CN115099581A - Dynamic task planning method and device for satellite, electronic equipment and medium - Google Patents

Dynamic task planning method and device for satellite, electronic equipment and medium Download PDF

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CN115099581A
CN115099581A CN202210632603.8A CN202210632603A CN115099581A CN 115099581 A CN115099581 A CN 115099581A CN 202210632603 A CN202210632603 A CN 202210632603A CN 115099581 A CN115099581 A CN 115099581A
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师明
高宇辉
杨成
张弓
黄义喆
杨晓晨
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Abstract

The invention relates to a dynamic task planning method, a dynamic task planning device, electronic equipment and a medium for a satellite, wherein the method comprises the following steps: the method comprises the steps of obtaining a disturbance event aiming at a target task, determining a disturbance factor according to an action sequence and a working mode corresponding to the disturbance event, determining an influence range of the disturbance event on a temporal network structure diagram according to the temporal network structure diagram and the disturbance factor corresponding to the target task, determining a plurality of initial action sequences corresponding to an initial atomic task and an end atomic task within the influence range according to the influence range, the initial atomic task and the end atomic task, determining a dynamic disturbance measure corresponding to each initial action sequence according to the disturbance factor, determining a target action sequence from the plurality of initial action sequences according to the dynamic disturbance measures, and taking the target action sequence as a target planning scheme. By the method, the target planning scheme of the target task can be accurately determined under the condition of disturbance events.

Description

Dynamic task planning method and device for satellite, electronic equipment and medium
Technical Field
The invention relates to the technical field of spaceflight, in particular to a dynamic task planning method and device for a satellite, electronic equipment and a medium.
Background
The space gravitational wave detector consists of 3 satellites to form a regular triangle flying formation, can well respond to the vibration characteristic of the gravitational wave while keeping the stability of the orbit, and precisely measures the optical path change caused by the gravitational wave. The gravitational wave signal is very weak, even if the distance between two test masses is 300 km, the optical path change caused by the gravitational wave is only in the pm magnitude, and the gravitational wave signal can be submerged by small disturbance. Therefore, the deep space gravitational wave detection spacecraft has the requirements of high precision and high stability, and supports rapid establishment, maintenance and recovery of the system under the influence of large-scale multi-source disturbance and complex multi-satellite constraint coupling.
Due to the configuration characteristics of the gravitational wave detection constellation, a scheme of completing task planning by relying on real-time human-computer interaction is not feasible. When the satellite-borne system executes the initial planning scheme, due to the reasons of satellite resources, external environment deformation, external interference and the like, the states of load failure, satellite runaway, constellation configuration maintenance failure and the like are caused, so that the satellite resources are no longer available; in addition, new events may be inserted due to handling unknown cases during the probing process. The multi-satellite task planning of gravitational wave detection under dynamic disturbance is realized by rapidly generating a stable new rule scheduling scheme under the condition that a new event arrives or the resource state changes on the basis of an initial planning scheme.
For the task planning problem under dynamic disturbance, in the prior art, in terms of low earth orbit satellite task scheduling and emergency re-planning, a mathematical model is constructed, and a corresponding conflict resolution strategy and solving algorithm are provided, wherein the conflict resolution strategy and solving algorithm comprise a constraint satisfaction model aiming at multi-satellite imaging scheduling, a mixed integer programming model based on task layering programming, a multi-satellite combined programming mathematical model and a particle swarm algorithm facing multi-time window constraint, a heuristic search task planning based on a dynamic loading probability model and total loading capacity estimation and the like. For a stable operation scene of a spacecraft system for a long time, the requirement of space gravitational wave detection on the sensitivity of the spacecraft system is extremely high, weak noise sources at all levels such as the spacecraft system and an orbit environment are more, high coupling and transmission are complex, the high orbit characteristic of the spacecraft system brings low-speed and high-delay communication constraint, and the constraint problems do not exist in low-orbit satellites.
Disclosure of Invention
The invention provides a method, a device, electronic equipment and a medium for dynamic mission planning of a satellite, and aims to solve at least one technical problem.
In a first aspect, the technical solution for solving the above technical problem of the present invention is as follows: a method of dynamic mission planning for a satellite, the method comprising:
acquiring a disturbance event aiming at a target task, wherein the target task comprises a plurality of atomic tasks, the disturbance event is an event influencing an initial planning scheme corresponding to the target task, and the atomic tasks comprise a starting atomic task and an ending atomic task;
determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, wherein the disturbance factor represents the influence range of the disturbance event on the original action sequence corresponding to the initial planning scheme, and the original action sequence is the action sequence corresponding to the target task when no disturbance event interferes;
determining an influence range of a disturbance event on a temporal network structure diagram according to the temporal network structure diagram corresponding to a target task and a disturbance factor, wherein the temporal network structure diagram comprises nodes and edges among the nodes, each node represents one of a plurality of atomic tasks corresponding to the target task, basic information and a working mode of the atomic task, for an edge between every two nodes, the edge represents actions and constraint conditions corresponding to one node to the other node in the two nodes corresponding to the edge, the direction of each edge represents a task time sequence between the two nodes corresponding to the edge, and the influence range comprises at least one node influenced by the disturbance event in the temporal network structure diagram;
determining a plurality of initial action sequences corresponding to the initial atomic task and the end atomic task within the influence range according to the influence range, the initial atomic task and the end atomic task, wherein for each initial action sequence, the initial action sequence comprises each action corresponding to a path formed by each node corresponding to the initial atomic task and the end atomic task;
for each initial action sequence in each initial action sequence, determining a dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor, wherein the dynamic disturbance measure characterizes the influence degree of the initial action sequence on the initial planning scheme;
and determining a target action sequence from the plurality of initial action sequences according to the dynamic disturbance measures, and taking the target action sequence as a target planning scheme.
The beneficial effects of the invention are: aiming at the disturbance event of the target task, firstly, determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, then according to the time-state network structure diagram and disturbance factor corresponding to the target task, determining the influence range of the disturbance event on the time-state network structure diagram, reducing the determination range of the target action sequence, after determining the influence range, due to the plurality of action sequences corresponding to the start atomic task to the end atomic task of one target task, therefore, a plurality of initial action sequences influenced by the disturbance factors can be determined according to the influence range, and since the dynamic disturbance measure corresponding to each initial action sequence can reflect the influence degree of the initial action sequence on the initial planning scheme, therefore, the target action sequence is determined from the plurality of initial action sequences according to the dynamic disturbance measure corresponding to each initial action sequence, and the target planning scheme can be determined more accurately.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the temporal network structure diagram is established in the following manner:
acquiring a working mode sequence, actions and a constraint condition set corresponding to a target task, wherein the target task is composed of the working mode sequence, the working mode sequence comprises a plurality of working modes, each working mode comprises a plurality of actions, and each atomic task corresponds to at least one action;
for each constraint condition in the constraint condition set, determining the time sequence relationship among the constraint condition, the working mode and the action according to the working mode and the action corresponding to the constraint condition;
and constructing a temporal network structure diagram according to each atomic task, each time sequence relation, the working mode set and the action set, wherein the constraint condition corresponding to each edge in the temporal network structure diagram is represented by the time sequence relation.
The method has the advantages that the constraint conditions can be embodied through the working modes and the action sequences, and the working modes and the action sequences can be expressed through the time sequences, so that the constraint conditions can be embodied through the working modes and the action sequences in the scheme of the application through the time sequences, and the working mode set, the action set and the constraint condition set can be better represented through a time-state network structure diagram through a unified standard (time sequence).
Further, the determining, for each constraint condition in the constraint condition set, a time sequence relationship among the constraint condition, the operation mode, and the action according to the operation mode and the action corresponding to the constraint condition includes:
for each constraint condition in the constraint condition set, determining the cost of the atomic task corresponding to the constraint condition according to the working mode corresponding to the constraint condition, wherein the cost represents the energy and time consumed by executing the atomic task;
and for each constraint condition in the constraint condition set, determining the time sequence relationship among the constraint condition, the cost and the time point corresponding to the action according to the time point corresponding to the cost and the action.
The method has the advantages that when the time sequence relation among the constraint conditions, the working mode and the action sequence is determined, the cost of the atomic task corresponding to each constraint condition can be determined firstly, the energy and the time consumed by executing the atomic task are represented through the cost, namely, the time sequence characteristics of the constraint conditions are embodied through the working mode, and therefore the time sequence relation among the constraint conditions, the working mode and the action sequence can be embodied on the basis of the time sequence relation among the constraint conditions, the cost and the time points corresponding to the action, which are determined according to the time points corresponding to the cost and the action.
Further, the set of constraints includes at least one of communication time window, resources, platform, and load:
the working mode set comprises at least one of a normal working mode, a fault processing mode, a non-dragging control mode, an attitude monitoring mode, a detector working mode and a sensor releasing mode;
the disturbance event comprises at least one of adding an attitude control task, reducing the attitude control task, canceling a scientific measurement task and inserting the scientific measurement task.
The beneficial effect of adopting the further scheme is that the scheme of the application can be suitable for various different constraint conditions, working modes and disturbance events, and different detection requirements are met.
Further, the determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event includes:
and determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event and a target atomic task corresponding to the target task, wherein the target atomic task is an atomic task to be executed from the initial atomic task to the end atomic task.
The method has the advantages that the data processing amount can be reduced by combining the target atomic task in the process of determining the disturbance factor.
Further, the determining, according to the perturbation factor, a dynamic perturbation measure corresponding to each initial motion sequence in each initial motion sequence includes:
and for each initial action sequence in each initial action sequence, determining the dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor and the number of disturbance events corresponding to the disturbance factor.
The method has the advantages that the influence degree of the initial planning scheme is also influenced to a certain extent by the number of the disturbance events, so that the dynamic disturbance measure corresponding to the initial action sequence can be determined by combining the disturbance factors and the number of the disturbance events corresponding to the disturbance factors in the process of determining the dynamic disturbance measure, and the determined dynamic disturbance measure is more accurate.
Further, the determining a target action sequence from the plurality of initial action sequences according to the dynamic disturbance metrics includes:
and determining the initial action sequence corresponding to the minimum dynamic disturbance measure in all the dynamic disturbance measures as a target action sequence.
The further scheme has the advantages that the influence degree of the initial action sequence corresponding to the minimum dynamic disturbance measure on the initial planning scheme is smaller than the influence degree of other initial action sequences on the initial planning scheme, so that the initial action sequence corresponding to the minimum dynamic disturbance measure can be determined as the target action sequence to reduce the influence degree on the initial action sequence.
In a second aspect, the present invention provides a dynamic mission planning apparatus for a satellite, to solve the above technical problem, the apparatus comprising:
the system comprises a disturbance event acquisition module, a planning module and a planning module, wherein the disturbance event acquisition module is used for acquiring a disturbance event aiming at a target task, the target task comprises a plurality of atomic tasks, the disturbance event is an event influencing an initial planning scheme corresponding to the target task, and the atomic tasks comprise a starting atomic task and an ending atomic task;
the disturbance factor determining module is used for determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, wherein the disturbance factor represents the influence range of the disturbance event on the original action sequence corresponding to the initial planning scheme, and the original action sequence is the action sequence corresponding to the target task when no disturbance event interferes;
the influence range determining module is used for determining the influence range of a disturbance event on a temporal network structure diagram according to the temporal network structure diagram and a disturbance factor corresponding to a target task, wherein the temporal network structure diagram comprises nodes and edges among the nodes, each node represents one atomic task in a plurality of atomic tasks corresponding to the target task, basic information and a working mode of the atomic task, for the edge between every two nodes, the edge represents actions and constraint conditions corresponding to one node to the other node in the two nodes corresponding to the edge, the direction of each edge represents a task time sequence between the two nodes corresponding to the edge, and the influence range comprises at least one node influenced by the disturbance event in the temporal network structure diagram;
the initial action sequence determining module is used for determining a plurality of initial action sequences corresponding to the initial atomic task and the end atomic task within the influence range according to the influence range, the initial atomic task and the end atomic task, and for each initial action sequence, the initial action sequence comprises actions corresponding to paths formed by nodes corresponding to the initial atomic task and the end atomic task;
the dynamic disturbance measurement determining module is used for determining the dynamic disturbance measurement corresponding to each initial action sequence in each initial action sequence according to the disturbance factor, and the dynamic disturbance measurement represents the influence degree of the initial action sequence on the initial planning scheme;
and the target planning scheme determining module is used for determining a target action sequence from the plurality of initial action sequences according to each dynamic disturbance measure and taking the target action sequence as a target planning scheme.
In a third aspect, the present invention provides an electronic device to solve the above technical problem, where the electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the dynamic mission planning method for a satellite according to the present application when executing the computer program.
In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the dynamic mission planning method for a satellite according to the present application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
Fig. 1 is a schematic flowchart of a method for dynamically planning a mission of a satellite according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a dynamic mission planning apparatus for a satellite according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with examples which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
The technical solution of the present invention and how to solve the above technical problems will be described in detail with specific embodiments below. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
The scheme provided by the embodiment of the invention can be applied to any application scene needing to determine the target planning scheme under the condition of a disturbance event. An embodiment of the present invention provides a possible implementation manner, and as shown in fig. 1, provides a flowchart of a dynamic mission planning method for a satellite, where the scheme may be executed by any electronic device, for example, a terminal device on the ground, or a server. For convenience of description, the method provided by the embodiment of the present invention will be described below by taking a server as an execution subject, and as shown in the flowchart shown in fig. 1, the method may include the following steps:
step S110, obtaining a disturbance event aiming at a target task, wherein the target task comprises a plurality of atomic tasks, the disturbance event is an event influencing an initial planning scheme corresponding to the target task, and the atomic tasks comprise a starting atomic task and an ending atomic task;
step S120, determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, wherein the disturbance factor represents the influence range of the disturbance event on the original action sequence corresponding to the initial planning scheme, and the original action sequence is the action sequence corresponding to the target task when no disturbance event interferes;
step S130, determining an influence range of a disturbance event on a temporal network structure diagram according to the temporal network structure diagram corresponding to a target task and a disturbance factor, wherein the temporal network structure diagram comprises nodes and edges between the nodes, each node represents one atomic task in a plurality of atomic tasks corresponding to the target task, basic information and a working mode of the atomic task, for the edge between every two nodes, the edge represents actions and constraint conditions corresponding to one node to the other node in the two nodes corresponding to the edge, the direction of each edge represents a task time sequence between the two nodes corresponding to the edge, and the influence range comprises at least one node influenced by the disturbance event in the temporal network structure diagram;
step S140, determining a plurality of initial action sequences corresponding to the initial atomic task and the end atomic task within the influence range according to the influence range, the initial atomic task and the end atomic task, wherein for each initial action sequence, the initial action sequence comprises each action corresponding to a path formed by each node corresponding to the initial atomic task and the end atomic task;
step S150, for each initial action sequence in each initial action sequence, determining a dynamic disturbance measure corresponding to the initial action sequence according to a disturbance factor, wherein the dynamic disturbance measure represents the influence degree of the initial action sequence on an initial planning scheme;
and step S160, determining a target action sequence from the plurality of initial action sequences according to each dynamic disturbance measure, and taking the target action sequence as a target planning scheme.
By the method, aiming at the disturbance event of the target task, firstly, a disturbance factor is determined according to the action sequence and the working mode corresponding to the disturbance event, then, according to the temporal network structure diagram and the disturbance factor corresponding to the target task, the influence range of the disturbance event on the temporal network structure diagram is determined, the determination range of the target action sequence is narrowed, after the influence range is determined, because a plurality of action sequences corresponding to the initial atomic task to the ending atomic task of one target task, a plurality of initial action sequences influenced by the disturbance factor can be determined according to the influence range, and because the dynamic disturbance measure corresponding to each initial action sequence can reflect the influence degree of the initial action sequence on the initial planning scheme, then, the target action sequence is determined from the plurality of initial action sequences according to the dynamic disturbance measure corresponding to each initial action sequence, the target planning scheme can be determined more accurately.
The solution of the present invention is further described below with reference to the following specific embodiments, in which the method for dynamically planning a mission of a satellite may include the following steps:
step S110, obtaining a disturbance event for a target task, where the target task includes a plurality of atomic tasks, the disturbance event is an event affecting an initial planning scheme corresponding to the target task, and the plurality of atomic tasks includes a start atomic task and an end atomic task.
The target task refers to a task to be executed or being executed, the disturbance event refers to an event which is not included in an initial planning scheme corresponding to the target task, the initial planning scheme refers to a planning strategy corresponding to the target task, and the initial planning scheme is an action to be executed in each step determined according to a working mode, a constraint condition, an action sequence and the like corresponding to the target task before the target task is executed; the target task is divided into a plurality of atomic tasks, the starting atomic task refers to the first atomic task in the plurality of atomic tasks and is also the first executed atomic task, and the ending atomic task refers to the last atomic task in the plurality of atomic tasks and is also the last executed atomic task.
Optionally, the disturbance event includes at least one of adding an attitude control task, reducing an attitude control task, canceling a scientific measurement task, and inserting a scientific measurement task.
The attitude control task refers to active attitude control of a satellite attitude according to a satellite attitude error (a difference between a measured value and a nominal value), for example, when an inter-satellite optical link is established, satellite attitude adjustment is required, if the satellite attitude is not adjusted in place due to an attitude angle calculation error and the like, laser capture and tracking failure is caused, and a dynamic disturbance event "an attitude control task" is increased at the moment; similarly, if the satellite configuration is maintained well and the predefined attitude control is not performed, the requirement for establishing the inter-satellite link can be met, and a dynamic disturbance event, namely a task of reducing attitude control, is initiated.
The scientific measurement task means that when the gravitational wave signal is very weak, the gravitational wave signal is submerged by small disturbance, so that the scientific measurement task has uncertain characteristics. In the detector operating mode, the measurement may be interrupted due to unpredictable environmental influences, such as solar light pressure changes. At this time, a dynamic disturbance event is triggered to "insert a scientific measurement task" or "cancel the scientific measurement task".
And step S120, determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, wherein the disturbance factor represents the influence range of the disturbance event on the original action sequence corresponding to the initial planning scheme, and the original action sequence is the action sequence corresponding to the target task when no disturbance event interferes.
Because the influence ranges of different disturbance events on the initial planning scheme are different, a disturbance factor, that is, the influence of the disturbance event on which original action sequences in the initial planning scheme is generated, can be determined based on the action sequences and the working modes corresponding to the disturbance events.
Wherein, the action sequence, working mode and constraint condition corresponding to different tasks may be different, and the domain knowledge may be established in advance according to the action sequence, working mode and constraint condition corresponding to different tasksAnd the model is used for representing the corresponding relation between each task and the corresponding action sequence, the working mode and the constraint condition in different tasks. The action sequence, the working mode and the constraint condition corresponding to the target task can be determined through the model. Optionally, the domain knowledge model may be expressed as: p is (S, a, γ), where P denotes a domain knowledge model, S denotes an operation mode set, a denotes an operation sequence (operation set), and γ denotes a constraint condition set. The domain knowledge model can be established through the action sequence, the working mode and the constraint conditions of the gravitational wave detection spacecraft in a period. Wherein, the action set a can be represented as a ═ a<dur a ，C a ，E a >Wherein, dur a Represents the duration of an action a; c a Representing an execution condition set of the action a, describing conditions which must be met at the starting execution time of the action a, conditions which need to be met at the ending time of the action a and conditions which need to be maintained in the execution process; e a The set of execution effects of a includes the effect generated at the start of execution of action a and the effect generated at the end of execution.
Optionally, the determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event includes:
and determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event and a target atomic task corresponding to the target task, wherein the target atomic task is an atomic task to be executed from the initial atomic task to the end atomic task.
The target atomic tasks corresponding to different tasks may be different, a correspondence between each task and the corresponding target atomic task may be established in advance, based on the correspondence, the target atomic task corresponding to the target task may be determined, and the target atomic tasks corresponding to different tasks may be specifically referred to table 1:
TABLE 1
Figure BSA0000274518260000101
As can be seen from table 1, each target atomic task may be represented by a point in time of a different event.
In this embodiment, the determining the disturbance factor according to the action sequence and the working mode corresponding to the disturbance event and the target atomic task corresponding to the target task may be represented by the following formula (1):
Figure BSA0000274518260000102
wherein, τ (S, a, TL) represents a disturbance factor, S represents a working mode corresponding to the disturbance event, S belongs to S, and is a subset of the working mode combined with S; and a represents an action sequence corresponding to the disturbance event, a belongs to A and is a subset of the action set A, TL represents a target atomic task, and t represents the occurrence time of the disturbance event. In that
Figure BSA0000274518260000103
When no perturbation event occurs, τ (s, a, TL) 1 indicates no effect on the initial planning scheme,
Figure BSA0000274518260000104
indicating the occurrence of a disturbance event, τ (s, a, TL) ═ Σ s*S γ (s, a, t) represents the influence on the initial planning scheme by magnitude Σ s*∈S γ(s*，a*，t)。
Step S130, determining an influence range of a disturbance event on a temporal network structure diagram according to the temporal network structure diagram corresponding to a target task and a disturbance factor, wherein the temporal network structure diagram comprises nodes and edges between the nodes, each node represents one atomic task in a plurality of atomic tasks corresponding to the target task, basic information and a working mode of the atomic task, for the edge between every two nodes, the edge represents actions and constraint conditions corresponding to one node to the other node in the two nodes corresponding to the edge, the direction of each edge represents a task time sequence between the two nodes corresponding to the edge, and the influence range comprises at least one node influenced by the disturbance event in the temporal network structure diagram.
The time sequence network structure diagram is a time sequence diagram used for representing the relationship among information such as each atomic task, a working mode, a constraint condition, an action sequence and the like corresponding to the target task, namely, representing the relationship among information such as each atomic task, a working mode, a constraint condition, an action sequence and the like corresponding to the target task in a time sequence mode. The time sequence network structure chart is pre-established, and the specific construction mode is as follows:
acquiring a working mode sequence, actions and a constraint condition set corresponding to a target task, wherein the target task is composed of the working mode sequence, the working mode sequence comprises a plurality of working modes, each working mode comprises a plurality of actions, and each atomic task corresponds to at least one action;
for each constraint condition in the constraint condition set, determining the time sequence relationship among the constraint condition, the working mode and the action according to the working mode and the action corresponding to the constraint condition;
and constructing a temporal network structure diagram according to each atomic task, each time sequence relation, the working mode set and the action set, wherein the constraint condition corresponding to each edge in the temporal network structure diagram is represented by the time sequence relation.
One target task can correspond to a plurality of working modes, one working mode can comprise a plurality of actions and a plurality of constraints, the plurality of working modes correspond to one working mode sequence, and the plurality of constraints correspond to one constraint condition set.
In the execution process of the target task, the working mode changes, the change of the working mode is related to the time sequence, the action sequences corresponding to the target task have a time sequence relationship, and the constraint condition, the working mode and the action sequences have a time sequence relationship, so that the constraint condition can be represented by the time sequence relationship.
Optionally, the constraint set includes at least one of a communication time window, a resource, a platform, and a load: the working mode set comprises at least one of a normal working mode, a fault processing mode, a drag-free control mode, an attitude monitoring mode, a detector working mode and a sensor releasing mode.
The constraint condition between two atomic tasks can be understood as a condition required to be met from one atomic task to the other atomic task, and can be embodied by state change between the two tasks.
In order to facilitate understanding of the scheme of the present application, the following explains the above constraints:
communication time window: the coverage angle of the antenna observation tracking of the ground survey station is generally 20-60 degrees, the satellite overhead time is defined as a communication window, and the instruction uploading of ground program control and remote measurement is completed.
Resource constraint: including in particular consumable resources such as electrical energy, fuel, storage, etc., the consumption of resources by the activity is time dependent.
Platform constraint: the method specifically comprises satellite platform thermal control, attitude control and the like, and provides a working state for maintaining normal operation of the satellite.
And (3) load restraint: the method is characterized in that the working state of a payload carried by a satellite is specifically in a gravitational wave detection satellite constellation, the payload comprises a scientific interferometer, a gravitational reference sensor and the like, the working state of the payload is related to a dynamic disturbance event, and the working state is normal, so that the disturbance event of temporarily increasing an on-orbit load experiment can occur.
The working modes are layered disassembly of a complete task, different task requirements are met, and the working modes are different. The above-mentioned working mode is only used for satellite working condition under the gravitational wave detection. In order to facilitate understanding of the scheme of the present application, the above-mentioned respective operation modes are further explained below:
and (3) a normal working mode: the satellite platform is normal in state and normal in load state, the inter-satellite optical link is kept stable, and the high-precision fine adjustment mechanism starts to work intermittently to keep the constellation configuration stable.
And (3) a fault processing mode: and if the platform and/or the load are abnormal, the corresponding emergency fault processing flow is required to be switched to. If the thermal control system fails, the satellite device is abnormal, and remote control instructions such as shutdown of the ground injection load, circuit reset and the like are switched to a failure processing mode to carry out failure emergency processing.
Non-dragging control mode: the method is used for counteracting all the forces interfering the satellite except the gravitation, including sunlight pressure, atmospheric resistance and the like, so as to ensure that the satellite is in an ultra-static and ultra-stable state, and is suitable for the field of space science research of relativistic effects such as gravitational wave detection, equivalent principle inspection and the like; before entering a normal working mode, drag-free control is required to be carried out firstly to construct a stable working state of the constellation.
An attitude monitoring mode: the gravitational wave detection satellite constellation runs on a sun synchronous orbit, the space pointing state of the satellite running on the orbit needs to be periodically monitored, whether three axes, spin, power gradient and the like are in a stable state or not is determined, and the control methods of the satellite attitude are different according to the working requirements in different states.
The working mode of the detector is as follows: the scientific interferometer starts to carry out scientific measurement, and the detector phase meter carries out dephasing, communication modulation and demodulation.
Sensor release mode: the gravitational reference sensor is switched into a capacitance sensing state and an electrostatic servo state, and the satellite platform is monitored to be subjected to tiny disturbance, including weak pressure of solar illumination, resistance of space rarefied gas and the like.
A plurality of atomic tasks contained in one target task are in a time sequence relationship, the time sequence relationship can reflect the execution sequence of each atomic task, namely the sequence of each action in the action sequence, in addition, in the execution process of the atomic tasks, the working mode can change, and the change of the working mode is also related to the time sequence, so that the relationship among each atomic task, each working mode, the action sequence and each constraint can be represented through the time sequence relationship of the temporal network structure diagram; the timing relationship and corresponding constraints between the various atomic tasks can be seen in table 2:
TABLE 2
Serial number Temporal relationships between jobs Representation of functions
1 A after B B.end＜＝A.start
2 A any B (none)
3 A before B A.end＜＝B.start
4 A contained by B B.start＜＝A.start，A.end＜＝B.end
5 A contains B A.start＜＝B.start，B.end＜＝A.end
6 A contains end B A.start＜＝B.end，B.end＜＝A.end
7 A contains start B A.start＜＝B.start，B.start＜＝A.end
8 A ends B A.end＝B.end
9 A end safter B B.end＜＝A.end
10 A end safter start B B.start＜＝A.end
11 A end sbefore B A.end＜＝B.end
12 A ends during B B.start＜＝A.end，A.end＜＝B.end
13 A equal B A.start＝B.start，A.end＝B.end
14 A meets B A.end＝B.start
15 A met by B A.start＝B.end
16 A paralleled by B B.start＜＝A.start，B.end＜＝A.end
17 A parallels B A.start＜＝B.start，A.end＜＝B.end
18 A starts B A.start＝B.start
19 A starts after B B.start＜＝A.start
20 A starts before B A.start＜＝B.start
21 A starts before end B A.start＜＝B.end
In table 2, a and B represent two atomic tasks, the job-time temporal relationship represents a possible timing relationship between the two atomic tasks, and the function represents a constraint relationship between the two atomic tasks, for example, a after B represents that a is executed after B, and the two atomic tasks correspond to a constraint condition that b.end ≦ a.start, which represents that the end time of the B atomic task cannot be earlier than the start time of the a atomic task. A any B indicates that no time sequence relation exists between A and B, no matter which atomic task is executed first, none indicates that no constraint relation exists between A and B; a before B indicates that a is executed before B, and the constraint condition for these two atomic tasks is a.end ≦ b.start, indicating that the end time of a cannot be earlier than the start time of B; a contained by B means that a is contained by B
A.start, a.end <. b.end means that the start of B is before the start of a and the end of B is after the end of a; a constants B denotes that a contains B, a.start < (b.start), b.end < (a.end) denotes that the start of a is before the start of B and the end of a is after the end of B; a constants end B denotes tandem parallelism between a and B, a.start < ═ b.end, b.end < ═ a.end denotes that the start of a precedes the end of B, and the end of B precedes the end of a; acontains startB denotes front-to-back parallelism between a and B, a.start ≦ b.start, b.start ≦ a.end denotes that the start of a precedes the start of B, and the start of B precedes the end of a;
a ends B indicates the end of a, while B also ends, a.end ═ b.end indicates that B ends while a also ends; a end after B indicates the end of a, b.end <. a.end indicates the end of B before a; a end after start B means the end of a is after the start of B, b.start ≦ a.end means the start of B is before the end of a; a ends during B indicates that a ends in the progression of B, b.start < ═ a.end, a.end < ═ b.end indicates that B begins before a ends, and a ends before B ends; a equals B denotes that a starts and B ends at the same time a starts, B starts, and a ends at the same time B ends; a meets B means that a and B are adjacent, i.e. two atomic tasks are executed in succession, a.end ═ b.start means that when a ends, B just starts; a met by B means that a and B are performed sequentially, a.start ═ b.end means that a starts while B ends; a parallel by B denotes a and B execute in parallel, b.start < ═ a.start, b.end < - > a.end denotes that the start of B precedes the start of a and the end of B precedes the end of a, Aparallels B denotes that a and B execute in parallel, a.start < ═ b.start, a.end < - > b.end denotes that the start of a precedes the start of B and the end of a precedes the end of B; a starts B indicates that a starts are affected by B starts, a.start ═ b.start indicates that a starts while B starts; a start after B means a starts after B starts, b.start < ═ a.start means B starts before a starts; a start before B means a starts, a. start < ═ b.start means a starts before B starts, a start before B ends, a. start < ═ b.ends means a starts before B ends, a. start < - > b.ends means a starts before B ends.
Since time and energy are consumed in the process of executing one atomic task to another atomic task, and the working modes corresponding to the two atomic tasks are changed while the time and the energy are consumed, the change of the working modes can be represented by cost, and for each constraint condition in the constraint condition set, the time sequence relationship among the constraint condition, the working mode and the action is determined according to the working mode and the action corresponding to the constraint condition, which includes:
for each constraint condition in the constraint condition set, determining the cost of the atomic task corresponding to the constraint condition according to the working mode corresponding to the constraint condition, wherein the cost represents the energy and time consumed by executing the atomic task;
and for each constraint condition in the constraint condition set, determining the time sequence relationship among the constraint condition, the cost and the time point corresponding to the action according to the time point corresponding to the cost and the action.
The time point corresponding to one action may include a start execution time and an end execution time corresponding to the action. And representing the change of the working mode and the change among the actions in the action sequence through the cost, and representing the constraint condition through the time points corresponding to the cost and the actions.
For each atomic task, the work mode, action and cost corresponding to the atomic task can be represented by the following functions: gamma ray<T a ，exp>Wherein, T a Expressing the action a, exp expressing a cost function, wherein the cost function is an expression composed of numerical variables and constants and defines the relation between action execution and energy consumption; gamma denotes the constraint, T a ＝<st a ，et a >Wherein, st a And et a Respectively representing the starting execution time and the ending execution time of the action a.
Step S140, determining a plurality of initial action sequences corresponding to the initial atomic task and the end atomic task within the influence range according to the influence range, the initial atomic task and the end atomic task, where, for each initial action sequence, the initial action sequence includes actions corresponding to paths formed by nodes corresponding to the initial atomic task and the end atomic task.
According to the influence range, a plurality of initial action sequences corresponding to the initial atomic task and the end atomic task can be reduced, and the search range can be narrowed.
And step S150, for each initial action sequence in each initial action sequence, determining a dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor, wherein the dynamic disturbance measure characterizes the influence degree of the initial action sequence on the initial planning scheme.
The dynamic disturbance measure may reflect the influence degree of each initial action sequence on the initial planning scheme, and if the disturbance event is an event, one implementation scheme for determining the dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor is as follows: determining the disturbance factor as a dynamic disturbance measure. If the disturbance event includes a plurality of events, determining a dynamic disturbance measure corresponding to each initial action sequence in each initial action sequence according to the disturbance factor, including:
and for each initial action sequence in each initial action sequence, determining the dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor and the number of disturbance events corresponding to the disturbance factor.
As an example, the determining the dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor and the number of disturbance events corresponding to the disturbance factor can be implemented by the following formula (2), where the formula (2) is:
Figure BSA0000274518260000151
wherein, tau + Disturbance factor, N, corresponding to a presentation task addition event + Represents an increased total number of tasks; tau is - Disturbance factor, N, corresponding to a task cancellation event - Indicating the total number of tasks cancelled; n representsThe total number of atomic tasks in the original planning scheme is a fixed value.
And step S160, determining a target action sequence from the plurality of initial action sequences according to each dynamic disturbance measure, and taking the target action sequence as a target planning scheme.
The step S160 specifically includes: the minimum dynamic disturbance measure (which can be expressed as
Figure BSA0000274518260000161
) The corresponding initial motion sequence is determined as the target motion sequence.
Based on the same principle as the method shown in fig. 1, an embodiment of the present invention further provides a dynamic mission planning apparatus 20 of a satellite, as shown in fig. 2, the dynamic mission planning apparatus 20 of a satellite may include a disturbance event obtaining module 210, a disturbance factor determining module 220, an influence range determining module 230, an initial action sequence determining module 240, a dynamic disturbance measure determining module 250, and a target planning scheme determining module 260, where:
a disturbance event obtaining module 210, configured to obtain a disturbance event for a target task, where the target task includes multiple atomic tasks, the disturbance event is an event that affects an initial planning scheme corresponding to the target task, and the multiple atomic tasks include a start atomic task and an end atomic task;
the disturbance factor determining module 220 is configured to determine a disturbance factor according to an action sequence and a working mode corresponding to the disturbance event, where the disturbance factor represents an influence range of the disturbance event on an original action sequence corresponding to the initial planning scheme, and the original action sequence is an action sequence corresponding to the target task when there is no disturbance of the disturbance event;
an influence range determining module 230, configured to determine an influence range of a disturbance event on a temporal network structure diagram according to the temporal network structure diagram corresponding to a target task and a disturbance factor, where the temporal network structure diagram includes nodes and edges between the nodes, each node represents one of a plurality of atomic tasks corresponding to the target task, basic information of the atomic task, and a working mode, for an edge between every two nodes, the edge represents an action and a constraint condition corresponding to one node to another node in the two nodes corresponding to the edge, a direction of each edge represents a task timing sequence between the two nodes corresponding to the edge, and the influence range includes at least one node influenced by the disturbance event in the temporal network structure diagram;
an initial action sequence determining module 240, configured to determine, according to the influence range, the starting atomic task and the ending atomic task, a plurality of initial action sequences corresponding to the starting atomic task and the ending atomic task within the influence range, where, for each initial action sequence, the initial action sequence includes actions corresponding to paths formed by nodes corresponding to the starting atomic task and the ending atomic task;
a dynamic disturbance measurement determining module 250, configured to determine, for each initial action sequence in the initial action sequences, a dynamic disturbance measurement corresponding to the initial action sequence according to a disturbance factor, where the dynamic disturbance measurement characterizes an influence degree of the initial action sequence on an initial planning scheme;
and the target planning scheme determining module 260 is configured to determine a target action sequence from the multiple initial action sequences according to each dynamic disturbance measure, and use the target action sequence as a target planning scheme.
Optionally, the temporal network structure diagram is built by the following structure diagram modules,
the structure chart module is used for acquiring a working mode sequence, actions and a constraint condition set corresponding to a target task, wherein the target task is composed of the working mode sequence, the working mode sequence comprises a plurality of working modes, each working mode comprises a plurality of actions, and each atomic task corresponds to at least one action;
for each constraint condition in the constraint condition set, determining the time sequence relationship among the constraint condition, the working mode and the action according to the working mode and the action corresponding to the constraint condition;
and constructing a temporal network structure diagram according to each atomic task, each time sequence relation, the working mode set and the action set, wherein the constraint condition corresponding to each edge in the temporal network structure diagram is represented by the time sequence relation.
Optionally, for each constraint condition in the constraint condition set, when determining the time sequence relationship among the constraint condition, the working mode, and the action according to the working mode and the action corresponding to the constraint condition, the structure diagram module is specifically configured to:
for each constraint condition in the constraint condition set, determining the cost of the atomic task corresponding to the constraint condition according to the working mode corresponding to the constraint condition, wherein the cost represents the energy and time consumed by executing the atomic task;
and for each constraint condition in the constraint condition set, determining the time sequence relationship among the constraint condition, the cost and the time point corresponding to the action according to the time point corresponding to the cost and the action.
Optionally, the constraint set includes at least one of a communication time window, a resource, a platform, and a load: the working mode set comprises at least one of a normal working mode, a fault processing mode, a drag-free control mode, an attitude monitoring mode, a detector working mode and a sensor release mode; the disturbance event comprises at least one of adding an attitude control task, reducing the attitude control task, canceling a scientific measurement task and inserting the scientific measurement task.
Optionally, when determining the disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, the disturbance factor determining module 220 is specifically configured to:
and determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event and a target atomic task corresponding to the target task, wherein the target atomic task is an atomic task to be executed from the initial atomic task to the end atomic task.
Optionally, for each initial action sequence in each initial action sequence, when determining the dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor, the dynamic disturbance measure determining module 250 is specifically configured to:
and for each initial action sequence in each initial action sequence, determining the dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor and the number of disturbance events corresponding to the disturbance factor.
Optionally, when the target action sequence is determined from the multiple initial action sequences according to the dynamic disturbance measures, the target planning scheme determining module 260 is specifically configured to:
and determining the initial action sequence corresponding to the minimum dynamic disturbance measure in all the dynamic disturbance measures as a target action sequence.
The dynamic mission planning apparatus for a satellite according to the embodiment of the present invention may execute the dynamic mission planning method for a satellite according to the embodiment of the present invention, and the implementation principles thereof are similar, the actions performed by each module and unit in the dynamic mission planning apparatus for a satellite according to the embodiments of the present invention correspond to the steps in the dynamic mission planning method for a satellite according to the embodiments of the present invention, and for the detailed functional description of each module of the dynamic mission planning apparatus for a satellite, reference may be specifically made to the description in the dynamic mission planning method for a corresponding satellite shown in the foregoing, and details are not repeated here.
The dynamic mission planning device of the satellite may be a computer program (including program code) running in a computer device, for example, the dynamic mission planning device of the satellite is an application software; the apparatus may be configured to perform corresponding steps in the methods provided by the embodiments of the present invention.
In some embodiments, the dynamic mission planning apparatus for a satellite according to an embodiment of the present invention may be implemented by combining hardware and software, and for example, the dynamic mission planning apparatus for a satellite according to an embodiment of the present invention may be a processor in the form of a hardware decoding processor, which is programmed to perform the dynamic mission planning method for a satellite according to an embodiment of the present invention, for example, the processor in the form of a hardware decoding processor may employ one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), or other electronic components.
In other embodiments, the dynamic mission planning apparatus for a satellite according to an embodiment of the present invention may be implemented in a software manner, and fig. 2 illustrates the dynamic mission planning apparatus for a satellite stored in a memory, which may be software in the form of a program, a plug-in, and the like, and includes a series of modules, including a disturbance event obtaining module 210, a disturbance factor determining module 220, an influence range determining module 230, an initial action sequence determining module 240, a dynamic disturbance measure determining module 250, and a target planning scheme determining module 260, for implementing the dynamic mission planning method for a satellite according to an embodiment of the present invention.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The name of a module is not intended to limit the module itself in some cases.
Based on the same principle as the method shown in the embodiment of the present invention, an embodiment of the present invention also provides an electronic device, which may include but is not limited to: a processor and a memory; a memory for storing a computer program; a processor for executing the method according to any of the embodiments of the present invention by calling a computer program.
In an alternative embodiment, an electronic device is provided, as shown in fig. 3, the electronic device 4000 shown in fig. 3 comprising: a processor 4001 and a memory 4003. Processor 4001 is coupled to memory 4003, such as via bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 may be used for data interaction between the electronic device and other electronic devices, such as transmission of data and/or reception of data. In addition, the transceiver 4004 is not limited to one in practical applications, and the structure of the electronic device 4000 is not limited to the embodiment of the present invention.
The Processor 4001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 4001 may also be a combination that performs a computing function, e.g., comprising one or more microprocessors, DSPs, and microprocessors.
Bus 4002 may include a path that carries information between the aforementioned components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 4002 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 3, but that does not indicate only one bus or one type of bus.
Memory 4003 may be a ROM (Read Only Memory) or other type of static Memory device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic Memory device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact disk Read Only Memory) or other optical disk storage, optical disk storage (including Compact disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 4003 is used for storing application program codes (computer programs) for executing the aspects of the present invention, and the execution is controlled by the processor 4001. Processor 4001 is configured to execute application code stored in memory 4003 to implement what is shown in the foregoing method embodiments.
The electronic device may also be a terminal device, and the electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the application range of the embodiment of the present invention.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments.
According to another aspect of the invention, there is also provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in the implementation modes of the various embodiments.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It should be understood that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Embodiments of the present invention provide a computer readable storage medium that may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer-readable storage medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform the methods shown in the above embodiments.
The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents is made without departing from the spirit of the disclosure. For example, the above features and the technical features (but not limited to) having similar functions disclosed in the present invention are mutually replaced to form the technical solution.

Claims (10)

1. A method for dynamic mission planning of a satellite, comprising the steps of:
obtaining a disturbance event aiming at a target task, wherein the target task comprises a plurality of atomic tasks, the disturbance event is an event influencing an initial planning scheme corresponding to the target task, and the atomic tasks comprise a starting atomic task and an ending atomic task;
determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, wherein the disturbance factor represents the influence range of the disturbance event on an original action sequence corresponding to the initial planning scheme, and the original action sequence is the action sequence corresponding to the target task when no disturbance event interferes;
determining an influence range of the disturbance event on a temporal network structure diagram according to the temporal network structure diagram corresponding to the target task and the disturbance factor, wherein the temporal network structure diagram comprises nodes and edges between the nodes, each node represents one atomic task in a plurality of atomic tasks corresponding to the target task, basic information and a working mode of the atomic task, for an edge between every two nodes, the edge represents actions and constraint conditions corresponding to one node to the other node in the two nodes corresponding to the edge, the direction of each edge represents a task time sequence between the two nodes corresponding to the edge, and the influence range comprises at least one node influenced by the disturbance event in the temporal network structure diagram;
determining a plurality of initial action sequences corresponding to the initial atomic task and the end atomic task within the influence range according to the influence range, the initial atomic task and the end atomic task, wherein for each initial action sequence, the initial action sequence comprises each action corresponding to a path formed by each node corresponding to the initial atomic task and the end atomic task;
for each initial action sequence in the initial action sequences, determining a dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor, wherein the dynamic disturbance measure characterizes the influence degree of the initial action sequence on the initial planning scheme;
and determining a target action sequence from the plurality of initial action sequences according to the dynamic disturbance measures, and taking the target action sequence as a target planning scheme.
2. The method of claim 1, wherein the temporal network structure diagram is established by:
acquiring a working mode sequence, actions and a constraint condition set corresponding to the target task, wherein the target task is composed of a working mode sequence, the working mode sequence comprises a plurality of working modes, each working mode comprises a plurality of actions, and each atomic task corresponds to at least one action;
for each constraint condition in the constraint condition set, determining a time sequence relation among the constraint condition, the working mode and the action according to the working mode and the action corresponding to the constraint condition;
and constructing the temporal network structure diagram according to the atomic tasks, the time sequence relations, the working mode set and the action set, wherein constraint conditions corresponding to each edge in the temporal network structure diagram are represented by the time sequence relations.
3. The method according to claim 2, wherein the determining, for each constraint in the constraint set, a time sequence relationship among the constraint, the operation mode, and the action according to the operation mode and the action corresponding to the constraint comprises:
for each constraint condition in the constraint condition set, determining the cost of the atomic task corresponding to the constraint condition according to the working mode corresponding to the constraint condition, wherein the cost represents the energy and time consumed by executing the atomic task;
and for each constraint condition in the constraint condition set, determining a time sequence relation among the constraint condition, the cost and a time point corresponding to the action according to the cost and the time point corresponding to the action.
4. The method of claim 2, wherein the set of constraints comprises at least one of communication time window, resources, platform, and load:
the working mode set comprises at least one of a normal working mode, a fault processing mode, a non-dragging control mode, an attitude monitoring mode, a detector working mode and a sensor releasing mode;
the disturbance event comprises at least one of adding an attitude control task, reducing the attitude control task, canceling a scientific measurement task and inserting the scientific measurement task.
5. The method according to any one of claims 1 to 3, wherein the determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event comprises:
and determining a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event and a target atomic task corresponding to the target task, wherein the target atomic task is an atomic task to be executed from the starting atomic task to the ending atomic task.
6. The method according to any one of claims 1 to 3, wherein the determining, for each of the initial motion sequences, a dynamic disturbance measure corresponding to the initial motion sequence according to the disturbance factor comprises:
and for each initial action sequence in the initial action sequences, determining the dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor and the number of disturbance events corresponding to the disturbance factor.
7. The method according to any one of claims 1 to 3, wherein the determining a target motion sequence from the plurality of initial motion sequences according to each of the dynamic disturbance measures comprises:
and determining the initial action sequence corresponding to the minimum dynamic disturbance measure in the dynamic disturbance measures as the target action sequence.
8. A dynamic mission planning apparatus for a satellite, comprising:
a disturbance event obtaining module, configured to obtain a disturbance event for a target task, where the target task includes multiple atomic tasks, the disturbance event is an event that affects an initial planning scheme corresponding to the target task, and the multiple atomic tasks include a start atomic task and an end atomic task;
a disturbance factor determining module, configured to determine a disturbance factor according to the action sequence and the working mode corresponding to the disturbance event, where the disturbance factor represents an influence range of the disturbance event on an original action sequence corresponding to the initial planning scheme, and the original action sequence is an action sequence corresponding to the target task when there is no disturbance event interference;
an influence range determining module, configured to determine an influence range of the perturbation event on a temporal network structure diagram according to the temporal network structure diagram corresponding to the target task and the perturbation factor, where the temporal network structure diagram includes nodes and edges between the nodes, each node represents one of a plurality of atomic tasks corresponding to the target task, basic information of the atomic task, and a working mode, for an edge between each two nodes, the edge represents an action and a constraint condition corresponding to one node to another node in two nodes corresponding to the edge, a direction of each edge represents a task timing sequence between two nodes corresponding to the edge, and the influence range includes at least one node in the temporal network structure diagram that is affected by the perturbation event;
an initial action sequence determining module, configured to determine, according to the influence range, the starting atomic task, and the ending atomic task, multiple initial action sequences corresponding to the starting atomic task and the ending atomic task within the influence range, where for each initial action sequence, the initial action sequence includes actions corresponding to paths formed by nodes corresponding to the starting atomic task and the ending atomic task;
a dynamic disturbance measure determining module, configured to determine, for each initial action sequence in the initial action sequences, a dynamic disturbance measure corresponding to the initial action sequence according to the disturbance factor, where the dynamic disturbance measure characterizes a degree of influence of the initial action sequence on the initial planning scheme;
and the target planning scheme determining module is used for determining a target action sequence from the plurality of initial action sequences according to the dynamic disturbance measures and taking the target action sequence as a target planning scheme.
9. 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 any one of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method of any one of claims 1-7.
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