Satellite Relay Service Scheduling Method and Device

Abstract

The present application provides a satellite relay service scheduling method and apparatus. The method includes: performing spatial modeling on the pointing azimuth of the antenna of a target relay satellite to obtain an antenna pointing coordinate system model; constructing a satellite relay service scheduling problem model with the optimization objectives of maximizing the total revenue of relay service scheduling and minimizing the total antenna setting time; and applying the satellite relay service scheduling problem model to generate a satellite relay service scheduling plan including a target antenna pointing path sequence corresponding to each relay service based on a preset hierarchical screening and verification strategy. The present application can effectively improve the flexibility and effectiveness of satellite relay service scheduling, effectively improve the utilization rate of satellite resources and the efficiency of relay service scheduling, and improve the success rate of relay service scheduling.

Description

Technical Field

[0001] The present application relates to the technical field of relay service scheduling, and particularly to a satellite relay service scheduling method and device. Background Art

[0002] With the rapid development of space technology and the continuous increase in the number of on-orbit spacecraft, the business requirements for spacecraft data transmission and measurement and control are increasing day by day, and data relay services are playing an increasingly important role in space networks. Currently, a relatively mature data relay network consists of an on-orbit constellation of tracking and data relay satellites (TDRS) deployed in the geosynchronous orbit, a set of ground systems and facilities, and low Earth orbit (LEO) user platforms. This network can provide tracking services and high-bandwidth, nearly continuous communication support for user spacecraft in LEO and other user platforms.

[0003] However, compared with the increasingly large scale of relay services, satellite networks are constantly facing the influence of limited and unbalanced network resources in the space environment. Therefore, the quality of the scheduling scheme will directly affect the effect of service completion and the utilization efficiency of relay satellites, which puts higher requirements on the reasonable scheduling of relay satellite resources. It is necessary to further deeply consider the actual situation of relay satellites and user requirements, and study practical relay satellite scheduling models and fast and stable scheduling algorithms.

[0004] In an actual geostationary relay satellite system, each relay service is processed by an inter-satellite link antenna (ILA). Antennas are divided into single-address antennas (SA) and phased array multiple-address antennas (MA) due to differences in information transmission rate, service operation mode, and setup time. Among them, due to the high gain of single-address antennas, they are the main means for relay satellites to provide measurement and control, data transmission and other services. However, since the antenna cannot serve other services during rotation, the rotation time, i.e., the antenna setup time, will significantly occupy the limited resources within the scheduling period, thereby affecting the service efficiency of the relay satellite system. When solving existing relay service scheduling models, usually the maximum and same antenna setup time is reserved for all services, which leads to waste of the schedulable resources of the system and low resource utilization rate. At the same time, in some time-window-based scheduling schemes, the antenna setup time before the start of the relay service is assumed to be static or ignored, which is a weaker assumption compared with the dynamic characteristics of single-address antennas. Under this assumption, the obtained scheduling solution may be sub-optimal or even infeasible in a real dynamic environment, and the scheduling result often deviates from the actual needs of users.

[0005] Therefore, there is an urgent need to design a satellite relay service scheduling method that can improve scheduling efficiency and ensure scheduling effectiveness. Summary of the Invention

[0006] In view of this, embodiments of the present application provide a satellite relay service scheduling method and apparatus to eliminate or improve one or more defects existing in the prior art.

[0007] One aspect of the present application provides a satellite relay service scheduling method, including:

[0008] Performing spatial modeling on the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model;

[0009] Taking maximizing the total revenue of relay service scheduling and minimizing the total antenna setup time as optimization objectives, constructing a satellite relay service scheduling problem model based on dynamic antenna setup time;

[0010] Applying the satellite relay service scheduling problem model, generating a satellite relay service scheduling plan including a target antenna pointing path sequence corresponding to each relay service based on a preset hierarchical screening and verification strategy.

[0011] In some embodiments of the present application, the performing spatial modeling on the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model includes:

[0012] Obtaining an antenna pointing change model of the target relay satellite, where the antenna pointing change model includes: the coverage range of the target relay satellite, the satellite orbit diameter, and the antenna pointing arc surface corresponding to the antenna pointing change range;

[0013] Converting the antenna pointing arc surface into a circular plane corresponding to the antenna pointing change range, and generating an antenna pointing coordinate system for describing the antenna pointing using plane coordinate points;

[0014] Defining a parameter group corresponding to the antenna pointing coordinate system, and setting a plurality of decision variables including antenna setup time according to the parameter group to obtain a corresponding antenna pointing coordinate system model.

[0015] In some embodiments of the present application, the antenna pointing coordinate system is used to represent an antenna pointing path sequence located in the circular plane corresponding to the antenna pointing change range, and the origin of the antenna pointing coordinate system is the direction coordinate when the antenna points to the earth's center;

[0016] The antenna pointing path sequence includes: an antenna setup path starting from the origin and a plurality of sequentially connected path groups, where each path group includes a sequentially connected service processing path and an antenna setup path, and the antenna setup path in the last path group is connected to the antenna setup path starting from the origin and points to the origin;

[0017] The antenna setup path is used to represent the antenna pointing path during the antenna setup process;

[0018] The service processing path is used to represent the antenna pointing path in the relay service processing process.

[0019] In some embodiments of the present application, the parameter group includes:

[0020] A directed graph G(V,A), which is used to represent the antenna pointing path sequence, V represents a node set containing each node, and each node includes position information and time information; if the number of relay services in the antenna pointing path sequence is n, then |V| = 2n + 2, and the nodes include: the start node of the antenna pointing path sequence, the end node of the antenna pointing path sequence, and the start nodes and end nodes of each relay service; A represents the antenna pointing path set, and the antenna pointing path set includes a service processing path and an antenna setting path;

[0021] An antenna set K, including the union of a single-address antenna set K SA and a multi-address antenna set K MA ;

[0022] The pointing speed v set by the single-address antenna SA SA ;

[0023] The setting time t of the multi-address antenna MA MA , which is a constant;

[0024] A set Q of service priorities = {1,…,q,…,|Q|}, |Q| ≥ 1, |Q| represents the total number of relay services. For each relay service i, there is a preset priority q i , and q i ≥ 1;

[0025] A set Λ of revenues corresponding to the service priorities = {λ1,…,λ q ,…,λ |Q|}, for each relay service i, the revenue corresponding to the priority is λ qi , λ qi is calculated according to the number of relay services of each priority;

[0026] A relay service set N, which is used to divide subsets {N1, N2,…, N |Q|} according to each priority, that is: N = {N1, N2,…, N |Q|}; if there is only one priority, that is, |Q| = 1, or the priority is 1, that is, q = 1, then λ q = 1; otherwise N γ represents the γ-th subset, and λ γ represents the priority corresponding to the γ-th subset;

[0027] Processing time p of relay service i i wherein, the processing time p0 of the start node of the antenna pointing path sequence and the processing time p 2n+1 of the end node are both 0;

[0028] Set of available antennas K for relay service i i which consists of each available antenna k, and the set of available antennas for each relay service includes single-address antennas and / or multi-address antennas;

[0029] Set of available time windows M for relay service i i The m-th available time window of relay service i is denoted as Within the time window the position of the node corresponding to relay service i is determined by the pointing coordinates of antenna k, that is

[0030] and, the path pointing relationship between different nodes, including the out-degree δ + and in-degree δ - of each node in the directed graph G(V,A).

[0031] In some embodiments of the present application, the decision variables include:

[0032] The first set of variables, used to describe the processing order of relay services, represented as a binary variable indicating the processing order of adjacent relay services i and j on available antenna k; if relay service i is before relay service j, then if relay service i is after relay service j, then

[0033] The second set of variables, used to describe the critical time of relay services, the critical time includes: start time end time and antenna setting time wherein, the antenna setting time represents the antenna setting duration from the end node of service i to the start node of service j of antenna k when the start time of service j is ;

[0034] and, the third set of variables, used to describe the scheduled time window, represented as another binary variable indicating the scheduling status of the m-th available time window of relay service i on antenna k; if relay service i is processed in the m-th available time window on antenna k, then otherwise,

[0035] In some embodiments of the present application, with the optimization objectives of maximizing the total revenue of relay service scheduling and minimizing the total antenna setup time, a satellite relay service scheduling problem model based on dynamic antenna setup time is constructed, including:

[0036] With the optimization objective of maximizing the total revenue of relay service scheduling, a first objective function is constructed according to the parameter group and the decision variables, and with the optimization objective of minimizing the total antenna setup time, a second objective function is constructed according to the parameter group and the decision variables;

[0037] Constraints corresponding to the first objective function and the second objective function are constructed according to the parameter group and the decision variables to obtain a satellite relay service scheduling problem model based on dynamic antenna setup time.

[0038] In some embodiments of the present application, applying the satellite relay service scheduling problem model to generate a satellite relay service scheduling scheme including target antenna pointing path sequences corresponding to each relay service based on a preset hierarchical screening and verification strategy, including:

[0039] Screening and verification steps: Applying the satellite relay service scheduling problem model and hierarchically screening a target relay service among the current relay services based on a preset hierarchical screening strategy; verifying the target relay service based on a preset verification strategy, and if the verification passes, inserting the target relay service into the scheduling, where the verification strategy includes: insertion feasibility check and time advancement feasibility check;

[0040] Deleting the target relay service from the current relay services, and then repeating the screening and verification steps until a satellite relay service scheduling scheme including target antenna pointing path sequences corresponding to each relay service is generated, and determining the target antenna pointing path sequence as the satellite relay service scheduling scheme;

[0041] Outputting the satellite relay service scheduling scheme.

[0042] Another aspect of the present application provides a satellite relay service scheduling device, including:

[0043] A coordinate system modeling module for spatially modeling the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model;

[0044] A scheduling problem modeling module for constructing a satellite relay service scheduling problem model based on dynamic antenna setup time with the optimization objectives of maximizing the total revenue of relay service scheduling and minimizing the total antenna setup time;

[0045] A scheduling optimization module, which is configured to apply the satellite relay service scheduling problem model and generate a satellite relay service scheduling plan including a target antenna pointing path sequence corresponding to each relay service based on a preset hierarchical screening and verification strategy.

[0046] Another aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the satellite relay service scheduling method described above is implemented.

[0047] Another aspect of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the satellite relay service scheduling method described above is implemented.

[0048] The satellite relay service scheduling method provided by the present application performs spatial modeling on the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model; constructs a satellite relay service scheduling problem model based on dynamic antenna setting time with the optimization objectives of maximizing the total revenue of relay service scheduling and minimizing the total antenna setting time; applies the satellite relay service scheduling problem model and generates a satellite relay service scheduling plan including a target antenna pointing path sequence corresponding to each relay service based on a preset hierarchical screening and verification strategy; the present application considers the dynamic antenna setting time, performs spatial modeling and description on the pointing azimuth of the antenna, and obtains an antenna pointing coordinate system model by performing spatial modeling on the pointing azimuth of the antenna of the target relay satellite, which can comprehensively and effectively describe the characteristics of relay services and provide an effective and reliable basis for calculating the antenna setting time of relay services and further optimizing the scheduling plan; with the optimization objectives of maximizing the total revenue of service scheduling and minimizing the total antenna setting time, a satellite relay service scheduling algorithm based on dynamic antenna setting time is constructed, which transforms relay services from a single time characteristic to a spatio-temporal characteristic, designs an algorithm to complete the calculation of dynamic antenna setting time, can effectively improve the flexibility and effectiveness of satellite relay service scheduling, can increase the number of successfully scheduled relay services, and can effectively improve the utilization rate of satellite resources and the efficiency of relay service scheduling; by proposing a satellite relay service scheduling and optimization algorithm based on dynamic antenna setting time and splittable services, it is more in line with the real network environment and can further improve the utilization rate of satellite resources and the efficiency of relay service scheduling.

[0049] The additional advantages, objectives, and features of the present application will be partially described below, and will become partially obvious to those of ordinary skill in the art after studying the following parts, or can be learned from the practice of the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the description and the drawings.

[0050] Those skilled in the art will understand that the objectives and advantages achievable with the present application are not limited to those specifically described above, and the above and other objectives achievable with the present application will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are provided to further understand the present application, form a part of the present application, and do not limit the present application. The components in the drawings are not drawn to scale, but are only for showing the principles of the present application. For the convenience of showing and describing some parts of the present application, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present application. In the drawings:

[0052] Figure 1 It is a schematic diagram of the overall process of the satellite relay service scheduling method in an embodiment of the present application.

[0053] Figure 2 It is a schematic diagram of a specific process of the satellite relay service scheduling method in an embodiment of the present application.

[0054] Figure 3 It is a schematic diagram of the antenna pointing change model of the target relay satellite in an embodiment of the present application.

[0055] Figure 4 It is a schematic diagram of the antenna pointing coordinate system in an embodiment of the present application.

[0056] Figure 5 It is a schematic diagram of the relay service scheduling algorithm framework in an embodiment of the present application.

[0057] Figure 6 It is a schematic diagram of the service insertion verification problem scenario in an embodiment of the present application.

[0058] Figure 7 It is a schematic diagram of the structure of the satellite relay service scheduling device in another embodiment of the present application.

[0059] Figure 8 It is a schematic diagram of the comparison of the total service scheduling quantities provided in the application example of the present application.

[0060] Figure 9 It is a schematic diagram of the comparison of the total service processing times provided in the application example of the present application.

[0061] Figure 10 It is a schematic diagram of the comparison of the total antenna setup times provided in the application example of the present application.

[0062] Figure 11 It is a schematic diagram of the comparison of the effective time utilization rates provided in the application example of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] To make the objectives, technical solutions, and advantages of this application clearer and more understandable, the following further elaborates on this application in conjunction with the embodiments and the accompanying drawings. Herein, the illustrative embodiments of this application and their descriptions are used to explain this application, but do not limit this application.

[0064] Herein, it should also be noted that to avoid obscuring this application with unnecessary details, only the structures and / or processing steps closely related to the solution of this application are shown in the drawings, while other details less relevant to this application are omitted.

[0065] It should be emphasized that the term "comprising / including" when used herein refers to the presence of features, elements, steps, or components, but does not exclude the presence or addition of one or more other features, elements, steps, or components.

[0066] Herein, it should also be noted that if not otherwise specified, the term "connection" in this text can not only refer to a direct connection, but also represent an indirect connection with an intermediate.

[0067] In the following, embodiments of this application will be described with reference to the drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0068] When solving the existing relay service scheduling model, it usually reserves the maximum and same antenna setup time for all services, which results in waste of the resources that can be scheduled by the system and low resource utilization. At the same time, in some time-window-based scheduling schemes, the antenna setup time before the start of the relay service is assumed to be static or ignored, which is a weaker assumption compared to the dynamic characteristics of single-address antennas. Under this assumption, the obtained scheduling solution may be sub-optimal or even infeasible in a real dynamic environment, and the scheduling result often deviates from the actual needs of users.

[0069] Specifically, the existing time-window-based scheduling schemes are as follows:

[0070] 1) Scheme 1, which allows users to submit multiple slidable time windows. Considering the flexibility of service scheduling and the conflicts between services in relay services, a relay satellite scheduling model considering multiple sliding windows is constructed, and a relay satellite scheduling algorithm based on a random search strategy is designed. The algorithm includes service resource matching and neighborhood generation, available time period generation, service conflict analysis, neighborhood search and conflict resolution, and resource and service set update.

[0071] 2) Solution 2 takes into account the application mode of breakpoint resumption in relay satellite scheduling, that is, reasonably splitting a single data transmission service so that it can be completed within multiple time windows. First, a scheduling model for the single-address antenna of the relay satellite for breakpoint resumption is constructed, then a method for quantifying the degree of conflict based on conflict risk assessment is proposed, and a two-stage scheduling algorithm considering breakpoint resumption is designed.

[0072] 3) Solution 3 proposes a two-stage service scheduling algorithm. In the initial scheduling stage, a scheduling model with multiple constraints is constructed, and an improved genetic algorithm is designed to solve the initial scheduling problem. In the dynamic scheduling stage, a multi-objective dynamic scheduling model is constructed, and a preemptive dynamic scheduling algorithm (PDSA) is designed to solve the dynamic scheduling model.

[0073] However, no matter which of the above time-window-based scheduling schemes, there are problems of low scheduling efficiency and inability to guarantee the effectiveness of scheduling.

[0074] Based on this, this application proposes a relay service scheduling method based on dynamic antenna setting time. First, considering the dynamic antenna setting time, it is necessary to spatially model and describe the pointing direction of the antenna, and transform the relay service from a single time characteristic to a spatio-temporal characteristic, and design an algorithm to complete the calculation of the dynamic antenna setting time. The relay scheduling algorithm based on dynamic time proposed in this application completes the insertion scheduling of relay services from dimensions such as service priority and antenna through a hierarchical strategy, forming a final scheduling plan.

[0075] Specifically, it is described in detail through the following embodiments.

[0076] The embodiment of this application provides a satellite relay service scheduling method. Refer to Figure 1 , the satellite relay service scheduling method specifically includes the following content:

[0077] Step 100: Spatially model the pointing direction of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model.

[0078] It can be understood that given the radius of the earth, the low-earth orbit altitude and the geosynchronous orbit altitude, the pointing change range of the single-address antenna can be calculated, and the pointing direction of the antenna can be uniquely confirmed by the points on the black arc surface. Transform this arc surface into a circular plane to generate an antenna pointing coordinate system model.

[0079] In step 100, an antenna pointing coordinate system model is first established, and the pointing direction of the antenna is spatially modeled, thus providing a basis for calculating the antenna setting time of the service and further optimizing the scheduling plan.

[0080] Step 200: Construct a satellite relay service scheduling problem model based on dynamic antenna setup time with the optimization objectives of maximizing the total revenue of relay service scheduling and minimizing the total antenna setup time.

[0081] It can be understood that the relay service can also be simply referred to as service, and minimizing the total antenna setup time can also be called minimizing the total duration of antenna setup.

[0082] In Step 200, a satellite relay service scheduling problem model based on dynamic antenna setup time is established, converting the scheduling problem into an optimization problem of the antenna pointing path in the antenna coordinate system, setting the optimization objectives of maximizing the total revenue of service scheduling and minimizing the total duration of antenna preparation, and solving the optimized antenna pointing path sequence as the scheduling scheme.

[0083] Step 300: Apply the satellite relay service scheduling problem model to generate a satellite relay service scheduling scheme containing the target antenna pointing path sequences corresponding to each relay service based on a preset hierarchical screening and verification strategy.

[0084] Specifically, Step 300 proposes a satellite relay service scheduling and optimization algorithm based on dynamic antenna setup time and splittable services. The algorithm generates an initial scheduling scheme based on dynamic antenna setup time, and then reschedules the splittable services that fail in the initial scheduling to optimize the scheduling result.

[0085] From the above description, it can be seen that for the satellite relay service scheduling method provided in the embodiments of the present application, considering the dynamic antenna setup time requires spatially modeling and describing the pointing direction of the antenna. By spatially modeling the pointing direction of the antenna of the target relay satellite, an antenna pointing coordinate system model is obtained, which can comprehensively and effectively describe the characteristics of relay services, and can provide an effective and reliable basis for calculating the antenna setup time of relay services and further optimizing the scheduling scheme; with the optimization objectives of maximizing the total revenue of service scheduling and minimizing the total antenna setup time, a satellite relay service scheduling algorithm based on dynamic antenna setup time is constructed, transforming the relay service from a single time characteristic to a spatio-temporal characteristic, designing an algorithm to complete the calculation of dynamic antenna setup time, which can effectively improve the flexibility and effectiveness of satellite relay service scheduling, can increase the number of successfully scheduled relay services, and can effectively improve the utilization rate of satellite resources and the efficiency of relay service scheduling; by proposing a satellite relay service scheduling and optimization algorithm based on dynamic antenna setup time and splittable services, it is more in line with the real network environment and can further improve the utilization rate of satellite resources and the efficiency of relay service scheduling.

[0086] To improve the construction reliability and application effectiveness of the antenna pointing coordinate system model, in a satellite relay service scheduling method provided in the embodiments of the present application, refer to Figure 2, step 100 in the satellite relay service scheduling method specifically includes the following content:

[0087] Step 110: Obtain the antenna pointing change model of the target relay satellite, where the antenna pointing change model includes: the coverage range of the target relay satellite, the satellite orbit diameter, and the antenna pointing arc surface corresponding to the antenna pointing change range.

[0088] Step 120: Convert the antenna pointing arc surface into a circular plane corresponding to the antenna pointing change range, and generate an antenna pointing coordinate system that describes the antenna pointing using plane coordinate points.

[0089] Step 130: Define the parameter group corresponding to the antenna pointing coordinate system, and set multiple decision variables including the antenna setting time according to the parameter group to obtain the corresponding antenna pointing coordinate system model.

[0090] To further improve the construction reliability and application effectiveness of the antenna pointing coordinate system model, in a satellite relay service scheduling method provided in an embodiment of the present application, the antenna pointing coordinate system is used to represent the antenna pointing path sequence located in the circular plane corresponding to the antenna pointing change range, and the origin of the antenna pointing coordinate system is the direction coordinate when the antenna points to the center of the earth;

[0091] The antenna pointing path sequence includes: an antenna setting path starting from the origin and multiple sequentially connected path groups, where each path group includes a service processing path and an antenna setting path connected in sequence, and the antenna setting path in the last path group is connected to the antenna setting path starting from the origin and points to the origin;

[0092] The antenna setting path is used to represent the antenna pointing path during the antenna setting process;

[0093] The service processing path is used to represent the antenna pointing path during the relay service processing process.

[0094] Specifically, first generate the antenna pointing change model of the target relay satellite. Refer to Figure 3 , given the radius of the earth, the low-earth orbit altitude, and the geosynchronous orbit altitude, the single-address antenna pointing change range can be calculated, and the pointing direction of the antenna can be uniquely confirmed by the points on the black arc surface. Convert this arc surface into a circular plane to generate the antenna pointing coordinate system as shown in Figure 4 , and describe the antenna pointing using plane coordinate points. In Figure 3 , Earth represents the earth; LEO represents a low-earth orbit satellite, and TDRS represents the target relay satellite.

[0095] In the antenna pointing coordinate system, the direction coordinates when the antenna points to the center of the earth are set to (0, 0), which is used as the origin of the coordinate system. Any antenna pointing can be uniquely described by a point in the coordinate system. To simplify the model, it is assumed in this article that all antenna pointing paths are straight lines. In Figure 4 , the solid directed line segment is the service processing path, representing the antenna pointing path in the relay service processing process. The directed dotted line is the antenna setting path, representing the antenna pointing path in the antenna setting process.

[0096] In Figure 4 , an antenna pointing path sequence including five relay services is shown. The antenna pointing path sequence represents a set of antenna pointing paths of the satellite relay service scheduling scheme and is the output of the relay service scheduling. The antenna pointing path sequence starts from the origin and finally returns to the origin.

[0097] To further improve the construction reliability and application effectiveness of the antenna pointing coordinate system model, in a satellite relay service scheduling method provided in an embodiment of the present application, the parameter group specifically includes the following contents:

[0098] (1) A directed graph G(V, A), which is used to represent the antenna pointing path sequence. V represents a node set containing each node, and each node includes position information and time information; if the number of relay services in the antenna pointing path sequence is n, then |V| = 2n + 2, and the nodes include: the start node of the antenna pointing path sequence, the end node of the antenna pointing path sequence, and the start nodes and end nodes of each relay service; A represents the antenna pointing path set, and the antenna pointing path set includes the service processing path and the antenna setting path;

[0099] (2) An antenna set K, which is the union of the single-address antenna set K SA and the multi-address antenna set K MA ;

[0100] (3) The pointing speed v SA set for the single-address antenna SA;

[0101] (4) The setting time t MA of the multi-address antenna MA, which is a constant;

[0102] (5) A set Q = {1,..., q,..., |Q|} of service priorities, |Q| ≥ 1, and |Q| represents the total number of relay services. For each relay service i, there is a preset priority q i , and q i ≥ 1;

[0103] (6) A set Λ = {λ1,..., λ q ,..., λ |Q|}, where λ1 represents the revenue of the first priority, and λ q represents the revenue of the q-th priority, and λ |Q| represents the revenue of the last priority. For each relay service i, the revenue of the corresponding priority is λ qi , and λ qi is calculated according to the number of relay services at each priority;

[0104] (7) Relay service set N, which is used to divide subsets {N1, N2,..., N |Q|} according to each priority, that is: N = {N1, N2,..., N |Q|}; if there is only one priority, that is, |Q| = 1, or the priority is 1, that is, q = 1, then λ q = 1; otherwise N γ represents the γ-th subset, and λ γ represents the priority corresponding to the γ-th subset;

[0105] (8) The processing time p i of relay service i, where the processing time p0 of the start node of the antenna pointing path sequence and the processing time p 2n+1 of the end node of the antenna pointing path sequence are both 0;

[0106] (9) The set of available antennas K i for relay service i, which consists of each available antenna k, and the set of available antennas for each relay service includes single-address antennas and / or multi-address antennas;

[0107] (10) The set of available time windows M i for relay service i. The m-th available time window of relay service i is denoted as Within the time window , the position of the node corresponding to relay service i is determined by the pointing coordinates of antenna k, that is

[0108] (11) The path pointing relationship between different nodes, including the out-degree δ + and in-degree δ - of each node in the directed graph G(V, A).

[0109] Specifically, this application defines the antenna pointing path sequence as a directed graph G(V, A) in the antenna coordinate system. V represents the node set, and each node includes position and time information. Let the number of services in the sequence be n, then |V| = 2n + 2. It includes the start node and end node of each service and the start node and end node of the antenna pointing path sequence. A represents the set of antenna pointing paths, including service processing paths and antenna setting paths.

[0110] Define the set of antennas as K, and the antennas can be divided into single-address antennas (SA) and multi-address antennas (MA), denoted by K SA and K MA respectively. Therefore, K = K SA ∪K MA . At the same time, define the pointing speed of the single-address antenna setting as v SA . Set the multi-address antenna setting time as a constant t MA .

[0111] Define the set of satellite relay services as N. Define the set of service priorities Q = {1,..., q,..., |Q|} where |Q| ≥ 1, and the set of benefits corresponding to the service priorities Λ = {λ1,..., λ q ,..., λ |Q|}. For each service i, there is a preset priority q i , and q i ≥ 1, and the benefit corresponding to the priority is λ qi . Among them, λ qi needs to be calculated according to the number of services of each priority. Services can be divided into several subsets according to their priorities, N = {N1, N2,..., N q ,..., N |Q|}. When there is only one priority or the priority is 1, that is, q = 1 or |Q| = 1, λ q = 1. Otherwise Define the processing time of service i as p i , where the processing times of the start node and the end node of the antenna pointing path sequence are both 0, that is, p0 = p 2n+1 = 0. Define the set of available antennas for service i as K i , The set of available antennas for each service can include both SA and MA at the same time. Define the set of available time windows for service i as M i . The m-th available time window of this service is expressed as Within the time window , the position of the service node is determined by the pointing coordinates of antenna k Use the out-degree and in-degree of each node in the directed graph G to define the path pointing relationship between nodes. For example, the out-degree of node m is δ + (m) = {n: (m, n) ∈ A}. The in-degree of node n is δ - (n) = {m: (m, n) ∈ A}.

[0112] In order to further improve the construction reliability and application effectiveness of the antenna pointing coordinate system model, in a satellite relay service scheduling method provided in an embodiment of the present application, the decision variables specifically include the following contents:

[0113] (1) The first set of variables, used to describe the processing order of relay services, represented as a binary variable indicating the processing order of adjacent relay services i and j on available antenna k; if relay service i is before relay service j, then if relay service i is after relay service j, then

[0114] (2) The second set of variables, used to describe the critical time of relay services, where the critical time includes: the start time of relay service i end time and antenna setup time where the antenna setup time indicates the antenna setup duration from the end node of service i to the start node of service j for antenna k when the start time of service j is ;

[0115] (3) The third set of variables, used to describe the scheduled time window, represented as another binary variable indicating the scheduling status of the m-th available time window of relay service i on antenna k; if relay service i is processed in the m-th available time window on antenna k, then otherwise,

[0116] Specifically, finally, three sets of decision variables are defined to describe the final scheduling result. Three sets of decision variables are defined to describe the overall scheduling result. The first set of variables is used to describe the service processing order, and each binary variable indicates the processing order of adjacent services i and j on antenna k. If service i is before j, then conversely, The second set of variables describes the critical time of service i, including: the start time of service i end time and antenna setup time indicating the antenna setup duration from the end node of service i to the start node of service j for antenna k when the start time of service j is . The third set of variables is used to describe the scheduled time window. A binary variable is defined to describe the scheduling status of the m-th available time window of service i on antenna k. If, on antenna k, service i is processed in its m-th available time window, then otherwise,

[0117] To further improve the application reliability of the satellite relay service scheduling problem model, in an embodiment of a satellite relay service scheduling method provided in this application, refer toFigure 2 , step 200 in the satellite relay service scheduling method specifically includes the following content:

[0118] Step 210: Taking maximizing the total revenue of relay service scheduling as the optimization objective, construct a first objective function according to the parameter group and the decision variables, and taking minimizing the total antenna setup time as the optimization objective, construct a second objective function according to the parameter group and the decision variables;

[0119] Step 220: Construct the constraint conditions corresponding to the first objective function and the second objective function according to the parameter group and the decision variables to obtain a satellite relay service scheduling problem model based on dynamic antenna setup time.

[0120] Specifically, taking maximizing the total revenue of relay service scheduling as the optimization objective, construct a first objective function according to the parameter group and the decision variables, and the first objective function is shown in formula (1):

[0121]

[0122] Taking minimizing the total antenna setup time as the optimization objective, construct a second objective function according to the parameter group and the decision variables, and the second objective function is shown in formula (2):

[0123]

[0124] Construct the constraint conditions corresponding to the first objective function and the second objective function according to the parameter group and the decision variables to obtain a satellite relay service scheduling problem model based on dynamic antenna setup time;

[0125] Among them, the constraint conditions include:

[0126] The first constraint, used to represent that each relay service is processed by at most one antenna once, and the first constraint is shown in formula (3):

[0127]

[0128] The second constraint, used to represent that each antenna for scheduling starts from the starting point of the pointing path sequence and finally reaches the end point of the pointing path sequence, and the second constraint is shown in formulas (4) and (5):

[0129]

[0130]

[0131] The third constraint, used to represent that an antenna processes only one service continuously at the same time, and the third constraint is shown in formula (6):

[0132]

[0133] The fourth constraint is used to represent the dynamic setup time between two consecutive services of the single-address antenna SA. The fourth constraint is shown in formula (7):

[0134]

[0135] where represents the pointing position coordinates determined by antenna k at the start time of service j for the node corresponding to relay service j; represents the pointing position coordinates determined by antenna k at the end time of service i for the node corresponding to relay service i;

[0136] The fifth constraint is used to represent the relationship between the start time, processing time, and antenna setup time of the relay service. The fifth constraint is shown in formula (8):

[0137]

[0138] where represents the antenna setup time; represents the start time of relay service j;

[0139] The sixth constraint is used to represent the available time window constraint. The sixth constraint is shown in formula (9):

[0140]

[0141] And the seventh constraint is used to represent that the relay service containing multiple available time windows is only carried out within one of the time windows. The seventh constraint is shown in formula (10):

[0142]

[0143] Specifically, the problem model proposed in this application has two levels of objectives: maximizing the total revenue of the relay service and minimizing the total duration of the antenna setup.

[0144]

[0145]

[0146] Constraint conditions:

[0147]

[0148]

[0149]

[0150]

[0151]

[0152]

[0153]

[0154]

[0155] Formula (3) indicates that each service is processed by at most one antenna once. Formulas (4) and (5) indicate that each antenna available for scheduling starts from the starting point of the pointing path sequence and finally reaches the end point of the pointing path sequence. Formula (6) indicates that an antenna can only process one service at a time and remains continuous. Formula (7) stipulates the dynamic setup time between two consecutive services of the SA antenna, while the setup time of the MA antenna is a constant t MA Formula (8) stipulates the relationship between the start time, processing time, and antenna setup time based on the requirements of consecutive services. Formula (9) is the available time window constraint, and the entire process of service processing should be completed within its available time window. Formula (10) ensures that a service containing multiple available time windows will only be processed within one of the time windows.

[0156] In order to further improve the optimization reliability and effectiveness of the satellite relay service scheduling scheme, in an embodiment of a satellite relay service scheduling method provided in this application, refer to Figure 2 Step 300 in the satellite relay service scheduling method specifically includes the following contents:

[0157] Step 310: Screening and verification step: Apply the satellite relay service scheduling problem model and hierarchically screen a target relay service from the current relay services based on a preset hierarchical screening strategy; verify the target relay service based on a preset verification strategy. If the verification passes, insert the target relay service into the schedule, where the verification strategy includes: insertion feasibility verification and time advancement feasibility verification.

[0158] Step 320: Delete the target relay service from the current relay services, and then repeat the screening and verification steps until a target antenna pointing path sequence corresponding to each relay service is generated, and determine this target antenna pointing path sequence as the satellite relay service scheduling scheme.

[0159] Step 330: Output the satellite relay service scheduling scheme.

[0160] Specifically, refer to Figure 5, in the algorithm proposed in this application for business scheduling based on dynamically set time, the relay service with the highest scheduling priority is selected through hierarchical screening, and the services that have passed the feasibility verification are inserted. The process is repeated until all services are traversed, and finally a feasible scheduling scheme is generated.

[0161] 1. Hierarchical screening

[0162] The hierarchical screening proposed in this application includes the following four layers:

[0163] 1) The first layer: Screening based on priority. Since scheduling as many high-priority services as possible is one of the two optimization goals in the problem model, services with higher priorities are scheduled first.

[0164] 2) The second layer: Screening based on the antenna types supported by the service. The setup time of the MA antenna is usually much smaller than that of the SA antenna, so services that support the MA antenna are scheduled first. If a service supports the processing of both antennas, it is scheduled based on the MA first. If the scheduling fails, it is then scheduled based on the SA.

[0165] 3) The third layer: If the antenna types are the same, screening is based on the number of available antennas for the service. Services with fewer available antennas have a smaller tolerance for errors and will be scheduled first.

[0166] 4) If the unique service cannot be determined through the above qualitative screening, the scheduling benefits of the services are compared through quantitative calculations, and the best one is selected to complete the final insertion scheduling.

[0167] 2. Feasibility verification

[0168] After the above hierarchical screening, the services to be inserted into the scheduling also need to go through two layers of feasibility verification: insertion feasibility and time advancement feasibility. The former verifies through iterative calculations whether there are feasible antenna setup times and service start times for the current service. The latter checks whether the current inserted service pair will affect the feasibility of the scheduled service sequence.

[0169] a. Insertion feasibility verification algorithm

[0170] When inserting a service u after service i in a partially constructed antenna path sequence, the start time of service u can be calculated by the following formula:

[0171]

[0172] where correspond to the start time of the time window of service u, the start time and processing time of service i, and the antenna setup time from i to u respectively. In this case, based on and There is an obvious iterative relationship between them. This application improves the static conditions in the insertion heuristic algorithm to adapt to our dynamic problem, establishes an iterative relationship in the problem model, and proposes an algorithm for testing the feasibility of service insertion and calculating the dynamic antenna setting time and service start time.

[0173] Figure 6 Illustrates the calculation model of the start time of service u and the setting time between service i and service u when inserting u into the current pointing path sequence of antenna k. For antenna k, there are two possible pointing paths, namely antenna setting path 1 and antenna setting path 2. The starting point of the path is the end node of service i, denoted as A1. For antenna setting path 1, the destination B is the position of the starting point of the m-th visible window of service u The time for the antenna to reach B1 cannot be later than the start time of the time window. However, if the antenna cannot reach earlier than point B1 arrives, then antenna setting path 2 needs to be considered. It intersects with the pointing route within the visible window of service u as early as possible at an instantaneous time This point is denoted as C1.

[0174] It should be noted that although antenna setting path 1 is more time-saving than antenna setting path 2, antenna setting path 1 needs to satisfy: the start time of service u is equal to the start time of the visible time window Otherwise, antenna setting path 2 needs to be considered, and the start time and setting time are determined through iterative calculations until where Δt is the minimum time unit of scheduling. The insertion feasibility test algorithm is shown in Algorithm 1.

[0175] Among them, the insertion feasibility test algorithm is shown in Table 1.

[0176] Table 1

[0177]

[0178]

[0179] b. Time advancement feasibility test

[0180] The insertion of a task may cause a delay in the start time of subsequent tasks, having a cascading effect on subsequent tasks.

[0181] On a partially constructed antenna pointing path sequence, when a new task u is inserted between tasks i and i + 1, let the new start time of task i + 1 be Define the delay of task i + 1 as If D i+1> 0, some tasks after task i + 1 may become infeasible. Therefore, the time feasibility of subsequent tasks should be checked in sequence until a task r is reached, where D r = 0. Therefore, the necessary and sufficient condition for the time advancement of the new task u to be feasible is:

[0182]

[0183] This constraint ensures that each task insertion does not change the scheduling order and feasibility of the existing scheduling scheme.

[0184] In summary, the satellite relay service scheduling method provided by the embodiments of the present application establishes an antenna pointing coordinate system model, spatially models the pointing azimuth of the antenna, thereby providing a basis for calculating the antenna setup time of services and optimizing the scheduling scheme; establishes a satellite relay service scheduling problem model based on the dynamic antenna setup time, converts the scheduling problem into an optimization problem of the antenna pointing path in the antenna coordinate system, sets optimization objectives of maximizing the total revenue of service scheduling and minimizing the total antenna preparation duration, and solves the optimized antenna pointing path sequence as the scheduling scheme; proposes a satellite relay service scheduling and optimization algorithm based on dynamic antenna setup time and splittable services. The algorithm generates an initial scheduling scheme based on the dynamic antenna setup time, and then reschedules the splittable services that fail in the initial scheduling to optimize the scheduling result.

[0185] Based on this, the satellite relay service scheduling method provided by the embodiments of the present application can significantly improve the utilization rate of satellite network resources and increase the revenue of relay service scheduling. The present invention has the following advantages:

[0186] 1. An antenna pointing coordinate system is proposed, which improves the characteristics of the relay service from a spatial perspective and provides a basis for dynamically calculating the antenna preparation time.

[0187] 2. Compared with traditional relay service scheduling algorithms, the relay service scheduling method based on dynamic antenna setup time proposed in the present application is more in line with the real network environment, further improving the utilization rate of system resources and the efficiency of service scheduling.

[0188] At the software level, the present application also provides a satellite relay service scheduling device for executing all or part of the satellite relay service scheduling method described above. See Figure 7 The satellite relay service scheduling device specifically includes the following contents:

[0189] A coordinate system modeling module 10 for spatially modeling the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model.

[0190] The scheduling problem modeling module 20 is used to construct a satellite relay service scheduling problem model based on the dynamic antenna setting time with the optimization objectives of maximizing the total revenue of relay service scheduling and minimizing the total antenna setting time.

[0191] The scheduling optimization module 30 is used to apply the satellite relay service scheduling problem model and generate a satellite relay service scheduling plan including the target antenna pointing path sequences corresponding to each relay service based on a preset hierarchical screening and verification strategy.

[0192] The embodiments of the satellite relay service scheduling device provided in this application can specifically be used to execute the processing procedures of the embodiments of the satellite relay service scheduling method in the above embodiments, and its functions will not be elaborated here. For details, reference can be made to the detailed description of the embodiments of the satellite relay service scheduling method.

[0193] The part of the satellite relay service scheduling by the satellite relay service scheduling device can be executed in the server. In another actual application scenario, all operations can also be completed in the client device. Specifically, it can be selected according to the processing capabilities of the client device and the limitations of the user usage scenario. This application does not make any limitations in this regard. If all operations are completed in the client device, the client device may further include a processor for specific processing of satellite relay service scheduling.

[0194] The above-mentioned client device may have a communication module (i.e., a communication unit) and can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side. In other implementation scenarios, it may also include a server on an intermediate platform, such as a server on a third-party server platform with a communication link to the task scheduling center server. The server may include a single computer device, or a server cluster composed of multiple servers, or a server structure of a distributed device.

[0195] Any suitable network protocol can be used for communication between the above server and the client device, including network protocols that have not been developed as of the filing date of this application. The network protocol may, for example, include TCP / IP protocol, UDP / IP protocol, HTTP protocol, HTTPS protocol, etc. Of course, the network protocol may also include, for example, the RPC protocol (Remote Procedure Call Protocol) and the REST protocol (Representational State Transfer) used on top of the above protocols.

[0196] As can be seen from the above description, the satellite relay service scheduling device provided in the embodiments of the present application considers the dynamic antenna setting time, spatially models and describes the pointing azimuth of the antenna. By spatially modeling the pointing azimuth of the antenna of the target relay satellite, an antenna pointing coordinate system model is obtained, which can comprehensively and effectively describe the characteristics of the relay service, and can provide an effective and reliable basis for calculating the antenna setting time of the relay service and further optimizing the scheduling scheme; taking maximizing the total revenue of service scheduling and minimizing the total antenna setting time as the optimization objectives, a satellite relay service scheduling algorithm based on dynamic antenna setting time is constructed, which transforms the relay service from a single time characteristic to a spatio-temporal characteristic, designs an algorithm to complete the calculation of the dynamic antenna setting time, can effectively improve the flexibility and effectiveness of satellite relay service scheduling, can increase the number of successfully scheduled relay services, and can effectively improve the utilization rate of satellite resources and the efficiency of relay service scheduling; by proposing a satellite relay service scheduling and optimization algorithm based on dynamic antenna setting time and splittable services, it is more in line with the real network environment and can further improve the utilization rate of satellite resources and the efficiency of relay service scheduling.

[0197] To further illustrate the present solution, the present application also provides a specific application example of a satellite relay service scheduling method based on dynamic antenna setting time. The relay service scheduling algorithm in the application example of the present application is implemented by Java coding. A relay task scheduling scenario with a scheduling period of 1 day, consisting of 2 relay satellites and several user spacecraft, is constructed. Each satellite has two single-address antennas (SA) and one multi-address antenna (MA). Based on the five types of data sets in the classic satellite network operation scenario, 5 types of data sets are randomly generated, and 400 tasks will be generated for 6 antennas for each type of data set. The generation of the task time window is mainly calculated according to the randomly generated processing time and the time window tightness. There are 5 types of data sets: 1. Short processing time, loose time window (spltw); 2. Short processing time, tight time window (spttw); 3. Long processing time, loose time window (lpltw); 4. Long processing time, tight time window (lpttw); 5. Random instance (rand).

[0198] Based on the above data set settings, the algorithm performance is experimentally verified from multiple perspectives. In the experiment, the total number of task schedules, the total task processing time, the total antenna setting time, the effective time window utilization rate, and the split scheduling number are the main indicators for experimental evaluation. Among them, the effective time window utilization rate = total task processing time / (total antenna setting time + total task processing time).

[0199] This study is based on the configuration method of antenna setup time, and compares the dynamic antenna setup time scheduling method proposed in this application with the ideal antenna setup time scheduling and static antenna setup time scheduling. Among them, in the ideal antenna setup time scheduling, the antenna setup time is 0, that is, after one task ends, another task can start immediately, and this is used as the optimal scheduling benchmark. For the static antenna setup time, a reasonable static antenna setup duration is set to ensure the continuity of more task scheduling.

[0200] As Figures 8 to 11 shown, compared with the static antenna setup time scheduling algorithm, the algorithm based on dynamic antenna setup proposed in this application is closer to the optimal scheduling benchmark in the ideal state in terms of the number of task scheduling and the total task execution duration under all task set types. The scheduling based on dynamic antenna setup time significantly reduces the total duration of antenna setup, and the utilization rate of the effective time window is also greatly improved.

[0201] From the perspective of dataset types, the number of successful schedules for the task sets spltw and spttw with shorter processing durations is significantly better than that of the task sets lpltw and lpttw with longer processing times. In terms of the time window tightness, among the datasets with the same processing duration, the task sets with a tighter time window have a larger number of successful schedules. The spttw task set performs optimally in the experiment.

[0202] The embodiment of this application also provides an electronic device (i.e., an electronic device), which may include a processor, a memory, a receiver, and a transmitter. The processor is used to execute the satellite relay service scheduling method mentioned in the above embodiment. The processor and the memory may be connected through a bus or other means, taking the connection through the bus as an example. The receiver can be connected to the processor and the memory in a wired or wireless manner. The electronic device can receive real-time motion data from the sensors in the wireless multimedia sensor network and receive the original video sequence from the video acquisition device.

[0203] The processor can be a Central Processing Unit (CPU). The processor can also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or combinations of the above types of chips.

[0204] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the satellite relay service scheduling method in the embodiments of the present application. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory, that is, to implement the satellite relay service scheduling method in the above method embodiments.

[0205] The memory may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor and the like. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely provided with respect to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0206] The one or more modules are stored in the memory and, when executed by the processor, execute the satellite relay service scheduling method in the embodiments.

[0207] In some embodiments of the present application, the user equipment may include a processor, a memory, and a transceiver unit. The transceiver unit may include a receiver and a transmitter. The processor, the memory, the receiver, and the transmitter may be connected through a bus system. The memory is used to store computer instructions, and the processor is used to execute the computer instructions stored in the memory to control the transceiver unit to transmit and receive signals.

[0208] As an implementation manner, the functions of the receiver and the transmitter in the present application can be considered to be implemented through a transceiver circuit or a dedicated transceiver chip, and the processor can be considered to be implemented through a dedicated processing chip, a processing circuit, or a general-purpose chip.

[0209] As another implementation manner, it can be considered to use a general-purpose computer to implement the server provided in the embodiments of the present application. That is, the program codes for implementing the functions of the processor, the receiver, and the transmitter are stored in the memory, and the general-purpose processor implements the functions of the processor, the receiver, and the transmitter by executing the codes in the memory.

[0210] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the foregoing satellite relay service scheduling method are implemented. The computer-readable storage medium may be a tangible storage medium, such as a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, register, floppy disk, hard disk, removable storage disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0211] Those of ordinary skill in the art should understand that the various exemplary components, systems, and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. Specifically, whether to implement in hardware or software depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The programs or code segments can be stored in a machine-readable medium or transmitted through data signals carried in a carrier wave on a transmission medium or a communication link.

[0212] It should be clear that the present application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0213] In the present application, the features described and / or illustrated for one embodiment can be used in the same way or in a similar way in one or more other embodiments, and / or combined with the features of other embodiments or replace the features of other embodiments.

[0214] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and variations can be made to the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A satellite relay service scheduling method, characterized in that, Including: Performing spatial modeling on the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model; Taking maximizing the total revenue of relay service scheduling and minimizing the total antenna setting time as optimization objectives, constructing a satellite relay service scheduling problem model based on dynamic antenna setting time; Applying the satellite relay service scheduling problem model, generating a satellite relay service scheduling scheme including the target antenna pointing path sequence corresponding to each relay service based on a preset hierarchical screening and verification strategy; defining a parameter group corresponding to the antenna pointing coordinate system, and setting a plurality of decision variables including antenna setting time according to the parameter group; The constructing a satellite relay service scheduling problem model based on dynamic antenna setting time by taking maximizing the total revenue of relay service scheduling and minimizing the total antenna setting time as optimization objectives includes: Taking maximizing the total revenue of relay service scheduling as an optimization objective, constructing a first objective function according to the parameter group and the decision variables, and taking minimizing the total antenna setting time as an optimization objective, constructing a second objective function according to the parameter group and the decision variables; Constructing constraint conditions corresponding to the first objective function and the second objective function according to the parameter group and the decision variables to obtain a satellite relay service scheduling problem model based on dynamic antenna setting time; Wherein, the parameter group includes: A directed graph G(V,A) for representing the antenna pointing path sequence, V represents a node set including each node, and each node includes position information and time information; if the number of relay services in the antenna pointing path sequence is n, then |V| = 2n + 2, and the nodes include: the start node of the antenna pointing path sequence, the end node of the antenna pointing path sequence, and the start nodes and end nodes of each relay service; A represents an antenna pointing path set, and the antenna pointing path set includes a service processing path and an antenna setting path; Antenna set K, including the single-address antenna set K SA and the multi-address antenna set K MA union; The pointing speed v of the single-address antenna SA setting SA ; Multi-address antenna MA setup time t MA , which is a constant; The set Q of service priorities = {1, …, q, …, |Q|}, where |Q| ≥ 1 and |Q| represents the total number of relay services. For each relay service i, there is a preset priority q i , and q i ≥ 1; The revenue set Λ corresponding to the service priority is Λ = {λ1, …, λ q , …, λ |Q|}. For each relay service i, the revenue corresponding to the priority is calculated according to the number of relay services at each priority level; Relay service set N, which is used to divide subsets {N1, N2, …, N |Q|} according to each priority level, that is: N = {N1, N2, …, N |Q|}; if there is only one priority level, that is, |Q| = 1, or the priority level is 1, that is, q = 1, then λ q = 1; otherwise N γ represents the γ-th subset, and λ γ represents the priority level corresponding to the γ-th subset; Processing time p of relay service i i , where the processing time p0 of the start node of the antenna pointing path sequence and the processing time p 2n+1 of the end node of the antenna pointing path sequence are both 0; The set of available antennas \(K\) for relay service \(i\) i , which consists of each available antenna \(k\), and the set of available antennas for each relay service includes single - address antennas and / or multi - address antennas; Set \(M\) of available time windows for relay service \(i\) i , the \(m\)-th available time window of relay service \(i\) is denoted as In the time window , the position of the node corresponding to relay service \(i\) is determined by the pointing coordinates of antenna \(k\), that is Moreover, the path pointing relationships between different nodes include the out-degree δ and in-degree δ of each node in the directed graph G(V, A). + and in-degree δ - ; Wherein, the decision variables include: The first set of variables, used to describe the processing order of relay services, is represented as a binary variable Indicates the processing order of adjacent relay services i and j on available antenna k; if relay service i is before relay service j, then If relay service i is after relay service j, then The second set of variables, used to describe the key times of the relay service, the key times include: the start time of relay service i The end time And the antenna setup time Wherein, the antenna setup time Indicates that when the start time of service j is The antenna setup duration of antenna k from the end node of service i to the start node of service j; And a third set of variables, which are used to describe the scheduled time window and are represented as another binary variable represents the scheduling status of the m-th available time window for relaying service i on antenna k; if relaying service i on antenna k is processed in the m-th available time window, then otherwise 2. The satellite relay service scheduling method according to claim 1, wherein The performing spatial modeling on the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model includes: Obtaining an antenna pointing change model of the target relay satellite, and the antenna pointing change model includes: the coverage range of the target relay satellite, the satellite orbit diameter, and an antenna pointing arc surface corresponding to the antenna pointing change range; Converting the antenna pointing arc surface into a circular plane corresponding to the antenna pointing change range, and generating an antenna pointing coordinate system for describing the antenna pointing by using plane coordinate points.

3. The satellite relay service scheduling method according to claim 2, wherein The antenna pointing coordinate system is used to represent the antenna pointing path sequence located in the circular plane corresponding to the antenna pointing change range, and the origin of the antenna pointing coordinate system is the direction coordinate when the antenna points to the earth center; The antenna pointing path sequence includes: an antenna setting path starting from the origin and a plurality of sequentially connected path groups, wherein each path group includes a sequentially connected service processing path and an antenna setting path, and the antenna setting path in the last path group is connected to the antenna setting path starting from the origin and points to the origin; The antenna setting path is used to represent the antenna pointing path during the antenna setting process; The service processing path is used to represent the antenna pointing path in the relay service processing process.

4. The satellite relay service scheduling method according to any one of claims 1 to 3, characterized in that Applying the satellite relay service scheduling problem model, generating a satellite relay service scheduling scheme including a target antenna pointing path sequence corresponding to each relay service based on a preset hierarchical screening and verification strategy, including: Screening and verification step: Applying the satellite relay service scheduling problem model and hierarchically screening a target relay service from the current relay services based on a preset hierarchical screening strategy; verifying the target relay service based on a preset verification strategy, and if the verification is passed, inserting the target relay service into the scheduling, where the verification strategy includes: insertion feasibility verification and time advancement feasibility verification; Deleting the target relay service from the current relay services, and then repeating the screening and verification step until a target antenna pointing path sequence corresponding to each relay service is generated, and determining the target antenna pointing path sequence as the satellite relay service scheduling scheme; Outputting the satellite relay service scheduling scheme.

5. A satellite relay service scheduling device, characterized in that Including: A coordinate system modeling module for spatially modeling the pointing azimuth of the antenna of the target relay satellite to obtain an antenna pointing coordinate system model; A scheduling problem modeling module for constructing a satellite relay service scheduling problem model based on dynamic antenna setting time with the optimization goals of maximizing the total relay service scheduling revenue and minimizing the total antenna setting time; A scheduling optimization module for applying the satellite relay service scheduling problem model, generating a satellite relay service scheduling scheme including a target antenna pointing path sequence corresponding to each relay service based on a preset hierarchical screening and verification strategy; defining a parameter group corresponding to the antenna pointing coordinate system, and setting a plurality of decision variables including antenna setting time according to the parameter group; Constructing a satellite relay service scheduling problem model based on dynamic antenna setting time with the optimization goals of maximizing the total relay service scheduling revenue and minimizing the total antenna setting time, including: Taking maximizing the total relay service scheduling revenue as the optimization goal, constructing a first objective function according to the parameter group and the decision variables, and taking minimizing the total antenna setting time as the optimization goal, constructing a second objective function according to the parameter group and the decision variables; Constructing constraint conditions corresponding to the first objective function and the second objective function according to the parameter group and the decision variables to obtain a satellite relay service scheduling problem model based on dynamic antenna setting time; Wherein, the parameter group includes: A directed graph G(V,A) for representing the antenna pointing path sequence, V represents a node set including each node, and each node includes position information and time information; if the number of relay services in the antenna pointing path sequence is n, then |V| = 2n + 2, and the nodes include: the start node of the antenna pointing path sequence, the end node of the antenna pointing path sequence, and the start nodes and end nodes of each relay service; A represents the antenna pointing path set, and the antenna pointing path set includes a service processing path and an antenna setting path; Antenna set K, including the single-address antenna set K SA and the multi-address antenna set K MA is the union of; The pointing speed v of the single-address antenna SA setting SA ; Multi-address antenna MA setting time t MA , is a constant; The set Q of service priorities = {1, …, q, …, |Q|}, where |Q| ≥ 1 and |Q| represents the total number of relay services. For each relay service i, there is a preset priority q i , and q i ≥ 1; The revenue set Λ corresponding to the service priority is Λ = {λ1, …, λ q , …, λ |Q|}. For each relay service i, the revenue corresponding to the priority is calculated according to the number of relay services at each priority level; Relay service set N, which is used to divide subsets {N1, N2, …, N |Q|} according to each priority, that is: N = {N1, N2, …, N |Q|}; if there is only one priority, that is, |Q| = 1, or the priority is 1, that is, q = 1, then λ q = 1; otherwise N γ represents the γ-th subset, and λ γ represents the priority corresponding to the γ-th subset; Processing time p of relay service i i , where the processing time p0 of the start node of the antenna pointing path sequence and the processing time p 2n+1 of the end node of the antenna pointing path sequence are both 0; The set of available antennas \(K\) for relay service \(i\) i , which consists of each available antenna \(k\), and the set of available antennas for each relay service includes single - address antennas and / or multi - address antennas; Set \(M\) of available time windows for relay service \(i\) i , the \(m\)-th available time window of relay service \(i\) is denoted as Within the time window , the position of the node corresponding to relay service \(i\) is determined by the pointing coordinates of antenna \(k\), that is In addition, the path pointing relationships between different nodes include the out-degree δ and in-degree δ of each node in the directed graph G(V, A). + and in-degree δ - ; Wherein, the decision variables include: The first set of variables, used to describe the processing order of relay services, is represented as a binary variable Indicates the processing order of adjacent relay services i and j on available antenna k; if relay service i is before relay service j, then If relay service i is after relay service j, then The second set of variables is used to describe the key times of the relay service, and the key times include: the start time of relay service i End time And the antenna setup time Wherein, the antenna setup time Indicates that when the start time of service j is The antenna setup duration of antenna k from the end node of service i to the start node of service j; And a third set of variables, used to describe the scheduled time window, is represented as another binary variable Indicates the scheduling status of the m-th available time window for relaying service i on antenna k; if relaying service i on antenna k is processed in the m-th available time window, then Otherwise 6. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the satellite relay service scheduling method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the satellite relay service scheduling method according to any one of claims 1 to 4.

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