CN116022358A - Spacecraft control event planning method and device, processor and electronic equipment - Google Patents

Abstract

The application discloses a planning method and device for spacecraft control events, a processor and electronic equipment, and relates to the technical field of aerospace, wherein the method comprises the following steps: determining a first execution time length and a first execution time point of an autonomous execution event on the determiner, and determining a plurality of ground window execution events and corresponding second execution time lengths; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point; determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration and the second execution duration; and scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of a plurality of ground window execution events from the plurality of execution plans according to the target score values. According to the method and the device, the problem that the planning efficiency of the deep space exploration spacecraft control event is low due to the fact that the execution time of the deep space exploration spacecraft control event is planned based on the manual experience in the related technology is solved.

Description

Spacecraft control event planning method and device, processor and electronic equipment

Technical Field

The present application relates to the field of aerospace technologies, and in particular, to a method and apparatus for planning a spacecraft control event, a processor, and an electronic device.

Background

With the development of the aerospace technology, the deep space exploration task has become one of the important development directions in the aerospace field in the future. The ground control center adopts an asynchronous control mode of 'remote control instruction advance injection and on-board delay autonomous execution' to develop the flight control work of the spacecraft.

The control events of the deep space exploration spacecraft can be generalized to be defined as two categories-on-board autonomous execution events and ground window control events. When the spacecraft enters the target surrounding orbit, scientific detection related work is focused, the control time of the corresponding autonomous execution control event on the spacecraft is closely related to the spacecraft orbit characteristics, and the specific detection time and detection times are determined by the detection task. From the perspective of the flight control implementation flow, the control process of various control events is realized by uploading a delay instruction, and the flight control implementation effect is realized by receiving the data on the spacecraft to judge the state of the spacecraft. The time delay command refers to a type of remote control command which is not executed immediately after the spacecraft remote control command arrives at the spacecraft, but is executed in a time delay way at a certain fixed time point in the future.

Taking a certain deep space exploration task as an example, carrying out state interpretation on data on a time delay instruction uploading spacecraft and a ground receiver, and inducing daily measurement orbit control events into ground window control events, wherein the implementation time can be flexibly adjusted on the premise of meeting various constraint conditions. For the on-board autonomous execution event, the time requirement is determined to be known, in the time interval of on-board event execution, a delay instruction which is injected into the spacecraft in advance can execute according to the time sequence specified by a program and takes the binding time as the starting execution time, during the period, the ground cannot interact with the spacecraft, namely, in the mode of 'remote control instruction early injection and on-board delayed autonomous execution', the ground window control event cannot be developed in parallel with the on-board autonomous execution event, how to plan the execution time of the ground window control event and the on-board autonomous execution event more reasonably is critical, in the prior art, the control events such as the ground window control event are often planned manually, but the problem that errors occur in task planning due to the fact that the tasks are not scheduled can exist manually can be considered.

Aiming at the problem that the planning efficiency of the deep space exploration spacecraft control event is lower due to the fact that the execution time of the deep space exploration spacecraft control event is planned based on the manual experience in the related art, the existing solutions still have some defects.

Disclosure of Invention

The main purpose of the application is to provide a spacecraft control event planning method and device, a processor and electronic equipment, so as to solve the problem that the planning efficiency of deep space exploration spacecraft control events is lower due to the fact that the execution time of the deep space exploration spacecraft control events is planned based on artificial experience in the related technology.

To achieve the above object, according to one aspect of the present application, a method for planning a spacecraft control event is provided. The method comprises the following steps: determining a plurality of autonomous execution events on the devices, a first execution time length corresponding to each autonomous execution event on the device and a first execution time point corresponding to each autonomous execution event on the device, and determining a plurality of ground window execution events and a second execution time length corresponding to each ground window execution event, wherein the autonomous execution events on the devices are spacecraft autonomous execution events, and the ground window execution events at least comprise measurement and control equipment execution events; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration and the second execution duration, wherein different execution plans characterize different execution sequences of the plurality of ground window execution events; and scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of the ground window execution events from the plurality of execution plans according to the target score values.

Further, determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration includes: determining the priority of each ground window execution event according to the execution sequence of each ground window execution event; acquiring an execution dependency relationship between the autonomous execution events on the plurality of devices and the ground window execution events; matching the target measurement and control arc section with each ground window execution event according to the priority of each ground window execution event, the execution dependency relationship and the second execution time length so as to determine a target corresponding relationship between each ground window execution event and the target measurement and control arc section; determining a plurality of selectable execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration and the target corresponding relationship; determining the plurality of execution plans based on the plurality of selectable execution time points.

Further, when matching the target measurement and control arc segment and each ground window execution event, the method further comprises: if the matching of the target ground window execution event and the target measurement and control arc section fails, determining the required execution time length of the target ground window execution event; the required execution duration is used as a second execution duration of the target ground window execution event; and matching the target measurement and control arc section with the target ground window execution event according to the second execution time length of the target ground window execution event so as to determine the target corresponding relation between the target ground window execution event and the target measurement and control arc section.

Further, scoring each execution plan based on a preset rule, and obtaining a plurality of target score values includes: scoring each execution plan according to the energy consumption scoring rule in the preset rules to obtain a first score value; scoring each execution plan according to a measurement and control equipment reliability scoring rule in the preset rules to obtain a second score value; scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control equipment in the preset rule to obtain a third score value; and calculating according to the first score value, the second score value and the third score value to obtain the target score value.

Further, scoring each execution plan according to the energy consumption scoring rule in the preset rule, and obtaining a first score value includes: determining an execution time point of each ground window execution event in the plurality of execution plans and a third execution time length of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least comprises: the execution time point and the third execution duration; and scoring each execution plan according to the execution time point of each ground window execution event in the plurality of execution plans and the third execution time length to obtain the first score value.

Further, scoring each execution plan according to the reliability scoring rule of the measurement and control device in the preset rule, and obtaining a second score value includes: determining reliability of a plurality of first measurement and control devices and each first measurement and control device for executing each ground window execution event according to the execution time point and the third execution time length of each ground window execution event in the plurality of execution plans, wherein the measurement and control device reliability scoring rule at least comprises: measuring and controlling the reliability of the equipment; and scoring each execution plan according to the reliability of the plurality of first measurement and control devices to obtain the second score value.

Further, scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control device in the preset rule, and obtaining a third score value includes: determining the data transmission rate of each measurement and control device, and grading each execution plan according to the transmission rate to obtain the third grading value, wherein the measurement and control device transmission rate grading rule at least comprises: and measuring and controlling the data transmission rate of the equipment.

Further, calculating according to the first score value, the second score value and the third score value, to obtain the target score value includes: setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value and setting the weight of the third score value as a third weight value, wherein the first weight value is smaller than the second weight value, and the second weight value is smaller than the third weight value; and calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain the target score value.

To achieve the above object, according to another aspect of the present application, there is provided a planning apparatus for spacecraft control events. The device comprises: the first determining unit is used for determining a plurality of on-board autonomous execution events, a first execution time length corresponding to each on-board autonomous execution event and a first execution time point corresponding to each on-board autonomous execution event, and determining a plurality of ground window execution events and a second execution time length corresponding to each ground window execution event, wherein the on-board autonomous execution events are spacecraft autonomous execution events, and the ground window execution events at least comprise measurement and control equipment execution events; the second determining unit is used for determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft; a third determining unit, configured to determine a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration, where different execution plans characterize different execution orders of the plurality of ground window execution events; and the scoring unit is used for scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of the plurality of ground window execution events from the plurality of execution plans according to the target score values.

Further, the third determination unit includes: the first determining module is used for determining the priority of each ground window executing event according to the executing sequence of each ground window executing event; the acquisition module is used for acquiring the execution dependency relationship between the autonomous execution events on the plurality of devices and the ground window execution events; the matching module is used for matching the target measurement and control arc section with each ground window execution event according to the priority of each ground window execution event, the execution dependency relationship and the second execution time length so as to determine the target corresponding relationship between each ground window execution event and the target measurement and control arc section; the second determining module is used for determining a plurality of selectable execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration and the target corresponding relationship; and the third determining module is used for determining the execution plans according to the selectable execution time points.

Further, the apparatus further comprises: a fourth determining unit, configured to determine, when matching the target measurement and control arc segment with each ground window execution event, a required execution duration of the target ground window execution event if there is a failure in matching the target ground window execution event with the target measurement and control arc segment; the processing unit is used for taking the required execution duration as a second execution duration of the target ground window execution event; the matching unit is used for matching the target measurement and control arc section and the target ground window execution event according to the second execution time length of the target ground window execution event so as to determine the target corresponding relation between the target ground window execution event and the target measurement and control arc section.

Further, the scoring unit includes: the first scoring module is used for scoring each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value; the second scoring module is used for scoring each execution plan according to the reliability scoring rule of the measurement and control equipment in the preset rule to obtain a second score value; the third scoring module is used for scoring each execution plan according to the scoring rule of the transmission rate of the measurement and control equipment in the preset rule to obtain a third score value; and the calculation module is used for calculating according to the first score value, the second score value and the third score value to obtain the target score value.

Further, the first scoring module includes: the first determining submodule is used for determining an execution time point of each ground window execution event in the plurality of execution plans and a third execution duration of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least comprises: the execution time point and the third execution duration; and the first scoring sub-module is used for scoring each execution plan according to the execution time point of each ground window execution event in the plurality of execution plans and the third execution duration to obtain the first score value.

Further, the second scoring module includes: the second determining submodule is configured to determine, according to an execution time point of each ground window execution event and the third execution duration in the plurality of execution plans, a plurality of first measurement and control devices for executing each ground window execution event and reliability of each first measurement and control device, where the measurement and control device reliability scoring rule at least includes: measuring and controlling the reliability of the equipment; and the second scoring sub-module is used for scoring each execution plan according to the reliability of the plurality of first measurement and control devices to obtain the second score value.

Further, the third scoring module includes: a third determining submodule, configured to determine a data transmission rate of each measurement and control device, and score each execution plan according to the transmission rate to obtain the third score value, where the measurement and control device transmission rate scoring rule at least includes: and measuring and controlling the data transmission rate of the equipment.

Further, the computing module includes: the setting submodule is used for setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value and setting the weight of the third score value as a third weight value, wherein the first weight value is smaller than the second weight value, and the second weight value is smaller than the third weight value; and the calculation sub-module is used for calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain the target score value.

To achieve the above object, according to one aspect of the present application, there is provided a processor for running a program, wherein the program, when running, executes the method for planning a spacecraft control event according to any one of the above.

To achieve the above object, according to one aspect of the present application, there is provided an electronic device, including one or more processors and a memory for storing a planning method for the one or more processors to implement any one of the above spacecraft control events.

Through the application, the following steps are adopted: determining a plurality of autonomous execution events on the devices, a first execution time length corresponding to the autonomous execution event on each device and a first execution time point corresponding to the autonomous execution event on each device, and determining a plurality of ground window execution events and a second execution time length corresponding to each ground window execution event, wherein the autonomous execution event on the device is a spacecraft autonomous execution event, the ground window execution event at least comprises a measurement and control equipment execution event, and the spacecraft is controlled through the measurement and control equipment; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution time length and the second execution time length, wherein different execution plans represent different execution sequences of a plurality of ground window execution events; based on a preset rule, each execution plan is scored to obtain a plurality of target score values, and a target execution plan of a plurality of ground window execution events is determined from the plurality of execution plans according to the target score values, so that the problem that the planning efficiency of the deep space exploration spacecraft control events is low due to the fact that the execution time of the deep space exploration spacecraft control events is planned based on manual experience in the related art is solved. Compared with the previous method for manually arranging the spacecraft work execution plan, in the scheme, a plurality of feasible execution plans are designed through the target measurement and control arc section, the first execution time point, the first execution time length and the second execution time length, each feasible execution plan is reasonably scored by flexibly utilizing a preset rule, the optimal target execution plan is finally obtained, optimizing treatment on the deep space exploration spacecraft work plan arrangement is achieved, and the effect of improving planning efficiency of deep space exploration spacecraft control events is achieved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application, illustrate and explain the application and are not to be construed as limiting the application. In the drawings:

FIG. 1 is a flow chart of a method of planning spacecraft control events provided in accordance with an embodiment of the application;

FIG. 2 is a schematic diagram of a timing relationship between "autonomously executing events on the device", "available measurement and control arc resources", "ground window control events" provided in accordance with an embodiment of the present application;

FIG. 3 is a schematic illustration of an execution plan provided in accordance with an embodiment of the present application;

FIG. 4 is a flow chart of an alternative method of planning spacecraft control events provided in accordance with an embodiment of the application;

FIG. 5 is a schematic diagram of a planning apparatus for spacecraft control events provided in accordance with an embodiment of the present application;

fig. 6 is a schematic diagram of an electronic device provided according to an embodiment of the present application.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The present invention will be described with reference to preferred implementation steps, and fig. 1 is a flowchart of a method for planning a spacecraft control event according to an embodiment of the present application, and as shown in fig. 1, the method includes the steps of:

step S101, determining a plurality of autonomous execution events on the devices, a first execution time corresponding to the autonomous execution event on each device and a first execution time point corresponding to the autonomous execution event on each device, and determining a plurality of ground window execution events and a second execution time corresponding to each ground window execution event, wherein the autonomous execution event on the device is a spacecraft autonomous execution event, and the ground window execution event at least comprises a measurement and control equipment execution event;

Specifically, the on-board autonomous execution event is defined, and the on-board autonomous execution event mainly includes: control event 1, control event 2, control event 3, etc., are defined as Ai (i=1, 2,3, … …). There are a number of control events, specifically determined by the probing task. For the on-board autonomous execution event, the time requirement is determined to be known, and in the time interval of on-board event execution, a delay instruction which is injected into the spacecraft in advance can be executed according to the time sequence specified by the program, and the binding time of the delay instruction is taken as the starting execution time. Therefore, the autonomous execution events on a plurality of devices, the first execution duration corresponding to the autonomous execution event on each device and the first execution time point corresponding to the autonomous execution event on each device, which are needed to be executed by the current detection task of the spacecraft, are defined.

The ground window executing event may include a measurement and control device executing event and a ground control center service event, specifically, the ground window controlling event refers to an event that the ground interacts with the spacecraft, when the spacecraft autonomously executes the control event, the spacecraft executes a control action which requires the ground to be filled with corresponding instructions in advance, and the control effect requires the ground to receive telemetry data on the spacecraft and to interpret states. The floor window control events are defined as Ci (i=1, 2,3, … …), and the execution duration of each floor window control event may be represented by LCi, for example, a deep space exploration task, and each floor control event is typically executed for a duration between 2 hours and 4 hours. Conventional floor window control events may include the following: event C1: and (3) filling a spacecraft and an event C2 with a delay instruction of autonomously executing the event on the ground simulator: and (3) carrying out spacecraft state interpretation and event C3 on data uploaded and downloaded by the ground receiver: three control events are measured daily, and the three ground window control events are divided according to the priority level: event C1 has the highest priority, event C2 times, and event C3 has the lowest priority.

Because the ground window control event can be executed only when the spacecraft does not execute the event, a first execution duration, a first execution time point and a second execution duration of the ground window execution event corresponding to the autonomous execution event on the definitely are needed.

Step S102, determining a plurality of target measurement and control arc segments according to a first execution duration and a first execution time point, wherein the target measurement and control arc segments are time segments in which measurement and control equipment can control a spacecraft;

specifically, the measurement and control arc section refers to an effective time range in which the measurement and control equipment can track and measure the spacecraft, and the measurement and control equipment can only be visible to the spacecraft when the measurement and control equipment is positioned in the measurement and control arc section, so that the ground control center can control the spacecraft through the measurement and control equipment. Therefore, a plurality of target measurement and control arc segments are determined through the first execution duration and the first execution time point corresponding to the on-board autonomous execution event, and the corresponding target measurement and control arc segments can be defined as LBj, where j=1, 2,3, … ….

Step S103, determining a plurality of execution plans based on the target measurement and control arc section, the first execution time point, the first execution time length and the second execution time length, wherein different execution plans represent different execution sequences of a plurality of ground window execution events;

Specifically, for a floor window control event, it must be ensured that the execution of the event is within the available measurement and control arc resources, i.e., mapping event Ci into event LBj. In an alternative embodiment, the timing relationship between the "on-board autonomously executing event", "available measurement and control arc segment resource", "ground window control event" is described as shown in fig. 2. And, some on-board autonomous execution events need to be executed after the execution of the ground window control event is completed, and some ground window control events need to be executed after the execution of the on-board autonomous execution event. For example, when the ground window control event is a time delay instruction uploading, the time delay instruction uploading needs to be executed first, then the spacecraft can execute the detection task according to the instruction, and after the spacecraft executes the detection task, the ground receiver receives the data of the spacecraft to perform state interpretation.

Therefore, according to the constraint conditions of the target measurement and control arc section, the first execution time point, the first execution duration and the second execution duration, a plurality of possible work plan arrangement manners (i.e. the execution plans described above) are obtained, for example, a possible execution plan arrangement table of the ground window control event is shown in fig. 3. Each execution plan is feasible, but not necessarily optimal.

Step S104, scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of a plurality of ground window execution events from the plurality of execution plans according to the target score values.

Specifically, due to factors such as availability of measurement and control resources, stamina, and characteristics of measurement and control equipment, it is also necessary to consider an optimal allocation problem of resources, and therefore, it is necessary to select an optimal target execution technique by scoring each execution plan and selecting a score value of each execution plan. It should be noted that the preset rules are mainly set in terms of availability of measurement and control resources, stamina, characteristics of measurement and control equipment, and the like.

Measurement and control of resource availability: the resource availability of the measurement and control equipment and the use time of different measurement and control equipment are different. Personnel energy: the deep space spacecraft is influenced by measurement and control conditions and on-board state constraint, and the deep space spacecraft has the characteristics of large control time delay, complex uploading instruction, more personnel energy occupation and the like. Therefore, when working plans are compiled, the vigor of post personnel is considered, rest time is reasonably arranged, the post personnel is ensured to develop work on the premise of vigor, and task risks caused by unreasonable arrangement of the personnel are avoided as much as possible. Measurement and control equipment characteristics: the measurement and control equipment for tracking the deep space exploration spacecraft has variability in tracking reliability attribute and data transmission rate, so that the execution plan is scored by the tracking reliability attribute and the data transmission rate.

In summary, the problem of planning the spacecraft control event optimally allocates personnel energy, ground measurement and control resources and the like on the premise of meeting the requirements of various execution events on the spacecraft, so that the problems of low planning efficiency and manual arrangement errors are solved, and the planning efficiency of deep space exploration spacecraft control events is effectively improved.

How to obtain a plurality of feasible execution plans is crucial, so in the planning method of the spacecraft control event provided in the embodiment of the application, determining the plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration and the second execution duration includes the following steps: determining the priority of each ground window execution event according to the execution sequence of each ground window execution event; acquiring an execution dependency relationship between autonomous execution events on a plurality of devices and execution events of a plurality of ground windows; matching the target measurement and control arc section with each ground window execution event according to the priority, the execution dependency relationship and the second execution time length of each ground window execution event so as to determine the target corresponding relationship between each ground window execution event and the target measurement and control arc section; determining a plurality of optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution time length and the target corresponding relationship; a plurality of execution plans are determined based on the plurality of selectable execution time points.

Specifically, for a ground window control event, it must be ensured that the execution of the event is located in the available measurement and control arc segment resources, that is, the event Ci is mapped to the event LBj, and each ground window execution event has a corresponding priority, taking a certain deep space exploration task as an example, where the ground window control event mainly includes: event C1: and (3) filling a spacecraft and an event C2 with a delay instruction of autonomously executing the event on the ground simulator: and (3) carrying out spacecraft state interpretation and event C3 on data uploaded and downloaded by the ground receiver: three control events are measured daily, and the three ground window control events are divided according to the priority level: event C1 has the highest priority, event C2 times, and event C3 has the lowest priority. When the spacecraft autonomously executes the control event, the corresponding instruction is required to be filled on the ground in advance for executing the control action, and the control effect is required to receive telemetry data on the spacecraft on the ground and interpret the state. That is, there is an execution dependency between the on-board autonomous execution event and the ground window execution event.

Therefore, when generating a plurality of feasible execution plans, the plurality of feasible execution plans need to be generated based on the priority of each ground window execution event, the execution dependency relationship, the second execution duration of each ground window execution event, the target measurement and control arc segment and other conditions.

In an alternative embodiment, the matching process of the target measurement and control arc segment and each ground window execution event is implemented in the following manner, where the target measurement and control arc segment and each ground window execution event need to satisfy the following formula:

k(LBj，LCi)＝sign(LBj-LCi)

in the above formula, the measurement and control resource availability evaluation index is defined as a Sign function k, the Sign function returns an integer variable to indicate the Sign of the function, and the number=lbj-LCi in the formula is defined. When LBj is larger than LCi, number is larger than 0, sign returns to 1, and the integral is a positive value of 1; when LBj is smaller than LCi, number is smaller than 0, sign returns to-1, and the integral is a negative value of 1; when LBj equals LCi, number equals 0, sign returns 0, at which point the integral is 0.

And matching the three ground window control events with available measurement and control arc segment resources according to the priority, and when a certain ground window control event is in or contained in a certain target measurement and control arc segment range, determining that a certain feasible solution for the distribution of the event measurement and control resources is obtained, wherein the value is 1 at the moment, that is, the corresponding relation between the ground window control event and the target measurement and control arc segment is obtained.

By the corresponding relation between the matched ground window control event and the target measurement and control arc section, the time period in which the ground window control event can be executed is accurately determined, and the execution time point of the ground window control event is required to be determined.

In an alternative embodiment, the determination of a plurality of alternative execution time points for each floor window execution event is accomplished in the following manner: the association relation between the autonomous execution event and the ground window control event on the device meets the following constraint:

T0Ci+Δti≤T0Ai-xi∪T0Ci≥T0Ai+yi

the above equation indicates that various control events cannot be developed in parallel. Taking a certain deep space exploration task as an example, t0ci+Δti is the execution completion time of the ground window control event, T0Ci is the execution start time of the ground window control event, T0Ai-xi represents the start time of the execution time of the control event corresponding to the Ai event which is executed autonomously on the spacecraft, T0Ai is the time corresponding to the spacecraft execution event, xi is the time length between the time corresponding to the spacecraft execution event and the start time of the execution time of the control event corresponding to the Ai event, t0ai+yi represents the end time of the execution time of the control event corresponding to the Ai event which is executed autonomously on the spacecraft, and yi is the time length between the time corresponding to the spacecraft execution event and the end time of the execution time of the control event corresponding to the Ai event.

Event C2: the data-on-receiver spacecraft state interpretation period is typically the next morning, so the data-on-receiver spacecraft state interpretation event is the start of a day work, scheduled after a control event on the previous day. Here, it is necessary to specify: as shown in fig. 2, the time interval LC1 (t0c1+Δt1) corresponding to the delayed command loading event is set before the on-board autonomous execution of the control event, the on-board receiver data of the next day is set after the on-board control event, and the constraint rule is set on the cumulative time system, and is not planned within the range of 24 hours and one day. In consideration of the need of carrying out the work of generating, checking and the like of the delay instruction data in advance, the time delay instruction uploading work corresponding to the control event on the spacecraft which is executed in the morning on the second day of the spacecraft is required to be completed in the same day. Namely:

T0C1+Δt1≤T0Ai-xi∪T0C2≥T0Ai+yi

In summary, according to the above constraint conditions of the priority, the execution dependency relationship, the second execution duration of each ground window execution event, the target measurement and control arc segment, and the like, a plurality of feasible work plan arrangement manners can be obtained.

When matching is actually performed on the target measurement and control arc section and each ground window execution event, a matching failure problem may exist, so the method further includes: if the matching of the target ground window execution event and the target measurement and control arc section fails, determining the required execution time length of the target ground window execution event; taking the required execution time length as a second execution time length of the target ground window execution event; and matching the target measurement and control arc section with the target ground window execution event according to the second execution time length of the target ground window execution event so as to determine the target corresponding relation between the target ground window execution event and the target measurement and control arc section.

Specifically, if there is a failure in matching the target ground window execution event with the target measurement and control arc segment, determining the shortest execution duration required by the target ground window control event, namely the required execution duration.

Taking a certain deep space exploration task as an example, the execution duration of each ground control event is usually between 2 hours and 4 hours, and the execution duration corresponding to the spacecraft state interpretation event carried out by data on a receiver can be shortened optionally under the condition that 2 hours cannot be guaranteed, but is at least 0.5 hour. The execution time corresponding to the measurement track event can be shortened optionally under the condition that 2 hours cannot be guaranteed, but at least 1 hour. At the same time, the associated ground window control event also has associated time length constraint, for example, the total tracking time length of the time delay instruction uploading time period and the measurement track time period corresponding to the on-board autonomous execution event is at least guaranteed to be 4 hours.

Therefore, when there is failure of matching the target ground window execution event with the target measurement and control arc segment, the execution duration of the target ground window control event is constrained, and the shortest execution duration of the target ground window control event is satisfied, for example, the execution duration of the ground window control event needs to satisfy the following constraint:

x≥LCi≥y

n＜LC1+LC2+…LCn＜m

where x, y, n, m may be set according to the minimum execution duration of the actual floor window control event, e.g., 0.5 hours, 1 hour, etc.

In order to improve the planning rationality of the deep space exploration spacecraft control event, each execution plan is scored based on a preset rule, and a plurality of target score values are obtained, wherein the score values comprise the following contents: scoring each execution plan according to energy consumption scoring rules in preset rules to obtain a first score value; scoring each execution plan according to a reliability scoring rule of the measurement and control equipment in the preset rule to obtain a second score value; scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control equipment in the preset rule to obtain a third score value; and calculating according to the first score value, the second score value and the third score value to obtain a target score value.

Specifically, the preset rules are mainly set in terms of availability of measurement and control resources, stamina, characteristics of measurement and control equipment and the like. Thus, the preset rules include: a vigor consumption scoring rule, a measurement and control equipment reliability scoring rule and a measurement and control equipment transmission rate scoring rule.

Energy expenditure scoring rules: the deep space spacecraft is influenced by measurement and control conditions and on-board state constraint, and the deep space spacecraft has the characteristics of large control time delay, complex uploading instruction, more personnel energy occupation and the like. Therefore, when working plans are compiled, the vigor of post personnel is considered, rest time is reasonably arranged, the post personnel is ensured to develop work on the premise of vigor, and task risks caused by unreasonable arrangement of the personnel are avoided as much as possible. A measurement and control equipment reliability scoring rule and a measurement and control equipment transmission rate scoring rule: the measurement and control equipment for tracking the deep space exploration spacecraft has the advantages that the service time of different measurement and control equipment is different, and the tracking reliability attribute and the data transmission rate of different measurement and control equipment are also greatly different, so that the execution plan is scored through the tracking reliability attribute and the data transmission rate.

In conclusion, the optimal allocation of personnel energy and ground measurement and control resources is realized through the preset rules, and the rationality and accuracy of scoring the execution plan are improved.

The specific evaluation process of the energy consumption scoring rule, the measurement and control equipment reliability scoring rule and the measurement and control equipment transmission rate scoring rule is as follows:

scoring each execution plan according to the energy consumption scoring rule in the preset rules, and obtaining a first score value comprises: determining an execution time point of each ground window execution event in the plurality of execution plans and a third execution time length of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least comprises: an execution time point and a third execution duration; and scoring each execution plan according to the execution time point and the third execution duration of each ground window execution event in the plurality of execution plans to obtain a first score value.

It should be noted that the third execution duration may be the second execution duration described above, or the required execution duration described above.

Scoring each execution plan according to a reliability scoring rule of the measurement and control equipment in the preset rule, and obtaining a second score value comprises: determining reliability of a plurality of first measurement and control devices executing each ground window executing event and each first measurement and control device according to an executing time point and a third executing time length of each ground window executing event in a plurality of executing plans, wherein the measurement and control device reliability scoring rule at least comprises: measuring and controlling the reliability of the equipment; and scoring each execution plan according to the reliability of the plurality of first measurement and control devices to obtain a second score value.

Scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control equipment in the preset rule, and obtaining a third score value comprises: determining the data transmission rate of each measurement and control device, and grading each execution plan according to the transmission rate to obtain a third grading value, wherein the measurement and control device transmission rate grading rule at least comprises: and measuring and controlling the data transmission rate of the equipment.

Specifically, the energy consumption scoring rule:

the deep space spacecraft long tube work is influenced by the measurement and control conditions and the on-board state constraint, and has the characteristics of long control time delay, complex injection instruction, more personnel energy occupation and the like. Therefore, when working plans are arranged, the vigor of post personnel is considered, rest time is reasonably arranged, the post personnel is ensured to develop work on the premise of vigor, and risks caused by unreasonable arrangement of the personnel are avoided as much as possible. The actual work may be performed in available arcs such as morning, noon, afternoon or evening. By varying the start time T0Ci of the ground control event Ci, a free distribution process of the ground control event time interval over all available arcs can be achieved. In the actual arc segment allocation process, there is a cross-period allocation problem. And scoring is respectively carried out on different selectable working time periods according to the working efficiency, and the time length of the event Ci is considered during scoring. The unit time is defined by taking 'half hour' as a unit in combination with actual work, and the resource consumption of different time periods is scored, and the evaluation standard is expressed as follows:

In the above formula, the personnel effort evaluation index is defined as a piecewise function d (t), and the function values are all scores within a unit time. The 8 to 12 points are morning, so that people are energetic, the abnormal situation treatment efficiency is high, but the generation and inspection time of delay instruction data can be reduced, and the score is calculated: 4, dividing; the afternoon is 15 to 18 points, so that people are more energetic, the injection data checking work is not influenced, and the score is obtained: 5 minutes; the noon staff can not rest from 12 points to 15 points, attention is not concentrated, and abnormal condition treatment efficiency is low, and the score is: 3 minutes; the people are tired at night from 18 to 21, the attention is not concentrated, the treatment efficiency of abnormal conditions is low, and the score is: 2, dividing; the 21 to 0 points are the midnight people with distraction, and the abnormal situation treatment efficiency is low, and the score is that: 1 minute. Taking the value of the piecewise function as a coefficient, and calculating the final personnel energy consumption degree score to multiply the time length of each arc section by the corresponding coefficient for re-summation, wherein the specific formula is as follows:

s.t.D＝{1，2，3，4}

where i represents the duration of the surface control event as a few hours.

And scoring each execution plan through the scoring rule to obtain a first scoring value.

Measurement and control equipment reliability scoring rule:

For any ground control event, a single event can be completed in a single station arc, and the problem of arc-crossing distribution does not exist. The measurement and control equipment for tracking the deep space exploration spacecraft respectively performs scoring according to the equipment tracking reliability attribute, and the evaluation standard is expressed as follows:

in the above formula, the measurement and control device evaluation index is defined as a piecewise function s (T0 Ci). The reliability of the device (1) is high, but the device can only be seen by a spacecraft in the morning and at night, and the score is as follows: 3 minutes; the device (2) has high reliability, is visible to the spacecraft in the morning and noon, and has a score: 5 minutes; the reliability of the equipment (3) is not high, and the equipment can only be seen by a spacecraft in the afternoon and evening, and the equipment can score: 2 minutes. The priority of the measurement and control equipment is as follows: device B has the highest priority, device a times, and device C has the lowest priority.

And scoring each execution plan through the scoring rule to obtain a second scoring value.

Measurement and control equipment transmission rate scoring rule:

consider event C2: the data on the receiver is subjected to spacecraft state interpretation event requirements on the communication speed of the measuring station, and when the ground control event is the data on the receiver and is subjected to spacecraft state interpretation, the transmission speeds of different measuring stations become main influencing factors. The measurement and control equipment is respectively scored according to the data transmission rate attribute, and the evaluation standard is expressed as follows:

In the above formula, the evaluation index of the data transmission rate of the measurement and control device is defined as a piecewise function v (T0C 2). The device N is highest in transmission rate, and the visible arc section scores in the morning every day: 5 minutes; the data transmission rate of the rest measurement and control equipment is low, and the score is: 1 minute.

And scoring each execution plan through the scoring rule to obtain a third scoring value. After the first score value, the second score value and the third score value are obtained, calculating the target score value through the first score value, the second score value and the third score value.

Weighting the evaluation scores so as to make the target score value of each execution plan more accurate, specifically includes: calculating according to the first score value, the second score value and the third score value, and obtaining a target score value comprises: setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value and setting the weight of the third score value as a third weight value, wherein the first weight value is smaller than the second weight value, and the second weight value is smaller than the third weight value; and calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain a target score value.

Specifically, the target score value calculation formula is as follows:

Score＝w1*∑ _i 2i*d(t)+w2*∑(T0Ci)+w3*v(T0C2)，

s.t.w1＝0.3，w2＝0.5，w3＝100，

wherein w1, w2 and w3 are a first weight value, a second weight value and a third weight value, Σ _i 2i x d (T) is a first fraction value, Σ (T0 Ci) is a second fraction value, and v (T0C 2) is a third fraction value. From the aspect of influencing task implementation, the weight occupied by the task is divided according to the final planning result, the influence factor priority of the measurement and control equipment is higher than the personnel factor, the weight coefficient occupied by the third index in the formula is the largest, and the value of the weight coefficient is a fixed value and represents the capacity of one ticket overrule. The score of the first two indexes is independent of the score of the third index, and the score is the key for determining the score difference. The execution plan with the highest score finally is the selected optimal target execution plan.

In an alternative embodiment, the control of spacecraft control events may be implemented by using a flowchart as shown in fig. 4, where autonomous execution events on multiple spacecraft are determined according to the spacecraft detection event requirement, and the events are executed by multiple ground windows; determining a plurality of target measurement and control arc segments according to the visibility forecast of the measurement and control equipment, and then outputting all feasible plan ordering; and (3) designing a scoring algorithm, scoring each available plan, and finally sorting the plans with the highest scores as an optimal execution plan through optimizing.

According to the planning method for the spacecraft control event, the autonomous execution event on the plurality of devices, the first execution time corresponding to the autonomous execution event on each device and the first execution time point corresponding to the autonomous execution event on each device are determined, and the autonomous execution event on the plurality of ground windows and the second execution time corresponding to the autonomous execution event on each ground window are determined, wherein the autonomous execution event on the device is the autonomous execution event of the spacecraft, the ground window execution event at least comprises the execution event of the measurement and control equipment, and the spacecraft is controlled through the measurement and control equipment; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution time length and the second execution time length, wherein different execution plans represent different execution sequences of a plurality of ground window execution events; based on a preset rule, each execution plan is scored to obtain a plurality of target score values, and a target execution plan of a plurality of ground window execution events is determined from the plurality of execution plans according to the target score values, so that the problem that the planning efficiency of the deep space exploration spacecraft control events is low due to the fact that the execution time of the deep space exploration spacecraft control events is planned based on manual experience in the related art is solved. Compared with the previous method for manually arranging the spacecraft work execution plan, in the scheme, a plurality of feasible execution plans are designed through the target measurement and control arc section, the first execution time point, the first execution time length and the second execution time length, each feasible execution plan is reasonably scored by flexibly utilizing a preset rule, the optimal target execution plan is finally obtained, optimizing treatment on the deep space exploration spacecraft work plan arrangement is achieved, and the effect of improving planning efficiency of deep space exploration spacecraft control events is achieved.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a planning device for the spacecraft control event, and it is to be noted that the planning device for the spacecraft control event of the embodiment of the application can be used for executing the planning method for the spacecraft control event provided by the embodiment of the application. The following describes a planning device for spacecraft control events provided in an embodiment of the present application.

FIG. 5 is a schematic diagram of a planning apparatus for spacecraft control events, according to an embodiment of the application. As shown in fig. 5, the apparatus includes: a first determination unit 501, a second determination unit 502, a third determination unit 503, and a scoring unit 504.

A first determining unit 501, configured to determine a plurality of on-board autonomous execution events, a first execution duration corresponding to each on-board autonomous execution event, and a first execution time point corresponding to each on-board autonomous execution event, and determine a plurality of ground window execution events and a second execution duration corresponding to each ground window execution event, where the on-board autonomous execution event is a spacecraft autonomous execution event, and the ground window execution event at least includes a measurement and control device execution event;

The second determining unit 502 is configured to determine a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, where the target measurement and control arc segments are time segments in which the measurement and control device can control the spacecraft;

a third determining unit 503, configured to determine a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration, where different execution plans characterize different execution orders of the plurality of ground window execution events;

and a scoring unit 504, configured to score each execution plan based on a preset rule, obtain a plurality of target score values, and determine a target execution plan of the plurality of ground window execution events from the plurality of execution plans according to the target score values.

According to the planning device for the spacecraft control event provided by the embodiment of the application, the first determining unit 501 is used for determining the autonomous execution event on the plurality of devices, the first execution time corresponding to the autonomous execution event on each device and the first execution time point corresponding to the autonomous execution event on each device, and determining the plurality of ground window execution events and the second execution time corresponding to each ground window execution event, wherein the autonomous execution event on the device is the spacecraft autonomous execution event, the ground window execution event at least comprises the measurement and control equipment execution event, and the spacecraft is controlled through the measurement and control equipment; the second determining unit 502 determines a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft; the third determining unit 503 determines a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration and the second execution duration, wherein different execution plans characterize different execution orders of the plurality of ground window execution events; the scoring unit 504 scores each execution plan based on a preset rule to obtain a plurality of target score values, and determines a target execution plan of a plurality of ground window execution events from the plurality of execution plans according to the target score values, thereby solving the problem that the planning efficiency of the deep space exploration spacecraft control event is lower due to the fact that the execution time of the deep space exploration spacecraft control event is planned based on manual experience in the related art. Compared with the previous method for manually arranging the spacecraft work execution plan, in the scheme, a plurality of feasible execution plans are designed through the target measurement and control arc section, the first execution time point, the first execution time length and the second execution time length, each feasible execution plan is reasonably scored by flexibly utilizing a preset rule, the optimal target execution plan is finally obtained, optimizing treatment on the deep space exploration spacecraft work plan arrangement is achieved, and the effect of improving planning efficiency of deep space exploration spacecraft control events is achieved.

Optionally, in the planning apparatus for a spacecraft control event provided in the embodiment of the present application, the third determining unit 503 includes: the first determining module is used for determining the priority of each ground window executing event according to the executing sequence of each ground window executing event; the acquisition module is used for acquiring the execution dependency relationship between the autonomous execution events on the plurality of devices and the execution events of the plurality of ground windows; the matching module is used for matching the target measurement and control arc section with each ground window execution event according to the priority, the execution dependency relationship and the second execution time length of each ground window execution event so as to determine the target corresponding relationship between each ground window execution event and the target measurement and control arc section; the second determining module is used for determining a plurality of selectable execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution time length and the target corresponding relationship; and the third determining module is used for determining a plurality of execution plans according to a plurality of optional execution time points.

Optionally, in the planning apparatus for a spacecraft control event provided in the embodiment of the present application, the apparatus further includes: the fourth determining unit is used for determining the required execution time length of the target ground window execution event if the matching of the target ground window execution event and the target measurement and control arc segment fails when the matching is performed on the target measurement and control arc segment and each ground window execution event; the processing unit is used for taking the required execution time length as a second execution time length of the target ground window execution event; the matching unit is used for matching the target measurement and control arc section and the target ground window execution event according to the second execution time length of the target ground window execution event so as to determine the target corresponding relation between the target ground window execution event and the target measurement and control arc section.

Optionally, in the planning apparatus for a spacecraft control event provided in the embodiment of the present application, the scoring unit includes: the first scoring module is used for scoring each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value; the second scoring module is used for scoring each execution plan according to the reliability scoring rule of the measurement and control equipment in the preset rule to obtain a second score value; the third scoring module is used for scoring each execution plan according to the scoring rule of the transmission rate of the measurement and control equipment in the preset rule to obtain a third score value; and the calculation module is used for calculating according to the first score value, the second score value and the third score value to obtain a target score value.

Optionally, in the planning apparatus for a spacecraft control event provided in the embodiment of the present application, the first scoring module includes: the first determining submodule is used for determining an execution time point of each ground window execution event in the plurality of execution plans and a third execution duration of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least comprises: an execution time point and a third execution duration; and the first scoring sub-module is used for scoring each execution plan according to the execution time point and the third execution duration of each ground window execution event in the plurality of execution plans to obtain a first score value.

Optionally, in the planning apparatus for a spacecraft control event provided in the embodiment of the present application, the second scoring module includes: the second determining submodule is used for determining the reliability of the first measurement and control devices and each first measurement and control device for executing each ground window execution event according to the execution time point and the third execution time length of each ground window execution event in the execution plans, wherein the measurement and control device reliability scoring rule at least comprises: measuring and controlling the reliability of the equipment; and the second evaluation sub-module is used for scoring each execution plan according to the reliability of the plurality of first measurement and control devices to obtain a second score value.

Optionally, in the planning apparatus for a spacecraft control event provided in the embodiment of the present application, the third scoring module includes: the third determining submodule is used for determining the data transmission rate of each measurement and control device and scoring each execution plan according to the transmission rate to obtain a third score value, wherein the measurement and control device transmission rate scoring rule at least comprises: and measuring and controlling the data transmission rate of the equipment.

Optionally, in the planning apparatus for a spacecraft control event provided in the embodiment of the present application, the calculating module includes: the setting submodule is used for setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value and setting the weight of the third score value as a third weight value, wherein the first weight value is smaller than the second weight value, and the second weight value is smaller than the third weight value; the calculation sub-module is used for calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain a target score value.

The planning device for spacecraft control events comprises a processor and a memory, wherein the first determining unit 501, the second determining unit 502, the third determining unit 503, the scoring unit 504 and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the sequencing processing of the spacecraft control events is realized by adjusting kernel parameters.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program runs to execute a planning method of spacecraft control events.

As shown in fig. 6, an embodiment of the present invention provides an electronic device, where the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, the following steps are implemented: determining a plurality of autonomous execution events on the devices, a first execution time length corresponding to the autonomous execution event on each device and a first execution time point corresponding to the autonomous execution event on each device, and determining a plurality of ground window execution events and a second execution time length corresponding to each ground window execution event, wherein the autonomous execution event on the device is a spacecraft autonomous execution event, and the ground window execution event at least comprises a measurement and control equipment execution event; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution time length and the second execution time length, wherein different execution plans represent different execution sequences of a plurality of ground window execution events; and scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of a plurality of ground window execution events from the plurality of execution plans according to the target score values.

Optionally, determining the plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration includes: determining the priority of each ground window execution event according to the execution sequence of each ground window execution event; acquiring an execution dependency relationship between autonomous execution events on a plurality of devices and execution events of a plurality of ground windows; matching the target measurement and control arc section with each ground window execution event according to the priority, the execution dependency relationship and the second execution time length of each ground window execution event so as to determine the target corresponding relationship between each ground window execution event and the target measurement and control arc section; determining a plurality of optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution time length and the target corresponding relationship; a plurality of execution plans are determined based on the plurality of selectable execution time points.

Optionally, when matching the target measurement and control arc segment and each ground window execution event, the method further comprises: if the matching of the target ground window execution event and the target measurement and control arc section fails, determining the required execution time length of the target ground window execution event; taking the required execution time length as a second execution time length of the target ground window execution event; and matching the target measurement and control arc section with the target ground window execution event according to the second execution time length of the target ground window execution event so as to determine the target corresponding relation between the target ground window execution event and the target measurement and control arc section.

Optionally, scoring each execution plan based on a preset rule, and obtaining a plurality of target score values includes: scoring each execution plan according to energy consumption scoring rules in preset rules to obtain a first score value; scoring each execution plan according to a reliability scoring rule of the measurement and control equipment in the preset rule to obtain a second score value; scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control equipment in the preset rule to obtain a third score value; and calculating according to the first score value, the second score value and the third score value to obtain a target score value.

Optionally, scoring each execution plan according to the energy consumption scoring rule in the preset rule, and obtaining the first score value includes: determining an execution time point of each ground window execution event in the plurality of execution plans and a third execution time length of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least comprises: an execution time point and a third execution duration; and scoring each execution plan according to the execution time point and the third execution duration of each ground window execution event in the plurality of execution plans to obtain a first score value.

Optionally, scoring each execution plan according to a reliability scoring rule of the measurement and control device in the preset rule, and obtaining the second score value includes: determining reliability of a plurality of first measurement and control devices executing each ground window executing event and each first measurement and control device according to an executing time point and a third executing time length of each ground window executing event in a plurality of executing plans, wherein the measurement and control device reliability scoring rule at least comprises: measuring and controlling the reliability of the equipment; and scoring each execution plan according to the reliability of the plurality of first measurement and control devices to obtain a second score value.

Optionally, scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control device in the preset rule, and obtaining the third score value includes: determining the data transmission rate of each measurement and control device, and grading each execution plan according to the transmission rate to obtain a third grading value, wherein the measurement and control device transmission rate grading rule at least comprises: and measuring and controlling the data transmission rate of the equipment.

Optionally, calculating according to the first score value, the second score value and the third score value, obtaining the target score value includes: setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value and setting the weight of the third score value as a third weight value, wherein the first weight value is smaller than the second weight value, and the second weight value is smaller than the third weight value; and calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain a target score value.

The device herein may be a server, PC, PAD, cell phone, etc.

The present application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: determining a plurality of autonomous execution events on the devices, a first execution time length corresponding to the autonomous execution event on each device and a first execution time point corresponding to the autonomous execution event on each device, and determining a plurality of ground window execution events and a second execution time length corresponding to each ground window execution event, wherein the autonomous execution event on the device is a spacecraft autonomous execution event, and the ground window execution event at least comprises a measurement and control equipment execution event; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution time length and the second execution time length, wherein different execution plans represent different execution sequences of a plurality of ground window execution events; and scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of a plurality of ground window execution events from the plurality of execution plans according to the target score values.

Optionally, determining the plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration includes: determining the priority of each ground window execution event according to the execution sequence of each ground window execution event; acquiring an execution dependency relationship between autonomous execution events on a plurality of devices and execution events of a plurality of ground windows; matching the target measurement and control arc section with each ground window execution event according to the priority, the execution dependency relationship and the second execution time length of each ground window execution event so as to determine the target corresponding relationship between each ground window execution event and the target measurement and control arc section; determining a plurality of optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution time length and the target corresponding relationship; a plurality of execution plans are determined based on the plurality of selectable execution time points.

Optionally, when matching the target measurement and control arc segment and each ground window execution event, the method further comprises: if the matching of the target ground window execution event and the target measurement and control arc section fails, determining the required execution time length of the target ground window execution event; taking the required execution time length as a second execution time length of the target ground window execution event; and matching the target measurement and control arc section with the target ground window execution event according to the second execution time length of the target ground window execution event so as to determine the target corresponding relation between the target ground window execution event and the target measurement and control arc section.

Optionally, scoring each execution plan based on a preset rule, and obtaining a plurality of target score values includes: scoring each execution plan according to energy consumption scoring rules in preset rules to obtain a first score value; scoring each execution plan according to a reliability scoring rule of the measurement and control equipment in the preset rule to obtain a second score value; scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control equipment in the preset rule to obtain a third score value; and calculating according to the first score value, the second score value and the third score value to obtain a target score value.

Optionally, scoring each execution plan according to the energy consumption scoring rule in the preset rule, and obtaining the first score value includes: determining an execution time point of each ground window execution event in the plurality of execution plans and a third execution time length of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least comprises: an execution time point and a third execution duration; and scoring each execution plan according to the execution time point and the third execution duration of each ground window execution event in the plurality of execution plans to obtain a first score value.

Optionally, scoring each execution plan according to a reliability scoring rule of the measurement and control device in the preset rule, and obtaining the second score value includes: determining reliability of a plurality of first measurement and control devices executing each ground window executing event and each first measurement and control device according to an executing time point and a third executing time length of each ground window executing event in a plurality of executing plans, wherein the measurement and control device reliability scoring rule at least comprises: measuring and controlling the reliability of the equipment; and scoring each execution plan according to the reliability of the plurality of first measurement and control devices to obtain a second score value.

Optionally, scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control device in the preset rule, and obtaining the third score value includes: determining the data transmission rate of each measurement and control device, and grading each execution plan according to the transmission rate to obtain a third grading value, wherein the measurement and control device transmission rate grading rule at least comprises: and measuring and controlling the data transmission rate of the equipment.

Optionally, calculating according to the first score value, the second score value and the third score value, obtaining the target score value includes: setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value and setting the weight of the third score value as a third weight value, wherein the first weight value is smaller than the second weight value, and the second weight value is smaller than the third weight value; and calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain a target score value.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

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

It should also be noted that 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. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (11)

1. A method for planning a spacecraft control event, comprising:

determining a plurality of autonomous execution events on the devices, a first execution time length corresponding to each autonomous execution event on the device and a first execution time point corresponding to each autonomous execution event on the device, and determining a plurality of ground window execution events and a second execution time length corresponding to each ground window execution event, wherein the autonomous execution events on the devices are spacecraft autonomous execution events, and the ground window execution events at least comprise measurement and control equipment execution events;

Determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft;

determining a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration and the second execution duration, wherein different execution plans characterize different execution sequences of the plurality of ground window execution events;

and scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of the ground window execution events from the plurality of execution plans according to the target score values.

2. The method of claim 1, wherein determining a plurality of execution plans based on the target measurement and control arc, the first execution time point, the first execution duration, and the second execution duration comprises:

determining the priority of each ground window execution event according to the execution sequence of each ground window execution event;

acquiring an execution dependency relationship between the autonomous execution events on the plurality of devices and the ground window execution events;

Matching the target measurement and control arc section with each ground window execution event according to the priority of each ground window execution event, the execution dependency relationship and the second execution time length so as to determine a target corresponding relationship between each ground window execution event and the target measurement and control arc section;

determining a plurality of selectable execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration and the target corresponding relationship;

determining the plurality of execution plans based on the plurality of selectable execution time points.

3. The method of claim 2, wherein upon matching the target measurement and control arc and each ground window execution event, the method further comprises:

if the matching of the target ground window execution event and the target measurement and control arc section fails, determining the required execution time length of the target ground window execution event;

the required execution duration is used as a second execution duration of the target ground window execution event;

and matching the target measurement and control arc section with the target ground window execution event according to the second execution time length of the target ground window execution event so as to determine the target corresponding relation between the target ground window execution event and the target measurement and control arc section.

4. The method of claim 1, wherein scoring each execution plan based on a preset rule, the scoring comprising:

scoring each execution plan according to the energy consumption scoring rule in the preset rules to obtain a first score value;

scoring each execution plan according to a measurement and control equipment reliability scoring rule in the preset rules to obtain a second score value;

scoring each execution plan according to a scoring rule of the transmission rate of the measurement and control equipment in the preset rule to obtain a third score value;

and calculating according to the first score value, the second score value and the third score value to obtain the target score value.

5. The method of claim 4, wherein scoring each execution plan according to a effort consumption scoring rule of the preset rules, the scoring comprising:

determining an execution time point of each ground window execution event in the plurality of execution plans and a third execution time length of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least comprises: the execution time point and the third execution duration;

And scoring each execution plan according to the execution time point of each ground window execution event in the plurality of execution plans and the third execution time length to obtain the first score value.

6. The method of claim 5, wherein scoring each execution plan according to a measurement and control device reliability scoring rule in the preset rules to obtain a second score value comprises:

determining reliability of a plurality of first measurement and control devices and each first measurement and control device for executing each ground window execution event according to the execution time point and the third execution time length of each ground window execution event in the plurality of execution plans, wherein the measurement and control device reliability scoring rule at least comprises: measuring and controlling the reliability of the equipment;

and scoring each execution plan according to the reliability of the plurality of first measurement and control devices to obtain the second score value.

7. The method of claim 6, wherein scoring each execution plan according to a measurement and control device transmission rate scoring rule in the preset rules, the scoring comprising:

determining the data transmission rate of each measurement and control device, and grading each execution plan according to the transmission rate to obtain the third grading value, wherein the measurement and control device transmission rate grading rule at least comprises: and measuring and controlling the data transmission rate of the equipment.

8. The method of claim 4, wherein calculating from the first score value, the second score value, and the third score value comprises:

setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value and setting the weight of the third score value as a third weight value, wherein the first weight value is smaller than the second weight value, and the second weight value is smaller than the third weight value;

and calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain the target score value.

9. A spacecraft control event planning apparatus, comprising:

the first determining unit is used for determining a plurality of on-board autonomous execution events, a first execution time length corresponding to each on-board autonomous execution event and a first execution time point corresponding to each on-board autonomous execution event, and determining a plurality of ground window execution events and a second execution time length corresponding to each ground window execution event, wherein the on-board autonomous execution events are spacecraft autonomous execution events, and the ground window execution events at least comprise measurement and control equipment execution events;

The second determining unit is used for determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time segments in which the measurement and control equipment can control the spacecraft;

a third determining unit, configured to determine a plurality of execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration, where different execution plans characterize different execution orders of the plurality of ground window execution events;

and the scoring unit is used for scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining target execution plans of the plurality of ground window execution events from the plurality of execution plans according to the target score values.

10. A processor, characterized in that the processor is adapted to run a program, wherein the program when run performs the method of planning a spacecraft control event according to any of claims 1 to 8.

11. An electronic device comprising one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of planning a spacecraft control event of any of claims 1-8.

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