Distributed computing-based constellation collaborative dynamic task planning method and system

Abstract

The invention provides a constellation collaborative dynamic task planning method and system based on distributed computing, and the method comprises the steps: a main satellite retrieves a task to be completed in a constellation task list, and transmits a starting packet to each satellite according to the current satellite state condition; the slave satellite calculates a visible time window of each task target in the starting packet according to the satellite state of the satellite and the synchronization information; after the slave satellites are subjected to constraint screening based on the ability of the satellite, various target executable conditions are returned, and a response packet is generated; after the master satellite receives response packets of all the slave satellites, task targets are distributed to all the satellites in the constellation through balancing earnings and centralized decision making; the slave satellites receive the distribution packet of the master satellite, execute single-satellite task planning, feed back actual task arrangement conditions, generate a feedback packet and send the feedback packet to the master satellite; and the primary satellite updates the target task plan. According to the method, autonomous decision-making of the observation target is realized, so that the most important observation target, the optimal observation attitude and the accurate observation opportunity are selected, and high-quality imaging of a given high-value target is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite constellation collaborative task planning, and in particular, to a constellation collaborative dynamic task planning method and system based on distributed computing, and in particular, to a constellation collaborative dynamic task planning method and system based on distributed computing centralized decision-making architecture. Background Art

[0002] Earth observation satellites account for a large proportion of various spacecraft. Their main task is to obtain images and signals of ground targets using onboard sensors including visible light, infrared, SAR, etc. Multi-satellite and multi-task coordinated planning is used to formulate satellite mission execution plans, which affects the overall effectiveness of satellite constellations.

[0003] In the collaborative planning process of large-scale constellation observation tasks, the task types are complex, the constraints are diverse, and the objective function has many influencing factors. The contradiction between on-board computing resources and the complexity of solving constellation task planning problems is becoming more and more prominent. In order to achieve global optimal resource scheduling for large-scale constellation earth observation tasks, it is difficult to solve this problem on a single satellite, and the reliability is too low for the entire constellation. Therefore, the computing power should be distributed as evenly as possible to all satellites in the constellation, and centralized decision-making should be adopted to optimize the resource scheduling of the entire constellation.

[0004] Patent document CN106850038A discloses a task planning method for agile satellites. The patent document mainly focuses on the calculation of the target visible window and the optimization of the action sequence of a single agile satellite, while the present invention mainly solves the problem of task allocation among multiple satellites.

[0005] Patent document CN107153884B discloses a screening method for satellite mission planning. The patent document mainly focuses on the combination method of scanning strips of a single satellite, while the present invention solves the problem of allocating multiple satellites to point targets and regional targets.

[0006] Patent document CN108333922B discloses a single-satellite autonomous task planning method based on intelligence and constraint reasoning. The patent document adopts an intelligent optimization algorithm to solve the conflict problem of the single-satellite task queue, while the present invention focuses on proposing a constellation collaborative architecture, and adopts a heuristic algorithm for conflict resolution, without involving an intelligent algorithm.

[0007] Patent document CN108171374A discloses a method for planning earth observation satellite missions based on a simulated annealing algorithm, which uses a simulated annealing algorithm to solve the conflict problem of a single-satellite mission queue, while the present invention focuses on proposing a constellation collaboration architecture, and uses a heuristic algorithm for conflict resolution.

[0008] Patent document CN111950877B discloses a method and system for autonomous task planning of collaborative regional imaging of a multi-satellite formation. The patent document mainly focuses on a regional imaging splicing method of a multi-satellite formation orbital configuration, while the present invention has no specific requirements for the constellation orbital configuration.

[0009] In summary, users' various mission requirements are becoming more and more complex, and the quality requirements for mission completion are becoming higher and higher. The completion of complex and high-demand tasks requires autonomous communication and coordination between different satellites based on actual conditions. However, the constraints are diverse, the objective function has many influencing factors, and the contradiction between on-board computing resources and the complexity of solving constellation mission planning problems is becoming more and more prominent.

[0010] Therefore, the market needs a constellation collaborative dynamic task planning method and system based on distributed computing that can optimize the resource scheduling of the entire constellation. Summary of the invention

[0011] In view of the defects in the prior art, the object of the present invention is to provide a constellation collaborative dynamic task planning method and system based on distributed computing.

[0012] A constellation collaborative dynamic task planning method based on distributed computing provided by the present invention includes:

[0013] Step S1: constellation mission planning is initiated through a double trigger mechanism;

[0014] Step S2: The main satellite searches for tasks to be completed in the constellation task list and sends a start package to each satellite according to the current satellite status;

[0015] Step S3: The slave satellite calculates the visible time window of each mission target in the start package according to the status of the satellite of the own satellite and the synchronization information;

[0016] Step S4: After screening based on the capability constraints of the satellite, the satellite returns the executable status of each type of target and generates a response packet;

[0017] Step S5: After the master satellite receives the response packets from all the slave satellites, it distributes the mission objectives to all satellites in the constellation by weighing the benefits and making centralized decisions;

[0018] Step S6: The slave satellite receives the allocation package of the master satellite, executes the single-satellite task planning, feeds back the actual task schedulability, generates a feedback package and sends it to the master satellite;

[0019] Step S7: The master satellite receives feedback packets from all slave satellites and updates the target mission plan.

[0020] Preferably, the dual trigger mechanism includes periodic triggering and event triggering;

[0021] The factors triggering the event include mission status changes, target status changes and satellite changes caused by different situations;

[0022] The startup package includes the constellation mission number, participating satellite numbers, and planned time interval involved in this collaborative planning;

[0023] The synchronization information includes constellation mission, target situation, mission plan and satellite status;

[0024] The constraint screening includes satisfying the visible time window of the target and payload field of view, minus the occupied mission time window;

[0025] The task plan includes the task number, target number, execution time of the last execution star, execution time of the next execution star, etc.

[0026] Preferably, the constellation mission, satellite status, target situation, and mission plan are synchronized regularly within the constellation, and the IDs of the four are associated with each other.

[0027] Preferably, in step S5, after sending the start packet, the master satellite reserves a certain time to successively receive the response packets from the slave satellites, and when the reception is cut off within the reserved time, the master satellite initiates centralized decision-making to complete the slave satellite target allocation according to the pre-constraint of the slave satellite window.

[0028] Preferably, in step S6, the single-satellite task planning inserts the tasks assigned by the primary satellite into the idle time window according to the currently scheduled task queue of the single-satellite, and completes conflict resolution.

[0029] A constellation collaborative dynamic mission planning system based on distributed computing provided by the present invention includes:

[0030] Module M1: Constellation mission planning is initiated through a double trigger mechanism;

[0031] Module M2: The main satellite retrieves the tasks to be completed in the constellation task list and sends the start-up package to each satellite according to the current satellite status;

[0032] Module M3: The slave satellite calculates the visible time window of each mission target in the start package according to the status of the local satellite and synchronization information;

[0033] Module M4: After screening based on the capability constraints of the satellite, the satellite returns the executable status of various targets and generates a response packet;

[0034] Module M5: After the master satellite receives the response packets from all the slave satellites, it distributes the mission objectives to all satellites in the constellation by weighing the benefits and making centralized decisions;

[0035] Module M6: The slave receives the allocation package from the master, executes the single-satellite mission planning, feeds back the actual mission schedule, generates a feedback package and sends it to the master;

[0036] Module M7: The master satellite receives feedback packages from all slave satellites and updates the target mission plan.

[0037] Preferably, the dual trigger mechanism includes periodic triggering and event triggering;

[0038] The factors triggering the event include mission status changes, target status changes and satellite changes caused by different situations;

[0039] The startup package includes the constellation mission number, participating satellite numbers, and planned time interval involved in this collaborative planning;

[0040] The synchronization information includes constellation mission, target situation, mission plan and satellite status;

[0041] The constraint screening includes satisfying the visible time window of the target and payload field of view, minus the occupied mission time window;

[0042] The task plan includes the task number, target number, execution time of the last execution star, execution time of the next execution star, etc.

[0043] Preferably, the constellation mission, satellite status, target situation, and mission plan are synchronized regularly within the constellation, and the IDs of the four are associated with each other.

[0044] Preferably, in the module M5, after sending the start packet, the master satellite reserves a certain time to successively receive the response packets from the slave satellites, and when the reception is cut off within the reserved time, the master satellite initiates centralized decision-making to complete the target allocation of the slave satellites according to the pre-constraint of the slave satellite window.

[0045] Preferably, the single-satellite task planning in the module M6 inserts the tasks assigned by the main satellite into the idle time window according to the current task queue of the single-satellite, and completes the conflict resolution.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] Through the planning and scheduling of the onboard autonomous mission planning system based on a distributed computing centralized decision-making architecture, the present invention enables the constellation to make autonomous decisions on observation targets, thereby selecting the most important observation targets, the optimal observation posture and the precise observation time, and achieving high-quality imaging of given high-value targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] 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:

[0049] Figure 1 It is a schematic diagram of the task planning framework flow chart of the present invention. DETAILED DESCRIPTION

[0050] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0051] Embodiment 1

[0052] According to a constellation collaborative dynamic task planning method based on distributed computing provided by the present invention, Figure 1 As shown, including:

[0053] Step S1: Constellation mission planning is initiated through a dual trigger mechanism. The dual trigger mechanism includes periodic triggering and event triggering. The event triggering factors include mission state changes, target state changes and satellite changes caused by different situations. Specifically, it includes mission state changes caused by the addition of higher priority tasks, target state changes caused by the appearance or loss of higher priority targets, and satellite changes caused by the addition, withdrawal or failure of satellites.

[0054] Step S2: The master satellite searches for tasks to be completed in the constellation task list, and sends a start-up package to each satellite according to the current satellite status. The start-up package includes the constellation task number, participating satellite number, and planned time interval involved in this collaborative planning.

[0055] Step S3: The slave satellite calculates the visible time window of each mission target in the startup package according to the satellite status of the own satellite and the synchronization information. The synchronization information includes constellation tasks, target status, mission plan and satellite status. The constellation tasks include observation tasks and transmission tasks, the satellite status includes orbital attitude, energy storage and health status, the mission plan includes target log, planning results and execution plan, and the target status includes point targets and regional grids.

[0056] Constellation missions, satellite status, target situation, and mission plans are synchronized regularly within the constellation, and the IDs of the four are associated with each other. For example, the mission ID is associated with the satellite ID, the mission ID is associated with the target ID, the target ID is associated with the plan, and the satellite ID is associated with the target ID.

[0057] Step S4: After the satellite has screened based on the satellite's capability constraints, it returns the executable status of each type of target and generates a response packet. The constraint screening includes the visible time window that satisfies the target and payload field of view, minus the occupied mission time window.

[0058] Step S5: After receiving the response packets from all the slave satellites, the master satellite allocates the mission objectives to all satellites in the constellation by weighing the benefits and making centralized decisions. After sending the start packet, the master satellite reserves a certain time to successively receive the response packets from the slave satellites. When the reserved time is up, the master satellite starts the centralized decision-making to complete the target allocation of the slave satellites according to the pre-constraints of the slave satellite window.

[0059] Step S6: The slave receives the allocation package from the master, executes the single-star task planning, feeds back the actual task availability, generates a feedback package and sends it to the master. The allocation package received by the slave from the master also includes task verification and plan changes. The single-star task planning inserts the tasks assigned by the master into the idle time window according to the current task queue of the slave, and completes the conflict resolution.

[0060] Step S7: The master satellite receives the feedback packets from all slave satellites and updates the target mission plan. The mission plan includes the mission number, target number, the execution time of the last execution satellite, the execution time of the next execution satellite, etc.

[0061] Embodiment 2

[0062] The present invention also provides a constellation collaborative dynamic task planning system based on distributed computing. The constellation collaborative dynamic task planning system based on distributed computing can be implemented by executing the process steps of the constellation collaborative dynamic task planning method based on distributed computing, that is, those skilled in the art can understand the constellation collaborative dynamic task planning method based on distributed computing as a preferred implementation of the constellation collaborative dynamic task planning system based on distributed computing.

[0063] A constellation collaborative dynamic mission planning system based on distributed computing provided by the present invention includes:

[0064] Module M1: Constellation mission planning is initiated through a dual trigger mechanism. The dual trigger mechanism includes periodic triggering and event triggering. The event triggering factors include mission state changes, target state changes, and satellite changes caused by different situations.

[0065] Module M2: The master satellite retrieves the tasks to be completed in the constellation task list, and sends a start package to each satellite according to the current satellite status. The start package includes the constellation task number, participating satellite number, and planned time interval involved in this collaborative planning.

[0066] Module M3: The slave calculates the visible time window of each mission target in the startup package according to the status of the local satellite and the synchronization information. The synchronization information includes constellation mission, target situation, mission plan and satellite status. Constellation mission, satellite status, target situation and mission plan are synchronized regularly within the constellation, and the IDs of the four are related to each other.

[0067] Module M4: After the satellite screens the satellite's capabilities based on the satellite's own constraints, it returns the executable status of various targets and generates a response packet. The constraint screening includes the visible time window that satisfies the target and payload field of view, minus the occupied mission time window.

[0068] Module M5: After the master satellite receives the response packets from all the slave satellites, it distributes the mission objectives to all satellites in the constellation by weighing the benefits and making centralized decisions. In the module M5, after sending the start packet, the master satellite reserves a certain time to successively receive the response packets from the slave satellites. When the reserved time is cut off, the master satellite starts the centralized decision-making to complete the target allocation of the slave satellites according to the pre-constraint of the slave window.

[0069] Module M6: The slave receives the allocation package from the master, executes the single-star task planning, feeds back the actual task availability, generates a feedback package and sends it to the master. In the module M6, the single-star task planning inserts the tasks assigned by the master into the idle time window according to the current task queue of the slave, and completes the conflict resolution.

[0070] Module M7: The master satellite receives feedback packets from all slave satellites and updates the target mission plan, which includes the mission number, target number, the execution time of the last execution satellite, the execution time of the next execution satellite, etc.

[0071] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0072] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for constellation collaborative dynamic task planning based on distributed computing, characterized in that: include: Step S1: constellation mission planning is initiated through a double trigger mechanism; Step S2: The main satellite searches for tasks to be completed in the constellation task list and sends a start package to each satellite according to the current satellite status; Step S3: The slave satellite calculates the visible time window of each mission target in the start package according to the status of the local satellite and the synchronization information; Step S4: After screening based on the capability constraints of the satellite, the satellite returns the executable status of various targets and generates a response packet; Step S5: After the master satellite receives the response packets from all the slave satellites, it distributes the mission objectives to all satellites in the constellation by weighing the benefits and making centralized decisions; Step S6: The slave satellite receives the allocation package of the master satellite, executes the single-satellite task planning, feeds back the actual task schedulability, generates a feedback package and sends it to the master satellite; Step S7: The master satellite receives feedback packets from all slave satellites and updates the target mission plan.

2. The constellation collaborative dynamic task planning method based on distributed computing according to claim 1 is characterized in that: The dual trigger mechanism includes period trigger and event trigger; The factors triggering the event include mission status changes, target status changes and satellite changes caused by different situations; The startup package includes the constellation mission number, participating satellite numbers, and planned time interval involved in this collaborative planning; The synchronization information includes constellation mission, target situation, mission plan and satellite status; The constraint screening includes satisfying the visible time window of the target and payload field of view, minus the occupied mission time window; The task plan includes a task number, a target number, the execution time of the last execution star, and the execution time of the next execution star.

3. The constellation collaborative dynamic task planning method based on distributed computing according to claim 2 is characterized in that: The constellation mission, satellite status, target situation, and mission plan are synchronized regularly within the constellation, and the IDs of the four are interrelated.

4. The constellation collaborative dynamic task planning method based on distributed computing according to claim 1 is characterized in that: In step S5, after sending the start packet, the master satellite reserves a certain time to successively receive the response packets from the slave satellites. When the reserved time is up, the master satellite initiates centralized decision-making to complete the target allocation of the slave satellites according to the pre-constraints of the slave satellite window.

5. The method for constellation collaborative dynamic task planning based on distributed computing according to claim 1, characterized in that: In step S6, the single-star task planning inserts the tasks assigned by the main star into the idle time window according to the currently scheduled task queue of the single star, and completes the conflict resolution.

6. A constellation collaborative dynamic mission planning system based on distributed computing, characterized in that: include: Module M1: Constellation mission planning is initiated through a double trigger mechanism; Module M2: The main satellite retrieves the tasks to be completed in the constellation task list and sends the start-up package to each satellite according to the current satellite status; Module M3: The slave satellite calculates the visible time window of each mission target in the start package according to the status of the local satellite and synchronization information; Module M4: After screening based on the capability constraints of the satellite, the satellite returns the executable status of various targets and generates a response packet; Module M5: After the master satellite receives the response packets from all the slave satellites, it distributes the mission objectives to all satellites in the constellation by weighing the benefits and making centralized decisions; Module M6: The slave receives the allocation package from the master, executes the single-satellite mission planning, feeds back the actual mission schedule, generates a feedback package and sends it to the master; Module M7: The master satellite receives feedback packages from all slave satellites and updates the target mission plan.

7. The constellation collaborative dynamic task planning system based on distributed computing according to claim 6, characterized in that: The dual trigger mechanism includes period trigger and event trigger; The factors triggering the event include mission status changes, target status changes and satellite changes caused by different situations; The startup package includes the constellation mission number, participating satellite numbers, and planned time interval involved in this collaborative planning; The synchronization information includes constellation mission, target situation, mission plan and satellite status; The constraint screening includes satisfying the visible time window of the target and payload field of view, minus the occupied mission time window; The task plan includes a task number, a target number, the execution time of the last execution star, and the execution time of the next execution star.

8. The constellation collaborative dynamic task planning system based on distributed computing according to claim 7 is characterized in that: The constellation mission, satellite status, target situation, and mission plan are synchronized regularly within the constellation, and the IDs of the four are interrelated.

9. The constellation collaborative dynamic task planning system based on distributed computing according to claim 6, characterized in that: In the module M5, after sending the start packet, the master satellite reserves a certain time to successively receive the response packets from the slave satellites. When the reserved time is up, the master satellite initiates centralized decision-making to complete the target allocation of the slave satellites according to the pre-constraints of the slave satellite window.

10. The constellation collaborative dynamic mission planning system based on distributed computing according to claim 6, characterized in that: The single-satellite task planning in the module M6 inserts the tasks assigned by the main satellite into the idle time window according to the currently scheduled task queue of the single-satellite, and completes the conflict resolution.

Images