CN114819765B

CN114819765B - Satellite measurement and control resource scheduling method and related equipment

Info

Publication number: CN114819765B
Application number: CN202210735522.0A
Authority: CN
Inventors: 王建江; 陈杰; 李娇娇; 姚兴懿; 于冠飞; 喻婧
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-10-18
Anticipated expiration: 2042-06-27
Also published as: CN114819765A

Abstract

The application provides a satellite measurement and control resource scheduling method and related equipment. The method comprises the following steps: determining an objective function according to a preset measurement and control plan, wherein the objective function comprises a first objective function and a second objective function; in response to the fact that the objective function is determined to be a first objective function, performing maximization solving processing on the first objective function through a pre-constructed linear programming model based on constraint conditions of a preset measurement and control plan to obtain a first scheduling scheme, and scheduling satellite measurement and control resources on measurement and control equipment corresponding to a satellite; and in response to the fact that the objective function is determined to be a second objective function, carrying out minimum solving processing on the second objective function through a pre-constructed objective planning model based on the constraint condition of a preset measurement and control plan to obtain a second scheduling scheme so as to schedule the satellite measurement and control resources on the measurement and control equipment corresponding to the satellite. The obtained scheduling scheme is an optimal resource allocation mode, and the satellite measurement and control tasks can be completed as much as possible.

Description

Satellite measurement and control resource scheduling method and related equipment

Technical Field

The application relates to the technical field of satellite measurement and control, in particular to a satellite measurement and control resource scheduling method and related equipment.

Background

As the space technology continues to advance and develop, the number of satellites launched in each country increases, and these space vehicles need to fulfill different missions and tasks. In order to complete corresponding mission tasks by the satellite, the ground station measurement and control resources need to transmit measurement and control instructions (remote control, remote measurement, tracking observation and the like) to the satellite, and the satellite receives the measurement and control instructions to complete corresponding tasks, downloads data to the ground station and assists personnel in making decisions. In order to improve the influence and obtain more benefits, the satellite emission number is increased explosively, but the measurement and control resources are limited, so the measurement and control demand conflict is increased, great challenges are brought to measurement and control resource allocation, and the satellite is remotely controlled, telemetered and tracked and observed by using limited ground measurement and control resources, so that a multi-satellite measurement and control scheduling problem is generated, namely: the method reasonably manages and schedules the measurement and control data transmission tasks between a certain number of ground measurement and control stations and a plurality of satellites, finds a method for maximizing the utilization rate of measurement and control resources, completes the satellite measurement and control tasks as much as possible to achieve higher income, however, the multi-satellite measurement and control scheduling problem is a nondeterministic problem with multicomposition and high-conflict polynomial complexity, the allocation of the ground measurement and control resources has a plurality of constraint conditions, and in addition, the allocation of the one-to-one correspondence relation with the measurement and control requirements also causes higher conflict rate due to limited resources.

Based on the above situation, in the prior art, a traditional mathematical programming algorithm is adopted to obtain an optimal solution of the problem, but in order to simplify the problem, the traditional mathematical programming algorithm has many practical constraints which are not considered, and the constraints exist really, and have a direct influence on the allocation of the measurement and control resources, and if the constraints are not considered, the result and the actual optimal resource allocation mode have a large discrepancy.

Disclosure of Invention

In view of this, an object of the present application is to provide a method for scheduling satellite measurement and control resources and related equipment, so as to solve the above technical problems.

Based on the above purpose, a first aspect of the present application provides a method for scheduling satellite measurement and control resources, including:

determining an objective function according to a preset measurement and control plan, wherein the objective function comprises a first objective function and a second objective function;

in response to the determination that the objective function is the first objective function, performing maximum solving processing on the first objective function through a pre-constructed linear programming model based on the constraint conditions of the preset measurement and control plan to obtain a first scheduling scheme, performing satellite measurement and control resource scheduling on measurement and control equipment corresponding to a satellite according to the first scheduling scheme,

and in response to the fact that the objective function is determined to be the second objective function, performing minimum solving processing on the second objective function through a pre-constructed target planning model based on the constraint condition of the preset measurement and control plan to obtain a second scheduling scheme, and scheduling the satellite measurement and control resources on the measurement and control equipment corresponding to the satellite according to the second scheduling scheme.

A second aspect of the present application provides a satellite measurement and control resource scheduling device, including:

the system comprises an objective function determination module, a measurement and control module and a control module, wherein the objective function determination module is configured to determine an objective function according to a preset measurement and control plan, and the objective function comprises a first objective function and a second objective function;

a first solving and scheduling module, configured to perform maximum solving processing on the first objective function through a pre-constructed linear programming model based on a constraint condition of the preset measurement and control plan in response to determining that the objective function is the first objective function, to obtain a first scheduling scheme, perform satellite measurement and control resource scheduling on measurement and control equipment corresponding to a satellite according to the first scheduling scheme,

and the second solving and scheduling module is configured to respond to the fact that the objective function is determined to be the second objective function, carry out minimum solving processing on the second objective function through a pre-constructed objective planning model based on the constraint condition of the preset measurement and control plan to obtain a second scheduling scheme, and carry out satellite measurement and control resource scheduling on the measurement and control equipment corresponding to the satellite according to the second scheduling scheme.

A third aspect of the application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of the first aspect when executing the program.

A fourth aspect of the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect.

As can be seen from the above, according to the satellite measurement and control resource scheduling method and the related device provided by the application, the objective function is determined to be the first objective function or the second objective function according to the preset measurement and control plan, and the first objective function is solved in a maximized manner through the linear programming model according to the constraint conditions of the preset measurement and control plan, so as to obtain the scheduling scheme. When the objective function is a second objective function, the second objective function is solved in a minimized mode through the objective planning model according to constraint conditions preset by the measurement and control plan to obtain a scheduling scheme, the constraint conditions which directly influence measurement and control resource allocation in reality are combined to carry out solving, the obtained scheduling scheme is an optimal resource allocation mode, the measurement and control resource utilization rate is maximized, satellite measurement and control tasks can be completed as much as possible, and high benefits are achieved.

Drawings

In order to more clearly illustrate the technical solutions in the present application or the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a flowchart of a satellite measurement and control resource scheduling method according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a satellite measurement and control resource scheduling device according to an embodiment of the present application;

fig. 3 is a schematic diagram of an electronic device according to an embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings in combination with specific embodiments.

It should be noted that technical terms or scientific terms used in the embodiments of the present application should have a general meaning as understood by those having ordinary skill in the art to which the present application belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the present application is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item preceding the word comprises the element or item listed after the word and its equivalent, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the related technology, a meta-heuristic algorithm is adopted for multi-satellite measurement and control scheduling, the algorithm has high practicability and can quickly obtain a feasible solution, but the optimal solution cannot be found by the method.

In addition, in order to find the optimal solution more accurately, an accurate algorithm based on mathematical programming is adopted in the related technology, so that a solution which is more convenient to evaluate can be obtained, but in order to simplify the problem, a plurality of practical constraint conditions are not considered, the constraint conditions exist really, the distribution of the measurement and control resources is directly influenced, and if the constraint conditions are not considered, the result and the actual optimal resource distribution mode have larger difference.

The embodiment of the application provides a satellite measurement and control resource scheduling method, which combines the constraint condition which directly influences measurement and control resource allocation and solves the corresponding objective function through a linear programming model or a target programming model, so that the optimal satellite measurement and control resource scheduling scheme closer to the reality can be obtained, efficient and reasonable resource management and allocation are realized, the maximum measurement and control resource utilization rate is achieved, satellite measurement and control tasks can be completed as much as possible, and higher benefits are achieved.

As shown in fig. 1, the method of the present embodiment includes:

step 101, determining an objective function according to a preset measurement and control plan, wherein the objective function comprises a first objective function and a second objective function.

In the step, the first objective function represents that the executed measurement and control tasks are the most and the allocated measurement and control resource gains are the highest, and the second objective function represents that the penalty given by the constraint condition which is not met by the measurement and control tasks under the limited measurement and control resources is the minimum.

Step 102, in response to the fact that the objective function is determined to be the first objective function, the first objective function is subjected to maximum solving processing through a pre-constructed linear programming model based on the constraint conditions of the preset measurement and control plan, a first scheduling scheme is obtained, and satellite measurement and control resources are scheduled for measurement and control equipment corresponding to a satellite according to the first scheduling scheme.

In the step, the constraint conditions of the preset measurement and control plan are all constraint conditions which exist in reality and have direct influence on measurement and control resource allocation, when the objective function is a first objective function, the first objective function is solved and processed in a maximized mode through a linear programming model in combination with the constraint conditions, the scheduling scheme (namely the first scheduling scheme) when the number of the measurement and control tasks to be executed is the largest and the profit of the measurement and control resources to be allocated is the highest is obtained, finally, the satellite measurement and control resources are scheduled according to the scheduling scheme, the constraint conditions which exist in reality and have direct influence on the measurement and control resource allocation are combined, the obtained scheduling scheme is closer to the actual optimal satellite measurement and control resource scheduling scheme, efficient and reasonable resource management and allocation are achieved, the measurement and control resource utilization rate is maximized, the satellite measurement and control tasks can be completed as much as possible, and high profit is achieved.

Step 103, in response to determining that the objective function is the second objective function, performing minimum solving processing on the second objective function through a pre-constructed target planning model based on the constraint condition of the preset measurement and control plan to obtain a second scheduling scheme, and performing scheduling on the satellite measurement and control resources on the measurement and control equipment corresponding to the satellite according to the second scheduling scheme.

In the step, the constraint conditions of the preset measurement and control plan are all constraint conditions which exist in reality and have direct influence on measurement and control resource allocation, when the objective function is a second objective function, the second objective function is subjected to minimum solving processing through a target planning model in combination with the constraint conditions, a scheduling scheme (namely a second scheduling scheme) which enables the measurement and control task to have minimum punishment given by the constraint conditions which are not met under the limited measurement and control resources is obtained, finally, the satellite measurement and control resources are scheduled according to the scheduling scheme, the constraint conditions which exist in reality and have direct influence on the measurement and control resource allocation are combined, the obtained scheduling scheme is closer to the actual optimal satellite measurement and control resource scheduling scheme, efficient and reasonable resource management and allocation are achieved, the measurement and control resource utilization rate is maximized, the satellite measurement and control tasks can be completed as much as possible, and high profit is achieved.

In some embodiments, the preset constraints of the measurement and control plan include a first constraint and an auxiliary constraint or a second constraint and an auxiliary constraint.

In the step, the constraint conditions preset by the measurement and control plan are all constraint conditions which have direct influence on measurement and control resource allocation in reality, the first constraint condition and the second constraint condition are constraint conditions which have main influence on the measurement and control resource allocation, the first constraint condition is a constraint condition considered when the linear planning model carries out solving processing, the second constraint condition is a constraint condition considered when the target planning model carries out solving processing, and meanwhile, the obtained scheduling scheme can be an optimal satellite measurement and control resource scheduling scheme through the auxiliary constraint conditions, so that efficient and reasonable resource management and allocation are realized, the maximum utilization rate of the measurement and control resources is achieved, satellite measurement and control tasks can be completed as much as possible, and higher income is achieved.

In addition, the scheduling scheme can be optimized by combining the constraint conditions such as measurement and control elevation angle constraint and the like, and the recombined constraint conditions are not specifically limited.

In some embodiments, step 102 comprises:

step 1021, in response to determining that the objective function is the first objective function, determining an actual constraint condition from the first constraint condition and the auxiliary constraint condition according to the preset measurement and control plan.

And 1022, performing maximum solving processing on the first objective function within preset calculation times through the linear programming model based on the actual constraint condition to obtain a plurality of first solving results and a plurality of corresponding first schemes.

And 1023, carrying out maximum value screening on the plurality of first solving results to obtain a maximum value solving result, and taking the first scheme corresponding to the maximum value solving result as the first scheduling scheme.

In the above scheme, when the objective function is the first objective function, the constraint condition that can be satisfied in the first constraint condition and the auxiliary constraint condition is obtained according to the measurement and control plan, and the constraint condition that is satisfied is used as the actual constraint condition of the measurement and control plan. The method comprises the steps of carrying out maximum solving processing on a first objective function through a linear programming model by combining with actual constraint conditions to obtain a plurality of first solving results and a plurality of first schemes corresponding to the first solving results, screening out solving results (namely maximum solving results) with the most measurement and control tasks executed and the highest measurement and control resource income allocated from all the first solving results, and finally taking the first scheme corresponding to the solving results (namely maximum solving results) with the most measurement and control tasks executed and the highest measurement and control resource income allocated as a first scheduling scheme, so that the scheduling scheme is closer to an actual optimal satellite measurement and control resource scheduling scheme, the maximum utilization rate of the measurement and control resources is achieved, the satellite measurement and control tasks are completed as much as possible, and high benefits are achieved.

In some embodiments, step 103 comprises:

and 1031, in response to determining that the objective function is the second objective function, determining an actual constraint condition from the second constraint condition and the auxiliary condition according to the preset measurement and control plan.

And 1032, performing minimum solving processing on the second objective function within preset times through the linear programming model according to the second constraint condition to obtain a plurality of second solving results and a plurality of corresponding second schemes.

And 1033, performing minimum value screening on the plurality of second solution results obtained through the minimum solution processing to obtain a minimum value solution result, and taking a second scheme corresponding to the minimum value solution result as the second scheduling scheme.

In the above scheme, when the objective function is a second objective function, the constraint condition that can be satisfied in the second constraint condition and the auxiliary constraint condition is obtained according to the measurement and control plan, and the constraint condition that is satisfied is used as the actual constraint condition of the measurement and control plan. And finally, the second scheme corresponding to the solution result (namely the minimum solution result) with the minimum penalty given by the constraint condition which causes the measurement and control task not to be satisfied under the limited measurement and control resource is used as a second scheduling scheme, so that the scheduling scheme is closer to the actual optimal satellite measurement and control resource scheduling scheme, the maximum utilization rate of the measurement and control resource is achieved, the satellite measurement and control task is completed as much as possible, and higher benefits are achieved.

In some embodiments, the first constraint condition includes a first total number of times of measurement constraint, a first number of turns of ascent constraint, a first number of turns of descent constraint, a first number of turns of departure constraint, a first number of turns of inbound constraint, a first consecutive number of times of measurement constraint, a first consecutive number of turns of ascent constraint, a first consecutive number of turns of descent constraint, a first minimum interval time of turn constraint, a first maximum interval time of turn constraint, a first minimum interval time of turn of adjacent ascent constraint, a first maximum interval time of turn constraint of adjacent ascent constraint, a first minimum interval time of turn of adjacent departure constraint, and a first maximum interval time of turn of adjacent departure constraint, the second constraint condition comprises a second measurement and control total time constraint, a second lifting turn number constraint, a second rail-descending turn number constraint, a second exit turn number constraint, a second entry turn number constraint, a second all measurement and control turn number continuous constraint, a second lifting turn number continuous constraint, a second rail-descending turn number continuous constraint, a second arbitrary turn minimum interval time constraint, a second arbitrary turn maximum time interval constraint, a second adjacent lifting turn number minimum time interval constraint, a second adjacent lifting turn number maximum time interval constraint, a second adjacent exit and entry turn number minimum time interval constraint and a second adjacent exit and entry turn number maximum time interval constraint, the auxiliary constraints comprise the constraint of each measurement and control time of the measurement and control plan, the constraint of each measurement and control task of the measurement and control plan, the execution constraint of the measurement and control tasks of the previous and next times, the measurement and control circle constraint of the measurement and control tasks of the previous and next times of the measurement and control plan, the first constraint of the measurement and control task circle execution, the measurement and control plan circle constraint of the execution, the measurement and control equipment time conflict constraint and the measurement and control task variable balance constraint.

In the above scheme, the first total measurement and control frequency constraint specifically includes:

wherein, the first and the second end of the pipe are connected with each other,

representing measurement and control plans

The set of the number of turns of (c),

the number of turns is indicated by the number of turns,

a collection of ground instrumentation devices is represented,

ground-representing measurement and control equipment

，

Representing measurement and control plans

The total number of the measurement and control circles is required,

is shown as

The number of the measurement and control circles is increased,

representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

The secondary measurement and control task is carried out, if yes, the measurement and control task is carried out

If not, then

，

Representing measurement and control plans

The completion ratio of (a) to (b),

，

a collection of measurement and control plans is represented,

denotes the first

A measurement and control plan;

the first lifting turn number constraint is as follows:

wherein the content of the first and second substances,

representing measurement and control plans

In the first place

Whether each turn is a lifting track or not,

the lifting of the rail is shown,

the indication of the falling of the rail is that,

representing measurement and control plans

The number of the rail lifting turns is required;

the first number of the track-reducing coils is specifically constrained as follows:

wherein the content of the first and second substances,

representing measurement and control plans

The number of the rail turns of the falling rail is required;

the first exit lap number constraint is specifically as follows:

representing measurement and control plans

In the first place

Whether the exit track exists on each circle or not, if so, then

If not, then

，

Representing measurement and control plans

The exit orbit number requirement of (2);

the first entry lap number constraint is specifically as follows:

wherein the content of the first and second substances,

representing measurement and control plans

In the first place

Whether the circle is the entry track or not, if so, then

If not, then

，

Representing measurement and control plans

The entry track number requirement of (2);

the first continuous constraint of all measurement and control circles is specifically as follows:

representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

denotes the first

The measurement and control plan is used for measuring and controlling the parameters,

represents a sufficiently large positive integer;

the continuous constraint of the first rail lifting circle is specifically as follows:

wherein the content of the first and second substances,

denotes the first

The number of the circles is counted,

is shown as

The number of the circles is counted,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

Whether to execute the measurement and control plan for each circle of measurement and control tasks

To (1) a

Measurement and control tasks for individual rounds, and

whether the circle is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

；

The first descending orbit circle continuous constraint specifically comprises the following steps:

denotes the first

The number of the circles is counted,

is shown as

The number of the turns is one,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1)

The circle of measurement and control tasks whether to execute the measurement and control plan

To (1) a

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

Representing each measurement and control plan

The set of the orbit raising turns;

the first arbitrary round minimum interval time constraint is specifically:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time of the number of turns is,

representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

Represents the lower time limit of any two rounds,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1)

Measuring and controlling task for each circleAnd a first

Whether the circle is the first

The direct precursor of each circle, if so, then

If not, then

；

The first arbitrary round maximum time interval constraint is specifically:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time of the number of turns is,

representing measurement and control plans

Whether or not it is in

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is in

On-line measuring and controlling equipment for every turn

Carry out the first

The secondary measurement and control task is carried out, if yes, the secondary measurement and control task is carried out

If not, then

，

The upper time limit for any two rounds is shown,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1)

Measurement and control tasks of individual circles, and

whether the circle is the first

The direct pioneer of each turn, if so, then

If not, then

；

The constraint of the minimum time interval of the first adjacent lifting track is specifically as follows:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time of the number of turns is,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

Represents the lower limit of the interval time between the adjacent lifting rails,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1)

To (1) a

Measurement and control tasks of individual circles, and

whether the circle is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

；

The constraint of the maximum time interval of the first adjacent lifting track circle is specifically as follows:

wherein the content of the first and second substances,

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time of the number of turns is,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

Represents the upper time limit of the interval between the adjacent lifting rails,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1)

To (1) a

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

；

The constraint of the minimum time interval of the first adjacent exit-entry orbit is specifically as follows:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time on the order of one turn,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is in

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

Represents the lower limit of the time interval between adjacent entry and exit circles,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1) a

Measurement and control tasks of individual circles, and

whether the circle is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

A collection of measurement and control plans is represented,

denotes the first

Individual surveyThe control plan is that the control plan,

show the measurement and control plan at

Whether the circle is the entry track or not, if so, then

If not, then

，

Indicates the measurement and control plan is on

Whether the circle is the exit track or not, if so, then

If not, then

；

The maximum time interval constraint of the first adjacent exit-entry orbit is specifically as follows:

wherein the content of the first and second substances,

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of the above-mentioned time period,

representing measurement and control plans

In the first place

The end time on the order of one turn,

representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

Secondary measurement and controlIf the task is yes, the task is executed

If not, then

，

Representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

When the interval of adjacent entry and exit circles is indicatedThe upper limit of the amount of the carbon atoms,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1) a

Measurement and control tasks for individual rounds, and

whether the circle is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

A collection of measurement and control plans is represented,

is shown as

indicates the measurement and control plan is on

Whether the circle is the entry track or not, if so, then

If not, then

，

Indicates the measurement and control plan is on

Whether the circle is the exit track or not, if so, then

If not, then

；

The second total measurement and control frequency constraint specifically comprises the following steps:

wherein the content of the first and second substances,

representing measurement and control plans

The set of the number of turns of (c),

the number of turns is shown as a number of turns,

a collection of ground instrumentation devices is represented,

ground-based measurement and control device

，

Representing measurement and control plans

The total number of the measurement and control circles is required,

denotes the first

The number of the measurement and control circles is increased,

representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

And

respectively representing positive and negative deviation variables of the constraint of the total times of the second measurement and control,

a collection of measurement and control plans is represented,

denotes the first

A measurement and control plan;

the second number of lift rail turns is specifically restricted as follows:

wherein the content of the first and second substances,

representing measurement and control plans

Whether or not it is at

On one turn atMeasurement and control equipment

Carry out the first

If not, then

，

And

respectively representing positive and negative deviation variables of the second lift-rail turn number constraint,

a collection of measurement and control plans is represented,

is shown as

representing measurement and control plans

In the first place

Whether each turn is a lifting track or not,

the lifting of the rail is shown,

the indication of the falling of the rail is that,

representing measurement and control plans

The number of the lifting rail turns is required;

the second number of the track-reducing coils is specifically constrained as follows:

wherein the content of the first and second substances,

and

respectively representing positive and negative deviation variables of a second number of falling track coils constraint,

a collection of measurement and control plans is represented,

is shown as

The measurement and control plan is used for carrying out measurement and control,

representing measurement and control plans

In the first place

Whether the number of the turns is the lifting rail or not,

the lifting of the rail is shown,

the indication of the falling of the rail is that,

representing measurement and control plans

The number of the rail turns of the falling rail is required;

the second exit lap number constraint is specifically as follows:

and

positive and negative deviation variables representing a second outbound turns constraint respectively,

representing measurement and control plans

In the first place

Whether the exit track exists on each circle or not, if so, then

If not, then

，

Representing measurement and control plans

The exit orbit number requirement of (2);

the second inbound lap constraint is specifically:

wherein the content of the first and second substances,

and

respectively representing the positive and negative variable deviations of the second inbound turns constraint,

denotes the first

representing measurement and control plans

In the first place

Whether the circle is the entry track, if so, then

If not, then

，

Representing measurement and control plans

The entry track number requirement of (2);

the continuous constraint of the second all measurement and control circles is specifically as follows:

representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

Measurement and control on a circleDevice

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

is shown as

represents a positive integer that is sufficiently large to be,

and

respectively representing the first positive and negative variable deviations of the continuous constraints of the second all measurement and control circles,

and

respectively representing second positive and negative variable deviations of continuous constraints of second all measurement and control circles;

the second lift-track circle continuous constraint specifically comprises the following steps:

wherein the content of the first and second substances,

is shown as

The number of the turns is one,

is shown as

The number of the circles is counted,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1) a

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

A collection of measurement and control plans is represented,

is shown as

representing each measurement and control plan

The set of the number of the lifting turns of (c),

and

respectively representing a first positive and negative deviation variable of a second up-tracking circle continuous constraint,

and

a second positive and negative deviation variable respectively representing a second ascending track circle continuous constraint;

the second descending orbit circle continuous constraint specifically comprises the following steps:

wherein the content of the first and second substances,

is shown as

The number of the circles is counted,

denotes the first

The number of the turns is one,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1)

To (1)

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

A collection of measurement and control plans is represented,

denotes the first

representing each measurement and control plan

The set of the number of turns of (c),

representing each measurement and control plan

The set of the ascending track turns of (a),

and

respectively represent the second falling track ringThe first positive and negative deviation variables of the second sequential constraint,

and

respectively representing a second positive deviation variable and a second negative deviation variable of the continuous constraint of the second orbit reduction circle;

the second arbitrary round minimum interval time constraint is specifically:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time of the number of turns is,

representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

The lower time limit of any two rounds is shown,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1)

To (1) a

Measurement and control tasks for individual rounds, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

A collection of measurement and control plans is represented,

is shown as

and

respectively representing positive and negative deviation variables of the minimum interval time constraint of the second arbitrary circle;

the constraint of the maximum time interval of the second arbitrary round is specifically as follows:

wherein the content of the first and second substances,

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time on the order of one turn,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

The upper time limit of any two rounds is shown,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1)

To (1) a

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

A collection of measurement and control plans is represented,

denotes the first

and

respectively representing positive and negative deviation variables of the maximum time interval constraint of a second arbitrary circle;

the constraint of the minimum time interval of the second adjacent lifting orbit is specifically as follows:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time on the order of one turn,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1)

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

A collection of measurement and control plans is represented,

denotes the first

and

a first positive and negative deviation variable representing a second adjacent lifting loop time minimum interval constraint,

and

are respectively provided withA second positive and negative deviation variable representing a second adjacent lift loop time minimum time interval constraint;

the second adjacent lifting track circle maximum time interval constraint specifically comprises the following steps:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time on the order of one turn,

representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1)

To (1) a

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct pioneer of each turn, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

A collection of measurement and control plans is represented,

is shown as

and

a first positive and negative deviation variable representing a second adjacent lifting loop sub-maximum time interval constraint,

and

a second positive and negative deviation variable respectively representing a second adjacent lifting orbit secondary maximum time interval constraint;

the second adjacent exit-entry orbit minimum time interval constraint is specifically as follows:

wherein the content of the first and second substances,

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of the above-mentioned time period,

representing measurement and control plans

In the first place

The end time of the number of turns is,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1)

Measurement and control tasks of individual circles, and

whether the circle is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is ascending, if so, then

If not, then

，

A collection of measurement and control plans is represented,

is shown as

show the measurement and control plan at

Whether the circle is the entry track or not, if so, then

If not, then

，

Indicates the measurement and control plan is on

Whether the circle is the exit track or not, if so, then

If not, then

，

And

a first positive and negative deviation variable respectively representing a second adjacent exit-entry orbit minor minimum time interval constraint,

and

a second positive and negative deviation variable respectively representing a second adjacent exit-entry orbit minor minimum time interval constraint;

the constraint of the maximum time interval of the second adjacent exit-entry orbit is specifically as follows:

representing measurement and control plans

In the first place

Circle-number on-line measurement and control equipment

The start time of (a) is set,

representing measurement and control plans

In the first place

The end time of the number of turns is,

representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Represents the upper time limit of the interval between adjacent exit and entry circles,

represents a positive integer that is sufficiently large to be,

indicating whether to execute a measurement and control plan

To (1) a

To (1)

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

Representing measurement and control plans

In the first place

Whether the circle is an ascending rail or not, if so, then

If not, then

，

A collection of measurement and control plans is represented,

is shown as

indicates the measurement and control plan is on

Whether the circle is the entry track, if so, then

If not, then

，

Show the measurement and control plan at

Whether the circle is the exit track or not, if so, then

If not, then

，

And

a first positive and negative variable deviation respectively representing a second adjacent exit-entry orbit sub-maximum time interval constraint,

and

a second positive and negative variable deviation respectively representing a second adjacent exit-entry orbit secondary maximum time interval constraint;

the measurement and control times of each circle of the measurement and control plan are specifically constrained as follows:

wherein the content of the first and second substances,

representing measurement and control plans

The set of turns of (a) is,

the number of turns is indicated by the number of turns,

a collection of ground instrumentation devices is represented,

ground-based measurement and control device

，

Representing measurement and control plans

The total number of the measurement and control circles of the system is required,

denotes the first

The number of the measurement and control circles is increased,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

is shown as

A measurement and control plan;

the circle constraint of each measurement and control task of the measurement and control plan is specifically as follows:

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

is shown as

A measurement and control plan;

the execution constraints of the two measurement and control tasks are as follows:

representing measurement and control plans

Whether or not it is in

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

denotes the first

A measurement and control plan;

the measurement and control cycle constraint of two measurement and control tasks before and after the measurement and control plan is specifically as follows:

wherein the content of the first and second substances,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is at

On-line measuring and controlling equipment for every turn

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

is shown as

represents a sufficiently large positive integer;

the measurement and control task cycle execution pioneer constraint specifically comprises the following steps:

wherein the content of the first and second substances,

the number of turns is indicated by the number of turns,

denotes the first

The number of the turns is one,

denotes the first

The number of the circles is counted,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

denotes the first

indicating whether to execute a measurement and control plan

To (1) a

To (1)

Measurement and control tasks for individual rounds, and

whether the number of rounds is the first

The direct precursor of each circle, if so, then

If not, then

，

Indicating whether to execute a measurement and control plan

To (1)

To (1) a

Measurement and control tasks of individual circles, and

whether the circle is the first

The direct precursor of each circle, if so, then

If not, then

；

The circle constraint of the execution measurement and control plan specifically comprises the following steps:

representing measurement and control plans

The set of turns of (a) is,

the number of turns is shown as a number of turns,

is shown as

The number of the turns is one,

is shown as

The number of the turns is one,

a set of ground measurement and control devices is represented,

ground-representing measurement and control equipment

，

Representing measurement and control plans

denotes the first

The number of the measurement and control circles is increased,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Carry out the first

If not, then

，

Representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Carry out the first

If not, then

，

A collection of measurement and control plans is represented,

is shown as

indicating whether to execute a measurement and control plan

To (1)

To (1) a

Measurement and control tasks of individual circles, and

whether the circle is the first

The direct pioneer of each turn, if so, then

If not, then

，

Represents a sufficiently large positive integer;

the time conflict constraint of the measurement and control equipment is specifically as follows:

wherein the content of the first and second substances,

denotes the first

The number of the circles is counted,

ground-representing measurement and control equipment

，

A set of ground measurement and control devices is represented,

representing measurement and control plans

In the first place

On-circle measurement and control equipment

The measurement and control task is executed, and the measurement and control task is executed,

represents the set of all the huge cliques contained in the time conflict interval graph determined based on the measurement and control arc segments on the measurement and control equipment,

represents a very large cluster;

the measurement and control task variable balance constraint specifically comprises the following steps:

representing measurement and control plans

The set of the number of turns of (c),

the number of turns is shown as a number of turns,

denotes the first

The number of the turns is one,

a collection of measurement and control plans is represented,

denotes the first

indicating whether to execute a measurement and control plan

To (1) a

To (1) a

Measurement and control tasks for individual rounds, and

whether the circle is the first

The direct pioneer of each turn, if so, then

If not, then

，

Indicating whether to execute a measurement and control plan

To (1) a

Measurement and control tasks of individual circles, and

whether the number of rounds is the first

The direct pioneer of each turn, if so, then

If not, then

。

The first measurement and control total frequency constraint and the second measurement and control total frequency constraint indicate that some special measurement and control plans need measurement and control for multiple times, and the measurement and control total frequency cannot be smaller than a certain threshold value. The first and second lifting turns constraints indicate that the satellite runs around the earth, and some special measurement and control plans need to complete the lifting tasks for many times, and the number of the lifting tasks cannot be smaller than a certain threshold value. The first and second track-reducing circle number constraints indicate that some special measurement and control plans need to complete track-reducing tasks for many times, and the number of the track-reducing tasks cannot be smaller than a certain threshold value. The first exit track number constraint and the second exit track number constraint represent the requirements of some special measurement and control plansThe outbound task is completed multiple times, and the number of outbound tasks cannot be less than a certain threshold. The first inbound track number constraint and the second inbound track number constraint indicate that some special measurement and control plans need to complete inbound tasks for many times, and the inbound task times cannot be smaller than a certain threshold value. The continuous constraint of the first all measurement and control circles and the continuous constraint of the second all measurement and control circles indicate that the circles which are adjacent to each other and need to complete the task are continuous in some special measurement and control plans. The continuous constraint of the first ascending rail circle and the continuous constraint of the second ascending rail circle indicate that the ascending rail circles which are adjacent to each other and complete the task are continuous when some special measurement and control plans need to be carried out. The continuous constraint of the first rail lowering circle and the continuous constraint of the second rail lowering circle indicate that the rail lowering circles which are adjacent to each other and complete the task are continuous when some special measurement and control plans need to be carried out. The first arbitrary circle minimum interval time constraint and the second arbitrary circle minimum interval time constraint indicate that the interval time of any circle in the measurement and control plan cannot be smaller than a certain threshold value. The first arbitrary round maximum time interval constraint and the second arbitrary round maximum time interval constraint indicate that the interval time of any round in the measurement and control plan cannot be larger than a certain threshold value. The minimum time interval constraint of the first adjacent lifting track circle and the minimum time interval constraint of the second adjacent lifting track circle indicate that the interval time of the adjacent lifting track circles in the measurement and control plan cannot be smaller than a certain threshold value. The maximum time interval constraint of the first adjacent lifting orbit and the maximum time interval constraint of the second adjacent lifting orbit indicate that the interval time of the adjacent lifting orbits in the measurement and control plan cannot be larger than a certain threshold value. The first adjacent exit-entry circle minimum time interval constraint and the second adjacent exit-entry circle minimum time interval constraint indicate that the interval time of the adjacent exit-entry circles in the measurement and control plan cannot be smaller than a certain threshold value. The first adjacent outbound and inbound turn maximum time interval constraint and the second adjacent outbound and inbound turn maximum time interval constraint cannot be greater than a certain threshold. And the measurement and control times constraint of each circle of the measurement and control plan indicates that the measurement and control times of each circle of the measurement and control plan are measured and controlled at most once. The circle constraint of each measurement and control task of the measurement and control plan indicates that each measurement and control task of each measurement and control plan can be only one circle. The execution constraint of the two measurement and control tasks represents that the execution of the next task must be carried outAsking the previous task to be executed if the previous task is the first one

The next measurement and control task is executed, the following

The secondary measurement and control tasks can be executed. The measurement and control circle times of the two measurement and control tasks before and after the measurement and control plan are restricted, and the measurement and control circle times of the next task after the measurement and control plan are larger than the circle times of the previous measurement and control task. The measurement and control task circle execution pioneering constraint means that if a certain measurement and control task is executed, the measurement and control task circle must be a direct pioneer of the certain task circle, or if a certain task circle is a direct pioneer of the measurement and control task circle, the measurement and control task circle is not executed.

Execution measurement and control plan round constraint representation

1, the number of turns

Exactly the number of turns

And (5) carrying out subsequent measurement and control tasks. The time conflict constraint of the measurement and control equipment indicates that the measurement and control equipment executes one measurement and control task in a maximum group at most because time conflict exists among the measurement and control tasks. If the measurement and control task variable balance constraint item task is executed, the measurement and control task circle must be a direct precursor of a certain measurement and control task circle, and a certain measurement and control task circle must also be a direct precursor of the measurement and control task circle.

In some embodiments, the first objective function is specifically:

representing measurement and control plans

The priority of the user's hand in the user's hand,

representing measurement and control plans

The completion ratio of (a) to (b),

，

representing measurement and control plans

On-line measurement and control equipment

The benefit of the implementation of (a) above,

representing measurement and control plans

Whether or not it is in

On-circle measurement and control equipment

Go to execute the first

If not, then

，

A set of measurement and control plans is represented,

representing each measurement and control plan

The set of turns of (a) is,

a set of ground measurement and control devices is represented,

representing measurement and control plans

The total number of the measurement and control circles is required,

and

indicating parameters set according to specific requirements.

In the scheme, the first objective function represents that the executed measurement and control tasks are the largest and the allocated measurement and control resource gains are the highest, the scheduling scheme that the executed measurement and control tasks are the largest and the allocated measurement and control resource gains are the highest can be obtained by solving the first objective function, the utilization rate of the measurement and control resources is maximized, the satellite measurement and control tasks can be completed as much as possible, and high gains are achieved.

In some embodiments, the second objective function is specifically:

wherein the content of the first and second substances,

a negative offset variable representing the second total number of measurements constraint,

a negative offset variable representing said second tracking number constraint,

a negative bias variable representing the second down-tracking turn number constraint,

a negative offset variable representing said second exit turns constraint,

a negative offset variable representing the second inbound turns constraint,

a first positive deviation variable representing the second all measurement and control turn continuous constraint,

a second negative offset variable representing the second all-measurement turn continuity constraint,

a first positive deviation variable representing the second up-turn continuation constraint,

a second negative offset variable representing the second lift turn sub-continuous constraint,

a first positive deviation variable representing the second turn-down sub-continuous constraint,

a second negative bias variable representing the second down-tracking turn sub-continuous constraint,

a negative offset variable representing the second arbitrary turn minimum interval time constraint,

a positive deviation variable representing the second arbitrary turn maximum time interval constraint,

a first negative offset variable representing a second minimum time interval constraint for the second adjacent lifting loop,

a second negative offset variable representing a second minimum time interval constraint for the second adjacent lifting loop,

a first positive offset variable representing a second adjacent lifting circle sub-maximum time interval constraint,

a second positive deviation variable representing a second maximum time interval constraint for the second adjacent lifting rail circle,

a first negative offset variable representing a second minimum time interval constraint for the second adjacent inbound orbital,

a second negative offset variable representing a second adjacent exit-entry orbital minimum time interval constraint,

a first positive deviation variable representing a second adjacent exit-entry orbital sub-maximum time interval constraint,

a second positive offset variable representing a second adjacent exit-entry orbital sub-maximum time interval constraint,

a collection of measurement and control plans is represented,

is shown as

is shown as

The number of the turns is one,

is shown as

The number of the turns is one,

indicates to perform the first

The secondary measurement and control task is carried out,

priority coefficients representing the second total measurement and control times constraint, the second lifting turn number constraint, the second rail lowering turn number constraint, the second exit turn number constraint and the second entry turn number constraint,

representing the priority coefficients of the second all measurement and control circle continuous constraint, the second ascending track circle continuous constraint and the second descending track circle continuous constraint,

a priority coefficient representing the second arbitrary round minimum interval time constraint, the second arbitrary round maximum time interval constraint, the second adjacent lifting orbit round minimum time interval constraint, the second adjacent lifting orbit round maximum time interval constraint, the second adjacent outbound and inbound orbit minimum time interval constraint, and the second adjacent outbound and inbound orbit maximum time interval constraint.

In the above scheme, the second objective function represents that the penalty given by the constraint condition that the measurement and control task is not satisfied under the limited measurement and control resources is minimum, wherein the positive and negative deviation variables represent the penalty given, and the obtained scheduling scheme satisfies more constraint conditions through the second objective function, so that the obtained scheduling scheme is the optimal satellite measurement and control resource scheduling scheme closer to reality.

In some embodiments, for example, a set of experimental examples is constructed based on real orbit prediction data (decryption). Wherein the measurement and control plan is 15, the number of the measurement and control equipment is 10, and the total number of measurement and control circles of each measurement and control plan is [8, 10 ]]The measurement and control plans are uniformly and randomly distributed, the first track ascending or descending, the first entry or exit of the circle of each measurement and control plan are randomly determined, and the measurement and control benefits of each measurement and control plan for each device are

Are uniformly and randomly distributed, and the priority of each measure and control plan is

Are uniformly and randomly distributed, the time window length of each measurement and control plan is 1h30min, and the length of each measurement and control arc section is

The switching time for each device was 6min. The example generation is shown in table 1.

TABLE 1

And calculating through a linear programming model until the maximum benefit of the measurement and control task is achieved, and obtaining a maximum value solving result.

And calculating through a target planning model until the penalty is 0, indicating that all constraint conditions are met, and obtaining a minimum value solving result.

And obtaining a scheduling scheme corresponding to a maximum value solving result through a linear programming model, namely a first scheduling scheme.

And obtaining a scheduling scheme corresponding to the minimum solving result through the target planning model, namely a second scheduling scheme.

It should be noted that the method of the embodiment of the present application may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment, and the multiple devices interact with each other to complete the method.

It should be noted that the foregoing describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Based on the same inventive concept, corresponding to the method of any embodiment, the application also provides a satellite measurement and control resource scheduling device.

Referring to fig. 2, the satellite measurement and control resource scheduling apparatus includes:

an objective function determination module 201 configured to determine an objective function according to a preset measurement and control plan, where the objective function includes a first objective function and a second objective function;

a first solving and scheduling module 202, configured to perform, in response to determining that the objective function is the first objective function, a maximum solving process on the first objective function through a pre-constructed linear programming model based on a constraint condition of the preset measurement and control plan to obtain a first scheduling scheme, perform satellite measurement and control resource scheduling on measurement and control equipment corresponding to a satellite according to the first scheduling scheme,

and the second solving and scheduling module 203 is configured to perform minimum solving processing on the second objective function through a pre-constructed target planning model based on the constraint condition of the preset measurement and control plan in response to the determination that the objective function is the second objective function, so as to obtain a second scheduling scheme, and perform scheduling on the satellite measurement and control resources on the measurement and control equipment corresponding to the satellite according to the second scheduling scheme.

For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations as the present application.

The apparatus in the foregoing embodiment is used to implement the corresponding satellite measurement and control resource scheduling method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Based on the same inventive concept, corresponding to the method of any embodiment described above, the present application further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the program, the method for scheduling the satellite measurement and control resources according to any embodiment described above is implemented.

Fig. 3 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via a bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called by the processor 1010 for execution.

The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, bluetooth and the like).

The bus 1050 includes a path that transfers information between the various components of the device, such as the processor 1010, the memory 1020, the input/output interface 1030, and the communication interface 1040.

It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.

The electronic device of the foregoing embodiment is used to implement the corresponding satellite measurement and control resource scheduling method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Based on the same inventive concept, corresponding to any of the above embodiments, the present application further provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the method for scheduling satellite measurement and control resources according to any of the above embodiments.

Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

The computer instructions stored in the storage medium of the foregoing embodiment are used to enable the computer to execute the satellite measurement and control resource scheduling method according to any embodiment, and have the beneficial effects of the corresponding method embodiments, which are not described herein again.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the context of the present application, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the application. Furthermore, devices may be shown in block diagram form in order to avoid obscuring embodiments of the application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the application are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that the embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures, such as Dynamic RAM (DRAM), may use the discussed embodiments.

The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present application are intended to be included within the scope of the present application.

Claims

1. A method for scheduling measurement and control resources of a satellite is characterized by comprising the following steps:

in response to the fact that the objective function is determined to be the second objective function, performing minimum solving processing on the second objective function through a pre-constructed objective planning model based on the constraint condition of the preset measurement and control plan to obtain a second scheduling scheme, and scheduling the satellite measurement and control resources on the measurement and control equipment corresponding to the satellite according to the second scheduling scheme;

the constraint conditions preset by the measurement and control plan comprise a first constraint condition and an auxiliary constraint condition or a second constraint condition and an auxiliary constraint condition;

the first constraint condition comprises a first measurement and control total times constraint, a first lifting circle number constraint, a first rail reduction circle number constraint, a first exit circle number constraint, a first entry circle number constraint, a first all measurement and control circle number continuous constraint, a first rail lifting circle number continuous constraint, a first rail reduction circle number continuous constraint, a first arbitrary circle minimum interval time constraint, a first arbitrary circle maximum time interval constraint, a first adjacent lifting circle minimum time interval constraint, a first adjacent lifting circle maximum time interval constraint, a first adjacent exit and entry circle minimum time interval constraint and a first adjacent exit and entry circle maximum time interval constraint,

the second constraint condition comprises a second measurement and control total time constraint, a second lift track number constraint, a second drop track number constraint, a second exit circle number constraint, a second entry circle number constraint, a second all measurement and control circle number continuous constraint, a second lift track circle number continuous constraint, a second drop track circle number continuous constraint, a second arbitrary circle minimum interval time constraint, a second arbitrary circle maximum time interval constraint, a second adjacent lift track circle minimum time interval constraint, a second adjacent lift track circle maximum time interval constraint, a second adjacent exit and entry track circle minimum time interval constraint and a second adjacent exit and entry track circle maximum time interval constraint,

the auxiliary constraints comprise each circle of measurement and control times constraint of a measurement and control plan, each circle of measurement and control task of the measurement and control plan, execution constraints of two measurement and control tasks before and after the measurement and control plan, measurement and control circle constraints of two measurement and control tasks before and after the measurement and control plan, first-class constraints of circle execution of the measurement and control tasks, circle constraints of execution of the measurement and control plan, time conflict constraints of measurement and control equipment and variable balance constraints of the measurement and control tasks;

the first objective function is specifically:

wherein the content of the first and second substances,

representing measurement and control plans

The priority of the user's mobile phone is,

representing measurement and control plans

The completion ratio of (a) to (b),

，

representing measurement and control plans

On-line measurement and control equipment

The benefit of the implementation of (a) above,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Go to the first

If not, then

，

A set of measurement and control plans is represented,

representing each measurement and control plan

The set of turns of (a) is,

a collection of ground instrumentation devices is represented,

representing measurement and control plans

and

representing parameters set according to specific requirements;

the second objective function is specifically:

wherein the content of the first and second substances,

a negative offset variable representing a second total number of measurements constraint,

a negative offset variable representing a second ramp count constraint,

a negative bias variable representing a second down-tracking number constraint,

a negative offset variable representing a second outbound lap constraint,

a negative offset variable representing a second inbound turns constraint,

a first positive deviation variable representing a second all-measurement-and-control-loop continuous constraint,

a second negative offset variable representing a second all-measurement turn continuous constraint,

a first positive deviation variable representing a second loop-up continuation constraint,

a second negative offset variable representing a second lift turn sub-continuous constraint,

a first positive deviation variable representing a second down-track winding sub-continuum constraint,

a second negative offset variable representing a second down-turn sub-continuous constraint,

a negative offset variable representing a second arbitrary turn minimum interval time constraint,

a positive deviation variable representing a second arbitrary turn maximum time interval constraint,

a first negative offset variable representing a second adjacent lift loop sub-minimum time interval constraint,

a second negative offset variable representing a second adjacent lift loop sub-minimum time interval constraint,

a first positive deviation variable representing a second adjacent lift loop sub-maximum time interval constraint,

a second positive deviation variable representing a second adjacent lift loop sub-maximum time interval constraint,

a first negative offset variable representing a second adjacent exit-entry trajectory sub-minimum time interval constraint,

a second negative offset variable representing a second adjacent exit-entry trajectory secondary minimum time interval constraint,

a first positive offset variable representing a second adjacent inbound turn maximum time interval constraint,

a second positive offset variable representing a second adjacent exit-entry trajectory sub-maximum time interval constraint,

a collection of measurement and control plans is represented,

is shown as

is shown as

The number of the turns is one,

denotes the first

The number of the turns is one,

indicates to perform the first

The secondary measurement and control task is carried out,

the priority coefficients of a second measurement and control total times constraint, a second ascending rail turn number constraint, a second descending rail turn number constraint, a second exit turn number constraint and a second entry turn number constraint are represented,

the priority coefficients of the second all measurement and control circle continuous constraint, the second ascending track circle continuous constraint and the second descending track circle continuous constraint are represented,

representing a second arbitrary round minimum interval time constraint, a second arbitrary round maximum interval time constraint, a second adjacent lifting orbit minimum interval time constraintAnd priority coefficients of a second adjacent lifting orbit secondary maximum time interval constraint, a second adjacent exit-entry orbit secondary minimum time interval constraint and a second adjacent exit-entry orbit secondary maximum time interval constraint.

2. The method of claim 1, wherein the, in response to determining that the objective function is the first objective function, performing a maximum solution process on the first objective function through a pre-constructed linear programming model based on the constraint conditions of the preset measurement and control plan to obtain a first scheduling scheme, includes:

in response to determining that the objective function is the first objective function, determining an actual constraint condition from the first constraint condition and the auxiliary constraint condition according to the preset measurement and control plan;

performing maximum solving processing on the first objective function within preset calculation times through the linear programming model based on the actual constraint condition to obtain a plurality of first solving results and a plurality of corresponding first schemes;

and screening the maximum values of the plurality of first solving results to obtain a maximum value solving result, and taking the first scheme corresponding to the maximum value solving result as the first scheduling scheme.

3. The method of claim 1, wherein in response to determining that the objective function is the second objective function, performing minimum solution processing on the second objective function through a pre-constructed objective planning model based on constraints of the preset measurement and control plan to obtain a second scheduling scheme, includes:

in response to determining that the objective function is the second objective function, determining an actual constraint condition from the second constraint condition and the auxiliary constraint condition according to the preset measurement and control plan;

performing minimum solving processing on the second objective function within preset times through the target planning model according to the second constraint condition to obtain a plurality of second solving results and a plurality of corresponding second schemes;

and carrying out minimum value screening on a plurality of second solving results obtained through minimum solving processing to obtain a minimum value solving result, and taking a second scheme corresponding to the minimum value solving result as the second scheduling scheme.

4. A satellite measurement and control resource scheduling device is characterized by comprising:

a first solving and scheduling module configured to, in response to determining that the objective function is the first objective function, perform maximum solving processing on the first objective function through a pre-constructed linear programming model based on constraint conditions of the preset measurement and control plan to obtain a first scheduling scheme, and perform scheduling of satellite measurement and control resources on measurement and control equipment corresponding to a satellite according to the first scheduling scheme,

the second solving and scheduling module is configured to perform minimum solving processing on the second objective function through a pre-constructed objective planning model based on the constraint condition of the preset measurement and control plan in response to the fact that the objective function is determined to be the second objective function, so as to obtain a second scheduling scheme, and perform scheduling on the satellite measurement and control resources on the measurement and control equipment corresponding to the satellite according to the second scheduling scheme;

the first objective function is specifically:

wherein the content of the first and second substances,

representing measurement and control plans

The priority of the user's mobile phone is,

representing measurement and control plans

The completion ratio of (a) to (b),

，

representing measurement and control plans

On-line measurement and control equipment

The benefit of the execution of (1) is,

representing measurement and control plans

Whether or not it is at

On-circle measurement and control equipment

Go to execute the first

If not, then

，

Presentation instrumentationThe set of plans is then presented to the user,

representing each measurement and control plan

The set of turns of (a) is,

a set of ground measurement and control devices is represented,

representing measurement and control plans

The total number of the measurement and control circles is required,

and

representing parameters set according to specific requirements;

the second objective function is specifically:

wherein the content of the first and second substances,

a negative offset variable representing a second ramp count constraint,

a negative offset variable representing a second droop loop number constraint,

a negative offset variable representing a second outbound lap constraint,

a negative offset variable representing a second inbound turns constraint,

a second negative offset variable representing a second all-measurement turn continuity constraint,

a first positive deviation variable representing a second up-turn continuation constraint,

a second positive offset variable representing a second adjacent lift loop sub-maximum time interval constraint,

a first negative offset variable representing a second adjacent inbound turn minimum time interval constraint,

a first positive offset variable representing a second adjacent exit-entry trajectory sub-maximum time interval constraint,

a second positive offset variable representing a second adjacent inbound turn maximum time interval constraint,

a collection of measurement and control plans is represented,

is shown as

denotes the first

The number of the turns is one,

is shown as

The number of the turns is one,

indicates to perform the first

The secondary measurement and control task is carried out,

and the priority coefficients represent a second arbitrary round minimum interval time constraint, a second arbitrary round maximum time interval constraint, a second adjacent lifting track round minimum time interval constraint, a second adjacent lifting track round maximum time interval constraint, a second adjacent exit-entry track round minimum time interval constraint and a second adjacent exit-entry track round maximum time interval constraint.

5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 3 when executing the program.

6. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 3.