CN114912245B - Networking radar task scheduling method aiming at task association cooperation - Google Patents
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Abstract
The invention discloses a task scheduling method of a networking radar aiming at task association and cooperation, which aims at the problem of task association and cooperation execution and the problem of benefit maximization obtained by formalizing the target task executed by the networking radar, wherein the value of the target task is determined by the relation between the expected execution time and the actual execution time of the target task; the networking radar target task scheduling optimization method is provided, and under the condition that networking radar resource balanced distribution is met, target task association cooperation is guaranteed, so that task scheduling benefit maximization is achieved. The invention solves the problem of target task scheduling with associated cooperativity and optimizes the total task scheduling value obtained by the networking radar.
Description
Technical Field
The invention relates to a scheduling technology of networking radars, in particular to a task scheduling method of the networking radars aiming at task association cooperation.
Background
With the development of integration and systematization of modern military electronic equipment, the networking radar system can better exert the overall superior efficiency, compared with the traditional single-machine radar, the data collection resource sharing in the system is effectively realized, the radar independent from each other forms an organic whole through networking, has the advantages of wide action range, flexible working mode and the like, is widely applied to modern military countermeasures, and is a powerful tool of a modern combat command system.
In recent years, the wide application of the phased array radar technology makes the resource scheduling method research become one of important research directions, how to execute a target task in a limited time resource to effectively improve the scheduling value of tasks in a radar networking, and a radar task scheduling strategy needs to be reasonably designed. At present, a radar networking is implemented by a plurality of phased array radars together, and in the task scheduling process of the traditional single-machine radar, the task scheduling is usually limited to self-generated local information, and peripheral information data cannot be obtained, so that the blocking and loss of data information are caused, global information data can be effectively obtained by utilizing the radar networking, and the real-time states of other radars can be known in time, so that the task scheduling of the radar networking is very important.
Because certain relevance exists among tasks detected by the networking radar, if the task execution condition of a certain radar is far from the task queue execution condition maintained by other radars in the system, the relevance of the tasks is reduced due to the fact that task data information collected by the radars is not coordinated, and finally the task scheduling value of the networking radar is greatly reduced. There are associative synergy reality scenarios for such tasks.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, provides a task scheduling method of a networking radar aiming at task association coordination,
the invention provides a task scheduling method, which maximizes the scheduling value of networking radar tasks under the condition of ensuring the relevance and cooperativity among the radar networking tasks.
The technical scheme is as follows: the invention relates to a networking radar task scheduling method aiming at task association cooperation, which comprises the following steps of:
step (1), if a certain networking radar system has M phase-controlled array radars, the set of networking radars is M = {1,2, …, M }, and the radar resource includes a time resource (for example, the task execution period is T); the detection radius of each radar is k, the task execution period of the radar is T, and the position coordinate of any radar j belonging to the M is c j ＝(x j ,y j )；
For the networking radar system, a task association cooperativity constraint model is established, and the problem of maximization of task scheduling value of the networking radar is formalized; the networking radar tasks comprise a searching task, a verifying task, a tracking loss processing task and the like, time windows, execution time and the like of all types of tasks are different, and the successful execution of each radar task comprises 3 processes of a transmitting period, a waiting period and a receiving period.
Assuming that the current network has n radar tasks, the set of radar tasks is R = { R = { (R) } 1 ,r 2 ,…,r n R, arbitrary task i Epsilon R contains 7 elements: r is i ＝{t ei ,t xi ,t wi ,t ri ,w i ,V i * ,c ri }；
Wherein, t ei Representing a task r i Desired execution time of t xi Representing a task r i Duration of the emission period of (t) wi Representing a task r i The duration of the waiting period of (c), which is generally determined by the distance, t ri Representing a task r i The duration of the receive period of (a) is, w is a i Representing a task r i Time window of execution of V i * Representing a task r i When the task is at the desired time t ei Can achieve this desired value when scheduled, c ri Representing a task r i Position coordinates (x) ri ,y ri )；
Targeting task r i The actual execution time is t i When t is i Relative to t ei When advancing or retarding execution, t should be satisfied ei -w i ≤t i ≤t ei +w i Remember task r i Time window w of i Is at a starting time t fi I.e. t fi ＝t ei -w i Remember task r i Time window w of i Has a cut-off time t di I.e. t di ＝t ei +w i (ii) a Task r i Residence time T of di Is equal to task r i The sum of the duration of the transmit period, the duration of the wait period and the duration of the receive period, i.e., T di ＝t xi +t wi +t ri ；
Networking radarIn the system, each radar maintains a task queue, and the networking radar task queue is set as Q = { Q = 1 ,Q 2 ,…,Q m }, arbitrary radar task queue Q j The epsilon Q is a plurality of tuples Q formed by the task number and the actual execution time ij ＝(r i ,t i ) According to the task sequence of the increasing sequence of the actual execution time, recording a radar task queue Q j Is executed at the end time of
Order target task r i E value function of R is V i (t i ) The size of which is determined by the actual execution time t i Determining, namely:
the value loss coefficient [ alpha ] E (0,1) is set to the function that the actual execution time is [ t ] fi ,t di ]Internal variation, the closer the execution time is to the desired execution time t ei The larger the signal-to-noise ratio of the obtained echo is and the higher the tracking precision is, and further the corresponding task realization value V is i (t i ) The larger;
setting L to represent a correlation cooperativity threshold value when networking radars execute tasks, namely, if the difference between any two radar task queues executing the tasks in networking is larger than the correlation threshold value, the timeliness and cooperativity between the tasks can be damaged;
the formalized task associated collaborative networking radar task scheduling value maximization problem is as follows:
and (3) constraint:
the target function F in the formula (1) represents the sum of target task scheduling values on all radar task queues in the networking radar system;
constraint (2) ensures that all radar task queues meet radar execution period constraint;
constraint (3) ensures that the task execution difference between any two radar task queues in the networking radar system does not exceed the task association coordination threshold L,
represents except Q j The execution end time of the other radar task queue;
constraint (4) ensures that any target task can only be added into one radar task queue at most, Q j′ Represents except Q j An out-of-radar task queue;
and (2) based on the obtained task association collaboration constraint model, task scheduling is carried out on the task association collaboration networking radar system, and the specific process is as follows:
step (2.1), initializing a task queue of any radar j belonging to M in the networking radar system
/>
Step (2.2), all target tasks r i E R according to its expected execution time t ei Arranging in non-decreasing order, renumbering, initializing unscheduled target task sequence R u ＝R；
Step (2.3), set S i To be coverable task r i Radar set of
Initialization->
According to the target task r i C as the position coordinate of R ri (x ri ,y ri ) Position coordinate c of networking radar j ∈ M j (x j ,y j ) Calculating the distance d between the two ij Comparing with the monitoring radius of the networking radar, if d ij K is less than or equal to k, the radar j is added into the task r i Radar set S i I.e. S i ＝S i ∪{j}；
Step (2.4), if
Step (2.5) is executed, otherwise step (2.11) is executed;
step (2.5) for the R obtained u In the first task r i Radar set S i Find S i The radar task queue mark with the earliest middle execution ending time is marked as j min I.e. by
Find S i And the radar task queue index of the second earliest in the middle execution ending time is recorded as j' min I.e. is->
Step (2.6), if the current task r i At its earliest executable time (i.e. task r) i At the start time t of the time window of fi ) When the queue with the earliest current execution end time is scheduled, the queue completion time does not exceed the radar task execution period, namely
And the current task r i Is not less than the current task queue execution end time, i.e. ->
And satisfy radar queue task associationCo-ordinated restraint, i.e.>
Indicating that the radar task is for queue->
If so, performing step (2.7), otherwise performing step (2.10);
step (2.7), if the task r i Scheduled to the queue at the time closest to the desired execution time
In not exceeding a radar task execution period, i.e. </er>
And satisfy radar queue task association coordination constraints, i.e.
Step (2.8) is executed, otherwise step (2.9) is executed;
step (2.8) of sending the task r i Join to queue
And update task r i Actual execution time and queue
The task execution end time of (1), namely: />
q ij ＝(r i ,t i )、/>
And
step (2.10) is executed;
step (2.9)The task r i Join to queue
And update task r i Actual execution time and queue
The task execution end time of (2), namely: />
q ij ＝(r i ,t i )、
And &>
Entering the step (2.10);
step (2.10) of sending the task r i Deleted from a non-scheduled sequence of tasks, i.e. R u ＝R u \{r i And (5) returning to the step (2.4);
and (2.11) returning all radar task queue sets Q in the networking radar system.
Has the advantages that: the invention formalizes the problem of radar cooperative task scheduling by taking task scheduling value as a target; the method for optimizing the task scheduling value of the networking radar aiming at task association cooperation is provided, the problem of multi-task association cooperation execution is solved, the scheduling value of a target task is improved, and the time complexity is O (nmlogm).
Drawings
FIG. 1 is an overall flow chart of the present invention;
fig. 2 is a diagram of a networked radar system of an embodiment.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
Task association cooperativity: when the difference of the execution progress of each radar task queue in the networking system does not exceed the association limit L, the tasks in each radar task queue can be shared globally, however, when the difference exceeds the threshold, the possibility that the task data changes along with time is increased, and the timeliness of the task data information is damaged, so that task association cooperativity is defined to restrict task scheduling of the networking radar.
As shown in fig. 1, the method for scheduling task-associated collaborative networking radar tasks of the present invention includes the following steps:
step (1), if a certain networking radar system is provided with M parts of phased array radars, the set of networking radars is M = {1,2, …, M }, the detection radius of each radar is k, the task execution period of the radar is T, and the position coordinate of any radar j belonging to M is c j ＝(x j ,y j )；
For the networking radar system, a task association cooperativity constraint model is established, and the problem of maximization of task scheduling value of the networking radar is formalized; assuming that the current network has n radar tasks, the set of radar tasks is R = { R = { (R) } 1 ,r 2 ,…,r n R, arbitrary task i E R contains 7 elements: r is i ＝{t ei ,t xi ,t wi ,t ri ,w i ,V i * ,c ri }；
Wherein, t ei Representing a task r i Desired execution time of t xi Representing a task r i Duration of the emission period of (t) wi Representing a task r i The duration of the waiting period of (c), which is generally determined by the distance, t ri Representing a task r i Duration of the receiving period of (d), w i Representing a task r i Time window of execution of V i * Representing a task r i When the task is at the desired time t ei When scheduled, can achieve this expected value, c ri Representing a task r i Position coordinates (x) ri ,y ri )；
Targeting task r i The actual execution time is t i When t is i Relative to t ei When executing ahead or behind, t should be satisfied ei -w i ≤t i ≤t ei +w i Task r of memory i Time window w of i Is at a starting time t fi I.e. t fi ＝t ei -w i Remember task r i Time window w of i Has a cut-off time t di I.e. t di ＝t ei +w i (ii) a Task r i Dwell time T of di Is equal to task r i The sum of the duration of the transmit period, the duration of the wait period and the duration of the receive period, i.e., T di ＝t xi +t wi +t ri ；
In the networking radar system, each radar maintains a task queue, and the task queue of the networking radar is set as Q = { Q = 1 ,Q 2 ,…,Q m }, arbitrary radar task queue Q j The epsilon Q is a plurality of tuples Q formed by task numbers and actual execution time ij ＝(r i ,t i ) According to the task sequence of the increasing sequence of the actual execution time, recording a radar task queue Q j At the execution end time of
Order the target task r i E value function of R is V i (t i ) The size of which is determined by the actual execution time t i Determining, namely:
the value loss coefficient α ∈ (0,1), and the actual execution time in this function is [ t [ ] fi ,t di ]Internal variation, the closer the execution time is to the desired execution time t ei The larger the signal-to-noise ratio of the obtained echo is and the higher the tracking precision is, and further the corresponding task realization value V is i (t i ) The larger;
setting L to represent a correlation cooperativity threshold value when networking radars execute tasks, namely, if the difference between any two radar task queues executing the tasks in networking is larger than the correlation threshold value, the timeliness and cooperativity between the tasks can be damaged;
the formalized task associated collaborative networking radar task scheduling value maximization problem is as follows:
and (3) constraint:
the target function F in the formula (1) represents the sum of target task scheduling values on all radar task queues in the networking radar system;
constraint (2) ensures that all radar task queues meet radar execution period constraint;
constraint (3) ensures that the task execution difference between any two radar task queues in the networking radar system does not exceed the task association coordination threshold L,
represents except Q j The execution end time of the other radar task queue;
constraint (4) ensures that any target task can only be added into one radar task queue at most, Q j′ Represents except Q j An out-of-range radar task queue;
step (2), based on the obtained task association cooperative constraint model, the task scheduling method aims at the networking radar system with task association cooperation, and comprises the following specific processes:
step (2.1), initializing a task queue of any radar j belonging to M in the networking radar system
Step (2.2), all target tasks r i E R according to its expected execution time t ei Arranging in non-decreasing order, renumbering, initializing unscheduled target task sequence R u ＝R；
Step (2.3) setting S i To be coverable task r i Radar set of (1), to
Initialization->
According to the target task r i C as the position coordinate of R ri (x ri ,y ri ) Position coordinate c of networking radar j ∈ M j (x j ,y j ) Calculating the distance d between the two ij Comparing with the monitoring radius of the networking radar, if d ij K is less than or equal to k, the radar j is added into the task r i Radar set S i I.e. S i ＝S i ∪{j}；
Step (2.4), if
Step (2.5) is executed, otherwise step (2.11) is executed;
step (2.5) for the R obtained u In the first task r i Radar set S i Find S i The index of the radar task queue with the earliest middle execution end time is marked as j min I.e. by
Find S i And the radar task queue index of the second earliest in the middle execution ending time is recorded as j' min I.e. is->
Step (2.6), if the current task r i Scheduled at the end of the current execution by its earliest executable timeAt the earliest queue time, the queue completion time does not exceed the radar task execution period, i.e.
And the current task r i Is not less than the current task queue execution end time, i.e. ->
And satisfy radar queue task association coordination constraints, i.e. ->
Indicating that the radar task is for queue->
If so, performing step (2.7), otherwise performing step (2.10);
step (2.7), if the task r i Scheduled to the queue at the time closest to the desired execution time
Does not exceed the radar task execution period, i.e. < >>
And satisfy radar queue task association coordination constraints, i.e.
Step (2.8) is executed, otherwise step (2.9) is executed;
step (2.8), the task r i Join to queue
And update task r i Actual execution time and queue
The task execution end time of (1), namely: />
q ij ＝(r i ,t i )、/>
And
step (2.10) is executed;
step (2.9), the task r i Joining a queue
And update the task r i Actual execution time and queue
The task execution end time of (1), namely: />
q ij ＝(r i ,t i )、
And &>
Entering the step (2.10);
step (2.10), the task r i Deleted from a non-scheduled sequence of tasks, i.e. R u ＝R u \{r i And (5) returning to the step (2.4);
and (2.11) returning all radar task queue sets Q in the networking radar system.
Example 1: as shown in fig. 2, the task scheduling method of the networking radar of this embodiment specifically includes the following steps:
let radar networking set M = {1,2,3,4,5}, and corresponding networking radar task queue set Q = { Q = 1 ,Q 2 ,Q 3 ,Q 4 ,Q 5 The detection radius k of the radar is 3km, and the radar is1 coordinate position c 1 To (3km ), coordinate position c of radar 2 2 To (3km, 7km), coordinate position c of radar 3 3 Is (5km ), the coordinate position c of the radar 4 4 To (6 km,3 km), coordinate position c of radar 5 5 To be (6 km ), before a scheduling cycle begins, the execution end time pointer of each task queue in Q is 0, the number of radar tasks in the scheduling cycle T is set to be 10, and a radar task set R = { R = (R) = 1 ,r 2 ,r 3 ,r 4 ,r 5 ,r 6 ,r 7 ,r 8 ,r 9 ,r 10 ,r 11 ,r 12 }。
And setting a task execution period T =15s of the radar networking, and setting a networking radar task association degree threshold L =5s, obtaining task scheduling schemes of all radar task queues in the networking system according to a networking radar task scheduling method aiming at task association cooperation, and then calculating the sum of the networking radar task scheduling values.
The networking radar task scheduling method aiming at task association cooperation comprises the following specific steps of:
(2.1) initializing a radar task queue of any radar j belonging to M in the networking radar system
(2.2) all target tasks r i E R according to its expected execution time t ei Arranged in non-decreasing order and renumbered, where t ei Representing a task r i Desired execution time, T di Represents a dwell time having a value equal to the sum of the duration of the transmitter, the duration of the waiting period and the duration of the receiving period, w i Indicating the size of the execution time window, V i * Is a task r i Maximum scheduling value of c ri Is task r i Initializing the unscheduled target task set R u = R, the parameter settings of all tasks and the radar sets are shown in Table 1;
TABLE 1 task parameter settings Table
(2.3) pairs
Initialization->
According to the target task r i C as the position coordinate of R ri (x ri ,y ri ) Position coordinate c of networking radar j ∈ M j (x j ,y j ) Passing through>
Calculating the distance between the two, comparing the distance with the monitoring radius of the networking radar, and if d is the distance ij K is less than or equal to k, the radar j is added into the task r i Radar set S i I.e. S i ＝S i U { j }; otherwise, task r is described i The radar sets of all tasks are shown in table 2, but not within the range of action of radar j;
TABLE 2 Radar set of task
When i =1,2,3,4,5, all radar task queues in the corresponding radar set are empty, and the radar task queues are directly added to the respective executable task queues, where the task queues have the task allocation condition of part shown in table 3, and the tasks are distributed from R u Medium culling, so i =6 is taken as an example;
table 3 i =5 time task queue allocation table
(2.4) if
Step (2.5) is executed, otherwise step (2.11) is executed;
(2.5) for the current R u First task r in (1) 6 Radar set S 6 Find S 6 The radar task queue with the earliest middle task execution ending time is marked as 1, and j is the moment min =1, and
find S 6 The radar task queue with the second earliest execution end time is numbered 2, j 'at this time' min =2, and +>
(2.6) if task r 6 Scheduled to Q at its earliest executable time 1 At this time, the task queue Q 1 The execution end time does not exceed T, namely max (3,3-2) +2=5 ≦ T, and r 6 Is not less than the task queue Q 1 Execution end time, namely 3+2=5>3, and satisfying the association coordination constraint of the radar queue task, namely max (3,3-2) +2-4=1 is less than or equal to L, and executing the step (2.7);
(2.7) if task r 6 Scheduled to queue Q at the time closest to the desired execution time 1 In the above step, the radar task execution period is not exceeded, namely max (3,3) +2 ≦ T, and the radar queue task association coordination constraint is satisfied, namely | max (3,3) +2-4| =1 ≦ L, and step (2.8) is executed;
(2.8) task r 6 Join to queue Q 1 And update task r 6 Actual execution time and queue Q 1 At the end of the execution of the task, i.e., t 6 ＝max(3,3)＝3，q 61 ＝(r 6 ,3)，Q 1 ＝Q 1 ∪{q 61 }，
Executing the step (2.10);
(2.10) removing the tasks from the unscheduled task sequence and returning to the step (2.4);
before i =8 is considered, the current allocation status of each radar task queue is shown in table 4;
table 4 i =7 time task queue allocation table
When i =8 is taken as an example, step (2.5) is performed;
(2.5) for task r 8 Radar set S 8 Find S 8 The radar task queue with the earliest middle task execution ending time is marked with 5, at which time j min =5, and
find S 8 The radar task queue with the second earliest end of the middle task execution is labeled 5, at which time j min =1, and =>
(2.6) if task r 8 Scheduled to Q at its earliest executable time 5 At this time, the task queue Q 5 The execution end time does not exceed T, i.e., max (5,6-2) +5=10 ≦ T, and r 8 Is not less than the task queue Q 5 Execution end time, i.e. 6+2=8>5, satisfying the task association coordination constraint of the radar queue, namely max (5,6-2) +5-5=5 is less than or equal to L, and executing the step (2.7);
(2.7) if task r 8 Scheduled to queue Q at the time closest to the desired execution time 5 In the above, the radar task execution period is not exceeded, i.e., max (5,6) +5=11 ≦ T, but because the radar is not satisfiedQueue task association coordination constraint, namely | max (5,6) +5-5| =6>L, executing the step (2.9);
(2.9) task r at this time 8 Is scheduled to queue Q 5 When above, Q 5 Becomes current S 8 The queue with the latest execution end time does not meet the task association coordination threshold, but because max (5,6-2) +5-5 is less than or equal to L, Q can be enabled by the forward movement of the execution time 5 If the task correlation cooperative threshold is met, the task r is processed 8 Join queue Q 5 And update task r 8 Actual execution time and queue Q 5 At the end of execution, i.e. t 8 ＝max{T-5,L+5-5}＝5，q 85 ＝(r 8 ,5)，Q 5 ＝Q 5 ∪{q 85 }，
Executing the step (2.10);
(2.10) task r 8 Removing from the unscheduled task sequence;
repeating the operation on the rest tasks until
(2.11) returning all radar task queue sets Q in the networking radar system, wherein the numbers and actual execution time of scheduled tasks are recorded in all radar task queues in the queue sets, and finally all radar task queues of the networking radar are shown in a table 5;
table 5 networking radar task queue distribution condition table
According to a scheduling cost function
Calculating the scheduling value of each radar task queue in the networking radar, as shown in table 6;
table 6 networking radar task queue scheduling value table
Finally, calculating the total value of the task scheduling of the networking radar to obtain
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Claims (1)
1. A networking radar task scheduling method aiming at task association coordination is characterized in that: the method comprises the following steps:
step (1), for a networking radar system, establishing a task association cooperativity constraint model, and formalizing the problem of maximization of the task scheduling value of the networking radar; if a certain networking radar system has M parts of phased array radars, the set of networking radars is M = {1,2, …, M }, the detection radius of each radar is k, the task execution period of the radar is T, and the position coordinate of any radar j belonging to M is c j ＝(x j ,y j )；
Assuming that the current network has n radar tasks, the set of radar tasks is R = { R = { (R) } 1 ,r 2 ,…,r n R, arbitrary task i E R contains 7 elements: r is a radical of hydrogen i ＝{t ei ,t xi ,t wi ,t ri ,w i ,V i * ,c ri }；
Wherein, t ei Representing a task r i Desired execution time of t xi Representing a task r i Duration of the emission period of (t) wi Representing a task r i Duration of the waiting period t ri Representing a task r i Duration of the receiving period of (d), w i Representing a task r i Time window of execution of V i * Representing a task r i When the task is at the desired time t ei Can achieve this desired value when scheduled, c ri Representing a task r i Position coordinates (x) ri ,y ri )；
Targeting task r i The actual execution time is t i When t is i Relative to t ei When executing ahead or behind, t should be satisfied ei -w i ≤t i ≤t ei +w i Task r of memory i Time window w of i Is at a starting time t fi I.e. t fi ＝t ei -w i Task r of memory i Time window w of i Has a cut-off time t di I.e. t di ＝t ei +w i (ii) a Task r i Residence time T of di Is equal to task r i Of the sum of the duration of the transmission period, the duration of the waiting period and the duration of the reception period, i.e. T di ＝t xi +t wi +t ri ；
Each radar maintains a task queue, and the task queue of the networking radar is set as Q = { Q = 1 ,Q 2 ,…,Q m }, arbitrary radar task queue Q j The epsilon Q is a plurality of tuples Q formed by the task number and the actual execution time ij ＝(r i ,t i ) Recording a radar task queue Q according to the task sequence which is ordered in an increasing way at the actual execution time j Is executed at the end time of
Order target task r i E value function of R is V i (t i ) The size of which is determined by the actual execution time t i Determining, namely:
alpha epsilon (0,1) is a value loss coefficient, and L is set to represent a correlation cooperativity threshold value when the networking radar executes a task;
the problem of maximizing the task scheduling value of the networking radar in formalized task association cooperation is as follows:
and (3) constraint:
the target function F in the formula (1) represents the sum of target task scheduling values on all radar task queues in the networking radar system;
constraint (2) ensures that all radar task queues meet radar execution period constraint;
constraint (3) ensures that the task execution difference between any two radar task queues in the networking radar system does not exceed the task association coordination threshold L,
represents except Q j The execution end time of the other radar task queue;
constraint (4) ensures that any target task can only be added into one radar task queue at most, Q j′ Represents except Q j An out-of-radar task queue;
and (2) based on the obtained task association collaboration constraint model, task scheduling is carried out on the task association collaboration networking radar system, and the specific process is as follows:
step (2.1), initializing a task queue of any radar j belonging to M in the networking radar system
Step (2.2), all target tasks r i E R according to its expected execution time t ei Arranged in a non-decreasing orderAnd renumbering, initializing unscheduled target task sequences R u ＝R；
Step (2.3), set S i To be coverable task r i Radar set of (1), to
Initialization
According to the target task r i C is the position coordinate of R ri (x ri ,y ri ) Position coordinate c of networking radar j ∈ M j (x j ,y j ) Calculating the distance d between the two ij Comparing with the monitoring radius of the networking radar, if d ij K is less than or equal to k, the radar j is added into the task r i Radar set S i I.e. S i ＝S i ∪{j}；
Step (2.4), if
Step (2.5) is executed, otherwise step (2.11) is executed;
step (2.5) for the R obtained u In the first task r i Radar set S i Find S i The radar task queue mark with the earliest middle execution ending time is marked as j min I.e. by
Find S i Marking as j 'for the radar task queue mark of the second earliest in middle execution ending time' min I.e. by
Step (2.6), if the current task r i When the queue with the earliest execution time is scheduled to the queue with the earliest current execution end time according to the earliest executable time, the queue completion time does not exceed the radar task execution period, namely
And the current task r i Is not less than the current task queue execution end time, i.e. the end execution time
And satisfy radar queue task association coordination constraints, i.e.
Illustrate the radar task to queue
If so, performing step (2.7), otherwise performing step (2.10);
step (2.7), if the task r i Scheduled to the queue at the time closest to the desired execution time
Above, the radar task execution period is not exceeded, i.e.
And satisfy radar queue task association coordination constraints, i.e.
Step (2.8) is executed, otherwise step (2.9) is executed;
step (2.8), the task r i Join to queue
And update task r i Actual execution time and queue
The task execution end time of (1), namely:
and
step (2.10) is executed;
step (2.9), the task r i Join to queue
And update the task r i Actual execution time and queue
The task execution end time of (1), namely:
q ij ＝(r i ,t i )、
and
entering the step (2.10);
step (2.10), the task r i Deleted from a non-scheduled sequence of tasks, i.e. R u ＝R u \{r i And (5) returning to the step (2.4);
and (2.11) returning all radar task queue sets Q in the networking radar system.
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