Planning Method and Device for Spacecraft Control Events, Processor, and Electronic Device

Abstract

The present application discloses a method and device for planning spacecraft control events, a processor, and an electronic device, relating to the field of space technology. The method includes: determining a first execution duration and a first execution time point of on-board autonomous execution events, and determining a plurality of ground window execution events and corresponding second execution durations; determining a plurality of target TT&C arc segments according to the first execution duration and the first execution time point; determining a plurality of execution plans based on the target TT&C arc segments, the first execution time point, the first execution duration, and the second execution durations; scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining a target execution plan for the plurality of ground window execution events from the plurality of execution plans according to the target score values. Through the present application, the problem in the related art that the planning efficiency of the execution time of deep space exploration spacecraft control events is relatively low due to the planning of the execution time of deep space exploration spacecraft control events based on manual experience is solved.

Description

Technical Field

[0001] This application relates to the field of space technology, and more particularly, to a method and apparatus for planning spacecraft control events, a processor, and an electronic device. Background Art

[0002] With the development of space technology, deep space exploration missions have become one of the key development directions in the future space field. Due to the fact that the detection target is hundreds of millions of kilometers away from the Earth, the distance between the spacecraft and the Earth is far, the operation delay is large, and the tracking and control arc segment is limited, it increases the difficulty of deep space exploration mission planning. Each control event process belongs to an open-loop control mode, and the ground control center uses an asynchronous control mode of "pre-uploading remote control instructions in advance and autonomously executing them with a delay on the spacecraft" to carry out spacecraft flight control work.

[0003] The control events of deep space exploration spacecraft can be classified and defined into two categories - "on-board autonomous execution events" and "ground window control events". When the spacecraft enters the target orbiting orbit, it will focus on carrying out scientific exploration-related work. The control timing of its corresponding on-board autonomous execution control events is closely related to the spacecraft orbit characteristics, and the specific detection time and detection times are determined by the detection mission. From the perspective of the flight control implementation process, the control process of each control event needs to be realized through the upload of delay instructions, and the flight control implementation effect needs to judge the spacecraft state by receiving data on the spacecraft. A delay instruction refers to a type of remote control instruction that does not execute immediately after reaching the spacecraft, but is executed with a delay at a certain fixed time point in the future.

[0004] Taking a certain deep space exploration mission as an example, uploading delay instructions to the spacecraft, judging the state by data on the ground receiver, and daily orbit determination control events are summarized as "ground window control events", and their implementation time can be flexibly adjusted under the premise of meeting various constraints. For on-board autonomous execution events, their time requirements are determined and known. During the time interval when the on-board events are executed, the delay instructions that have been pre-injected into the spacecraft will be executed according to the timing specified by the program, with the bound time as the start execution time. During this period, the ground cannot interact with the on-board. That is, in the mode of "pre-uploading remote control instructions in advance and autonomously executing them with a delay on the spacecraft", the ground window control events and the on-board autonomous execution events cannot be carried out in parallel. How to more reasonably plan the execution time of the ground window control events and the on-board autonomous execution events is crucial. In the prior art, the ground window control events and other control events are often planned manually, but there may be problems of incomplete consideration and mistakes in task planning due to manual operation.

[0005] Aiming at the problem that the execution time of deep space exploration spacecraft control events is planned based on manual experience in the related art, resulting in relatively low planning efficiency for deep space exploration spacecraft control events, the existing solutions still have some defects. Summary of the Invention

[0006] The main objective of the present application is to provide a method and device for planning spacecraft control events, a processor, and an electronic device, so as to solve the problem in the related art that the planning efficiency of deep space exploration spacecraft control events is relatively low due to the planning of the execution time of deep space exploration spacecraft control events based on manual experience.

[0007] To achieve the above objective, according to one aspect of the present application, a method for planning spacecraft control events is provided. The method includes: determining a plurality of on-board autonomous execution events, a first execution duration corresponding to each on-board autonomous execution event, and a first execution time point corresponding to each on-board autonomous execution event, and determining a plurality of ground window execution events and a second execution duration corresponding to each ground window execution event, where the on-board autonomous execution events are spacecraft autonomous execution events, and the ground window execution events at least include measurement and control equipment execution events; determining a plurality of target measurement and control arc segments based on the first execution duration and the first execution time point, where the target measurement and control arc segments are time periods during which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, where different execution plans represent different execution orders of the plurality of ground window execution events; scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining the target execution plan of the plurality of ground window execution events from the plurality of execution plans based on the target score values.

[0008] Further, determining a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration includes: determining the priority of each ground window execution event according to the execution order of each ground window execution event; obtaining the execution dependency relationship between the plurality of on-board autonomous execution events and the plurality of ground window execution events; matching the target measurement and control arc segments and each ground window execution event according to the priority of each ground window execution event, the execution dependency relationship, and the second execution duration to determine the target correspondence relationship between each ground window execution event and the target measurement and control arc segments; determining a plurality of optional execution time points for each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration, and the target correspondence relationship; and determining the plurality of execution plans according to the plurality of optional execution time points.

[0009] Further, when matching the target measurement and control arc segment with each ground window execution event, the method further includes: if there is a failure in matching the target ground window execution event with the target measurement and control arc segment, determining the required execution duration of the target ground window execution event; using the required execution duration as the second execution duration of the target ground window execution event; and based on the second execution duration of the target ground window execution event, matching the target measurement and control arc segment with the target ground window execution event to determine the target correspondence between the target ground window execution event and the target measurement and control arc segment.

[0010] Further, based on a preset rule, scoring each execution plan to obtain multiple target score values, including: scoring each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value; scoring each execution plan according to the measurement and control equipment reliability scoring rule in the preset rule to obtain a second score value; scoring each execution plan according to the measurement and control equipment transmission rate scoring rule in the preset rule to obtain a third score value; and calculating the target score value based on the first score value, the second score value, and the third score value.

[0011] Further, scoring each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value includes: determining the execution time point of each ground window execution event in multiple execution plans and the third execution duration of each ground window execution event in multiple execution plans, where the energy consumption scoring rule at least includes: the execution time point and the third execution duration; and scoring each execution plan according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans to obtain the first score value.

[0012] Further, scoring each execution plan according to the measurement and control equipment reliability scoring rule in the preset rule to obtain a second score value includes: determining multiple first measurement and control devices for executing each ground window execution event and the reliability of each first measurement and control device according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans, where the measurement and control equipment reliability scoring rule at least includes: the reliability of the measurement and control equipment; and scoring each execution plan according to the reliability of the multiple first measurement and control devices to obtain the second score value.

[0013] Further, according to the measurement and control equipment transmission rate scoring rule in the preset rule, each execution plan is scored to obtain a third score value, including: determining the data transmission rate of each measurement and control equipment, and scoring each execution plan according to the transmission rate to obtain the third score value, where the measurement and control equipment transmission rate scoring rule at least includes: the data transmission rate of the measurement and control equipment.

[0014] Further, calculating according to the first score value, the second score value and the third score value to obtain the target score value includes: setting the weight of the first score value as a first weight value, setting the weight of the second score value as a second weight value, and setting the weight of the third score value as a third weight value, where the first weight value is less than the second weight value, and the second weight value is less than the third weight value; calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain the target score value.

[0015] To achieve the above object, according to another aspect of the present application, a planning device for spacecraft control events is provided. The device includes: a first determination unit, configured to determine a plurality of on-board autonomous execution events, a first execution duration corresponding to each on-board autonomous execution event, and a first execution time point corresponding to each on-board autonomous execution event, and determine a plurality of ground window execution events and a second execution duration corresponding to each ground window execution event, where the on-board autonomous execution event is an event autonomously executed by the spacecraft, and the ground window execution event at least includes a measurement and control equipment execution event; a second determination unit, configured to determine a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, where the target measurement and control arc segment is a time period during which the measurement and control equipment can control the spacecraft; a third determination unit, configured to determine a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, where different execution plans represent different execution sequences of the plurality of ground window execution events; a scoring unit, configured to score each execution plan based on a preset rule to obtain a plurality of target score values, and determine a target execution plan of the plurality of ground window execution events from the plurality of execution plans according to the target score values.

[0016] Further, the third determination unit includes: a first determination module, configured to determine the priority of each ground window execution event according to the execution order of each ground window execution event; an acquisition module, configured to acquire the execution dependency relationship between the autonomous execution events on the multiple devices and the multiple ground window execution events; a matching module, configured to match the target measurement and control arc segment and each ground window execution event according to the priority of each ground window execution event, the execution dependency relationship, and the second execution duration, so as to determine the target correspondence relationship between each ground window execution event and the target measurement and control arc segment; a second determination module, configured to determine multiple optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration, and the target correspondence relationship; a third determination module, configured to determine the multiple execution plans according to the multiple optional execution time points.

[0017] Further, the device further includes: a fourth determination unit, configured to determine the required execution duration of the target ground window execution event if there is a failure in matching the target ground window execution event with the target measurement and control arc segment when matching the target measurement and control arc segment and each ground window execution event; a processing unit, configured to use the required execution duration as the second execution duration of the target ground window execution event; a matching unit, configured to match the target measurement and control arc segment and the target ground window execution event according to the second execution duration of the target ground window execution event, so as to determine the target correspondence relationship between the target ground window execution event and the target measurement and control arc segment.

[0018] Further, the scoring unit includes: a first scoring module, configured to score each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value; a second scoring module, configured to score each execution plan according to the measurement and control equipment reliability scoring rule in the preset rule to obtain a second score value; a third scoring module, configured to score each execution plan according to the measurement and control equipment transmission rate scoring rule in the preset rule to obtain a third score value; a calculation module, configured to calculate according to the first score value, the second score value, and the third score value to obtain the target score value.

[0019] Further, the first scoring module includes: a first determination sub-module, configured to determine the execution time point of each ground window execution event in a plurality of execution plans and the third execution duration of each ground window execution event in the plurality of execution plans, wherein the energy consumption scoring rule at least includes: the execution time point and the third execution duration; a first scoring sub-module, configured to score each execution plan according to the execution time point of each ground window execution event in the plurality of execution plans and the third execution duration, to obtain the first score value.

[0020] Further, the second scoring module includes: a second determination sub-module, configured to determine, according to the execution time point of each ground window execution event in the plurality of execution plans and the third execution duration, a plurality of first measurement and control devices for executing each ground window execution event and the reliability of each first measurement and control device, wherein the measurement and control device reliability scoring rule at least includes: the reliability of the measurement and control device; a second scoring sub-module, configured to score each execution plan according to the reliability of the plurality of first measurement and control devices, to obtain the second score value.

[0021] Further, the third scoring module includes: a third determination sub-module, configured to determine the data transmission rate of each measurement and control device, and score each execution plan according to the transmission rate, to obtain the third score value, wherein the measurement and control device transmission rate scoring rule at least includes: the data transmission rate of the measurement and control device.

[0022] Further, the calculation module includes: a setting sub-module, configured to set the weight of the first score value as a first weight value, set the weight of the second score value as a second weight value, and set the weight of the third score value as a third weight value, wherein the first weight value is less than the second weight value, and the second weight value is less than the third weight value; a calculation sub-module, configured to calculate according to the first weight value, the second weight value, the third weight value, the first score value, the second score value, and the third score value, to obtain the target score value.

[0023] To achieve the above object, according to one aspect of the present application, there is provided a processor, which is configured to run a program, wherein when the program runs, it executes the spacecraft control event planning method described in any one of the above.

[0024] To achieve the above object, according to one aspect of the present application, there is provided an electronic device, which includes one or more processors and a memory, and the memory is configured to store the spacecraft control event planning method described in any one of the above implemented by the one or more processors.

[0025] Through this application, the following steps are adopted: determining a plurality of on-board autonomous execution events, the first execution duration corresponding to each on-board autonomous execution event, and the first execution time point corresponding to each on-board autonomous execution event, and determining a plurality of ground window execution events and the second execution duration corresponding to each ground window execution event, where the on-board autonomous execution event is a spacecraft autonomous execution event, and the ground window execution event at least includes a measurement and control equipment execution event, and the spacecraft is controlled through the measurement and control equipment; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, where the target measurement and control arc segment is a time period during which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, where different execution plans represent different execution orders of the plurality of ground window execution events; scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining the target execution plan of the plurality of ground window execution events from the plurality of execution plans according to the target score values, which solves the problem in the related art that the planning efficiency of the execution time of the deep space exploration spacecraft control event is relatively low due to the planning of the execution time of the deep space exploration spacecraft control event based on manual experience. Compared with the previous method of manually arranging the spacecraft work execution plan, in this solution, a plurality of feasible execution plans are designed through the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, and then the preset rule is flexibly used to reasonably score each feasible execution plan, and finally the optimal target execution plan is obtained, realizing the optimization process of the deep space exploration spacecraft work plan arrangement, and further achieving the effect of improving the planning efficiency of the deep space exploration spacecraft control event. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application. In the drawings:

[0027] Figure 1 is a flowchart of a method for planning a spacecraft control event according to an embodiment of this application;

[0028] Figure 2 is a schematic diagram of the timing relationship among the "on-board autonomous execution event", the "available measurement and control arc segment resources", and the "ground window control event" according to an embodiment of this application;

[0029] Figure 3 is a schematic diagram of an execution plan according to an embodiment of this application;

[0030] Figure 4 is a flowchart of an alternative method for planning a spacecraft control event according to an embodiment of this application;

[0031] Figure 5 It is a schematic diagram of a planning device for spacecraft control events provided according to an embodiment of the present application;

[0032] Figure 6 It is a schematic diagram of an electronic device provided according to an embodiment of the present application. Detailed implementation manners

[0033] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0034] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0035] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present application are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so as to describe the embodiments of the present application herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] The present invention will be described below in conjunction with preferred implementation steps. Figure 1 It is a flowchart of a planning method for spacecraft control events provided according to an embodiment of the present application, as Figure 1 shown, the method includes the following steps:

[0037] Step S101, determine a plurality of on-board autonomous execution events, the first execution duration corresponding to each on-board autonomous execution event, and the first execution time point corresponding to each on-board autonomous execution event, and determine a plurality of ground window execution events and the second execution duration corresponding to each ground window execution event, wherein the on-board autonomous execution event is a spacecraft autonomous execution event, and the ground window execution event includes at least a measurement and control equipment execution event;

[0038] Specifically, events autonomously executed on the spacecraft are defined. The events autonomously executed on the spacecraft mainly include: Control Event 1, Control Event 2, Control Event 3, etc., which are defined as Ai (i = 1, 2, 3,...). There are multiple control events, which are specifically determined by the detection mission. For the events autonomously executed on the spacecraft, their time requirements are determined and known. During the time interval when the on-board events are executed, the delay commands pre-injected into the spacecraft in advance will be executed according to the time sequence specified by the program, with the time bound to them as the start execution time. Therefore, it is necessary to clarify multiple on-board autonomous execution events that need to be executed for the current detection mission of the spacecraft, the first execution duration corresponding to each on-board autonomous execution event, and the first execution time point corresponding to each on-board autonomous execution event.

[0039] The events executed during the ground window can include the events executed by the TT&C equipment and the business events of the ground control center. Specifically, the ground window control event refers to the event of interaction between the ground and the spacecraft. When the spacecraft executes the control event autonomously, the execution of its control actions requires the ground to upload the corresponding commands in advance, and the control effect requires the ground to receive the telemetry data on the spacecraft and perform status interpretation. The ground window control events are defined as Ci (i = 1, 2, 3,...), and the execution duration of each ground window control event can be represented by LCi. Taking a deep space exploration mission as an example, the execution duration of each ground control event is usually between 2 hours and 4 hours. Conventional ground window control events can include the following events: Event C1: The ground uploads the delay command of the on-board autonomous execution event to the spacecraft, Event C2: The ground receiver performs spacecraft status interpretation on the uplink and downlink data, and Event C3: The orbit determination is performed daily. The three ground window control events are divided according to the priority level: Event C1 has the highest priority, Event C2 is the second, and Event C3 has the lowest priority.

[0040] Since the ground window control event can only be executed when the spacecraft is not executing an event, it is necessary to clarify the first execution duration and the first execution time point corresponding to the on-board autonomous execution event, as well as the second execution duration of the ground window execution event.

[0041] Step S102: Determine multiple target TT&C arc segments according to the first execution duration and the first execution time point, where the target TT&C arc segment is the time period during which the TT&C equipment can control the spacecraft.

[0042] Specifically, the measurement and control arc segment refers to the effective time range during which the measurement and control equipment can track and measure the spacecraft. Only when within the measurement and control arc segment can the measurement and control equipment be visible to the spacecraft, and only then can the ground control center implement control of the spacecraft through the measurement and control equipment. Therefore, multiple target measurement and control arc segments are determined based on the first execution duration and the first execution time point corresponding to the on-board autonomous execution event. The corresponding target measurement and control arc segments can be defined as LBj, where j = 1, 2, 3, ……

[0043] Step S103: Based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, determine multiple execution plans, where different execution plans represent different execution sequences of multiple ground window execution events;

[0044] Specifically, for ground window control events, it is necessary to ensure that the execution of the event is within the available measurement and control arc segment resources, that is, map event Ci to event LBj. In an optional embodiment, the timing relationship description among the "on-board autonomous execution event", the "available measurement and control arc segment resources", and the "ground window control event" can be as Figure 2 shown. Moreover, some on-board autonomous execution events need to be executed after the ground window control event is completed, and some ground window control events need to be executed after the on-board autonomous execution event is executed. For example, when the ground window control event is the upload of a delay command, then the upload of the delay command needs to be executed first, and then the spacecraft can execute the detection task according to the command. After the spacecraft executes the detection task, the ground receiver receives the data of the spacecraft for status interpretation.

[0045] Therefore, according to the constraint conditions of the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, multiple feasible work plan arrangement methods (i.e., the above-mentioned execution plans) are obtained. For example, as Figure 3 shown is a layout table of the execution plan of a feasible ground window control event. Each execution plan is feasible, but not necessarily optimal.

[0046] Step S104: Based on the preset rules, score each execution plan to obtain multiple target score values, and determine the target execution plans of multiple ground window execution events from multiple execution plans according to the target score values.

[0047] Specifically, affected by factors such as the availability of measurement and control resources, personnel energy, and the characteristics of measurement and control equipment, the issue of optimal resource allocation also needs to be considered. Therefore, it is necessary to score each execution plan and select the best target execution technology through the score values of each execution plan. It should be noted that the above-mentioned preset rules are mainly set from aspects such as the availability of measurement and control resources, personnel energy, and the characteristics of measurement and control equipment.

[0048] Availability of measurement and control resources: The availability of measurement and control equipment resources. There are differences in the usage time of different measurement and control equipment. Personnel energy: Affected by the measurement and control conditions and the constraints of the on-board status, the work of deep space spacecraft presents the characteristics of large control delay, complex injection instructions, and high occupation of personnel energy. Therefore, when arranging work plans, it is necessary to consider the energy of post personnel and arrange rest time reasonably to ensure that post personnel can carry out their work under the premise of high energy, and avoid task risks caused by unreasonable personnel arrangements as much as possible. Characteristics of measurement and control equipment: The measurement and control equipment used for tracking deep space exploration spacecraft has differences in the tracking reliability attributes and data transmission rates of the equipment. Therefore, the execution plan is scored by the tracking reliability attributes and data transmission rates.

[0049] To summarize, the planning problem of spacecraft control events makes the best allocation of personnel energy, ground measurement and control resources, etc. on the premise of meeting the needs of various execution events on the spacecraft. Therefore, the above steps solve the problems of low planning efficiency and manual scheduling errors, and effectively improve the planning efficiency of deep space exploration spacecraft control events.

[0050] How to obtain multiple feasible execution plans is crucial. Therefore, in the planning method of spacecraft control events provided in the embodiment of the present application, based on the target measurement and control arc, the first execution time point, the first execution duration and the second execution duration, determining multiple execution plans includes the following steps: determining the priority of each ground window execution event according to the execution order of each ground window execution event; obtaining the execution dependency relationship between multiple on-board autonomous execution events and multiple ground window execution events; matching the target measurement and control arc with each ground window execution event according to the priority, execution dependency and second execution duration of each ground window execution event to determine the target correspondence relationship between each ground window execution event and the target measurement and control arc; determining multiple optional execution time points for each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration and the target correspondence relationship; determining multiple execution plans based on the multiple optional execution time points.

[0051] Specifically, for ground window control events, it is necessary to ensure that the execution of such events is within the available TT&C arc segment resources, that is, map event Ci to event LBj, and each ground window execution event has a corresponding priority. Taking a deep space exploration mission as an example, its ground window control events mainly include: event C1: the ground uploads a delay instruction for an on-board autonomous execution event to the spacecraft; event C2: the ground receiver interprets the spacecraft status based on the downlink data; and event C3: daily orbit determination. These three ground window control events are divided according to their priorities: event C1 has the highest priority, event C2 has the second highest priority, and event C3 has the lowest priority. When the spacecraft executes control events autonomously, the execution of its control actions requires the ground to upload corresponding instructions in advance, and the control effect requires the ground to receive the telemetry data from the spacecraft and interpret the status. That is to say, there is an execution dependency relationship between the on-board autonomous execution events and the ground window execution events.

[0052] Therefore, when generating multiple feasible execution plans, it is necessary to generate multiple feasible execution plans based on conditions such as the priority of each ground window execution event, the execution dependency relationship, the second execution duration of each ground window execution event, and the target TT&C arc segment.

[0053] In an optional embodiment, the following method is used to implement the matching process between the target TT&C arc segment and each ground window execution event. The target TT&C arc segment and each ground window execution event need to satisfy the following formula:

[0054] k(LBj, LCi) = sign(LBj - LCi)

[0055] In the above formula, the TT&C resource availability evaluation index is defined as the sign function k. The Sign sign function returns an integer variable indicating the sign of the function. In the defined formula, number = LBj - LCi. When LBj is greater than LCi, number is greater than 0, then Sign returns 1, and the integral is a positive value of 1 at this time; when LBj is less than LCi, number is less than 0, then Sign returns -1, and the integral is a negative value of 1 at this time; when LBj is equal to LCi, number is equal to 0, then Sign returns 0, and the integral is 0 at this time.

[0056] Match the three ground window control events with the available TT&C arc segment resources in order of priority. When it is satisfied that a certain ground window control event is within or included in a certain target TT&C arc segment range, it is considered that a feasible solution for the TT&C resource allocation of this event is obtained. At this time, the value is 1. That is to say, the corresponding relationship between the ground window control event and the target TT&C arc segment is obtained.

[0057] By matching the correspondence between the above-mentioned ground window control events and the target TT&C arc segments, the time period during which the ground window control events can be executed is accurately determined. Next, it is necessary to determine the execution time points of the ground window control events.

[0058] In an optional embodiment, the following method is used to determine multiple optional execution time points for each ground window execution event: The association relationship between the on-board autonomous execution event and the ground window control event satisfies the following constraints:

[0059] T0Ci + Δti ≤ T0Ai - xi ∪ T0Ci ≥ T0Ai + yi

[0060] The above formula indicates that various control events cannot be carried out in parallel. Taking a deep space exploration mission as an example, T0Ci + Δti is the execution completion time of the ground window control event, T0Ci is the execution start time of the ground window control event, T0Ai - xi represents the start time of the execution duration of the control event corresponding to the Ai event executed autonomously on board, T0Ai is the time corresponding to the spacecraft execution event, xi is the time length between the time corresponding to the spacecraft execution event and the start time of the execution duration of the control event corresponding to the Ai event, T0Ai + yi represents the end time of the execution duration of the control event corresponding to the Ai event executed autonomously on board, and yi is the time length between the time corresponding to the spacecraft execution event and the end time of the execution duration of the control event corresponding to the Ai event.

[0061] Event C2: The period for judging the spacecraft state from the data on the receiver is usually in the morning of the next day. Therefore, the event of judging the spacecraft state from the data on the receiver is the start of a day's work and is arranged after the on-board control event of the previous day. It should be clear here that as Figure 2 shown, the time interval LC1(T0C1 + Δt1) corresponding to the delay command uplink event is arranged before the on-board autonomous execution control event, and the period for judging the spacecraft state from the data on the receiver on the next day is arranged after the on-board control event. This constraint rule is established on the cumulative time system rather than planned within the range of 24 hours a day. Considering that it is necessary to generate and check the delay command data in advance, the delay command uplink work corresponding to the on-board control event executed by the spacecraft in the morning of the next day needs to be completed on the same day. That is:

[0062] T0C1 + Δt1 ≤ T0Ai - xi ∪ T0C2 ≥ T0Ai + yi

[0063] In summary, according to the above constraints such as the priority of each ground window execution event, the execution dependency relationship, the second execution duration of each ground window execution event, and the target TT&C arc segment, multiple feasible work plan arrangement methods can be obtained.

[0064] When actually matching the target measurement and control arc segment with the events executed by each ground window, there may be a problem of failed matching. Therefore, this method further includes: if there is a failure in matching the event of the target ground window execution with the target measurement and control arc segment, determining the required execution duration of the event of the target ground window execution; using the required execution duration as the second execution duration of the event of the target ground window execution; and matching the target measurement and control arc segment with the event of the target ground window execution according to the second execution duration of the event of the target ground window execution, so as to determine the target corresponding relationship between the event of the target ground window execution and the target measurement and control arc segment.

[0065] Specifically, if there is a failure in matching the event of the target ground window execution with the target measurement and control arc segment, determine the shortest execution duration required for the event of the target ground window control, that is, the above-mentioned required execution duration.

[0066] Taking a certain deep space exploration mission as an example, the execution duration of each ground control event is usually between 2 hours and 4 hours. The execution duration corresponding to the event of judging the spacecraft state from the data on the receiver can be shortened as appropriate when it cannot guarantee 2 hours, but it is at least 0.5 hours. The execution duration corresponding to the orbit determination event can be shortened as appropriate when it cannot guarantee 2 hours, but it is at least 1 hour. At the same time, there are also constraints on the associated duration of the associated ground window control event. For example, the total tracking duration of the delay command uploading period and the orbit determination period corresponding to the on-board autonomous execution event should at least guarantee 4 hours.

[0067] Therefore, when there is a failure in matching the event of the target ground window execution with the target measurement and control arc segment, the execution duration of the event of the target ground window control is restricted and the shortest execution duration of the event of the target ground window control is satisfied. For example, the execution duration of the ground window control event needs to meet the following constraints:

[0068] x≥LCi≥y

[0069] n<LC1+LC2+…LCn<m

[0070] Among them, x, y, n, and m can be set according to the minimum execution duration of the actual ground window control event. For example, 0.5 hours, 1 hour, etc.

[0071] In order to improve the rationality of the planning of deep space exploration spacecraft control events, each execution plan is scored based on preset rules, and multiple target score values are obtained, including the following: each execution plan is scored according to the energy consumption scoring rule in the preset rules to obtain the first score value; each execution plan is scored according to the reliability scoring rule of the TT&C equipment in the preset rules to obtain the second score value; each execution plan is scored according to the data transmission rate scoring rule of the TT&C equipment in the preset rules to obtain the third score value; the target score value is obtained by calculating based on the first score value, the second score value, and the third score value.

[0072] Specifically, the above preset rules are mainly set from aspects such as TT&C resource availability, personnel energy, and TT&C equipment characteristics. Therefore, the preset rules include: energy consumption scoring rule, reliability scoring rule of TT&C equipment, and data transmission rate scoring rule of TT&C equipment.

[0073] Energy consumption scoring rule: Affected by TT&C conditions and on-board status constraints, the work of deep space spacecraft presents characteristics such as large control time delay, complex uplink commands, and high consumption of personnel energy. Therefore, when arranging work plans, it is necessary to consider the energy of on-site personnel, reasonably arrange rest time, ensure that on-site personnel carry out work on the premise of high energy, and avoid task risks caused by unreasonable personnel arrangements as much as possible. Reliability scoring rule of TT&C equipment and data transmission rate scoring rule of TT&C equipment: For the TT&C equipment used for tracking deep space exploration spacecraft, there are differences in the usage time of different TT&C equipment, and there are also large differences in the tracking reliability attributes and data transmission rates of different TT&C equipment. Therefore, the execution plans are scored based on the tracking reliability attributes and data transmission rates.

[0074] To sum up, through the above preset rules, the optimal allocation of personnel energy and ground TT&C resources is achieved, and the rationality and accuracy of scoring the execution plans are improved.

[0075] The specific evaluation processes of the energy consumption scoring rule, the reliability scoring rule of TT&C equipment, and the data transmission rate scoring rule of TT&C equipment are as follows:

[0076] Each execution plan is scored according to the energy consumption scoring rule in the preset rules to obtain the first score value, including: determining the execution time point of each ground window execution event in multiple execution plans and the third execution duration of each ground window execution event in multiple execution plans, where the energy consumption scoring rule includes at least: execution time point and third execution duration; each execution plan is scored based on the execution time point and the third execution duration of each ground window execution event in multiple execution plans to obtain the first score value.

[0077] It should be noted that the third execution time may be the second execution time mentioned above, or may be the required execution time mentioned above.

[0078] Scoring each execution plan according to the measurement and control equipment reliability scoring rules in the preset rules to obtain a second score value includes: determining the reliability of multiple first measurement and control devices and each first measurement and control device that executes each ground window execution event according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans, wherein the measurement and control equipment reliability scoring rules at least include: the reliability of the measurement and control equipment; scoring each execution plan according to the reliability of multiple first measurement and control devices to obtain a second score value.

[0079] Scoring each execution plan according to the measurement and control equipment transmission rate scoring rules in the preset rules to obtain a third score value includes: determining the data transmission rate of each measurement and control equipment, and scoring each execution plan according to the transmission rate to obtain a third score value, wherein the measurement and control equipment transmission rate scoring rules at least include: the data transmission rate of the measurement and control equipment.

[0080] Specifically, the energy consumption scoring rules are:

[0081] Affected by the constraints of measurement and control conditions and on-board status, the long-tube work of deep space spacecraft presents the characteristics of large control delay, complex injection instructions, and high occupation of personnel energy. Therefore, when arranging work plans, it is necessary to consider the energy of post personnel and arrange rest time reasonably to ensure that post personnel can carry out work under the premise of vigorous energy, and avoid the risks brought by unreasonable personnel arrangement as much as possible. The actual work may be carried out in available arcs such as morning, noon, afternoon or evening. By changing the starting time T0Ci of the ground control event Ci, the free allocation process of the ground control event time interval in all available arcs can be realized. In the actual arc allocation process, there is a problem of cross-time allocation. The different selectable working time periods are scored according to the level of work efficiency, and the duration of event Ci should be considered when scoring. Combined with the actual work, the unit time is defined in units of "half an hour", and the resource consumption in different time periods is scored. The evaluation criteria are expressed as follows:

[0082]

[0083] In the above formula, the personnel energy evaluation index is defined as a piecewise function d(t), and the function values are all scores within a unit time. Among them, from 8:00 to 12:00 is the morning. Personnel are full of energy, and the efficiency of handling abnormal situations is high, but it will reduce the generation and inspection time of delay instructions. Score: 4 points; from 15:00 to 18:00 is the afternoon. Personnel are relatively full of energy and it has no impact on the inspection work of injected data. Score: 5 points; from 12:00 to 15:00 is noon. Personnel cannot rest, their attention is not concentrated, and the efficiency of handling abnormal situations is low. Score: 3 points; from 18:00 to 21:00 is the evening. Personnel are relatively tired, their attention is not concentrated, and the efficiency of handling abnormal situations is low. Score: 2 points; from 21:00 to 0:00 is midnight. Personnel are distracted, and the efficiency of handling abnormal situations is low. Score: 1 point. Taking the value of the piecewise function as the coefficient, the process of calculating the final score of personnel energy consumption should be the sum of the duration of each arc segment multiplied by the corresponding coefficient. The specific formula is:

[0084]

[0085] s.t.D = {1, 2, 3, 4}

[0086] Among them, i represents the duration of the ground control event in hours.

[0087] That is, each implementation plan is scored according to the above scoring rules to obtain the first scoring value.

[0088] Reliability scoring rules for TT&C equipment:

[0089] For any ground control event, a single event will be completed within a single measurement station arc segment, and there is no problem of cross-arc segment allocation. The TT&C equipment used for tracking deep space exploration spacecraft is scored separately according to the reliability attributes of the equipment. The evaluation criteria are as follows:

[0090]

[0091] In the above formula, the TT&C equipment evaluation index is defined as a piecewise function s(T0Ci). Among them, the reliability of equipment ① is relatively high, but it can only be visible to the spacecraft in the morning and at night. Score: 3 points; the reliability of equipment ② is high, and it is visible to the spacecraft in the morning and at noon. Score: 5 points; the reliability of equipment ③ is not high, and it can only be visible to the spacecraft in the afternoon and at night. Score: 2 points. The priority of the TT&C equipment is: equipment B has the highest priority, equipment A is the second, and equipment C has the lowest priority.

[0092] That is, each implementation plan is scored according to the above scoring rules to obtain the second scoring value.

[0093] Transmission rate scoring rules for TT&C equipment:

[0094] Considering Event C2: the requirement of the spacecraft status interpretation event for the data on the receiver for the communication rate of the measurement station, when the ground control event is the spacecraft status interpretation for the data on the receiver, the transmission rates of different measurement stations become the main influencing factors. The TT&C equipment is scored separately according to the data transmission rate attribute, and its evaluation criteria are described as follows:

[0095]

[0096] In the above formula, the evaluation index of the TT&C equipment data transmission rate is defined as a piecewise function v(T0C2). Among them, the transmission rate of Equipment N is the highest, and the visible arc segment is in the morning every day, with a score of 5 points; the data transmission rates of the remaining TT&C equipment are low, with a score of 1 point.

[0097] That is, each execution plan is scored according to the above scoring rules to obtain the third score value. After obtaining the first score value, the second score value, and the third score value, the target score value is calculated through the first score value, the second score value, and the third score value.

[0098] The above evaluation scores are weighted to make the target score value of each execution plan more accurate. Specifically, it includes: calculating according to the first score value, the second score value, and the third score value, and the target score value obtained includes: setting the weight of the first score value as the first weight value, setting the weight of the second score value as the second weight value, and setting the weight of the third score value as the third weight value, where the first weight value is less than the second weight value, and the second weight value is less than the third weight value; calculating according to the first weight value, the second weight value, the third weight value, the first score value, the second score value, and the third score value to obtain the target score value.

[0099] Specifically, the formula for the target score value is as follows:

[0100] Score=w1*∑ i 2i*d(t)+w2*∑(T0Ci)+w3*v(T0C2),

[0101] s.t.w1=0.3, w2=0.5, w3=100,

[0102] where w1, w2, and w3 are the first weight value, the second weight value, and the third weight value, ∑ i2i*d(t) is the first fractional value, ∑(T0Ci) is the second fractional value, and v(T0C2) is the third fractional value. From the perspective of the impact on the task implementation, and divided according to the weight they account for in the final planning result, the influencing factors of the TT&C equipment have a higher priority than the personnel factors. The weight coefficient of the third item in the formula is the largest, and its value is a fixed value, representing the ability of a veto. The scores of the first two items are independent of the third item, and they are the key to determining the score difference. The execution plan with the highest final score is the selected optimal target execution plan.

[0103] In an alternative embodiment, it is possible to adopt, for example, Figure 4 the flowchart shown to implement the control of spacecraft control events. Determine multiple on-board autonomous execution events and multiple ground window execution events according to the requirements of spacecraft detection events; determine multiple target TT&C arc segments based on the TT&C equipment visibility prediction, and then output all feasible plan rankings; design a scoring algorithm to score each available plan, and finally, through optimization, use the plan ranking with the highest score as the optimal execution plan.

[0104] The method for planning spacecraft control events provided by the embodiments of the present application determines multiple on-board autonomous execution events, the first execution duration corresponding to each on-board autonomous execution event, and the first execution time point corresponding to each on-board autonomous execution event, and determines multiple ground window execution events and the second execution duration corresponding to each ground window execution event. Among them, the on-board autonomous execution events are spacecraft autonomous execution events, and the ground window execution events at least include TT&C equipment execution events, and the spacecraft is controlled through the TT&C equipment; determine multiple target TT&C arc segments based on the first execution duration and the first execution time point, where the target TT&C arc segment is the time period during which the TT&C equipment can control the spacecraft; determine multiple execution plans based on the target TT&C arc segments, the first execution time point, the first execution duration, and the second execution duration. Among them, different execution plans represent different execution orders of multiple ground window execution events; score each execution plan based on a preset rule to obtain multiple target fractional values, and determine the target execution plan of multiple ground window execution events from multiple execution plans according to the target fractional values, which solves the problem in the related technology that the execution time of deep space exploration spacecraft control events is planned based on manual experience, resulting in a relatively low planning efficiency for deep space exploration spacecraft control events. Compared with the previous method of manually arranging the spacecraft work execution plan, in this solution, multiple feasible execution plans are designed through the target TT&C arc segments, the first execution time point, the first execution duration, and the second execution duration, and then the preset rule is flexibly used to reasonably score each feasible execution plan, and finally the optimal target execution plan is obtained, realizing the optimization process of the deep space exploration spacecraft work plan arrangement, and thus achieving the effect of improving the planning efficiency of deep space exploration spacecraft control events.

[0105] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0106] The embodiment of the present application also provides a planning device for spacecraft control events. It should be noted that the planning device for spacecraft control events in the embodiment of the present application can be used to execute the planning method for spacecraft control events provided in the embodiment of the present application. The following introduces the planning device for spacecraft control events provided in the embodiment of the present application.

[0107] Figure 5 is a schematic diagram of the planning device for spacecraft control events according to the embodiment of the present application. As Figure 5 shown, the device includes: a first determination unit 501, a second determination unit 502, a third determination unit 503, and a scoring unit 504.

[0108] The first determination unit 501 is used to determine a plurality of on-board autonomous execution events, the first execution duration corresponding to each on-board autonomous execution event, and the first execution time point corresponding to each on-board autonomous execution event, and determine a plurality of ground window execution events and the second execution duration corresponding to each ground window execution event, where the on-board autonomous execution event is an event autonomously executed by the spacecraft, and the ground window execution event includes at least a measurement and control equipment execution event;

[0109] The second determination unit 502 is used to determine a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, where the target measurement and control arc segment is a time period during which the measurement and control equipment can control the spacecraft;

[0110] The third determination unit 503 is used to determine a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, where different execution plans represent different execution orders of a plurality of ground window execution events;

[0111] The scoring unit 504 is used to score each execution plan based on a preset rule to obtain a plurality of target score values, and determine a target execution plan of a plurality of ground window execution events from the plurality of execution plans according to the target score values.

[0112] The planning device for spacecraft control events provided by the embodiments of the present application determines multiple on-board autonomous execution events, the corresponding first execution duration of each on-board autonomous execution event, and the corresponding first execution time point of each on-board autonomous execution event through the first determination unit 501, and determines multiple ground window execution events and the corresponding second execution duration of each ground window execution event. Among them, the on-board autonomous execution event is an event autonomously executed by the spacecraft, and the ground window execution event at least includes a measurement and control equipment execution event, and the spacecraft is controlled through the measurement and control equipment; the second determination unit 502 determines multiple target measurement and control arc segments according to the first execution duration and the first execution time point. Among them, the target measurement and control arc segment is a time period during which the measurement and control equipment can control the spacecraft; the third determination unit 503 determines multiple execution plans based on the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration. Among them, different execution plans represent different execution orders of multiple ground window execution events; the scoring unit 504 scores each execution plan based on a preset rule to obtain multiple target score values, and determines the target execution plans of multiple ground window execution events from multiple execution plans according to the target score values, solving the problem in the related technology that the planning of the execution time of deep space exploration spacecraft control events based on manual experience results in relatively low planning efficiency for deep space exploration spacecraft control events. Compared with the previous method of manually arranging the spacecraft work execution plan, in this solution, multiple feasible execution plans are designed through the target measurement and control arc segment, the first execution time point, the first execution duration, and the second execution duration, and then the preset rule is flexibly used to reasonably score each feasible execution plan, and finally the optimal target execution plan is obtained, realizing the optimization process of arranging the deep space exploration spacecraft work plan, and thus achieving the effect of improving the planning efficiency of deep space exploration spacecraft control events.

[0113] Optionally, in the planning device for spacecraft control events provided by the embodiments of the present application, the third determination unit 503 includes: a first determination module, configured to determine the priority of each ground window execution event according to the execution order of each ground window execution event; an acquisition module, configured to acquire the execution dependency relationship between multiple on-board autonomous execution events and multiple ground window execution events; a matching module, configured to match the target measurement and control arc segment and each ground window execution event according to the priority, execution dependency relationship, and second execution duration of each ground window execution event to determine the target correspondence relationship between each ground window execution event and the target measurement and control arc segment; a second determination module, configured to determine multiple optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration, and the target correspondence relationship; a third determination module, configured to determine multiple execution plans according to the multiple optional execution time points.

[0114] Optionally, in the spacecraft control event planning device provided in the embodiments of the present application, the device further includes: a fourth determination unit, configured to determine a required execution duration of a target ground window execution event when matching a target measurement and control arc segment with each ground window execution event, if there is a failure in matching the target ground window execution event with the target measurement and control arc segment; a processing unit, configured to use the required execution duration as the second execution duration of the target ground window execution event; a matching unit, configured to match the target measurement and control arc segment with the target ground window execution event according to the second execution duration of the target ground window execution event, so as to determine a target correspondence between the target ground window execution event and the target measurement and control arc segment.

[0115] Optionally, in the spacecraft control event planning device provided in the embodiments of the present application, the scoring unit includes: a first scoring module, configured to score each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value; a second scoring module, configured to score each execution plan according to the measurement and control equipment reliability scoring rule in the preset rule to obtain a second score value; a third scoring module, configured to score each execution plan according to the measurement and control equipment transmission rate scoring rule in the preset rule to obtain a third score value; a calculation module, configured to calculate according to the first score value, the second score value, and the third score value to obtain a target score value.

[0116] Optionally, in the spacecraft control event planning device provided in the embodiments of the present application, the first scoring module includes: a first determination sub-module, configured to determine an execution time point of each ground window execution event in multiple execution plans and a third execution duration of each ground window execution event in multiple execution plans, where the energy consumption scoring rule at least includes: the execution time point and the third execution duration; a first scoring sub-module, configured to score each execution plan according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans to obtain a first score value.

[0117] Optionally, in the spacecraft control event planning device provided in the embodiments of the present application, the second scoring module includes: a second determination sub-module, configured to determine multiple first measurement and control devices for executing each ground window execution event and the reliability of each first measurement and control device according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans, where the measurement and control equipment reliability scoring rule at least includes: the reliability of the measurement and control equipment; a second scoring sub-module, configured to score each execution plan according to the reliability of the multiple first measurement and control devices to obtain a second score value.

[0118] Optionally, in the spacecraft control event planning device provided in the embodiments of the present application, the third scoring module includes: a third determination sub-module, configured to determine the data transmission rate of each TT&C device, and score each execution plan according to the transmission rate to obtain a third score value, where the TT&C device transmission rate scoring rule at least includes: the data transmission rate of the TT&C device.

[0119] Optionally, in the spacecraft control event planning device provided in the embodiments of the present application, the calculation module includes: a setting sub-module, configured to set the weight of the first score value as a first weight value, set the weight of the second score value as a second weight value, and set the weight of the third score value as a third weight value, where the first weight value is less than the second weight value, and the second weight value is less than the third weight value; a calculation sub-module, configured to calculate according to the first weight value, the second weight value, the third weight value, the first score value, the second score value, and the third score value to obtain a target score value.

[0120] The spacecraft control event planning device includes a processor and a memory. The above-mentioned first determination unit 501, second determination unit 502, third determination unit 503, and scoring unit 504 are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0121] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the sorting process of spacecraft control events is realized by adjusting the kernel parameters.

[0122] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one storage chip.

[0123] An embodiment of the present invention provides a processor, which is used to run a program. When the program runs, it executes the spacecraft control event planning method.

[0124] Such as Figure 6As shown in the figure, an embodiment of the present invention provides an electronic device. The device includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: determining a plurality of autonomous execution events on the spacecraft, a first execution duration corresponding to each autonomous execution event on the spacecraft, and a first execution time point corresponding to each autonomous execution event on the spacecraft, and determining a plurality of ground window execution events and a second execution duration corresponding to each ground window execution event, wherein the autonomous execution events on the spacecraft are autonomous execution events of the spacecraft, and the ground window execution events at least include measurement and control equipment execution events; determining a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time periods during which the measurement and control equipment can control the spacecraft; determining a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, wherein different execution plans represent different execution orders of the plurality of ground window execution events; scoring each execution plan based on a preset rule to obtain a plurality of target score values, and determining a target execution plan of the plurality of ground window execution events from the plurality of execution plans according to the target score values.

[0125] Optionally, determining a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration includes: determining the priority of each ground window execution event according to the execution order of each ground window execution event; obtaining the execution dependency relationship between the plurality of autonomous execution events on the spacecraft and the plurality of ground window execution events; matching the target measurement and control arc segments and each ground window execution event according to the priority, the execution dependency relationship, and the second execution duration of each ground window execution event to determine the target correspondence relationship between each ground window execution event and the target measurement and control arc segments; determining a plurality of optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration, and the target correspondence relationship; and determining a plurality of execution plans according to the plurality of optional execution time points.

[0126] Optionally, when matching the target measurement and control arc segments and each ground window execution event, the method further includes: if there is a failure in matching a target ground window execution event with the target measurement and control arc segment, determining the required execution duration of the target ground window execution event; using the required execution duration as the second execution duration of the target ground window execution event; and matching the target measurement and control arc segments and the target ground window execution event according to the second execution duration of the target ground window execution event to determine the target correspondence relationship between the target ground window execution event and the target measurement and control arc segments.

[0127] Optionally, each execution plan is scored based on preset rules to obtain multiple target score values, including: scoring each execution plan according to the energy consumption scoring rule in the preset rules to obtain a first score value; scoring each execution plan according to the reliability scoring rule of the measurement and control equipment in the preset rules to obtain a second score value; scoring each execution plan according to the transmission rate scoring rule of the measurement and control equipment in the preset rules to obtain a third score value; calculating based on the first score value, the second score value and the third score value to obtain the target score value.

[0128] Optionally, scoring each execution plan according to the energy consumption scoring rule in the preset rules to obtain a first score value includes: determining the execution time point of each ground window execution event in multiple execution plans and the third execution duration of each ground window execution event in multiple execution plans, where the energy consumption scoring rule at least includes: execution time point and third execution duration; scoring each execution plan according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans to obtain a first score value.

[0129] Optionally, scoring each execution plan according to the reliability scoring rule of the measurement and control equipment in the preset rules to obtain a second score value includes: determining multiple first measurement and control devices for executing each ground window execution event and the reliability of each first measurement and control device according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans, where the reliability scoring rule of the measurement and control equipment at least includes: the reliability of the measurement and control equipment; scoring each execution plan according to the reliability of multiple first measurement and control devices to obtain a second score value.

[0130] Optionally, scoring each execution plan according to the transmission rate scoring rule of the measurement and control equipment in the preset rules to obtain a third score value includes: determining the data transmission rate of each measurement and control device and scoring each execution plan according to the transmission rate to obtain a third score value, where the transmission rate scoring rule of the measurement and control equipment at least includes: the data transmission rate of the measurement and control equipment.

[0131] Optionally, calculating based on the first score value, the second score value and the third score value to obtain the target score value includes: setting the weight of the first score value as the first weight value, setting the weight of the second score value as the second weight value, and setting the weight of the third score value as the third weight value, where the first weight value is less than the second weight value, and the second weight value is less than the third weight value; calculating based on the first weight value, the second weight value, the third weight value, the first score value, the second score value and the third score value to obtain the target score value.

[0132] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0133] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program initialized with the following method steps: determining autonomous execution events on multiple devices, the first execution duration corresponding to each autonomous execution event on each device, and the first execution time point corresponding to each autonomous execution event on each device, and determining multiple ground window execution events and the second execution duration corresponding to each ground window execution event, wherein the autonomous execution events on the devices are autonomous execution events of a spacecraft, and the ground window execution events at least include measurement and control equipment execution events; determining multiple target measurement and control arc segments according to the first execution duration and the first execution time point, wherein the target measurement and control arc segments are time periods during which the measurement and control equipment can control the spacecraft; determining multiple execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, wherein different execution plans represent different execution sequences of multiple ground window execution events; scoring each execution plan based on a preset rule to obtain multiple target score values, and determining the target execution plans of multiple ground window execution events from multiple execution plans according to the target score values.

[0134] Optionally, determining multiple execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration includes: determining the priority of each ground window execution event according to the execution sequence of each ground window execution event; obtaining the execution dependency relationship between multiple autonomous execution events on the devices and multiple ground window execution events; matching the target measurement and control arc segments and each ground window execution event according to the priority, execution dependency relationship, and second execution duration of each ground window execution event to determine the target correspondence relationship between each ground window execution event and the target measurement and control arc segments; determining multiple optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration, and the target correspondence relationship; and determining multiple execution plans according to the multiple optional execution time points.

[0135] Optionally, when matching the target measurement and control arc segments and each ground window execution event, the method further includes: if there is a failure in matching a target ground window execution event with the target measurement and control arc segments, determining the required execution duration of the target ground window execution event; using the required execution duration as the second execution duration of the target ground window execution event; and matching the target measurement and control arc segments and the target ground window execution event according to the second execution duration of the target ground window execution event to determine the target correspondence relationship between the target ground window execution event and the target measurement and control arc segments.

[0136] Optionally, each execution plan is scored based on a preset rule to obtain multiple target score values, including: scoring each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value; scoring each execution plan according to the reliability scoring rule of the measurement and control equipment in the preset rule to obtain a second score value; scoring each execution plan according to the transmission rate scoring rule of the measurement and control equipment in the preset rule to obtain a third score value; calculating based on the first score value, the second score value, and the third score value to obtain the target score value.

[0137] Optionally, scoring each execution plan according to the energy consumption scoring rule in the preset rule to obtain a first score value includes: determining the execution time point of each ground window execution event in multiple execution plans and the third execution duration of each ground window execution event in multiple execution plans, where the energy consumption scoring rule at least includes: execution time point and third execution duration; scoring each execution plan according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans to obtain a first score value.

[0138] Optionally, scoring each execution plan according to the reliability scoring rule of the measurement and control equipment in the preset rule to obtain a second score value includes: determining multiple first measurement and control devices for executing each ground window execution event in multiple execution plans and the reliability of each first measurement and control device according to the execution time point and the third execution duration of each ground window execution event in multiple execution plans, where the reliability scoring rule of the measurement and control equipment at least includes: the reliability of the measurement and control equipment; scoring each execution plan according to the reliability of multiple first measurement and control devices to obtain a second score value.

[0139] Optionally, scoring each execution plan according to the transmission rate scoring rule of the measurement and control equipment in the preset rule to obtain a third score value includes: determining the data transmission rate of each measurement and control device and scoring each execution plan according to the transmission rate to obtain a third score value, where the transmission rate scoring rule of the measurement and control equipment at least includes: the data transmission rate of the measurement and control equipment.

[0140] Optionally, calculating based on the first score value, the second score value, and the third score value to obtain the target score value includes: setting the weight of the first score value as the first weight value, setting the weight of the second score value as the second weight value, and setting the weight of the third score value as the third weight value, where the first weight value is less than the second weight value, and the second weight value is less than the third weight value; calculating based on the first weight value, the second weight value, the third weight value, the first score value, the second score value, and the third score value to obtain the target score value.

[0141] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0142] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0143] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0145] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0146] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0147] A computer-readable medium includes both permanent and non-permanent, removable and non-removable media and can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information accessible by a computing device. As defined herein, a computer-readable medium does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0148] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0149] Those skilled in the art will appreciate that the embodiments of the present application may be provided as a method, system or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0150] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and variations can be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for planning spacecraft control events, characterized in that, Including: Determine multiple on-board autonomous execution events, the first execution duration corresponding to each on-board autonomous execution event, and the first execution time point corresponding to each on-board autonomous execution event, and determine multiple ground window execution events and the second execution duration corresponding to each ground window execution event, where the on-board autonomous execution event is a spacecraft autonomous execution event, and the ground window execution event at least includes a TT&C equipment execution event; Based on the first execution duration and the first execution time point, determine multiple target TT&C arc segments, where the target TT&C arc segment is a time period during which the TT&C equipment can control the spacecraft; Based on the target TT&C arc segments, the first execution time point, the first execution duration, and the second execution duration, determine multiple execution plans, where different execution plans represent different execution orders of the multiple ground window execution events; Based on a preset rule, score each execution plan to obtain multiple target score values, and determine the target execution plan of the multiple ground window execution events from the multiple execution plans according to the target score values; Among them, based on the target TT&C arc segments, the first execution time point, the first execution duration, and the second execution duration, determining multiple execution plans includes: According to the execution order of each ground window execution event, determine the priority of each ground window execution event; Obtain the execution dependency relationship between the multiple on-board autonomous execution events and the multiple ground window execution events; According to the priority of each ground window execution event, the execution dependency relationship, and the second execution duration, match the target TT&C arc segments and each ground window execution event to determine the target correspondence between each ground window execution event and the target TT&C arc segment; According to the execution dependency relationship, the first execution time point, the first execution duration, and the target correspondence, determine multiple optional execution time points for each ground window execution event; According to the multiple optional execution time points, determine the multiple execution plans.

2. The method according to claim 1, wherein When matching the target TT&C arc segments and each ground window execution event, the method further includes: If there is a target ground window execution event that fails to match the target TT&C arc segment, determine the required execution duration of the target ground window execution event; Use the required execution duration as the second execution duration of the target ground window execution event; According to the second execution duration of the target ground window execution event, match the target TT&C arc segment and the target ground window execution event to determine the target correspondence between the target ground window execution event and the target TT&C arc segment.

3. The method according to claim 1, characterized in that, Based on a preset rule, scoring each execution plan to obtain multiple target score values includes: According to the energy consumption scoring rule in the preset rule, score each execution plan to obtain a first score value; According to the TT&C equipment reliability scoring rule in the preset rule, score each execution plan to obtain a second score value; Score each execution plan according to the measurement and control equipment transmission rate scoring rule in the preset rules to obtain a third score value; Calculate based on the first score value, the second score value, and the third score value to obtain the target score value.

4. The method according to claim 3, characterized in that Score each execution plan according to the energy consumption scoring rule in the preset rules, and the first score value obtained includes: Determine the execution time point of each ground window execution event in multiple execution plans and the third execution duration of each ground window execution event in multiple execution plans. Among them, the energy consumption scoring rule at least includes: the execution time point and the third execution duration; Score each execution plan according to the execution time point of each ground window execution event in the multiple execution plans and the third execution duration to obtain the first score value.

5. The method according to claim 4, characterized in that Score each execution plan according to the measurement and control equipment reliability scoring rule in the preset rules, and the second score value obtained includes: Based on the execution time point of each ground window execution event in the multiple execution plans and the third execution duration, determine multiple first measurement and control equipment for executing each ground window execution event and the reliability of each first measurement and control equipment. Among them, the measurement and control equipment reliability scoring rule at least includes: the reliability of the measurement and control equipment; Score each execution plan according to the reliability of the multiple first measurement and control equipment to obtain the second score value.

6. The method according to claim 5, characterized in that, Score each execution plan according to the measurement and control equipment transmission rate scoring rule in the preset rules, and the third score value obtained includes: Determine the data transmission rate of each measurement and control equipment, and score each execution plan according to the transmission rate to obtain the third score value. Among them, the measurement and control equipment transmission rate scoring rule at least includes: the data transmission rate of the measurement and control equipment.

7. The method according to claim 3, characterized in that Calculate based on the first score value, the second score value, and the third score value to obtain the target score value, including: Set the weight of the first score value as the first weight value, set the weight of the second score value as the second weight value, and set the weight of the third score value as the third weight value. Among them, the first weight value is less than the second weight value, and the second weight value is less than the third weight value; Calculate based on the first weight value, the second weight value, the third weight value, the first score value, the second score value, and the third score value to obtain the target score value.

8. A planning device for spacecraft control events, characterized in that Includes: The first determination unit is used to determine multiple on-board autonomous execution events, the first execution duration corresponding to each on-board autonomous execution event, and the first execution time point corresponding to each on-board autonomous execution event, and determine multiple ground window execution events and the second execution duration corresponding to each ground window execution event. Among them, the on-board autonomous execution event is an autonomous execution event of the spacecraft, and the ground window execution event at least includes a measurement and control equipment execution event; A second determination unit, configured to determine a plurality of target measurement and control arc segments according to the first execution duration and the first execution time point, where the target measurement and control arc segment is a time period during which the measurement and control device can control the spacecraft; A third determination unit, configured to determine a plurality of execution plans based on the target measurement and control arc segments, the first execution time point, the first execution duration, and the second execution duration, where different execution plans represent different execution sequences of the plurality of ground window execution events; A scoring unit, configured to score each execution plan based on a preset rule to obtain a plurality of target score values, and determine a target execution plan of the plurality of ground window execution events from the plurality of execution plans according to the target score values; Wherein, the third determination unit includes: a first determination module, configured to determine the priority of each ground window execution event according to the execution sequence of each ground window execution event; an acquisition module, configured to acquire an execution dependency relationship between the plurality of on-board autonomous execution events and the plurality of ground window execution events; a matching module, configured to match the target measurement and control arc segments and each ground window execution event according to the priority of each ground window execution event, the execution dependency relationship, and the second execution duration, so as to determine a target correspondence relationship between each ground window execution event and the target measurement and control arc segment; a second determination module, configured to determine a plurality of optional execution time points of each ground window execution event according to the execution dependency relationship, the first execution time point, the first execution duration, and the target correspondence relationship; a third determination module, configured to determine the plurality of execution plans according to the plurality of optional execution time points.

9. A processor, characterized in that, The processor is configured to run a program, where when the program runs, it executes the planning method for spacecraft control events according to any one of claims 1 to 7.

10. An electronic device, characterized in that, Comprising one or more processors and a memory, the memory is configured to store one or more programs, where when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the planning method for spacecraft control events according to any one of claims 1 to 7.

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