Space-based and ground-based measurement and control resource scheduling method, system, equipment and medium

Abstract

The invention discloses a space-ground measurement and control resource scheduling method, system and device and a medium, and relates to the technical field of spaceflight measurement and control, and the method comprises the steps: determining a visible window set VTM constructed by visible windows corresponding to a plurality of to-be-scheduled spacecrafts, and a task sequence R corresponding to the plurality of to-be-scheduled spacecrafts; in the visible window set VTM, window selection is conducted on the ith task in the task sequence R, and when all windows do not meet the constraint condition of the ith task or task arrangement conflicts exist between the selected target window and the ith task, the task conflict set theta is updated; and processing the task conflict set theta through a conflict rebound method, and determining a scheduling scheme corresponding to the ith task. Through the conflict rebound method, when the matching result is not obtained in the primary visible window matching process, the matching search strategy is adjusted again to carry out secondary visible window matching, and the applicability of the scheduling of the spacecraft to be scheduled is improved.

Description

Background Art

[0002] The aerospace measurement and control system is a technical system that tracks, measures, monitors and controls the flight trajectory, attitude and working status of each subsystem of an on-orbit spacecraft. It is used to ensure that the spacecraft flies and works according to the pre-designed state and completes the specified space mission. In recent years, with the explosive increase in the number of spacecraft in orbit, the contradiction of competition for measurement and control resources has become increasingly prominent. Based on the characteristics of the measurement and control system itself, it is unrealistic to meet the demand by increasing the number. How to make full use of the existing measurement and control resources is an important practical issue that urgently needs to be studied. Summary of the invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies of the prior art and specifically provide a method, system, device and medium for scheduling space-ground based measurement and control resources, as follows:

[0004] 1) In the first aspect, the present invention provides a method for scheduling ground-based measurement and control resources based on conflict bounce, and the specific technical solution is as follows:

[0005] Determine a visible window set VTM constructed by visible windows corresponding to multiple spacecraft to be scheduled, and arrange the measurement, control and tracking tasks corresponding to the multiple spacecraft to be scheduled in ascending order according to the start time of the measurement, control and tracking tasks to generate a task sequence R;

[0006] In the visible window set VTM, select a window for the i-th task in the task sequence R, and update the task conflict set Θ when all windows do not meet the constraints of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task;

[0007] The task conflict set Θ is processed by the conflict back-jump method to determine the scheduling scheme corresponding to the i-th task;

[0008] Among them, the implementation process of the conflict back-jump method is:

[0009] The earliest start time of any task in the task conflict set Θ is the starting point of the loop search, is the step length, and a search is made again in the visible window set VTM to determine whether there is a corresponding visible window, and a scheduling scheme corresponding to any task is determined according to the search result.

[0010] The beneficial effects of the conflict-rebound-based ground-to-earth measurement and control resource scheduling method provided by the present invention are as follows:

[0011] Through the conflict back-jump method, when no matching result is obtained during the initial visible window matching process, the matching search strategy is adjusted again to perform the second visible window matching, thereby improving the applicability of the scheduling of the spacecraft to be scheduled.

[0012] Based on the above solution, the present invention can also be improved as follows.

[0013] Furthermore, in the visible window set VTM, the process of selecting a window for the i-th task in the task sequence R is as follows:

[0014] When the visible window set VTM is not an empty set, it is determined whether the i-th task in the task sequence R corresponds to at least one visible window that satisfies the constraints of the i-th task, and a first judgment result is generated. When the first judgment result is yes, the optimal visible window is determined for all visible windows that satisfy the constraints of the i-th task through heuristic rules, and it is determined whether the optimal visible window is occupied, and a second judgment result is generated. When the second judgment result is yes, conflict elimination processing is performed through the heuristic rules, and the i-th task is updated according to the result after the conflict elimination processing.

[0015] Further, any measurement, control and tracking task P in the task sequence R j It is characterized by the following formula:

[0016] P j = <R j ,st,sec,m,j>;

[0017] Among them, R j = j , l j , p j , α j , β j >,s j is the required tracking start time of spacecraft j, l j is the required tracking duration of spacecraft j, p j is the priority of the tracking requirement, α j is the predecessor task of this tracking requirement, β j is the subsequent task of this tracking requirement, st represents the start time of the visible window, sec represents the duration of the visible window, m represents the heterogeneous station, and j represents the target spacecraft.

[0018] Furthermore, it also includes:

[0019] Determine in real time whether the task satisfaction rate is lower than a preset value, and adjust the coefficient of the heuristic function in the heuristic rule when the task satisfaction rate is lower than the preset value;

[0020] It is determined in real time whether the idle arc segment ratio of the current measurement, control and tracking task meets the expected value, and if it does not meet the expected value, the coefficient of the heuristic function in the heuristic rule is adjusted.

[0021] ​2) In the second aspect, the present invention also provides a space-ground based measurement and control resource scheduling system based on conflict bounce, and the specific technical scheme is as follows:

[0022] The determination module is used to: determine a visible window set VTM constructed by visible windows corresponding to multiple spacecraft to be scheduled, and arrange the measurement, control and tracking tasks corresponding to the multiple spacecraft to be scheduled in ascending order according to the start time of the measurement, control and tracking tasks to generate a task sequence R;

[0023] The updating module is used to: select a window for the i-th task in the task sequence R in the visible window set VTM, and update the task conflict set Θ when all windows do not meet the constraint conditions of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task;

[0024] The scheduling module is used to: process the task conflict set Θ through the conflict back-jump method and determine the scheduling scheme corresponding to the i-th task;

[0025] Among them, the implementation process of the conflict back-jump method is:

[0026] The earliest start time of any task in the task conflict set Θ is the starting point of the loop search, is the step length, and a search is made again in the visible window set VTM to determine whether there is a corresponding visible window, and a scheduling scheme corresponding to any task is determined according to the search result.

[0027] Based on the above solution, the present invention can also be improved as follows.

[0028] Furthermore, in the visible window set VTM, the process of selecting a window for the i-th task in the task sequence R is as follows:

[0029] When the visible window set VTM is not an empty set, it is determined whether the i-th task in the task sequence R corresponds to at least one visible window that satisfies the constraints of the i-th task, and a first judgment result is generated. When the first judgment result is yes, the optimal visible window is determined for all visible windows that satisfy the constraints of the i-th task through heuristic rules, and it is determined whether the optimal visible window is occupied, and a second judgment result is generated. When the second judgment result is yes, conflict elimination processing is performed through the heuristic rules, and the i-th task is updated according to the result after the conflict elimination processing.

[0030] Further, any measurement, control and tracking task P in the task sequence R j It is characterized by the following formula:

[0031] P j = <R j ,st,sec,m,j>;

[0032] Among them, R j = j , l j , p j , α j , β j >,s j is the required tracking start time of spacecraft j, l j is the required tracking duration of spacecraft j, p j is the priority of the tracking requirement, α j is the predecessor task of this tracking requirement, β j is the subsequent task of this tracking requirement, st represents the start time of the visible window, sec represents the duration of the visible window, m represents the heterogeneous station, and j represents the target spacecraft.

[0033] Furthermore, it also includes:

[0034] The adjustment module is used to: determine in real time whether the task satisfaction rate is lower than a preset value, and when the task satisfaction rate is lower than the preset value, adjust the coefficient of the heuristic function in the heuristic rule;

[0035] The adjustment module is also used to: determine in real time whether the idle arc segment ratio of the current measurement, control and tracking task meets the expected value, and if it does not meet the expected value, adjust the coefficient of the heuristic function in the heuristic rule.

[0036] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor, wherein the processor is coupled to a memory, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements any of the above methods.

[0037] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above methods.

[0038] It should be noted that the beneficial effects achieved by the technical solutions of the second to fourth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0040] Figure 1 ​A schematic flow chart of a method for scheduling space-ground based measurement and control resources based on conflict backlash according to an embodiment of the present invention;

[0041] Figure 2 A structural framework diagram of an electronic device of the present invention;

[0042] Figure 3 Schematic diagram of the ground-ground joint measurement, control and tracking of multiple target spacecraft provided for the embodiment of this scheme. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0044] In order to facilitate the understanding of this scheme, the definitions of common symbols and nouns are given.

[0045] J: multi-target spacecraft collection;

[0046] M: heterogeneous station set, which is the union of space-based tracking and control stations and ground-based tracking and control stations. Let the number of space-based tracking and control stations be γ, and the number of ground-based tracking and control stations be δ, satisfying M = γ + δ;

[0047] VTW: Visible Window Set, VTW j That is, the visible window set of spacecraft j, j∈J; VTW jm That is, the set of visible windows of spacecraft j at heterogeneous station m, m∈M.

[0048] Furthermore, it can be seen that window i satisfies four properties, namely VTW i =<st,sec,m,j> st represents the start time of the visible window, sec represents the duration of the visible window, m represents the heterogeneous station, and j represents the target spacecraft.

[0049] R: The set of tracking tasks. Combined with the definition of task attributes, the tracking task of target spacecraft j is a five-tuple, namely R j = j , l j , p j , α j , β j >, where:

[0050] (1)s j There are two ways to define the start time of tracking required by spacecraft j. One is to use the number of circles, such as +100 circles, which means that it is required to be arranged at the 100th circle after spacecraft j enters orbit, which is a relative time; the other is to calculate the offset time based on the initial time of the mission where spacecraft j is located, such as +10000 seconds, which means that the tracking requirement is required to be executed 10000 seconds after the start of the mission, which is an absolute time.​

[0051] For global time point tasks, the absolute time representation method of the offset moment is used; for periodic tasks, the relative time representation method of the laps is used; for continuous tracking tasks, one of the representation methods is determined based on the task priority.

[0052] (2)l j That is, the tracking duration required by spacecraft j, in seconds.

[0053] (3)p j That is, the priority of this tracking requirement. j ∈]1,4], different priorities have different requirements for measurement and control resources.

[0054] (4)α j That is, the previous task of the tracking requirement, α j =0 means that the tracking requirement has no predecessor task, otherwise it means that the tracking requirement has a predecessor task; β j That is, the subsequent task of this tracking requirement, β j =0 means that the tracking requirement has no subsequent task, otherwise it means that the tracking requirement has no subsequent task. j =0∥β j =0, that is, the tracking mission of spacecraft j is executed alone.

[0055] Ground-based tracking and control station:

[0056] my country's tracking and control stations include a space-based relay satellite system and a ground-based tracking and control network. The two complement each other and provide tracking and control services for space target spacecraft. The relay satellite system is a high-orbit satellite, deployed in three orbital positions: east, middle, and west. The ground-based tracking and control network consists of multiple tracking and control stations. Limited by the difference in the curvature of the earth and the altitude of the orbit, the tracking capabilities of the two for target spacecraft at the same orbital altitude are quite different. The tracking arc of the space-based tracking and control station is long, while the tracking arc of the ground-based tracking and control station is short.

[0057] In this scheme, the antenna is taken as the unit, and it is considered that the space-based relay satellite system and the ground-based tracking and control network belong to a type of heterogeneous tracking and control station, referred to as heterogeneous station. The difference in the observation position of the two leads to a large difference in the visible window of the same target spacecraft in the space orbit. Figure 3 shown.

[0058] Visible Time Window (VTW):

[0059] The visible window refers to the time period of communication connection between the spacecraft and the tracking and control station at a certain location on the earth. During this time window, the tracking and control station can communicate with the spacecraft, transmit data or receive instructions. This time window is usually affected by the spacecraft orbit, the location of the tracking and control station and other factors. It needs to be calculated and predicted based on the spacecraft operating parameters and the location of the tracking and control station. Therefore, it is reflected in space as a tracking arc of the spacecraft to the tracking and control station.

[0060] The target spacecraft and the visible window have a 1:n relationship, and the visible windows may overlap.

[0061] During the mission execution, a spacecraft will monopolize a visible window. Even if there is a remaining arc segment after the mission is completed, it cannot be arranged for use by other missions. This arrangement, on the one hand, meets the reliability of the mission, but on the other hand, it also produces unusable fragmented arc segments, resulting in a waste of arc segments in the visible window.

[0062] Measurement, control and tracking tasks:

[0063] The TT&C mission refers to the task of measuring, controlling and tracking the spacecraft, completing the work plan of data transmission, TT&C, etc. The spacecraft TT&C mission can help monitor the orbital position, speed, attitude and other parameters of the spacecraft, timely discover and correct any potential problems, and ensure the smooth operation of the spacecraft and the achievement of the mission objectives.

[0064] The measurement, control and tracking task R is defined as a five-tuple to represent the attributes of the task, namely

[0065] R=<s,l,p,α,β>

[0066] s indicates the actual start time of tracking;

[0067] l represents the duration of the tracking task;

[0068] p represents the task priority. The higher the priority, the more important the task is and needs to be arranged first.

[0069] α represents the predecessor task of the current task;

[0070] β represents the successor task of the current task;

[0071] In addition, according to the duration l of task R, three concepts are further defined: periodic task A, global time point task B, and continuous tracking task C. The two inherit the properties of T and satisfy R = A∪B∪C.

[0072] Periodic task A refers to a sequence of instructions that is scheduled in each lap according to the specific needs of the task, such as remote control data injection at the transit time, which is scheduled to be executed at a fixed time period from Monday to Sunday morning / afternoon.

[0073] Global time point mission B refers to tasks that need to be performed at certain key time points, such as orbital attitude adjustment that needs to be completed before the spacecraft enters or exits the shadow area.

[0074] Both periodic task A and global time point task B are a type of non-continuous tracking task with a short duration, which can generally be completed within a visible window. Ground-based tracking and control stations are limited by the deployment location, the curvature of the earth, etc., and the tracking time window is discontinuous. Currently, they are mostly used for the measurement and control of non-continuous tracking tasks.

[0075] Continuous tracking mission C refers to tasks that can only be completed in multiple visible windows or tracking arcs and last for a long time, such as space teaching, astronauts leaving the spacecraft, etc. The space-based tracking and control station has a wide coverage, long tracking time, and can extend the tracking arc by continuous tracking, which can meet the needs of all types of tracking missions.

[0076] like Figure 1 As shown, a method for scheduling ground-to-ground measurement and control resources based on conflict backlash in an embodiment of the present invention includes the following steps:

[0077] S1, determine a visible window set VTM constructed by visible windows corresponding to multiple spacecraft to be scheduled, and arrange the measurement, control and tracking tasks corresponding to the multiple spacecraft to be scheduled in ascending order according to the start time of the measurement, control and tracking tasks to generate a task sequence R;

[0078] S2, in the visible window set VTM, select a window for the i-th task in the task sequence R, and update the task conflict set Θ when all windows do not meet the constraints of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task;

[0079] S3, process the task conflict set Θ through the conflict back-jump method and determine the scheduling scheme corresponding to the i-th task;

[0080] Among them, the implementation process of the conflict back-jump method is:

[0081] The earliest start time of any task in the task conflict set Θ is the starting point of the loop search, is the step length, and a search is made again in the visible window set VTM to determine whether there is a corresponding visible window, and a scheduling scheme corresponding to any task is determined according to the search result.

[0082] The beneficial effects of the conflict-rebound-based ground-to-earth measurement and control resource scheduling method provided by the present invention are as follows:

[0083] Through the conflict back-jump method, when no matching result is obtained during the initial visible window matching process, the matching search strategy is adjusted again to perform the second visible window matching, thereby improving the applicability of the scheduling of the spacecraft to be scheduled.

[0084] S1, determine the visible window set VTM constructed by the visible windows corresponding to the multiple spacecraft to be scheduled, and arrange the measurement, control and tracking tasks corresponding to the multiple spacecraft to be scheduled in ascending order according to the start time of the measurement, control and tracking tasks to generate a task sequence R. Among them:

[0085] The visible window corresponding to any spacecraft to be scheduled is determined by using STK (Satellite Tool Kit) software, that is, the visible window corresponding to the orbit forecast of any spacecraft to be scheduled is calculated by the above software.

[0086] The construction process of the visible window set VTM is: the visible windows corresponding to multiple spacecraft to be scheduled are combined.

[0087] The generation process of task sequence R is:

[0088] All the measurement and control tracking tasks are sorted in ascending order according to the start time. The sorted set is recorded as R, which is a queue in data structure. The tracking start time is marked according to the lap number. The start time s of task j is j It is a time interval Get the earliest start time To sort, is the end time.

[0089] S2, in the visible window set VTM, select the window for the i-th task in the task sequence R, and update the task conflict set Θ when all windows do not meet the constraints of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task. Where:

[0090] In the visible window set VTM, the process of selecting a window for the i-th task in the task sequence R is as follows:

[0091] S21, add the global time point task j with a determined start time to the tracking plan P j , where P j It is a five-tuple, and the relevant elements have been defined as follows:

[0092] P j = <R j ,st,sec,m,j

[0093] The number of scheduled tasks k=k+1.

[0094] S22, determine whether VTW is empty (whether there is no visible window), if it is empty, put the result into P j, that is, the search process ends. Output the initial measurement and control tracking plan; otherwise, select the visible window of appropriate time by traversing the visible window set VTW according to the queue out-degree order.

[0095] Among them, the initial measurement, control and tracking plan is the basic planning task corresponding to each spacecraft to be scheduled.

[0096] The queue out-degree order refers to the order of the task sequence R arranged in chronological order.

[0097] The visible window of the appropriate time is the visible window corresponding to the constraint condition of the i-th task.

[0098] S23, determine whether there are multiple visible windows that meet the constraints of the i-th task R[i] in the queue. If so, follow the efficiency principle and use the heuristic rule f2(j,t) to solve the problem, and put the result into P j , the number of scheduled tasks k=k+1, mark the used available windows and update VTW; record the constraint conflict tasks that are not satisfied by the visible windows to form a conflict set Θ, and the number of unscheduled tasks n=n+1.

[0099] Among them, the efficiency principle means that when a task has multiple visible windows to choose from, the fewer scattered arcs that may be caused and the more concentrated the tasks of the heterogeneous station are arranged, the greater the possibility that the visible window will be selected.

[0100] Define the second heuristic rule heterogeneous station performance selection function:

[0101]

[0102] f2(j,t) is the correlation function between task j and conflict time t. Among them, ξ, λ, A are positive constants; sec j is the visible window size, l j is the duration of the task, A defines the preparation time for measurement, control and tracking within the visible window, and is a predefined fixed value. (l j +A) defines the duration required for task execution, which needs to fall within the visible window. Considering the exclusivity of the visible window, the smaller the difference between the two, the fewer unavailable scattered idle arcs, and the higher the utilization efficiency of heterogeneous stations; w j (t) is the number of tasks assigned to heterogeneous station j at time t. The more centralized the task arrangement, the higher the w j The larger the value of (t), the higher the frequency of heterogeneous station usage, which reflects the preference for the selection of measurement and control stations.

[0103] S24, determine whether there is a task scheduling conflict in the visible window selected by the i-th task R[i] in the queue. If so, follow the task satisfaction principle and use the heuristic rule f1(j) to resolve the conflict, and put the result into P j , the number of scheduled tasks k=k+1, mark the used available windows and update VTW; synchronously update the conflict set Θ, and n=n+1.

[0104] The task satisfaction principle refers to: meeting the measurement and control resources required by the task priority, while considering whether the task has predecessor and successor tasks. The higher the priority of a task and the more it is a continuous tracking task, the more it needs to be arranged first.

[0105] Define the first heuristic rule task to satisfy the selection function:

[0106]

[0107] f1(j) is the relevant function of task j. Where κ is a positive constant; p j is the priority of the task; α j and β j They respectively indicate whether the task has a predecessor task and a successor task. If so, it means that the task is a continuous tracking task and needs to be arranged in priority.

[0108] The task conflict set Θ contains tasks when all windows do not satisfy the constraints of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task.

[0109] S25, determine whether R is empty. If it is empty, end and output the measurement and control tracking plan; if it is not empty, jump to S22 for loop execution.

[0110] Through the selection of the heuristic function (heuristic function g = f1(j) + f2(j, t)), the global time point task B and the continuous tracking task C will be arranged first, and the periodic task A will be arranged last. The task satisfaction principle and the efficiency principle are contradictory in principle. Meeting the requirements of all tracking tasks will inevitably produce more scattered idle arcs, resulting in reduced efficiency of heterogeneous stations. Therefore, the coefficients κ, ξ, and λ should be appropriately selected according to the weights of the two principles.

[0111] Therefore, S25 also includes S26;

[0112] S26, check whether the task satisfaction rate is not less than 90%, that is, the measurement and control tracking plan covers more than 90% of the requirements in the task set R. If satisfied, continue to execute S27; if not satisfied, adjust the three coefficients κ, ξ, λ of the task scheduling heuristic function g=f1(j)+f2(j,t), and jump to S22.

[0113] Assume that the number of tasks in the task set R is (n+k), the number of tasks scheduled in the measurement, control and tracking plan is k, and the task satisfaction rate SatRate is defined as follows:

[0114]

[0115] S27, check whether the idle arc segment ratio meets the expectation. If it meets the expectation, continue to step 4; if it does not meet the expectation, adjust the three coefficients κ, ξ, and λ of the task scheduling heuristic function g=f1(j)+f2(j,t), and jump to S22.

[0116] For the measurement, control and tracking plans with multiple review task satisfaction rates, the plan with the smallest proportion of idle arc segments is selected as the final result.

[0117] The total available window duration Σ of all heterogeneous stations is calculated in units of weeks, and the total available window duration Ω remaining after task scheduling is performed. The calculation method for the idle arc segment ratio Φ is defined as follows:

[0118]

[0119] The smaller the proportion of idle resources, the more arcs will be retained at heterogeneous station j, which can be used to ensure other needs such as emergency resource scheduling.

[0120] S3, process the task conflict set Θ through the conflict back-jump method and determine the scheduling scheme corresponding to the i-th task. Where:

[0121] Through the analysis of the heuristic function, we can see that the conflict set contains periodic tasks, and the earliest and latest start times of the tasks fall within the time interval of a circle. It can be seen that the window set VTW contains the remaining available arcs. The tasks in the conflict set Θ are scheduled according to the queue out-degree order, and the available arcs are found in VTW for task scheduling.

[0122] Set the earliest start time of the i-th conflicting task Θ[i] The starting point for the loop search.

[0123] is the step length, and searches in VTW to see if there is a corresponding visible window, and Δt is a custom time interval. If there is, jump to S22, and execute S23, S24, and S25 according to the judgment condition.

[0124] If not, the loop ends, and the measurement and control tracking plan P is the optimized solution, which is output as the final result.

[0125] In the visible window set, the selection of measurement, control and tracking tasks will correspond to multiple available arcs, and there will be overlaps between them. The purpose of joint measurement, control and tracking intelligent planning and scheduling is to generate as few scattered unavailable arcs as possible under the premise of meeting the task tracking request. If some arcs are not selected reasonably, on the one hand, it will lead to conflicts in the task scheduling cycle, and on the other hand, it will also cause a waste of measurement and control resources. The heuristic solution algorithm based on conflict backjump proposed in the present invention, on the one hand, proposes a strategy for task scheduling and conflict resolution based on the optimization goal of resource utilization, and on the other hand, through the backtracking and parameter tuning of the algorithm, it narrows the solution space and accelerates the convergence of feasible solutions.

[0126] Furthermore, in the visible window set VTM, the process of selecting a window for the i-th task in the task sequence R is as follows:

[0127] When the visible window set VTM is not an empty set, it is determined whether the i-th task in the task sequence R corresponds to at least one visible window that satisfies the constraints of the i-th task, and a first judgment result is generated. When the first judgment result is yes, the optimal visible window is determined for all visible windows that satisfy the constraints of the i-th task through heuristic rules, and it is determined whether the optimal visible window is occupied, and a second judgment result is generated. When the second judgment result is yes, conflict elimination processing is performed through the heuristic rules, and the i-th task is updated according to the result after the conflict elimination processing.

[0128] Further, any measurement, control and tracking task P in the task sequence R j It is characterized by the following formula:

[0129] P j = <R j ,st,sec,m,j>;

[0130] Among them, R j = j , l j , p j , α j , β j >,s j is the required tracking start time of spacecraft j, l j is the required tracking duration of spacecraft j, p j is the priority of the tracking requirement, α j is the predecessor task of this tracking requirement, β j is the subsequent task of this tracking requirement, st represents the start time of the visible window, sec represents the duration of the visible window, m represents the heterogeneous station, and j represents the target spacecraft.

[0131] Furthermore, it also includes: ​

[0132] Determine in real time whether the task satisfaction rate is lower than a preset value, and adjust the coefficient of the heuristic function in the heuristic rule when the task satisfaction rate is lower than the preset value;

[0133] It is determined in real time whether the idle arc segment ratio of the current measurement, control and tracking task meets the expected value, and if it does not meet the expected value, the coefficient of the heuristic function in the heuristic rule is adjusted.

[0134] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0135] A conflict-rebound-based ground-to-earth measurement and control resource scheduling system, the specific technical solution is as follows:

[0136] The determination module is used to: determine a visible window set VTM constructed by visible windows corresponding to multiple spacecraft to be scheduled, and arrange the measurement, control and tracking tasks corresponding to the multiple spacecraft to be scheduled in ascending order according to the start time of the measurement, control and tracking tasks to generate a task sequence R;

[0137] The updating module is used to: select a window for the i-th task in the task sequence R in the visible window set VTM, and update the task conflict set Θ when all windows do not meet the constraint conditions of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task;

[0138] The scheduling module is used to: process the task conflict set Θ through the conflict back-jump method and determine the scheduling scheme corresponding to the i-th task;

[0139] Among them, the implementation process of the conflict back-jump method is:

[0140] The earliest start time of any task in the task conflict set Θ is the starting point of the loop search, is the step length, and a search is made again in the visible window set VTM to determine whether there is a corresponding visible window, and a scheduling scheme corresponding to any task is determined according to the search result.

[0141] Based on the above solution, the present invention can also be improved as follows.

[0142] Furthermore, in the visible window set VTM, the process of selecting a window for the i-th task in the task sequence R is as follows:

[0143] When the visible window set VTM is not an empty set, it is determined whether the i-th task in the task sequence R corresponds to at least one visible window that satisfies the constraints of the i-th task, and a first judgment result is generated. When the first judgment result is yes, the optimal visible window is determined for all visible windows that satisfy the constraints of the i-th task through heuristic rules, and it is determined whether the optimal visible window is occupied, and a second judgment result is generated. When the second judgment result is yes, conflict elimination processing is performed through the heuristic rules, and the i-th task is updated according to the result after the conflict elimination processing.

[0144] Further, any measurement, control and tracking task P in the task sequence R j It is characterized by the following formula:

[0145] P j = <R j ,st,sec,m,j>;

[0146] Among them, R j = j , l j , p j , α j , β j >,s j is the required tracking start time of spacecraft j, l j is the required tracking duration of spacecraft j, p j is the priority of the tracking requirement, α j is the predecessor task of this tracking requirement, β j is the subsequent task of this tracking requirement, st represents the start time of the visible window, sec represents the duration of the visible window, m represents the heterogeneous station, and j represents the target spacecraft.

[0147] Furthermore, it also includes:

[0148] The adjustment module is used to: determine in real time whether the task satisfaction rate is lower than a preset value, and when the task satisfaction rate is lower than the preset value, adjust the coefficient of the heuristic function in the heuristic rule;

[0149] The adjustment module is also used to: determine in real time whether the idle arc segment ratio of the current measurement, control and tracking task meets the expected value, and if it does not meet the expected value, adjust the coefficient of the heuristic function in the heuristic rule.

[0150] ​It should be noted that the beneficial effects of the space-ground based measurement and control resource scheduling system based on conflict backlash provided by the above-mentioned embodiment are the same as the beneficial effects of the space-ground based measurement and control resource scheduling method based on conflict backlash, which will not be repeated here. In addition, when the system provided by the above-mentioned embodiment realizes its functions, it only uses the division of the above-mentioned functional modules as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided by the above-mentioned embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0151] like Figure 2 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above methods, specifically:

[0152] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements a conflict-backward-based ground-to-earth measurement and control resource scheduling method provided in the above-mentioned embodiment. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output. The electronic device 300 may also include other components for realizing device functions, which will not be described in detail here.

[0153] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any one of the above methods.

[0154] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0155] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above methods.

[0156] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0157] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0158] Any combination of one or more computer-readable media may be used. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or device.

[0159] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for scheduling ground-to-ground measurement and control resources based on conflict bounce, characterized in that: include: Determine a visible window set VTM constructed by visible windows corresponding to multiple spacecraft to be scheduled, and arrange the measurement, control and tracking tasks corresponding to the multiple spacecraft to be scheduled in ascending order according to the start time of the measurement, control and tracking tasks to generate a task sequence R; In the visible window set VTM, select a window for the i-th task in the task sequence R, and update the task conflict set Θ when all windows do not meet the constraints of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task; The task conflict set Θ is processed by the conflict back-jump method to determine the scheduling scheme corresponding to the i-th task; Among them, the implementation process of the conflict back-jump method is: The earliest start time of any task in the task conflict set Θ is the starting point of the loop search, is the step length, and a search is made again in the visible window set VTM to determine whether there is a corresponding visible window, and a scheduling scheme corresponding to any task is determined according to the search result.

2. The method for scheduling ground-to-ground measurement and control resources based on conflict bounce according to claim 1, characterized in that: In the visible window set VTM, the process of selecting the window for the i-th task in the task sequence R is: When the visible window set VTM is not an empty set, it is determined whether the i-th task in the task sequence R corresponds to at least one visible window that satisfies the constraints of the i-th task, and a first judgment result is generated. When the first judgment result is yes, the optimal visible window is determined for all visible windows that satisfy the constraints of the i-th task through heuristic rules, and it is determined whether the optimal visible window is occupied, and a second judgment result is generated. When the second judgment result is yes, conflict elimination processing is performed through the heuristic rules, and the i-th task is updated according to the result after the conflict elimination processing.

3. The method for scheduling ground-to-ground measurement and control resources based on conflict bounce according to claim 1, characterized in that: Any measurement, control and tracking task P in the task sequence R j It is characterized by the following formula: P j =<R j ,st,sec,m,j>; Among them, R j = j , l j , p j , α j , β j >,s j is the required tracking start time of spacecraft j, l j is the required tracking duration of spacecraft j, p j is the priority of the tracking requirement, α j is the predecessor task of this tracking requirement, β j is the subsequent task of this tracking requirement, st represents the start time of the visible window, sec represents the duration of the visible window, m represents the heterogeneous station, and j represents the target spacecraft.​ 4. The method for scheduling ground-to-ground measurement and control resources based on conflict bounce according to claim 2, characterized in that: Also includes: Determine in real time whether the task satisfaction rate is lower than a preset value, and adjust the coefficient of the heuristic function in the heuristic rule when the task satisfaction rate is lower than the preset value; It is determined in real time whether the idle arc segment ratio of the current measurement, control and tracking task meets the expected value, and if it does not meet the expected value, the coefficient of the heuristic function in the heuristic rule is adjusted.

5. A conflict-rebound-based ground-to-earth measurement and control resource scheduling system, characterized in that: include: The determination module is used to: determine a visible window set VTM constructed by visible windows corresponding to multiple spacecraft to be scheduled, and arrange the measurement, control and tracking tasks corresponding to the multiple spacecraft to be scheduled in ascending order according to the start time of the measurement, control and tracking tasks to generate a task sequence R; The updating module is used to: select a window for the i-th task in the task sequence R in the visible window set VTM, and update the task conflict set Θ when all windows do not meet the constraint conditions of the i-th task or when there is a task scheduling conflict between the selected target window and the i-th task; The scheduling module is used to: process the task conflict set Θ through the conflict back-jump method and determine the scheduling scheme corresponding to the i-th task; Among them, the implementation process of the conflict back-jump method is: The earliest start time of any task in the task conflict set Θ is the starting point of the loop search, is the step length, and a search is made again in the visible window set VTM to determine whether there is a corresponding visible window, and a scheduling scheme corresponding to any task is determined according to the search result.

6. The conflict-rebound-based ground-to-earth measurement and control resource scheduling system according to claim 5, characterized in that: In the visible window set VTM, the process of selecting the window for the i-th task in the task sequence R is: When the visible window set VTM is not an empty set, it is determined whether the i-th task in the task sequence R corresponds to at least one visible window that satisfies the constraints of the i-th task, and a first judgment result is generated. When the first judgment result is yes, the optimal visible window is determined for all visible windows that satisfy the constraints of the i-th task through heuristic rules, and it is determined whether the optimal visible window is occupied, and a second judgment result is generated. When the second judgment result is yes, conflict elimination processing is performed through the heuristic rules, and the i-th task is updated according to the result after the conflict elimination processing.

7. The conflict-rebound-based ground-to-earth measurement and control resource scheduling system according to claim 5, characterized in that: Any measurement, control and tracking task P in the task sequence R j It is characterized by the following formula: P j =<R j ,st,sec,m,j>; Among them, R j = j , l j , p j , α j , β j >,s j is the required tracking start time of spacecraft j, l j is the required tracking duration of spacecraft j, p j is the priority of the tracking requirement, α j is the predecessor task of this tracking requirement, β j is the subsequent task of this tracking requirement, st represents the start time of the visible window, sec represents the duration of the visible window, m represents the heterogeneous station, and j represents the target spacecraft.​ 8. The conflict-rebound-based ground-to-earth measurement and control resource scheduling system according to claim 6, characterized in that: Also includes: The adjustment module is used to: determine in real time whether the task satisfaction rate is lower than a preset value, and when the task satisfaction rate is lower than the preset value, adjust the coefficient of the heuristic function in the heuristic rule; The adjustment module is also used to: determine in real time whether the idle arc segment ratio of the current measurement, control and tracking task meets the expected value, and if it does not meet the expected value, adjust the coefficient of the heuristic function in the heuristic rule.

9. An electronic device, characterized in that: The electronic device comprises a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements the method according to any one of claims 1 to 4.

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