircraft clusters Clu, and is represented as Arch = { CenCon, clu in a set form 1 ,Clu 2 ,…,Clu i ,…,Clu I }；
Ith aircraft cluster Clu i Wherein, there are a aircraft cluster head and J aircraft cluster members, which are expressed as a set form
Figure BDA0003390091320000031
Jth aircraft cluster member
Figure BDA0003390091320000032
All end systems in (a) mark as +>
Figure BDA0003390091320000033
Step 12, selecting a network topology structure of the MPAS model;
the network topology is denoted as PIC, and PIC = { PIC 1 ,pic 2 ,…,pic γ ,…}；
Step 13, configuring a resource pool of the MPAS;
the central controller CenCon is used for controlling the aircraft cluster Clu;
resource pool on the central controller is recorded as
Figure BDA0003390091320000034
And is made of
Figure BDA0003390091320000035
The lower corner mark S represents the current round robin number;
step 14, configuring the resource quantity of the members of the aircraft cluster;
at the current round-robin time S, the jth aircraft cluster member
Figure BDA0003390091320000036
The resource amount capable of bearing is recorded as the jth node-bearing resource total amount->
Figure BDA0003390091320000037
Aircraft cluster member
Figure BDA0003390091320000038
All end systems in (a) mark as +>
Figure BDA0003390091320000039
Jth aircraft cluster member
Figure BDA00033900913200000310
Node-bearer resource total amount of
Figure BDA00033900913200000311
First aircraft cluster member when current round robin number S
Figure BDA00033900913200000312
The amount of resources that can be carried is recorded as the total amount of first node-bearer resources->
Figure BDA00033900913200000313
/>
Second aircraft cluster member at current round robin time S
Figure BDA00033900913200000314
The amount of resources that can be carried is recorded as the total amount of second node-bearer resources->
Figure BDA00033900913200000315
Last aircraft cluster member when current round robin number S
Figure BDA00033900913200000316
The resource amount capable of bearing is recorded as the last node-bearing resource total amount>
Figure BDA00033900913200000317
Step two, setting a summary task set MISS and a task resource pool;
the summary task set is denoted as MISS, and MISS = { Miss 1 ,Miss 2 ,…,Miss k ,…,Miss K }；
Miss 1 Representing a first set of tasks; the Miss 1 Is recorded as the amount of resources
Figure BDA00033900913200000318
Miss 2 Representing a second set of tasks; the Miss 2 Is recorded as the amount of resources
Figure BDA00033900913200000319
Miss k The kth task set is represented, and the lower corner mark k represents the identification number of the task set; for convenience of explanation, the Miss k Also referred to as any one task set; the Miss k Is recorded as the amount of resources
Figure BDA0003390091320000041
Miss K Representing the last task set, and the lower corner mark K represents the total number of the task sets; the Miss K Is recorded as the amount of resources
Figure BDA0003390091320000042
Any task set Miss k A plurality of tasks included in the system are
Figure BDA0003390091320000043
Wherein:
Figure BDA0003390091320000044
representing the kth task set Miss k The first task of (a); is/are>
Figure BDA0003390091320000045
Is recorded as the amount of resources
Figure BDA0003390091320000046
Figure BDA0003390091320000047
Representing the kth task set Miss k The second task of (1); is/are>
Figure BDA0003390091320000048
Is recorded as the amount of resources
Figure BDA0003390091320000049
Figure BDA00033900913200000410
Representing the kth task set Miss k The ith task in (1); the lower subscript l represents the identification number of the task; the above-mentioned
Figure BDA00033900913200000411
Is recorded as->
Figure BDA00033900913200000412
Figure BDA00033900913200000413
Representing the kth task set Miss k The last task in (1); the lower corner mark L represents the total number of tasks; is/are>
Figure BDA00033900913200000414
Is recorded as->
Figure BDA00033900913200000415
Then there are:
Figure BDA00033900913200000416
step three, task allocation and resource scheduling;
step 31, marking the number of round robin;
the current round robin frequency is marked as S, and the round robin frequency before S is called as the last round robin frequency and is marked as S-1; the next round after S is called as S +1;
step 32, selecting a cluster group of the largest resource pool;
the cluster group of the maximum resource pool is marked as MAX _ Sup S _Clu；
From
Figure BDA00033900913200000417
Selects the cluster group with the largest resource pool, assigns a value to->
Figure BDA00033900913200000418
If selected
Figure BDA00033900913200000419
If the maximum value is reached, the value is assigned to MAX _ Sup S Clu, i.e. </or>
Figure BDA00033900913200000420
Step 33, recording the aircraft cluster member-bearing resource amount;
recording
Figure BDA00033900913200000421
Is in each aircraft cluster member>
Figure BDA00033900913200000422
The amount of resources that can be carried;
step 34, selecting an aircraft cluster member corresponding to the maximum bearing resource amount;
comparison
Figure BDA0003390091320000051
And &>
Figure BDA0003390091320000052
Selecting the maximum load-bearing resource quantity according to the resource quantity in the resource list, and marking the maximum load-bearing resource quantity as MAX _ Sup S _Pla；
If it is
Figure BDA0003390091320000053
Is maximum, said is based on>
Figure BDA0003390091320000054
Assign to MAX _ Sup S Pla i.e. </R>
Figure BDA0003390091320000055
Step 35, judging the resource amount;
at the current round-robin time S, the method proceeds
Figure BDA0003390091320000056
And/or>
Figure BDA0003390091320000057
And (3) comparison:
comparing the resource amount with one:
if it is
Figure BDA0003390091320000058
Will->
Figure BDA0003390091320000059
In sequence and->
Figure BDA00033900913200000510
If any, the task resource amount in (4) is compared and if yes, the task resource amount belongs to->
Figure BDA00033900913200000511
Amount of task resources of or more than or less than said->
Figure BDA00033900913200000512
Then the task with the amount of resources less than will be at a cluster member>
Figure BDA00033900913200000513
Up scheduled transmission; said +>
Figure BDA00033900913200000514
The remaining tasks will continue to be allocated as the next round-robin S +1;
and comparing the resource amount:
if it is
Figure BDA00033900913200000515
Then the task is->
Figure BDA00033900913200000516
Will be at>
Figure BDA00033900913200000517
Performing scheduled transmissions;
and comparing the resource amount:
if it is
Figure BDA00033900913200000518
Is then true>
Figure BDA00033900913200000519
Is at>
Figure BDA00033900913200000520
Up scheduled transmission;
step 36, updating the resource pool of the aircraft cluster members;
Figure BDA00033900913200000521
the remaining resource amount on is recorded as->
Figure BDA00033900913200000522
And is and
Figure BDA00033900913200000523
will be described>
Figure BDA00033900913200000524
Send to cluster head>
Figure BDA00033900913200000525
Cluster head
Figure BDA00033900913200000526
Update>
Figure BDA00033900913200000527
The amount of resources of (c);
step 37, updating the resource pool of the MPAS;
first end system ES 1 Is recorded as the remaining resource amount
Figure BDA00033900913200000528
And is and
Figure BDA00033900913200000529
will then->
Figure BDA00033900913200000530
Is sent to be belonged to>
Figure BDA00033900913200000531
Network controller of (4)>
Figure BDA00033900913200000532
And the network controller->
Figure BDA00033900913200000533
To ES 1 Is updated to
Figure BDA00033900913200000534
Second end system ES 2 Is recorded as the remaining resource amount
Figure BDA00033900913200000535
And is and
Figure BDA00033900913200000536
will then->
Figure BDA00033900913200000537
Is sent to a receiver belonging to>
Figure BDA00033900913200000538
Network controller of (4)>
Figure BDA00033900913200000539
And the network controller->
Figure BDA00033900913200000540
To ES 2 Is updated to
Figure BDA0003390091320000061
P-th end system ES p Is recorded as the remaining resource amount
Figure BDA0003390091320000062
And is made of
Figure BDA0003390091320000063
Will then->
Figure BDA0003390091320000064
Is sent to a receiver belonging to>
Figure BDA0003390091320000065
Network controller of (4)>
Figure BDA0003390091320000066
And the network controller &>
Figure BDA0003390091320000067
To ES p Is updated to
Figure BDA0003390091320000068
Last end system ES P Is recorded as the remaining resource amount
Figure BDA0003390091320000069
And is made of
Figure BDA00033900913200000610
Will then->
Figure BDA00033900913200000611
Is sent to be belonged to>
Figure BDA00033900913200000612
Network controller of (4)>
Figure BDA00033900913200000613
And the network controller->
Figure BDA00033900913200000614
To ES P Is updated to
Figure BDA00033900913200000615
Step four, checking whether the summary task set is distributed or not;
repeating the third step to ensure that the first task set Miss 1 In the first aircraft cluster Clu 1 The resource amount of the aircraft cluster members is updated in the cluster head and the resource amount of the end system is updated in the network controller respectively;
repeating the third step to make the second task set Miss 2 Clustering Clu in a second aircraft 2 The distribution is carried out, and then the updating of the resource quantity of the aircraft cluster members in the cluster head and the resource quantity of the end system in the network controller are respectively executed;
repeating the third step to ensure that the last task set Miss K Clustering in the first aircraft a Clu I The resource amount of the aircraft cluster members is updated in the cluster head and the resource amount of the end system is updated in the network controller respectively;
after the fourth step, if the task set is not in the summary task set MISS, the task scheduling is finished;
if the collection task set MISS still has the residual task set (MISS) 3 ,Miss 4 ,…,Miss k-1 ,…,Miss K-1 ,Miss K ) Executing the step five;
step five, executing task allocation of round robin times S +1;
step 51, checking the remaining bearer resource amount;
checking aircraft cluster membership at the end of the current round S
Figure BDA00033900913200000616
Is greater than or equal to>
Figure BDA00033900913200000617
I.e. the amount of remaining-bearer resources->
Figure BDA00033900913200000618
Checking the load bearing resource amount of the cluster member when the current round robin number S is finished
Figure BDA00033900913200000619
I.e. surplus-resource pool
Figure BDA00033900913200000620
Step 52, distributing the tasks of the next round S +1;
judging the rest tasks in the summary task set; namely the size of the task identification number L and the total number L of the tasks;
if L < L, only the kth task set Miss is completed currently k The dispatching of the first one task needs to return to the step three to update the identification number of the task ordered set to be l +1;
if L = L, the kth task set Miss is currently completed k Dispatching all tasks, and further judging the size of an identification number K of the current mission ordered set and the size of a multi-platform avionic mission total number K;
if K is less than K, only the first K task sets are completed currently, and the identification number of the task set is updated to be K +1;
if K = K, then all task sets have been completed currently.
The task allocation and resource scheduling method of the avionics system has the advantages that:
(1) the invention constructs a multi-platform avionics architecture system of layered clustering, each single platform is aggregated nearby to form a plurality of clusters, and key resources in the platforms are subjected to standardized description and cross-platform synthesis through abstract virtual support, so that the characteristics of wide node distribution, large number and uneven density in the avionics system are adapted, and the undifferentiated access capability of cross-platform module level resources is improved.
(2) The invention realizes resource scheduling and communication interaction in the multi-platform avionics system based on a software definition mode, combines and distributes various distributed key resources from two levels of inside and outside the platform, designs a routing algorithm based on a link state to plan a message path, and improves the real-time performance and reliability of the multi-platform avionics system in mission task execution and system function completion.
(3) The method can quickly respond to the resource requirement of the summary task set, and distribute the corresponding summary tasks and tasks to the appropriate cluster and cluster members.
(4) The method of the invention can give priority to the distribution of tasks of the clusters and cluster members with the largest residual resources, and ensure the load balance and task balance among different clusters and cluster members.
Drawings
FIG. 1 is a flow chart of a method for task allocation and resource scheduling for an avionics system of the present invention.
FIG. 2 is a schematic view of the topology of the multi-platform avionics system of the present invention.
FIG. 3 is a diagram illustrating the mapping relationship and key attribute extension of the AADL basic components of the present invention.
Fig. 4 is a network transmission message frame format of the present invention.
Fig. 5 is a result of delay analysis of the simulation output task scheduled according to embodiment 1 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The MPAS model of the invention expands the AADL modeling capability under an Open Source AADL Tool Environment (OSATE) to complete the model design and the standardized description of a multi-platform aviation electronic system, realizes the resource scheduling and the communication interactive simulation of a distributed avionics system based on an OMNet + + (target Modular Network test platform in C + +), and ensures that the MPAS model adopts a first adaptive allocation principle with priority of residual resources to realize the function of task scheduling.
Network topology
Referring to fig. 2, a schematic diagram of a typical topology of the multi-platform avionics system of the present invention is shown. Considering that the multi-platform avionics system has the characteristics of wide platform distribution, large quantity and uneven density, a system architecture adopts a clustering structure according to further comprehensive requirements, a central controller CenCon is a core platform for managing an avionics system, an aircraft cluster group Clu is composed of a plurality of adjacent aircraft cluster members Pla, a cluster head CluCon is responsible for task distribution in the cluster group, and the aircraft cluster members Pla are responsible for task scheduling. In order to support open access across a network and networked control of key resources, a software-defined concept is introduced into an avionics system to separate a control layer and a data layer inside each cluster member, a switch SW is only responsible for forwarding data between end systems ES, and the control layer is separated from the switch SW and aggregated into an independent network controller NC. And aiming at scenes containing various interconnection types, establishing an abstract adaptation layer on a control layer, and completing adaptation mapping from a global network to various heterogeneous networks in the form of a standard interface of a wireless module. The cluster member internal devices communicate with each other by adopting an avionic full duplex switched Ethernet (AFDX).
Because the existing AADL modeling language can not support the description of a hierarchical clustering system structure and mission tasks, the invention adopts a mode of writing an attribute set to expand the modeling capability, and the mapping relation and the key attribute expansion of the AADL basic components are shown in figure 3. The central controller, the cluster head and the cluster members are all embodied in the form of system components, have three types of extended attributes of spatial position, identifier and effective and failure time, and meet the hierarchical inclusion relationship of the cluster, the cluster head and the cluster members; the central controller, the cluster head and cluster member internal end systems, the switch, the network controller and the wireless module are all embodied in the form of equipment components, and the end systems have six types of available resources, namely data processing, image processing, information storage, radar detection, weapon attack, defense and avoidance; the backbone network between the central controller and each cluster, the cluster network connected with each cluster platform and the built-in network inside each platform are all embodied in the form of connecting members and are distinguished by network types, transmission rates and supporting distances. The mission and the task respectively correspond to a process component and a thread component, and the task needs the six types of key resources to support execution and can carry out information interaction through a message mode.
In the present invention, the topological configuration is designated as Arch. The Arch comprises a star type, a ring type, a tree type, a full connection type, a bus type and an irregular type. Reference is made to edition 1 of 5.1996, computer network published by the university of western's electronics technology, press, leizhongjia, mayuxiang, page 6.
The topological structure configuration Arch comprises a central controller CenCon and a plurality of cluster groups Clu, and is expressed in a set form as Arch = { CenCon, clu 1 ,Clu 2 ,…Clu i ,…,Clu I }, wherein:
CenCon denotes a central controller;
Clu 1 representing a first cluster of aircraft;
Clu 2 representing a second cluster of aircraft;
Clu i representing the ith aircraft cluster, wherein the lower corner mark i is the identification number of the aircraft cluster;
Clu I representing the last cluster of aircraft, and the subscript I being the total number of clusters of aircraft.
For convenience of explanation, the Clu i Also referred to as any one cluster of aircraft. In the present invention, any one aircraft cluster Clu i Wherein, there is a aircraft cluster head and several aircraft cluster members, which are expressed as a set form
Figure BDA0003390091320000091
Figure BDA0003390091320000092
Indicates belonging to Clu i Aircraft cluster head.
Figure BDA0003390091320000093
Representing aircraft clusters Clu i The first aircraft cluster member of (a).
Figure BDA0003390091320000094
Representing aircraft clusters Clu i A second aircraft cluster member. />
Figure BDA0003390091320000095
Representing aircraft clusters Clu i The jth aircraft cluster member of (a); the lower corner mark j is the identification number of the aircraft cluster member.
Figure BDA0003390091320000096
Representing aircraft clusters Clu i Is the most important ofA latter aircraft cluster member; lower corner mark J is aircraft cluster Clu i The total number of the members of the middle aircraft cluster.
For ease of illustration, the aircraft cluster members
Figure BDA0003390091320000097
All end systems in (1) are denoted as
Figure BDA0003390091320000098
Summarizing Task set MISS, task set Miss and Task
In the invention, tasks are marked as tasks, L tasks form a Task set and are marked as Miss, and Miss = { Task 1 ,Task 2 ,…,Task l ,…,Task L }. K task sets Miss form a summary task set, which is marked as MISS, and MISS = { Miss = 1 ,Miss 2 ,…,Miss k ,…,Miss K }. The MISS = { Miss) by the central controller CenCon 1 ,Miss 2 ,…,Miss k ,…,Miss K Assigned to clusters of aircraft. (ii) passing the Miss = { Task) through a network controller NC 1 ,Task 2 ,…,Task l ,…,Task L And allocating the data to the end system ES.
In the invention, the summary task set is marked as MISS, and the summary task set is expressed as MISS = { Miss in a set form 1 ,Miss 2 ,...Miss k ,...,Miss K }, wherein:
Miss 1 representing a first set of tasks;
Miss 2 representing a second set of tasks;
Miss k the kth task set is represented, and the lower corner mark k represents the identification number of the task set;
Miss K representing the last task set, and the lower corner mark K represents the total number of the task sets;
for convenience of explanation, the Miss k Also referred to as any one task set; in the invention, any task set Miss k Comprises a plurality of tasks Task which are expressed in a set form as
Figure BDA0003390091320000101
Wherein:
Figure BDA0003390091320000102
indicates belonging to Miss k The first task in (1);
Figure BDA0003390091320000103
indicates belonging to Miss k The second task of (1);
Figure BDA0003390091320000104
indicates belonging to Miss k The ith task in (1); the lower subscript l represents the identification number of the task; for convenience of explanation, the->
Figure BDA0003390091320000105
Also known as belonging to Miss k Any one of the tasks of (1).
Figure BDA0003390091320000106
Indicates belonging to Miss k The last task in (1); the subscript L indicates the total number of tasks.
Typical task items in the Avionics system (Avionics) are: target Detection (Detection), search locking (Target), navigation (Navigation), information fusion (Processing), and Fire attack (Fire). The avionics system is the Task expressed in the invention.
In the invention, the same task set can be executed between clusters and different task sets can also be executed between clusters. The same or different tasks may be performed for cluster members in a cluster group.
Resource pool, bearing resource amount and task resource amount
In the invention, a resource pool in an Avionics system (Avionics) is marked as Sup, and the Sup comprises six types, namely a data processing resource amount CPU, an image processing resource amount GPU, an information storage resource amount RAM, a radar detection resource amount RAD, a weapon attack resource amount ATT and a defense and avoidance resource amount DIS. Because the measurement units of the six types of resources are different, the normalization processing is adopted to obtain the same resource quantity. Expressed as Sup = CPU + GPU + RAM + RAD + ATT + DIS in a collective form.
In the present invention, the ith aircraft cluster Clu at the current round robin S i The recorded resource pool is recorded as
Figure BDA0003390091320000107
In the present invention, the aircraft cluster member at the current round S
Figure BDA0003390091320000108
Is recorded as the bearer resource amount
Figure BDA0003390091320000109
The resource quantity in each end system is the embodiment of the resource quantity borne by the cluster members
Figure BDA00033900913200001010
In the present invention, the kth task set Miss k The first task in (1)
Figure BDA0003390091320000111
Is recorded as the amount of task resources
Figure BDA0003390091320000112
In the invention, after multiple round robin, the first adaptive distribution principle of priority of residual resources is adopted for the members of the aircraft cluster
Figure BDA0003390091320000113
And performing task scheduling on the end system.
In the invention, the resource amount is a general term of substances used by the members of the aircraft cluster for data processing, image processing, information storage, radar detection, weapon attack and defense and avoidance.
In the invention, the residual resource of the MPAS refers to the amount Sup of the resource left by the Clu of one aircraft cluster after completing one task scheduling (the current round-robin number is denoted as S) Remainder of . At the time of the number of rounds of S +1, based on the Sup Remains of To perform scheduling of the remaining tasks is referred to as remaining resource first. Therefore, the invention provides a task Allocation and resource scheduling method for an avionics system, which adopts a First adaptive Allocation Principle (FFAP) of residual resource priority (RRF) to complete task Allocation and resource scheduling.
Referring to fig. 1 and 2, the task Allocation and resource scheduling method of an avionics system according to the present invention completes task Allocation and resource scheduling by using a First adaptive Allocation Principle (FFAP) of Remaining resource priority (Remaining Resources First, RRF); the task allocation and resource scheduling of the avionics system based on the combination of the RRF method and the FFAP method comprises the following steps:
step one, constructing a network topology structure of an MPAS model;
step 11, setting configuration elements of MPAS;
in the invention, the construction of the multi-platform avionic model MPAS is described according to a network topology structure diagram PIC, configuration elements Arch and a summary task set MISS, and the MPAS = { PIC, arch, MISS } is expressed in a set form.
In the present invention, the configuration element Arch includes a central controller CenCon and I aircraft clusters Clu, which are collectively expressed as Arch = { CenCon, clu 1 ,Clu 2 ,…,Clu i ,…,Clu I }。
In the present invention, the ith aircraft cluster Clu i Wherein, there are a aircraft cluster head and J aircraft cluster members, which are expressed as a set form
Figure BDA0003390091320000114
In the present invention, the jth aircraft cluster member
Figure BDA0003390091320000115
All end systems in (1) are denoted as
Figure BDA0003390091320000116
/>
For example, there are 6 end systems in each aircraft cluster.
Step 12, selecting a network topology structure of the MPAS model;
in the present invention, the network topology is denoted as PIC, and PIC = { PIC = 1 ,pic 2 ,…,pic γ 8230; and (b). The PIC is represented as PIC = { PIC) in a collective form 1 ,pic 2 ,…,pic γ ,…}，pic 1 Representing a first network topology configuration, pic 2 Representing a second network topology configuration, pic γ Showing the gamma network topology configuration. For convenience of explanation, the pic γ Also called any network topology configuration, the subscript γ denotes the identification number of the configuration.
The MPAS model designed by the invention cannot be replaced when the gathering task set MISS is not executed after the network topology structure is selected. The network topology can only be changed after the completion of the summary task set MISS.
For example, in the tree network topology shown in FIG. 1, there is a first aircraft cluster Clu 1 (i.e., cluster 1), a second aircraft cluster group Clu 2 (i.e., cluster 2), a third aircraft cluster group Clu 3 (i.e., cluster 3), a fourth aircraft cluster group Clu 4 (i.e., cluster 4), a fifth aircraft cluster group Clu 5 (i.e., cluster 5). Arranged in the middle is a central controller CenCon.
Setting a first aircraft cluster Clu 1 Wherein, the aircraft cluster head and 4 aircraft cluster members exist and are represented as a set
Figure BDA0003390091320000121
Figure BDA0003390091320000122
Indicates belonging to Clu 1 Aircraft cluster head.
Figure BDA0003390091320000123
Representing aircraft clusters Clu 1 The first aircraft cluster member of (a).
Figure BDA0003390091320000124
Representing aircraft clusters Clu 1 A second aircraft cluster member of (a).
Figure BDA0003390091320000125
Representing aircraft clusters Clu 1 A third aircraft cluster member.
Figure BDA0003390091320000126
Representing aircraft clusters Clu 1 A fourth aircraft cluster member.
Setting a second aircraft Cluster Clu 2 There are one aircraft cluster head and 2 aircraft cluster members, represented in aggregate as
Figure BDA0003390091320000127
Figure BDA0003390091320000128
Indicates belonging to Clu 2 Aircraft cluster head.
Figure BDA0003390091320000129
Representing aircraft clusters Clu 2 The first aircraft cluster member of (a).
Figure BDA00033900913200001210
Representing aircraft clusters Clu 2 A second aircraft cluster member of (a).
Setting a third aircraft Cluster Clu 3 There are one aircraft cluster head and 3 aircraft cluster members, represented in aggregate as
Figure BDA00033900913200001211
Figure BDA00033900913200001212
Indicates belonging to Clu 3 Aircraft cluster head.
Figure BDA00033900913200001213
Representing aircraft clusters Clu 3 The first aircraft cluster member of (a).
Figure BDA00033900913200001214
Representing aircraft clusters Clu 3 A second aircraft cluster member.
Figure BDA00033900913200001215
Representing aircraft clusters Clu 3 A third aircraft cluster member.
Setting a fourth aircraft Cluster Clu 4 There are one aircraft cluster head and 3 aircraft cluster members, represented in aggregate as
Figure BDA0003390091320000131
Figure BDA0003390091320000132
Indicates belonging to Clu 4 Aircraft cluster head.
Figure BDA0003390091320000133
Representing aircraft clusters Clu 4 The first aircraft cluster member of (a). />
Figure BDA0003390091320000134
Representing aircraft clusters Clu 4 A second aircraft cluster member.
Figure BDA0003390091320000135
Representing aircraft clusters Clu 4 A third aircraft cluster member.
Setting a fifth aircraft Cluster Clu 5 There are one aircraft cluster head and 3 aircraft cluster members, represented in aggregate as
Figure BDA0003390091320000136
Figure BDA0003390091320000137
Indicates belonging to Clu 5 Aircraft cluster head.
Figure BDA0003390091320000138
Representing aircraft clusters Clu 5 The first aircraft cluster member of (a).
Figure BDA0003390091320000139
Representing aircraft clusters Clu 5 A second aircraft cluster member.
Figure BDA00033900913200001310
Representing aircraft clusters Clu 5 Is a third aircraft cluster member.
Step 13, configuring a resource pool of the MPAS;
in the present invention, a central controller CenCon is used to control the cluster of aircraft Clu.
In the present invention, the resource pool on the central controller is recorded as
Figure BDA00033900913200001311
And is and
Figure BDA00033900913200001312
the lower subscript S indicates the current round-robin number.
Figure BDA00033900913200001313
Representing the cluster Clu of aircraft at the current round-robin S 1 The resource amount that can be provided is referred to as the first cluster bearer resource amount.
Figure BDA00033900913200001314
Representing aircraft cluster Clu at current round-robin S 2 The amount of resources that can be provided is referred to as the second cluster bearer resource amount.
Figure BDA00033900913200001315
Representing the cluster Clu of aircraft at the current round-robin S i The resource amount that can be provided is referred to as the bearing resource amount of the ith cluster.
Figure BDA00033900913200001316
Representing aircraft cluster Clu at current round-robin S I The resource amount that can be provided is referred to as the last cluster carrying resource amount.
For example, in a tree network topology as shown in FIG. 1, the first cluster carries the amount of resources
Figure BDA00033900913200001317
Wherein the content of the first and second substances,
Figure BDA00033900913200001318
representing the cluster Clu of aircraft at the current round-robin time S 1 Aircraft cluster member of (a)>
Figure BDA00033900913200001319
The amount of resources that can be provided, based on the amount of resources available>
Figure BDA00033900913200001320
Representing the cluster Clu of aircraft at the current round-robin time S 1 Aircraft cluster member of (a)>
Figure BDA00033900913200001321
The amount of resources that can be provided, based on the amount of resources available>
Figure BDA00033900913200001322
Representing the cluster Clu of aircraft at the current round-robin time S 1 Aircraft cluster member of (a)>
Figure BDA0003390091320000141
The amount of resources that can be provided, based on the amount of resources available>
Figure BDA0003390091320000142
Representing the cluster Clu of aircraft at the current round-robin time S 1 Aircraft cluster member in (a)>
Figure BDA0003390091320000143
The amount of resources that can be provided.
For example, in a tree network topology as shown in FIG. 1, a second cluster carries the amount of resources
Figure BDA0003390091320000144
Wherein it is present>
Figure BDA0003390091320000145
Representing the cluster Clu of aircraft at the current round-robin time S 2 Aircraft cluster member in (a)>
Figure BDA0003390091320000146
Can provideBased on the resource amount of (4)>
Figure BDA0003390091320000147
Representing the cluster Clu of aircraft at the current round-robin time S 2 Aircraft cluster member of (a)>
Figure BDA0003390091320000148
The amount of resources that can be provided.
For example, in the tree network topology shown in FIG. 1, the third cluster carries the amount of resources
Figure BDA0003390091320000149
Wherein it is present>
Figure BDA00033900913200001410
Representing the cluster Clu of aircraft at the current round-robin time S 3 Aircraft cluster member of (a)>
Figure BDA00033900913200001411
The amount of resources that can be provided,
Figure BDA00033900913200001412
representing the aircraft cluster Clu at the current round-robin S 3 Aircraft cluster member in (a)>
Figure BDA00033900913200001413
The amount of resources that can be provided, based on the amount of resources available>
Figure BDA00033900913200001414
Representing the aircraft cluster Clu at the current round-robin S 3 Aircraft cluster member of (a)>
Figure BDA00033900913200001415
The amount of resources that can be provided.
For example, in the tree network topology shown in FIG. 1, the fourth cluster carries the amount of resources
Figure BDA00033900913200001416
Wherein it is present>
Figure BDA00033900913200001417
Representing the cluster Clu of aircraft at the current round-robin time S 4 Aircraft cluster member in (a)>
Figure BDA00033900913200001418
The amount of resources that can be provided,
Figure BDA00033900913200001419
representing the cluster Clu of aircraft at the current round-robin time S 4 Aircraft cluster member of (a)>
Figure BDA00033900913200001420
The amount of resources that can be provided, based on the amount of resources available>
Figure BDA00033900913200001421
Representing the cluster Clu of aircraft at the current round-robin time S 4 Aircraft cluster member of (1)
Figure BDA00033900913200001422
The amount of resources that can be provided.
For example, in the tree network topology shown in FIG. 1, the fifth cluster carries the amount of resources
Figure BDA00033900913200001423
Wherein it is present>
Figure BDA00033900913200001424
Representing the cluster Clu of aircraft at the current round-robin time S 5 Aircraft cluster member of (a)>
Figure BDA00033900913200001425
The amount of resources that can be provided,
Figure BDA00033900913200001426
representing the cluster Clu of aircraft at the current round-robin time S 5 Aircraft cluster member of (a)>
Figure BDA00033900913200001427
The amount of resources that can be provided, based on the amount of resources available>
Figure BDA00033900913200001428
Representing the aircraft cluster Clu at the current round-robin S 5 Aircraft cluster member in (a)>
Figure BDA00033900913200001429
The amount of resources that can be provided.
Step 14, configuring the resource quantity of the members of the aircraft cluster;
in the invention, when the current round-robin number S is up, the jth aircraft cluster member
Figure BDA00033900913200001430
Resource amount bearable, noted>
Figure BDA00033900913200001431
And j node-bearing resource total amount for short.
In the present invention, an aircraft cluster member
Figure BDA00033900913200001432
All of end system is marked as->
Figure BDA00033900913200001433
Figure BDA0003390091320000151
Indicating aircraft cluster membership>
Figure BDA0003390091320000152
Of the first end system ES 1 . Is/are>
Figure BDA0003390091320000153
Node resource of quantity is recorded as>
Figure BDA0003390091320000154
Figure BDA0003390091320000155
Indicating aircraft cluster membership>
Figure BDA0003390091320000156
Second end system ES of (1) 2 . Said +>
Figure BDA0003390091320000157
Node resource of volume is recorded as->
Figure BDA0003390091320000158
/>
Figure BDA0003390091320000159
Indicating aircraft cluster membership>
Figure BDA00033900913200001510
The p-th end system ES of p . Lower corner mark p represents aircraft cluster member
Figure BDA00033900913200001511
The end system identification number in (1). Is/are>
Figure BDA00033900913200001512
Node resource of volume is recorded as->
Figure BDA00033900913200001513
Figure BDA00033900913200001514
Indicating aircraft cluster membership>
Figure BDA00033900913200001515
ES of the last end system P . Lower corner markP represents an aircraft cluster member>
Figure BDA00033900913200001516
Total number of middle-end systems. Said +>
Figure BDA00033900913200001517
Node resource of volume is recorded as->
Figure BDA00033900913200001518
Then there are: jth aircraft cluster member
Figure BDA00033900913200001519
Node-bearer resource aggregation
Figure BDA00033900913200001520
The same can be obtained: first aircraft cluster member when current round robin number S
Figure BDA00033900913200001521
Amount of resources that can be carried, noted
Figure BDA00033900913200001522
First node-total bearer resource amount for short.
The same can be obtained: second aircraft cluster member at current round robin number S
Figure BDA00033900913200001523
Amount of resources that can be carried, noted
Figure BDA00033900913200001524
Simply referred to as second node-bearer resource total.
The same can be obtained: last aircraft cluster member when current round robin number S
Figure BDA00033900913200001525
The amount of resources that can be carried, denoted +>
Figure BDA00033900913200001526
Referred to as last node-total bearer resources.
In the invention, the total amount of each node-bearing resource is reported to the cluster head CluCon Clui 。
For example, in the tree network topology shown in FIG. 1, the fourth cluster carries the amount of resources
Figure BDA00033900913200001527
Step two, setting a summary task set MISS and a task resource pool;
in the invention, the collection of summary tasks is marked as MISS, and MISS = { Miss = 1 ,Miss 2 ,…,Miss k ,…,Miss K }。
Miss 1 Representing a first set of tasks; the Miss 1 Is recorded as the amount of resources
Figure BDA00033900913200001528
Miss 2 Representing a second set of tasks; the Miss 2 Is recorded as the amount of resources
Figure BDA00033900913200001529
Miss k The kth task set is represented, and the lower corner mark k represents the identification number of the task set; for convenience of explanation, the Miss k Also referred to as any one task set; the Miss k Is recorded as the amount of resources
Figure BDA00033900913200001530
Miss K Representing the last task set, and the lower corner mark K represents the total number of the task sets; the Miss K Is recorded as the amount of resources
Figure BDA00033900913200001531
In the present invention, any one of the task setsMiss k A plurality of tasks included in the system are
Figure BDA0003390091320000161
Wherein:
Figure BDA0003390091320000162
representing the kth task set Miss k The first task in (1). Is/are>
Figure BDA0003390091320000163
Is recorded as the amount of resources
Figure BDA0003390091320000164
Figure BDA0003390091320000165
Representing the kth task set Miss k The second task in (1). Is/are>
Figure BDA0003390091320000166
Is recorded as->
Figure BDA0003390091320000167
Figure BDA0003390091320000168
Representing the kth task set Miss k The ith task in (1); the subscript l denotes the identification number of the task. The above-mentioned
Figure BDA0003390091320000169
Is recorded as [ ] a resource amount>
Figure BDA00033900913200001610
Figure BDA00033900913200001611
Representing the kth task set Miss k Last one of (1)A task; the subscript L indicates the total number of tasks. Is/are>
Figure BDA00033900913200001612
Is recorded as->
Figure BDA00033900913200001613
Then there are:
Figure BDA00033900913200001614
for convenience of explanation, the
Figure BDA00033900913200001615
Also called kth task set Miss k Any one of the tasks.
For example, in the tree network topology shown in FIG. 1, the first aircraft cluster Clu 1 Executing a first set of tasks Miss 1 The Miss 1 There are 3 tasks, i.e.
Figure BDA00033900913200001616
. The Miss 1 Is recorded as the amount of resources
Figure BDA00033900913200001617
And->
Figure BDA00033900913200001618
For example, in the tree network topology shown in FIG. 1, a second aircraft cluster Clu 2 Executing a second set of tasks Miss 2 The Miss 2 There are 2 tasks, i.e.
Figure BDA00033900913200001619
. The Miss 2 Is recorded as->
Figure BDA00033900913200001620
And is
Figure BDA00033900913200001621
For example, in the tree network topology shown in FIG. 1, a third aircraft cluster Clu 3 Executing a third set of tasks Miss 3 The Miss 3 There are 5 tasks, i.e.
Figure BDA00033900913200001622
. The Miss 3 Is recorded as->
Figure BDA00033900913200001623
And &>
Figure BDA00033900913200001624
For example, in the tree network topology shown in FIG. 1, the fourth aircraft cluster Clu 4 Executing the fourth set of tasks Miss 4 The Miss 4 There are 3 tasks, i.e.
Figure BDA00033900913200001625
The Miss 4 Is recorded as the amount of resources
Figure BDA00033900913200001626
And->
Figure BDA00033900913200001627
For example, in the tree network topology shown in FIG. 1, the fifth aircraft cluster Clu 5 Executing the fifth set of tasks Miss 5 The Miss 5 In 3 tasks, i.e.
Figure BDA00033900913200001628
. The Miss 5 Is recorded as the amount of resources
Figure BDA00033900913200001629
And->
Figure BDA00033900913200001630
Step three, task allocation and resource scheduling;
step 31, marking the number of round robin;
in the present invention, the current round robin number is denoted as S, and the round robin number before S is called as the last round robin number and is denoted as S-1. The next round after S is denoted as S +1.
Step 32, selecting a cluster group of the largest resource pool;
in the invention, the cluster group of the maximum resource pool is marked as MAX _ Sup S _Clu。
From
Figure BDA0003390091320000171
Selecting the cluster group with the largest resource pool, and assigning value to ^ er>
Figure BDA0003390091320000172
If selected
Figure BDA0003390091320000173
If the value is maximum, the value is assigned to MAX _ Sup S Clu, i.e. <>
Figure BDA0003390091320000174
For example, in the tree network topology shown in FIG. 1, at the current round-robin number S, the fourth aircraft cluster Clu 4 Amount of resources of
Figure BDA0003390091320000175
Is at a maximum, i.e.>
Figure BDA0003390091320000176
Step 33, recording the aircraft cluster member-bearing resource amount;
recording
Figure BDA0003390091320000177
Each aircraft cluster inMember->
Figure BDA0003390091320000178
The amount of resources that can be carried.
Step 34, selecting an aircraft cluster member corresponding to the maximum bearing resource amount;
in the present invention, comparison is made
Figure BDA0003390091320000179
And &>
Figure BDA00033900913200001710
Selecting the maximum load-bearing resource quantity and marking the maximum load-bearing resource quantity as MAX _ Sup S _Pla。
If it is
Figure BDA00033900913200001711
Is maximum, said &'s is reserved>
Figure BDA00033900913200001712
Assign to MAX _ Sup S Pla, i.e.>
Figure BDA00033900913200001713
For example, in the tree network topology shown in FIG. 1, at the current round robin number S, the fourth aircraft cluster Clu 4 Amount of resources of
Figure BDA00033900913200001714
Is at a maximum, i.e.>
Figure BDA00033900913200001715
And a fourth aircraft cluster Clu 4 Well aircraft cluster member is &>
Figure BDA00033900913200001716
The fourth cluster carries the resource amount
Figure BDA00033900913200001717
Selects the value with the largest resource amount>
Figure BDA00033900913200001718
Fourth aircraft Cluster Clu 4 Executing the fourth set of tasks Miss 4 The said Miss 4 There are 3 tasks, i.e.
Figure BDA00033900913200001719
. The Miss 4 Is recorded as->
Figure BDA00033900913200001720
And is and
Figure BDA00033900913200001721
step 35, judging the resource amount;
in the present invention, at the current round-robin number S, the operation is carried out
Figure BDA00033900913200001722
And/or>
Figure BDA00033900913200001723
And (3) comparison:
comparing the resource amount with one:
if it is
Figure BDA0003390091320000181
Will then>
Figure BDA0003390091320000182
In sequence and>
Figure BDA0003390091320000183
if any, the task resource amount in (4) is compared and if yes, the task resource amount belongs to->
Figure BDA0003390091320000184
Amount of task resources of or more than one less than said>
Figure BDA0003390091320000185
Then the task with the amount of resources less than will be at a cluster member>
Figure BDA0003390091320000186
An upper scheduled transmission; is/are>
Figure BDA0003390091320000187
The remaining tasks will continue to be allocated as the next round S +1. That is to say->
Figure BDA0003390091320000188
The remaining tasks in (1) will stop allocating tasks and will continue to allocate when waiting for the next round-robin S +1. This represents the first time the appropriate allocation takes precedence over the remaining resources.
And comparing the resource amount:
if it is
Figure BDA0003390091320000189
Then the task is->
Figure BDA00033900913200001810
Will be at>
Figure BDA00033900913200001811
To proceed with the scheduled transmission. The method adopts the First adaptive Allocation Principle (FFAP) of Remaining resource priority (RRF) to complete task Allocation and resource scheduling.
For example, in the tree network topology shown in FIG. 1, at the current round robin number S, the process is performed
Figure BDA00033900913200001812
And &>
Figure BDA00033900913200001813
And (3) comparison:
the above-mentioned
Figure BDA00033900913200001814
Comparing the resource amount with one:
if it is
Figure BDA00033900913200001815
Will->
Figure BDA00033900913200001816
In sequence and>
Figure BDA00033900913200001817
is greater than or equal to the respective task resource amount>
Figure BDA00033900913200001818
Make a comparison if any
Figure BDA00033900913200001819
Then->
Figure BDA00033900913200001820
Is at>
Figure BDA00033900913200001821
Up scheduled transmission; />
Figure BDA00033900913200001822
Is left in>
Figure BDA00033900913200001823
Allocation will continue as the next round S +1.
And comparing the resource amount:
if it is
Figure BDA00033900913200001824
Is then true>
Figure BDA00033900913200001825
Is at>
Figure BDA00033900913200001826
Is scheduled for transmission.
Step 36, updating the resource pool of the aircraft cluster members;
Figure BDA00033900913200001827
the remaining resource amount on is recorded as->
Figure BDA00033900913200001828
And is
Figure BDA00033900913200001829
Will be described>
Figure BDA00033900913200001830
Send to cluster head>
Figure BDA00033900913200001831
Cluster head
Figure BDA00033900913200001832
Update>
Figure BDA00033900913200001833
The amount of resources of.
Step 37, updating the resource pool of the MPAS;
first end system ES 1 Is recorded as the remaining resource amount
Figure BDA00033900913200001834
And is made of
Figure BDA00033900913200001835
Will then->
Figure BDA00033900913200001836
Is sent to be belonged to>
Figure BDA0003390091320000191
Network controller of (4)>
Figure BDA0003390091320000192
And the network controller->
Figure BDA0003390091320000193
To ES 1 Is updated to
Figure BDA0003390091320000194
Second end system ES 2 Is recorded as the remaining resource amount
Figure BDA0003390091320000195
And is and
Figure BDA0003390091320000196
will then->
Figure BDA0003390091320000197
Is sent to be belonged to>
Figure BDA0003390091320000198
Network controller of (4)>
Figure BDA0003390091320000199
And the network controller->
Figure BDA00033900913200001910
To ES 2 Is updated to
Figure BDA00033900913200001911
/>
P-th end system ES p Is recorded as the remaining resource amount
Figure BDA00033900913200001912
And is and
Figure BDA00033900913200001913
will then->
Figure BDA00033900913200001914
Is sent to/>
Figure BDA00033900913200001915
Network controller of (4)>
Figure BDA00033900913200001916
And the network controller->
Figure BDA00033900913200001917
To ES p Is updated to
Figure BDA00033900913200001918
Last end system ES P Is recorded as the remaining resource amount
Figure BDA00033900913200001919
And is and
Figure BDA00033900913200001920
and then will>
Figure BDA00033900913200001921
Is sent to be belonged to>
Figure BDA00033900913200001922
Network controller of (4)>
Figure BDA00033900913200001923
And the network controller->
Figure BDA00033900913200001924
To ES P Is updated to
Figure BDA00033900913200001925
Step four, checking whether the summary task set is distributed or not;
repeating the third step to ensure that the first task set Miss 1 Clustering in the first aircraft a Clu 1 Are allocated and then respectively executedAnd updating the resource quantity of the aircraft cluster members in the cluster head, and updating the resource quantity of the end systems in the network controller.
Repeating the third step to make the second task set Miss 2 Clustering Clu in a second aircraft 2 Then, the updating of the resource quantity of the aircraft cluster members in the cluster head and the resource quantity of the end system in the network controller are respectively executed.
Repeating the third step to ensure that the last task set Miss K Clustering in the first aircraft a Clu I Then, the updating of the resource quantity of the aircraft cluster members in the cluster head and the resource quantity of the end system in the network controller are respectively executed.
And after the step four, if no task set exists in the task set MISS, the task scheduling is finished when the current round-robin-time S is reached.
If the collection task set MISS still has the residual task set (MISS) 3 ,Miss 4 ,…,Miss k-1 ,…,Miss K-1 ,Miss K ) Executing the step five;
step five, executing task allocation of round robin times S +1;
step 51, checking the amount of the remaining bearer resources;
checking aircraft cluster membership at the end of the current round S
Figure BDA0003390091320000201
Is greater than or equal to>
Figure BDA0003390091320000202
I.e. the amount of remaining-bearer resources->
Figure BDA0003390091320000203
Checking the bearing resource quantity of the cluster members when the current round robin times S is finished
Figure BDA0003390091320000204
I.e. the remaining-resource pool->
Figure BDA0003390091320000205
Step 52, distributing the tasks of the next round S +1;
judging the rest tasks in the summary task set; i.e. the size of the task identification number L and the total number of tasks L.
If L < L, only the kth task set Miss is completed currently k The dispatching of the first one task needs to return to the step three to update the identification number of the task ordered set to be l +1;
if L = L, the kth task set Miss is finished currently k Dispatching all tasks, and further judging the size of an identification number K of the current mission ordered set and the size of a multi-platform avionic mission total number K;
if K is less than K, only the first K task sets are completed currently, and the identification number of the task set is updated to be K +1;
if K = K, then all task sets have been completed currently.
Example 1
Simulation environment
The multi-platform avionics system design and simulation system runs on a Windows operating platform in an independent manner.
Example configuration
The topology is shown in fig. 2: including 1 central controller and 25 unmanned aerial vehicle platforms, form 5 clusters. The data chain among the cluster members is 2Mbps wide; each unmanned aerial vehicle platform is inside all to carry on 1 network controller, 2 switches and 6 end systems, wherein airborne network bandwidth 100Mbps.
Fig. 4 is a message frame format for information interaction in the design and simulation system of the present invention, which mainly includes a source address, a destination address, a message attribute, a message identifier, and a payload. The source address is located in bits 0-15 of the message frame and includes a drone-level source address for inter-drone node transmissions and an end-system-level source address for intra-drone transmissions. The destination address is located in 16-31 bits of the message frame, and is similar to the source address format, and comprises a drone-level destination address applied to transmissions between drone nodes and an end-system-level destination address applied to transmissions within the drone. The message attribute is positioned at 32-39 bits of the message frame, and the system supports two types of messages of a task class and a communication class, wherein the task class message attribute is filled to 00000001, and the communication class message attribute is filled to 00000010. The message identification is positioned in 40-47 bits of the message frame and represents a global identification ID unique to each message. The payload is located in the 48-127 bits of the message frame and is used for carrying data transmitted by the message, and is closely related to the message type: the payload of the task type message carries the information required by the task execution for data processing, image processing, information storage, radar detection, weapon attack and defense and avoidance of six types of resources, and the payload of the communication type message carries the data information transmitted between unmanned aerial vehicles or end systems.
Mission Miss: typically, five missions including Target detection (D election), search locking (Target), navigation (Navigation), information fusion (Processing) and Fire attack (Fire) are considered; each mission completion depends on the execution of a corresponding Task, which is shown in a table 1-Task column; the task parameters comprise an execution Period, a data processing resource requirement, an image processing resource requirement, an information storage resource requirement, a radar detection resource requirement, a weapon attack resource requirement and a defense and avoidance resource requirement, and Period of Period translation, which are respectively shown in table 1.
TABLE 1 mission task configuration Table
Figure BDA0003390091320000211
Model design
The AADL normalization description is applied after the example configuration modeling design and the rationality check is performed, and the corresponding hierarchical structure is generated as shown in fig. 2 and fig. 3.
Simulation result
(1) Resource scheduling results
The resource scheduling analysis result mainly refers to the condition that tasks are distributed to a cluster group and unmanned aerial vehicle cluster members. The scheduling results of five consecutive resource allocations for the mission task configuration shown in table 1 are shown in table 2. The result shows that the central controller of the design and simulation system gives priority to the maximum residual resourcesThe cluster group is a task allocation object, and the cluster head in the cluster group preferentially considers the platform before resource sequencing to be the task allocation object. Example Cluster group Clu 2 Inner initial platform resource ordering of
Figure BDA0003390091320000221
Participate in scheduling S for the 1 st time 1 Post-update platform resource ordering in->
Figure BDA0003390091320000222
Participate in 4 th scheduling S 4 Post-update platform resource ordering of ^ 4>
Figure BDA0003390091320000223
The task-resource scheduling distribution mode can effectively ensure the load balance and the resource balance of the cluster level and the cluster member level.
Table 2 summary of resource scheduling
Figure BDA0003390091320000224
(2) Communication interaction results
The communication interaction simulation result mainly refers to end-to-end delay of message transmission. The delay distribution of 300 messages in the experimental example is shown in fig. 5, wherein 279 messages are delayed within 5ms and account for 93% of the total number of messages; further, the delay of 255 messages is within 2ms, accounting for 85% of the total number of messages. The statistical result shows that the communication message path in the system is reasonably planned, and the message can be ensured to have higher real-time performance within the worst delay constraint range.

Claims (4)

1. A task allocation and resource scheduling method for an avionics system is characterized by comprising the following steps:
step one, constructing a network topology structure of an MPAS model;
step 11, setting configuration elements of MPAS;
the construction of the multi-platform avionic model MPAS is described according to a network topology structure diagram PIC, configuration elements Arch and a summary task set MISS, and is expressed as MPAS = { PIC, arch, MISS } in a set form;
the configuration element Arch comprises a central controller CenCon and I aircraft clusters Clu which are represented as Arch = { CenCon, clu in a set form 1 ,Clu 2 ,…,Clu i ,…,Clu I }；
Ith aircraft cluster Clu i Wherein, there is a aircraft cluster head and J aircraft cluster members, which are represented as a set
Figure FDA0003390091310000011
Jth aircraft cluster member
Figure FDA0003390091310000012
All of end system is marked as->
Figure FDA0003390091310000013
Step 12, selecting a network topology structure of the MPAS model;
the network topology is denoted as PIC, and PIC = { PIC 1 ,pic 2 ,…,pic γ ,…}；
pic 1 Representing a first network topology configuration;
pic 2 representing a second network topology configuration;
pic γ represents the Gamma network topology configuration; the lower subscript γ represents the identification number of the configuration;
step 13, configuring a resource pool of the MPAS;
the central controller CenCon is used for controlling the aircraft cluster Clu;
resource pool on the central controller is recorded as
Figure FDA0003390091310000014
And->
Figure FDA0003390091310000015
The lower corner mark S represents the current round robin number;
Figure FDA0003390091310000016
representing the cluster Clu of aircraft at the current round-robin S 1 The resource amount which can be provided is referred to as the first cluster bearing resource amount for short;
Figure FDA0003390091310000017
representing the cluster Clu of aircraft at the current round-robin S 2 The resource amount which can be provided is referred to as the second cluster bearing resource amount for short;
Figure FDA0003390091310000018
representing aircraft cluster Clu at current round-robin S i The resource amount which can be provided is called the bearing resource amount of the ith cluster for short;
Figure FDA0003390091310000021
representing the cluster Clu of aircraft at the current round-robin S I The resource amount which can be provided is referred to as the last cluster bearing resource amount for short;
step 14, configuring the resource quantity of the members of the aircraft cluster;
at the current round robin time S, the jth aircraft cluster member
Figure FDA0003390091310000022
The resource amount capable of bearing is recorded as the jth node-bearing resource total amount->
Figure FDA0003390091310000023
Aircraft cluster member
Figure FDA0003390091310000024
All end systems in (a) mark as +>
Figure FDA0003390091310000025
Figure FDA0003390091310000026
Indicating aircraft cluster membership>
Figure FDA0003390091310000027
Of the first end system ES 1 (ii) a Is/are>
Figure FDA0003390091310000028
Node resource of volume is recorded as->
Figure FDA0003390091310000029
/>
Figure FDA00033900913100000210
Indicating aircraft cluster membership>
Figure FDA00033900913100000211
Second end system ES of (1) 2 (ii) a Is/are>
Figure FDA00033900913100000212
Node resource of volume is recorded as->
Figure FDA00033900913100000213
Figure FDA00033900913100000214
Indicating aircraft cluster membership>
Figure FDA00033900913100000215
P of (1)End system ES p (ii) a Lower corner mark p represents aircraft cluster member
Figure FDA00033900913100000216
The end system identification number in (1); is/are>
Figure FDA00033900913100000217
Node resource of quantity is recorded as>
Figure FDA00033900913100000218
Figure FDA00033900913100000219
Indicating aircraft cluster membership>
Figure FDA00033900913100000220
ES of the last end system P (ii) a Lower corner mark P represents aircraft cluster member
Figure FDA00033900913100000221
The total number of the middle-end systems; is/are>
Figure FDA00033900913100000222
Node resource of volume is recorded as->
Figure FDA00033900913100000223
Then there are: jth aircraft cluster member>
Figure FDA00033900913100000224
Node-bearer total->
Figure FDA00033900913100000225
The same can be obtained: first aircraft cluster member when current round robin number S
Figure FDA00033900913100000226
The amount of resources that can be carried is recorded as the total amount of first node-bearer resources->
Figure FDA00033900913100000227
The following can be obtained by the same way: second aircraft cluster member at current round robin number S
Figure FDA00033900913100000228
The amount of resources that can be carried is recorded as the total amount of second node-bearer resources->
Figure FDA00033900913100000229
The same can be obtained: last aircraft cluster member when current round robin number S
Figure FDA00033900913100000230
The resource amount capable of bearing is recorded as the last node-total bearing resource amount>
Figure FDA00033900913100000231
Step two, setting a summary task set MISS and a task resource pool;
the summary task set is MISS, and MISS = { Miss = 1 ,Miss 2 ,…,Miss k ,…,Miss K }；
Miss 1 Representing a first set of tasks; the Miss 1 Is recorded as the amount of resources
Figure FDA0003390091310000031
Miss 2 Representing a second set of tasks; the Miss 2 Is recorded as the amount of resources
Figure FDA0003390091310000032
Miss k To representThe kth task set, and the lower corner mark k represents the identification number of the task set; for convenience of explanation, the Miss k Also referred to as any one task set; the Miss k Is recorded as the amount of resources
Figure FDA0003390091310000033
Miss K Representing the last task set, and the lower corner mark K represents the total number of the task sets; the Miss K Is recorded as the amount of resources
Figure FDA0003390091310000034
Any task set Miss k A plurality of tasks included in the system are
Figure FDA0003390091310000035
Wherein:
Figure FDA0003390091310000036
representing the kth task set Miss k The first task of (a); is/are>
Figure FDA0003390091310000037
Is recorded as->
Figure FDA0003390091310000038
Figure FDA0003390091310000039
Representing the kth task set Miss k The second task of (1); is/are>
Figure FDA00033900913100000310
Is recorded as->
Figure FDA00033900913100000311
Figure FDA00033900913100000312
Representing the kth task set Miss k The ith task in (1); the lower subscript l represents the identification number of the task; the above-mentioned
Figure FDA00033900913100000313
Is recorded as->
Figure FDA00033900913100000314
/>
Figure FDA00033900913100000315
Representing the kth task set Miss k The last task in (1); the lower corner mark L represents the total number of tasks; the above-mentioned
Figure FDA00033900913100000316
Is recorded as->
Figure FDA00033900913100000317
Then there are:
Figure FDA00033900913100000318
step three, task allocation and resource scheduling;
step 31, marking the number of round robin;
the current round robin frequency is marked as S, and the round robin frequency before S is called as the last round robin frequency and is marked as S-1; the next round after S is called as S +1;
step 32, selecting a cluster group of the maximum resource pool;
the cluster group of the maximum resource pool is marked as MAX _ Sup S _Clu；
From
Figure FDA00033900913100000319
Selecting the cluster group of the largest resource pool and assigning to
Figure FDA0003390091310000041
If selected
Figure FDA0003390091310000042
If the maximum value is reached, the value is assigned to MAX _ Sup S Clu, i.e. <>
Figure FDA0003390091310000043
Step 33, recording the aircraft cluster member-bearing resource amount;
recording
Figure FDA0003390091310000044
Is in each aircraft cluster member>
Figure FDA0003390091310000045
The amount of resources that can be carried;
step 34, selecting an aircraft cluster member corresponding to the maximum bearing resource amount;
comparison of
Figure FDA0003390091310000046
And &>
Figure FDA0003390091310000047
Selecting the maximum load-bearing resource quantity according to the resource quantity in the resource list, and marking the maximum load-bearing resource quantity as MAX _ Sup S _Pla；
If it is
Figure FDA0003390091310000048
Is maximum, said is based on>
Figure FDA0003390091310000049
Assign to MAX _ Sup S Pla, i.e.>
Figure FDA00033900913100000410
Step 35, judging the resource amount;
at the current round robin time S, the operation is carried out
Figure FDA00033900913100000411
And/or>
Figure FDA00033900913100000412
And (3) comparison:
comparing the resource amount with one:
if it is
Figure FDA00033900913100000413
Will->
Figure FDA00033900913100000414
In sequence and->
Figure FDA00033900913100000415
If any, the task resource amount in (4) is compared and if yes, the task resource amount belongs to->
Figure FDA00033900913100000416
Amount of task resources of or more than one less than said>
Figure FDA00033900913100000417
Then the task with the amount of resources less than will be at a cluster member>
Figure FDA00033900913100000418
Up scheduled transmission; is/are>
Figure FDA00033900913100000419
The remaining tasks will continue to be allocated as the next round-robin S +1;
and comparing the resource amount:
if it is
Figure FDA00033900913100000420
Then the task is->
Figure FDA00033900913100000421
Will be in>
Figure FDA00033900913100000422
Performing scheduled transmissions; />
And comparing the resource amount:
if it is
Figure FDA00033900913100000423
Is then true>
Figure FDA00033900913100000424
Is at>
Figure FDA00033900913100000425
Up scheduled transmission;
step 36, updating the resource pool of the aircraft cluster members;
Figure FDA00033900913100000426
the remaining resource amount on is recorded as->
Figure FDA00033900913100000427
And is
Figure FDA00033900913100000428
Will said +>
Figure FDA00033900913100000429
Is sent to the cluster head->
Figure FDA00033900913100000430
Cluster head
Figure FDA00033900913100000431
Update>
Figure FDA00033900913100000432
The amount of resources of (c);
step 37, updating the resource pool of the MPAS;
first end system ES 1 The remaining resource amount on is recorded as
Figure FDA0003390091310000051
And is
Figure FDA0003390091310000052
Will then->
Figure FDA0003390091310000053
Is sent to a receiver belonging to>
Figure FDA0003390091310000054
Network controller of (4)>
Figure FDA0003390091310000055
And the network controller->
Figure FDA0003390091310000056
To ES 1 Is updated to
Figure FDA0003390091310000057
Second end system ES 2 The remaining resource amount on is recorded as
Figure FDA0003390091310000058
And is
Figure FDA0003390091310000059
Will then->
Figure FDA00033900913100000510
Is sent to be belonged to>
Figure FDA00033900913100000511
Network controller of (4)>
Figure FDA00033900913100000512
And the network controller>
Figure FDA00033900913100000513
To ES 2 Is updated to
Figure FDA00033900913100000514
The p-th end system ES p Is recorded as the remaining resource amount
Figure FDA00033900913100000515
And is
Figure FDA00033900913100000516
Will then->
Figure FDA00033900913100000517
Is sent to a receiver belonging to>
Figure FDA00033900913100000518
Network controller of (4)>
Figure FDA00033900913100000519
And the network controller->
Figure FDA00033900913100000520
To ES p Is updated to
Figure FDA00033900913100000521
Last end system ES P Is recorded as the remaining resource amount
Figure FDA00033900913100000522
And is
Figure FDA00033900913100000523
Will then->
Figure FDA00033900913100000524
Is sent to a receiver belonging to>
Figure FDA00033900913100000525
Network controller of (4)>
Figure FDA00033900913100000526
And the network controller>
Figure FDA00033900913100000527
To ES P Is updated to
Figure FDA00033900913100000528
Step four, checking whether the summary task set is distributed completely;
repeating the third step to ensure that the first task set Miss 1 Clustering in the first aircraft a Clu 1 The resource amount of the aircraft cluster members is updated in the cluster head and the resource amount of the end system is updated in the network controller respectively;
repeating the third step to ensure that the second task set Miss 2 Clustering Clu in a second aircraft 2 The distribution is carried out, and then the updating of the resource quantity of the aircraft cluster members in the cluster head and the resource quantity of the end system in the network controller are respectively executed;
repeating the third step to ensure that the last task set Miss K In the first aircraft clusterClu I The resource amount of the aircraft cluster members is updated in the cluster head and the resource amount of the end system is updated in the network controller respectively;
after the fourth step, if the summary task set MISS does not have a task set, the task scheduling is finished;
if the collection task set MISS still has the residual task set (MISS) 3 ,Miss 4 ,…,Miss k-1 ,…,Miss K-1 ,Miss K ) Executing the step five;
step five, executing task allocation of round robin times S +1;
step 51, checking the remaining bearer resource amount;
checking aircraft cluster membership at the end of the current round S
Figure FDA0003390091310000061
Is greater than or equal to>
Figure FDA0003390091310000062
I.e. the amount of remaining-bearer resources->
Figure FDA0003390091310000063
Checking the bearing resource quantity of the cluster members when the current round robin times S is finished
Figure FDA0003390091310000064
I.e. the residual-resource pool->
Figure FDA0003390091310000065
Step 52, allocating the task of the next round of S +1;
judging the rest tasks in the summary task set; namely the size of the task identification number L and the total number L of the tasks;
if L < L, only the kth task set Miss is completed currently k The dispatching of the first and middle tasks needs to return to the step three to update the identification number of the task ordered set to be l +1;
if L = L, the kth task set Miss is currently completed k Dispatching all tasks, and further judging the size of an identification number K of the current mission ordered set and the size of a multi-platform avionic mission total number K;
if K is less than K, only the first K task sets are completed currently, and the identification number of the updated task set is K +1;
if K = K, then all task sets have been completed currently.
2. The avionics system task allocation and resource scheduling method according to claim 1, characterized in that: the Arch comprises a star type, a ring type, a tree type, a full connection type, a bus type and an irregular type.
3. The avionics system task allocation and resource scheduling method according to claim 1, characterized in that: the Arch is a network topology structure with a tree structure.
4. The avionics system task allocation and resource scheduling method according to claim 1, characterized in that: after the MPAS model selects a network topology structure, the MPAS model cannot be replaced when the collection task set MISS is not executed; the network topology can only be changed after the completion of the summary task set MISS.
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