Spacecraft mission planning method based on planning processing unit

Abstract

The present application relates to a kind of spacecraft mission planning method based on planning processing unit, belong to spacecraft mission planning system technical field.The present application has adopted the design concept of planning processing unit and planning processing executor, reduced the coupling degree between the sender and handler of planning request in spacecraft mission planning system, sender and receiver also do not need to have the explicit information of each other;Enhance the dynamic scalability of spacecraft mission planning system, can increase new planning processing unit according to new demand in spacecraft mission planning business, completely do not affect other existing planning processing unit;Enhance the flexibility of assigning work responsibility to each planning processing unit, when there is new planning business demand or planning operation process changes, planning processing unit in planning processing executor or their order can be dynamically changed, planning processing unit can also be dynamically added or deleted.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spacecraft mission planning system, and particularly relates to a spacecraft mission planning method based on a planning processing unit. BACKGROUND

[0002] Each stage of spacecraft operation needs mission planning, and early mission planning is manually completed. The completely manual mission planning cannot fully utilize the resources of the spacecraft and ensure the safety of the spacecraft. With the increasing complexity of space missions, especially with the development of deep space exploration, formation flight, constellation technology and space robot technology, the importance of mission planning is increasing, and various spacecraft mission planning system frameworks have emerged in the market.

[0003] Wu Dayu, a student of the Graduate School of National University of Defense Technology, published a paper entitled "Research on Software Development Framework of Spacecraft Autonomous Operation and Autonomous Planning and Scheduling", which describes a software framework SASF of a class of spacecraft mission planning systems.

[0004] The SASF framework uses design patterns, interfaces and components, and provides a framework and a set of components. It can effectively support the development of the basic part of the spacecraft mission planning software system and the development of autonomous planning and scheduling and autonomous health management in the autonomous operation part, and can improve the reuse degree and development efficiency of the spacecraft mission planning software. The SASF framework combines design patterns, interfaces and specific components to support reuse from the large-grained architecture level to the small-grained component level.

[0005] The SASF framework includes:

[0006] (1) A set of design patterns are used to solve the design problems in the specific field of spacecraft mission planning software, which can provide high-level software architecture reuse for the development of spacecraft mission planning software.

[0007] (2) A set of interfaces are provided to support the implementation of the framework design patterns. The interface defines a set of services that need to be used by the framework, and the implementation of the services is open and can be implemented by a specific application.

[0008] (3) A set of specific components are provided. The components can be divided into two types. One is the default component, which is the default implementation of the public interface, and is used to provide some general business functions. The second is the core component, which is used to encapsulate the core business functions.

[0009] SASF framework is a real-time embedded open framework in the field of spacecraft mission planning software. In order to ensure real-time, the application system based on SASF framework needs to apply all the required memory space to the system at initialization, and no longer apply and release memory in the running process. In this way, the delay caused by memory application and release can be avoided, thereby enhancing the real-time of the system. At system initialization, SASF framework creates all the objects needed in runtime according to the configuration information and buffers them in a specific buffer pool for use in runtime. In runtime, if an application needs to use a certain object, it can get the required object by requesting a specific buffer pool. After use, the object is returned to the buffer pool for buffering for next use. In SASF framework, the part that needs to use dynamic memory allocation adopts this mechanism of initialization allocation of memory and establishment of buffer pool to achieve, for example, the creation of events in the event management module is achieved by using this buffer pool mechanism.

[0010] The event management module provides an event support mechanism for the framework. The event management module mainly consists of three related parts, including events, event library and event listening interface. In SASF framework, the event library class mainly serves as an event buffer pool responsible for buffering, allocating and recycling management of events. In order to ensure the real-time of the system, SASF framework adopts the event library sharing design pattern to solve the asynchronous processing mechanism of events. At system initialization, the event library is initialized to create an event list for buffering. The event producer gets the event object by calling the Create method of the event library, then adds corresponding information to the event object and stores it in the event library, and the event consumer can get all events by monitoring the event library.

[0011] The spacecraft mission planning system is complex, involving various planning tasks, various spacecraft targets, different planning requirements, multiple planning stages, various complex input files and planning business processing flow. The system shows the development trend of openness, reusability, dynamic, integration and componentization.

[0012] SASF framework mentions the concept of buffer pool. According to the configuration information, the events needed in the runtime business operation process are buffered in a specific buffer pool, i.e. event library, for use in runtime. After use, the events are returned to the event library for use by other consumers. This technology has the following defects:

[0013] (1) This asynchronous processing mechanism of events causes events with a certain business attribute to be unable to be used by multiple consumers at the same time, which does not have reusability.

[0014] (2) The event consumer only has the ability to get events, does not have the ability to integrate multiple events, and cannot simultaneously dispatch multiple events to complete complex planning business operations.

[0015] (3) The event is stored in the event library after all events are created by the event producer and corresponding configuration information is added during system initialization, and the event cannot be dynamically loaded or configuration modified during system operation, so that the system does not have dynamic scalability. SUMMARY

[0016] (1) Technical problem to be solved

[0017] The technical problem to be solved by the present application is how to solve the problems of flexible configuration of multiple requirements, multiple planning stages, multiple types of input and ordered processing of multiple business operations according to rules in a spacecraft mission planning system.

[0018] (2) Technical solution

[0019] In order to solve the above technical problems, the present application provides a spacecraft mission planning method based on a planning processing unit, comprising the following steps:

[0020] Step one, determine the planning task, create the planning space, initialize the directory structure of the planning space, and the directory structure comprises the following contents:

[0021] Planning stage directory: used for storing the directory structure of each planning stage;

[0022] Configuration file directory: used for storing various configuration files required for planning;

[0023] File cache directory: used for caching input and output files during planning;

[0024] Read-only file directory: used for storing processed input files;

[0025] Processing script directory: used for storing planning processing executors;

[0026] Planning result directory: used for storing planning results;

[0027] Step two, divide the planning stage, and assign the planning stage to the planning personnel for this task, and each planning stage can only be planned by the planning personnel;

[0028] Step three, design the planning processing unit, and predefine and initialize each planning processing unit;

[0029] Step four, initialize the planning processing unit, start each planning processing unit in the background, and wait for the planning processing executor to be called when executed;

[0030] Step five, import the input file, import various input files required for planning before executing the planning processing unit, and use the planning processing unit as input;

[0031] Step six, import configuration files, import all kinds of configuration files required by the planning before executing the planning processing unit, for the planning processing unit as input;

[0032] Step seven, create planning model, including planning event model, instruction sequence model, instruction model and event and instruction relationship model, for the planning processing unit as input;

[0033] Step eight, collect planning resources, collect all kinds of resources before executing the planning processing unit, determine the total amount of available resources for this planning, for the planning processing unit as input;

[0034] Step nine, summarize the planning demand, collect all kinds of planning demand before executing the planning processing unit, for the planning processing unit as input;

[0035] Step ten, create planning processing executor: based on the existing planning processing unit, select the planning processing unit to be executed, sort the planning processing unit, and provide the corresponding configuration interface for each planning processing unit, which is used to configure the basic parameter information and input file. After the configuration of each planning processing unit is completed, a planning processing executor is created and the execution flow is designed. The designed execution flow can be stored in the processing script directory in the form of script;

[0036] Step eleven, start the planning processing executor, execute the planning processing unit which has been configured.

[0037] Preferably, in step three, the following planning processing units are predefined and initialized:

[0038] ① Transfer input file planning processing unit: used for transferring all kinds of input files such as forecast files and control strategy files, generating all kinds of feature point files and key point files as input for the subsequent planning process;

[0039] ② Demand summary planning processing unit: used for converting all the demands submitted by the planning users into corresponding demand files respectively, and generating a unified demand summary file as input for the subsequent planning process;

[0040] ③ Event generation planning processing unit: used for generating planning event sequence based on upper planning file, all kinds of configuration files and planning model, as input for the subsequent planning process;

[0041] ④ Demand event conversion planning processing unit: used for converting corresponding planning events based on demand summary file and supplementing to planning event sequence as input for the subsequent planning process;

[0042] 5. Resource calculation planning processing unit: used for integrating various types of spacecraft resource information and station information, and calculating all continuous interval arcs of available resources as input in the following planning process;

[0043] 6. Instruction planning generation planning processing unit: used for integrating planning event sequence, available resource continuous interval arcs, feature point file, key point file, and various types of configuration files, expanding planning events into instruction sequence and instruction, expanding instruction sequence into instruction, and classifying and outputting instruction to generate remote control instruction plan file, program control instruction plan file, and preset special instruction plan file.

[0044] Preferably, in step eleven, executing the various planning processing units that have been configured specifically includes the following operations:

[0045] Step twelve, execute a series of planning processing units related to the input file conversion, convert the input file into a file that can be directly used by subsequent planning processing units, and store it in the read-only file directory;

[0046] Step thirteen, execute the demand summary planning processing unit to generate a demand file and summarize it into a unified demand file, and store it in the read-only file directory;

[0047] Step fourteen, execute the event generation planning processing unit to generate planning events according to the input file of step five, the configuration file of step six, and the planning model of step seven;

[0048] Step fifteen, execute the demand event conversion planning processing unit to convert and generate planning events corresponding to the demand according to the demand file of step thirteen and the configuration file of step six;

[0049] Step sixteen, execute a series of planning processing units related to resource calculation, generate available resource intervals according to the total amount of available resources of step eight, the configuration file of step six, and the planning event sequence file in step fifteen;

[0050] Step seventeen, execute a series of planning processing units related to instruction generation, expand planning events into corresponding instruction sequence and instruction according to the configuration file of step six, the planning event sequence of step fifteen, the instruction sequence model of step seven, the instruction model, and the relationship model between events and instructions, and generate various types of instruction plan files.

[0051] Preferably, in step fourteen, the input file of step five comprises upper-level planning event plans; the configuration file of step six comprises basic interval configuration and event decomposition configuration; the planning model of step seven is an event model; and the specific processing procedure for generating planning events according to the input file of step five, the configuration file of step six and the planning model of step seven is that, based on the event decomposition configuration file and the event model, the upper-level planning events in the upper-level planning event plans are decomposed into corresponding planning events one by one, and based on the basic interval configuration, the planning events are allocated with available intervals, and the processed planning event sequence is stored in the planning result directory in the form of a file.

[0052] Preferably, in step fifteen, the specific processing procedure for converting the demands into corresponding planning events according to the demand file of step thirteen and the configuration file of step six is that, based on the resource constraint type specified in each demand in the demand summary file and the event decomposition configuration file, the demands are converted into corresponding planning events, the resource attributes of the planning events are determined according to the resource constraints, and the planning events are appended to the planning event sequence file in step fourteen.

[0053] Preferably, in step sixteen, the specific processing procedure for generating available resource intervals according to the total amount of available resources of step eight, the configuration file of step six and the planning event sequence file in step fifteen is that, based on the total amount of resources and the basic interval configuration file, all available intervals are calculated and arranged, and then the resource attributes of the planning events are considered, and the intersection of the two is calculated to obtain the available resource intervals, which are stored in the read-only file directory.

[0054] Preferably, in step seventeen, the specific processing procedure for expanding the planning events into corresponding instruction sequences and instructions to generate various instruction plan files is that, based on the event expansion configuration file, the planning event sequence file, the instruction sequence model, the instruction model and the relationship model between events and instructions, the planning events are expanded into corresponding instructions and instruction sequences, the instruction sequences are expanded into instructions according to the instruction sequence configuration file, and then all instructions are classified and output based on the instruction plan classification output configuration file to generate the remote control instruction plan file, the program-controlled instruction plan file and the preset special instruction plan file, which are stored in the planning result directory.

[0055] Preferably, the planning processing units are assembled together through dynamic scripts to form a planning processing executor.

[0056] Preferably, the planning processing executor is developed by using the agile development language Groovy based on JVM.

[0057] Preferably, the control logic of the planning processing executor is designed by using the domain-driven design architecture.

[0058] (Three) beneficial effects

[0059] This invention employs a design concept of planning processing units and planning processing executors, reducing the coupling between the sender and processor of planning requests in the spacecraft mission planning system. The sender and receiver do not need to possess explicit information about each other. It enhances the dynamic scalability of the spacecraft mission planning system, allowing the addition of new planning processing units based on new needs in spacecraft mission planning operations without affecting existing units. It also enhances the flexibility of assigning responsibilities to each planning processing unit; when new planning business requirements or changes in planning operation procedures occur, the planning processing units within the planning processing executor can be dynamically changed or their order adjusted, and planning processing units can be dynamically added or deleted. Finally, it clarifies the allocation of responsibilities for various tasks in planning business operations, ensuring that each planning processing unit only needs to handle its own assigned business operations, while unrelated business operations are completed by other specific planning processing units. Attached Figure Description

[0060] Figure 1 This is the main flowchart of the method of the present invention. Detailed Implementation

[0061] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0062] This invention provides a method for complex spacecraft mission planning based on multiple basic planning and processing units. Taking the instruction plan generation process as an example, it illustrates how to address the challenges of multiple requirements, multiple planning stages, flexible configuration of various inputs, and orderly processing of multiple business operations in a spacecraft mission planning system. The system design adheres to the principles of high cohesion and low coupling, modularizing each business unit. Each business unit can fully implement a specific, small-granular planning business operation and possesses high reusability and dynamic scalability, enabling multiple business units to be integrated to complete more complex planning business operations.

[0063] like Figure 1 As shown in the figure, an embodiment of the present invention provides a spacecraft mission planning method based on a planning processing unit, which includes the following steps:

[0064] Step 1: Define the planning task, create a planning space, and initialize the directory structure of the planning space. The directory structure includes the following:

[0065] Planning Phase Directory: Used to store the directory structure for each planning phase;

[0066] Configuration file directory: Used to store various configuration files required for planning;

[0067] File cache directory: used to cache the input and output files in the planning process;

[0068] Read-only file directory: used to store the processed input files;

[0069] Processing script directory: used to store the planning processing executor;

[0070] Planning result directory: used to store the planning results;

[0071] Step two, divide the planning stage, assign the planning stage to the planner of this task, and each planning stage can only be planned by the corresponding planner;

[0072] Step three, design the planning processing unit, and predefine and initialize the following planning processing units;

[0073] ① Transfer input file planning processing unit: used to transfer the input files such as various forecast files and control strategy files, generate various feature point files and key point files, and use them as input for the subsequent planning process;

[0074] ② Demand summary planning processing unit: used to convert all planning user submitted demands into corresponding demand files, and generate a unified demand summary file as input for the subsequent planning process;

[0075] ③ Event generation planning processing unit: used to generate planning event sequences based on upper planning files, various configuration files and planning models, and use them as input for the subsequent planning process;

[0076] ④ Demand event conversion planning processing unit: used to convert the demand summary file into corresponding planning events and supplement them to the planning event sequence as input for the subsequent planning process;

[0077] ⑤ Resource calculation planning processing unit: used to integrate various spacecraft resource information and station information, calculate all continuous interval arcs of available resources, and use them as input for the subsequent planning process;

[0078] ⑥ Instruction plan generation planning processing unit: used to integrate planning event sequences, available resource continuous interval arcs, feature point files, key point files, various configuration files and other information, expand planning events into instruction sequences and instructions, expand instruction sequences into instructions, and classify and output instructions to generate detailed instruction plan files, remote control instruction plan files, program control instruction plan files and special instruction plan files;

[0079] Step four, initialize the planning processing unit, and start each planning processing unit in the background, waiting for the planning processing executor to call when executing;

[0080] Step five, import input files, import all kinds of input files required by the planning before executing the planning processing unit, which is used as input for the planning processing unit;

[0081] Step six, import configuration files, import all kinds of configuration files required by the planning before executing the planning processing unit, which is used as input for the planning processing unit;

[0082] Step seven, create a planning model, including a planning event model, an instruction sequence model, an instruction model, and a relationship model between events and instructions, which is used as input for the planning processing unit;

[0083] Step eight, collect planning resources, collect all kinds of resources before executing the planning processing unit, determine the total amount of available resources for this planning, and provide it as input for the planning processing unit;

[0084] Step nine, summarize the planning requirements, collect all kinds of planning requirements before executing the planning processing unit, and provide them as input for the planning processing unit;

[0085] Step ten, create a planning processing executor: based on the existing planning processing unit, select the planning processing unit to be executed, sort the planning processing unit, and provide a corresponding configuration interface for each planning processing unit to configure basic parameter information and input files. After configuring each planning processing unit, a planning processing executor is created and the execution process is designed. The designed execution process can be stored in the processing script directory in the form of a script;

[0086] Step eleven, start the planning processing executor, execute the configured planning processing units, which includes steps twelve to seventeen:

[0087] Step twelve, execute a series of planning processing units related to input file conversion, convert the input files into files that can be directly used by subsequent planning processing units, and store them in the read-only file directory;

[0088] Step thirteen, execute the demand summary planning processing unit, generate the demand file, and summarize it into a unified demand file, and store it in the read-only file directory;

[0089] Step fourteen, execute the event generation planning processing unit to generate planning events based on the input files of step five (upper-level planning event plan), configuration files of step six (basic interval configuration, event decomposition configuration), and planning models of step seven (event model). The specific processing process is to decompose the upper-level planning event in the upper-level planning event plan into corresponding planning events based on the event decomposition configuration file and the event model, and allocate available intervals to the planning events based on the basic interval configuration. The processed planning event sequence is stored in the planning result directory in the form of a file;

[0090] Step fifteen, execute the demand event conversion planning processing unit, according to the demand file of step thirteen and the configuration file of step six, convert the demand corresponding planning event; The specific processing process is, based on the resource constraint type specified in each demand in the demand summary file, and the event decomposition configuration file, the demand is converted into the corresponding planning event, the resource attribute of the planning event is determined according to the resource constraint, and the planning event is appended to the planning event sequence file in step fourteen;

[0091] Step sixteen, execute a series of planning processing units related to resource calculation, generate available resource interval according to the total amount of available resources of step eight and the configuration file of step six and the planning event sequence file in step fifteen; The specific processing process is, according to the total amount of resources and the basic interval configuration file, all available intervals are calculated and arranged, and then the resource attribute of the planning event is considered, the intersection of the two is calculated, and the available resource interval is calculated and stored in the read-only file directory;

[0092] Step seventeen, execute a series of planning processing units related to instruction generation, according to the configuration file of step six, the planning event sequence of step fifteen, and the instruction sequence model, instruction model and event and instruction relationship model of step seven, expand the planning event into corresponding instruction sequence and instruction, generate various instruction plan files; The specific processing process is, based on the event expansion configuration file, the planning event sequence file, the instruction sequence model, the instruction model and the relationship model of event and instruction, the planning event is expanded into corresponding instruction and instruction sequence, the instruction sequence is expanded into instruction according to the instruction sequence configuration file, and all instructions are classified and output based on the instruction plan classification output configuration file, to generate detailed instruction plan file, remote control instruction plan file, program control instruction plan file and special instruction plan file, and store them in the planning result directory.

[0093] In the above scheme, the system decomposes the complex spacecraft planning business into a group of componentized planning processing units, and allocates special work responsibilities to each planning processing unit. The planning processing units are independent of each other, and can transmit data through global context environment variables. These planning processing units are assembled together through dynamic scripts to form a planning processing executor. The planning processing executor is developed by using a JVM-based agile development language Groovy, can integrate several planning processing units, and dynamically execute a complex planning operation.

[0094] The control logic of the planning processing executor adopts a domain-driven design architecture, which is suitable for domain modeling and analysis of large and complex systems, converts business concepts and business rules to be solved into types and attributes and behaviors of the types in a software system, reduces or hides the business complexity of the whole system by reasonably using design elements such as object-oriented encapsulation, inheritance, and polymorphism, and makes the system have better scalability to deal with various real business problems. The architecture is divided into a user interface layer, an application layer, a domain layer, and an infrastructure layer. The user interface layer is mainly used for processing user display and user requests, including operations such as execution item selection, execution item parameter configuration, and execution script generation. The application services of the application layer are mainly used to coordinate and schedule the operations of each execution item. The domain layer is the core layer, which is responsible for expressing business concepts, business state information, and business rules, that is, all complex business knowledge abstractions and rule definitions of each execution item. The infrastructure layer provides a persistence mechanism for the execution items of the domain layer, including message communication, general tools, file services, configuration, and the like.

[0095] It can be seen that the application proposes the design concept of the planning processing unit and the planning processing executor. In the spacecraft mission planning system, each planning processing unit has a specific job responsibility, and the planning processing units do not affect each other. The planning processing executor can integrate several planning processing units and perform unified scheduling to execute a specific spacecraft mission planning operation. Multiple planning processing executors can share planning processing units at the same time, and will not affect other planning processing executors during the planning processor execution. The planning request sender only needs to send the request to the planning processing executor, without needing to care about the processing details of the request and the delivery process of the request. The planning processing executor will automatically deliver the request and complete a series of operations related to the request to generate the corresponding planning result.

[0096] Compared with the prior art, the application adopts the design concept of the planning processing unit and the planning processing executor, reduces the coupling degree between the sender and the processor of the planning request in the spacecraft mission planning system, and the sender and the receiver do not need to have explicit information of each other. The dynamic scalability of the spacecraft mission planning system is enhanced, new planning processing units can be added according to new requirements in the spacecraft mission planning business, without affecting other existing planning processing units. The flexibility of assigning job responsibilities to each planning processing unit is enhanced. When there is a new planning business requirement or a change in the planning operation process, the planning processing units in the planning processing executor or their order can be dynamically changed, and new planning processing units can be dynamically added or deleted. The allocation of each work responsibility in the planning business operation is clear. Each planning processing unit only needs to process the business operation that it should process, and the business operation unrelated to it is completed by other specific planning processing units.

[0097] The above description is only the preferred embodiment of the present application, it should be pointed out that for the ordinary skilled in the art, without departing from the technical principles of the present application, can make several improvements and variations, these improvements and variations should also be considered as the protection scope of the present application.

Claims

1. A spacecraft mission planning method based on a planning processing unit, characterized by, The method comprises the following steps: Step one, determine the planning task, create a planning space, initialize the directory structure of the planning space, which includes the following contents: Planning phase directory: used for storing the directory structure of each planning phase; Configuration file directory: used for storing various configuration files required for planning; File cache directory: used for caching input and output files during the planning process; Read-only file directory: used for storing processed input files; Processing script directory: used for storing planning processing executors; Planning result directory: used for storing planning results; Step two, divide the planning phase, and assign the planning phase to the planner for the current task. Each planning phase can only be planned by the corresponding planner; Step three, design a planning processing unit, and predefine and initialize each planning processing unit; Step four, initialize the planning processing unit, and start each planning processing unit in the background, waiting for the planning processing executor to be called during execution; Step five, import input files, import various input files required for planning before executing the planning processing unit, which are used as input for the planning processing unit; Step six, import configuration files, import various configuration files required for planning before executing the planning processing unit, which are used as input for the planning processing unit; Step seven, create a planning model, including a planning event model, an instruction sequence model, an instruction model, and a relationship model between events and instructions, which are used as input for the planning processing unit; Step eight, collect planning resources, collect various resources before executing the planning processing unit, determine the total amount of available resources for this planning, and provide them as input for the planning processing unit; Step nine, summarize planning requirements, collect various planning requirements before executing the planning processing unit, and provide them as input for the planning processing unit; Step ten, create a planning processing executor: based on the existing planning processing unit, select the planning processing unit to be executed, sort the planning processing unit, and provide a corresponding configuration interface for each planning processing unit to configure basic parameter information and input files. After the configuration of each planning processing unit is completed, a planning processing executor is created and the execution process is designed. The designed execution process can be stored in the processing script directory in the form of a script; Step eleven, start the planning processing executor and execute the configured planning processing units; In step three, the following planning processing units are predefined and initialized: ① Transfer input file planning processing unit: used for transferring various input files such as forecast files and control strategy files, generating feature point files and key point files as input for the subsequent planning process; ② Demand summary planning processing unit: used for converting all user-submitted requirements into corresponding requirement files and generating a unified requirement summary file as input for the subsequent planning process; ③ Event generation planning processing unit: used for generating planning event sequences based on upper planning files, various configuration files, and planning models, which are used as input for the subsequent planning process; ④Demand event conversion planning processing unit: for converting corresponding planning events based on the demand summary file, supplementing to the planning event sequence as the input in the subsequent planning process; ⑤Resource calculation planning processing unit: for integrating various spacecraft resource information and station information, and calculating all continuous interval arcs of available resources as the input in the subsequent planning process; ⑥Instruction plan generation planning processing unit: for integrating the planning event sequence, available resource continuous interval arcs, feature point file, key point file, various configuration files, expanding the planning events into instruction sequences and instructions, classifying and outputting the instructions, and generating remote control instruction plan file, program control instruction plan file and preset special instruction plan file; In step eleven, executing the various planning processing units configured includes the following operations: In step twelve, a series of planning processing units related to the input file are executed to process and store the input file into a file that can be directly used by subsequent planning processing units, and store it in the read-only file directory; In step thirteen, the demand summary planning processing unit is executed to generate a demand file and summarize it into a unified demand file, and store it in the read-only file directory; In step fourteen, the event generation planning processing unit is executed to generate planning events according to the input file of step five, the configuration file of step six and the planning model of step seven; In step fifteen, the demand event conversion planning processing unit is executed to convert the planning events corresponding to the demand according to the demand file of step thirteen and the configuration file of step six; In step sixteen, a series of planning processing units related to resource calculation are executed to generate available resource intervals according to the total amount of available resources of step eight, the configuration file of step six and the planning event sequence file in step fifteen; In step seventeen, a series of planning processing units related to instruction generation are executed to expand the planning events into corresponding instruction sequences and instructions according to the configuration file of step six, the planning event sequence of step fifteen, and the instruction sequence model, instruction model and event and instruction relationship model of step seven, and generate various instruction plan files; The planning processing units are assembled together through dynamic scripts to form a planning processing executor; The planning processing executor is developed based on the agile development language Groovy of JVM; The control logic of the planning processing executor is designed based on the domain-driven design architecture.

2. The method of claim 1, wherein, In step fourteen, the input file of step five includes upper-level planning event plans; the configuration file of step six includes basic interval configuration and event decomposition configuration; and the planning model of step seven is an event model. The specific process of generating planning events according to the input file of step five, the configuration file of step six and the planning model of step seven is to decompose the upper-level planning events in the upper-level planning event plans into corresponding planning events one by one based on the event decomposition configuration file and the event model, allocate available intervals to the planning events based on the basic interval configuration, store the planning event sequence after processing in the form of a file to the planning result directory.

3. The method of claim 2, wherein, In step 15, the specific processing procedure of converting the demand corresponding to the planning event according to the demand file of step 13 and the configuration file of step 6 is to convert the demand into the corresponding planning event according to the resource constraint type specified in each demand in the demand summary file and the event decomposition configuration file, determine the resource attribute of the planning event according to the resource constraint, and append the planning event to the planning event sequence file in step 14.

4. The method of claim 3, wherein, In step 16, the specific processing procedure of generating the available resource interval according to the total amount of available resources of step 8, the configuration file of step 6 and the planning event sequence file in step 15 is to calculate and arrange all available intervals according to the total amount of resources and the basic interval configuration file, consider the resource attribute of the planning event, take the intersection of the two, calculate the available resource interval, and store it to the read-only file directory.

5. The method of claim 4, wherein, In step 17, the specific processing procedure of expanding the planning event into the corresponding instruction sequence and instruction to generate various types of instruction plan files is to expand the planning event into the corresponding instruction and instruction sequence based on the event expansion configuration file, the planning event sequence file, the instruction sequence model, the instruction model and the relationship model between the event and the instruction, expand the instruction sequence into the instruction according to the instruction sequence configuration file, and classify and output all instructions based on the instruction plan classification output configuration file to generate the remote control instruction plan file, the program control instruction plan file and the preset special instruction plan file, and store them to the planning result directory.

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