CN115454587A - Intelligent satellite autonomous task management architecture and method - Google Patents
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Abstract
The invention discloses an intelligent satellite autonomous task management architecture and a method, which comprises the following steps: a software layer and a hardware layer; the software layer comprises: the task module is used for generating a behavior tree capable of describing a satellite task according to the task requirement of the satellite; the behavior tree module is used for describing and storing the behavior tree generated by the task module; the behavior tree engine module is used for loading and executing the behavior tree stored in the behavior tree module; the platform module is used for providing a software platform required by the operation of the behavior tree engine module and the execution of the behavior tree; the hardware layer comprises: and the computer is provided with a software layer and is provided with a plurality of external interfaces, and the external interfaces can be connected with the loads on the satellite and are used for controlling the corresponding loads on the satellite to execute actions through the external interfaces according to the behavior tree executed by the software layer. The invention enables the satellite to carry out intelligent decomposition, arrangement and execution of tasks according to the logic of the behavior tree by taking the behavior tree as a programming mode of the satellite tasks, and can realize intelligent autonomous task management of the satellite.
Description
Technical Field
The invention relates to the technical field of satellite control, in particular to an intelligent satellite autonomous task management architecture and an intelligent satellite autonomous task management method.
Background
In recent years, with the continuous development of aerospace technology, microsatellites have been developed in a blowout manner due to the advantages of flexible and various functions, short development period, low cost, low threshold and the like. The current microsatellite usually adopts the design idea and management mode of the traditional satellite, the management of the satellite tasks of the microsatellite continues to use the command driving mode of the traditional satellite, the command driving mode is to execute actions according to commands, and one satellite task is generally completed by one or more command sequences.
In the existing satellite task management mode based on an instruction driving mode, a satellite computer is used as a management core of a whole satellite, and load resources on the satellite are scheduled through various direct or indirect instruction sequences to carry out tasks on the satellite. Before the satellite executes tasks, task planning and instruction compiling are required to be carried out on the ground, a certain unitary task is represented by an instruction template, an instruction sequence which can be executed is obtained through manual compiling or planning by connecting the instruction templates in series, and then the instruction sequence is uploaded to a satellite computer through a satellite on-ground channel, so that the satellite sequentially executes corresponding tasks according to the instruction sequence.
Because a satellite is a typical unmanned system and the condition for manual intervention is harsh, in the existing satellite task management mode, both the task planning and the task execution process need ground intervention, and with the continuous development of satellite task diversification and intellectualization, the existing satellite task management mode cannot adapt to the actual requirements of intelligent satellites for autonomous task execution. In addition, in the existing satellite task management mode, one task needs to go through lengthy processes of task planning, instruction uploading, task execution, data downloading and the like, so that the task period is long, and the responsiveness is poor. In addition, the existing satellite task management mode also generally has the problems related to instructions, such as poor instruction readability, difficulty in maintenance, easiness in making mistakes and the like.
Disclosure of Invention
In order to solve part or all of the technical problems in the prior art, the invention provides an intelligent satellite autonomous task management structure and method.
The technical scheme of the invention is as follows:
in a first aspect, an intelligent satellite autonomous task management architecture is provided, including: a software layer and a hardware layer;
the software layer comprises:
the task module is used for generating a behavior tree capable of describing a satellite task according to the task requirement of the satellite;
the behavior tree module is used for describing and storing the behavior tree generated by the task module;
the behavior tree engine module is used for loading and executing the behavior tree stored in the behavior tree module;
the platform module is used for providing a software platform required for running the behavior tree engine module and executing the behavior tree;
the hardware layer comprises:
the computer is provided with the software layer and is provided with a plurality of external interfaces, the external interfaces can be connected with the on-satellite loads, and the computer is used for controlling the corresponding on-satellite loads to execute actions through the external interfaces according to the behavior tree executed by the software layer.
In some possible implementations, the generating a behavior tree capable of describing a satellite task according to a task requirement of a satellite includes:
according to the task requirement of the satellite, determining the on-satellite load required for completing the task and the task corresponding to the on-satellite load;
the method comprises the steps that the tasks corresponding to loads on the satellites are divided in a modularized mode, execution conditions and execution actions corresponding to the loads on the satellites are determined, and condition nodes and action nodes are generated;
determining a control node and connection relations among the control node, the condition node and the action node according to a control logic relation of a task corresponding to each satellite load;
and connecting the control node, the condition node and the action node according to the connection relation to generate a behavior tree capable of describing a satellite task.
In some possible implementations, the platform module includes an operating system or driver software.
In some possible implementations, the external interface includes:
the universal input interface and the universal output interface are respectively used for inputting and outputting level signals;
the on-satellite bus interface is used for realizing data interaction between the computer and an on-satellite load and acquiring the state of the on-satellite load;
and the communication interface is used for realizing data transmission between the computer and the satellite load.
In some possible implementations, the on-board bus interface includes at least one of a CAN bus interface and an IIC bus interface, and the communication interface includes at least one of an RS422 interface, an LVDS interface, an SPI interface, and a UART interface.
In a second aspect, a method for intelligent satellite autonomous task management is provided, the method comprising:
generating a behavior tree capable of describing a satellite task according to the task requirement of the satellite;
the behavior tree is used as an application interface for executing tasks by the satellite, and is described and stored in an independent and universal mode;
implementing the basic working logic of the behavior tree as an application engine;
running an application engine corresponding to the behavior tree on the software platform to load and execute the behavior tree;
and controlling the on-satellite load to execute corresponding actions by using a computer according to the execution process of the behavior tree.
In some possible implementations, the generating a behavior tree capable of describing a satellite task according to a task requirement of a satellite includes:
according to the task requirement of the satellite, determining the on-satellite load required for completing the task and the task corresponding to the on-satellite load;
the method comprises the steps that the tasks corresponding to loads on the satellites are divided in a modularized mode, execution conditions and execution actions corresponding to the loads on the satellites are determined, and condition nodes and action nodes are generated;
determining a control node and connection relations among the control node, the condition node and the action node according to a control logic relation of a task corresponding to each satellite load;
and connecting the control node, the condition node and the action node according to the connection relation to generate a behavior tree capable of describing a satellite task.
The technical scheme of the invention has the following main advantages:
the intelligent satellite autonomous task management architecture and the method enable the satellite to carry out intelligent decomposition, arrangement and execution of tasks according to the logic of the behavior tree by taking the behavior tree as a programming mode of the satellite tasks, can realize the intelligent autonomous task management of the satellite, and are compatible with a working mode based on an instruction sequence; and moreover, the behavior tree can be modified and replaced in real time according to the change of the satellite task, and the on-line updating of the satellite task is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an intelligent satellite autonomous task management architecture according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a behavior tree of example 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme provided by the embodiment of the invention is described in detail below with reference to the accompanying drawings.
Referring to fig. 1, in a first aspect, an embodiment of the present invention provides an intelligent satellite autonomous task management architecture, where the management architecture includes: a software layer and a hardware layer, and,
the software layer comprises: the system comprises a task module, a behavior tree engine module and a platform module;
the task module is used for generating a behavior tree capable of describing a satellite task according to the task requirement of the satellite;
the behavior tree module is used for describing and storing the behavior tree generated by the task module;
the behavior tree engine module is used for loading and executing the behavior tree stored in the behavior tree module;
the platform module is used for providing a software platform required by the operation of the behavior tree engine module and the execution of the behavior tree;
the hardware layer comprises: the computer is provided with a software layer and is provided with a plurality of external interfaces, the external interfaces can be connected with the loads on the satellite, and the computer is used for controlling the corresponding loads on the satellite to execute actions through the external interfaces according to the behavior tree executed by the software layer.
According to the intelligent satellite autonomous task management architecture provided by the embodiment of the invention, the behavior tree is used as a programming mode of the satellite task, so that the satellite can carry out intelligent decomposition, arrangement and execution of the task according to the logic of the behavior tree, the intelligent autonomous task management of the satellite can be realized, and a working mode based on an instruction sequence is compatible; and the behavior tree can be modified and replaced in real time according to the change of the satellite task, so that the on-line updating of the satellite task is realized.
A Behavior Tree (BT) is a method for implementing different task switching in an autonomous agent, in the form of a directed root, with task switching implemented by internal nodes of the Tree, so that a desired Behavior can be described by using modular leaf nodes.
Referring to table 1, the node types of the behavior tree include internal nodes, also called control nodes, and leaf nodes, including: the method comprises the steps that a node, a sequence node, a parallel node and a decorator node are selected, different control nodes have corresponding return state modes, wherein in the table 1, M represents a preset threshold value, and N represents all sub-nodes under the parallel node. The leaf nodes, also called execution nodes, include: the system comprises action nodes and condition nodes, wherein the condition nodes record execution conditions, the action nodes record execution actions, and different execution nodes have corresponding return state modes. The behavior tree is executed in a traversal manner starting from a root node generating a given clock frequency signal, namely, the behavior tree is traversed and executed according to the frequency of the clock signal.
Table 1 (node type behavior tree)
Further, in an embodiment of the present invention, generating a behavior tree capable of describing a satellite task according to a task requirement of a satellite includes:
according to the task requirement of the satellite, determining the on-satellite load required by completing the task and the task corresponding to the on-satellite load;
performing modular splitting on tasks corresponding to all satellite loads, determining execution conditions and execution actions corresponding to all satellite loads, and generating condition nodes and action nodes;
determining a control node and connection relations among the control node, a condition node and an action node according to the control logic relation of the task corresponding to each satellite load;
and connecting the control node, the condition node and the action node according to the connection relation to generate a behavior tree capable of describing the satellite task.
Based on the defined behavior tree and the behavior tree generation mode, when the execution node is programmed, only three types of predefined return states of success, failure or operation need to be returned, and a single behavior can be reused in another higher-level behavior, so that the method is easy to realize and cope with complex satellite behaviors, and can be further expanded to autonomous control of an intelligent satellite cluster; and the method can support code reuse, function increment design and efficient test, is easy to integrate different cooperative objects, codes written by different programming languages and the like, and the obtained behavior tree has higher readability and is suitable for engineering personnel to design and analyze.
The following describes a behavior tree generation method provided by an embodiment of the present invention with reference to a specific example:
specifically, taking the task of satellite-borne camera imaging, image processing and data downloading as an example, the specific task flow is as follows: the satellite is designed to execute task planning once at 23 points every day, and preset target point imaging, image processing and processing result downloading from 0 point to 24 points on the next day are planned; when the satellite arrives at the upper space of a target point, the satellite-borne camera is started or shut down at a planned time point, and automatically takes a picture in a starting time period to generate and return an image; when receiving the image sent by the satellite-borne camera, automatically processing the image; when the data transmission window is reached, the satellite downloads the image processing result through the data transmission channel.
According to the task flow, the satellite task can be split into: autonomous behavioral aggregation of mission planning, imaging (camera on/off), image processing, and data download.
Based on the specific task flow and the split task, a behavior tree as shown in fig. 2 may be generated, where a root node of the behavior tree is a parallel node, which indicates that the tasks corresponding to the four branches may be executed in parallel, and a preset threshold M =1, M =1 indicates that one branch returns success, i.e., the behavior tree is successfully executed. The execution period Δ T of the behavior tree may be determined according to the timeliness requirement of the task, and the execution period in this example is specifically set to 2 seconds.
In the behavior tree, each branch includes a condition node and an execution node, which are described in detail as follows:
branch 1: branch of mission planning
In the task planning branch, the left condition node judges whether the task planning time is reached, if so, the task planning branch returns to success, the right action node is continuously executed, and the task planning task from 0 point to 24 points on the next day is completed; otherwise, the conditional node returns a failure, and the branch returns a failure. And after the action node is executed, success/failure is returned, the branch returns success/failure, the action node returns to run in the execution process, and the branch returns to run.
And branch 2: imaging branch
In the imaging branch, the left condition node judges whether the camera startup or shutdown time is reached, if so, the right condition node returns to the success, the right action node is continuously executed, the camera is started by outputting a high level signal, or the camera is shut down by outputting a low level signal after photographing; otherwise the conditional node returns a failure and the branch returns a failure. And returning success/failure after imaging, returning success/failure by the branch, returning operation in the imaging process, and returning operation by the branch.
And branch 3: branch of image processing
In the image processing branch, the left condition node judges whether a new image sent by the camera is received, if so, the right condition node returns to success, and the right action node is continuously executed to complete a corresponding image processing task; otherwise, the conditional node returns a failure, and the branch returns a failure. And after the action node is executed, success/failure is returned, the branch returns success/failure, the action node returns to run in the execution process, and the branch returns to run.
And branch 4: data download branch
In the data downloading branch, the left condition node judges whether a data transmission window is reached, if so, the data transmission window is returned to be successful, the right action node is continuously executed, image processing result data is sent to the data transmission load through an RS422 interface, and the data transmission load is sent to the ground; otherwise, the conditional node returns a failure, and the branch returns a failure. And returning success/failure after the data is sent, returning success/failure by the branch, returning operation in the data sending process, and returning operation by the branch.
Further, in an embodiment of the present invention, the behavior tree module uses the behavior tree as a standard application interface for executing tasks by the satellite, and performs description and storage of the behavior tree in an independent and universal manner.
When the satellite task needs to be changed, the stored behavior tree is only required to be updated to a new behavior tree generated based on the new task.
Further, in an embodiment of the present invention, the behavior tree engine module implements basic working logic of the behavior tree as a general application engine to implement loading and execution of any standard behavior tree.
Further, in an embodiment of the present invention, the platform module includes an operating system or driver software, and the platform module is configured to provide a general and open software platform, so that the behavior tree engine module can run based on the software platform, and the behavior tree can be executed based on the software platform.
The operating system may be, for example, a Linux system.
Further, in an embodiment of the present invention, the external interface of the computer includes:
the universal input interface and the universal output interface are respectively used for inputting and outputting level signals;
the on-satellite bus interface is used for realizing data interaction between the computer and the on-satellite load and acquiring the state of the on-satellite load;
and the communication interface is used for realizing data transmission between the computer and the satellite load.
By setting the universal input interface and the universal output interface, input reading of a level state and output control of conventional direct instructions such as a level instruction, an Open Collector (OC) instruction and the like can be realized; by arranging the on-satellite bus interface, the transmission interaction of data such as telemetering data, data type indirect instructions and the like can be realized, and the state monitoring and control of the on-satellite load are realized; through setting up communication interface, can expand the ability that the computer connects diversified load data.
The on-board bus Interface includes at least one of a CAN (Controller Area Network) bus Interface and an IIC (Inter-Integrated Circuit) bus Interface, and the communication Interface includes at least one of an RS422 Interface, an LVDS (Low-Voltage Differential Signaling) Interface, an SPI (Serial Peripheral Interface) Interface, and an UART (Universal Asynchronous Receiver/Transmitter) Interface.
In a second aspect, an embodiment of the present invention further provides an intelligent satellite autonomous task management method, where the method includes:
generating a behavior tree capable of describing a satellite task according to the task requirement of the satellite;
the behavior tree is used as an application interface for executing tasks by the satellite, and is described and stored in an independent and universal mode;
implementing the basic working logic of the behavior tree as an application engine;
running an application engine corresponding to the behavior tree on the software platform to load and execute the behavior tree;
and controlling the on-satellite load to execute corresponding actions by using a computer according to the execution process of the behavior tree.
Specifically, generating a behavior tree capable of describing a satellite task according to a task requirement of the satellite may include:
according to the task requirement of the satellite, determining the on-satellite load required by completing the task and the task corresponding to the on-satellite load;
the method comprises the steps that the tasks corresponding to loads on the satellites are divided in a modularized mode, execution conditions and execution actions corresponding to the loads on the satellites are determined, and condition nodes and action nodes are generated;
determining a control node and connection relations among the control node, a condition node and an action node according to the control logic relation of the task corresponding to each satellite load;
and connecting the control node, the condition node and the action node according to the connection relation to generate a behavior tree capable of describing the satellite task.
According to the intelligent satellite autonomous task management method provided by the embodiment of the invention, the behavior tree is used as a programming mode of the satellite task, so that the satellite can carry out intelligent decomposition, arrangement and execution of the task according to the logic of the behavior tree, the intelligent autonomous task management of the satellite can be realized, and a working mode based on an instruction sequence is compatible; and moreover, the behavior tree can be modified and replaced in real time according to the change of the satellite task, and the on-line updating of the satellite task is realized.
It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, "front", "rear", "left", "right", "upper" and "lower" in this document are referred to the placement states shown in the drawings.
Finally, it should be noted that: the above examples are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. An intelligent satellite autonomous task management architecture, comprising: a software layer and a hardware layer;
the software layer comprises:
the task module is used for generating a behavior tree capable of describing a satellite task according to the task requirement of the satellite;
the behavior tree module is used for describing and storing the behavior tree generated by the task module;
the behavior tree engine module is used for loading and executing the behavior tree stored in the behavior tree module;
the platform module is used for providing a software platform required for running the behavior tree engine module and executing the behavior tree;
the hardware layer comprises:
the computer is provided with the software layer and is provided with a plurality of external interfaces, the external interfaces can be connected with the loads on the satellite, and the computer is used for controlling the corresponding loads on the satellite to execute actions through the external interfaces according to the behavior tree executed by the software layer.
2. The intelligent satellite autonomous task management architecture of claim 1, wherein the generating a behavior tree capable of describing satellite tasks according to task requirements of satellites comprises:
according to the task requirement of the satellite, determining the on-satellite load required by completing the task and the task corresponding to the on-satellite load;
the method comprises the steps that the tasks corresponding to loads on the satellites are divided in a modularized mode, execution conditions and execution actions corresponding to the loads on the satellites are determined, and condition nodes and action nodes are generated;
determining a control node and connection relations among the control node, the condition node and the action node according to a control logic relation of a task corresponding to each satellite load;
and connecting the control node, the condition node and the action node according to the connection relation to generate a behavior tree capable of describing a satellite task.
3. The intelligent satellite autonomous task management architecture of claim 1 or 2, wherein the platform module comprises an operating system or driver software.
4. The intelligent satellite autonomous task management architecture of any of claims 1-3, wherein the external interface comprises:
the universal input interface and the universal output interface are respectively used for inputting and outputting level signals;
the on-satellite bus interface is used for realizing data interaction between the computer and an on-satellite load and acquiring the state of the on-satellite load;
and the communication interface is used for realizing data transmission between the computer and the satellite load.
5. The intelligent satellite autonomous task management architecture of claim 4, wherein the on-board bus interface comprises at least one of a CAN bus interface and an IIC bus interface, and wherein the communication interface comprises at least one of a RS422 interface, a LVDS interface, a SPI interface, and a UART interface.
6. An intelligent satellite autonomous task management method is characterized by comprising the following steps:
generating a behavior tree capable of describing a satellite task according to the task requirement of the satellite;
the behavior tree is used as an application interface for executing tasks by the satellite, and is described and stored in an independent and universal mode;
implementing the basic working logic of the behavior tree as an application engine;
running an application engine corresponding to the behavior tree on the software platform to load and execute the behavior tree;
and controlling the on-satellite load to execute corresponding actions by using a computer according to the execution process of the behavior tree.
7. The intelligent satellite autonomous task management method of claim 6, wherein the generating a behavior tree capable of describing satellite tasks according to task requirements of satellites comprises:
according to the task requirement of the satellite, determining the on-satellite load required for completing the task and the task corresponding to the on-satellite load;
the method comprises the steps that the tasks corresponding to loads on the satellites are divided in a modularized mode, execution conditions and execution actions corresponding to the loads on the satellites are determined, and condition nodes and action nodes are generated;
determining a control node and connection relations among the control node, the condition node and the action node according to a control logic relation of a task corresponding to each satellite load;
and connecting the control node, the condition node and the action node according to the connection relation to generate a behavior tree capable of describing a satellite task.
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