Emergency dispatch method and system for agile satellite resources

Abstract

The application provides an emergency scheduling method and system for agile satellite resources, and relates to the technical field of emergency task scheduling. By considering the insertion opportunity of the fixed elevation visible time window of the ground station in the scheduling algorithm, the fixed elevation visible time window of the appropriate ground station is inserted in the case that the agile satellite storage constraint is not met, so as to release the agile satellite storage data to the ground station, reduce the agile satellite imaging data load, provide more insertion opportunities for tasks, and improve the overall task completion rate. In the algorithm scheduling process, the emergency task emergency degree is calculated according to the designed emergency task emergency degree heuristic factor, the tasks with larger weight, less fixed elevation visible time window and closer to the completion deadline are preferentially arranged, the influence of the previously arranged tasks on the insertion opportunity of the subsequent tasks is reduced, and the task completion rate and overall scheme benefit are improved.

Description

Technical Field

[0001] This invention relates to the field of emergency mission scheduling technology, specifically to an emergency scheduling method and system for agile satellite resources. Background Technology

[0002] As a new generation of three-degree-of-freedom (pitch, roll, and yaw) satellites, Agile Satellites offer a longer visibility window and a wider observable range for ground targets, making them ideal for handling emergency missions.

[0003] Due to their high flexibility, agile satellites are well-suited for completing urgent tasks with high weighting and time sensitivity. However, existing agile satellites do not adequately consider the impact of the urgency, weighting, length of the fixed elevation visibility window, and completion deadline on the opportunity for task insertion when handling emergency tasks.

[0004] The existing approach results in a low task completion rate and low overall project benefits. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides an emergency scheduling method and system for agile satellite resources, solving the problem that existing agile satellite scheduling methods do not fully consider the impact of the urgency of emergency tasks, satellite pitch consumption time, and completion deadline on task insertion opportunities.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] Firstly, an emergency scheduling method for agile satellite resources is provided, which includes:

[0010] S1. Obtain planning information;

[0011] S2. Divide all visible time windows with variable pitch according to their dispersion and discretize them into multiple visible time windows with fixed pitch.

[0012] S3. Sort the emergency tasks in the unplanned emergency task set ET from highest to lowest urgency.

[0013] S4. Select an emergency task from the unplanned emergency task set ET.

[0014] S5. Determine whether the conditions for the direct insertion strategy of the emergency task are met; if yes, execute the direct insertion strategy of the emergency task and then execute S10; otherwise, execute S6.

[0015] S6. Determine whether the conditions for executing the shift insertion strategy of the emergency task are met; if yes, execute the shift insertion strategy of the emergency task and then execute S10; otherwise, execute S7.

[0016] S7. Determine whether the conditions for executing the emergency mission and the direct insertion strategy of the ground station are met; if yes, execute the emergency mission and the direct insertion strategy of the ground station, and then execute S10; otherwise, execute S8.

[0017] S8. Determine whether the conditions for executing the emergency mission's shift insertion and ground station insertion strategy are met; if yes, execute the emergency mission's shift insertion and ground station insertion strategy, and then execute S10; otherwise, execute S9.

[0018] S9. Determine whether the conditions for executing the deletion and insertion strategy of the emergency task are met; if yes, execute the deletion and insertion strategy of the emergency task, and then execute S10; otherwise, execute S10 directly.

[0019] S10. Determine whether the unplanned emergency task set ET has been traversed. If yes, proceed to S11; otherwise, return to S4.

[0020] S11. Iterate through the unplanned set of regular tasks GT and select a regular task;

[0021] S12. Determine whether the conditions for executing the direct insertion strategy of the regular task are met; if yes, execute the direct insertion strategy of the regular task and then execute S15; otherwise, execute S13.

[0022] S13. Determine whether the conditions for executing the shift insertion strategy of the regular task are met; if yes, execute the shift insertion strategy of the regular task and then execute S15; otherwise, execute S14.

[0023] S14. Determine whether the conditions for executing the regular task's deletion and insertion strategy are met; if yes, execute the regular task's deletion and insertion strategy, and then execute S15; otherwise, execute S15 directly.

[0024] S15. Determine whether the unplanned regular task set GT has been traversed completely; if yes, output the scheduling scheme; otherwise, return to S11.

[0025] Furthermore, the planning information includes:

[0026] Original scheduling scheme P o ,

[0027] Satellite collection

[0028] A collection of planned emergency tasks

[0029] A set of planned routine tasks

[0030] Unplanned collection of emergency tasks

[0031] Unplanned routine task set

[0032] Ground station mission set

[0033] The set of visible time windows with variable pitch (VPVTW).

[0034] Furthermore, the division of all variable pitch visibility windows into multiple fixed pitch visibility windows based on their discreteness includes: In particular, the communication sensors of agile satellites cover a wide range and usually do not require maneuvering. Therefore, ground stations do not have variable pitch visibility windows, but only fixed pitch visibility windows with a pitch angle of 0.

[0035] S201. Calculate the subdiscretivity for each agile satellite and each mission:

[0036]

[0037] Where, the dispersion ΔP = min{ΔP} ij |t i ∈T,s j ∈S},ΔH j Indicates agile satellites s j The field of view in the pitch direction, d i Represents task t i The observation duration, S represents the agile satellite set, pv j Indicates agile satellites s j Pitch speed, L j It is an agile satellite. j The duration of time the observation strip covers ground targets at a fixed elevation angle, T = DET∪DGT∪ET∪GT, represents the total task set, t i It is the i-th task, s j This represents the j-th agile satellite;

[0038] S202, Based on a visible time window with variable pitch Calculate the number of visible time windows for a fixed pitch:

[0039]

[0040] P j Indicates agile satellites s j Maximum pitch angle;

[0041] S203. Calculate the visible time window for each fixed pitch:

[0042]

[0043] and

[0044]

[0045]

[0046]

[0047] in, Represents task t i In Agile Satellites j The visible time window of the a-th fixed pitch, It's the start time. It is the end time. Represents task t i In Agile Satellites j The ideal side-slip angle for the visible time window of the a-th fixed pitch (the centerline of the observation strip passes through the mission position), It is to observe the pitch angle;

[0048] Represents task t i In Agile Satellites j The u-th variable pitch visible time window on the screen; It's the start time. It is the end time. Represents task t i In Agile Satellites j The ideal yaw angle for the uth fixed pitch visible time window.

[0049] Furthermore, the direct insertion strategy is as follows:

[0050] Traverse the visible time window of the current mission's fixed elevation. If the scheduling scheme has an idle time period that meets the mission's observation duration and satisfies the agile satellite's storage and energy constraints after insertion, then perform a direct insertion operation on the mission.

[0051] Furthermore, the shift insertion strategy is as follows:

[0052] Traverse the visible time window of the current task at fixed elevation. If there is no idle time period in the scheduling scheme that meets the task observation duration, and if the insertion of the task satisfies the agile satellite storage and energy constraints, move adjacent conflicting tasks forward and backward without conflict within the visible time window of their fixed elevation. Then calculate the length of the idle time period after the shift. If the length of the idle time period after the shift meets the task observation duration, then insert the task.

[0053] Furthermore, the direct insertion strategy between the mission and the ground station is as follows:

[0054] Traverse the visible time windows of the fixed elevation of the current task. If the scheduling scheme has an idle time period that meets the observation duration of the emergency task, but there is a storage overload, and there is a suitable visible time window of the fixed elevation of the ground station that can be inserted into the ground station scheme, then insert the visible time window of the fixed elevation of the ground station into the scheduling scheme and perform the insertion operation for the emergency task.

[0055] Furthermore, the shift insertion and ground station insertion strategies are as follows:

[0056] Traverse the visible time window of the current task's fixed pitch. In the scheduling scheme, move adjacent conflicting tasks forward and backward without conflict within their visible time window of fixed pitch. Then calculate the length of the idle time period after the shift. If the length of the idle time period after the shift meets the task observation duration, but there is a storage overload, and there is a suitable visible time window of the ground station's fixed pitch that can be inserted into the ground station scheme, then insert the visible time window of the ground station's fixed pitch into the scheduling scheme and perform the task insertion operation.

[0057] Furthermore, the deletion and insertion strategy is as follows:

[0058] Determine if there are any conflicts to be deleted that are smaller than the task weight. If so, delete the conflict with the smallest sum of weights, insert the task, and add the tasks from the deleted conflicts to the corresponding type of unplanned task set.

[0059] Among them, the conflicts to be deleted include one or more of the following: fixed pitch visibility window conflicts, storage conflicts, and energy conflicts.

[0060] Furthermore, the storage constraints and energy constraints are as follows:

[0061] Storage constraint: Each agile satellite cannot exceed its maximum storage capacity during mission execution;

[0062]

[0063] Energy Constraint: The energy consumed in each orbit cannot exceed the maximum energy of the Agile Satellite, i.e.:

[0064]

[0065] in, Indicates ground station g k In Agile Satellites jWhether the visible time window of the b-th fixed pitch receives data; if yes, it equals 1; otherwise, it equals 0.

[0066] Represents task t i In Agile Satellites j Whether the visible time window of the a-th fixed pitch is executed; if so, it is equal to 1, otherwise it is equal to 0.

[0067] Indicates the set of ground station tasks. It is a ground station g k In Agile Satellites j The total number of visible time windows for fixed pitch; Indicates ground station g k In Agile Satellites j The visible time window of the b-th fixed pitch, It's the start time. It is the end time;

[0068] The observed lateral swing angle, rv j pv represents the lateral sway velocity. j Indicates pitch speed, α represents the set of visible time windows for a mission at fixed pitch between two consecutive ground stations; j M represents the observation storage consumption rate. j Indicates the maximum storage capacity. Indicates agile satellites s j The set of visible time windows for fixed elevation of ground stations, routine missions, and contingency missions within the nth orbit, β j ρ represents the observed energy consumption rate. j Indicates the energy consumption rate of data transmission. Indicates in agile satellites j On the task t i The visible time window of the a-th fixed pitch and task t i' ω is determined by whether the visible time windows of the a'-th fixed pitch are adjacent and both executed; if so, ω equals 1, otherwise 0. j E represents the rate of energy consumption during operation. j This represents the maximum energy within each orbit. Indicates the maximum number of orbits.

[0069] Secondly, an emergency dispatch system for agile satellite resources includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above method.

[0070] (III) Beneficial Effects

[0071] This invention provides an emergency scheduling method and system for agile satellite resources. Compared with existing technologies, it has the following advantages:

[0072] The scheduling algorithm considers the insertion opportunities of the fixed elevation visibility window of the ground station. When the agile satellite storage constraints are not met, the appropriate fixed elevation visibility window of the ground station is inserted to download the agile satellite storage data to the ground station in a timely manner, reduce the agile satellite imaging data load, provide more insertion opportunities for the task, and improve the overall task completion rate.

[0073] During the algorithm scheduling process, the urgency of emergency tasks is calculated based on the designed emergency task urgency heuristic factor. Tasks with larger weights, fewer visible time windows for fixed pitch, and closer to the completion deadline are given priority in scheduling. This reduces the impact of scheduling tasks first on the insertion opportunities of subsequent tasks, thereby improving the task completion rate and the overall benefit of the solution. Attached Figure Description

[0074] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0075] Figure 1 This is a schematic diagram illustrating conflict tasks and conflicts in an embodiment of the present invention;

[0076] Figure 2 This is a flowchart of an embodiment of the present invention;

[0077] Figure 3 This is a schematic diagram illustrating how a variable pitch visibility window is divided into multiple fixed pitch visibility windows according to an embodiment of the present invention.

[0078] Figure 4 This is a schematic diagram of the direct insertion strategy according to an embodiment of the present invention;

[0079] Figure 5 This is a schematic diagram of the shift insertion strategy according to an embodiment of the present invention;

[0080] Figure 6 This is a schematic diagram illustrating the direct insertion strategy for tasks and ground stations according to an embodiment of the present invention;

[0081] Figure 7 This is a schematic diagram of the shift insertion and ground station insertion strategies according to an embodiment of the present invention;

[0082] Figure 8This is a schematic diagram of the deletion and insertion strategy according to an embodiment of the present invention. Detailed Implementation

[0083] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0084] This application provides an emergency scheduling method and system for agile satellite resources, which solves the problem that existing agile satellite scheduling methods do not fully consider the urgency, weight, length of the visible time window of fixed elevation, and the impact of completion deadline on the opportunity for task insertion, thereby achieving the goal of improving task completion rate and overall program benefits.

[0085] The technical solution in this application is to solve the above-mentioned technical problems, and the general idea is as follows:

[0086] A variable-elevation visibility time window partitioning rule is designed. The elevation angle is discretized, dividing the variable-elevation visibility time window into multiple fixed-elevation visibility time windows. These fixed-elevation visibility time windows have a certain overlap time, ensuring temporal continuity. The task scheduling model considers elevation time, task completion deadlines, and energy consumption constraints, establishing a more refined task scheduling model to ensure the scheduling scheme better meets practical requirements and improves the feasibility of emergency task completion. The scheduling algorithm considers the insertion opportunities of fixed-elevation visibility time windows at ground stations. When agile satellite storage constraints are not met, suitable fixed-elevation visibility time windows at ground stations are inserted to release agile satellite stored data to ground stations, reducing the load on agile satellite imaging data, providing more insertion opportunities for tasks, and improving the overall task completion rate. During the algorithm scheduling process, the urgency of emergency tasks is calculated based on a designed emergency task urgency heuristic factor. Tasks with higher weights, fewer fixed-elevation visibility time windows, and closer completion deadlines are prioritized, reducing the impact of early task scheduling on the insertion opportunities of subsequent tasks, improving task completion rate and overall scheme benefits.

[0087] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0088] The variables and their mathematical symbols used in this invention are as follows:

[0089] P o Indicates the original scheduling scheme;

[0090] P new Indicates the new scheduling scheme;

[0091] Represents an agile satellite set; N S Indicates the number of agile satellites;

[0092] This indicates that a set of emergency tasks has been planned, N DET This indicates the number of emergency tasks that have been planned.

[0093] Indicates a planned set of routine tasks, N DGT This indicates the number of regular tasks that have been planned.

[0094] N represents an unplanned set of emergency tasks. ET This indicates the number of emergency tasks not planned.

[0095] N represents an unplanned set of emergency tasks. GT This indicates that the number of regular tasks was not planned.

[0096] T = DET∪DGT∪ET∪GT represents the total set of tasks.

[0097] N T =N DGT +N DET +N ET +N GT Indicates the total number of tasks;

[0098] t i =(tv i ,d i ,dl i ,c i ) represents the i-th task, where tv i d represents the task weight. i Indicates the duration of task observation, dl i c indicates the task completion deadline. i Indicates the task type;

[0099] N represents the set of ground station missions. G This indicates the number of ground stations.

[0100] Represents task t i In Agile Satellites j The u-th variable pitch visible time window on the screen; It's the start time. It is the end time; Represents task t i In Agile Satellites j The ideal side-swing angle for the u-th fixed pitch visible time window (the center line of the observation strip passes through the mission position).

[0101] Represents task t i A set of visible time windows with fixed pitch.

[0102] in, Represents task t i In Agile Satellites j A set of visible time windows with fixed pitch. It is task t i In Agile Satellites j The total number of visible time windows for fixed pitch;

[0103] Represents task t i In Agile Satellites j The visible time window of the a-th fixed pitch, It's the start time. It is the end time. Represents task t i In Agile Satellites j The ideal side-slip angle for the visible time window of the a-th fixed pitch (the centerline of the observation strip passes through the mission position), It is to observe the pitch angle;

[0104] Indicates the start time of the observation. Indicates the end time of the observation. Indicates the observed lateral swing angle;

[0105] Indicates ground station g k A set of visible time windows with fixed pitch;

[0106] Indicates ground station g k In Agile Satellites j A set of visible time windows with fixed pitch. It is a ground station g k In Agile Satellites j The total number of visible time windows for fixed pitch; Indicates ground station g k In Agile Satellites j The visible time window of the b-th fixed pitch, It's the start time. It is the end time;

[0107] ΔHj ΔV j , as j ,rv j ,pv j b j e j M j E j , α j ,β j , ρ j and ω j These are Agile Satellites j Field of view in pitch direction, field of view in yaw direction, attitude stabilization time, yaw rate, pitch rate, power-on time, power-off time, maximum storage capacity, maximum energy per orbit, maximum number of orbits, observation storage consumption rate, observation energy consumption rate, data transmission energy consumption rate, and maneuver energy consumption rate.

[0108] Indicates in agile satellites j On the task t i The visible time window of the a-th fixed pitch and task t i' The value is 1 if the visible time windows of the a'th fixed pitch are adjacent and both executed, otherwise it is 0.

[0109] Each agile satellite virtualizes a ground station's fixed elevation visibility window, facilitating the traversal of tasks between two ground stations' fixed elevation visibility windows during emergency dispatch. The set of fixed elevation visibility windows for tasks between two consecutive ground stations is as follows:

[0110] Indicates agile satellites s j The set of visible time windows for fixed pitch of ground stations, routine missions, and emergency missions within the nth orbit;

[0111] Represents task t i In Agile Satellites j Whether the visible time window of the a-th fixed pitch is executed, if yes, it is equal to 1, otherwise it is equal to 0.

[0112] Indicates ground station g k In Agile Satellites j Whether the visible time window of the b-th fixed pitch receives data; if yes, it equals 1, otherwise it equals 0.

[0113] Glossary:

[0114] The visible time window of variable pitch refers to the period from when an agile satellite observes a ground target at its maximum pitch angle to when it cannot observe a ground target at its minimum pitch angle.

[0115] A fixed-pitch visibility window refers to the time period during which a ground target is observed at a fixed pitch angle. Figures 1 to 8 In Chinese, this is simply referred to as the visible time window or time window.

[0116] A conflicting task is a task that prevents the task to be inserted from being inserted directly.

[0117] They can be divided into three categories:

[0118] The first type of conflicting tasks are those whose observation time windows overlap with the fixed pitch visible time window of the task to be inserted. The set of conflicting tasks with the fixed pitch visible time window is denoted as TWT. In order to better traverse the idle time periods between conflicting tasks, the task before and after the fixed pitch visible time window is also considered as a conflicting task.

[0119] The second type of conflicting missions are those whose observation time windows and the fixed elevation visibility time windows of the mission to be inserted have the same fixed elevation visibility time windows of the ground stations before and after them, and whose observation storage and the observation storage of the mission to be inserted will cause agile satellite storage overload. The set of conflicting storage missions is denoted as ST.

[0120] The third type of conflicting missions are those whose observation time windows coincide with the fixed elevation visibility time window of the mission to be inserted within the same orbit of the agile satellite, and whose observation energy consumption and the observation energy consumption of the agile satellite to be inserted result in insufficient energy for the agile satellite. The set of energy conflicting missions is denoted as ENT.

[0121] Conflict refers to a combination of conflicting tasks, which can be divided into three categories.

[0122] The first type of conflict is one in which deleting a conflict satisfies the observation duration of the task to be inserted. The set of visible time window conflicts with fixed pitch is denoted as TWC.

[0123] The second type of conflict is one in which deleting a conflict satisfies the fixed elevation visibility window of the ground station with the same preceding and following positions as the mission to be inserted, and the observation storage of the conflict and the observation storage of the mission to be inserted will not cause agile satellite storage overload. The set of storage conflicts is denoted as SC.

[0124] The third type of conflict is one in which deleting a conflict satisfies the energy consumption of observations within the same orbit and the energy consumption of observations of the agile satellite to be inserted, thus preventing the agile satellite from running out of energy. The set of energy conflicts is denoted as ENC.

[0125] like Figure 1 As shown, examples illustrate conflicting tasks and conflicts:

[0126] Assuming that each task observation consumes the same amount of storage and energy, when inserting a task, if time window constraints, storage constraints, and energy constraints are not met, then task t... i In Agile Satellites j Visible time window with fixed pitch Possessions

[0127] The set of conflicting tasks within a fixed pitch visible time window is TWT = {{t3}{t4}{t5}{t6}}.

[0128] The set of visible time window conflicts for a fixed pitch is TWC = {{t4}{t5}}.

[0129] Store the set of conflicting tasks ST = {{t2}{t3}{t4}{t5}{t6}{t7}{t8}}.

[0130] The storage conflict set SC = {{t3}{t4}{t5}{t6}{t7}{t8}},

[0131] The energy conflict task set ENT = {{t1}{t2}{t3}{t4}{t5}{t6}{t7}},

[0132] Energy conflict set ENC = {{t1}{t2}{t3}{t4}{t5}{t6}}

[0133] Example 1:

[0134] like Figure 2 As shown, this invention provides an emergency scheduling method for agile satellite resources, which is executed by a computer and includes:

[0135] S1. Obtain planning information;

[0136] S2. Divide all visible time windows with variable pitch according to their dispersion and discretize them into multiple visible time windows with fixed pitch.

[0137] S3. Sort the emergency tasks in the unplanned emergency task set ET from highest to lowest urgency.

[0138] S4. Select an emergency task from the unplanned emergency task set ET.

[0139] S5. Determine whether the conditions for the direct insertion strategy of the emergency task are met; if yes, execute the direct insertion strategy of the emergency task and then execute S10; otherwise, execute S6.

[0140] S6. Determine whether the conditions for executing the shift insertion strategy of the emergency task are met; if yes, execute the shift insertion strategy of the emergency task and then execute S10; otherwise, execute S7.

[0141] S7. Determine whether the conditions for executing the emergency mission and the direct insertion strategy of the ground station are met; if yes, execute the emergency mission and the direct insertion strategy of the ground station, and then execute S10; otherwise, execute S8.

[0142] S8. Determine whether the conditions for executing the emergency mission's shift insertion and ground station insertion strategy are met; if yes, execute the emergency mission's shift insertion and ground station insertion strategy, and then execute S10; otherwise, execute S9.

[0143] S9. Determine whether the conditions for executing the deletion and insertion strategy of the emergency task are met; if yes, execute the deletion and insertion strategy of the emergency task, and then execute S10; otherwise, execute S10 directly.

[0144] S10. Determine whether the unplanned emergency task set ET has been traversed. If yes, proceed to S11; otherwise, return to S4.

[0145] S11. Iterate through the unplanned set of regular tasks GT and select a regular task;

[0146] S12. Determine whether the conditions for executing the direct insertion strategy of the regular task are met; if yes, execute the direct insertion strategy of the regular task and then execute S15; otherwise, execute S13.

[0147] S13. Determine whether the conditions for executing the shift insertion strategy of the regular task are met; if yes, execute the shift insertion strategy of the regular task and then execute S15; otherwise, execute S14.

[0148] S14. Determine whether the conditions for executing the regular task's deletion and insertion strategy are met; if yes, execute the regular task's deletion and insertion strategy, and then execute S15; otherwise, execute S15 directly.

[0149] S15. Determine whether the unplanned regular task set GT has been traversed completely; if yes, output the scheduling scheme; otherwise, return to S11.

[0150] The beneficial effects of this embodiment are:

[0151] The scheduling algorithm considers the insertion opportunities of the fixed elevation visibility window of the ground station. When the agile satellite storage constraints are not met, the appropriate fixed elevation visibility window of the ground station is inserted to download the agile satellite storage data to the ground station in a timely manner, reduce the agile satellite imaging data load, provide more insertion opportunities for the task, and improve the overall task completion rate.

[0152] During the algorithm scheduling process, the urgency of emergency tasks is calculated based on the designed emergency task urgency heuristic factor. Tasks with larger weights, fewer visible time windows for fixed pitch, and closer to the completion deadline are given priority in scheduling. This reduces the impact of scheduling tasks first on the insertion opportunities of subsequent tasks, thereby improving the task completion rate and the overall benefit of the solution.

[0153] The implementation process of the embodiments of the present invention will be described in detail below:

[0154] S1. Obtain planning information;

[0155] The planning information includes:

[0156] Original scheduling scheme P o This includes:

[0157] Satellite collection

[0158] A collection of planned emergency tasks Initialize to an empty set;

[0159] A set of planned routine tasks

[0160] Unplanned collection of emergency tasks

[0161] Unplanned routine task set Initialize as an empty set.

[0162] Ground station mission set

[0163] The set of visible time windows with variable pitch (VPVTW)

[0164] Observation task t i ∈{GT∪ET∪DET∪DGT}, and the storage and energy consumed by each task observation are the same.

[0165] In order to maximize the total weight of the planned tasks while considering pitch time, task completion deadline, storage and energy consumption constraints, the original scheduling scheme P... o And the new scheduling scheme P new The design concept is:

[0166] Considering pitch time, task completion deadline, storage and energy consumption constraints, a task scheduling model is established with the goal of maximizing the total weight of the planned tasks.

[0167] The objective function of the task scheduling model is:

[0168]

[0169] Furthermore, the objective function satisfies the following constraints:

[0170] Constraint 1: Task completion count and deadline constraints: Each imaging task can be executed at most once, and the task observation time must be before the task completion deadline, i.e.:

[0171]

[0172] Constraint 2: A maneuver time must be allowed between two consecutive missions performed by the same agile satellite. The same agile satellite cannot transmit data to two ground stations simultaneously. Each ground station can only receive data from one agile satellite at a time.

[0173]

[0174] Constraint 3, Time Window Constraint: The observation time window for each task must be within the visible time window of the fixed pitch corresponding to the pitch angle, and the observation time window strip must cover the target task, i.e.:

[0175]

[0176] Constraint 4: Storage Constraint: The storage amount of each agile satellite during mission execution cannot exceed its maximum storage capacity; Energy Constraint: The energy consumed in each orbit cannot exceed the maximum energy of the agile satellite, i.e.:

[0177]

[0178] By incorporating pitch time, mission completion deadline, and energy consumption constraints into the mission scheduling model, a more refined mission scheduling model can be established to ensure that the scheduling scheme is more in line with actual requirements and improve the feasibility of completing emergency missions.

[0179] To achieve the above design concept, the following steps are used to obtain the new scheduling scheme.

[0180] S2, such as Figure 3 As shown, all visible time windows with variable pitch are divided according to their dispersion, and are discretized into multiple visible time windows with fixed pitch; where:

[0181] Discreteness determination: Calculate sub-discreteness for each agile satellite and each mission:

[0182]

[0183] Where, the dispersion ΔP = min{ΔP} ij |t i ∈T,s j ∈S} ensures that all agile satellites have the same discreteness.

[0184] Where T is the task set, t i It is the i-th task, d i Represents task t i The observation duration, S represents the agile satellite set, s j Let L represent the j-th agile satellite. j It is an agile satellite. j The duration of time the observation strip covers the ground target at a fixed elevation angle, ΔH j and PV j Indicates agile satellites s j The field of view and pitch speed in the pitch direction.

[0185] Division rule: Based on a visible time window with variable pitch. Calculate the number of visible time windows for a fixed pitch:

[0186]

[0187] P j Indicates agile satellites s j Maximum pitch angle;

[0188] Then calculate the visible time window for each fixed pitch:

[0189]

[0190] in:

[0191]

[0192] or

[0193] or

[0194] Visible time window representing fixed pitch The observed pitch angle, A positive number indicates a forward tilt; otherwise, it is a non-positive number.

[0195] By dividing the time, multiple variable pitch visibility windows can be discretized into more fixed pitch visibility windows.

[0196] S3. Sort the emergency tasks in the unplanned emergency task set ET from highest to lowest urgency; specifically including:

[0197] Calculate emergency task t i ∈ET urgency δ i ;

[0198] Among them, emergency tasks t iThe formula for calculating the urgency level is:

[0199]

[0200] Among them, T k This is the current scheduling time.

[0201] According to emergency task t i urgency level δ i For task t in the emergency task set ET i Sort by height from highest to lowest.

[0202] This allows emergency tasks that are close to their completion deadline, have fewer visible time windows for fixed-position tasks, and have higher task weights to be scheduled as early as possible, reducing the impact on the opportunity to insert subsequent emergency tasks and improving the overall benefit of the solution.

[0203] S4. Select an emergency task from the unplanned emergency task set ET, i.e., select tasks based on their urgency level δ. i Emergency tasks will be selected in descending order of priority for subsequent processing.

[0204] S5. Determine whether the conditions for the direct insertion strategy of the emergency task are met; if yes, execute the direct insertion strategy of the emergency task and then execute S10; otherwise, execute S6.

[0205] like Figure 4 As shown, the direct insertion strategy for the emergency task is: traverse the current emergency task t. i ∈ET's fixed pitch visible time window TW i If the scheduling plan has idle time periods that meet the observation duration for emergency tasks (i.e., there is a visible time window with a fixed elevation), Emergency tasks can be inserted. i And if the insertion satisfies the agile satellite storage and energy constraints, then for the emergency mission t i Perform a direct insertion operation, that is, insert the emergency task into the idle time period.

[0206] S6. Determine whether the conditions for executing the shift insertion strategy of the emergency task are met; if yes, execute the shift insertion strategy of the emergency task and then execute S10; otherwise, execute S7.

[0207] like Figure 5 As shown, the shifting and insertion strategy for the emergency task is: traverse the current emergency task t i The visible time window of ∈ET with fixed pitch (TW) iIf there is no idle time period in the scheduling scheme that meets the observation duration of the emergency mission, and if simultaneous insertion satisfies the storage and energy constraints of agile satellites, then adjacent conflicting missions are moved forward and backward without conflict within their fixed elevation visible time window. The length of the idle time period after the shift is then calculated. If the length of the idle time period after the shift meets the observation duration of the emergency mission, then the emergency mission t... i Perform the insertion operation.

[0208] S7. Determine whether the conditions for executing the emergency mission and the direct insertion strategy of the ground station are met; if yes, execute the emergency mission and the direct insertion strategy of the ground station, and then execute S10; otherwise, execute S8.

[0209] like Figure 6 As shown, the direct insertion strategy for emergency tasks and ground stations is as follows: traverse the current emergency task t i Fixed pitch visible time window TW i If the scheduling scheme has an idle time period that meets the observation duration of the emergency task, but there is a storage overload phenomenon (i.e., the storage constraint is not met), but there is a suitable visible time window of fixed elevation of the ground station that can be inserted into the ground station scheme, then the visible time window of fixed elevation of the ground station is inserted into the scheduling scheme, and the emergency task is inserted.

[0210] S8. Determine whether the conditions for executing the emergency mission's shift insertion and ground station insertion strategy are met; if yes, execute the emergency mission's shift insertion and ground station insertion strategy, and then execute S10; otherwise, execute S9.

[0211] like Figure 7 As shown, the shifting and insertion strategy for the emergency mission and the ground station insertion strategy are as follows: traverse the current emergency mission t i Fixed pitch visible time window TW i In the scheduling scheme, adjacent conflicting tasks are moved forward and backward without conflict within their fixed pitch visible time window. Then, the length of the idle time period after the shift is calculated. If the length of the idle time period after the shift meets the observation duration of the emergency task, but there is a storage overload phenomenon, and a suitable ground station's fixed pitch visible time window can be inserted into the ground station scheme, then the fixed pitch visible time window of the ground station is inserted into the scheduling scheme, and the emergency task is inserted.

[0212] S9. Determine whether the conditions for executing the deletion and insertion strategy of the emergency task are met; if yes, execute the deletion and insertion strategy of the emergency task, and then execute S10; otherwise, execute S10 directly.

[0213] like Figure 8 As shown, the deletion and insertion strategy for the emergency tasks is: traverse the current emergency task t.i Fixed pitch visible time window TW i To determine whether there exists a free period within a fixed elevation visible time window that meets the observation duration for emergency tasks,

[0214] If it exists, then the fixed pitch visible time window conflict that needs to be deleted is an empty set NTWC, i.e. Otherwise, select the conflict TWC with the smallest sum of weights in the visible time window conflict set TWC with fixed pitch. i ∈TWC, as a visible time window conflict for fixed pitch that needs to be deleted, i.e., NTWC = TWC. i ;

[0215] Determine whether the storage constraints are satisfied after deleting visible time window conflicts with fixed pitch. If they are satisfied, then the storage conflicts to be deleted are an empty set, i.e. Otherwise, select the conflict SC with the smallest sum of weights from the storage conflict set SC. j ∈SC, representing a storage conflict that needs to be deleted, i.e., NSC = SC. j ;

[0216] Determine whether the energy constraint is satisfied after deleting the storage conflict. If it is satisfied, then the energy conflict set to be deleted is empty. Otherwise, select the conflict ENC with the smallest sum of weights in the energy conflict set ENC. k ∈ENC, representing energy conflicts that need to be removed, i.e., NENC = ENC. k ;

[0217] Finally, add NTWC∪NSC∪NENC to the set of conflicts to be deleted;

[0218] After the visible time window of fixed pitch is traversed, if the sum of the weights of the conflicts in the set of conflicts to be deleted is less than the weight of the emergency task and is the minimum weight, then the conflict is deleted, and then the emergency task is inserted.

[0219] The deleted conflicting tasks are added to the corresponding unplanned task set. The task can be reinserted during the process of traversing the task set.

[0220] S10. Determine whether the unplanned emergency task set ET has been traversed. If yes, proceed to S11; otherwise, return to S4.

[0221] S11. Select a regular task t from the unplanned regular task set GT. i ∈GT. That is, select regular tasks in sequence for subsequent processing.

[0222] S12. Determine whether the conditions for executing the direct insertion strategy of the regular task are met; if yes, execute the direct insertion strategy of the regular task and then execute S15; otherwise, execute S13.

[0223] The direct insertion strategy for regular tasks and the direct insertion strategy for emergency tasks are the same, that is, determining the selected regular task t. i The set of all visible time windows for fixed pitch ∈GT (TW) i Does it have a fixed pitch visibility window? Regular tasks can be inserted if they meet storage and energy constraints; if so, they will be inserted.

[0224] S13. Determine if the conditions for executing the shift insertion strategy of the regular task are met; if yes, execute the shift insertion strategy of the regular task, and then execute S15; otherwise, execute S14.

[0225] The shift-insertion strategy for regular tasks is the same as that for emergency tasks, i.e., for regular tasks t that cannot be directly inserted... i ∈GT, determine the normal task t i After a conflicting task within a fixed pitch visibility window moves forward and backward without conflict within that window, can a regular task be inserted? i If storage and energy constraints are met, then move the conflicting task and insert the regular task t. i .

[0226] S14. Determine whether the conditions for executing the regular task's deletion and insertion strategy are met; if yes, execute the regular task's deletion and insertion strategy, and then execute S15; otherwise, execute S15 directly.

[0227] The deletion and insertion strategy for regular tasks is the same as that for emergency tasks; that is, when the above strategy fails to insert a regular task, it is determined whether there exists a task t that is more advanced than the one described above. i For conflicts to be deleted with smaller weights, if they exist, delete the conflict with the smallest sum of weights, and then insert it into a regular task t. i And add the deleted conflicting tasks to the corresponding type of unplanned task set.

[0228] S15. Determine if the unplanned regular task set GT has been traversed completely; if so, output the current scheduling scheme P. new If the condition is met, the algorithm stops; otherwise, it returns to S11.

[0229] Example 2

[0230] The present invention also provides an emergency dispatch system for agile satellite resources, the system including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above method.

[0231] It is understood that the emergency dispatch system for agile satellite resources provided in this embodiment of the invention corresponds to the emergency dispatch method for agile satellite resources described above. The explanations, examples, and beneficial effects of the relevant content can be referred to the corresponding content in the emergency dispatch method for agile satellite resources, and will not be repeated here.

[0232] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0233] ① A rule for dividing the visible time window with variable pitch is designed. The pitch angle is discretized, and the visible time window with variable pitch is discretized into multiple visible time windows with fixed pitch. Furthermore, there should be a certain overlap time between the visible time windows with consecutive fixed pitch to ensure the temporal continuity of the visible time window division with fixed pitch.

[0234] ② In the task scheduling model, consider pitch time, task completion deadline and energy consumption constraints to establish a more refined task scheduling model, ensure that the scheduling scheme is more in line with actual requirements and improve the feasibility of completing emergency tasks.

[0235] ③ The scheduling algorithm considers the insertion opportunity of the fixed elevation visible time window of the ground station. When the storage constraints of the agile satellite are not met, the visible time window of the fixed elevation of the ground station is inserted to download the agile satellite stored data to the ground station in a timely manner, reduce the agile satellite imaging data load, provide more insertion opportunities for the task, and improve the overall task completion rate.

[0236] ④ During the algorithm scheduling process, the urgency of emergency tasks is calculated based on the designed emergency task urgency heuristic factor. Tasks with larger weights, fewer visible time windows for fixed pitch, and closer to the completion deadline are given priority in scheduling. This reduces the impact of scheduling tasks first on the insertion opportunities of subsequent tasks, and improves the task completion rate and overall scheme benefits.

[0237] It should be noted that, through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the prior art, can be embodied in the form of software products. These computer software products can be stored in computer-readable storage media, such as ROM / RAM, magnetic disks, optical disks, etc., and include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain portions of the embodiments. In this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0238] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An emergency scheduling method for agile satellite resources, characterized in that, The method includes: S1. Obtain planning information; S2. Divide all visible time windows with variable pitch according to their dispersion and discretize them into multiple visible time windows with fixed pitch. S3. Sort the emergency tasks in the unplanned emergency task set ET from highest to lowest urgency. S4. Select an emergency task from the unplanned emergency task set ET. S5. Determine whether the conditions for the direct insertion strategy of the emergency task are met; if yes, execute the direct insertion strategy of the emergency task and then execute S10; otherwise, execute S6. S6. Determine whether the conditions for executing the shift insertion strategy for the emergency task are met; if yes, execute the shift insertion strategy for the emergency task and then execute S10; otherwise, execute S7. S7. Determine whether the conditions for executing the emergency mission and the direct insertion strategy of the ground station are met; if yes, execute the emergency mission and the direct insertion strategy of the ground station, and then execute S10; otherwise, execute S8. S8. Determine whether the conditions for executing the emergency mission's shift insertion and ground station insertion strategy are met; if yes, execute the emergency mission's shift insertion and ground station insertion strategy, and then execute S10; otherwise, execute S9. S9. Determine whether the conditions for executing the deletion and insertion strategy of the emergency task are met; if yes, execute the deletion and insertion strategy of the emergency task, and then execute S10; otherwise, execute S10 directly. S10. Determine whether the unplanned emergency task set ET has been traversed. If yes, proceed to S11; otherwise, return to S4. S11. Iterate through the unplanned set of regular tasks GT and select a regular task; S12. Determine whether the conditions for executing the direct insertion strategy of the regular task are met; if yes, execute the direct insertion strategy of the regular task and then execute S15; otherwise, execute S13. S13. Determine whether the conditions for executing the shift insertion strategy of the regular task are met; if yes, execute the shift insertion strategy of the regular task and then execute S15; otherwise, execute S14. S14. Determine whether the conditions for executing the regular task's deletion and insertion strategy are met; if yes, execute the regular task's deletion and insertion strategy, and then execute S15; otherwise, execute S15 directly. S15. Determine whether the unplanned regular task set GT has been traversed completely; if yes, output the scheduling scheme; otherwise, return to S11.

2. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The planning information includes: Original scheduling scheme P o , Satellite collection A collection of planned emergency tasks A set of planned routine tasks Unplanned collection of emergency tasks Unplanned routine task set Ground station mission set The set of visible time windows with variable pitch (VPVTW).

3. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The process of dividing all visible time windows for variable pitch into multiple visible time windows for fixed pitch based on their dispersion includes: S201. Calculate the subdiscretivity for each agile satellite and each mission: Where, the dispersion ΔP = min{ΔP} ij |t i ∈T,s j ∈S}, ΔH j Indicates agile satellites s j Field of view in the pitch direction, d i Represents task t i The duration of observation, S represents the set of agile satellites, s j This represents the j-th agile satellite. pv j Indicates agile satellites s j Pitch speed, L j It is an agile satellite. j The length of time that the observation strip covers the ground target at a fixed elevation angle. T = DET∪DGT∪ET∪GT represents the total task set, t i It is the i-th task; S202, Based on a visible time window with variable pitch Calculate the number of visible time windows for a fixed pitch: Among them, P j Indicates agile satellites s j Maximum pitch angle; S203. Calculate the visible time window for each fixed pitch: and in, Represents task t i In Agile Satellites j The visible time window of the a-th fixed pitch, It's the start time. It is the end time. Represents task t i In Agile Satellites j The ideal side-slip angle for the visible time window of the a-th fixed pitch (the centerline of the observation strip passes through the mission position), It is to observe the pitch angle; Represents task t i In Agile Satellites j The u-th variable pitch visible time window on the screen; It's the start time. It is the end time. Represents task t i In Agile Satellites j The ideal yaw angle for the uth fixed pitch visible time window.

4. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The direct insertion strategy is as follows: Traverse the visible time window of the current mission's fixed elevation. If the scheduling scheme has an idle time period that meets the mission's observation duration and satisfies the agile satellite's storage and energy constraints after insertion, then perform a direct insertion operation on the mission.

5. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The shift insertion strategy is as follows: Traverse the visible time window of the current task at fixed elevation. If there is no idle time period in the scheduling scheme that meets the task observation duration, and if the insertion of the task satisfies the agile satellite storage and energy constraints, move adjacent conflicting tasks forward and backward without conflict within the visible time window of their fixed elevation. Then calculate the length of the idle time period after the shift. If the length of the idle time period after the shift meets the task observation duration, then insert the task.

6. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The direct insertion strategy for tasks and ground stations is as follows: Traverse the visible time windows of the fixed elevation of the current task. If the scheduling scheme has an idle time period that meets the observation duration of the emergency task, but there is a storage overload, and there is a suitable visible time window of the fixed elevation of the ground station that can be inserted into the ground station scheme, then insert the visible time window of the fixed elevation of the ground station into the scheduling scheme and perform the insertion operation for the emergency task.

7. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The shift insertion and ground station insertion strategies are as follows: Traverse the visible time window of the current task's fixed pitch. In the scheduling scheme, move adjacent conflicting tasks forward and backward without conflict within their visible time window of fixed pitch. Then calculate the length of the idle time period after the shift. If the length of the idle time period after the shift meets the task observation duration, but there is a storage overload, and there is a suitable visible time window of the ground station's fixed pitch that can be inserted into the ground station scheme, then insert the visible time window of the ground station's fixed pitch into the scheduling scheme and perform the task insertion operation.

8. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The deletion and insertion strategy is as follows: Determine if there are any conflicts to be deleted that are smaller than the task weight. If so, delete the conflict with the smallest sum of weights, insert the task, and add the tasks from the deleted conflicts to the corresponding type of unplanned task set. Among them, the conflicts to be deleted include one or more of the following: fixed pitch visibility window conflicts, storage conflicts, and energy conflicts.

9. The emergency dispatching method for agile satellite resources as described in claim 1, characterized in that, The storage constraints and energy constraints are as follows: Storage constraint: Each agile satellite cannot exceed its maximum storage capacity during mission execution; Energy Constraint: The energy consumed in each orbit cannot exceed the maximum energy of the Agile Satellite, i.e.: in, Indicates ground station g k In Agile Satellites j Whether the visible time window of the b-th fixed pitch receives data; if yes, it equals 1; otherwise, it equals 0. Represents task t i In Agile Satellites j Whether the visible time window of the a-th fixed pitch is executed; if so, it is equal to 1, otherwise it is equal to 0. Indicates the set of ground station tasks. It is a ground station g k In Agile Satellites j The total number of visible time windows for fixed pitch; Indicates ground station g k In Agile Satellites j The visible time window of the b-th fixed pitch, It's the start time. It is the end time; Indicates the observed lateral swing angle. rv j Indicates the lateral sway velocity. pv j Indicates pitch speed, The set of visible time windows for a mission at fixed pitch between two consecutive ground stations; α j Indicates the observation storage consumption rate. M j Indicates the maximum storage capacity. Indicates agile satellites s j The set of visible time windows for fixed pitch of ground stations, routine missions, and emergency missions within the nth orbit. β j Indicates the observed energy consumption rate. ρ j Indicates the energy consumption rate of data transmission. Indicates in agile satellites j On the task t i The visible time window of the a-th fixed pitch and task t i' The value is 1 if the visible time windows of the a'-th fixed pitch are adjacent and both executed, and 0 otherwise. ω j Indicates the rate of energy consumption during operation. E j This represents the maximum energy within each orbit. Indicates the maximum number of orbits.

10. An emergency dispatch system for agile satellite resources, the system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

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