JP2016043724A - Observation plan creating device and observation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device capable of efficiently creating an observation plan while satisfying a plurality of request indicators of a user, such as observation accuracy and the degree of achievement of tasks desired by a user, in creating an observation plan for monitoring an outer space state.SOLUTION: An observation apparatus 1 includes: an observation plan creating device 11 which implements creation of an observation schedule; and an observation plan executing section 12 consisting of ground sensors for executing the plan. Further, the observation plan creating device 11 includes: a data storing section 111 which stores data required for creation of observation plans; a task list creating section 112 which is a list creating section for modifying the data required for the observation plan creation to a format facilitating observation plan creation processing; and an observation plan creating section 113 which actually creates the observation schedule.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an observation plan creation device and an observation device for creating an observation plan for a satellite or the like.

 Monitoring of RSO (Resident Space Objects, space flying objects such as satellites and fragments thereof) in space situation monitoring is performed with a limited sensor within a limited time. For this reason, it is desirable to perform scheduling that efficiently plans “when” and “with which sensor” to observe a huge amount of monitoring requests from users. This scheduling is performed by a central processing unit that supervises multiple sensors such as radar and optical telescope on the ground, and the central processing unit performs scheduling by assigning appropriate RSO observations to free observation times of ground sensors. To do. Note that observation time allocation and observation are performed not in RSO units but in path units in which RSO is further divided for each orbit.

  As a conventional observation plan creation apparatus that performs this scheduling, there is a method that uses a Covariance-Based Scheduling Algorithm (for example, Non-Patent Document 1). In this method, the observation effectiveness indicating the observation effect is calculated based on the positioning error, and scheduling is performed in consideration of only the observation effectiveness, thereby creating a plan that satisfies only the physical accuracy. Further, for example, Non-Patent Document 2 proposes a method of performing scheduling in consideration of a plurality of indices using an evaluation value called FOM (Figure Of Memory). The FOM is the sum of the evaluation values for each monitoring request that weights multiple indicators including the user's request reflection degree and physical superiority of observation. Depending on the weighting method, multiple indicators can be considered simultaneously. This is a scheduling method.

K. Hill, etc. "Covariance-based Network Tasking of Optical Sensors," AAS 10-150, AAS / AIAA Space Flight Mechanics Conference, San Diego, CA, Feb. 14-17, 2010. Fisher W, etc. “A Flexible Architecture for Creating Scheduling Algorithms as used in STK Scheduler,” 2013 International Workshop on Planning & Scheduling for Space (IWPSS), San Francisco, CA, USA, March 2013.

  However, in the conventional observation plan creation device listed in Non-Patent Document 1, scheduling is performed with a single index related to the observation accuracy called observation effectiveness, so that the user's request other than the observation accuracy is not satisfied. In an actual environment, there are cases where it is necessary to satisfy user requirements other than observation accuracy, and there is a problem that a plurality of different requests cannot be handled simultaneously.

  In addition, in the conventional observation plan creation device listed in Non-Patent Document 2, since the setting of the weighting coefficients of a plurality of indices is left to the user, the burden on the user is large. In addition, even if a plurality of indices are weighted and a complicated evaluation formula is set, there is a problem that it is unknown whether the schedule is performed as intended.

  The present invention has been made to solve the above-described problems, and has less burden on the user than the prior art, and the “observation accuracy” and the “user requested The objective is to obtain an observation plan creation device that can create a schedule that achieves both high achievement rates.

  An observation plan creation apparatus according to the present invention is based on a requirement for observation of an observation target, an observation specification of a sensor that observes the observation target, and a data storage unit that stores data stored in the data storage unit. Task information having first and second parameters representing a requirement condition for a task for observing a target or observation contents of a sensor that executes the task is generated for a plurality of tasks, and the generated plurality of task information is Classifying a plurality of task information included in the list created by the list creation unit into a plurality of groups based on the first parameter included in the task information; The order of the plurality of task information in each group is rearranged based on the second parameter included in the task information, the rearranged Based on the order number of task information, by determining the tasks to be executed, characterized by comprising an observation plan creation unit for creating a monitoring plan to observe observation target, the.

  Compared to the prior art, the user sets less load, and it is possible to create an observation plan in which both “observation accuracy” and “user request achievement rate”, which were in a trade-off relationship with the prior art, are at a high level.

The block diagram of the observation plan preparation apparatus which concerns on Embodiment 1 of this invention. An example of the observation plan which the observation plan preparation apparatus which concerns on Embodiment 1 of this invention produces. The block diagram of the data storage part of the observation plan preparation apparatus which concerns on Embodiment 1 of this invention. User request data stored in the user request data storage unit in the observation plan creation device according to Embodiment 1 of the present invention. The block diagram of the task list preparation part of the observation plan preparation apparatus which concerns on Embodiment 1 of this invention. The task list created in the task list creation part of the observation plan creation apparatus which concerns on Embodiment 1 of this invention. The first half part of the flowchart which shows the processing flow of the scheduling in the observation plan preparation part of the observation plan preparation apparatus which concerns on Embodiment 1 of this invention. The latter half part of the flowchart which shows the processing flow of the scheduling in the observation plan preparation part of the observation plan preparation apparatus which concerns on Embodiment 1 of this invention. The figure which shows a part of scheduling processing flow in the observation plan preparation part of the observation plan preparation apparatus which concerns on Embodiment 1 of this invention.

Embodiment 1.
FIG. 1 shows an observation apparatus including an observation plan creation apparatus for carrying out the present invention. The observation plan creation device 11 in the observation device 1 has a large amount of RSO (Residence Space Objects) that can be observed in the observation plan creation target period “A” (for example, 24 hours or several days), space flight such as satellites and fragments thereof. Create an observation plan necessary for efficiently observing each orbit of each (orbital object) with limited ground sensors. Here, the orbit is sometimes called a path. An observation plan is sometimes called scheduling. Although the ground sensor is taken up here, the invention according to the present embodiment can be applied to general sensors, and the ground sensor may be replaced with a sensor.

  In FIG. 1, an observation apparatus 1 includes an observation plan creation apparatus 11 that creates an observation schedule and an observation plan execution unit 12 that includes a ground sensor that executes the plan. Further, the observation plan creation device 11 is a data storage unit 111 that stores data necessary for observation plan creation, and a task that is a list creation unit that changes data necessary for observation plan creation into a format that facilitates the observation plan creation process. The list creation unit 112 includes an observation plan creation unit 113 that actually creates an observation schedule. In the following drawings, the same reference numerals indicate the same or corresponding parts.

 Scheduling in the embodiment of the present invention refers to processing from when the observation device 1 obtains an input related to a user's request to creating an observation plan and transmitting the observation plan to each ground sensor. For example, as shown in FIG. 2, the observation plan is created by assigning an RSO number and a pass number to the plan table of each sensor.

  FIG. 3 shows the configuration of the data storage unit 111. The data storage unit 111 includes a user request data storage unit 21 and a ground sensor data storage unit 22 that store two types of data “user request data” and “ground sensor data”, respectively.

  FIG. 4 shows a table format of “user request data” stored in the user request data storage unit 21. “User request data” stores data input in advance by the user in a table format. This “user request data” data includes six items, and information on the observation target and observation method input by the user is filled in for each item. The item 31 “RSO” stores the observation target RSO (for example, satellite 1 and debris 1) input by the user. Here, debris is space garbage. The item 32 “achievement condition” to item 36 “desired priority” indicate the observation method input by the user as a requirement.

  The user can choose from three types of observation methods: “observation for a certain period”, “observation for a certain number of times within a certain period”, and “observation until a positioning error falls within a certain period of time”. select. When “observation for a certain period” is selected, “period” is stored in the “achievement condition” of the item 32, and the period required by the user is stored in the “required period / time limit” of the item 33. Nothing is stored from item 34 to item 36. When “observation of a certain number of times within a certain period” is selected, “number of times” is stored in the “achievement condition” of the item 32, and the period required by the user is stored in the “required period / time limit” of the item 33. The number of observations required by the user is stored in the “required number” of the item 34, and the desired priority (high or medium) selected by the user from two types is stored in the “desired priority” of the item 36. Although stored, nothing is stored in the item 35. When “observation until the positioning error falls below a certain time within a certain time limit” is selected, “accuracy” is stored in the “achievement condition” of the item 32, and the user enters the “required period / time limit” of the item 33. The required time limit is stored, and the observation accuracy required by the user is stored in the “required accuracy” of the item 35, but nothing is stored in the items 34 and 36.

  Thus, the “user request data” stored in the user request data storage unit 21 indicates a request condition for observation of the observation target.

  On the other hand, the “ground sensor data” stored in the ground sensor data storage unit 22 is a specification (for example, the number of simultaneous observations) regarding the observation of the ground sensor used for observation and data of the position of the sensor (for example, longitude, latitude). is there. That is, the ground sensor data storage unit 22 stores the observation specifications of the sensor to be observed. Therefore, it can be said that the data storage unit 111 stores the requirements for the observation of the observation target and the observation parameters of the sensor that observes the observation target.

  The “user request data” and “ground sensor data” stored in the user request data storage unit 21 and the ground sensor data storage unit 22 are sent to the task list creation unit 112.

  In the task list creation unit 112 that has received the two types of data “user request data” and “ground sensor data”, as shown in FIG. 5, the data creation unit 41 given to the user request as shown in FIG. A task list is created. The task list is a list of various observation requests input from the user to facilitate the scheduling process, and may be simply called a list. This task list is notified from the task list creation unit 112 to the observation plan execution unit 12, and the observation plan execution unit 12 performs scheduling in consideration of a plurality of items indicating a user request using the task list.

  In the task list shown in FIG. 6, the “task number” of the item 51 is assigned a number in the input order for each user request. In items 52 to 57, data corresponding to items 31 to 36 shown in FIG. 4 stored in the user request data storage unit 21 is stored. Item 58 “fixed task priority” is automatically set according to the observation method and desired priority set by the user. If the set observation method is “observation for a certain period”, “high”, if “observation for a certain number of times within a certain period” is the same value as the desired priority in item 57, “positioning error within a certain period” If it is “observed until is below a certain level,” “low” is set. It can be said that the item 58 indicates a parameter indicating a requirement condition for a task for observing the observation target.

  In the item “path”, an observable path in the observation plan creation target period A of the RSO to be observed is set for each RSO. Also, in the item 510 “observable sensor”, a ground sensor that can observe an observable path in the period A of the RSO to be observed is set for each path. In the item “511” “observation period”, a period during which a ground sensor capable of observing an observable path in the period A of the RSO to be observed is set. The observable ground sensor described in the item 510 and the observation period described in the item 511 are set based on the data stored in the ground sensor data 22.

  Note that an observation plan creation process is performed for each combination of a path that can be observed in a period A of an RSO and a sensor that can observe the path, and this unit is represented as “job”. In item 512 “observation effectiveness”, an observation effectiveness indicating the observation accuracy obtained by the observation is set for each job. It can be said that the item 512 indicates a parameter indicating the observation content of the sensor that executes the task. A number is assigned to “job number” of the item 513 in the order of input for each job. The list is managed based on job numbers.

As described above, the task list creation unit 112 stores task information having parameters indicating the request conditions for the task that observes the observation target and the observation contents of the sensor that executes the task based on the data stored in the data storage unit 111. A list including a plurality of task information generated for a plurality of tasks is generated. The created task list is sent to the observation plan creation unit 113.

  Upon receiving the task list, the observation plan creation unit 113 creates an observation plan according to the procedure shown in FIGS. FIG. 9 shows an example of the state of processing performed in steps 61 to 63. Hereinafter, an observation plan creation process performed by the observation plan creation unit 113 will be described with reference to FIGS.

  First, the observation plan creation unit 113 initializes the plan to be empty (step 60), and then sets an appropriate number of “tasks” according to the “fixed task priority” designated by the user set in the item 58 in the task list. Divide into groups "(step 61). In the example of FIG. 9, the task list is divided by grouping the task list into a plurality of priorities. The number of groups is set to a suitable value according to the degree of user request. In this example, the number of groups is set to 3, and the group is divided into three groups of priority “high”, “medium”, and “low”. After the division, it is determined whether or not a group to be processed remains (step 62). When there are still groups to be processed, the observation plan creation process is performed for each group according to the flowchart. Each time, the “task group” having a higher priority among the unprocessed groups is performed. Is selected (step 63), and the tasks are rearranged in the selected group (step 64). That is, in steps 61 to 64, a plurality of task information included in the task list is classified into a plurality of groups based on the priority information included in each task information. In addition, one group is selected from the plurality of groups based on the priority information range of each group used as a criterion for classifying the plurality of task information into a plurality of groups. This “average value of job observation effectiveness” can be said to be an index representing observation accuracy.

  FIG. 9 shows an example in which tasks are rearranged in descending order of the average value of the observation effectiveness of jobs in the group. As another example, the tasks may be rearranged according to the median, mode, variance, and best value of the observation effectiveness for each task. As described above, the task is rearranged by listing tasks having jobs with high observation effectiveness at the top, so that jobs with high observation effectiveness are easily selected even when processing is performed in order from the top. In this way, by applying a plurality of indicators requested by the user to task groups and tasks in a stepwise manner, the observation desired by the user is preferentially selected and the observation effectiveness is high. Job selection is easier. Therefore, it becomes easy to select a task or job having both the observation desired by the user and the observation condition with high observation accuracy, and it is possible to smoothly perform scheduling considering a plurality of indices simultaneously.

Next, when the tasks are rearranged in the selected group, the next task to be executed is determined, and the process proceeds to the process of assigning the execution time of the job included in the task to be executed.
First, the observation plan creation unit 113 determines whether or not a task remains in the group being processed (step 65). If no task remains, it is determined that the processing of the group has been achieved and is deleted from the processing target (step 66).

  If a task remains in the group being processed, the observation plan creation unit 113 selects the task at the top of the task list (step 67). Further, it is determined whether or not a job remains in the task (step 68). If there is no job remaining, it is not necessary to perform the task processing already, so that the task is deleted (step 69). . If a job remains in the task, the job having the highest observation effectiveness is selected from the remaining jobs in the selected task (step 70). Further, whether or not the observation time of the job can be executed by the observation sensor of the job is temporarily assigned (step 71), and whether or not the number of paths assigned to the selected sensor exceeds the maximum number of simultaneous observations. Is determined (step 72). If the number of paths assigned to the selected sensor exceeds the maximum number of simultaneous observations, the temporary assignment is deleted from the processing target and the process proceeds to step 68 to proceed to the next job (step 73). In addition, if the number of paths assigned to the selected sensor does not exceed the maximum number of simultaneous observations, the sensor can be observed, and the corresponding RSO of the corresponding job corresponds to the observation time described in the corresponding job. The assignment of the job is confirmed in the form of assignment to the sensor described in the job, and the observation plan creation process proceeds (step 74). Further, a task observation plan creation process is performed until the achievement conditions indicated in the items 53 to 56 set by the user are satisfied, and it is determined whether or not the achievement conditions are satisfied (step 75). If the achievement condition is not satisfied, the process proceeds to step 68 and proceeds to the next job (step 75). If the achievement condition is satisfied, the task is counted as achieved, the task is deleted from the processing target (step 76), and the process proceeds to step 65 to proceed to the next task. The reason for carrying out the task observation plan creation process until one task is satisfied is to increase the final task achievement rate by reliably achieving the task achievement conditions one by one. If all the jobs in the task are processed in step 75 but the achievement condition of the task is not satisfied, the process proceeds to step 68 and step 69, and the task is counted as unachieved and deleted from the processing target. Processing proceeds to the next task.

  In step 65, when all the tasks of one group have been processed, the process proceeds to steps 66 and 62, the next highest priority group is selected (step 63), and the same processing is performed for the next group. repeat. When all groups are scheduled, the completed observation plan is sent to the observation plan execution unit 12. The observation plan execution unit 12 notifies the observation time allocation information to each sensor based on the completed observation plan, and each sensor executes an observation process based on the notified content.

  In this way, the task list is divided into groups according to the number of stages at which the user desires to achieve the request, and scheduling is performed in which the tasks in the group are rearranged from the group having a higher priority. With such processing, it is possible to schedule observations that the user wants to preferentially perform prior to observations with low priority.

  In the prior art, when scheduling is performed using a plurality of parameters, the scheduling is performed by handling a plurality of parameters at the same time. In the present embodiment, the processing to be performed is first divided into a plurality of groups. Sort a plurality of tasks included in the group. As a result, it is possible to perform rearrangement with a small amount of calculation compared to the conventional technique in which a plurality of parameters are simultaneously evaluated and scheduling is performed.

  As described above, the observation plan creation apparatus 11 according to the present embodiment stores the required conditions for observation of the observation target and the data storage unit 111 that stores the observation specifications of the sensor that observes the observation target, and the data storage unit 111 stores the data. Based on the obtained data, task information having two parameters indicating the requirements for the task to observe the observation target or the observation contents of the sensor that executes the task is generated for a plurality of tasks, and the generated plurality of tasks A task list creation unit 112 that creates a task list including task information, and a plurality of task information included in the task list created by the task list creation unit 112 is one of two parameters included in the task information And classify the task information in each of the groups. The observation plan for observing the observation target is determined by rearranging based on the other parameter of the two parameters included in the task information, and determining the task to be executed based on the order of the sorted task information. And an observation plan creation unit 113 to be created. With such a configuration, it becomes easy to select a task having both the requirement for observation of the observation target and the observation condition with high observation accuracy, and it is possible to smoothly perform scheduling considering a plurality of indices simultaneously. Compared to the conventional technology, there is less load set by the user, and it is possible to create an observation plan with high levels of both “observation accuracy” and “user request achievement rate”, which had a trade-off relationship with the conventional technology. . Here, the “user request achievement rate” represents the ratio of observations that satisfy the conditions in the observation plan among the requirements for the observations to be observed, and the observations can be achieved. One parameter of the two parameters may be referred to as a “first parameter”, and the other parameter of the two parameters may be referred to as a “second parameter”.

  In addition, the observation plan creating apparatus 11 of the present embodiment determines the order of the plurality of groups based on the range of parameters used as a criterion for classifying the plurality of task information into the plurality of groups before determining the task to be executed. Are rearranged. By using such a configuration, it is possible to quickly set a task of a group to be preferentially processed as an observation plan.

  In addition, the observation plan creation unit 113 of the observation plan creation apparatus 11 according to the present embodiment has a configuration for determining a task to be executed, and determining an observation time of the task and a sensor used for the execution of the task. By using such a configuration, in creating an observation plan, it is possible to determine not only the task to be executed, but also the observation time of that task and the sensor used for the execution of the task.

  In addition, the observation plan creation unit 113 of the observation plan creation apparatus 11 according to the present embodiment has a configuration in which it is determined not to execute a task that cannot secure an execution time at a sensor necessary for observation when creating an observation plan. By using such a configuration, it is possible to select a task that can execute the observation completely, and to remove an incomplete task that can execute only a part of the observation from the observation plan.

  In the observation plan creation device 11 of the present embodiment, the sensor is a ground sensor, and the observation target is a target object in a circular orbit. By using such a configuration, it is possible to smoothly monitor the space situation for an object on a circular orbit.

  In addition, the observation plan creation unit 113 of the observation plan creation apparatus 11 according to the present embodiment has a configuration for creating an observation plan for observing an object on a circular orbit in one cycle unit of the object. By using such a configuration, the observation plan can be updated in an appropriate time unit, and both the computational load and the adaptability of the observation plan can be achieved.

DESCRIPTION OF SYMBOLS 1: Observation apparatus, 11: Observation plan preparation apparatus, 12: Observation plan execution part, 21: User request data storage part, 22: Ground sensor data storage part, 31-36: Item, 41: Data provided to a user request Creation unit, 51-59: Item, 510-513: Item, 111: Data storage unit, 112: Task list creation unit, 113: Observation plan creation unit

Claims (8)

A data storage unit for storing data indicating the requirements for the observation of the observation target and the observation specifications of the sensor that observes the observation target;
Based on the data stored in the data storage unit, task information having a first parameter and a second parameter respectively representing a requirement condition for a task for observing an observation target and an observation content of a sensor for executing the task is assigned to a plurality of tasks. A list creation unit that creates a list including the generated plurality of task information,
The plurality of task information included in the list created by the list creation unit is classified into a plurality of groups based on the first parameter included in the task information, and a plurality of task information in each group of the plurality of groups Create an observation plan for observing the observation target by rearranging the order based on the second parameter included in the task information and determining a task to be executed based on the order of the plurality of rearranged task information. An observation plan generator to
An observation plan creation device characterized by comprising: The observation plan creation unit selects one of the plurality of groups based on the range of the first parameter of each group used as a criterion for classifying the plurality of task information into the plurality of groups, and executes the execution The observation plan creation apparatus according to claim 1, wherein a task to be performed is determined. The observation plan creation device according to claim 1, wherein the second parameter is a parameter representing an observation accuracy of the sensor that executes the task. The observation plan creation unit determines the task to be executed, and also determines the observation time of the task and a sensor to be used for execution of the task. The observation plan creation device described. The observation plan creation unit, in creating the observation plan,
5. The observation plan creation apparatus according to claim 1, wherein it is determined not to execute a task that cannot secure an execution time at a sensor required for observation.   The observation plan creation device according to claim 1, wherein the sensor is a ground sensor, and the observation target is an object on a circular orbit. The observation plan creation device according to claim 6, wherein the observation plan creation unit creates an observation plan for observing an object on the orbit in units of one cycle of the object. The observation plan creation device according to any one of claims 1 to 7,
An observation plan execution unit for executing the observation plan created by the observation plan creation device;
An observation apparatus comprising:

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