CN115545413A - Constraint contract network-based multi-satellite autonomous task planning method - Google Patents

Constraint contract network-based multi-satellite autonomous task planning method Download PDF

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CN115545413A
CN115545413A CN202211110746.9A CN202211110746A CN115545413A CN 115545413 A CN115545413 A CN 115545413A CN 202211110746 A CN202211110746 A CN 202211110746A CN 115545413 A CN115545413 A CN 115545413A
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余晟
汪路元
王铎
牛嘉祥
朱剑冰
吕泽竞
周凡卉
周波
詹盼盼
李承昊
卢京
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Beijing Institute of Spacecraft System Engineering
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Abstract

The invention provides a Multi-satellite autonomous mission planning method based on a constraint contract network, which can solve the problem of autonomous mission planning in a satellite system formed by a plurality of satellites by introducing Agent (intelligent Agent) and Multi-Agent system (MAS) theories. The method comprises the following steps: the leading satellite receives an observation task, and candidate satellites capable of executing the observation task are screened from the dependent satellites; selecting a contractor from candidate satellites capable of executing the observation task by adopting a contract network negotiation mode; and the slave satellite selected as the contractor starts task execution preparation before the task execution time comes, executes the contract task after the preparation is finished, feeds back information about the execution result to the master satellite, and the master satellite sends a notice of task completion to declare the task to be finished.

Description

Constraint contract network-based multi-satellite autonomous task planning method
Technical Field
The invention relates to the technical field of satellite intelligent management, in particular to a multi-satellite autonomous task planning method based on a constraint contract network.
Background
The autonomous mission planning technology is one of key technologies for realizing the intelligent remote sensing satellite. The traditional non-intelligent remote sensing satellite operation process comprises the steps of demand collection, demand planning, task planning, satellite execution, image processing and user distribution, and has the problems of process redundancy, tight link coupling, multiple limiting conditions and the like, so that the rapid response time is long, and the emergency observation capability is poor. By utilizing the on-satellite autonomous mission planning technology, the operation process can be shortened into 'demand collection' -satellite autonomous completion mission planning and image processing '-distribution user', a large amount of intermediate work is autonomously completed by the satellite, and the aims of shortening mission response time and enhancing response speed are fulfilled.
At present, the research on the task planning technology of single star is mature, and the model application is realized. The independent mission planning problem of a single agile imaging satellite is researched and summarized in the document agile imaging satellite independent mission planning method (computer integrated manufacturing system, 2016, 4 th year), a rolling planning heuristic algorithm is provided, continuous multiple local planning is used for replacing one-time global planning, application is carried out on the orbit, and the relation between the rolling planning step length and the mission completion rate is analyzed through experimental data.
With the increase of the number of remote sensing satellites in China, the continuous increase of observation requirements and the continuous maturity of inter-satellite link technologies, joint observation by using a plurality of remote sensing satellites is imperative. However, the multi-satellite joint autonomous mission planning technology relates to the research of a cooperative mechanism among multiple satellites, has greater technical difficulty than single-satellite mission planning, and is not applied in orbit in the multi-satellite joint mission planning system at present. A multi-satellite task planning method facing on-orbit real-time guiding imaging is proposed in the literature research on-orbit real-time guiding multi-satellite imaging task planning method (spacecraft engineering, 10 months 2019), a conflict-free task sequence generation method of satellite imaging is designed, a machine-approaching adjustment strategy is designed for optimizing imaging income, and simulation results show that the imaging income of the whole planning scheme can be improved in real time in a mode of replacing low-income targets with high-income targets, but the scheme belongs to a ground centralized planning strategy and is not an on-satellite autonomous task planning method.
Disclosure of Invention
The invention provides a Multi-satellite autonomous mission planning method based on a constraint contract network, which can solve the problem of autonomous mission planning in a satellite system formed by a plurality of satellites by introducing Agent (intelligent Agent) and Multi-Agent system (MAS) theories.
The invention is realized by the following technical scheme.
A multi-star autonomous task planning method based on a constraint contract network comprises the following steps: the leading satellite receives an observation task, and candidate satellites capable of executing the observation task are screened from the dependent satellites; selecting a contractor from candidate satellites capable of executing the observation task by adopting a contract network negotiation mode; and the slave satellite selected as the contractor starts task execution preparation before the task execution time comes, executes the contract task after the preparation is finished, feeds back information about the execution result to the master satellite, and the master satellite sends a notice of task completion to declare the task to be finished.
The invention has the beneficial effects that:
1. compared with the existing single-satellite task planning technology, the task planning method provided by the invention can fully utilize the advantage of cooperative observation of multiple satellites, lead the satellite to select a proper satellite from a potential candidate satellite set in real time in orbit to execute a task, and improve the task completion rate;
2. the invention adopts a layered structure of a leading satellite and a subordinate satellite in a multi-satellite joint task planning system, wherein the leading satellite has a constellation joint planning capability and can select and guide the subordinate satellite to complete a satellite node of a given observation task; the subordinate satellite has single-satellite planning capability and capability of executing specific observation actions; therefore, a multi-satellite cooperation mechanism between the leading satellite and the subordinate satellite is designed;
3. the joint task planning process based on contract network negotiation comprises the steps of pre-screening candidate satellites, task release, task bidding, task bid-winning evaluation, contract signing, task execution and the like, and a complete closed-loop control chain is formed; through the process, the satellite system can plan to generate and execute an optimal observation scheme meeting the global optimization target, and feeds back an execution result;
4. in the prior art, the bidding judgment of a bidder for a certain task is a dynamic scheduling process, the bidder maintains a contract task set which is contracted, and when a new bidding task arrives, the bidder needs to insert the new task into a proper time interval under the condition of not causing conflict; the dynamic scheduling process is a complex constraint solving process, and the invention adopts a backtracking algorithm to carry out task dynamic scheduling, so that on one hand, the consistency of various constraints in a scheduling scheme is ensured, and on the other hand, a certain scheduling optimization target is also met;
5. the method sets pre-screening rules of a plurality of candidate satellites capable of executing the observation task, wherein the pre-screening rules comprise communication capacity satisfaction inspection, imaging capacity satisfaction inspection and load capacity satisfaction inspection, and then screening the candidate satellites;
6. the invention adopts a contract network negotiation mode, realizes the distribution of tasks among a plurality of bidders according to a bid inviting-bidding-bid winning mechanism in the market, and selects candidate satellites capable of executing the observation tasks as contractors.
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FIG. 1 is a general flow chart of the multi-star autonomous mission planning method based on a constraint contract network according to the present invention;
fig. 2 is a flowchart of a backtracking algorithm in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is to be understood that the embodiments shown and described in the drawings are merely exemplary and are intended to illustrate the principles and spirit of the invention, not to limit the scope of the invention.
The invention adopts a 'master-slave' structure mode, one leading satellite is appointed in a satellite system needing to carry out joint mission planning, and other satellites are all used as slave satellites. The leading satellite refers to a satellite node which has the capability of joint planning of a constellation and can select and guide the subordinate satellite to complete a set observation task. The satellite dependent has single satellite planning capability and the capability of performing specific observation tasks. The master satellite and the slave satellite have inter-satellite communication capability. Generally, the dominant satellite should be a satellite with a satellite-to-satellite real-time communication function and a strong onboard processing capability, and a typical example is a geostationary orbit satellite.
Based on the above thought, as shown in fig. 1, the multi-star autonomous mission planning method based on the constraint contract network of the present invention specifically includes the following steps:
firstly, leading a satellite to receive an observation task;
in this embodiment, the observation task source is a task annotated on the ground, or a task generated by a dominant satellite, or a task generated and sent by another satellite.
In this embodiment, the observation task includes: task = < target location, observation time window start, observation time window end, load type, resolution requirement, task priority.
In specific implementation, one observation task needs to give the position of a target to be observed, and is described by the longitude and latitude of the target; the starting time and the ending time of the task are required to be given, namely the starting point and the ending point of an observation time window; imaging loads need to be given for observation, including visible light, electronic reconnaissance, infrared or SAR, etc.; for some loads, a given load resolution requirement is required; given the task priority, a high priority task performs better than a low priority task in the event of a conflict.
Step two, the leading satellite screens out candidate satellites capable of executing the observation task from the subordinate satellites;
in specific implementation, the leading satellite performs pre-screening according to the attributes of the observation tasks and the orbit information of each subordinate satellite, the subordinate satellites passing the pre-screening are added into a candidate satellite set, and the leading satellite fails to perform the feedback task for the satellites not passing the inspection;
in this embodiment, the rule of the pre-filtering includes:
1. communication capability satisfaction check: whether the slave satellite has the ability of communicating with the master satellite in the time window (the current time and the starting point of the observation time window) or not is judged;
2. imaging capability satisfaction check: whether the dependent satellite has the capability of imaging and observing the target position or not in a time window (observation time window starting point and observation time window end point);
3. and (4) checking the load capacity satisfaction, wherein the slave satellite can carry out imaging observation on the target position to determine whether the load meets the requirements of the load type and the load resolution ratio.
Selecting a contractor from the candidate satellites capable of executing the observation task by adopting a contract network negotiation mode;
the contract network agreement is a negotiation method, which is mainly used in a distributed sensor system in the prior art to complete the function of transmission control in a strict distributed system, and has the importance that a task manager and a potential executor mutually select through a calculation negotiation process, namely, the task is distributed among a plurality of bidders according to a bidding-bidding mechanism in the market, so that the contract network agreement is a dynamic and distributed method.
In this embodiment, the contract network is composed of a plurality of nodes, and is classified into the following three types:
the tenderer is a leading satellite and is responsible for distributing tasks which should be finished at present to other nodes;
the bidder is a subordinate satellite in the candidate satellite set, is an idle node and has the capacity of completing a certain task;
the contractor, who is the subordinate satellite responsible for observing the task execution, is the winning bidder and has tasks that must be completed.
Based on the above explanations of the contract network and each node, in this embodiment, the contract network negotiation includes the following steps:
a) And (3) observation task release: after receiving the observation task, the leading satellite issues the task to the subordinate satellite in an available communication window of a related bidder, and transmits the deadline of the bid and the constraint information for completing the task to the subordinate satellite;
in specific implementation, the task is issued to the subordinate satellite, and triple description is adopted: < AID, task, DL >, wherein AID is an identifier of the tenderer, task is a tendered Task containing requirements on the Task and a set of constraints to complete the Task, and DL is the deadline for the bid.
B) And (3) task bidding: after receiving the observation task, the subordinate satellite makes a related bidding decision according to the self condition and the constraint condition of the task, and the following three main decisions are made: decline, not understand, and bid; the method specifically comprises the following steps:
if bidding is carried out, the bidding information needs to be honest, and the triple description < folder, plan and Cost > is adopted, wherein folder is a marker of the bidding satellite, and Plan is a scheduling scheme of the bidding satellite for the task; the scheduling scheme is represented by seven tuples: plan = < imaging load type, imaging load resolution, start imaging time, end imaging time, start data transfer time, end data transfer time, data transfer station number >, cost for bidder to complete task.
In particular implementation, the decision of the bidder to bid for a certain task is a dynamic scheduling process. The bidders themselves maintain a contract task set that has been contracted, and when a new bidding task arrives, the bidders must insert the new task into an appropriate time interval without causing a conflict. The dynamic scheduling process is a complex constraint solving process, and on one hand, the consistency of various constraints in a scheduling scheme is required to be ensured, and on the other hand, a certain scheduling optimization target is required to be met.
For the requirement, in this embodiment, a backtracking algorithm is used to perform task dynamic scheduling, as shown in fig. 2, the specific steps are as follows:
step1, acquiring self-planned task set Plan from slave satellite S ＝{P 1 ,P 2 ,…,P i ,…,P N A task to be planned is P';
step2, judging whether a time window TW exists in a time window set TW on the satellite or not j ＝(ws j ,we j ) A task P' can be inserted, where ws j He and we j Respectively indicating the starting time and the ending time of the time window; if present, insert P' directly into TW j Jumping to Step5, otherwise, entering Step3;
step3, calculating the time window conflict and the storage conflict set of the task P 'for the task P' which cannot be directly inserted, and if the planned task with the conflict is replaced, judging whether the conflict task in the replaced conflict can be inserted in the idle time period in other time windows, if so, assuming to be established and inserting the conflict task into the idle time period, and skipping to Step5, otherwise, assuming not to be established and skipping to Step4;
step4, when the two methods can not realize task insertion, searching a conflict set and judging whether a task P with the priority smaller than P' exists i If P is present i Then P is deleted i And P is i Setting the task to be planned, adding P' in the planned task, jumping to Step2, otherwise, failing to insert the task, and ending the algorithm;
and Step5, finishing the planning of the insertion task, generating a new planning task set, and finishing the algorithm.
C) And (3) task bid winning evaluation: after receiving all bidding results or the bidding deadline expires, the dominant satellite evaluates the bidding schemes according to a preset bidding evaluation strategy, sends out a bid-winning notification to the corresponding bidder after selecting the optimal bidding scheme, and sends out a rejection notification to other bidders;
in specific implementation, the establishment of the bid evaluation strategy is related to a global optimization target, and different bid evaluation strategies can be established according to different optimization targets; global optimization objectives include cost minimization, imaging time minimization, data transfer time minimization, load balancing, and the like.
D) Signing a task contract: after receiving the successful bid notification, the bidder who wins the bid formally adds the task into the contract task set and replies confirmation information, the two parties are in contract, and after receiving the confirmation information, the leading satellite marks the task as a contract task and waits for the feedback of the execution result information.
And step four, the selected subordinate satellite of the contractor starts task execution preparation before the task execution time comes, executes the contract task after the preparation is finished, feeds back information related to the execution result to the leading satellite, and the leading satellite sends a notice of task completion to declare the task to be finished.
Example 1:
the multi-star autonomous task planning method based on the constraint contract network is described in detail below according to a certain forest fire observation task.
Assuming that a forest fire occurs in a place (latitude 37.81, longitude 72.34), the emergency management department requires to acquire an optical observation image of the place within 3 hours, and the earlier the imaging time, the better the observation resolution is, the less than 1m. Suppose that a heterogeneous satellite system that can be used to observe forest fires includes the following satellites:
Figure BDA0003843949710000081
the specific implementation process of the satellite system joint mission planning technology is as follows:
1. task reception
And the ground notes the observation Task to the leading satellite, task = < (latitude 37.81, longitude 72.34), current time +3 hours, visible light, and resolution less than 1m >.
2. Satellite prescreening
The master guide satellite pre-screens 10 slave satellites, and the slave satellites meeting the communication capacity, the imaging capacity and the loading capacity comprise a low-orbit optical satellite 3 and a low-orbit optical satellite 4. The leading satellite adds these 2 satellites to the candidate set.
3. Contract network negotiation
The lead satellite releases the task to the relevant satellite within the available communication window with the relevant bidder. The issued information is a triple: < ID geostationary orbit satellite, task, DL >, DL is set to half an hour before the mission required time, DL = current time +2.5 hours.
After receiving the bid sending information, the 3 candidate satellites send bid information to the leading satellite within the DL time limit.
Low-orbit optical satellite 3: < ID low rail 3, plan low rail 3, cost low rail 3>, wherein Plan low rail 3= < visible light, 0.3m, current time +20 minutes, current time +23 minutes, current time +50 minutes, current time +55 minutes, concierge station >, and Cost low rail 3=0.
Low-orbit optical satellite 4: < ID low rail 4, plan low rail 4, cost low rail 4>, wherein Plan low rail 4= < visible light, 0.3m, current time +1 hour 52 minutes, current time +1 hour 55 minutes, current time +2 hours 10 minutes, current time +2 hours 15 minutes, building station >, cost low rail 4= < 0.
After receiving the bidding information sent by the 2 satellites, the leading satellite evaluates the bidding scheme according to the earliest strategy of the imaging time, selects the low-orbit optical satellite 3 as a successful bidder, sends a successful bidding notice to the corresponding bidder and sends a refusal notice to other bidders.
After receiving the successful bid notice, the low orbit optical satellite 3 formally adds the task into the contract task set and replies confirmation information, so that the two parties are in contract. And after receiving the confirmation information, the leading satellite marks the task as a contract task and waits for the feedback of the execution result information.
4. Task execution
The low-orbit optical satellite 3 starts the relevant preparation of task execution before the task execution time comes, executes the contract task after the preparation is completed, downloads the image to the ground station for processing, and feeds back the information about the execution result to the dominant satellite. And the leading satellite sends a notice of task completion to the emergency management part and declares the task completion.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.

Claims (10)

1. A multi-star autonomous mission planning method based on a constraint contract network is characterized by comprising the following steps: the leading satellite receives an observation task, and candidate satellites capable of executing the observation task are screened from the dependent satellites; selecting a contractor from candidate satellites capable of executing the observation task by adopting a contract network negotiation mode; and the slave satellite selected as the contractor starts task execution preparation before the task execution time comes, executes the contract task after the preparation is finished, feeds back information about the execution result to the master satellite, and the master satellite sends a notice of task completion to declare the task to be finished.
2. The constrained contract network-based multi-satellite autonomous mission planning method of claim 1, wherein the observation mission source is a ground-based mission, or a mission autonomously generated by a dominant satellite, or a mission generated and transmitted by another satellite.
3. The constraint contract network-based multi-star autonomous mission planning method according to claim 1 or 2, wherein the observation mission comprises: task = < target location, observation time window start, observation time window end, load type, resolution requirement, task priority.
4. The constrained contract network-based multi-satellite autonomous mission planning method according to claim 1 or 2, wherein the lead satellite performs pre-screening according to the attributes of the observation mission and orbit information of each slave satellite, the slave satellites passing the pre-screening are added into the candidate satellite set, and for the satellites not passing the inspection, the lead satellite feedback mission fails to be performed.
5. The constraint contract network-based multi-star autonomous mission planning method of claim 4, wherein said pre-screening rules comprise:
communication capability satisfaction check: whether the slave satellite has the ability of communicating with the master satellite in the time window of the current time and the observation time window starting point;
imaging capability satisfaction check: whether the dependent satellite has the capability of imaging and observing the target position or not in a time window (observation time window starting point and observation time window end point);
and (4) carrying out satisfaction check on the load capacity, wherein the slave satellite can carry out imaging observation on the target position to determine whether the load meets the requirements of the load type and the load resolution.
6. The constraint contract network-based multi-star autonomous mission planning method according to claim 1, 2, 3 or 4, characterized in that the contract network is composed of several nodes, which are classified into the following three categories:
the tenderer is a leading satellite and is responsible for distributing tasks which should be completed at present to other nodes;
the bidders are subordinate satellites in the candidate satellite set, are idle nodes and have the capacity of completing certain tasks;
the contractor, who is the subordinate satellite responsible for observing the task execution, is the winning bidder and has tasks that must be completed.
7. The constrained contractual network-based multi-star autonomous mission planning method of claim 6, wherein said contractual network negotiation comprises the steps of:
a) And (3) observation task release: after receiving the observation task, the leading satellite issues the task to the subordinate satellite in an available communication window of a related bidder, and transmits the bidding deadline and the constraint information of completing the task to the subordinate satellite;
b) And (3) task bidding: after receiving the observation task, the subordinate satellite makes a related bidding decision according to the self condition and the constraint condition of the task, and the following three main decisions are made: refusal, not understanding, and bid;
c) And (4) task bid-winning evaluation: after receiving all bidding results or the bidding deadline expires, the leading satellite evaluates the bidding schemes according to a preset bidding evaluation strategy, and sends out a bid-winning notice to the corresponding bidder and a rejection notice to other bidders after selecting the optimal bidding scheme;
d) Signing a task contract: after receiving the bid-winning notification, the bidder who wins the bid formally adds the task into the contract task set and replies confirmation information, the two parties are in contract, and after receiving the confirmation information, the dominant satellite marks the task as a contract task and waits for the feedback of the execution result information.
8. The constraint contract network-based multi-satellite autonomous mission planning method of claim 7, wherein the mission is issued to the subordinate satellite, and the triple description is adopted: < AID, task, DL >, wherein AID is an identifier of the tenderer, task is a tendered Task containing requirements on the Task and a set of constraints to complete the Task, and DL is the deadline for the bid.
9. The constraint contract network-based multi-star autonomous mission planning method according to claim 7 or 8, wherein the mission bid is specifically:
if the bidding is carried out, the bidding information is honest, and a triple is adopted to describe < bid, plan, cost >, wherein the bid is an identifier of the bidding satellite, and Plan is a scheduling scheme of the bidding satellite for the task; the scheduling scheme is represented by seven tuples: plan = < imaging load type, imaging load resolution, start imaging time, end imaging time, start data transfer time, end data transfer time, data transfer station number >, cost is the Cost paid by the bidder to complete the task.
10. The constraint contract network-based multi-star autonomous task planning method according to claim 7 or 8, characterized in that a backtracking algorithm is adopted for dynamic task scheduling, and the specific steps are as follows:
step1, acquiring self-planned task set Plan by slave satellite S ＝{P 1 ,P 2 ,…,P i ,…,P N A task to be planned is P';
step2, judging whether a time window TW exists in a time window set TW on the satellite or not j ＝(ws j ,we j ) A task P' can be inserted, where ws j He and we j Respectively indicating the starting time and the ending time of a time window; if present, insert P' directly into TW j Jumping to Step5, otherwise, entering Step3;
step3, calculating the time window conflict and the storage conflict set of the task P 'for the task P' which cannot be directly inserted, and if the planned task with the conflict is replaced, judging whether the conflict task in the replaced conflict can be inserted in the idle time period in other time windows, if so, assuming to be established and inserting the conflict task into the idle time period, and skipping to Step5, otherwise, assuming not to be established and skipping to Step4;
step4, when the two methods can not realize task insertion, searching a conflict set and judging whether a task P with the priority smaller than P' exists i If P is present i Then P is deleted i And P is i Setting the task to be planned, adding P' in the planned task, jumping to Step2, otherwise, failing to insert the task, and ending the algorithm;
and Step5, finishing the planning of the insertion task, generating a new planning task set, and finishing the algorithm.
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CN116347623A (en) * 2023-05-29 2023-06-27 之江实验室 Task scheduling method and device, storage medium and electronic equipment
CN117634860A (en) * 2024-01-26 2024-03-01 中国人民解放军军事科学院国防科技创新研究院 Star group distributed autonomous task planning method and system

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Publication number Priority date Publication date Assignee Title
CN116101514A (en) * 2023-04-13 2023-05-12 中国科学院空天信息创新研究院 Multi-star on-orbit autonomous cooperative system and autonomous task planning method thereof
CN116347623A (en) * 2023-05-29 2023-06-27 之江实验室 Task scheduling method and device, storage medium and electronic equipment
CN116347623B (en) * 2023-05-29 2023-08-15 之江实验室 Task scheduling method and device, storage medium and electronic equipment
CN117634860A (en) * 2024-01-26 2024-03-01 中国人民解放军军事科学院国防科技创新研究院 Star group distributed autonomous task planning method and system
CN117634860B (en) * 2024-01-26 2024-04-12 中国人民解放军军事科学院国防科技创新研究院 Star group distributed autonomous task planning method and system

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