A space-ground base measurement and control resource scheduling method, system, device and medium

Abstract

The application discloses a kind of ground-based measurement and control resource scheduling method, system, equipment and medium, it is related to spaceflight measurement and control technical field, method includes: determining the visible window set VTM constructed by multiple to-be-scheduled spacecraft corresponding visible window, and multiple to-be-scheduled spacecraft corresponding task sequence R;In the visible window set VTM, the i th task in task sequence R is selected in window, and when all windows do not satisfy the constraint condition of i th task or when selected target window and i th task exist task arrangement conflict, update task conflict set Θ;Task conflict set Θ is handled by conflict back jump method, determine the scheduling scheme corresponding to i th task.The application is matched in the initial visible window matching process without obtaining matching result by conflict back jump method, and then adjust matching search strategy for the second time visible window matching, improve the applicability of the scheduling of to-be-scheduled spacecraft.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of spaceflight TT&C (Tracking, Telemetry and Command) technology, and in particular to a space-ground TT&C resource scheduling method, system, device and medium. BACKGROUND

[0002] The spaceflight TT&C system is a technical system for tracking measurement, monitoring and control of the flight orbit, attitude and working state of each subsystem on the space vehicle in orbit, for ensuring the space vehicle to fly and work according to the pre-designed state and to complete the prescribed space mission. In recent years, with the explosive increase in the number of space vehicles in orbit, the contradiction in the competition for TT&C resources is increasingly prominent. Based on the characteristics of the TT&C system, it is unrealistic to increase the number to meet the demand, and how to make full use of the existing TT&C resource strength is an important practical problem that needs to be urgently studied. SUMMARY

[0003] The technical problem to be solved by the present application is the deficiency of the prior art, and a space-ground TT&C resource scheduling method, system, device and medium are specifically provided, as follows.

[0004] 1) In a first aspect, the present application provides a space-ground TT&C resource scheduling method based on conflict backjumping, and the specific technical solution is as follows:

[0005] A visible window set VTM is determined by the visible windows corresponding to a plurality of to-be-scheduled space vehicles, and a task sequence R is generated by arranging the TT&C tracking tasks corresponding to the plurality of to-be-scheduled space vehicles in ascending order according to the start time of the TT&C tracking tasks;

[0006] In the visible window set VTM, a window is selected for the i-th task in the task sequence R, and when all the windows do not satisfy the constraint condition of the i-th task or when the selected target window and the i-th task exist task arrangement conflict, a task conflict set is updated ;

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

[0008] The implementation process of the conflict backjumping method is as follows:

[0009] The earliest start time of any task in the task conflict set is taken as the starting point of the loop search, and is taken as the step size to re-search whether there exists a corresponding visible window in the visible window set VTM, and the scheduling scheme corresponding to the any task is determined according to the search result.

[0010] ​The application provides a space-ground-based TT&C resource scheduling method based on conflict backjumping.

[0011] In the conflict backjumping method, when no matching result is obtained in the initial visible window matching process, the matching search strategy is adjusted again for the matching of the second visible window, and the applicability of the scheduling of the to-be-scheduled spacecraft is improved.

[0012] Based on the above scheme, the application can be further improved as follows.

[0013] Further, in the visible window set VTM, the process of window selection for the ith task in the task sequence R is as follows:

[0014] When the visible window set VTM is not an empty set, it is judged whether the ith task in the task sequence R meets the constraint condition of the ith task through at least one visible window, a first judgment result is generated, when the first judgment result is yes, the optimal visible window is determined for all visible windows meeting the constraint condition of the ith task through the heuristic rule, and it is determined whether the optimal visible window is occupied, a second judgment result is generated, when the second judgment result is yes, the conflict elimination processing is performed through the heuristic rule, and the ith task is updated through the result after the conflict elimination processing.

[0015] Further, the application further comprises:

[0016] The task satisfaction rate is judged in real time whether it is lower than a preset value, and when the task satisfaction rate is lower than the preset value, the coefficient of the heuristic function in the heuristic rule is adjusted;

[0017] The idle arc segment proportion of the current TT&C tracking task is judged in real time whether it meets an expected value, and when the expected value is not met, the coefficient of the heuristic function in the heuristic rule is adjusted.

[0018] 2) In a second aspect, the application further provides a space-ground-based TT&C resource scheduling system based on conflict backjumping, and the specific technical scheme is as follows:

[0019] The determining module is used for determining a visible window set VTM constructed by visible windows corresponding to a plurality of to-be-scheduled spacecraft, and generating a task sequence R by arranging the TT&C tracking tasks corresponding to the plurality of to-be-scheduled spacecraft in ascending order according to the start time of the TT&C tracking tasks;

[0020] The updating module is used for performing window selection on the ith task in the task sequence R in the visible window set VTM, and updating the task conflict set when all windows do not meet the constraint condition of the ith task or when the selected target window and the ith task exist task arrangement conflicts. ;

[0021] The scheduling module is used to: manage task conflict sets using the conflict bounce method. Process the data to determine the scheduling scheme for the i-th task;

[0022] The implementation process of the conflict bounce method is as follows:

[0023] With task conflict set Earliest start time of any task in As the starting point of the loop search, with Using the step size, search again in the visible window set VTM to see if a corresponding visible window exists, and determine the scheduling scheme corresponding to any task based on the search result.

[0024] Based on the above solution, the present invention can be further improved as follows.

[0025] Furthermore, within the visible window set VTM, the process of selecting a window for the i-th task in the task sequence R is as follows:

[0026] When the visible window set VTM is not empty, determine 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 generate a first judgment result. When the first judgment result is yes, determine the optimal visible window for all visible windows that satisfy the constraints of the i-th task using heuristic rules, and determine whether the optimal visible window is occupied, and generate a second judgment result. When the second judgment result is yes, perform conflict elimination processing using the heuristic rules, and update the i-th task based on the result of the conflict elimination processing.

[0027] Furthermore, it also includes:

[0028] The adjustment module is used to: determine in real time whether the task satisfaction rate is lower than the preset value, and adjust the coefficients of the heuristic function in the heuristic rule when the task satisfaction rate is lower than the preset value;

[0029] The adjustment module is also used to: determine in real time whether the proportion of idle arc segments in the current measurement and control tracking task meets the expected value, and adjust the coefficients of the heuristic function in the heuristic rule when the expected value is not met.

[0030] 3) In a third aspect, the present invention also provides an electronic device, the electronic device including a processor coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the electronic device to perform any of the above methods.

[0031] 4) In a fourth aspect, the present application also 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 to enable a computer to implement any one of the above methods.

[0032] It should be noted that the technical solutions of the second aspect to the fourth aspect of the present application and the corresponding possible implementation manners have the beneficial effects as described above for the first aspect and the corresponding possible implementation manners, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0033] Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments thereof as described in conjunction with the accompanying drawings:

[0034] Figure 1 A flowchart of a space-ground based measurement and control resource scheduling method based on conflict bounce-back according to an embodiment of the present application;

[0035] Figure 2 A structural framework diagram of an electronic device according to an embodiment of the present application;

[0036] Figure 3 A space-ground joint measurement and control tracking diagram of a multi-target spacecraft according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purposes, technical solutions and advantages of the present application more clear, the following will further describe the embodiments of the present application in combination with the drawings.

[0038] In order to facilitate understanding of the present application, the definitions of common symbols and terms are given.

[0039] : a set of multi-target spacecrafts;

[0040] : a set of heterogeneous stations, the heterogeneous stations being a union of space-based measurement and control stations and ground-based measurement and control stations, wherein the number of space-based measurement and control stations is , the number of ground-based measurement and control stations is , and ;

[0041] : a set of visible windows, i.e., the set of visible windows of the spacecraft , ; i.e., the set of visible windows of the spacecraft on the heterogeneous station , .

[0042] Furthermore, visible windows Satisfy 4 attributes, namely . Indicates the start time of the visible window. Indicates the duration of the visible window. Indicates heterogeneous stations. Indicates the target spacecraft.

[0043] The set of telemetry, tracking, and command (TT&C) tasks, combined with the definition of task attributes, further includes the target spacecraft. The telemetry, tracking, and command (TT&C) task is a quintuple, namely... ,in:

[0044] (1) Spacecraft The required tracking start time can be defined in two ways: one is by using orbits, such as +100 orbits, which requires the tracking start time to be within the spacecraft's orbit. The 100th orbit after entering orbit can be scheduled, which is a relative timeframe; another approach is to use the spacecraft... The offset time is calculated from the initial time of the task, such as +10000 seconds, which means that the tracking requirement is required to be executed 10000 seconds after the task starts. This is an absolute time.

[0045] For global time point tasks, the absolute time representation method of offset time is used; for periodic tasks, the relative time representation method of cycle number is used; for continuous tracking tasks, one of the representation methods is determined according to task priority.

[0046] (2) Spacecraft The required tracking duration, in seconds.

[0047] (3) This refers to the priority of the tracking requirement. Different priorities lead to different requirements for measurement and control resources.

[0048] (4) That is, the preliminary task for this tracking requirement. This indicates that the tracking request has no preceding task, otherwise it indicates that the tracking request has a preceding task. That is, the follow-up task of this tracking requirement, This indicates that the tracking request has no follow-up tasks; otherwise, it indicates that the tracking request has no follow-up tasks. When the condition is met... spacecraft The execution of this tracking task is carried out independently.

[0049] Space-to-ground tracking and control stations:

[0050] China's TT&C stations include space-based relay satellite systems and ground-based TT&C networks, which 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 TT&C network is composed of multiple TT&C stations. Due to the curvature of the Earth and the difference in orbital altitude, the tracking capabilities of the two systems for the same orbital altitude target spacecraft differ greatly, with the space-based TT&C station tracking a long arc segment and the ground-based TT&C station tracking a short arc segment.

[0051] In this scheme, the antenna is taken as a unit, and both the space-based relay satellite system and the ground-based TT&C network are considered as a type of heterogeneous TT&C station, referred to as heterogeneous station. The difference in observation positions between the two results in a significant difference in the visible window for the same target spacecraft in space. Figure 3

[0052] Visible Time Window (VTW):

[0053] The visible window refers to the time period during which the spacecraft and the TT&C station are connected in communication on the Earth. During this time window, the TT&C station can communicate with the spacecraft to transmit data or receive instructions. This time window is usually affected by the spacecraft's orbit, the TT&C station's location, and other factors, and needs to be calculated and predicted based on the spacecraft's operational parameters and the TT&C station's location, thus representing a tracking arc segment of the spacecraft to the TT&C station in space.

[0054] The relationship between the target spacecraft and the visible window is , and the visible windows may overlap.

[0055] During the execution of a task, a spacecraft will monopolize a visible window, even if there is a remaining arc segment after the task ends, it cannot be assigned to other tasks. This arrangement, on the one hand, meets the reliability of the task, and on the other hand, it also produces unusable fragmented arc segments, resulting in waste of arc segments in the visible window.

[0056] TT&C Tracking Task:

[0057] The TT&C tracking task refers to the task of measuring, controlling, and tracking the spacecraft, completing the work plan of data transmission and TT&C. The spacecraft TT&C tracking task can help monitor the spacecraft's orbital position, speed, attitude, and other parameters, detect and correct any potential problems in a timely manner, and ensure the smooth operation of the spacecraft and the realization of the mission objectives.

[0058] Definition of TT&C Tracking Task as a five-tuple to represent the attributes of the task, i.e.

[0059]

[0060] ​ represents tracking the actual start time;

[0061] represents tracking the task duration;

[0062] represents the task priority, the higher the priority, the more important the task, which needs to be arranged in priority;

[0063] represents the predecessor task of the current task;

[0064] represents the successor task of the current task;

[0065] In addition, according to the duration of the task , three concepts of periodic task , global time point task and continuous tracking task are further defined, both of which inherit the attributes and meet .

[0066] Periodic task refers to a sequence of instructions arranged according to the specific needs of the task in each cycle, such as remote data injection at the transit moment, which is arranged to be executed at a fixed time period in the morning / afternoon from Monday to Sunday.

[0067] Global time point task refers to a task that needs to be executed at some key time points, such as orbit attitude adjustment, which needs to be completed before the spacecraft enters and exits the shadow area.

[0068] Periodic task and global time point task are both a class of non-continuous tracking tasks, with short duration, which can be completed within a visible window. Ground-based tracking stations are limited by deployment location, earth curvature, etc., and the tracking time window is discontinuous, which is currently mostly used for non-continuous tracking tasks.

[0069] Continuous tracking task refers to a task that can be completed in multiple visible windows or tracking arcs, with long duration, such as space teaching, astronaut extravehicular activity, etc. Space-based tracking stations have wide coverage, long tracking time and can extend the tracking arc in a continuous tracking manner, which can meet the needs of all types of tracking tasks.

[0070] As shown in Figure 1 , a space-ground tracking resource scheduling method based on conflict bounce-back of an embodiment of the present application includes the following steps:

[0071] ​S1, determine the set of visible windows VTM constructed from the visible windows corresponding to multiple spacecraft to be scheduled, and arrange the telemetry, tracking and control tasks corresponding to multiple spacecraft to be scheduled in ascending order according to the start time of the telemetry, tracking and control tasks to generate a task sequence R;

[0072] S2, within the visible window set VTM, select a window for the i-th task in the task sequence R, and update the task conflict set if none of the windows satisfy the constraints of the i-th task or if the selected target window conflicts with the i-th task. ;

[0073] S3, using the conflict bounce method to process task conflict sets Process the data to determine the scheduling scheme for the i-th task;

[0074] The implementation process of the conflict bounce method is as follows:

[0075] With task conflict set Earliest start time of any task in As the starting point of the loop search, with Using the step size, search again in the visible window set VTM to see if a corresponding visible window exists, and determine the scheduling scheme corresponding to any task based on the search result.

[0076] The beneficial effects of the space-ground telemetry and control resource scheduling method based on conflict bounce provided by this invention are as follows:

[0077] By using the conflict backtracking method, if no matching result is obtained during the initial visible window matching process, the matching search strategy is adjusted again to perform a second visible window matching, thereby improving the applicability of scheduling spacecraft to be scheduled.

[0078] S1, determine the visible window set VTM constructed from the visible windows corresponding to multiple spacecraft to be scheduled, and generate a task sequence R by arranging the telemetry, tracking, and command (TT&C) tasks corresponding to the multiple spacecraft to be scheduled in ascending order of their start times. Wherein:

[0079] The visible window corresponding to any spacecraft to be scheduled is determined by using STK (Satellite Tool Kit) software, that is, by using the above software to calculate the visible window corresponding to the orbit prediction of any spacecraft to be scheduled.

[0080] The process of constructing the visible window set (VTM) is as follows: the visible windows corresponding to multiple spacecraft to be scheduled are combined into a union.

[0081] The process of generating task sequence R is as follows:

[0082] Sort all telemetry, tracking, and command (TT&C) tasks in ascending order of start time. The sorted set is denoted as [Set Name]. , which is a queue on data structure. The start time is marked according to the circle time, which is the start time of the task of the spacecraft j is a time interval , the earliest start time is sorted , is the end time.

[0083] S2, in the visible window set VTM, the i-th task in the task sequence R is selected, and when all windows do not meet the constraint condition of the i-th task or there is a task scheduling conflict between the selected target window and the i-th task, the task conflict set is updated . Wherein:

[0084] In the visible window set VTM, the process of selecting the i-th task in the task sequence R is as follows:

[0085] S21, the global time point task of spacecraft j with a determined start time is added to the tracking plan , wherein, is a five-tuple, and the related elements have been defined, as follows:

[0086]

[0087] The number of scheduled tasks .

[0088] S22, judge whether it is empty (whether there is no any visible window), if it is empty, the result is put into , that is, the end of the search process. Output the initial TT&C tracking plan; otherwise, select the appropriate time visible window in the visible window set by traversal according to the queue out-degree order.

[0089] Wherein, the initial TT&C tracking plan is the basic planning task corresponding to each spacecraft to be scheduled.

[0090] The queue out-degree order refers to the order of the task sequence R arranged in time sequence.

[0091] The appropriate time visible window is the visible window corresponding to the constraint condition of the i-th task.

[0092] S23, judge whether the i-th task in the queue has multiple visible windows that meet the constraint condition of the i-th task, if so, follow the efficiency principle, use heuristic rules to solve, the result is put into , the number of scheduled tasks , update the used available windows ; record the constraint conflict tasks that none of the visible windows can satisfy, form the conflict set , the number of scheduled tasks .

[0093] where the performance principle means that when a task has multiple visible windows to choose from, the less fragmented arcs that can be brought about and the more concentrated the heterogeneous station task scheduling is, the greater the likelihood of the visible window being chosen.

[0094] define the second heuristic rule heterogeneous station performance selection function:

[0095] ,

[0096] is the spacecraft task and conflict time related function. Wherein, is a normal number; is the size of the visible window, is the task duration, defines the preparation time for tracking and control in the visible window, which is a predefined fixed value, defines the time required for task execution, which needs to fall within the visible window, and taking into account the exclusivity of the visible window, the smaller the difference between the two, the fewer the fragmented idle arcs that are not available, and the higher the performance of the heterogeneous station; for spacecraft corresponding to the number of tasks allocated to the heterogeneous station m, the more concentrated the task scheduling is, the greater the value, the higher the frequency of use of the heterogeneous station, reflecting the preference for the selection of the tracking and control station.

[0097] S24, determine whether the visible window selected by the task in the queue has a task scheduling conflict. If so, follow the task satisfaction principle and use the heuristic rule to resolve the conflict, and the result is put into , the number of scheduled tasks , mark and update the used available windows ; update the conflict set synchronously, and .

[0098] The task satisfaction principle means that the TT&C resources required by the task priority are satisfied, and whether the task has a predecessor and a successor is considered. The higher the priority of a task is, and the more continuous tracking tasks are, the more the task needs to be arranged in priority.

[0099] The first heuristic rule task satisfaction selection function is defined as:

[0100] ,

[0101] is a function related to the task of the spacecraft . Wherein, is a constant; is the priority of the task; and respectively represent whether the task has a predecessor and a successor, and if so, it means that the task is a continuous tracking task and needs to be arranged in priority.

[0102] The task conflict set contains all tasks whose constraints are not met by all windows or have task scheduling conflicts with the selected target window and the ith task.

[0103] S25, determine whether it is empty, if it is empty, end and output the TT&C tracking plan; if it is not empty, jump to S22 and execute in a loop.

[0104] Through the selection of the heuristic function (heuristic function ), global time point tasks and continuous tracking tasks will be arranged in priority, and periodic tasks will be arranged last. The task satisfaction principle and the efficiency principle are contradictory in principle. Meeting all tracking task requirements will inevitably generate more scattered idle arcs, resulting in reduced use efficiency of heterogeneous stations, so the coefficients should be appropriately valued according to the weights of the two principles.

[0105] Therefore, S25 is followed by S26;

[0106] S26, review whether the task satisfaction rate is not less than 90%, that is, the TT&C tracking plan covers more than 90% of the requirements in the task set . If it is satisfied, continue to execute S27; if it is not satisfied, adjust the three coefficients of the task arrangement heuristic function and jump to S22.

[0107] Let the task set The number of tasks is The number of tasks already scheduled in the telemetry, tracking and control plan is as follows: Task satisfaction rate The definition is as follows:

[0108]

[0109] S27, verify if the percentage of idle arc segments meets the expectation. If it does, continue to step four; otherwise, use the task scheduling heuristic function. The three coefficients Make adjustments and jump to S22.

[0110] For a measurement and control tracking plan that verifies the satisfaction rate of multiple review tasks, the scheme with the smallest proportion of idle arc segments is selected as the final result.

[0111] Calculate the total available window duration for all heterogeneous stations on a weekly basis. Total remaining available window time after task scheduling Method for calculating the proportion of idle arc segments The definition is as follows:

[0112]

[0113] The smaller the proportion of idle resources, the more arcs of heterogeneous stations will be reserved, which can be used to ensure emergency resource scheduling and other needs.

[0114] S3, using the conflict bounce method to process task conflict sets Process the data to determine the scheduling scheme for the i-th task. Where:

[0115] Analysis of the heuristic function reveals that the conflict set consists entirely of periodic tasks, with the earliest and latest start times falling within the time interval of a single cycle. (See window set.) The remaining available arcs are in the middle. The collision sets are processed according to the queue's out-degree order. The tasks are scheduled and arranged in the middle. Use available arc segments to assign tasks.

[0116] The first A conflict mission Earliest start time of the task This serves as the starting point for the loop search.

[0117] For step size, in Check if there is a corresponding visible window. This is a custom time interval. If it exists, jump to S22 and execute S23, S24, and S25 according to the judgment conditions.

[0118] If not, end the loop, and the tracking and control plan That is, the optimal solution, which is output as the final result.

[0119] In the visible window set, the selection of the tracking and control task corresponds to multiple available arcs, and there is an overlap between them. The purpose of the joint tracking and control intelligent planning and scheduling is to generate as few scattered unusable arcs as possible under the premise of meeting the task tracking request. If some arc selection is unreasonable, it will lead to conflicts in task arrangement period on the one hand, and waste of tracking and control resources on the other hand. The heuristic solving algorithm based on conflict back jump proposed in the application proposes a task arrangement and conflict resolution strategy based on the optimization goal of resource use on the one hand, and narrows down the solution space and speeds up the convergence of feasible solutions through algorithm backtracking and parameter tuning on the other hand.

[0120] Further, in the visible window set VTM, the process of selecting a window for the ith task in the task sequence R is:

[0121] When the visible window set VTM is not empty, it is judged whether the ith task in the task sequence R corresponds to at least one visible window that meets the constraint condition of the ith 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 meet the constraint condition of the ith task through a heuristic rule, 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 rule, and the ith task is updated through the result after the conflict elimination processing.

[0122] Further, it further comprises:

[0123] Real-time judgment is made on whether the task satisfaction rate is lower than the preset value, and the coefficient of the heuristic function in the heuristic rule is adjusted when the task satisfaction rate is lower than the preset value;

[0124] Real-time judgment is made on whether the idle arc segment proportion of the current tracking and control task meets the expectation value, and the coefficient of the heuristic function in the heuristic rule is adjusted when the expectation value is not met.

[0125] In the above embodiments, although the steps are numbered S1, S2, etc., it is only a specific embodiment given by the application, and those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is within the protection scope of the application. It can be understood that in some embodiments, some or all of the above embodiments can be included.

[0126] A space-based tracking and control resource scheduling system based on conflict back jump, the specific technical solutions are as follows:

[0127] The determination module is used to: determine the set of visible windows (VTM) constructed from the visible windows corresponding to multiple spacecraft to be scheduled, and arrange the telemetry, tracking and command (TT&C) tasks corresponding to multiple spacecraft to be scheduled in ascending order according to the start time of the TT&C tasks to generate a task sequence (R);

[0128] The update module is used to: select a window for the i-th task in the task sequence R from the visible window set VTM, and update the task conflict set when none of the windows 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. ;

[0129] The scheduling module is used to: manage task conflict sets using the conflict bounce method. Process the data to determine the scheduling scheme for the i-th task;

[0130] The implementation process of the conflict bounce method is as follows:

[0131] With task conflict set Earliest start time of any task in As the starting point of the loop search, with Using the step size, search again in the visible window set VTM to see if a corresponding visible window exists, and determine the scheduling scheme corresponding to any task based on the search result.

[0132] Based on the above solution, the present invention can be further improved as follows.

[0133] Furthermore, within the visible window set VTM, the process of selecting a window for the i-th task in the task sequence R is as follows:

[0134] When the visible window set VTM is not empty, determine 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 generate a first judgment result. When the first judgment result is yes, determine the optimal visible window for all visible windows that satisfy the constraints of the i-th task using heuristic rules, and determine whether the optimal visible window is occupied, and generate a second judgment result. When the second judgment result is yes, perform conflict elimination processing using the heuristic rules, and update the i-th task based on the result of the conflict elimination processing.

[0135] Furthermore, it also includes:

[0136] The adjustment module is used to: determine in real time whether the task satisfaction rate is lower than the preset value, and adjust the coefficients of the heuristic function in the heuristic rule when the task satisfaction rate is lower than the preset value;

[0137] The adjustment module is further configured to determine whether the proportion of idle arcs of the current TT&C tracking task meets an expected value in real time, and adjust a coefficient of a heuristic function in the heuristic rule when the expected value is not met.

[0138] It should be noted that the beneficial effects of the system provided by the above embodiment are the same as those of the method provided by the above embodiment, and will not be repeated here. In addition, when the system provided by the above embodiment implements its functions, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the system is divided into different functional modules according to actual conditions to complete all or part of the above described functions. In addition, the system and method embodiments provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0139] As shown in Figure 2 An electronic device 300 according to an embodiment of the present application, the electronic device 300 includes a processor 320, the processor 320 is coupled with a memory 310, and the memory 310 stores at least one computer program 330, 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:

[0140] The electronic device 300 can have great differences due to different configurations or performances, and can 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 the method provided by the above embodiment. Of course, the electronic device 300 can also have a wired or wireless network interface, a keyboard, and an input and output interface, and other components for realizing the functions of the device, so as to input and output, and the electronic device 300 can also include other components for realizing the functions of the device, which will not be repeated here.

[0141] A computer readable storage medium according to an embodiment of the present application, 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 the computer implements any of the above methods.

[0142] Optionally, the computer readable storage medium can be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0143] In an example embodiment, a computer program product or computer program is also provided, which includes computer instructions 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.

[0144] 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 no limitation on the specific order or sequence. The order of use of similar objects can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described.

[0145] Those skilled in the art know that the present application can be implemented as a system, a method or a computer program product, therefore, the present disclosure can be specifically implemented as follows: it can be a complete hardware, a complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present application can also be implemented as a computer program product in one or more computer readable media, which includes computer readable program code.

[0146] Any combination of one or more computer readable medium can be utilized. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0147] Although the embodiments of the present application have been shown and described above, it should be understood by those skilled in the art that the above embodiments are exemplary, and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for scheduling space-ground TT&C resources based on conflict bounce-back, characterized in that, Comprise: S1, determine the visible window set VTM constructed by the visible window corresponding to a plurality of to-be-scheduled spacecraft, and generate a task sequence R by arranging the multiple to-be-scheduled spacecraft corresponding to the measurement and control tracking tasks Rj in ascending order according to the start time of the measurement and control tracking task; Defining a TT&C tracking task of target spacecraft j For a quintuple, used to represent the attributes of the task, namely represents the tracking actual start time; representing a tracking task duration; represents the priority of the task, the higher the priority, the more important the task means, needs to be arranged in priority; a predecessor task representing a current task; a successor task representing a current task; According to the duration of the task, define periodic task A, global time point task and continuous tracking task , meet ; Periodic tasks are sequences of instructions scheduled at each revolution according to the task needs; Global time point tasks are tasks that need to be performed at a critical time point; S2, in the visible window set VTM, window selection is performed on the i-th task R[i] in the task sequence R, and when all windows do not meet the constraint condition 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 is updated ; S3, using the conflict bounce method to process task conflict sets Process the data to determine the scheduling scheme for the i-th task; Wherein, the implementation process of the conflict back jump method is: the earliest start time of any task in the task conflict set the starting point of the loop search, the step size is re-searches whether there is a corresponding visible window in the visible window set VTM, and determines the scheduling scheme corresponding to the any task according to the search result;​ In the visible window set VTM, the process of window selection for the i th task R[i] in the task sequence R is specifically: S21, add the global time point task with the determined start time to the measurement and control tracking plan, and the measurement and control tracking plan is defined as follows: , represents the start time of the visible window, represents the visible window duration, represents a heterogeneous station, represents a target space vehicle; number of scheduled tasks ; S22, judging whether it is empty, i.e. judging whether VTM has any visible window, if it is empty, ending, outputting initial TT&C tracking plan; otherwise, selecting a visible window with proper time through traversal in the visible window set according to the queue out-degree order ​ Wherein, the initial measurement and control tracking plan is the basic planning task corresponding to each to-be-scheduled spacecraft; The queue out-degree order is the order of the task sequence R arranged in time sequence; The visible window of the appropriate time is the visible window corresponding to the constraint condition of the i th task; S23, judge whether there are multiple visible windows that satisfy the constraint condition of the i-th task at the time for the first task in the queue If there are, use heuristic rules to solve according to the performance principle, and the result is put into the measurement and control tracking plan The number of tasks arranged , mark the used available windows and update ; record the constraint conflict tasks that do not satisfy the visible window to form a conflict set , the number of unarranged tasks ;​ Wherein, the efficiency principle refers to: when a task has multiple visible windows to choose from, the less scattered arc segments it may bring, and the more concentrated the heterogeneous station task arrangement is, the greater the possibility of selecting the visible window; Define the heuristic rule heterogeneous station efficiency selection function: wherein, is a normal number; is a visible window size, is a duration, defines the preparation time for TT&C tracking within the visible window, which is a predefined fixed value, defines the duration required for task execution, which needs to fall within the visible window and takes into account the exclusivity of the visible window. The smaller the difference between the two, the fewer the scattered idle arcs that are unavailable, and the higher the use efficiency of the heterogeneous station. is the number of tasks that have been allocated to the heterogeneous station m corresponding to the target spacecraft j at time t. The more concentrated the task arrangement, the greater the value of, the higher the frequency of use of the heterogeneous station, which reflects the preference for the selection of the TT&C station. S24, judge whether the visible window selected by the task in the queue has a task scheduling conflict; if so, use heuristic rules to resolve the conflict according to the task satisfaction principle, and the result is put into the measurement and control tracking plan, the number of scheduled tasks ;​​​​​ The task satisfaction principle refers to: meeting the measurement and control resources required by the task priority, while considering whether the task has a predecessor and a successor; The higher the priority of a task, and the more continuous tracking tasks, the more the task needs to be arranged in priority; Define the first heuristic rule task satisfaction selection function: in, It is a positive constant; This is the priority of the task; and Representing tasks If there are preceding and succeeding tasks, then this task is a continuous tracking task and needs to be prioritized. task conflict set tasks that contain all windows do not satisfy the constraint condition of the i-th task or have task scheduling conflicts with the selected target window and the i-th task S25, judging whether it is empty, if empty, end, output the TT&C tracking plan; not empty, jump to S22 loop execution; By the selection of the heuristic function, the heuristic function global time point task and continuous tracking task will be given priority to arrange, periodic task the last arrangement; the principle of task satisfaction and the principle of efficiency are contradictory in principle, and meeting all tracking task requirements will inevitably produce more scattered idle segments, resulting in reduced use efficiency of heterogeneous stations, so the weight of the two principles should be appropriately valued coefficient Therefore, S25 further comprises S26; S26, check whether the task satisfaction rate is not lower than 90%, i.e. the measurement and control tracking plan covers more than 90% of the requirements in the task set; if yes, continue to perform S27; if not, adjust the three coefficients of the task arrangement heuristic function and jump to S22.​ Let the number of tasks in the task set be , the number of tasks arranged in the TT&C tracking plan be , and the task satisfaction rate be . S27, check whether the proportion of idle arc segments meets the expectation, if yes, continue to execute the subsequent steps, if not, adjust the 3 coefficients of the task arrangement heuristic function , jump to S22 ​ For the multiple review task satisfaction rate measurement and control tracking plans, select the scheme with the smallest idle arc segment ratio as the final result; Calculate the total length of available windows of all heterogeneous stations in weeks Total length of available windows remaining after task scheduling Idle arc segment proportion calculation method The definition is as follows: The smaller the idle resource ratio, the more arc segments the heterogeneous station will retain.

2. The method according to claim 1, characterized in that, In the visible window set VTM, the process of window selection for the i th task in the task sequence R is: When the visible window set VTM is not empty, it is judged whether the i th task in the task sequence R corresponds to at least one visible window that satisfies the constraint condition, and a first judgment result is generated, when the first judgment result is yes, the optimal visible window of all visible windows that satisfy the constraint condition of the i th task is determined through the heuristic rule, 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, the conflict elimination processing is carried out through the heuristic rule, and the result after the conflict elimination processing is updated to the measurement and control tracking plan.

3. The method according to claim 2, wherein, Further comprising: Real-time judge whether the task satisfaction rate is lower than the 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; Real-time judge whether the idle arc segment ratio of the current measurement and control tracking task satisfies the expectation value, and adjust the coefficient of the heuristic function in the heuristic rule when it does not satisfy the expectation value.

4. A ground-based and space-based TT&C resource scheduling system based on conflict bounce-back, used for the ground-based and space-based TT&C resource scheduling method based on conflict bounce-back in claim 1, characterized in that, Comprise: The determination module is used for: determining the visible window set VTM constructed by the visible window corresponding to a plurality of to-be-scheduled spacecraft, and generating a task sequence R by arranging the multiple to-be-scheduled spacecraft corresponding to the measurement and control tracking tasks in ascending order according to the start time of the measurement and control tracking task; The updating module is configured to: in the visible window set VTM, perform window selection on an i-th task in the task sequence R, and update a task conflict set when all windows do not satisfy a constraint condition of the i-th task or when a selected target window has a task scheduling conflict with the i-th task ; The scheduling module is used to: manage task conflict sets using the conflict bounce method. Process the data to determine the scheduling scheme for the i-th task; Wherein, the implementation process of the conflict back jump method is: With task conflict set Earliest start time of any task in As the starting point of the loop search, with Using the step size, search again in the visible window set VTM to see if a corresponding visible window exists, and determine the scheduling scheme corresponding to any task based on the search result.

5. The system according to claim 4, wherein, In the visible window set VTM, the process of window selection for the i th task in the task sequence R is as follows: When the visible window set VTM is not empty, it is judged whether the i th task in the task sequence R meets the constraint condition of the i th task through at least one visible window, a first judgment result is generated, when the first judgment result is yes, the optimal visible window of all visible windows meeting the constraint condition of the i th task is determined through the heuristic rule, and it is judged whether the optimal visible window is occupied, a second judgment result is generated, when the second judgment result is yes, the conflict elimination processing is carried out through the heuristic rule, and the result after the conflict elimination processing is updated to the measurement and control tracking plan.

6. The system according to claim 5, wherein, Also includes: The adjustment module is used for: judging whether the task satisfaction rate is lower than the preset value in real time, and adjusting the coefficient of the heuristic function in the heuristic rule when the task satisfaction rate is lower than the preset value; The adjustment module is also used for: judging whether the idle arc segment proportion of the current measurement and control tracking task meets the expectation value in real time, and adjusting the coefficient of the heuristic function in the heuristic rule when the expectation value is not met.

7. An electronic device, comprising: The electronic device includes a processor, the processor is coupled with a memory, at least one computer program is stored in the memory, the at least one computer program is loaded and executed by the processor, so that the electronic device realizes the method as claimed in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer program, the at least one computer program is loaded and executed by the processor, so that the computer realizes the method as claimed in any one of claims 1 to 3.

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