System joint verification method for on-satellite autonomous task planning

Abstract

The invention provides a system joint verification method for on-satellite autonomous task planning, and the method comprises the steps: obtaining the energy supply information and energy consumption information of a satellite, and constructing an energy constraint model; constructing a solid memory model according to the imaging task, the data transmission task and the initial solid memory value of the satellite; and performing real-time simulation and verification on a task planning result of the satellite according to the energy constraint model, the solid storage model, the load constraint condition of the satellite and the data transmission constraint condition of the satellite to obtain a verification result. According to the scheme, automatic verification of the task planning result is realized, and the verification efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite mission planning, and in particular to a system joint verification method for on-board autonomous mission planning. Background Art

[0002] Autonomous mission planning on board the satellite realizes all functions of traditional ground mission planning, such as task preprocessing, task optimization and scheduling, and command sequence generation, greatly improving the usability of the satellite. As long as the user provides the longitude and latitude of the mission to be filmed, the data transmission window, and the location of the ground receiving station, the onboard control subsystem can autonomously generate a command sequence for each subsystem to execute, and send it to the satellite service subsystem to forward it to the lower computer of the relevant subsystem for execution according to the command execution time.

[0003] Since the on-board constraints considered by on-board autonomous mission planning technology involve a wide range of fields, including on-board satellite service subsystem, payload subsystem, data transmission subsystem, control subsystem, energy subsystem, etc., in the process of testing and verifying the autonomous mission planning technology, a combination of automated testing and manual testing is often used, which increases the test verification time and labor costs, resulting in low verification efficiency. Therefore, it is urgent to provide a system joint verification method for on-board autonomous mission planning. Summary of the invention

[0004] The present invention provides a system joint verification method for on-board autonomous mission planning, which realizes automatic verification of mission planning results through a joint closed loop of dynamic simulation of each system, thereby improving verification efficiency.

[0005] In a first aspect, the present invention provides a system joint verification method for on-board autonomous mission planning, comprising:

[0006] Obtain the satellite's energy supply and consumption information and build an energy constraint model;

[0007] Constructing a sequestration model according to the satellite's imaging mission, data transmission mission and initial sequestration value;

[0008] The mission planning result of the satellite is simulated and verified in real time according to the energy constraint model, the sequestration model, the payload constraint condition of the satellite and the data transmission constraint condition of the satellite to obtain a verification result.

[0009] Optionally, the acquiring of energy supply information and energy consumption information of the satellite and constructing an energy constraint model includes:

[0010] For each control cycle of the satellite during operation, the following are executed:

[0011] Obtain the energy supply information of the satellite in the control period, and calculate the additional power in the control period; wherein the energy information includes the energy conversion efficiency of the sailboard, the angle between the solar incident angle and the sailboard normal, the illumination state of the sailboard, and the charging power of the sailboard;

[0012] Obtaining energy consumption information of the satellite in the control period, and calculating the power consumption of the control period; wherein the energy consumption information includes the average power consumption of the control subsystem, the average power consumption of the payload subsystem, the average power consumption of the data transmission subsystem, and the average power consumption of other subsystems;

[0013] The remaining power of the control cycle is calculated according to the newly added power of the control cycle, the consumed power, the remaining power of the previous control cycle and the maximum storage power of the satellite;

[0014] The remaining power of the control cycle is constrained according to the preset satellite safety power and the preset shadow area safety power to obtain the energy constraint model.

[0015] Optionally, the acquiring the energy consumption information of the satellite in the control period and calculating the power consumption in the control period includes:

[0016] Acquiring the operating condition of the satellite in the control cycle; wherein the energy consumption information under different operating conditions is different;

[0017] The operating conditions are analyzed to obtain a first working mode of the control subsystem, a second working mode of the load subsystem, and a third working mode of the data transmission subsystem; wherein the first working mode includes a solar orientation mode, an attitude maneuvering mode, and a ground orientation mode; the second working mode includes an imaging mode and a non-imaging mode; and the third working mode includes a digital transmission mode and a non-digital transmission mode;

[0018] According to the first working mode, the second working mode and the third working mode, respectively determine the average power consumption of the control subsystem, the average power consumption of the load subsystem and the average power consumption of the data transmission subsystem;

[0019] The average power consumption of the control subsystem, the average power consumption of the load subsystem, the average power consumption of the data transmission subsystem and the average power consumption of the other subsystems are summed to obtain the total average power consumption, and the product of the total average power consumption and the control cycle is used as the power consumption of the control cycle.

[0020] Optionally, constructing a sequestration model according to the satellite's imaging mission, data transmission mission and initial sequestration value includes:

[0021] For each control cycle of the satellite during operation, the following are executed:

[0022] Determining a third working mode of the control cycle according to the data transmission task, and determining a data downlink rate of the third working mode;

[0023] Determine a second working mode of the control cycle according to the imaging task, and determine a data storage rate of the second working mode;

[0024] The current amount of stored data in the control cycle is calculated according to the data transmission and downloading rate of the control cycle, the data storage rate, and the current amount of stored data in the previous control cycle;

[0025] The current stored data amount of the control period is constrained according to the initial persisted value to obtain the persisted model.

[0026] Optionally, the performing real-time simulation and verification on the mission planning result of the satellite according to the energy constraint model, the sequestration model, the payload constraint condition of the satellite and the data transmission constraint condition of the satellite to obtain the verification result includes:

[0027] The mission planning results include attitude planning results, data transmission planning results, and load planning results;

[0028] After performing attitude and trajectory simulation according to the attitude planning result, a simulated attitude execution result is obtained;

[0029] Comparing the posture planning result with the simulation posture execution result for consistency to obtain a posture verification result;

[0030] Performing real-time simulation and solving according to the simulation attitude execution result, the data transmission planning result and the load planning result to obtain the simulation execution result of the control cycle;

[0031] The energy constraint model, the sequestration model, the load constraint condition and the data transmission constraint condition are used to verify the simulation execution results of the control cycle respectively to obtain verification results.

[0032] Optionally, performing real-time simulation and solving according to the simulated attitude execution result, the data transmission planning result and the load planning result to obtain the simulation execution result of the control cycle includes:

[0033] The simulated attitude execution result includes attitude information and operating conditions of each control cycle; wherein the attitude information includes the angle between the solar incident angle and the normal line of the sailboard and the maneuvering angle of the satellite;

[0034] For each control cycle of the satellite during operation, the following are executed:

[0035] Perform simulation and calculation according to the angle between the solar incident angle and the normal line of the sailboard and the operating conditions in the control cycle to obtain the remaining power in the control cycle;

[0036] A simulation solution is performed according to the data transmission planning result and the load planning result to obtain the current amount of stored data in the control cycle; wherein the simulation execution result includes the remaining power and the current amount of stored data.

[0037] Optionally, the using the energy constraint model, the sequestration model, the load constraint condition and the data transmission constraint condition to respectively verify the simulation execution results of the control cycle to obtain the verification results includes:

[0038] Verifying the remaining power of the control cycle by using the energy constraint model to obtain an energy verification result;

[0039] Using the storage model to verify the current amount of stored data in the control period, to obtain a storage verification result;

[0040] Using the load constraint condition to verify the imaging task and the execution time information of the imaging task included in the load planning result, to obtain a load verification result;

[0041] The data transmission constraint condition is used to verify the data transmission tasks and the execution time information of the data transmission tasks included in the data transmission planning result to obtain a data transmission verification result.

[0042] In a second aspect, the present invention further provides a system joint verification device for on-board autonomous mission planning, comprising:

[0043] A constraint module is used to obtain energy supply information and energy consumption information of the satellite and construct an energy constraint model; and to construct a storage model according to the imaging mission, data transmission mission and initial storage value of the satellite;

[0044] The simulation verification module is used to simulate and verify the mission planning results of the satellite in real time according to the energy constraint model, the sequestration model, the payload constraint conditions of the satellite and the data transmission constraint conditions of the satellite to obtain a verification result.

[0045] In a third aspect, the present invention further provides a computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements any of the above-mentioned system joint verification methods for on-board autonomous mission planning.

[0046] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed in a computer, the computer is caused to execute any of the above-mentioned system joint verification methods for on-board autonomous mission planning.

[0047] In a fifth aspect, an embodiment of the present invention further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method described in any first aspect of this specification.

[0048] The present invention provides a system joint verification method for on-board autonomous mission planning, which fully considers the capabilities and constraint models of satellite subsystems such as energy, storage, payload and data transmission, forms a model that can be solved dynamically in real time, thereby achieving real-time dynamic simulation of each system state, realizing a joint closed loop between on-board software and ground dynamic real-time system, and further realizing functional performance verification of the correctness, dynamics, mission effectiveness and other functional performance of mission planning results, realizing automated verification, and improving verification efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 This is a flow chart of a system joint verification method for on-board autonomous mission planning provided by an embodiment of the present invention;

[0051] Figure 2 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0052] Figure 3 It is a structural diagram of a system joint verification device for on-board autonomous mission planning provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0054] Please refer to Figure 1The embodiment of the present invention provides a system joint verification method for on-board autonomous mission planning, comprising:

[0055] Step 100, obtaining the energy supply information and energy consumption information of the satellite and constructing an energy constraint model;

[0056] Step 102, constructing a sequestration model according to the satellite's imaging mission, data transmission mission and initial sequestration value;

[0057] Step 104, based on the energy constraint model, the storage model, the satellite's payload constraint conditions and the data transmission constraint conditions, the satellite's mission planning results are simulated and verified in real time to obtain a verification result.

[0058] In the present invention, by fully considering the capabilities and constraint models of the satellite's energy, storage, payload, and data transmission subsystems, a model that can be solved dynamically in real time is formed, so that real-time dynamic simulation of the state of each system can be achieved, and a joint closed loop between the on-board software and the ground dynamic real-time system can be realized, thereby realizing functional performance verification such as the correctness, dynamics, and mission effectiveness of the mission planning results, realizing automated verification, and improving verification efficiency.

[0059] Described below Figure 1 How the various steps are performed.

[0060] First, with respect to step 100, the energy supply information and energy consumption information of the satellite are obtained, and an energy constraint model is constructed, including:

[0061] For each control cycle during the operation of the satellite, the following operations are executed:

[0062] Obtain the energy supply information of the satellite in the control cycle, and calculate the additional power in the control cycle; the energy information includes the energy conversion efficiency of the sailboard, the angle between the solar incident angle and the sailboard normal, the illumination state of the sailboard, and the charging power of the sailboard;

[0063] Obtain the energy consumption information of the satellite in the control cycle, and calculate the power consumption of the control cycle; wherein the energy consumption information includes the average power consumption of the control subsystem, the average power consumption of the payload subsystem, the average power consumption of the data transmission subsystem, and the average power consumption of other subsystems;

[0064] The remaining power of the control cycle is calculated based on the newly added power, consumed power, remaining power of the previous control cycle and the maximum storage power of the satellite;

[0065] The remaining power of the control cycle is constrained according to the preset satellite safety power and the preset shadow area safety power, and an energy constraint model is obtained.

[0066] It should be noted that the sail panels are solar panels. The satellite is powered by solar panels when in orbit. It is assumed that the average power consumption of the satellite subsystems other than the control subsystem, payload subsystem, and data transmission subsystem is constant.

[0067] Specifically, the additional power in this control cycle is calculated by the following formula:

[0068]

[0069] in, represents the additional power in the kth control cycle; shadow k Indicates the illumination status of the sailboard, that is, the satellite is in the sun or shadow area. k = 1, the satellite is in the sunlit area, shadow k = 0 when the satellite is in the shadow area; charge ·A solar Represents the charging power of the windsurfing board, P charge When the solar incident angle is parallel to the normal line of the sailboard, the power of the solar array per square meter is charged, A solar represents the total area of ​​the satellite's sailboard; θ sun represents the angle between the solar incident angle and the normal line of the sailboard; α represents the efficiency of the solar cell layout on the sailboard; β represents the energy conversion efficiency of the DC / DC module at the back end of the sailboard charging, and Δt represents the duration of the control cycle;

[0070] The power consumption of this control cycle is calculated by the following formula:

[0071]

[0072] in, represents the power consumption of the satellite in the kth control cycle; P other They represent the average power consumption of the control subsystem, the average power consumption of the load subsystem, the average power consumption of the data transmission subsystem and the average power consumption of other subsystems during the kth control cycle respectively; Δt represents the duration of the control cycle;

[0073] The remaining power of this control cycle is calculated by the following formula:

[0074]

[0075] Among them, Q k Indicates the remaining power (i.e. current power) of the kth control cycle; Q max Indicates the maximum storage capacity of the satellite's battery; Q k-1 represents the remaining power in the k-1th control cycle, where k≥1; Q0 represents the initial storage power;

[0076] The energy constraint model is determined by the following formula:

[0077] When the satellite is in the sunlit area, Q k >Q min ;

[0078] When the satellite is in the shadow area, Q k >Q Shadow-min ;

[0079] Among them, Q min Indicates the preset satellite safety power; Q Shadow-min Indicates the preset safe power in the shaded area; and Q Shadow-min >Q min .

[0080] In the present invention, the remaining power of the current control cycle is determined by comprehensively considering the additional power obtained by the satellite in the control cycle, the consumed power, and the remaining power retained in the previous control cycle. In this way, the remaining power of the current control cycle can be directly determined by obtaining relevant data, without manual calculation one by one, thereby improving the verification efficiency. At the same time, the remaining energy is constrained by considering the different situations of the satellite operating in the sunlit area and the shadow area to ensure that the satellite can meet its energy needs in the shadow area and within the entire preset planning time, thereby improving the reliability of satellite operation.

[0081] In a preferred embodiment, obtaining the energy consumption information of the satellite in the control period and calculating the power consumption in the control period include:

[0082] Obtaining the operating conditions of the satellite in the control cycle; wherein the energy consumption information under different operating conditions is different;

[0083] The operating conditions are analyzed to obtain the first working mode of the control subsystem, the second working mode of the load subsystem and the third working mode of the data transmission subsystem; wherein the first working mode includes the sun orientation mode, the attitude maneuvering mode and the ground orientation mode; the second working mode includes the imaging mode and the non-imaging mode; the third working mode includes the digital transmission mode and the non-digital transmission mode;

[0084] According to the first working mode, the second working mode and the third working mode, respectively determine the average power consumption of the control subsystem, the average power consumption of the load subsystem and the average power consumption of the data transmission subsystem;

[0085] The average power consumption of the control subsystem, the average power consumption of the load subsystem, the average power consumption of the data transmission subsystem and the average power consumption of other subsystems are summed to obtain the total average power consumption, and the product of the total average power consumption and the control cycle is used as the power consumption of the control cycle.

[0086] Specifically, as described in the previous example, the average power consumption of the control subsystem is determined by the following formula:

[0087]

[0088] Wherein, workmode_c represents the first working mode, workmode_c=2 represents the control subsystem is in the sun orientation mode, workmode_c=3 represents the control subsystem is in the attitude maneuvering mode, and workmode_c=5 represents the control subsystem is in the ground orientation mode; P sun , P earth , P man Respectively represent the average power consumption of the control system in the sun orientation mode, attitude maneuvering mode, and ground orientation mode;

[0089] The average power consumption of the load subsystem is determined by the following formula:

[0090]

[0091] Wherein, workmode_p represents the second working mode, when workmode_p=1, it means that the load subsystem is in the imaging mode, and when workmode_p=0, it means that the load subsystem is in the non-imaging mode; P c1 represents the power consumption of the payload camera during imaging;

[0092] The average power consumption of the data transmission subsystem is determined by the following formula:

[0093]

[0094] Wherein, workmode_d represents the third working mode, when workmode_d=1, it indicates that the data transmission subsystem is in the data transmission mode, and when workmode_d=0, it indicates that the data transmission subsystem is in the non-data transmission mode; P down Indicates the power consumption of the data transmission antenna during data transmission.

[0095] In the present invention, by summarizing the working modes of different subsystems and the corresponding average power consumption and simplifying the average power consumption of other subsystems to a constant value, the corresponding average power consumption can be directly obtained according to its working mode, so that the remaining energy can be directly calculated based on the above calculation formula, reducing the consumption of computing resources and improving computing efficiency while ensuring accuracy.

[0096] In step 102, a sequestration model is constructed according to the satellite's imaging mission, data transmission mission and initial sequestration value, including:

[0097] For each control cycle during the operation of the satellite, the following operations are executed:

[0098] Determining a third working mode of the control cycle according to the data transmission task, and determining a data downlink rate of the third working mode;

[0099] Determine a second working mode of the control cycle according to the imaging task, and determine a data storage rate of the second working mode;

[0100] The current amount of stored data in the control cycle is calculated according to the data transmission and downloading rate of the control cycle, the data storage rate, and the current amount of stored data in the previous control cycle;

[0101] The current stored data amount of the control period is constrained according to the initial storage value to obtain the storage model.

[0102] Specifically, the second working mode includes an imaging mode and a non-imaging mode; the third working mode includes a data transmission mode and a non-data transmission mode; as described in the previous example, the data downlink rate is determined by the following formula:

[0103]

[0104] Wherein, workmode_d represents the third working mode, when workmode_d=1, it represents that the data transmission subsystem is in the data transmission mode, and when workmode_d=0, it represents that the data transmission subsystem is in the non-data transmission mode; d represents the data downlink rate;

[0105] The data storage rate is determined by the following formula:

[0106]

[0107] Wherein, workmode_p represents the second working mode, workmode_p=1 represents the load subsystem is in imaging mode, and workmode_p=0 represents the load subsystem is in non-imaging mode; s represents the data storage rate during the load imaging period;

[0108] The current amount of stored data for a control cycle is determined by the following formula:

[0109] D k =D k-1 +(s k -d k )·Δt

[0110] Among them, D k represents the current amount of stored data in the kth control cycle; D k-1 represents the current amount of stored data in the k-1th control cycle; Δt represents the duration of the control cycle; d k represents the data transmission rate of the kth control cycle; s krepresents the data storage rate of the kth control cycle;

[0111] The sequestration model is determined by the following formula: k ≤Dmax;

[0112] Where Dmax represents the initial storage value of the satellite.

[0113] In the present invention, a storage model is used to describe the occupation of storage space by imaging tasks and the release of storage space by data transmission tasks during the execution of satellite missions, and a constraint is set that the current amount of stored data cannot exceed the initial storage value of the satellite. This allows the system to determine the constraints on data transmission tasks and imaging tasks within the control cycle based on the storage model, thereby facilitating subsequent automated verification.

[0114] The load constraints in step 104 include:

[0115] a) Imaging time constraint: The time from imaging on to imaging off, including the waiting period in between, should satisfy the total imaging time within one orbital cycle ≤ the preset total imaging time T maxwork ;

[0116] b) The time from imaging on to image output should be less than or equal to the preset first interval time T PhotoOut1 ;

[0117] c) The time from stopping the standby action to image output should meet the preset second interval time T PhotoOut2 ;

[0118] d) The imaging task advance sending time constraint should be located at (T Sends ,T Sende )Inside;

[0119] e) The interval time between imaging tasks should meet the requirement of ≥ the preset interval imaging time T Interval ;

[0120] f) The load action switching constraint should be satisfied. Between two imaging tasks, the action constraint is that the camera is turned off first and then turned off. The corresponding time constraint is T max1 >Δt>T min1 ; When the action constraint is that the camera is on standby first and then stops standing by, the corresponding time constraint is T max2 >Δt>T min2 ; When the action constraint is parameter modification only, the corresponding time constraint is T max3 >Δt>T min3 It should be noted that the above preset time T maxwork 、T PhotoOut1 、T PhotoOut2 、T Sends 、T Sende 、TInterval 、T max1 、T min1 、T max2 、T min2 、T max3 、T min3 Can be directly obtained.

[0121] The data transmission constraints in step 104 include:

[0122] a) Data block sending time constraint: In standby mode, the data transmission subsystem starts executing when it receives the program-controlled data block; if the data transmission of the historical data block is currently being executed, the received data block will be saved first, and then executed in sequence according to the receiving time. In order to ensure that the timing instructions are executed on time and not turned on too early, task planning is required to control the sending time of the program-controlled data block. The requirements are as follows:

[0123] T i-1 <T i ≤Time(i,act_1)-Trans(PreType,CurType,Para)

[0124] Among them, T i is the sending time of the current meta-task data block, T i-1 is the sending time of the previous meta-task data block, Time(i,act_1) is the execution time of the first timing instruction in the current meta-task, Trans(PreType,CurType,Para) is the connection conversion time from the previous meta-task to the current meta-task, which depends on the previous mode end state PreType, the current working mode CurType and the connection parameter (whether to cut the antenna / whether to cut the compression ratio) Para in the current meta-task data block, and is calculated using the existing method, which will not be described in detail here;

[0125] b) Data transmission time constraint: Single continuous power-on time of the data transmission subsystem ≤T maxdatawork1 , single track cumulative startup time ≤T maxdatawork2 ;

[0126] c) Constraint on the stored document number: the number of valid document numbers ≤ maxDocNum; where the above preset time T maxdatawork1 、T maxdatawork2 , maxDocNum can be obtained directly.

[0127] With respect to step 104, the satellite mission planning result is simulated and verified in real time according to the energy constraint model, the storage model, the satellite payload constraint condition and the satellite data transmission constraint condition to obtain the verification result, including:

[0128] Mission planning results include attitude planning results, data transmission planning results, and payload planning results;

[0129] After performing attitude and trajectory simulation according to the attitude planning results, the simulated attitude execution results are obtained;

[0130] Compare the consistency between the posture planning results and the simulated posture execution results to obtain the posture verification results;

[0131] According to the simulation attitude execution results, data transmission planning results and load planning results, real-time simulation and solution are performed to obtain the simulation execution results of the control cycle;

[0132] The simulation execution results of the control cycle are verified respectively using the energy constraint model, storage model, load constraint conditions and data transmission constraint conditions to obtain verification results.

[0133] Specifically, the present invention adopts a real-time simulation system for real-time simulation and solution. First, the main control computer sends the task to be planned to the satellite simulator, and the satellite simulator forwards the task to the autonomous task planning computer. After the autonomous task planning computer executes the task, it obtains the task planning result and sends the task planning result to the satellite simulator. The satellite simulator sends the attitude planning result in the task planning result to the attitude and orbit control subsystem computer according to the star time sent by the real-time simulation system according to the time scale. The attitude and orbit control subsystem computer inputs the attitude planning result into the real-time simulation system for attitude and orbit dynamics simulation, obtains the simulated attitude execution result, and feeds back the simulated attitude execution result to the attitude and orbit control subsystem computer; at the same time, the digital transmission planning result and the load planning result in the task planning result are sent to the real-time simulation system for real-time simulation and solution.

[0134] In the present invention, the attitude and orbit control subsystem and the attitude and orbit dynamics simulation part in the real-time simulation system are closed-loop in real time, and then maneuver according to the received attitude planning results, obtain the simulated attitude execution results through dynamic simulation, and evaluate the attitude planning results according to the simulated attitude execution results (i.e., consistency comparison). If the two results are consistent, the attitude planning results are valid, otherwise the attitude planning results are abnormal. After obtaining the attitude verification results, real-time simulation and solution are continued based on the simulated attitude execution results, digital transmission planning results, and load planning results to obtain the simulated execution results of the control cycle, so as to use the energy constraint model, storage model, load constraint conditions, and digital transmission constraint conditions to achieve comprehensive verification of the simulation execution results, and realize the functional performance verification of the correctness, dynamics, and task effectiveness of the autonomous task planning results.

[0135] In a preferred embodiment, a real-time simulation solution is performed according to the simulation attitude execution result, the data transmission planning result and the load planning result to obtain the simulation execution result of the control cycle, including:

[0136] The simulation attitude execution results include attitude information and operating conditions of each control cycle; the attitude information includes the angle between the sun's incident angle and the normal line of the sailboard and the maneuvering angle of the satellite;

[0137] For each control cycle during the operation of the satellite, the following operations are executed:

[0138] The remaining power of the control cycle is obtained by performing simulation and solution according to the angle between the solar incident angle and the normal line of the sailboard and the operating conditions of the control cycle;

[0139] A simulation solution is performed according to the data transmission planning result and the load planning result to obtain the current amount of stored data in the control cycle; wherein the simulation execution result includes the remaining power and the current amount of stored data.

[0140] Specifically, the operating conditions include various parameters used in step 100, so the remaining power of the control cycle can be calculated using the calculation formula in step 100. The load planning result includes the imaging task and the execution time information of the imaging task, and the data transmission planning result includes the data transmission task and the execution time information of the data transmission task, so through simulation and solution, the current amount of stored data of the control cycle can be obtained using the calculation method in step 102.

[0141] In a preferred embodiment, the simulation execution results of the control cycle are verified respectively using the energy constraint model, the sequestration model, the load constraint condition and the data transmission constraint condition to obtain the verification results, including:

[0142] The energy constraint model is used to verify the remaining power of the control cycle and obtain the energy verification result;

[0143] The current amount of stored data in the control cycle is verified using the storage model to obtain a storage verification result;

[0144] The imaging tasks and the execution time information of the imaging tasks included in the load planning results are verified using the load constraint conditions to obtain the load verification results;

[0145] The data transmission constraints are used to verify the data transmission tasks and the execution time information of the data transmission tasks included in the data transmission planning results to obtain the data transmission verification results.

[0146] In the present invention, the energy verification results, load verification results and data transmission verification results all include verification validity and verification invalidity, thus realizing the automatic verification of all constraint models and improving the verification efficiency. At the same time, the staff can also adjust the self-planned task planning results according to the specific verification results of each constraint to improve work efficiency.

[0147] In the present invention, the general capabilities and constraints of subsystems such as energy, payload, data transmission, and storage are fully considered to form a physical model that can be dynamically solved in real time, and the state of each satellite subsystem is simulated in real time at the system level. At the same time, combined with the real-time closed loop of the control subsystem and the communication and logic simulation of the satellite service subsystem, the joint closed loop of the on-board software and the ground dynamic real-time system is realized, and the correctness, dynamics, mission effectiveness and other functional performance verification of autonomous mission planning are realized.

[0148] like Figure 2 , Figure 3 As shown, an embodiment of the present invention provides a system joint verification device for on-board autonomous mission planning. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. Figure 2 As shown, a hardware architecture diagram of a computing device where a system joint verification device for on-board autonomous mission planning provided by an embodiment of the present invention is located, except Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 3 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a system joint verification device for on-board autonomous mission planning, including:

[0149] The constraint module 300 is used to obtain the energy supply information and energy consumption information of the satellite and construct an energy constraint model; and to construct a storage model according to the satellite's imaging mission, data transmission mission and initial storage value;

[0150] The simulation verification module 302 is used to simulate and verify the satellite mission planning results in real time according to the energy constraint model, the storage model, the satellite's payload constraint conditions and the satellite's data transmission constraint conditions to obtain the verification results.

[0151] In some specific implementations, the constraint module 300 may be used to execute the above steps 100 and 102 , and the simulation verification module 302 may be used to execute the above step 104 .

[0152] In some specific implementations, the constraint module 300 is further configured to perform the following operations:

[0153] For each control cycle during the operation of the satellite, the following operations are executed:

[0154] Obtain the energy supply information of the satellite in the control cycle, and calculate the additional power in the control cycle; the energy information includes the energy conversion efficiency of the sailboard, the angle between the solar incident angle and the sailboard normal, the illumination state of the sailboard, and the charging power of the sailboard;

[0155] Obtain the energy consumption information of the satellite in the control cycle, and calculate the power consumption of the control cycle; wherein the energy consumption information includes the average power consumption of the control subsystem, the average power consumption of the payload subsystem, the average power consumption of the data transmission subsystem, and the average power consumption of other subsystems;

[0156] The remaining power of the control cycle is calculated based on the newly added power, consumed power, remaining power of the previous control cycle and the maximum storage power of the satellite;

[0157] The remaining power of the control cycle is constrained according to the preset satellite safety power and the preset shadow area safety power, and an energy constraint model is obtained.

[0158] In some specific implementations, the constraint module 300 is further configured to perform the following operations:

[0159] Obtaining the operating conditions of the satellite in the control cycle; wherein the energy consumption information under different operating conditions is different;

[0160] The operating conditions are analyzed to obtain the first working mode of the control subsystem, the second working mode of the load subsystem and the third working mode of the data transmission subsystem; wherein the first working mode includes the sun orientation mode, the attitude maneuvering mode and the ground orientation mode; the second working mode includes the imaging mode and the non-imaging mode; the third working mode includes the digital transmission mode and the non-digital transmission mode;

[0161] According to the first working mode, the second working mode and the third working mode, respectively determine the average power consumption of the control subsystem, the average power consumption of the load subsystem and the average power consumption of the data transmission subsystem;

[0162] The average power consumption of the control subsystem, the average power consumption of the load subsystem, the average power consumption of the data transmission subsystem and the average power consumption of other subsystems are summed to obtain the total average power consumption, and the product of the total average power consumption and the control cycle is used as the power consumption of the control cycle.

[0163] In some specific implementations, the constraint module 300 is further configured to perform the following operations:

[0164] For each control cycle during the operation of the satellite, the following operations are executed:

[0165] Determine the third working mode of the control cycle according to the data transmission task, and determine the data downlink rate of the third working mode;

[0166] Determine a second working mode of the control cycle according to the imaging task, and determine a data storage rate of the second working mode;

[0167] The current amount of stored data in the control cycle is calculated according to the data transmission and downloading rate of the control cycle, the data storage rate, and the current amount of stored data in the previous control cycle;

[0168] The current stored data amount of the control period is constrained according to the initial storage value to obtain the storage model.

[0169] In some specific implementations, the simulation verification module 302 is further configured to perform the following operations:

[0170] Mission planning results include attitude planning results, data transmission planning results, and payload planning results;

[0171] After performing attitude and trajectory simulation according to the attitude planning results, the simulated attitude execution results are obtained;

[0172] Compare the consistency between the posture planning results and the simulated posture execution results to obtain the posture verification results;

[0173] The simulation attitude execution results include attitude information and operating conditions of each control cycle; the attitude information includes the angle between the sun's incident angle and the normal line of the sailboard and the maneuvering angle of the satellite;

[0174] For each control cycle during the operation of the satellite, the following operations are executed:

[0175] The remaining power of the control cycle is obtained by performing simulation and solution according to the angle between the solar incident angle and the normal line of the sailboard and the operating conditions of the control cycle;

[0176] Perform simulation and calculation according to the data transmission planning results and the load planning results to obtain the current amount of stored data in the control cycle; wherein the simulation execution results include the remaining power and the current amount of stored data;

[0177] The energy constraint model is used to verify the remaining power of the control cycle and obtain the energy verification result;

[0178] The current amount of stored data in the control cycle is verified using the storage model to obtain a storage verification result;

[0179] The imaging tasks and the execution time information of the imaging tasks included in the load planning results are verified using the load constraint conditions to obtain the load verification results;

[0180] The data transmission constraints are used to verify the data transmission tasks and the execution time information of the data transmission tasks included in the data transmission planning results to obtain the data transmission verification results.

[0181] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a system joint verification device for onboard autonomous mission planning. In other embodiments of the present invention, a system joint verification device for onboard autonomous mission planning may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0182] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0183] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a system joint verification method for on-board autonomous mission planning in any embodiment of the present invention is implemented.

[0184] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a system joint verification method for on-board autonomous mission planning in any embodiment of the present invention.

[0185] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes a system joint verification method for on-board autonomous mission planning as described in any of the above embodiments.

[0186] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0187] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0188] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0189] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0190] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0191] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0192] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0193] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A system joint verification method for onboard autonomous mission planning, characterized in that: include: Obtain the satellite's energy supply and consumption information and build an energy constraint model; Constructing a sequestration model according to the satellite's imaging mission, data transmission mission and initial sequestration value; The mission planning result of the satellite is simulated and verified in real time according to the energy constraint model, the sequestration model, the payload constraint condition of the satellite and the data transmission constraint condition of the satellite to obtain a verification result.

2. The method according to claim 1, characterized in that The obtaining of satellite energy supply information and energy consumption information and constructing an energy constraint model includes: For each control cycle of the satellite during operation, the following are executed: Obtain the energy supply information of the satellite in the control period, and calculate the additional power in the control period; wherein the energy information includes the energy conversion efficiency of the sailboard, the angle between the solar incident angle and the sailboard normal, the illumination state of the sailboard, and the charging power of the sailboard; Obtaining energy consumption information of the satellite in the control period, and calculating the power consumption of the control period; wherein the energy consumption information includes the average power consumption of the control subsystem, the average power consumption of the payload subsystem, the average power consumption of the data transmission subsystem, and the average power consumption of other subsystems; The remaining power of the control cycle is calculated according to the newly added power of the control cycle, the consumed power, the remaining power of the previous control cycle and the maximum storage power of the satellite; The remaining power of the control cycle is constrained according to the preset satellite safety power and the preset shadow area safety power to obtain the energy constraint model.

3. The method according to claim 2, characterized in that The obtaining of energy consumption information of the satellite in the control period and calculating the power consumption in the control period includes: Acquiring the operating condition of the satellite in the control cycle; wherein the energy consumption information under different operating conditions is different; The operating conditions are analyzed to obtain a first working mode of the control subsystem, a second working mode of the load subsystem, and a third working mode of the data transmission subsystem; wherein the first working mode includes a solar orientation mode, an attitude maneuvering mode, and a ground orientation mode; the second working mode includes an imaging mode and a non-imaging mode; and the third working mode includes a digital transmission mode and a non-digital transmission mode; According to the first working mode, the second working mode and the third working mode, respectively determine the average power consumption of the control subsystem, the average power consumption of the load subsystem and the average power consumption of the data transmission subsystem; The average power consumption of the control subsystem, the average power consumption of the load subsystem, the average power consumption of the data transmission subsystem and the average power consumption of the other subsystems are summed to obtain the total average power consumption, and the product of the total average power consumption and the control cycle is used as the power consumption of the control cycle.

4. The method according to claim 1, characterized in that: The step of constructing a sequestration model according to the satellite's imaging mission, data transmission mission and initial sequestration value includes: For each control cycle of the satellite during operation, the following are executed: Determining a third working mode of the control cycle according to the data transmission task, and determining a data downlink rate of the third working mode; Determine a second working mode of the control cycle according to the imaging task, and determine a data storage rate of the second working mode; The current amount of stored data in the control cycle is calculated according to the data transmission and downloading rate of the control cycle, the data storage rate, and the current amount of stored data in the previous control cycle; The current stored data amount of the control period is constrained according to the initial persisted value to obtain the persisted model.

5. The method according to any one of claims 1 to 4, characterized in that: The step of performing real-time simulation and verification on the mission planning result of the satellite according to the energy constraint model, the sequestration model, the payload constraint condition of the satellite and the data transmission constraint condition of the satellite to obtain the verification result includes: The mission planning results include attitude planning results, data transmission planning results, and load planning results; After performing attitude and trajectory simulation according to the attitude planning result, a simulated attitude execution result is obtained; Comparing the posture planning result with the simulation posture execution result for consistency to obtain a posture verification result; Performing real-time simulation and solving according to the simulation attitude execution result, the data transmission planning result and the load planning result to obtain the simulation execution result of the control cycle; The energy constraint model, the sequestration model, the load constraint condition and the data transmission constraint condition are used to verify the simulation execution results of the control cycle respectively to obtain verification results.

6. The method according to claim 5, characterized in that The real-time simulation and solving are performed according to the simulation attitude execution result, the data transmission planning result and the load planning result to obtain the simulation execution result of the control cycle, including: The simulated attitude execution result includes attitude information and operating conditions of each control cycle; wherein the attitude information includes the angle between the solar incident angle and the normal line of the sailboard and the maneuvering angle of the satellite; For each control cycle of the satellite during operation, the following are executed: Perform simulation and calculation according to the angle between the solar incident angle and the normal line of the sailboard and the operating conditions in the control cycle to obtain the remaining power in the control cycle; A simulation solution is performed according to the data transmission planning result and the load planning result to obtain the current amount of stored data in the control cycle; wherein the simulation execution result includes the remaining power and the current amount of stored data.

7. The method according to claim 6, characterized in that The use of the energy constraint model, the sequestration model, the load constraint condition and the data transmission constraint condition to respectively verify the simulation execution results of the control cycle to obtain verification results includes: Verifying the remaining power of the control cycle by using the energy constraint model to obtain an energy verification result; Using the storage model to verify the current amount of stored data in the control period, to obtain a storage verification result; Using the load constraint condition to verify the imaging task and the execution time information of the imaging task included in the load planning result, to obtain a load verification result; The data transmission constraint condition is used to verify the data transmission tasks and the execution time information of the data transmission tasks included in the data transmission planning result to obtain a data transmission verification result.

8. A system joint verification device for autonomous mission planning on a satellite, characterized in that: include: A constraint module is used to obtain energy supply information and energy consumption information of the satellite and construct an energy constraint model; and to construct a storage model according to the imaging mission, data transmission mission and initial storage value of the satellite; The simulation verification module is used to simulate and verify the mission planning results of the satellite in real time according to the energy constraint model, the sequestration model, the payload constraint conditions of the satellite and the data transmission constraint conditions of the satellite to obtain a verification result.

9. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 7.

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