Satellite TT&C task scheduling method, device and equipment based on hierarchical optimization

Abstract

This application relates to a method, apparatus, and equipment for satellite telemetry, tracking, and command (TT&C) mission scheduling based on hierarchical optimization. The method includes: establishing a unified model of a set of resource demand objects, a set of equipment capability objects, and a set of satellite visibility forecasts for equipment in medium- and high-orbit orbits (MEO) satellites, based on resource usage requests; preprocessing and decoupling the demand object sets to generate new demand object sets for each scheduling layer; sequentially calling designed sub-scheduling layers for hierarchical resource scheduling based on the new demand object sets, equipment capability object sets, and visibility forecast sets to generate an initial solution set for hierarchical scheduling; calling a designed optimized scheduling layer to reconstruct and optimize the initial solution set based on the demand object sets, generating an optimized solution set for hierarchical scheduling; the optimized solution set for hierarchical scheduling is used to indicate the resource scheduling result for MEO satellites corresponding to the resource usage request. This significantly improves the scheduling efficiency of routine TT&C missions for MEO satellites.

Description

Technical Field

[0001] This application relates to the field of aerospace telemetry and control network resource scheduling technology, and in particular to a satellite telemetry and control mission scheduling method, device and equipment based on hierarchical optimization. Background Technology

[0002] With the rapid increase in the number of satellites with various functions and in different orbits, the number of ground equipment providing telemetry, tracking, and command support for these satellites cannot keep pace. Therefore, how to achieve more efficient resource scheduling under limited resources is a key issue that needs to be studied. However, previous research on resource scheduling has mainly focused on low-Earth orbit (LEO) satellites, and the scheduling models designed, such as some algorithms that have been widely discussed in LEO satellite resource scheduling, such as genetic algorithms and heuristic global search algorithms, have not yielded satisfactory scheduling efficiency and results when applied to resource scheduling of medium- and high-Earth orbit (MEO) satellites.

[0003] Due to their different orbital types, medium- and high-orbit (MEO) satellites and low-orbit (LEO) satellites have significantly different basic conditions in their resource scheduling models. These differences include: long satellite visibility windows (generally several hours or even 24 hours); the visibility of multiple ground devices simultaneously (especially in domestic deployment scenarios); the need for separate scheduling of various mission types (LEO satellites typically integrate telemetry, remote control, and orbit measurement scheduling, while MEO satellites usually schedule these separately, especially since telemetry requires longer timeframes); and the need for integrated scheduling of multiple telemetry and control requirements due to interrelated constraints. These factors result in excessive freedom in selecting the optimal feasible solution for MEO satellite scheduling, making it extremely difficult to find the optimal solution using existing scheduling methods. In developing this invention, the inventors discovered that with the significant increase in MEO satellites used for navigation and communication, there is a need to research large-scale resource scheduling methods suitable for MEO satellites. Currently, traditional satellite resource scheduling methods still suffer from low efficiency in scheduling routine telemetry and control tasks for MEO satellites. Summary of the Invention

[0004] Therefore, it is necessary to provide a satellite telemetry and control mission scheduling method based on hierarchical optimization, a satellite telemetry and control mission scheduling device based on hierarchical optimization, and a computer device to address the above-mentioned technical problems, which can significantly improve the scheduling efficiency of routine telemetry and control missions for medium and high orbit satellites.

[0005] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0006] On one hand, embodiments of the present invention provide a satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization, comprising the following steps:

[0007] Based on the received resource usage requests, a unified model is established for the set of medium and high orbit satellite resource demand objects, the set of equipment capability objects, and the set of satellite visibility forecasts for equipment.

[0008] Preprocess and decouple the associated constraints of the demand object set to generate a new demand object set for each scheduling layer;

[0009] Based on the new demand object set, the equipment capability object set, and the visible forecast set, the designed sub-scheduling layer is sequentially called to perform resource hierarchical scheduling and generate the initial solution set for hierarchical scheduling. The sub-scheduling layer includes the continuous tracking task scheduling layer, the single telemetry limited equipment scheduling layer, the integrated telemetry and control data transmission scheduling layer, the track measurement / remote control demand scheduling layer, and the single telemetry completion processing scheduling layer.

[0010] The designed optimization scheduling layer is invoked to perform correlation constraint reconstruction and optimization scheduling processing on the initial solution set of hierarchical scheduling based on the set of demand objects, generating an optimized solution set of hierarchical scheduling; the optimized solution set of hierarchical scheduling is used to indicate the scheduling result of medium and high orbit satellite resources corresponding to the resource use application.

[0011] On the other hand, a satellite telemetry, tracking, and command (TT&C) mission scheduling device based on hierarchical optimization is also provided, comprising:

[0012] The set creation module is used to create a unified model of a set of medium and high orbit satellite resource demand objects, a set of equipment capability objects, and a set of satellite visibility forecasts for equipment based on the received resource usage requests.

[0013] The set layering module is used to preprocess and decouple the associated constraints of the set of demand objects, and generate new sets of demand objects for each scheduling layer;

[0014] The hierarchical scheduling module is used to sequentially call the designed sub-scheduling layers to perform hierarchical resource scheduling based on the new demand object set, the equipment capability object set, and the visible forecast set, and generate the initial solution set for hierarchical scheduling. The sub-scheduling layers include the continuous tracking task scheduling layer, the single telemetry limited equipment scheduling layer, the integrated telemetry and control data transmission scheduling layer, the track measurement / remote control demand scheduling layer, and the single telemetry completion processing scheduling layer.

[0015] The optimized scheduling module is used to call the designed optimized scheduling layer, and to perform correlation constraint reconstruction and optimized scheduling processing on the initial solution set of hierarchical scheduling based on the set of demand objects, so as to generate the optimized solution set of hierarchical scheduling. The optimized solution set of hierarchical scheduling is used to indicate the scheduling result of medium and high orbit satellite resources corresponding to the resource use application.

[0016] On the other hand, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the steps of the above-mentioned hierarchical optimization-based satellite telemetry and control mission scheduling method.

[0017] One of the above technical solutions has the following advantages and beneficial effects:

[0018] The aforementioned satellite telemetry, tracking, and command (TT&C) mission scheduling method, apparatus, and equipment based on hierarchical optimization establishes three major datasets of medium- and high-orbit satellite resources based on received resource usage requests. Then, it preprocesses and decouples the sets of demand objects, generating new sets of demand objects for each scheduling layer. Following this, based on the new sets of demand objects, the sets of equipment capabilities, and the set of visible forecasts, it sequentially calls the designed sub-scheduling layers for hierarchical resource scheduling, generating an initial solution set for hierarchical scheduling. Finally, it calls the designed sixth sub-scheduling layer (optimized scheduling layer) for constraint reconstruction and optimized scheduling, generating the final optimized solution set for hierarchical scheduling. This yields the scheduling results for medium- and high-orbit satellite resources corresponding to the resource usage requests.

[0019] A unified resource demand model and equipment capability model for medium- and high-orbit satellites were adopted. While ensuring overall scheduling satisfaction, a hierarchical scheduling optimization method significantly reduced the order of magnitude of the feasible solution space search during the medium- and high-orbit satellite resource scheduling process. This improved the time efficiency of finding the optimal solution, reduced the computational complexity of the scheduling algorithm, and achieved a good scheduling satisfaction rate and efficiency. Compared with existing technologies, this scheme can collect telemetry and control resource usage applications submitted by medium- and high-orbit satellite telemetry, tracking, and command (TT&C) users, and, with the goal of maximizing overall satisfaction, quickly generate scheduling results for routine TT&C tasks of medium- and high-orbit satellites using a hierarchical scheduling optimization method. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a satellite telemetry and control mission scheduling method based on hierarchical optimization in one embodiment;

[0021] Figure 2 This is a schematic diagram of the scheduling process implemented by the continuous tracking task scheduling method in one embodiment;

[0022] Figure 3 This is a schematic diagram of the scheduling process implemented by the single telemetry task scheduling method in one embodiment;

[0023] Figure 4 This is a schematic diagram of the scheduling process implemented by the local search optimization scheduling method in one embodiment;

[0024] Figure 5 This is a schematic diagram of the optimized scheduling process implemented by the optimized scheduling layer in one embodiment;

[0025] Figure 6 This is a flowchart illustrating a satellite telemetry and control mission scheduling method based on hierarchical optimization in another embodiment;

[0026] Figure 7 This is a schematic diagram of the module structure of a satellite telemetry, tracking, and command (TT&C) mission scheduling device based on hierarchical optimization in one embodiment. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0029] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are implemented by those skilled in the art. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0030] The scheduling of this invention refers to allocating a certain period of working time of a set of ground equipment (hereinafter referred to as equipment) to a demand object. It mainly refers to two aspects: First, the time window allocated to the equipment is within the visible forecast range of the satellite to the equipment. The equipment is exclusively occupied by the satellite within the allocated time window. That is, a set of equipment can only be exclusively occupied by one satellite at the same time. The time window for the equipment to track other satellites cannot overlap with the allocated time window.

[0031] On the other hand, the equipment capability characteristics (attributes of the unified model object of equipment capability) must match the requirements of the demand object (attributes of the unified model of the demand object), including: the time window allocated to the equipment does not overlap with the equipment's unavailable period, the equipment supports the task type and frequency required by the demand object, the satellite is in the equipment's supported satellite list, and the equipment tracks the satellite within the minimum and maximum elevation angles required by the equipment when tracking the satellite within the allocated time window. In addition, the time window allocated to the equipment for the satellite must be increased by adding tracking preparation time before the tracking and tracking end exit time after the tracking end exit time.

[0032] After scheduling, a time window in which a certain device is exclusively occupied by a certain satellite constitutes a solution. During the scheduling process, multiple sets of devices may be able to satisfy a demand. Often, within the time window required by a demand (called the visible window), only a time window that meets the minimum service duration of the demand but is much shorter than the demand requirement needs to be allocated (called the allocatable window; an allocatable window is a feasible solution). Then, within the visible window required by a demand, the same set of devices can generate multiple feasible solutions by sliding the window (the smaller the time window sliding interval, the more feasible solutions). The visible windows of multiple sets of devices constitute the set of feasible solutions for the demand.

[0033] A single set of equipment can meet the requirements of multiple demand objects, but only one satellite can occupy that set of equipment within a given time window. This leads to conflicts between feasible solutions for multiple demand objects (the allocable windows of the same set of equipment for multiple demand objects conflict in time). Scheduling involves finding the most reasonable feasible solution from the set of feasible solutions for each demand object. During scheduling, the earlier an allocable window is allocated, the greater its impact on other unallocated visible windows. If the first allocated visible window is unreasonable, it will make allocating allocable windows for subsequent demand objects more difficult, or even result in no feasible solutions, reducing the overall satisfaction rate. For the same satellite, the larger the ratio of its adjustable time window to its allocated window, and the more available equipment that meets its requirements, the larger the resulting solution space. Simultaneously, the more overlapping the available equipment of different satellites, the more complex the scheduling calculation becomes, and the computational load and complexity of finding the optimal solution increase exponentially. Therefore, in engineering implementation, it is necessary to minimize the computational load during the scheduling process and control the complexity to find a good scheduling solution within an acceptable timeframe.

[0034] Please see Figure 1 In one embodiment, the present invention provides a satellite telemetry and control mission scheduling method based on hierarchical optimization, including the following steps S12 to S18.

[0035] S12, based on the received resource usage requests, establish a unified model of the set of medium and high orbit satellite resource demand objects, the set of equipment capability objects, and the set of satellite visibility forecasts for equipment.

[0036] It is understood that the resource usage requests received may include, but are not limited to, equipment usage requests from satellite user units such as medium- and high-orbit satellite tracking, telemetry, and command (TT&C) and operations control. Based on the received resource usage requests, a unified model can be established, comprising a set of demand objects, a set of equipment capability objects, and a set of satellite visibility forecasts for the equipment.

[0037] To facilitate the description and understanding of the foregoing content, the aforementioned sets can be illustrated with the following optional descriptive examples. The set of requirement objects for establishing a unified model. satellites i A key attribute of a requirement object includes: satellite identifier (which uniquely identifies the satellite). i To distinguish it from other satellites, a string number can be used, along with the mission type (one or more of the following: remote control (TC), telemetry (TM), orbit determination (P), integrated telemetry and data transmission (INT)), time window (up to 3 windows) and minimum service duration requirement, priority, telemetry and control frequency, expected equipment list, adjustable equipment markers, segment splitting markers, and continuous tracking markers, etc.

[0038] Furthermore, if a requirement object needs to be satisfied simultaneously by multiple task types of arcs or multiple time windows, it constitutes an associated requirement object. The attributes of an associated requirement object include: association mode code, minimum number of arcs to be satisfied, minimum satisfaction time length, maximum time interval between adjacent arcs, device change requirement flags for adjacent arcs, and whether simultaneous tracking of multiple devices is required.

[0039] Establish a unified model of equipment capability object set Resource r j The main attributes include: device identifier (uniquely identifying the device and distinguishing it from other devices; a string number can be used), supported task types (supporting one or more combinations of four task types: remote control (TC), track finding (P), telemetry (TM), and integrated telemetry and control data transmission (INT)), supported frequency range, supported satellite list (the device is configured with basic parameter information of supported satellites), tracking preparation time, tracking end and exit time, minimum or maximum elevation angle limits, unavailable time periods, and location. When converting to a unified model object, the original time value can be mapped to a count of seconds starting at a specific time, and string constants can be mapped to numerical constants. This facilitates faster comparison of large numbers of values ​​and processing of time values ​​in subsequent steps S16 and S18 (resource scheduling). Simultaneously, a unique requirement number is established for each requirement object.

[0040] Construct a visible forecast set based on satellite visible forecasts of equipment. Indicates satellite s i For device r j In the time window The visible window indicates the entry and exit times of the satellite when it is at a certain elevation angle (e.g., 10 degrees) or higher relative to the equipment.

[0041] S14, preprocess and decouple the associated constraints of the demand object set to generate a new demand object set for each scheduling layer.

[0042] It is understandable that in this step, the basic constraint rationality preprocessing is performed on the requirement objects in the requirement object set, the requirement objects with related constraints are decoupled, the requirement objects with related constraints are split into non-related requirement objects, and the requirement objects without related constraints are mapped according to the unified model attribute requirements of the new requirement objects, that is, the original requirement object set T is transformed into a new requirement object set T′.

[0043] The new requirement object is built upon the original requirement object, but it adds globally unified application (requirement) sequence numbers and sub-application (requirement) sequence numbers. These added sequence numbers are used to establish the relationship between the original and new requirement objects. The associated constraints in the original requirement object are decoupled to reduce the processing complexity of the scheduling hierarchy. However, these associated constraints must still be followed. Therefore, the constraint information of the original requirement object is needed in the last sub-scheduling layer. Solutions output by the sub-scheduling layer that do not satisfy the associated constraints will undergo secondary scheduling (i.e., optimized scheduling in the last sub-scheduling layer).

[0044] In some implementations, step S14 may specifically include the following processing steps:

[0045] Check the rationality of the equipment constraints, time constraints, and associated constraint parameters of the original requirement objects in the requirement object set;

[0046] Decouple the associated constraints from the original requirement objects that have associated constraints;

[0047] Using the original requirement objects without associated constraints and the decoupled original requirement objects in the requirement object set as templates, new requirement objects with shared requirement numbers are created, and sub-requirement numbers are added to each new requirement object.

[0048] Understandably, the first step is to perform basic constraint rationality preprocessing on the original demand objects in the demand object set. This includes checking the equipment constraints of resource requirements (certain satellite mission types can only apply for specific equipment), time constraints (the time window cannot exceed the planned cycle time window, the time window length must be greater than the minimum service duration requirement, and the time window length must be greater than the basic arc length constraint of the scheduling system), and the rationality of the correlation constraint parameters between various demand parameters. Demand objects that do not meet the preprocessing conditions do not need to create corresponding new demand objects.

[0049] Then, each original requirement object is processed in sequence, and corresponding new requirement objects are created based on the original requirement objects. A requirement sub-sequence number is added (e.g., 1 is filled in by default or other identifier values), which, together with the requirement sequence number, serves as the unique identifier of the new requirement object. It should be noted that the sequence number of the new requirement object here includes two parts: the requirement sequence number that is the same as the requirement sequence number of the corresponding original requirement object (that is, the requirement sequence number is shared as mentioned above), and the sub-requirement sequence number that has been added to it.

[0050] In some implementations, the steps described above, which involve using the original requirement objects without associated constraints and the decoupled original requirement objects in the requirement object set as templates to create new requirement objects with shared requirement numbers and adding sub-requirement number identifiers to each new requirement object, may specifically include the following processing procedures:

[0051] Set the requirement number of the new requirement object to the requirement number of the corresponding original requirement object;

[0052] Set the sub-requirement number of the corresponding new requirement object of the original requirement object with no associated constraints to a fixed identifier value;

[0053] For each new requirement object corresponding to the original requirement object generated after decoupling from the same original requirement object, set the corresponding sub-requirement number in sequence starting from the set identifier value.

[0054] This can be understood as follows: using the original requirement object as a template, new requirement objects are created, and a sub-requirement number identifier is added to each new requirement object. To maintain the consistency of the new requirement object model, the sub-requirement number identifier of requirement objects without association constraints is set to a fixed identifier value, such as 1 or other numerical values; for original requirement objects with association constraints, multiple new requirement objects are created using the original requirement object as a template according to the number of associations required by its association conditions (the number of new objects is equal to the number of associations), and each new requirement object is also given a corresponding sub-requirement number.

[0055] Each newly created requirement object uses the same requirement number as the original requirement object. This requirement number is unique and serves as a mapping between the original and new requirement objects. At the final optimization and scheduling layer, this requirement number can be used to extract the associated constraints of the corresponding original requirement object as a basis for determining whether the allocated solution meets the user's requirements. For each new requirement object generated after decoupling from the same original requirement object, its sub-requirement number can be set as follows: the sub-requirement numbers of new requirement objects split from an associated object can start from a set identifier value (e.g., 1 or other values) and increase or decrease sequentially, or be arranged according to other ordered numerical sequences, as long as they can effectively distinguish the new requirement objects split from an associated object.

[0056] Specifically, for requirement objects with associated constraints (typical objects such as...) To deassociate the requirements objects associated with track measurement, decompose the constraints and create multiple independent requirements objects using the original requirements objects with associated constraints as templates (e.g., ...). Depend on The resulting new requirement objects are determined by the association conditions of the original requirement objects. The requirement numbers of the new requirement objects are retained from those of the original requirement objects (i.e., requirement numbers are shared), while the sub-requirement numbers can start from, but are not limited to, 1 and increase sequentially (each new requirement object increments its sub-requirement number by 1). Finally, all the newly created requirement objects, together with the new requirement objects corresponding to the original requirement objects that are not associated with any constraints and have fixed sub-requirement numbers, generate a new set of requirement objects.

[0057] In some implementations, the above-described satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization may further include the following data preparation steps:

[0058] Based on the task type and feature identifier of the new requirement object set, the new requirement object set is divided into multiple sub-requirement object sets; the feature identifier refers to the requirement that continuous tracking must be marked as yes. The multiple sub-requirement object sets include the continuous tracking task requirement sub-set, the single telemetry task requirement sub-set, the integrated telemetry and control data transmission task requirement sub-set, and the telemetry and control / tracking task requirement sub-set.

[0059] Based on the tasks undertaken and supported by the devices in the set of device capability objects, the set of device capability objects is divided into multiple device subsets. These multiple device subsets include a device subset that only supports single telemetry, a device subset that supports integrated telemetry data transmission, track measurement, and remote control, and a device subset that supports both track measurement and remote control.

[0060] Specifically, to prepare data for the next step of hierarchical scheduling, a new set of requirement objects is constructed using the new requirement object as the element. Based on the task type and important characteristics of the new requirement object (here referring to the requirement that it must be continuously tracked and identified as such), multiple sub-sets of requirement objects T′={{T continue}, {T TM}, {T INT}, {T P，TC}}, which are: the continuous tracking task requirement subset T continue A subset T of single telemetry task requirements TM The integrated measurement and control data transmission task requirement subset T INT and the subset T of measurement and control / track tracking mission requirements P，TC .

[0061] The set of equipment capability objects R is divided into multiple equipment subsets according to the main tasks they undertake and the types of tasks they support, i.e., R = {{R} TM}, {R INT,P,TC}, {R P,TC}}, respectively representing: a subset of devices {R} that only support single telemetry. TM}, a subset of devices {R} that can support integrated telemetry data transmission, track measurement, and remote control. INT,P,TC}, a subset of devices supporting track measurement and remote control {R P,TC}

[0062] S16, based on the new demand object set, equipment capability object set, and visible forecast set, sequentially call the designed sub-scheduling layer to perform resource hierarchical scheduling, and generate the initial solution set for hierarchical scheduling; the sub-scheduling layer includes the continuous tracking task scheduling layer, the single telemetry limited equipment scheduling layer, the integrated measurement and control data transmission scheduling layer, the track measurement / remote control demand scheduling layer, and the single telemetry completion processing scheduling layer.

[0063] It is understandable that the basic design concept of hierarchical scheduling is to place similar task types in the same scheduling layer as much as possible, so as to facilitate the application of a unified scheduling model based on constraint satisfaction (different task types apply different constraint satisfaction models to different scheduling layers), reduce the complexity of scheduling processing, improve the efficiency of searching for the optimal feasible solution, and at the same time, under the premise of ensuring that the number of available devices in the sub-scheduling layers is sufficient, minimize the probability of the influence of the first scheduled layer on the later scheduled layer, thereby improving the overall scheduling efficiency.

[0064] The scheme in this application includes six sub-scheduling layers, namely: continuous tracking task scheduling layer, single telemetry limited equipment scheduling layer, integrated telemetry and control data transmission scheduling layer, track measurement / remote control demand scheduling layer, single telemetry completion processing scheduling layer, and optimization scheduling layer. Among them:

[0065] The input information for the continuous tracking task scheduling layer is: a subset {T} of continuous tracking requirement objects. continue}, a subset of devices supporting track measurement and remote control {R P,TC}, so the forecast set V is visible.

[0066] The input information for the single telemetry-limited device scheduling layer is: a subset of single telemetry task requirements {T}. TM}, a subset of devices that only support single telemetry {R TM}, so the forecast set V is visible.

[0067] The input information for the integrated telemetry, control, and data transmission scheduling layer is: the subset of integrated telemetry, control, and data transmission task requirements {T}. INT}, a subset of devices {R} that support integrated telemetry data transmission, track measurement, and remote control. INT,P,TC}, so the forecast set V is visible.

[0068] The input information for the track measurement / remote control demand scheduling layer is: a subset of track measurement / control task requirements {T}. P,TC}, a subset of devices {R} that support integrated telemetry data transmission, track measurement, and remote control. INT,P,TC}, a subset of devices supporting track measurement and remote control {R P,TC}, so the forecast set V is visible.

[0069] The input information for the single telemetry completion processing scheduling layer includes: a subset of single telemetry task requirements {T} TM}, a subset of devices {R} that support integrated telemetry data transmission, track measurement, and remote control.INT,P,TC}, a subset of devices supporting track measurement and remote control {R P，TC}, so the forecast set V is visible.

[0070] The input information for optimizing the scheduling layer is: a subset {T} of integrated measurement and control data transmission task requirements. INT}, the subset of telemetry / tracking mission requirements {T P,TC}, a subset of devices {R} that support integrated telemetry data transmission, track measurement, and remote control. INT,P,TC}, a subset of devices supporting track measurement and remote control {R P,TC The forecast set V is visible. Simultaneously, to improve the satisfaction rate, this optimized scheduling layer will perform secondary adjustments on the initial solution sets of single telemetry (single telemetry limited equipment scheduling layer + single telemetry completion processing scheduling layer), integrated telemetry and control data transmission scheduling layer, and track measurement / remote control demand scheduling layer). The execution order of each layer follows the above sequence sequentially. The optimized scheduling layer is called last to perform adjustments and optimizations, ensuring that the associated constraints of the demand are met and comprehensively optimizing the allocated solution set to improve the overall satisfaction rate.

[0071] The purpose of dividing single telemetry requirements into two scheduling layers (single telemetry-limited equipment scheduling layer + single telemetry completion processing scheduling layer) is to prioritize allocating arc segments to devices with relatively simple functions (single telemetry devices) to improve equipment utilization and reduce conflicts with multifunctional devices requiring integrated telemetry and data transmission, remote control / tracking. Devices with integrated remote control and data transmission capabilities all support remote control / tracking functions, but conversely, devices supporting remote control / tracking functions may not necessarily have integrated telemetry and data transmission capabilities. Therefore, dividing integrated telemetry and data transmission task requirements and track / remote control task requirements into two scheduling layers, with priority given to integrated telemetry and data transmission, ensures a high satisfaction rate for integrated telemetry and data transmission requirements.

[0072] S18 invokes the designed optimization scheduling layer, performs correlation constraint reconstruction and optimization scheduling processing on the initial solution set of hierarchical scheduling based on the set of demand objects, and generates the hierarchical scheduling optimization solution set; the hierarchical scheduling optimization solution set is used to indicate the scheduling result of medium and high orbit satellite resources corresponding to the resource use application.

[0073] It is understandable that the initial solutions at the end of each sub-scheduling layer are added to the total initial solution set (i.e., the hierarchical scheduling initial solution set). In the optimization scheduling layer, optimization scheduling can be performed based on the total initial solution set to generate the final hierarchical scheduling optimization solution set.

[0074] The aforementioned satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization establishes three major datasets for medium- and high-orbit satellite resources based on received resource usage requests, using a unified model of high-orbit satellite demand. Then, it preprocesses and decouples the sets of demand objects, generating new sets of demand objects for each scheduling layer. Following this, based on the new sets of demand objects, equipment capability sets, and visibility forecast sets, it sequentially calls the designed sub-scheduling layers for hierarchical resource scheduling, generating an initial solution set for hierarchical scheduling. Finally, it calls the sixth designed sub-scheduling layer (optimized scheduling layer) for constraint reconstruction and optimized scheduling, generating the final optimized solution set for hierarchical scheduling. This yields the scheduling results for medium- and high-orbit satellite resources corresponding to the resource usage requests.

[0075] A unified resource demand model and equipment capability model for medium- and high-orbit satellites were adopted. While ensuring overall scheduling satisfaction, a hierarchical scheduling optimization method significantly reduced the order of magnitude of the feasible solution space search during the medium- and high-orbit satellite resource scheduling process. This improved the time efficiency of finding the optimal solution, reduced the computational complexity of the scheduling algorithm, and achieved a good scheduling satisfaction rate and efficiency. Compared with existing technologies, this scheme can collect telemetry and control resource usage applications submitted by medium- and high-orbit satellite telemetry, tracking, and command (TT&C) users, and, with the goal of maximizing overall satisfaction, quickly generate scheduling results for routine TT&C tasks of medium- and high-orbit satellites using a hierarchical scheduling optimization method.

[0076] Addressing the routine telemetry and control (TT&C) mission scheduling needs of medium- and high-orbit satellites in aerospace telemetry and control networks, the method described in this application balances overall satisfaction rate and scheduling efficiency. Building upon existing heuristic scheduling methods, it proposes a hierarchical scheduling approach. When selecting the optimal solution, it comprehensively considers demand priority, equipment priority, the scarcity of available resources, and the benefits and costs of choosing feasible solutions. It carefully selects the demand object set and scheduling order for each scheduling layer, particularly by dividing a single telemetry mission demand into two scheduling layers. This prevents single-layer scheduling from consuming excessive resources from other demands and improves the utilization rate of limited resources. For the first time, it achieves automated resource scheduling for medium- and high-orbit satellites, obtaining a high mission scheduling satisfaction rate, demonstrating significant engineering implications.

[0077] In one embodiment, the continuous tracking task scheduling layer uses the continuous tracking task scheduling method for resource scheduling, the single telemetry limited equipment scheduling layer and the single telemetry completion processing scheduling layer use the single telemetry task scheduling method for resource scheduling, and the integrated telemetry and control data transmission scheduling layer and the track measurement / remote control demand scheduling layer use the local search optimization scheduling method for resource scheduling.

[0078] It is understood that, for the aforementioned five sub-scheduling layers, this application designs three scheduling methods based on constraint satisfaction models: continuous tracking task scheduling, single telemetry task scheduling, and local search optimization scheduling. The continuous tracking task scheduling method is used to implement the scheduling processing of the continuous tracking task scheduling layer. The single telemetry task scheduling method is used to implement the scheduling processing of the single telemetry limited equipment scheduling layer and the single telemetry completion processing scheduling layer. The local search optimization scheduling method is used to implement the scheduling processing of the integrated telemetry and control data transmission scheduling layer and the track measurement / remote control demand scheduling layer. Among these, in the sub-scheduling layers, the available equipment range for the continuous tracking task scheduling layer, the integrated telemetry and control data transmission scheduling layer, the track measurement / remote control demand scheduling layer, and the single telemetry completion processing scheduling layer is unrestricted. However, the available equipment range for the single telemetry limited equipment scheduling layer is restricted; it can only be scheduled within a limited equipment range, the specific range of which can be given based on the actual network-wide resource situation.

[0079] Specifically, the continuous tracking task scheduling layer uses a subset T of continuous tracking task requirements. continue As input, the continuous tracking task scheduling method (which can exist in the form of an algorithm program) is invoked to generate the initial solution set of the continuous tracking task scheduling layer and add it to the initial solution set of the hierarchical scheduling.

[0080] The single telemetry-limited device scheduling layer is based on a single telemetry task requirement subset T. TM As input, the single telemetry task scheduling method (which can exist in the form of an algorithm program) is invoked. The single telemetry limited equipment range is configured according to the actual available equipment of medium and high orbit satellites. Here, it is limited to single telemetry equipment. The initial solution set of the single telemetry limited equipment scheduling layer is generated and added to the hierarchical scheduling initial solution set.

[0081] The integrated telemetry, control and data transmission scheduling layer is based on the integrated telemetry, control and data transmission task requirement subset T. INT As input, the local search optimization scheduling method (which can exist in the form of an algorithm program) is invoked to generate the initial solution set of the integrated measurement and control data transmission scheduling layer and add it to the initial solution set of the hierarchical scheduling.

[0082] The orbit measurement / remote control requirement scheduling layer uses a subset T of orbit measurement / control task requirements. P,TC As input, the local search optimization scheduling method is invoked to generate the initial solution set of the track measurement / remote control demand scheduling layer and add it to the initial solution set of the hierarchical scheduling.

[0083] The single telemetry completion processing scheduling layer uses a subset of single telemetry task requirements {T} TM}, a subset of devices {R} that support integrated telemetry data transmission, track measurement, and remote control. INT,P,TC}, a subset of devices supporting track measurement and remote control {R P，TC} and the visible forecast set V are used as inputs. The single telemetry task scheduling method is called. The available equipment range includes all equipment (single telemetry + multi-function) with remaining idle time periods. Based on the initial solution set of the single telemetry-limited equipment scheduling layer, a single telemetry initial solution set is generated and added to the hierarchical scheduling initial solution set.

[0084] The main information of each solution object in the initial solution set of hierarchical scheduling may include: user code, satellite code, equipment code, requirement number (requirement number from the requirement object), sub-requirement number (sub-requirement number from the requirement object), tracking start time, tracking end time, and task type, etc.

[0085] In one embodiment, such as Figure 2 As shown, the continuous tracking task scheduling method can include the following scheduling processing steps:

[0086] Sort the continuous tracking requirement objects in the continuous tracking task requirement subset in descending order of priority;

[0087] Determine whether the continuous tracking of the required objects has been completely traversed;

[0088] If so, then terminate the continuous tracking task scheduling;

[0089] If not, load a continuous tracking requirement object;

[0090] Determine whether the allocated plan meets the minimum service duration requirement;

[0091] If so, return to the step of determining whether the continuously tracked requirement objects have been traversed.

[0092] If not, then load the desired device list for the continuous tracking requirement object based on the subset of devices that support track measurement and remote control;

[0093] Based on the time window of the continuously tracked demand object, the visible forecast of the desired device is loaded according to the visible forecast set;

[0094] Construct a feasible solution space that satisfies the continuous tracking requirement;

[0095] Determine whether all feasible solution objects have been traversed;

[0096] If so, return to the step of determining whether the continuously tracked requirement objects have been traversed.

[0097] If not, load a feasible solution object;

[0098] Take the plan whose tracking end time coincides with the tracking start time of the loaded feasible solution object;

[0099] Based on the selected plan, create a new plan object whose tracking end time extends to the tracking end time of the feasible solution object;

[0100] Delete the selected plan and add the new plan object to the set of assigned plans;

[0101] Determine whether the allocated plan meets the minimum service duration requirement;

[0102] If so, return to the step of determining whether the continuously tracked requirement objects have been traversed.

[0103] If not, return to the step of determining whether all feasible solution objects have been traversed.

[0104] In one embodiment, such as Figure 3 As shown, the single telemetry task scheduling method can include the following scheduling processing steps:

[0105] Determine whether all requirement objects in the single telemetry task requirement subset have been traversed;

[0106] If it is determined that the requirement objects in the single telemetry task requirement subset have not been completely traversed, then the following steps are executed:

[0107] Load a single telemetry requirement object;

[0108] Load the list of desired devices for a single telemetry request into the list of available devices;

[0109] Based on a time window, retrieve visible forecast data for available devices from the visible forecast set;

[0110] Construct a feasible solution space that satisfies the single telemetry requirement object;

[0111] Construct a feasible solution space for single telemetry;

[0112] Return to the steps for determining whether all requirement objects in the single telemetry task requirement subset have been traversed;

[0113] If it is determined that all requirement objects in the single telemetry task requirement subset have been traversed, then the following steps are executed:

[0114] Determine whether the request object has been processed;

[0115] If so, then terminate single telemetry resource scheduling;

[0116] If not, load the feasible solution space of the highest priority single telemetry requirement object;

[0117] Determine whether the number of available feasible solutions in the feasible solution space is zero;

[0118] If so, return to the step of determining whether the request object has been processed;

[0119] If not, load the feasible solution with the highest expected value from the device;

[0120] Determine whether a feasible solution satisfies the requirement constraints;

[0121] If not, the feasible solution will be removed from the feasible solution space of the current single telemetry request object and the process will return to the step of determining whether the request object has been processed.

[0122] If so, calculate the remaining demand time window for the current single telemetry demand object after the feasible solution allocation;

[0123] Update the single telemetry feasible solution space and return the steps to determine whether the required object has been processed.

[0124] In one embodiment, such as Figure 4 As shown, the local search optimization scheduling method can include the following scheduling processing steps:

[0125] Load the set of requirements objects; the set of requirements objects includes a subset of integrated telemetry and data transmission task requirements and a subset of telemetry and control / track measurement task requirements;

[0126] Determine if the required objects have been completely traversed;

[0127] If the required objects have not been completely traversed, then perform the following steps:

[0128] Load a requirement object;

[0129] Load the list of available devices for the required object;

[0130] Based on the subset of devices that support integrated telemetry and data transmission, track measurement and remote control, the subset of devices that support track measurement and remote control, and the set of visible forecasts, the visible forecasts are based on the time window and the available devices.

[0131] Within the idle arc segment, a feasible solution space that satisfies the requirements is constructed by sliding with the minimum service duration as the length unit.

[0132] Construct the feasible solution space of the set of requirement objects and return the steps to determine whether the requirement objects have been traversed.

[0133] If the required objects have been traversed, then perform the following steps:

[0134] Assign a priority value to the requirement object;

[0135] Determine whether the priority group has been processed;

[0136] If so, then terminate the local search scheduling;

[0137] If not, load a set of feasible solution spaces for a set of requirement objects;

[0138] Determine whether the loaded group requests have been processed.

[0139] If so, return to the step of determining whether the priority group has been processed;

[0140] If not, load the feasible solution space of the requirement object with the lowest cost;

[0141] Load the feasible solution with the lowest probability of conflict;

[0142] Determine whether the feasible solution with the lowest conflict probability satisfies the requirement constraints;

[0143] If not, remove the feasible solution with the lowest conflict probability from the feasible solution space of the current requirement object and return to the step of determining whether the loaded group requirement has been processed.

[0144] If so, set the scheduling status of the current demand object to satisfied;

[0145] Update the feasible solution space of the set of requirements objects and return the steps for determining whether the loaded group requirements have been processed.

[0146] In one embodiment, such as Figure 5 As shown, the process of reconstructing associated constraints and optimizing scheduling at the optimization scheduling layer can include the following scheduling processing steps:

[0147] Sort the requirement objects in the requirement object set in descending order of priority;

[0148] Determine whether all requirement objects have been checked;

[0149] If so, the scheduling ends;

[0150] If not, load a demand object and the corresponding plan set from the initial solution set of hierarchical scheduling;

[0151] Determine whether the object in question is a related object;

[0152] If the required object is determined not to be a related object, then perform the following steps:

[0153] Determine whether the allocated plan has met the minimum service duration requirement;

[0154] If so, return to the step of determining whether all requirement objects have been checked;

[0155] If not, the single-object scheduling method for medium and high orbit satellites will be invoked for secondary scheduling;

[0156] Determine whether the scheduling result meets the minimum service duration requirement;

[0157] If so, the scheduling result is added to the set of allocated plans;

[0158] If not, return to the step of determining whether all requirement objects have been checked;

[0159] If the required object is determined to be a related object, then perform the following steps:

[0160] If the allocated plan meets the total service duration requirement, determine whether the allocated plan meets the minimum arc number requirement;

[0161] If so, return to the step of determining whether all requirement objects have been checked;

[0162] If not, or if the allocated plan does not meet the total service duration requirement, then load the sub-requirement object that does not meet the constraint;

[0163] The single-object scheduling method for medium- and high-orbit satellites is invoked for secondary scheduling.

[0164] Add the scheduling results to the set of allocated plans;

[0165] Determine if the sub-requirement object has an assigned plan;

[0166] If not, return to the step of determining whether all requirement objects have been checked;

[0167] If so, remove the corresponding assigned plan from the plan set and return to the step of determining whether all demand objects have been checked.

[0168] It is understandable that, based on the hierarchical scheduling initial solution set generated in step S16 above, and tracing back to the associated constraint requirements in the original demand object set T (the attributes of the solutions generated by each sub-scheduling layer include the demand sequence number and the sub-demand sequence number), the associated constraints of the objects in the hierarchical scheduling initial solution set are reconstructed according to the associated constraints of the original demand objects. Secondary scheduling (i.e., optimization scheduling processing) is performed on the initial solutions that do not meet the associated constraints. Solutions that meet the associated constraints are allocated and replaced with the corresponding initial solutions in the hierarchical scheduling initial solution set. After completing the reconstruction of associated constraints and optimization scheduling processing, the hierarchical scheduling optimization solution set is generated.

[0169] In one embodiment, such as Figure 6 As shown, the satellite telemetry, tracking, and command (TT&C) task scheduling method based on hierarchical optimization described above may further include step S11 before step S12:

[0170] S11: Obtain resource usage requests sent by satellite telemetry, tracking, and command users.

[0171] It is understandable that the scheduling system can receive resource usage requests sent online by satellite telemetry, tracking, and command (TT&C) users, and then, based on these requests, establish a set of demand objects for a unified model of medium- and high-orbit satellites. Etc. A typical satellite s iWithin a planning cycle (e.g., 7 days), there will be multiple applications (corresponding to multiple application documents). An independent demand object is created based on each application document. Based on the original application number and user information, a demand number with uniqueness in the medium and high orbit satellite scheduling system is added to the demand object. Each demand object applies for resources in one or more time windows, and each time window has a corresponding minimum service duration requirement.

[0172] Furthermore, following step S18, steps S20 and S22 may also be included:

[0173] S20, Generate the application results corresponding to the resource usage application based on the hierarchical scheduling optimization solution set;

[0174] S22 sends the application results to the satellite telemetry, tracking, and command (TT&C) user terminal; the application results are used to indicate the resource scheduling results for medium and high orbit satellites.

[0175] It is understandable that the satellite telemetry, tracking, and command (TT&C) user terminal is the terminal device used by the requesting user to send resource usage requests to the resource scheduling system. The hierarchical scheduling optimization solution set serves as the final solution set for this routine TT&C mission scheduling of medium- and high-orbit satellites. Based on this solution set, request results are generated and then sent to the requesting user in a pre-defined format, informing them of the fulfillment of their requests. The system provides a response to each request, indicating whether it has been fulfilled. For fulfilled requests, the system also includes the allocated equipment and its operating time window, thus providing the requesting user with a clear indication of the scheduling results for this routine TT&C mission of medium- and high-orbit satellites.

[0176] In one embodiment, to more intuitively and comprehensively illustrate the above-described satellite telemetry, tracking, and command (TT&C) task scheduling method based on hierarchical optimization, the following is an optional simulation application example of the method:

[0177] A large-scale medium-to-high orbit (MTO) satellite scheduling scenario was established in the simulation environment, including routine telemetry and control tasks for 60 MTO satellites and 30 sets of available equipment. The established set of MTO satellite demand objects contained 423 independent objects. After decoupling and decoupling the associated constraints, a new set of demand objects was created, containing 1161 independent request objects. The total requested equipment duration was 3366 hours, of which 2220 hours were for single telemetry requests. Table 1 shows the statistics of MTO satellite resource request duration, Table 2 shows the statistics of available equipment capabilities for available MTO satellites, and Table 3 shows the test environment parameter configuration.

[0178] Table 1

[0179]

[0180] Table 2

[0181]

[0182] Table 3

[0183]

[0184] After implementing the aforementioned demand scheduling based on the hierarchical optimization-based satellite telemetry and control mission scheduling method, Table 4 presents the scheduling results: a total of 1309 arc segments were allocated, with a total arc segment duration of 3326 hours and equipment switching time of 142 hours, of which 2215 hours were allocated for single telemetry. Table 5 shows the distribution of single telemetry tasks across single-function and multi-function equipment, with a distribution rate of 97.7% across 15 sets of single telemetry equipment, and an average utilization time of 145 hours per single telemetry device. Based on the test environment configuration given in Table 3, and using the scheduling method designed in this application, the scheduling time is approximately 10 minutes, and the overall scheduling success rate reaches 98.8% under conditions of moderate equipment shortage (the main reasons for non-compliance are concentrated in integrated telemetry and data transmission requirements, due to insufficient available equipment). The above method of this application verifies, through simulation examples, that under the constraints of geographical deployment of aerospace telemetry and control equipment, the automated scheduling of routine telemetry and control missions for medium- and high-orbit satellites has been achieved for the first time, achieving a high scheduling satisfaction rate.

[0185] Table 4

[0186] Application type Application duration (hours) Allocate time (hours) Satisfaction rate Continuous tracking 504 504 100％ Single telemetry 1884 1879 99.7％ Integrated measurement and control data transmission 417 382 91.7％ Remote control / track measurement 560.58 560.58 100％

[0187] Table 5

[0188] Single-function device Multifunctional device Quantity (sets) 15 10 Total tracking time (hours) 2170 50 Tracking percentage of total duration 97.7％ 2.3％ Average duration (in hours) for a single unit of equipment 144.68 5.03

[0189] It should be understood that, although Figures 1-6 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order requirement for the execution of these steps; they can be executed in other orders. Figures 1-6 At least some of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0190] Please see Figure 7In one embodiment, a satellite telemetry, tracking, and command (TT&C) mission scheduling device 100 based on hierarchical optimization is also provided, including a set establishment module 11, a set hierarchical module 13, a hierarchical scheduling module 15, and an optimized scheduling module 17. The set establishment module 11 is used to establish a unified model of a set of medium- and high-orbit satellite resource requirements, a set of equipment capabilities, and a set of satellite visibility forecasts for equipment based on received resource usage requests. The set hierarchical module 13 is used to preprocess and decouple the requirement sets and related constraints to generate new requirement sets for each scheduling layer. The hierarchical scheduling module 15 is used to sequentially call the designed sub-scheduling layers for hierarchical resource scheduling based on the new requirement sets, equipment capability sets, and visibility forecast sets, generating an initial solution set for hierarchical scheduling; the sub-scheduling layers include a continuous tracking mission scheduling layer, a single telemetry-limited equipment scheduling layer, an integrated TT&C data transmission scheduling layer, an orbit measurement / remote control requirement scheduling layer, and a single telemetry completion processing scheduling layer. The optimized scheduling module 17 is used to call the designed optimized scheduling layer, and to perform correlation constraint reconstruction and optimized scheduling processing on the initial solution set of hierarchical scheduling according to the set of demand objects, so as to generate the optimized solution set of hierarchical scheduling; the optimized solution set of hierarchical scheduling is used to indicate the scheduling result of medium and high orbit satellite resources corresponding to the resource use application.

[0191] The aforementioned satellite telemetry, tracking, and command (TT&C) mission scheduling device 100, based on hierarchical optimization, establishes three major data sets of medium- and high-orbit satellite resources according to the received resource usage requests through the collaboration of various modules. Then, it preprocesses and decouples the related constraints of the demand object set to generate new demand object sets for each scheduling layer. Subsequently, based on the new demand object set, the equipment capability object set, and the visibility forecast set, it sequentially calls the designed sub-scheduling layers to perform hierarchical resource scheduling, generating an initial solution set for hierarchical scheduling. Finally, it calls the designed sixth sub-scheduling layer (optimized scheduling layer) to perform related constraint reconstruction and optimized scheduling processing, generating the final optimized solution set for hierarchical scheduling, thus obtaining the medium- and high-orbit satellite resource scheduling result corresponding to the resource usage request.

[0192] A unified resource demand model and equipment capability model for medium- and high-orbit satellites were adopted. While ensuring overall scheduling satisfaction, a hierarchical scheduling optimization method significantly reduced the order of magnitude of the feasible solution space search during the medium- and high-orbit satellite resource scheduling process. This improved the time efficiency of finding the optimal solution, reduced the computational complexity of the scheduling algorithm, and achieved a good scheduling satisfaction rate and efficiency. Compared with existing technologies, this scheme can collect telemetry and control resource usage applications submitted by medium- and high-orbit satellite telemetry, tracking, and command (TT&C) users, and, with the goal of maximizing overall satisfaction, quickly generate scheduling results for routine TT&C tasks of medium- and high-orbit satellites using a hierarchical scheduling optimization method.

[0193] Addressing the routine telemetry and control (TT&C) mission scheduling needs of medium- and high-orbit satellites in aerospace telemetry and control networks, the method described in this application balances overall satisfaction rate and scheduling efficiency. Building upon existing heuristic scheduling methods, it proposes a hierarchical scheduling approach. When selecting the optimal solution, it comprehensively considers demand priority, equipment priority, the scarcity of available resources, and the benefits and costs of choosing feasible solutions. It carefully selects the demand object set and scheduling order for each scheduling layer, particularly by dividing a single telemetry mission demand into two scheduling layers. This prevents single-layer scheduling from consuming excessive resources from other demands and improves the utilization rate of limited resources. For the first time, it achieves automated resource scheduling for medium- and high-orbit satellites, obtaining a high mission scheduling satisfaction rate, demonstrating significant engineering implications.

[0194] For specific limitations regarding the satellite telemetry, tracking, and command (TT&C) mission scheduling device 100 based on hierarchical optimization, please refer to the corresponding limitations of the satellite TT&C mission scheduling method based on hierarchical optimization mentioned above, which will not be repeated here. Each module in the aforementioned satellite TT&C mission scheduling device 100 based on hierarchical optimization can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independent of specific data processing devices, or stored in software in the memory of the aforementioned devices, so that the processor can call and execute the operations corresponding to each module. The aforementioned devices can be, but are not limited to, various types of computer equipment or systems in this field.

[0195] On another front, a computer device is also provided, including a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program, can perform the following steps: based on the received resource usage application, establish a unified model of a set of medium- and high-orbit satellite resource demand objects, a set of equipment capability objects, and a set of satellite visibility forecasts for the equipment; preprocess and decouple the demand object sets and related constraints to generate new demand object sets for each scheduling layer; according to the new demand object sets, the set of equipment capability objects, and the set of visibility forecasts, sequentially call the designed sub-scheduling layers to perform resource layered scheduling, generating an initial solution set for layered scheduling; the sub-scheduling layers include a continuous tracking task scheduling layer, a single telemetry-limited equipment scheduling layer, an integrated telemetry and data transmission scheduling layer, an orbit measurement / remote control demand scheduling layer, and a single telemetry completion processing scheduling layer; call the designed optimization scheduling layer, and perform related constraint reconstruction and optimization scheduling processing on the initial solution set for layered scheduling according to the demand object sets to generate an optimized solution set for layered scheduling; the optimized solution set for layered scheduling is used to indicate the medium- and high-orbit satellite resource scheduling result corresponding to the resource usage application.

[0196] In one embodiment, when the processor executes the computer program, it can also implement the steps or sub-steps added in the various embodiments of the satellite telemetry and control mission scheduling method based on hierarchical optimization.

[0197] Furthermore, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: based on the received resource usage application, a unified model of a set of medium- and high-orbit satellite resource demand objects, a set of equipment capability objects, and a set of satellite visibility forecasts for equipment is established; the set of demand objects is preprocessed and decoupled from the associated constraints to generate a new set of demand objects for each scheduling layer; according to the new set of demand objects, the set of equipment capability objects, and the set of visibility forecasts, the designed sub-scheduling layers are sequentially called to perform resource layered scheduling, generating an initial solution set for layered scheduling; the sub-scheduling layers include a continuous tracking task scheduling layer, a single telemetry-limited equipment scheduling layer, an integrated telemetry and data transmission scheduling layer, an orbit measurement / remote control demand scheduling layer, and a single telemetry completion processing scheduling layer; the designed optimization scheduling layer is called to perform associated constraint reconstruction and optimization scheduling processing on the initial solution set for layered scheduling based on the set of demand objects, generating an optimized solution set for layered scheduling; the optimized solution set for layered scheduling is used to indicate the medium- and high-orbit satellite resource scheduling result corresponding to the resource usage application.

[0198] In one embodiment, when the computer program is executed by the processor, it can also implement the steps or sub-steps added in the various embodiments of the satellite telemetry and control mission scheduling method based on hierarchical optimization.

[0199] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus DRAM (RDRAM), and interface DRAM (DRDRAM), etc.

[0200] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0201] The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, all of which fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization, characterized in that, Including the following steps: Based on the received resource usage requests, a unified model is established for the set of medium and high orbit satellite resource demand objects, the set of equipment capability objects, and the set of satellite visibility forecasts for equipment. The set of demand objects is preprocessed and decoupled from the associated constraints to generate a new set of demand objects for each scheduling layer; Based on the new demand object set, the equipment capability object set, and the visible forecast set, the designed sub-scheduling layer is sequentially called to perform resource hierarchical scheduling, generating an initial solution set for hierarchical scheduling; the sub-scheduling layer includes a continuous tracking task scheduling layer, a single telemetry limited equipment scheduling layer, an integrated telemetry and control data transmission scheduling layer, a track measurement / remote control demand scheduling layer, and a single telemetry completion processing scheduling layer. The designed optimization scheduling layer is invoked, and the initial solution set of hierarchical scheduling is reconstructed and optimized based on the set of demand objects to generate an optimized solution set of hierarchical scheduling. The optimized solution set of hierarchical scheduling is used to indicate the scheduling result of medium and high orbit satellite resources corresponding to the resource usage application. The steps of preprocessing and decoupling the associated constraints of the demand object set to generate new demand object sets for each scheduling layer include: Check the rationality of the equipment constraints, time constraints, and associated constraint parameters of the original demand objects in the set of demand objects; Decouple the associated constraints from the original requirement objects that have associated constraints; Using the original requirement objects without associated constraints and the decoupled original requirement objects in the set of requirement objects as templates, new requirement objects with shared requirement numbers are created, and sub-requirement numbers are added to each of the new requirement objects. Before the process of sequentially calling the designed sub-scheduling layer for resource hierarchical scheduling based on the new demand object set, the equipment capability object set, and the visible forecast set, the following steps are also included: Based on the task type and feature identifier of the requirement objects in the new requirement object set, the new requirement object set is divided into multiple sub-requirement object sets; the feature identifier refers to the requirement that continuous tracking must be marked as yes, and the multiple sub-requirement object sets include a continuous tracking task requirement sub-set, a single telemetry task requirement sub-set, an integrated telemetry and control data transmission task requirement sub-set, and a telemetry and control / tracking task requirement sub-set; Based on the tasks undertaken and supported by the devices in the set of device capability objects, the set of device capability objects is divided into multiple device subsets; the multiple device subsets include a device subset that only supports single telemetry, a device subset that supports integrated telemetry data transmission, track measurement and remote control, and a device subset that supports track measurement and remote control. The continuous tracking task scheduling layer uses the continuous tracking task scheduling method for resource scheduling, the single telemetry limited device scheduling layer and the single telemetry completion processing scheduling layer use the single telemetry task scheduling method for resource scheduling, and the integrated telemetry and control data transmission scheduling layer and the track measurement / remote control demand scheduling layer use the local search optimization scheduling method for resource scheduling.

2. The satellite telemetry, tracking, and command (TT&C) task scheduling method based on hierarchical optimization according to claim 1, characterized in that, The steps of creating new requirement objects with shared requirement numbers and adding sub-requirement number identifiers to each of the new requirement objects, using the original requirement objects without associated constraints and the decoupled original requirement objects in the requirement object set as templates, include: Set the requirement number of the new requirement object to the requirement number of the corresponding original requirement object; Set the sub-requirement number of the new requirement object corresponding to the original requirement object without associated constraints to a fixed identifier value; For each new requirement object corresponding to the original requirement object generated after decoupling from the same original requirement object, set the corresponding sub-requirement number in sequence starting from the set identifier value.

3. The satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization according to claim 1, characterized in that, The continuous tracking task scheduling method includes the following steps: Sort the continuous tracking requirement objects in the continuous tracking task requirement subset in descending order of priority; Determine whether the continuous tracking of the required objects has been completely traversed; If so, then terminate the continuous tracking task scheduling; If not, load a continuous tracking requirement object; Determine whether the allocated plan meets the minimum service duration requirement; If so, return to the step of determining whether the continuously tracked requirement object has been traversed. If not, then load the desired device list for the continuous tracking requirement object based on the subset of devices that support track measurement and remote control; Based on the time window of the continuously tracked demand object, the visible forecast of the desired device is loaded according to the visible forecast set; Construct a feasible solution space that satisfies the continuous tracking requirement; Determine whether all feasible solution objects have been traversed; If so, return to the step of determining whether the continuously tracked requirement object has been traversed. If not, load a feasible solution object; Take the plan whose tracking end time coincides with the tracking start time of the loaded feasible solution object; Based on the selected plan, create a new plan object whose tracking end time extends to the tracking end time of the feasible solution object; Delete the selected plan and add the new plan object to the set of assigned plans; Determine whether the allocated plan meets the minimum service duration requirement; If so, return to the step of determining whether the continuously tracked requirement object has been traversed. If not, return to the step of determining whether the feasible solution objects have been traversed.

4. The satellite telemetry, tracking, and command (TT&C) task scheduling method based on hierarchical optimization according to claim 1, characterized in that, The single telemetry task scheduling method includes the following steps: Determine whether all the requirement objects in the single telemetry task requirement subset have been traversed; If it is determined that the requirement objects in the single telemetry task requirement subset have not been completely traversed, then the following steps are executed: Load a single telemetry requirement object; Load the list of desired devices for a single telemetry request into the list of available devices; Based on a time window, retrieve visible forecast data for available devices from the visible forecast set; Construct a feasible solution space that satisfies the single telemetry requirement object; Construct a feasible solution space for single telemetry; Return to the step of determining whether all requirement objects in the single telemetry task requirement subset have been traversed; If it is determined that the requirement objects in the single telemetry task requirement subset have been traversed, then the following steps are executed: Determine whether the request object has been processed; If so, then terminate single telemetry resource scheduling; If not, load the feasible solution space of the highest priority single telemetry requirement object; Determine whether the number of available feasible solutions in the feasible solution space is zero; If so, return to the step of determining whether the request object has been processed; If not, load the feasible solution with the highest expected value from the device; Determine whether a feasible solution satisfies the requirement constraints; If not, the feasible solution is removed from the feasible solution space of the current single telemetry request object and the process is returned to the step of determining whether the request object has been processed. If so, calculate the remaining demand time window for the current single telemetry demand object after the feasible solution allocation; Update the single telemetry feasible solution space and return the step of determining whether the requirement object has been processed.

5. The satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization according to claim 1, characterized in that, The local search optimization scheduling method includes the following steps: Load the set of requirements objects; the set of requirements objects includes the integrated measurement and control data transmission task requirement subset and the measurement and control / track measurement task requirement subset; Determine if the required objects have been completely traversed; If the required objects have not been completely traversed, then perform the following steps: Load a requirement object; Load the list of available devices for the required object; Based on the subset of devices that support integrated telemetry data transmission, track measurement and remote control, the subset of devices that support track measurement and remote control and the visible forecast set, the visible forecast is based on the time window and the available devices. Within the idle arc segment, a feasible solution space that satisfies the requirements is constructed by sliding with the minimum service duration as the length unit. Construct the feasible solution space of the set of requirement objects and return the step of determining whether the requirement objects have been traversed; If the required objects have been traversed, then perform the following steps: Assign a priority value to the requirement object; Determine whether the priority group has been processed; If so, then terminate the local search scheduling; If not, load a set of feasible solution spaces for a set of requirement objects; Determine whether the loaded group requests have been processed. If so, return to the step of determining whether the priority group has been processed; If not, load the feasible solution space of the requirement object with the lowest cost; Load the feasible solution with the lowest probability of conflict; Determine whether the feasible solution with the lowest conflict probability satisfies the requirement constraints; If not, the feasible solution with the lowest conflict probability is removed from the feasible solution space of the current requirement object, and the process returns to the step of determining whether the loaded group requirement has been processed. If so, set the scheduling status of the current demand object to satisfied; Update the feasible solution space of the set of requirements objects, and return to the step of determining whether the loaded group requirements have been processed.

6. The satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization according to claim 1, characterized in that, The process of reconstructing association constraints and optimizing scheduling in the optimization scheduling layer includes: Sort the demand objects in the demand object set in descending order of priority; Determine whether all requirement objects have been checked; If so, the scheduling ends; If not, load a demand object and the corresponding plan set from the initial solution set of the hierarchical scheduling; Determine whether the object in question is a related object; If the required object is determined not to be a related object, then perform the following steps: Determine whether the allocated plan has met the minimum service duration requirement; If so, return to the step of determining whether all requirement objects have been checked; If not, the single-object scheduling method for medium and high orbit satellites will be invoked for secondary scheduling; Determine whether the scheduling result meets the minimum service duration requirement; If so, the scheduling result is added to the set of allocated plans; If not, return to the step of determining whether all requirement objects have been checked; If the required object is determined to be a related object, then perform the following steps: If the allocated plan meets the total service duration requirement, determine whether the allocated plan meets the minimum arc number requirement; If so, return to the step of determining whether all requirement objects have been checked; If not, or if the allocated plan does not meet the total service duration requirement, then load the sub-requirement object that does not meet the constraint; The single-object scheduling method for medium- and high-orbit satellites is invoked for secondary scheduling. Add the scheduling results to the set of allocated plans; Determine if the sub-requirement object has an assigned plan; If not, return to the step of determining whether all requirement objects have been checked; If so, remove the corresponding assigned plan from the plan set and return to the step of determining whether all demand objects have been checked.

7. The satellite telemetry, tracking, and command (TT&C) mission scheduling method based on hierarchical optimization according to claim 1, characterized in that, Before the step of establishing the set of medium- and high-orbit satellite resource demand objects, the set of equipment capability objects, and the set of satellite visibility forecasts for equipment based on the received resource usage applications, the method further includes the following step: Obtain resource usage requests sent by the satellite telemetry, tracking, and command (TT&C) user terminal; The step of generating an optimized solution set for hierarchical scheduling after the step of reconstructing and optimizing the hierarchical scheduling initial solution set based on the set of demand objects in the optimized scheduling layer of the call design also includes the following step: The application result corresponding to the resource usage application is generated based on the hierarchical scheduling optimization solution set; The application result is sent to the satellite telemetry, tracking, and command (TT&C) user terminal; the application result is used to indicate the resource scheduling results of medium and high orbit satellites.

8. A satellite telemetry, tracking, and command (TT&C) mission scheduling device based on hierarchical optimization, implemented according to any one of claims 1-7, characterized in that, include: The set creation module is used to create a unified model of a set of medium and high orbit satellite resource demand objects, a set of equipment capability objects, and a set of satellite visibility forecasts for equipment based on the received resource usage requests. The set layering module is used to preprocess and decouple the associated constraints of the set of demand objects to generate new sets of demand objects for each scheduling layer. The hierarchical scheduling module is used to sequentially call the designed sub-scheduling layers to perform hierarchical resource scheduling based on the new demand object set, the equipment capability object set, and the visible forecast set, and generate an initial solution set for hierarchical scheduling; the sub-scheduling layers include a continuous tracking task scheduling layer, a single telemetry limited equipment scheduling layer, an integrated telemetry and control data transmission scheduling layer, a track measurement / remote control demand scheduling layer, and a single telemetry completion processing scheduling layer. The optimization scheduling module is used to call the designed optimization scheduling layer, and perform correlation constraint reconstruction and optimization scheduling processing on the initial solution set of the hierarchical scheduling according to the set of demand objects to generate a hierarchical scheduling optimization solution set; the hierarchical scheduling optimization solution set is used to indicate the scheduling result of medium and high orbit satellite resources corresponding to the resource use application.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the satellite telemetry and control mission scheduling method based on hierarchical optimization as described in any one of claims 1 to 7.

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