Satellite task sheet autonomous management and planning method, device, equipment and storage medium

Abstract

Embodiments of the present application disclose a satellite task list autonomous management and planning method, device, equipment and storage medium; the method comprises: defining a task list type on a satellite according to a set definition rule; wherein the task list type comprises a program-controlled task list, a resident task list and a self-generated task list; based on a remote control data packet injected into the satellite on a ground control system, the satellite forms a plurality of program-controlled task lists and a plurality of resident task lists according to a set receiving and processing rule after task conflict resolution; based on the formed plurality of resident task lists, the satellite regularly performs task list planning to convert the resident task lists that can be executed into self-generated task lists respectively; a plurality of program-controlled task lists and a plurality of self-generated task lists are added to a to-be-executed task list queue, and the to-be-executed task list queue is executed according to time triggering.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of satellite autonomous task planning, in particular to a satellite task order autonomous management and planning method, device, equipment and storage medium. BACKGROUND

[0002] At present, satellites can perform tasks such as earth observation and communication transmission in orbit, and the tasks to be performed by the satellite in orbit are usually initiated by a ground control system. The ground control system processes the execution time, execution location, execution constraints and other information of the task to be executed, formats and describes the information in the form of a task order, and sends the task order to the satellite through a remote control data packet. After receiving the remote control data packet, the satellite parses the task order and adds the task order to be executed to the task order queue according to the execution type of the task order. Specifically, when the satellite executes a task, it first parses the task order uploaded in orbit and decomposes it into action and instruction sequences executed by each subsystem on the satellite, such as load switch-on and mode setting, attitude orientation to the ground and the sun, data transmission switch-on and mode setting, etc. However, due to constraints such as the number of loads, attitude orientation and energy allocation, the satellite can usually only execute one task order within a specified time period. Task order planning is a process of solving conflicts and optimization of multiple task orders. In the traditional satellite control mode, task order planning is usually performed by the ground control system. However, as the number of satellites in orbit increases, the control pressure of the ground control system gradually increases, and therefore there is an urgent need to provide the satellite with the ability to autonomously manage and plan task orders.

[0003] Satellite autonomous task order management and planning requires the ability to receive a set of task orders uploaded by the ground control system without conflict resolution, automatically resolve time conflicts on the satellite according to priority rules, and for task orders that do not specify a specific execution time but only specify an execution location, the satellite needs to have the ability to calculate the overpass time window for the location and select a window that is conflict-free with other tasks on the satellite as the execution window from multiple overpass time windows that have task execution conditions for the location. The prior art provides a fixed area trigger type task execution method, in which the satellite can implement payload and data transmission operations in a specified area, but this method does not perform conflict resolution between location trigger tasks and existing tasks on the satellite. SUMMARY

[0004] Therefore, the embodiment of the present application aims to provide a satellite task order autonomous management and planning method, device, equipment and storage medium, which can support the satellite to autonomously execute tasks in orbit for a long time, reduce the pressure of the ground control system and improve the applicability and ease of use of the satellite.

[0005] The technical solution of the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a satellite task sheet autonomous management and planning method, the method comprising:

[0007] According to the set definition rule, the task sheet type on the satellite is defined; wherein the task sheet type comprises a program-controlled task sheet, a resident task sheet and a self-generated task sheet;

[0008] Based on the remote control data packet injected into the satellite by the ground control system, the satellite forms a plurality of program-controlled task sheets and a plurality of resident task sheets according to the set receiving and processing rule after task conflict resolution;

[0009] Based on the formed plurality of resident task sheets, the satellite periodically performs task sheet planning to convert the executable resident task sheets into self-generated task sheets, respectively;

[0010] The plurality of program-controlled task sheets and the plurality of self-generated task sheets are added to a to-be-executed task sheet queue, and the to-be-executed task sheet queue is executed according to time triggering.

[0011] In a second aspect, an embodiment of the present application provides a satellite task sheet autonomous management and planning device, the device comprising a definition part, a task sheet receiving and processing part, a task sheet planning part and an execution part; wherein,

[0012] The definition part is configured to define the task sheet type on the satellite according to the set definition rule; wherein the task sheet type comprises a program-controlled task sheet, a resident task sheet and a self-generated task sheet;

[0013] The task sheet receiving and processing part is configured to form a plurality of program-controlled task sheets and a plurality of resident task sheets according to the set receiving and processing rule after the satellite performs task conflict resolution based on the remote control data packet injected into the satellite by the ground control system;

[0014] The task sheet planning part is configured to periodically perform task sheet planning to convert the executable resident task sheets into self-generated task sheets, respectively, based on the formed plurality of resident task sheets;

[0015] The execution part is configured to add the plurality of program-controlled task sheets and the plurality of self-generated task sheets to a to-be-executed task sheet queue, and execute the to-be-executed task sheet queue according to time triggering.

[0016] In a third aspect, an embodiment of the present application provides a computing device, the computing device comprising a communication interface, a memory and a processor; each component is coupled together through a bus system, wherein,

[0017] The communication interface is configured to receive and send signals in the process of transmitting and receiving information with other external network elements.

[0018] The memory is configured to store a computer program capable of running on the processor.

[0019] The processor is configured to execute the steps of the satellite task sheet autonomous management and planning method of the first aspect when running the computer program.

[0020] In a fourth aspect, the embodiments of the present application provide a computer storage medium storing a satellite task sheet autonomous management and planning program, which, when executed by at least one processor, implements the steps of the satellite task sheet autonomous management and planning method of the first aspect.

[0021] The embodiments of the present application provide a satellite task sheet autonomous management and planning method, device, equipment and storage medium. The method comprises defining the types of task sheets on the satellite according to a set definition rule; based on the remote control data packets injected into the satellite by the ground control system, the satellite forms a plurality of program-controlled task sheets and a plurality of resident task sheets according to a set receiving and processing rule after resolving task conflicts; at the same time, the satellite periodically plans task sheets to convert the resident task sheets that can be executed into self-generated task sheets; finally, the plurality of program-controlled task sheets and the plurality of self-generated task sheets are added to a to-be-executed task sheet queue, and the to-be-executed task sheet queue is executed according to time triggering. The method gives a clear definition of the types of task sheets on the satellite. At the same time, through the method, the satellite has the ability of autonomous management of task sheets and the ability of resolving and storing task conflicts on the satellite. Through periodic autonomous planning of task sheets on the satellite, the resident task sheets can be converted into self-generated task sheets, which can support the satellite to autonomously execute tasks for a long time in orbit, reduce the pressure of the ground control system, and improve the applicability and usability of the satellite. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A satellite task sheet autonomous management and planning method flowchart is provided for the embodiments of the present application.

[0023] Figure 2 A schematic diagram of the mutual relationship between various task sheets is provided for the embodiments of the present application.

[0024] Figure 3 A satellite task sheet autonomous planning schematic diagram is provided for the embodiments of the present application.

[0025] Figure 4 A satellite task sheet autonomous management and planning device composition schematic diagram is provided for the embodiments of the present application.

[0026] Figure 5Another satellite task list autonomous management and planning device composition schematic diagram provided for the embodiment of the present application is shown in Fig. 1.

[0027] Figure 6 A specific hardware structure schematic diagram of a computing device provided for the embodiment of the present application is shown in Fig. 4. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application.

[0029] The satellite should have the task list autonomous management and planning ability requirement proposed for the existing satellite usage mode, see Figure 1 , which shows a satellite task list autonomous management and planning method provided by the embodiment of the present application, and the method specifically includes:

[0030] S101, defining the task list types on the satellite according to the set definition rules; wherein the task list types include the program-controlled task list, the resident task list and the self-generated task list;

[0031] S102, based on the remote control data packets on the ground control system and injected into the satellite, the satellite forms a plurality of the program-controlled task lists and a plurality of the resident task lists according to the set receiving and processing rules after task conflict resolution;

[0032] S103, based on the formed plurality of the resident task lists, the satellite regularly performs task list planning to convert the resident task lists that can be executed into the self-generated task lists respectively;

[0033] S104, adding the plurality of the program-controlled task lists and the plurality of the self-generated task lists to the to-be-executed task list queue, and executing the to-be-executed task list queue according to time triggering.

[0034] For Figure 1 , the technical solution is shown in Fig. 2. Figure 2As shown, based on the remote control data packets injected into the satellite by the ground control system, the satellite forms multiple program control task lists and multiple resident task lists according to the set receiving and processing rules after resolving task conflicts; at the same time, the satellite periodically plans the task list to convert the resident task list that can be executed into the self-generated task list; finally, the multiple program control task lists and the multiple self-generated task lists are added to the to-be-executed task list queue, and the to-be-executed task list queue is executed according to time triggering. The method gives a clear definition of the task list type on the satellite, and through the method, the satellite has the task list self-management capability and the on-board conflict resolution and storage capability for the injected task list, and through the periodic on-board task list self-planning, the resident task list can be converted into the self-generated task list, which can support the satellite to perform the task autonomously on the long-term orbit, reduce the pressure of the ground control system, and improve the application and usability of the satellite.

[0035] For Figure 1 The technical solution shown in the table, in some possible embodiments, the task list type on the satellite is defined according to the set definition rules, including:

[0036] According to the task list type shown in the following table, the task list ID, space-time constraints and working parameters are included; wherein:

[0037]

[0038] Among them,

[0039] The program control task list has a specified execution time period;

[0040] The resident task list has specified execution location information but no specified execution time period;

[0041] The self-generated task list is converted from the resident task list when the resident task list can be executed; wherein, the condition that the resident task list can be executed is that the distance between the flight trajectory of the satellite and the latitude and longitude of the reference point is less than the trigger radius, the solar elevation angle is greater than the minimum solar elevation angle, the execution start time of the resident task list is within the valid start and end time, and the execution number of the resident task list is greater than zero;

[0042] Among them,

[0043] The task list ID uses 2-byte integer; specifically, in the embodiment of the application, the task list ID number range is 1-65535, and the number range can be adjusted according to the actual situation;

[0044] The starting time T0 of the programmed task list and the starting time T1 of the self-generated task list are based on the second count of a time reference; for example, the second count relative to the UTC time 2009-1-1 00:00:00;

[0045] The duration dt0 of the programmed task list and the duration dt1 of the self-generated task list are represented by an integer identifier or a second count;

[0046] The trigger radius is represented by the distance from the subsatellite point or the central angle between the subsatellite point of the satellite and the reference point latitude and longitude;

[0047] The priority is divided into 1st to 9th levels, with the 9th level being the highest;

[0048] The satellite operation mode includes high-resolution imaging, large-scale search, and transmission to the ground;

[0049] The payload operation parameter is used to specify the detailed parameters of the task, including the electromagnetic payload operation frequency range and the camera parameters of the optical payload;

[0050] The attitude operation parameter is used to set the attitude pointing, attitude guidance, and sun-oriented attitude maneuver parameters during the operation of the payload;

[0051] The data transmission operation parameter is used to set the latitude and longitude of the ground receiving station and the relay satellite fixed-point longitude.

[0052] It should be noted that in the specific implementation process, each programmed task list can only be executed once within the specified execution time period, for example, the time and space constraints of the programmed task list are the starting time T0 and the duration dt0, so the programmed task list is executed only once within the time period T0 to T0+dt0; each resident task list can be executed multiple times when it is over the specified execution location.

[0053] For the technical solution shown in Figure 1 In some possible implementation manners, the remote control data packet injected into the satellite by the ground control system based on the satellite task conflict resolution according to the set receiving and processing rules forms a plurality of programmed task lists and a plurality of resident task lists, which includes:

[0054] The receiving and processing rules of the programmed task list are:

[0055] The same number replacement processing rule means that when the remote control data packet injected into the satellite by the ground control system contains the programmed task list with an existing ID number, the new replaces the old operation is performed;

[0056] The legality verification processing rule indicates that the starting moment T0 of the newly placed program control task needs to be after the current time on the satellite and greater than a first threshold value; it should be noted that the first threshold value is determined according to actual conditions;

[0057] The time proximity conflict processing rule indicates that the time interval between the starting moment T0 of the newly placed program control task and the starting moment T0 of all the to-be-executed program control task sheets in the to-be-executed task sheet queue on the satellite needs to be greater than a second threshold value; if not, a new replaces old operation is performed; it should be noted that the second threshold value is determined according to actual conditions;

[0058] The number over-limit processing rule indicates that when the number of stored program control task sheets on the satellite exceeds a first limit range, the newly placed program control task sheet replaces the already placed program control task sheet; it should be noted that the first limit range is determined according to the pre-divided storage space of the program control task sheet on the satellite;

[0059] The deletion operation processing rule indicates that when any one or more program control task sheets are executed, the corresponding program control task sheet is deleted according to the program control task sheet ID or a clear operation of the program control task sheet is performed;

[0060] The receiving processing rule of the resident task sheet:

[0061] The same number replacement processing rule indicates that when the ground control system places a remote control data packet containing a resident task sheet with an existing ID number to the satellite, a new replaces old operation is performed;

[0062] The legality verification processing rule indicates that the end time of the validity period needs to be after the current time on the satellite and greater than a third threshold value; and the number of to-be-executed times of the resident task sheet is greater than or equal to 1; it should be noted that the third threshold value is determined according to actual conditions;

[0063] The number over-limit processing rule indicates that when the number of stored resident task sheets on the satellite exceeds a second limit range, the newly placed resident task sheet replaces the already placed resident task sheet; it should be noted that the second limit range is determined according to the pre-divided storage space of the resident task sheet on the satellite;

[0064] The deletion operation processing rule indicates that when any one or more resident task sheets are executed, the corresponding resident task sheet is deleted according to the resident task sheet ID, or a clear operation of the resident task sheet is performed.

[0065] It can be understood that in the specific implementation process, the satellite needs to pre-divide the storage space of each type of task order, and in the embodiment of the present application, the form of a queue or a linked list can be used, but is not limited to, so as to facilitate the legality verification processing of the newly placed task order and the existing task order. Of course, through the setting of the total number of task orders, the on-orbit risk caused by the surge of task orders exceeding the processing capacity of the satellite can also be avoided.

[0066] For Figure 1 In some possible implementation manners of the technical solution shown in the above, the satellite periodically performs task order planning to convert the resident task orders that can be executed into the self-generated task orders based on the formed plurality of resident task orders, including:

[0067] According to the designated execution location information in the resident task order, the overpass time window corresponding to the designated execution location in each resident task order is obtained by orbit recursion at a set time interval based on the formed plurality of resident task orders.

[0068] The plurality of overpass time windows are sorted according to the priority, and the resident task order corresponding to the overpass time window without task conflict with the time period occupied by the program-controlled task order is selected to form the corresponding self-generated task order.

[0069] For the above implementation manner, in some examples, the overpass time window corresponding to the designated execution location in each resident task order is obtained by orbit recursion at a set time interval based on the designated execution location information in the resident task order based on the formed plurality of resident task orders, including:

[0070] Based on the formed plurality of resident task orders, the satellite orbit is recursively searched to obtain the overpass time window in which the satellite ground track passes through the space-time constraint of the resident task order within the time period of T_plan to T_plan+Dt; wherein T_plan represents the starting time of the task order planning; and Dt represents the set time interval.

[0071] For the above implementation manner, in some examples, the plurality of overpass time windows are sorted according to the priority, and the resident task order corresponding to the overpass time window without task conflict with the time period occupied by the program-controlled task order is selected to form the corresponding self-generated task order, including:

[0072] The plurality of overpass time windows are sorted according to the priority, and the resident task order corresponding to the overpass time window without task conflict with the time period occupied by the program-controlled task order is selected to form the corresponding self-generated task order.

[0073] The first-level sorting indicates that the priority of the resident task order is from high to low.

[0074] The secondary sorting indicates that the validity periods of the tasks in the persistent task list are from shortest to longest.

[0075] The three-level sorting indicates that the number of times the persistent tasks need to be executed is from most to least;

[0076] The four-level sorting indicates that the solar altitude angle of the resident missions is from largest to smallest;

[0077] The five-level sort indicates that the distance between the satellite and the reference point is from smallest to largest;

[0078] The six-level sorting indicates that the resident task IDs are sorted from smallest to largest;

[0079] For the top-passing time windows corresponding to the resident task orders sorted according to the priority, the validity of adding them to the task queue to be executed is checked in turn; wherein, the validity check condition is that the start time T1 of the resident task order corresponding to the top-passing time window and the start time T1 of all resident task orders in the task queue to be executed meet the set minimum time interval requirement.

[0080] It should be noted that, in the specific implementation process, the start condition for task planning can be set to start once at a set time interval Dt. Specifically, Dt can be 1 day, 1 week, or customized according to the actual situation. For example, ... Figure 3 As shown, this illustrates an embodiment of onboard task planning. In this embodiment, there are 6 programmed task orders already registered onboard. In the specific implementation process, after detecting and resolving task conflicts between newly registered and existing programmed task orders, the newly registered task order is directly added to the onboard queue of tasks to be executed. After the onboard system initiates autonomous task planning, the executable overpass time windows for resident task orders 1-4 within the time period T_plan to T_plan+Dt are calculated. After obtaining the time windows that satisfy the overpass distance and solar altitude angle requirements for each resident task order, resident task order 1 obtains 4 overpass times. The system obtains three over-the-top time windows for the inter-window and permanent task list 2, two over-the-top time windows for permanent task list 3, and four over-the-top time windows for permanent task list 4. Then, it performs a validity check on whether the over-the-top time windows corresponding to the permanent task lists can be added to the queue of tasks to be executed without conflict. Based on the multi-level sorting principle of the over-the-top time windows corresponding to the permanent task lists provided in this embodiment of the invention, it sequentially checks and generates self-generated task lists corresponding to the permanent task lists for the over-the-top time windows that pass the check, and adds the self-generated task lists to the queue of tasks to be executed. After all permanent task lists have been checked and added to the queue of tasks to be executed, the planning of the current satellite task list ends.

[0081] for Figure 1In some possible implementation manners of the technical solution, the method further includes:

[0082] When the self-generated task order is generated by the resident task order satisfying the validity checking condition, and the self-generated task order is added to the to-be-executed task order queue, the to-be-executed number of the resident task order to which the self-generated task order belongs is decremented by 1.

[0083] When the to-be-executed number of any resident task order is 0, the corresponding resident task order is deleted.

[0084] It can be understood that after the self-generated task order is successfully executed, the to-be-executed number of the resident task order to which the self-generated task order belongs needs to be decremented by 1.

[0085] On the other hand, the to-be-executed task order queue on the satellite is composed of the program-controlled task orders and the self-generated task orders, and is executed in a time-triggered manner.

[0086] Based on the same inventive concept of the foregoing technical solution, refer to Figure 4 which shows a satellite task order autonomous management and planning device 40 provided by an embodiment of the application, the device 40 includes a definition part 401, a task order receiving and processing part 402, a task order planning part 403, and an execution part 404; wherein,

[0087] The definition part 401 is configured to define task order types on the satellite according to a set definition rule; wherein the task order types include program-controlled task orders, resident task orders, and self-generated task orders.

[0088] The task order receiving and processing part 402 is configured to form a plurality of the program-controlled task orders and a plurality of the resident task orders according to a set receiving and processing rule after the satellite performs task conflict resolution based on remote control data packets injected to the satellite by a ground control system;

[0089] The task order planning part 403 is configured to periodically perform task order planning by the satellite based on the formed plurality of the resident task orders to convert the resident task orders that can be executed into the self-generated task orders, respectively.

[0090] The execution part 404 is configured to add the plurality of the program-controlled task orders and the plurality of the self-generated task orders to a to-be-executed task order queue, and execute the to-be-executed task order queue in a time-triggered manner.

[0091] In some examples, the definition part 401 is configured to:

[0092] According to the set definition rule, the task order types include task order IDs, space-time constraints, and work parameters according to the following table; wherein:

[0093]

[0094]

[0095] wherein,

[0096] the programmed task order has specified execution time period;

[0097] the resident task order has specified execution location information but not specified execution time period;

[0098] the self-generated task order is formed by conversion from the resident task order when the resident task order can be executed; wherein the condition that the resident task order can be executed is that the distance between the flight trajectory of the satellite and the reference point latitude and longitude is less than the trigger radius, and the solar elevation angle is greater than the minimum solar elevation angle, and the execution start time of the resident task order is within the valid start and end time, and the number of times to be executed of the resident task order is greater than zero;

[0099] wherein,

[0100] the task order ID uses 2-byte integer type;

[0101] the start time T0 of the programmed task order and the start time T1 of the self-generated task order are based on the second count of the time reference;

[0102] the duration dt0 of the programmed task order and the duration dt1 of the self-generated task order use integer type or second count;

[0103] the trigger radius uses the subsatellite distance or the central angle between the subsatellite point of the satellite and the reference point latitude and longitude;

[0104] the priority is divided into 1st to 9th level, wherein the 9th level is the highest level;

[0105] the satellite working mode includes high-resolution imaging, large-scale search and transmission to the ground;

[0106] the load working parameter is used to specify the detailed parameters of the task, including the electromagnetic load working frequency range, the camera parameters of the optical load;

[0107] the attitude working parameter is used to set the attitude pointing, attitude guidance, and sun-oriented attitude maneuver parameters during the load working;

[0108] the data transmission working parameter is used to set the latitude and longitude of the ground receiving station and the relay satellite fixed point longitude.

[0109] In some examples, the task order receiving processing part 402 is configured to:

[0110] The receiving processing rule of the program control task list is:

[0111] The same number replacement processing rule means that when the remote control data packet uploaded by the ground control system to the satellite contains the program control task list with an existing ID number, a new replaces old operation is performed.

[0112] The legality verification processing rule means that the starting time T0 of the newly uploaded program control task needs to be after the current time on the satellite and greater than a set first threshold value.

[0113] The time proximity conflict processing rule means that the time interval between the starting time T0 of the newly uploaded program control task list and the starting time T0 of all the to-be-executed program control task lists in the to-be-executed task list queue on the satellite needs to be greater than a set second threshold value; if not, a new replaces old operation is performed.

[0114] The number over-limit processing rule means that when the number of stored program control task lists on the satellite exceeds a set first limit range, the newly uploaded program control task list replaces the already uploaded program control task list.

[0115] The deletion operation processing rule means that when any one or more of the program control task lists are executed, the corresponding program control task list is deleted according to the program control task list ID or a clear operation of the program control task list is performed.

[0116] The receiving processing rule of the resident task list is:

[0117] The same number replacement processing rule means that when the remote control data packet uploaded by the ground control system to the satellite contains the resident task list with an existing ID number, a new replaces old operation is performed.

[0118] The legality verification processing rule means that the end time of the validity period needs to be after the current time on the satellite and greater than a set third threshold value; and the number of to-be-executed times of the resident task list is greater than or equal to 1.

[0119] The number over-limit processing rule means that when the number of stored resident task lists on the satellite exceeds a set second limit range, the newly uploaded resident task list replaces the already uploaded resident task list.

[0120] The deletion operation processing rule means that when any one or more of the resident task lists are executed, the corresponding resident task list is deleted according to the resident task list ID of the any resident task list, or a clear operation of the resident task list is performed.

[0121] In some examples, the task list planning part 403 is configured to:

[0122] According to the specified time interval, the overpass time window corresponding to the designated execution location in each of the plurality of resident task sheets is obtained by track recursion based on the designated execution location information in the resident task sheet.

[0123] The overpass time windows are sorted according to the priority, and the resident task sheet corresponding to the overpass time window without task conflict with the time period occupied by the program-controlled task sheet is selected to form a corresponding self-generated task sheet.

[0124] In some examples, the task sheet planning part 403 is further configured to:

[0125] Based on the plurality of resident task sheets formed, the overpass time window in which the satellite ground track meets the space-time constraints of the resident task sheet is obtained by recursively searching the satellite orbit in the time period of T_plan to T_plan+Dt, where T_plan represents the starting time of the task sheet planning, and Dt represents the specified time interval.

[0126] In some examples, the task sheet planning part 403 is further configured to:

[0127] The plurality of overpass time windows are sorted according to the priority, and the priority corresponds to the multi-level sorting of:

[0128] The first-level sorting indicates that the priority of the resident task sheet is from high to low;

[0129] The second-level sorting indicates that the validity period of the task of the resident task sheet is from short to long;

[0130] The third-level sorting indicates that the number of to-be-executed times of the resident task is from more to less;

[0131] The fourth-level sorting indicates that the solar elevation angle of the resident task is from large to small;

[0132] The fifth-level sorting indicates that the distance between the satellite and the reference point is from small to large;

[0133] The sixth-level sorting indicates that the resident task ID is from small to large;

[0134] The overpass time window corresponding to the resident task sheet sorted according to the priority is subjected to validity verification for being added to the to-be-executed task queue in turn, and the validity verification condition is that the start time T1 of the overpass time window corresponding to the resident task sheet and the start time T1 of all resident task sheets in the to-be-executed task sheet queue meet the requirement of the minimum time interval.

[0135] Referring to Figure 5The device 40 further comprises a pruning part 405, which is configured to:

[0136] When the self-generating task list corresponding to the resident task list satisfying the validity check condition is generated, and the self-generating task list is added into the to-be-executed task list queue, the to-be-executed number of the resident task list to which the self-generating task list belongs is reduced by 1.

[0137] When the to-be-executed number of any resident task list is 0, the corresponding resident task list is deleted.

[0138] It can be understood that, in the embodiment, the "part" can be a partial circuit, a partial processor, a partial program or software, etc., and of course can also be a unit, and can also be a module or a non-modular.

[0139] In addition, each component in the embodiment can be integrated in a processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function module.

[0140] When the integrated unit is realized in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiment can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in the embodiment. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0141] Therefore, the embodiment provides a computer storage medium, which stores a satellite task list autonomous management and planning program. When the satellite task list autonomous management and planning program is executed by at least one processor, the steps of the satellite task list autonomous management and planning method described in the technical solutions are implemented.

[0142] According to the satellite task list autonomous management and planning device 40 and the computer storage medium, referring to Figure 6Fig. 4 shows a specific hardware structure of a computing device 50 capable of implementing the above-mentioned satellite task list autonomous management and planning device 40 according to an embodiment of the present application. The computing device 50 can be a wireless device, a mobile or cellular phone (including so-called smart phones), a personal digital assistant (PDA), a video game console (including video display, mobile video game device, mobile video conferencing unit), a laptop computer, a desktop computer, a television set-top box, a tablet computing device, an electronic book reader, a fixed or mobile media player, etc. The computing device 50 comprises a communication interface 501, a memory 502 and a processor 503, which are coupled together by a bus system 504. It can be understood that the bus system 504 is used to realize the connection communication between these components. The bus system 504 includes not only a data bus, but also a power supply bus, a control bus and a status signal bus. However, for the purpose of clear illustration, all the buses are marked as the bus system 504 in Figure 5 Fig. 4. Among them,

[0143] The communication interface 501 is used for receiving and sending signals in the process of transmitting information with other external network elements.

[0144] The memory 502 is used for storing computer programs capable of running on the processor 503.

[0145] The processor 503 is used for executing the following steps when running the computer programs:

[0146] Defining the task list types on the satellite according to the set definition rules; wherein the task list types include program-controlled task lists, resident task lists and self-generated task lists.

[0147] Based on the remote control data packets injected into the satellite by the ground control system, the satellite forms a plurality of program-controlled task lists and a plurality of resident task lists according to the set receiving and processing rules after resolving the task conflicts.

[0148] Based on the formed plurality of resident task lists, the satellite periodically performs task list planning to convert the executable resident task lists into self-generated task lists, respectively.

[0149] Adding the plurality of program-controlled task lists and the plurality of self-generated task lists into a to-be-executed task list queue, and executing the to-be-executed task list queue according to time trigger.

[0150] It is to be appreciated that the memory 502 in embodiments of the application can be volatile, nonvolatile, or a combination of both. Non-volatile memory can be, for example, read only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory. Volatile memory can be, for example, random access memory (RAM), which acts as external cache. By way of example and not limitation, many forms of RAM exist, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The memory 502 of the system and method described herein are intended to include, without being limited to, these and any other suitable types of memory.

[0151] The processor 503 can be an integrated circuit chip including a processing unit that is configured to process signals. In implementation, the steps of the above-described method can be completed by the integrated logic circuit of the hardware in the processor 503 or by an instruction in the form of software. The processor 503 described above can be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware code processor to execute, or be executed by a combination of hardware and software modules in the code processor. The software module can be located in the random access memory, the flash memory, the read-only memory, the programmable read-only memory or the electrically erasable programmable memory, the register or other mature storage medium in the art. The storage medium is located in the memory 502, and the processor 503 reads the information in the memory 502 and completes the steps of the above-described method in combination with the hardware.

[0152] It can be understood that the embodiments described herein can be realized by hardware, software, firmware, middleware, microcode or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field-Programmable Gate Arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for executing the functions described in the present application or a combination thereof.

[0153] For software implementation, the technologies described herein can be implemented by modules (for example, procedures, functions, and so on) for performing the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0154] Specifically, the processor 503 is further configured to execute the satellite task sheet autonomous management and planning method steps in the foregoing technical solutions when the computer program is executed, and details are not described herein.

[0155] It should be noted that the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0156] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for autonomous management and planning of satellite mission sheets, characterized in that, The method comprises: According to the set definition rule, the task sheet type on the satellite is defined; wherein, the task sheet type comprises a program-controlled task sheet, a resident task sheet and a self-generated task sheet; the program-controlled task sheet has a specified execution time period; the resident task sheet has a specified execution location information but no specified execution time period; Based on the remote control data packet on the ground control system to the satellite, the program-controlled task sheet in the remote control data packet is processed according to the receiving processing rule of the program-controlled task sheet to form a plurality of the program-controlled task sheets and a plurality of the resident task sheets; Based on the formed plurality of the resident task sheets, according to the set time interval, according to the specified execution location information in the resident task sheet, the overflight time window corresponding to the specified execution location in each resident task sheet is obtained through orbit recursion; the plurality of overflight time windows are sorted according to the priority, and the resident task sheet corresponding to the overflight time window without task conflict with the time period occupied by the program-controlled task sheet is selected to form the corresponding self-generated task sheet; The plurality of program-controlled task sheets and the plurality of self-generated task sheets are added to the to-be-executed task sheet queue, and the to-be-executed task sheet queue is executed according to time trigger.

2. The method of claim 1, wherein, The task sheet type on the satellite is defined according to the set definition rule, which comprises: According to the set definition rule, the task sheet type comprises a task sheet ID, a space-time constraint and a working parameter, wherein: The task sheet ID of the program-controlled task sheet is a program-controlled task sheet ID, the space-time constraint of the program-controlled task sheet comprises a start time T0 and a duration dt0, and the working parameter of the program-controlled task sheet comprises a satellite working mode, a load working parameter, an attitude working parameter and a data transmission working parameter; the task sheet ID of the resident task sheet is a resident task sheet ID, the space-time constraint of the resident task sheet comprises a reference point latitude and longitude, a trigger radius, a minimum sun elevation angle, an effective period start time, an effective period end time, a to-be-executed number and a priority, and the working parameter of the resident task sheet comprises a satellite working mode, a load working parameter, an attitude working parameter and a data transmission working parameter; the task sheet ID of the self-generated task sheet is a resident task ID to which the self-generated task sheet belongs, the space-time constraint of the self-generated task sheet comprises a start time T1 and a duration dt1, and the working parameter of the self-generated task sheet comprises a satellite working mode, a load working parameter, an attitude working parameter and a data transmission working parameter; Among them, The self-generated task sheet is formed by converting the resident task sheet when the resident task sheet can be executed; wherein, the condition that the resident task sheet can be executed is that the distance between the flight trajectory of the satellite and the reference point latitude and longitude is less than the trigger radius, the sun elevation angle is greater than the minimum sun elevation angle, the execution start time of the resident task sheet is within the effective start and end time, and the to-be-executed number of the resident task sheet is greater than zero; The task sheet ID adopts a 2-byte integer type. The starting time T0 of the programmed task list and the starting time T1 of the self-generated task list are based on the second count of the time reference; The duration dt0 of the programmed task list and the duration dt1 of the self-generated task list are identified by an integer or a second count; The trigger radius is identified by the distance from the subsatellite point or the central angle between the subsatellite point of the satellite and the reference point latitude and longitude; The priority is divided into 1st to 9th levels, with the 9th level being the highest; The satellite operation mode includes high-resolution imaging, wide-range search, and transmission to the ground; The load operation parameter is used to specify the detailed parameters of the task, including the electromagnetic load operation frequency range and the camera parameters of the optical load; The attitude operation parameter is used to set the attitude pointing, attitude guidance, and sun-oriented attitude maneuver parameters during the load operation; The data transmission operation parameter is used to set the latitude and longitude of the ground receiving station and the relay satellite fixed-point longitude.

3. The method of claim 2, wherein, The remote control data packet injected into the satellite by the ground control system is processed according to the receiving and processing rules of the programmed task list and the receiving and processing rules of the resident task list to form multiple programmed task lists and multiple resident task lists, including: The receiving and processing rules of the programmed task list are: The same number replacement processing rule means that when the remote control data packet injected into the satellite by the ground control system contains the programmed task list with an existing ID number, the new-to-old replacement operation is performed; The legality verification processing rule means that the starting time T0 of the newly injected programmed task must be after the current time on the satellite and greater than a set first threshold value; The time proximity conflict processing rule means that the time interval between the starting time T0 of the newly injected programmed task and the starting time T0 of all the to-be-executed programmed task lists in the to-be-executed task list queue on the satellite must be greater than a set second threshold value; if not, the new-to-old replacement operation is performed; The number over-limit processing rule means that when the number of stored programmed task lists on the satellite exceeds a set first limit range, the newly injected programmed task list replaces the already injected programmed task list; The deletion operation processing rule means that when any one or more programmed task lists are executed, the corresponding programmed task list or the empty operation of the programmed task list is deleted according to the programmed task list ID; The receiving and processing rules of the resident task list are: The same number replacement processing rule means that when the remote control data packet injected into the satellite by the ground control system contains the resident task list with an existing ID number, the new-to-old replacement operation is performed; The legality verification processing rule means that the end time of the validity period must be after the current time on the satellite and greater than a set third threshold value; and the number of to-be-executed resident task lists is greater than or equal to 1; The number over-limit processing rule means that when the number of stored resident task lists on the satellite exceeds a set second limit range, the newly injected resident task list replaces the already injected resident task list. The deletion operation processing rule indicates that when any one or more of the resident task orders are executed, the any resident task order is deleted or a clear operation of the resident task order is performed according to the resident task order corresponding to the resident task order ID.

4. The method of claim 1, wherein, According to the formed plurality of resident task orders, overflight time windows corresponding to the designated execution location in each resident task order are obtained by track recursion according to the designated execution location information in the resident task order at a set time interval, and the overflight time windows include: According to the formed plurality of resident task orders, the satellite orbit is recursively tracked to search for an overflight time window that satisfies the space-time constraints of the resident task order within a time period of T_plan to T_plan+Dt, where T_plan represents a start time of the task order planning, and Dt represents the set time interval.

5. The method of claim 1, wherein, The plurality of overflight time windows are sorted according to the priority, and the resident task order corresponding to the overflight time window without task conflict with the time period occupied by the program-controlled task order is selected to form a corresponding self-generated task order, and the method includes: The plurality of overflight time windows are sorted according to the priority, and the resident task order corresponding to the overflight time window without task conflict with the time period occupied by the program-controlled task order is selected to form a corresponding self-generated task order, and the method includes: The plurality of overflight time windows are sorted according to the priority, and the resident task order corresponding to the overflight time window without task conflict with the time period occupied by the program-controlled task order is selected to form a corresponding self-generated task order, and the method includes: The plurality of overflight time windows are sorted according to the priority, and the resident task order corresponding to the overflight time window without task conflict with the time period occupied by the program-controlled task order is selected to form a corresponding self-generated task order, and the method includes: The plurality of overflight time windows are sorted according to the priority, and the resident task order corresponding to the overflight time window without task conflict with the time period occupied by the program-controlled task order is selected to form a corresponding self-generated task order, and the method includes: The method further includes: When the resident task order that meets the validity verification condition generates a corresponding self-generated task order, and the self-generated task order is added to the to-be-executed task order queue, the to-be-executed number of the resident task order to which the self-generated task order belongs is reduced by 1. When the to-be-executed number of any resident task order is 0, the corresponding resident task order is deleted. The device includes a definition part, a task order receiving processing part, a task order planning part, and an execution part, wherein 6. The method of claim 5, wherein, The definition part is configured to define a task order type on a satellite according to a set definition rule, wherein the task order type includes a program-controlled task order, a resident task order, and a self-generated task order; the program-controlled task order has a specified execution time period; the resident task order has designated execution location information but does not have a specified execution time period. ​ ​ 7. A satellite mission plan autonomous management and orchestration apparatus, characterized by, ​ ​ The task list receiving processing part is configured to, based on the remote control data packet injected into the satellite on the ground control system, perform task conflict resolution on the programmed task list in the remote control data packet according to the receiving processing rule of the programmed task list, and perform task conflict resolution on the resident task list in the remote control data packet according to the receiving processing rule of the resident task list, to form a plurality of the programmed task lists and a plurality of the resident task lists; The task list planning part is configured to, based on the formed plurality of the resident task lists, according to the set time interval, obtain, according to the designated execution location information in the resident task list, the overflight time window corresponding to the designated execution location in each resident task list through orbit recursion by the satellite; sort a plurality of the overflight time windows according to the priority, select the resident task list corresponding to the overflight time window without task conflict with the time period occupied by the programmed task list to form a corresponding self-generated task list; The execution part is configured to add a plurality of the programmed task lists and a plurality of the self-generated task lists to a to-be-executed task list queue, and execute the to-be-executed task list queue according to time.

8. A computing device, comprising: The computing device comprises a communication interface, a memory and a processor; each component is coupled together through a bus system, wherein, The communication interface is used for receiving and sending signals in the process of transceiving information with other external network elements; The memory is used for storing a computer program capable of running on the processor; The processor is used for executing the steps of the satellite task list autonomous management and planning method in any one of claims 1 to 6 when running the computer program.

9. A computer storage medium, characterized in that The computer storage medium stores a satellite task list autonomous management and planning program, and the satellite task list autonomous management and planning program, when executed by at least one processor, implements the steps of the satellite task list autonomous management and planning method in any one of claims 1 to 6. The computer storage medium stores a satellite task list autonomous management and planning program, and the satellite task list autonomous management and planning program, when executed by at least one processor, implements the steps of the satellite task list autonomous management and planning method in any one of claims 1 to 6.

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