CN116681235A - Satellite-borne distributed constellation collaborative autonomous task planning system and method thereof - Google Patents
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Abstract
The application provides a satellite-borne distributed constellation collaborative autonomous task planning system and a method thereof. The task planning framework adopted by the system comprises the following components: the system comprises a collaborative planning unit, a single star planning unit and a task execution unit. The single star planning unit generates a task template instruction and sends the task template instruction to the task execution unit, the task execution unit generates a control instruction and sends the control instruction to an on-satellite single machine or load of the satellite, the task execution unit generates a task state telemetry frame according to a received response instruction of the on-satellite single machine or load of the satellite and sends the task state telemetry frame to the single star planning unit, and the single star planning unit generates task response information and sends the task response information to the collaborative planning unit. Under the constellation collaborative task scene, the method is based on the current satellite commonly used satellite-borne task processing design condition, can be suitable for different types of constellation tasks and different types of satellite tasks, and has wide satellite-borne autonomous task planning applicability.
Description
Technical Field
The application relates to the technical fields of aerospace technology and task planning, in particular to the application fields of constellation collaborative task planning and satellite autonomous task planning.
Background
At present, satellite mission planning is mainly ground planning and centralized control, namely, the ground finishes the mission planning of a constellation and a satellite, conflict resolution is carried out, a mission instruction is generated, and the mission instruction is directly executed at regular time after being uploaded to the satellite. A few satellites have single-satellite task planning capability, and task instructions can be decomposed and generated through ground task injection requirements.
With the continuous increase of satellite application service demands and satellite capabilities, satellites are increasingly evolving towards integration, multitasking and constellation. Typical are sartill constellation, oneWeb constellation, planet constellation, etc. With the increase of the number of satellites, the operation and maintenance cost of the conventional task development by means of ground planning and centralized management and control is higher and higher, and meanwhile, the improvement of the satellite-borne processing capacity and the increase of the timeliness requirement of the task are more required to enable the satellites to have the on-orbit autonomous task management capacity. In addition, the demand for multi-star coordination tasks of remote sensing constellations and communication constellations is becoming stronger. For example, the revisiting capability of a certain area is improved through remote sensing constellation multi-star cooperative promotion, and the task benefit of SAR satellites under the energy constraint is improved through on-orbit autonomous planning.
Disclosure of Invention
To overcome the technical drawbacks described above, a first aspect of the present application provides a satellite-borne distributed constellation collaborative autonomous mission planning system, comprising:
the collaborative planning unit comprises a task demand analysis module, a task planning solution module and a scheduling scheme generation module, wherein the task demand analysis module is used for receiving an external task, analyzing the task demand and confirming the task type, the task planning solution module is used for carrying out multi-star task allocation and conflict resolution according to a task demand analysis result, benefit maximization and task priority, and the scheduling scheme generation module is used for generating a task scheduling scheme of each participating task satellite according to a task planning solution result, and the task scheduling scheme comprises task sending time, task type, task load, task arc section, task object, task starting time, task ending time and task information;
the single-star planning unit comprises a scheduling scheme analysis module and a task template generation module, wherein the scheduling scheme analysis module is used for receiving and analyzing a task scheduling scheme and judging the feasibility of the task, and the task template generation module is used for matching an on-satellite task template according to the analysis result of the task scheduling scheme to generate a task template instruction;
the task execution unit comprises a task template analysis module, a control instruction output module and a task state acquisition module, wherein the task template analysis module is used for receiving a task template instruction and generating a satellite executable instruction chain according to the task template instruction, the control instruction output module is used for directly outputting a control instruction of a single satellite machine according to the instruction chain and the satellite time, and the task state acquisition module is used for acquiring working state information of the single satellite execution task machine.
Further, the collaborative planning unit further comprises a multi-star task monitoring module, wherein the multi-star task monitoring module is used for calling the task planning solving module and the scheduling scheme generating module to regenerate tasks or terminate tasks when the satellite response information of the execution tasks generated by the scheduling scheme is abnormal.
Further, the single star planning unit further comprises a task process monitoring module, wherein the task process monitoring module is used for judging whether the task process is normal according to the remote measurement state of the task single machine returned by the task execution unit, re-planning the task of the star or stopping the task under the abnormal condition, and feeding back a response state to the collaborative planning unit.
Further, the task execution unit further comprises a satellite state monitoring module, wherein the satellite state monitoring module is used for automatically triggering the task ending instruction flow according to the safety judgment conditions of the satellite and the single machine when the safety judgment conditions are not in accordance with the task continuing execution.
The second aspect of the present application provides a satellite-borne distributed constellation collaborative autonomous mission planning method, which includes: step S1-step S3,
step S1 includes steps S1.1-S1.3:
step S1.1: receiving an external task, analyzing the task demand, and confirming the task type;
step S1.2: according to the task demand analysis result, performing multi-star task allocation and conflict resolution according to the benefit maximization and the task priority;
step S1.3: generating a task scheduling scheme of each participating task satellite according to a task planning solving result, wherein the task scheduling scheme comprises task sending time, task type, task load, task arc section, task object, task starting time, task ending time and task information;
step S2 includes steps S2.1-S2.2:
step S2.1: receiving and analyzing a task scheduling scheme, and judging the feasibility of the task;
step S2.2: matching the on-board task template according to the analysis result of the task scheduling scheme to generate a task template instruction;
step S3 includes steps S3.1-S3.3:
step S3.1: receiving a task template instruction, and generating a satellite executable instruction chain according to the task template instruction;
step S3.2: directly outputting a control instruction of the single on-board unit according to the instruction chain and the on-board time;
step S3.3: and acquiring the working state information of the on-board task execution single machine.
Further, step S1 further includes: step S1.4: and when the satellite response information of the execution task after the scheduling scheme is generated is abnormal, regenerating the task or terminating the task.
Further, step S2 further includes: step S2.3: judging whether the task progress is normal or not according to the remote measurement state of the task single machine, re-planning the task or stopping the task under the abnormal condition, and feeding back the response state.
Further, step S3 further includes: step S3.4: and according to the safety judgment conditions of the satellite and the single machine, automatically triggering the task ending instruction flow when the safety judgment conditions are not in accordance with the continuous execution task.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
the application discloses a satellite-borne distributed constellation collaborative autonomous task planning system and method. In the constellation collaborative task scene, the application adopts a distributed planning framework based on the current satellite commonly used satellite-borne task processing design condition, performs division, interface and data protocol convention among the three for multi-satellite planning, single-satellite scheduling and task execution, and can be suitable for different types of constellation tasks only by modifying a planning algorithm under the framework based on the same framework. By tailoring the intra-frame planning module (e.g., when ground monitoring is employed, the multi-satellite task monitoring module, the task progress monitoring module, and the satellite state monitoring module in the frame can be deleted), the method can be applied to different types of satellite tasks, and has wide satellite-borne autonomous task planning applicability.
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Fig. 1 is a block diagram of a space-borne distributed constellation collaborative autonomous mission planning system;
fig. 2 is a flow chart of a method for collaborative autonomous mission planning for a satellite-borne distributed constellation;
FIG. 3 is a data interface format between a collaborative planning unit, a single star planning unit, and a task execution unit.
Detailed Description
Advantages of the application are further illustrated in the following description, taken in conjunction with the accompanying drawings and detailed description. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and that this application is not limited to the details given herein.
As shown in fig. 1, the present embodiment provides a satellite-borne distributed constellation collaborative autonomous mission planning system, which includes: the system comprises a collaborative planning unit, a single star planning unit and a task execution unit. The task planning framework comprises: the system comprises a collaborative planning unit, a single star planning unit and a task execution unit. Task planning data protocol: the single star planning unit generates a task template instruction and sends the task template instruction to the task execution unit, the task execution unit generates a control instruction and sends the control instruction to an on-satellite single machine or load of the satellite, the task execution unit generates a task state telemetry frame according to a received response instruction of the on-satellite single machine or load of the satellite and sends the task state telemetry frame to the single star planning unit, and the single star planning unit generates task response information and sends the task response information to the collaborative planning unit.
As shown in fig. 2, the functions and implementation between the three units are as follows.
1. And a collaborative planning unit: according to the external input demand, completing task allocation and conflict resolution according to the constellation satellite state, generating a task scheduling scheme, and re-planning the task or terminating the task when the task is abnormal in execution; and the collaborative planning algorithm is complex, and an independent processor is needed to operate.
2. Single star planning unit: and receiving a task scheduling scheme, completing single star task planning, generating a task template instruction, and according to different satellite working modes and different load task complexity, calculating the single-row planning method according to different calculation amounts, wherein the single-row planning method can operate in an independent device and can also operate together with other algorithms.
3. Task execution unit: receiving a task template instruction, matching the task template, and finishing single machine OC/data instruction output control and single machine data/simulation state acquisition; the task template may be annotated by ground instructions. The software logic is simpler and can be integrated in a traditional star computer for realizing.
Taking the earth observation mode as an example, as shown in fig. 3, the satellite-borne distributed constellation collaborative autonomous task planning method by adopting the satellite-borne distributed constellation collaborative autonomous task planning system comprises steps S1-S3.
Step S1 includes steps S1.1-S1.3:
step S1.1: the task demand analysis module receives an external task, analyzes the task demand and confirms the task type;
the task demand analysis module receives external task demands to generate a multi-star collaborative task scheme, and confirms task types; taking Walker 24/6/3 ground remote sensing constellation as an example, the task demand is the coordinates of ground points and observation periods (longitude/latitude of the upper sea, 9:00-10:00 am) on the ground, and the task demand analysis module generates task types as constellation ground tasks according to the demand.
Step S1.2: the task planning solving module performs multi-star task allocation and conflict resolution according to the task demand analysis result, the benefit maximization and the task priority;
the task planning solving module performs multi-star task allocation and conflict resolution according to the task demand analysis result, namely, according to the task demand, satellites participating in task execution are generated, the constellation covers a plurality of concurrent tasks, the task resource satellites are executed, conflicts possibly occur, and the task planning solving module performs solving through benefit maximization. Taking Shanghai remote sensing as an example, the solution module performs on the satellite in the constellation and Shanghai 9 am: 00-10: and (5) performing visibility analysis within a 00-time period, and screening visible satellites. The satellites in view are sequenced according to the observation time, when a plurality of satellites are observed in the same period, the higher the elevation angle is, the greater the benefit is, and the satellites with high elevation angle and long observation arc section are preferred. If the satellite has executed other tasks, conflict resolution is carried out according to the task priority, and a single satellite preferentially executes the task with high priority.
Step S1.3: the scheduling scheme generating module generates a task scheduling scheme of each task-participating satellite according to the task planning solving result;
the task scheduling scheme comprises information such as task sending time, task type, task load, task arc section, task object, task starting time, task ending time, task information and the like. The format is as follows in table 1:
table 1 data format of task scheduling scheme
Step S1.4: and when the satellite response information of the execution task after the generation of the scheduling scheme is abnormal, the multi-star task monitoring module calls the task planning solving module and the scheduling scheme generating module to regenerate the task or terminate the task.
After the scheduling scheme is generated, the task satellite response needs to be waited for, and the response data format is shown in the following table 2. After receiving the task scheduling scheme, the satellite should return response information every second. If the response information is abnormal, a task planning solving module and a scheduling scheme generating module are required to be called to regenerate the task.
Table 2 data format of response information
Step S2 includes steps S2.1-S2.2:
step S2.1: the scheduling scheme analysis module receives and analyzes the task scheduling scheme and judges the feasibility of the task;
the scheduling scheme is analyzed, after the task scheduling scheme is received, task feasibility judgment is carried out, response information is returned, the feasibility judgment needs to be judged according to the characteristics of each satellite, and the feasibility judgment comprises visibility rechecking confirmation, observation time rechecking, task load feasibility rechecking, task load parameter calculation and the like by taking Shanghai observation as an example.
Step S2.2: the task template generation module matches the on-board task template according to the analysis result of the task scheduling scheme to generate a task template instruction;
and generating a task template, namely matching the task template on the satellite according to the analysis result of the task scheduling scheme, and generating a task template instruction. The task template instruction format is as follows in table 3:
TABLE 3 task template instruction format
Step S2.3: and the task process monitoring module judges whether the task process is normal or not according to the remote measurement state of the task single machine returned by the task execution unit, re-planning the task in the star or stopping the task under the abnormal condition, and simultaneously feeds back a response state to the collaborative planning unit.
And monitoring the task process, judging whether the task process is normal or not according to the remote measurement state of the task single machine returned by the task execution unit, re-planning the task in the star under the abnormal condition or stopping the task, and simultaneously feeding back a response state to the coordination planning unit.
Step S3 includes steps S3.1-S3.3:
step S3.1: the task template analysis module receives a task template instruction and generates a satellite executable instruction chain according to the task template instruction;
and analyzing the task template, receiving a task template instruction of the planning unit, matching a task instruction template sequence stored in the task execution unit, and generating a satellite executable instruction chain according to the execution time and the template parameters in the task template instruction (see the following table 4). The calculation method comprises the following steps: the execution time in the task template instruction is T0, and the template ID is ID0; and (3) searching the template ID in the task sequence template ID, wherein the execution time of the first instruction is T0, the execution time of the second instruction is T2-t1+T0, and so on.
TABLE 4 instruction chain
Step S3.2: the control instruction output module directly outputs a control instruction of the single on-board machine according to the on-board time according to an instruction chain generated by analyzing the task template;
step S3.3: the task state acquisition module acquires the working state information of a single machine for executing the task on the satellite;
task state acquisition, namely acquiring working state information of a single machine for executing tasks on the satellite in a manner of on-board data bus, analog quantity acquisition and the like; such as satellite bus voltage acquisition.
Step S3.4: and the satellite state monitoring module automatically triggers the task ending instruction flow according to the safety judgment conditions of the satellite and the single machine when the safety judgment conditions are not in accordance with the continuous execution task.
The space-borne task planning comprises three layers of inter-space collaborative planning, single-space autonomous planning and task execution. The task execution is the task development form of the traditional satellite, the satellite computer outputs a control instruction by receiving the input of an external control instruction, the satellite load directly executes the task, and meanwhile, the satellite computer can monitor the on-board running state through telemetry collection. The single-row autonomous planning is to complete task decomposition through satellite design constraint and ground surface task injection demand, and generate a task instruction. The inter-satellite collaborative planning is to complete task allocation and conflict resolution according to constellation task requirements, and generate single-satellite task requirements. Through the design of the distributed constellation collaborative autonomous task planning framework, the division of work of each level can be defined, and the multi-type and multi-form autonomous task planning and execution can be conveniently used.
It should be noted that the embodiments of the present application are preferred and not limited in any way, and any person skilled in the art may make use of the above-disclosed technical content to change or modify the same into equivalent effective embodiments without departing from the technical scope of the present application, and any modification or equivalent change and modification of the above-described embodiments according to the technical substance of the present application still falls within the scope of the technical scope of the present application.
Claims (8)
1. A satellite-borne distributed constellation collaborative autonomous mission planning system, comprising:
the collaborative planning unit comprises a task demand analysis module, a task planning solution module and a scheduling scheme generation module, wherein the task demand analysis module is used for receiving an external task, analyzing the task demand and confirming the task type, the task planning solution module is used for carrying out multi-star task allocation and conflict resolution according to a task demand analysis result, benefit maximization and task priority, and the scheduling scheme generation module is used for generating a task scheduling scheme of each participating task satellite according to a task planning solution result, and the task scheduling scheme comprises task sending time, task type, task load, task arc section, task object, task starting time, task ending time and task information;
the single-star planning unit comprises a scheduling scheme analysis module and a task template generation module, wherein the scheduling scheme analysis module is used for receiving and analyzing a task scheduling scheme and judging the feasibility of the task, and the task template generation module is used for matching an on-satellite task template according to the analysis result of the task scheduling scheme to generate a task template instruction;
the task execution unit comprises a task template analysis module, a control instruction output module and a task state acquisition module, wherein the task template analysis module is used for receiving a task template instruction and generating a satellite executable instruction chain according to the task template instruction, the control instruction output module is used for directly outputting a control instruction of a single satellite machine according to the instruction chain and the satellite time, and the task state acquisition module is used for acquiring working state information of the single satellite execution task machine.
2. The satellite-borne distributed constellation collaborative autonomous task planning system of claim 1 wherein the collaborative planning unit further comprises a multi-star task monitoring module for invoking a task plan solution module and a scheduling scheme generation module to regenerate tasks or terminate tasks when the satellite response information of an executing task after the scheduling scheme generation is abnormal.
3. The system for collaborative autonomous task planning for a satellite-borne distributed constellation according to claim 1, wherein the single-satellite planning unit further comprises a task process monitoring module, the task process monitoring module is configured to determine whether a task process is normal according to a task single machine telemetry status returned by the task execution unit, and to re-plan or suspend a task in case of abnormality, and to feed back a response status to the collaborative planning unit.
4. The system for collaborative autonomous task planning for a satellite-borne distributed constellation according to claim 1, wherein the task execution unit further comprises a satellite state monitoring module for automatically triggering the end of the task instruction flow when the safety judgment condition is not met according to the safety judgment conditions of the satellite and the stand-alone machine.
5. The satellite-borne distributed constellation collaborative autonomous task planning method is characterized by comprising the following steps of: step S1-step S3,
step S1 includes steps S1.1-S1.3:
step S1.1: receiving an external task, analyzing the task demand, and confirming the task type;
step S1.2: according to the task demand analysis result, performing multi-star task allocation and conflict resolution according to the benefit maximization and the task priority;
step S1.3: generating a task scheduling scheme of each participating task satellite according to a task planning solving result, wherein the task scheduling scheme comprises task sending time, task type, task load, task arc section, task object, task starting time, task ending time and task information;
step S2 includes steps S2.1-S2.2:
step S2.1: receiving and analyzing a task scheduling scheme, and judging the feasibility of the task;
step S2.2: matching the on-board task template according to the analysis result of the task scheduling scheme to generate a task template instruction;
step S3 includes steps S3.1-S3.3:
step S3.1: receiving a task template instruction, and generating a satellite executable instruction chain according to the task template instruction;
step S3.2: directly outputting a control instruction of the single on-board unit according to the instruction chain and the on-board time;
step S3.3: and acquiring the working state information of the on-board task execution single machine.
6. The method for collaborative autonomous mission planning for a satellite-borne distributed constellation according to claim 5, wherein step S1 further comprises: step S1.4: and when the satellite response information of the execution task after the scheduling scheme is generated is abnormal, regenerating the task or terminating the task.
7. The method for collaborative autonomous mission planning for a satellite-borne distributed constellation according to claim 5, wherein step S2 further comprises: step S2.3: judging whether the task progress is normal or not according to the remote measurement state of the task single machine, re-planning the task or stopping the task under the abnormal condition, and feeding back the response state.
8. The method for collaborative autonomous mission planning for a satellite-borne distributed constellation according to claim 5, wherein step S3 further comprises: step S3.4: and according to the safety judgment conditions of the satellite and the single machine, automatically triggering the task ending instruction flow when the safety judgment conditions are not in accordance with the continuous execution task.
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