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

Abstract

The invention relates to the technical field of spacecraft measurement and control, and particularly discloses a space-based measurement and control resource scheduling method and system, electronic equipment and a storage medium, and the method comprises the steps: determining a plurality of relay satellites and a plurality of spacecrafts in a satellite operation scene to be subjected to space-based measurement and control resource scheduling; according to the measurement and control resource allocation state between the relay satellite and the spacecraft in the satellite operation scene, constructing a measurement and control resource scheduling objective function in the satellite operation scene; and determining a resource scheduling constraint function in the satellite operation scene, and determining an optimal space-based measurement and control resource scheduling result in the satellite operation scene according to the measurement and control resource scheduling target function and the resource scheduling constraint function. According to the method, the measurement and control resource scheduling efficiency during the operation period of the multi-spacecraft assembly can be improved, a basis is provided for the scheduling planning problem of space-based measurement and control resources, and the method has good flexibility and practicability.

Description

Background Art

[0002] Satellites have been used in the fields of earth observation, communication, navigation, etc., playing an increasingly important role. Satellites orbit the earth and exchange information with the ground control center through the station. In the measurement and control range of the satellite to the station, the acquired data is transmitted to the station through the space link, and then to the ground control center; the ground control center can also transmit satellite control instructions to the satellite through the station, update the satellite's subsequent plans, and complete subsequent work. The visible range of the ground station to the satellite is relatively small. Generally, the satellite passes through the measurement and control area within ten minutes of operation; and due to the rotation of the earth, the orbits of different satellites may not overlap with the station. Therefore, the ground station's measurement and control arc for the satellite is very rare.

[0003] Space-based tracking and control missions refer to the scheduling of tracking and control resources for multiple stations (relay satellites) and multiple devices (spacecraft). Relay satellites operate in geosynchronous orbits. Due to their extremely high orbital altitude, their coverage of the Earth can reach approximately half of the Earth's surface. Spacecraft orbiting the Earth can transmit data to relay satellites, which are then transmitted to the ground through relay satellites, greatly increasing the tracking and control arc range between the ground control center and the spacecraft.

[0004] Multiple spacecraft form a large spacecraft platform through space rendezvous and docking, which can provide a comprehensive combined structure, greater support for space payload tests, and the ability for astronauts to stay in orbit for a long time. This type of combined spacecraft will generate more scientific and engineering data, and require a large amount of uplink control and downlink data interaction with the ground, which places higher demands on measurement and control resources. Generally, multiple relay satellites are used to provide data transmission services between spacecraft and the ground control center. The difficulty of the current problem lies in the scarcity of relay satellite measurement and control resources and the uncertainty of the measurement and control requirements of combined spacecraft. Under normal circumstances, relay satellites need to maintain a normal level of measurement and control with the combination; during critical control periods, relay satellites need to provide more measurement and control resources for the combination; at the same time, relay satellites may not be able to serve the combination during certain periods of time.

[0005] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a space-based measurement and control resource scheduling method, system, electronic device and storage medium.

[0007] In a first aspect, the present invention provides a space-based measurement and control resource scheduling method, the technical solution of which is as follows:

[0008] Determine multiple relay satellites and multiple spacecraft in a satellite operation scenario for space-based tracking and control resource scheduling;

[0009] Constructing a measurement and control resource scheduling objective function under the satellite operation scenario according to the measurement and control resource allocation state between the relay satellite and the spacecraft under the satellite operation scenario;

[0010] Determine the resource scheduling constraint function under the satellite operation scenario, and determine the optimal space-based measurement and control resource scheduling result under the satellite operation scenario based on the measurement and control resource scheduling objective function and the resource scheduling constraint function.

[0011] The beneficial effects of a space-based measurement and control resource scheduling method of the present invention are as follows:

[0012] The method of the present invention can improve the scheduling efficiency of measurement and control resources during the operation of a multi-spacecraft complex, provides a basis for the scheduling and planning problem of space-based measurement and control resources, and has good flexibility and practicality.

[0013] Based on the above scheme, the space-based measurement and control resource scheduling method of the present invention can also be improved as follows.

[0014] In an optional manner, the tracking and control resource allocation state CK between the jth relay satellite and the kth spacecraft in the i-th tracking and control circle is i,j,k Is 1 or 0; where CK i,j,k = 0 means that the jth relay satellite does not perform tracking and control on the kth spacecraft in the ith tracking and control cycle. i,j,k =1 means that the jth relay satellite performs tracking and control on the kth spacecraft in the i-th tracking and control circle.

[0015] In an optional manner, the measurement and control resource scheduling objective function is: Objective = ∑ 1≤i≤T,1≤j≤N,1≤k≤M CK i,j,k ; Wherein, T represents the number of measurement and control circles under the satellite operation scenario, N represents the number of relay satellites under the satellite operation scenario, M represents the number of spacecraft under the satellite operation scenario, and Objective is the target value of the measurement and control resource scheduling objective function.

[0016] In an optional manner, the resource scheduling constraint function includes: a continuous measurement and control constraint function, a relay satellite unavailability constraint function and an important arc constraint function.

[0017] In an optional manner, the continuous measurement and control constraint function includes: a continuous measurement and control constraint expression under each measurement and control cycle; the continuous measurement and control constraint expression under any measurement and control cycle is: ∑ 1≤j≤N,1≤k≤M CK i,j,k ≥1;

[0018] The relay satellite unavailability constraint function includes: a relay satellite unavailability constraint expression for the jth relay satellite in the i-th measurement and control circle that cannot be measured and controlled; any relay satellite unavailability constraint expression is: ∑ 1≤k≤M CK i,j,k =0;

[0019] The important arc constraint function includes: the important arc constraint expression corresponding to each spacecraft, the important arc constraint expression corresponding to all spacecraft, and the important arc constraint expression corresponding to the relay satellite; wherein the important arc constraint expression corresponding to any spacecraft is: A j -CK i,j,k ≥0; the important arc constraint expression corresponding to all spacecraft is: A j -∑ 1≤k≤M CK i,j,k ≤0; the important arc constraint expression corresponding to the relay satellite is:∑ 1≤j≤N A j ≥p; A j is an integer variable of the jth relay satellite, and p is the number of measurement and control resources.

[0020] In an optional manner, the step of determining the optimal space-based measurement and control resource scheduling result in the satellite operation scenario according to the measurement and control resource scheduling objective function and the resource scheduling constraint function includes:

[0021] Constructing a set of constraint equations according to the measurement and control resource scheduling objective function and the resource scheduling constraint function, and calculating at least one target value of the measurement and control resource scheduling objective function under the set of constraint equations;

[0022] The space-based measurement and control resource scheduling result corresponding to the minimum target value is determined as the optimal space-based measurement and control resource scheduling result.

[0023] In a second aspect, the present invention provides a space-based measurement and control resource scheduling system, the technical solution of which is as follows:

[0024] Includes: obtaining modules, building modules and running modules;

[0025] The acquisition module is used to: determine multiple relay satellites and multiple spacecraft in a satellite operation scenario for space-based measurement and control resource scheduling;

[0026] The construction module is used to: construct a measurement and control resource scheduling objective function in the satellite operation scenario according to the measurement and control resource allocation state between the relay satellite and the spacecraft in the satellite operation scenario;

[0027] The operation module is used to determine the resource scheduling constraint function under the satellite operation scenario, and determine the optimal space-based measurement and control resource scheduling result under the satellite operation scenario based on the measurement and control resource scheduling objective function and the resource scheduling constraint function.

[0028] The beneficial effects of a space-based measurement and control resource scheduling system of the present invention are as follows:

[0029] The system of the present invention can improve the scheduling efficiency of measurement and control resources during the operation of a multi-spacecraft complex, provides a basis for the scheduling and planning problem of space-based measurement and control resources, and has good flexibility and practicality.

[0030] Based on the above scheme, the space-based measurement and control resource scheduling system of the present invention can also be improved as follows.

[0031] In an optional manner, the tracking and control resource allocation state CK between the jth relay satellite and the kth spacecraft in the i-th tracking and control circle is i,j,k Is 1 or 0; where CK i,j,k = 0 means that the jth relay satellite does not perform tracking and control on the kth spacecraft in the ith tracking and control cycle. i,j,k =1 means that the jth relay satellite performs tracking and control on the kth spacecraft in the i-th tracking and control circle.

[0032] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0033] It includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the space-based measurement and control resource scheduling method of the present invention are implemented.

[0034] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0035] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the space-based measurement and control resource scheduling method of the present invention.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0038] Figure 1 A schematic diagram of a flow chart of an embodiment of a method for scheduling space-based measurement and control resources of the present invention;

[0039] Figure 2 This is a visualization diagram of the optimal space-based tracking and control resource scheduling results;

[0040] Figure 3 A schematic diagram of the structure of an embodiment of a space-based measurement and control resource scheduling system of the present invention;

[0041] Figure 4 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0042] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0043] Figure 1 A flow chart of an embodiment of a space-based measurement and control resource scheduling method provided by the present invention is shown. The space-based measurement and control resource scheduling method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the space-based measurement and control resource scheduling method by means of a processor calling computer-readable instructions stored in a memory. Figure 1 As shown, the following steps are included:

[0044] S1. Determine multiple relay satellites and multiple spacecraft in a satellite operation scenario for space-based measurement and control resource scheduling.

[0045] The satellite operation scenario includes three target entities: relay satellite, spacecraft, and measurement and control circle. There are multiple relay satellites in the scenario, which can provide measurement and control resource services for a spacecraft in the same period. The relay satellite is represented by the set R = {R1, R2, …, R N The satellite operation scenario includes M spacecraft, denoted by S = {S1, S2, …, S MM spacecraft are combined into one in space, called a large combined spacecraft, which operates in low-Earth orbit. Each tracking and control circle can be covered by the tracking and control arc of the relay satellite for data transmission. The tracking and control circle of the spacecraft is taken as the basic time interval. The time required for tracking and control resource scheduling includes T tracking and control circles, which is recorded as Q = {Q1, Q2, …, Q T Each of the M spacecraft can independently communicate with the relay satellite, and only one of them needs to communicate with the relay satellite to realize data transmission between the combined spacecraft and the relay satellite.

[0046] S2. Construct a measurement and control resource scheduling objective function under the satellite operation scenario according to the measurement and control resource allocation status between the relay satellite and the spacecraft under the satellite operation scenario.

[0047] Among them, the tracking and control resource allocation state CK between the jth relay satellite and the kth spacecraft under the i-th tracking and control circle is i,j,k Defined as a Boolean variable, the value is 1 or 0. CK i,j,k = 0 means that the jth relay satellite does not perform tracking and control on the kth spacecraft in the ith tracking and control cycle. i,j,k =1 means that the jth relay satellite performs tracking and control on the kth spacecraft in the i-th tracking and control circle.

[0048] Among them, the measurement and control resource scheduling objective function is: Objective = ∑ 1≤i≤T,1≤j≤N,1≤k≤M CK i,j,k ; Wherein, T represents the number of measurement and control circles in the satellite operation scenario, N represents the number of relay satellites in the satellite operation scenario, M represents the number of spacecraft in the satellite operation scenario, and Objective is the target value of the measurement and control resource scheduling objective function.

[0049] S3. Determine the resource scheduling constraint function under the satellite operation scenario, and determine the optimal space-based measurement and control resource scheduling result under the satellite operation scenario based on the measurement and control resource scheduling objective function and the resource scheduling constraint function.

[0050] The resource scheduling constraint functions include: continuous measurement and control constraint function, relay satellite unavailability constraint function and important arc constraint function. Specifically:

[0051] 1) The continuous measurement and control constraint function includes: the continuous measurement and control constraint expression under each measurement and control cycle; the continuous measurement and control constraint expression under any measurement and control cycle is: ∑ 1≤j≤N,1≤k≤M CK i,j,k≥1. In each tracking and control cycle, the ground needs to maintain a tracking and control communication with the combined spacecraft, that is, at least one relay satellite tracking and control resource is arranged for the spacecraft to meet the continuous data transmission of the combined spacecraft under normal circumstances. The continuous tracking and control constraint expression is satisfied in each tracking and control cycle. Therefore, the number of continuous tracking and control constraint expressions is the same as the number of tracking and control cycles.

[0052] 2) The relay satellite unavailability constraint function includes: the relay satellite unavailability constraint expression for the jth relay satellite under the i-th measurement and control circle that cannot be measured and controlled; the unavailability constraint expression for any relay satellite is: ∑ 1≤k≤M CK i,j,k = 0. Since relay satellite resources are extremely scarce, relay satellites need to participate in the measurement and control of other satellite systems. Therefore, relay satellites may be occupied by other satellite missions in some arcs and cannot participate in the measurement and control of the spacecraft in this scenario. For all unavailable relay satellites, a relay satellite unavailability constraint expression is generated.

[0053] 3) The important arc constraint function includes: the important arc constraint expression corresponding to each spacecraft, the important arc constraint expression corresponding to all spacecraft, and the important arc constraint expression corresponding to the relay satellite; among which, the important arc constraint expression corresponding to any spacecraft is: A j -CK i,j,k ≥0; the important arc constraint expression corresponding to all spacecraft is: A j -∑ 1≤k≤M CK i,j,k ≤0; the important arc constraint expression corresponding to the relay satellite is:∑ 1≤j≤N A j ≥p; A j is an integer variable of the jth relay satellite, and p is the number of measurement and control resources. Under normal circumstances, only one spacecraft in the combined spacecraft needs to be allocated measurement and control resources; however, in important arcs, in order to ensure the smooth operation of key control processes, measurement and control resources need to be allocated to multiple spacecraft at the same time, retaining a certain redundancy.

[0054] Assuming that the i-th tracking and control loop has important arc constraints, define an integer variable A for each relay satellite: j ,. For each spacecraft, 1≤k≤M, there is a constraint: A j -CK i,j,k ≥0; for all spacecraft, there is a constraint: A j -∑ 1≤k≤M CK i,j,k ≤0; For all relay satellites, assuming that at least p tracking resources need to be arranged in this circle, there is a constraint:∑ 1≤j≤N A j ≥p.

[0055] In an optional manner, the step of determining the optimal space-based measurement and control resource scheduling result in the satellite operation scenario according to the measurement and control resource scheduling objective function and the resource scheduling constraint function includes:

[0056] A set of constraint equations is constructed according to the measurement and control resource scheduling objective function and the resource scheduling constraint function, and at least one target value of the measurement and control resource scheduling objective function under the set of constraint equations is calculated.

[0057] The space-based measurement and control resource scheduling result corresponding to the minimum target value is determined as the optimal space-based measurement and control resource scheduling result.

[0058] Among them, the enumeration algorithm can be used to calculate different target values ​​of the measurement and control resource scheduling objective function under the constraint equation group. The enumeration algorithm principle includes:

[0059] 1) Assume that the constraint equation is: min Objective = x1 + x2 + ... + x n

[0060] b 11 *x1+b 12 *x2+…+b 1n *x n ≥c1

[0061] stb 21 *x1+b 22 *x2+…+b 2n *x n ≥c2

[0062] b m1 *x1+b m2 *x2+…+b mn *x n ≥c m

[0063] Among them, x1,x2,…,x n is the variable to be solved for optimization. Using the enumeration method, since x i ∈{0,1}, for all x1,x2,…,x n The possible cases of taking values ​​are enumerated, and the constraints are checked in sequence to see if they are met. In order to increase the speed of solving and find the optimal solution as soon as possible, the order of enumeration is very important.

[0064] 2)n is the total number of variables, x1,x2,…,x n The value may be 0 to n 1s, so the minimum value of the objective function may be 0 to n. According to the number of 1s from small to large, it is converted into an n-bit arrangement of 0 and 1. Therefore, the enumeration order is x1, x2, ..., x nIt contains 0 1s, 1 1, ..., n 1s in sequence, and the number of states is the number of combinations

[0065] 3) For example, assuming that the number of variables is n=4, the enumeration order is shown in Table 1 below.

[0066] Table 1:

[0067]

[0068]

[0069] 4) According to the above order, check x1, x2, ..., x for each state in turn. n Whether the value satisfies the constraint conditions. If the constraint conditions are met, the value corresponding to the state is a feasible solution and reaches the minimum value. If the constraint conditions are not met, continue to judge the next state until the end.

[0070] 5) The above method uses enumeration. According to the constraint that each variable takes the value of {0,1}, an enumeration order is designed according to the characteristics of the minimization objective function to directly obtain the optimal solution. For the case where the number of variables is relatively small, this method has high feasibility; when the number of variables is large and the number of enumerated states is very large, this method takes a lot of time.

[0071] When the number of variables is large, the following recursive pruning method is used to gradually transform the number of variables into smaller sub-problems, and the objective function value is used for pruning, which greatly reduces the amount of calculation until the optimal solution is obtained. Specifically:

[0072] 1) For the {0,1} programming problem IPro, remove the {0,1} constraints of its variables and get the corresponding linear programming problem LPro. The simplex method can be used to get the solution of LPro (including the real value X(LPro) of the variable and the extreme value f(LPro) of the corresponding optimization problem). Suppose the minimum value of IPro is f(IPro) and the minimum value of LPro is f(LPro), then f(IPro)>f(LPro).

[0073] 2) Recursive strategy: If every variable in X(LPro) is a {0,1} solution, then X(LPro) is the optimal solution to the {0,1} planning problem IPro. If there are variables in X(LPro) that are not {0,1} solutions, then select one of the variables x that is not a {0,1} solution. r , x r =0 and x r =1 are substituted into the planning problem IPro to obtain its two branches IPro0 and IPro1. The above method is used to solve the two branch planning problems IPro0 and IPro1 respectively.

[0074] 3) Pruning strategy: Assume that a feasible {0,1} solution x has been obtained now , the corresponding optimization target value is f now For a branch of the {0,1} planning problem IPro b , and its corresponding linear programming problem is LPro b Solving LPro by the simplex method b , and its extreme value is like Then branch IPro b The extreme value corresponding to the {0,1} solution of must be greater than the extreme value f now Large, so the branch IPro b To prune, you don't have to prune the branch IPro b Further branching is performed to reduce the amount of calculation. You need to branch IPro b Decompose it and get two branch problems. While branching continuously, the number of variables in the newly added branch problems gradually decreases until a {0,1} solution x is found. new And the corresponding extreme value f new If f new <f now , then a more optimal solution is obtained, and the new solution x new and extreme value f new Replace the original x now and f now .

[0075] 4) When all branches are processed, x now and f now That is, the optimal solution and extreme value of the {0,1} planning problem IPro. The optimized algorithm flow is shown in Table 2 below.

[0076] Table 2:

[0077]

[0078]

[0079] It should be noted that if Figure 2 As shown in the figure, a Gantt chart is used to show the allocation of relay satellite measurement and control resources to spacecraft (optimal space-based measurement and control resource scheduling results). Figure 2 The left area displays the measurement and control resource list, which includes two levels of directories: the first level directory is the relay satellite list, and the second level directory is the spacecraft list. Figure 2In the Gantt chart display area on the right, the horizontal axis shows the time axis, which is associated with the circle number of the spacecraft according to the start and end times. Based on the optimal space-based measurement and control resource scheduling results obtained by solving, the resource allocation relationship between the relay satellite and the spacecraft in each circle is displayed.

[0080] The technical solution of this embodiment can improve the scheduling efficiency of measurement and control resources during the operation of a multi-spacecraft complex, provide a basis for the scheduling and planning of space-based measurement and control resources, and has good flexibility and practicality.

[0081] Figure 3 FIG. 2 is a schematic diagram showing a structure of an embodiment of a space-based measurement and control resource scheduling system 200 provided by the present invention. Figure 3 As shown, the system 200 includes: an acquisition module 210, a construction module 220 and an operation module 230;

[0082] The acquisition module 210 is used to: determine a plurality of relay satellites and a plurality of spacecraft in a satellite operation scenario for which space-based measurement and control resource scheduling is to be performed;

[0083] The construction module 220 is used to: construct a measurement and control resource scheduling objective function in the satellite operation scenario according to the measurement and control resource allocation state between the relay satellite and the spacecraft in the satellite operation scenario;

[0084] The operation module 230 is used to: determine the resource scheduling constraint function under the satellite operation scenario, and determine the optimal space-based measurement and control resource scheduling result under the satellite operation scenario based on the measurement and control resource scheduling objective function and the resource scheduling constraint function.

[0085] In an optional manner, the tracking and control resource allocation state CK between the jth relay satellite and the kth spacecraft in the i-th tracking and control circle is i,j,k Is 1 or 0; where CK i,j,k = 0 means that the jth relay satellite does not perform tracking and control on the kth spacecraft in the ith tracking and control cycle. i,j,k =1 means that the jth relay satellite performs tracking and control on the kth spacecraft in the i-th tracking and control circle.

[0086] In an optional manner, the measurement and control resource scheduling objective function is: Objective = ∑ 1≤i≤T,1≤j≤N,1≤k≤M CK i,j,k ; Wherein, T represents the number of measurement and control circles under the satellite operation scenario, N represents the number of relay satellites under the satellite operation scenario, M represents the number of spacecraft under the satellite operation scenario, and Objective is the target value of the measurement and control resource scheduling objective function.

[0087] In an optional manner, the resource scheduling constraint function includes: a continuous measurement and control constraint function, a relay satellite unavailability constraint function and an important arc constraint function.

[0088] In an optional manner, the continuous measurement and control constraint function includes: a continuous measurement and control constraint expression under each measurement and control cycle; the continuous measurement and control constraint expression under any measurement and control cycle is: ∑ 1≤j≤N,1≤k≤M CK i,j,k ≥1;

[0089] The relay satellite unavailability constraint function includes: a relay satellite unavailability constraint expression for the jth relay satellite in the i-th measurement and control circle that cannot be measured and controlled; any relay satellite unavailability constraint expression is: ∑ 1≤k≤M CK i,j,k =0;

[0090] The important arc constraint function includes: the important arc constraint expression corresponding to each spacecraft, the important arc constraint expression corresponding to all spacecraft, and the important arc constraint expression corresponding to the relay satellite; wherein the important arc constraint expression corresponding to any spacecraft is: A j -CK i,j,k ≥0; the important arc constraint expression corresponding to all spacecraft is: A j -∑ 1≤k≤M CK i,j,k ≤0; the important arc constraint expression corresponding to the relay satellite is:∑ 1≤j≤N A j ≥p; A j is an integer variable of the jth relay satellite, and p is the number of measurement and control resources.

[0091] In an optional manner, the operation module 230 is specifically used to:

[0092] Constructing a set of constraint equations according to the measurement and control resource scheduling objective function and the resource scheduling constraint function, and calculating at least one target value of the measurement and control resource scheduling objective function under the set of constraint equations;

[0093] The space-based measurement and control resource scheduling result corresponding to the minimum target value is determined as the optimal space-based measurement and control resource scheduling result.

[0094] The technical solution of this embodiment can improve the scheduling efficiency of measurement and control resources during the operation of a multi-spacecraft complex, provide a basis for the scheduling and planning of space-based measurement and control resources, and has good flexibility and practicality.

[0095] The above-mentioned parameters and steps for each module to implement corresponding functions in the space-based measurement and control resource scheduling system 200 of this embodiment can refer to the parameters and steps in the embodiment of the space-based measurement and control resource scheduling method above, and will not be repeated here.

[0096] like Figure 4 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above-mentioned space-based measurement and control resource scheduling methods, specifically:

[0097] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any of the space-based measurement and control resource scheduling methods provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for implementing device functions, which will not be described in detail here.

[0098] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above-mentioned space-based measurement and control resource scheduling methods.

[0099] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0100] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes any of the above-mentioned space-based measurement and control resource scheduling methods.

[0101] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0102] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0103] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0104] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A space-based measurement and control resource scheduling method, characterized in that: include: Determine multiple relay satellites and multiple spacecraft in a satellite operation scenario for space-based tracking and control resource scheduling; Constructing a measurement and control resource scheduling objective function under the satellite operation scenario according to the measurement and control resource allocation state between the relay satellite and the spacecraft under the satellite operation scenario; Determine the resource scheduling constraint function under the satellite operation scenario, and determine the optimal space-based measurement and control resource scheduling result under the satellite operation scenario based on the measurement and control resource scheduling objective function and the resource scheduling constraint function.

2. The space-based measurement and control resource scheduling method according to claim 1, characterized in that: The tracking and control resource allocation state CK between the jth relay satellite and the kth spacecraft in the i-th tracking and control cycle i,j,k Is 1 or 0; where CK i,j,k = 0 means that the jth relay satellite does not perform tracking and control on the kth spacecraft in the ith tracking and control cycle. i,j,k =1 means that the jth relay satellite performs tracking and control on the kth spacecraft in the i-th tracking and control circle.

3. The method for scheduling space-based measurement and control resources according to claim 2, characterized in that: The measurement and control resource scheduling objective function is: Objective = ∑ 1≤i≤T,1≤j≤N,1≤k≤M CK i,j,k ; Wherein, T represents the number of measurement and control circles under the satellite operation scenario, N represents the number of relay satellites under the satellite operation scenario, M represents the number of spacecraft under the satellite operation scenario, and Objective is the target value of the measurement and control resource scheduling objective function.

4. The method for scheduling space-based measurement and control resources according to claim 3, characterized in that: The resource scheduling constraint function includes: a continuous measurement and control constraint function, a relay satellite unavailability constraint function and an important arc segment constraint function.

5. The method for scheduling space-based measurement and control resources according to claim 4, characterized in that: The continuous measurement and control constraint function includes: the continuous measurement and control constraint expression under each measurement and control cycle; the continuous measurement and control constraint expression under any measurement and control cycle is: ∑ 1≤j≤N,1≤k≤M CK i,j,k ≥1; The relay satellite unavailability constraint function includes: a relay satellite unavailability constraint expression for the jth relay satellite in the i-th measurement and control circle that cannot be measured and controlled; any relay satellite unavailability constraint expression is: ∑ 1≤k≤M CK i,j,k =0; The important arc constraint function includes: the important arc constraint expression corresponding to each spacecraft, the important arc constraint expression corresponding to all spacecraft, and the important arc constraint expression corresponding to the relay satellite; wherein the important arc constraint expression corresponding to any spacecraft is: A j -CK i,j,k ≥0; the important arc constraint expression corresponding to all spacecraft is: A j -∑ 1≤k≤M CK i,j,k ≤0; the important arc constraint expression corresponding to the relay satellite is:∑ 1≤j≤N A j ≥p; A j is an integer variable of the jth relay satellite, and p is the number of measurement and control resources.

6. The method for scheduling space-based measurement and control resources according to any one of claims 3 to 5, characterized in that: The step of determining the optimal space-based measurement and control resource scheduling result in the satellite operation scenario according to the measurement and control resource scheduling objective function and the resource scheduling constraint function comprises: Constructing a set of constraint equations according to the measurement and control resource scheduling objective function and the resource scheduling constraint function, and calculating at least one target value of the measurement and control resource scheduling objective function under the set of constraint equations; The space-based measurement and control resource scheduling result corresponding to the minimum target value is determined as the optimal space-based measurement and control resource scheduling result.

7. A space-based measurement and control resource scheduling system, characterized in that: include: Get modules, build modules, and run modules; The acquisition module is used to: determine multiple relay satellites and multiple spacecraft in a satellite operation scenario for space-based measurement and control resource scheduling; The construction module is used to: construct a measurement and control resource scheduling objective function in the satellite operation scenario according to the measurement and control resource allocation state between the relay satellite and the spacecraft in the satellite operation scenario; The operation module is used to determine the resource scheduling constraint function under the satellite operation scenario, and determine the optimal space-based measurement and control resource scheduling result under the satellite operation scenario based on the measurement and control resource scheduling objective function and the resource scheduling constraint function.

8. The space-based measurement and control resource scheduling system according to claim 7, characterized in that: The tracking and control resource allocation state CK between the jth relay satellite and the kth spacecraft in the i-th tracking and control cycle i,j,k Is 1 or 0; where CK i,j,k = 0 means that the jth relay satellite does not perform tracking and control on the kth spacecraft in the ith tracking and control cycle. i,j,k =1 means that in the i-th tracking and control circle, the j-th relay satellite performs tracking and control on the k-th spacecraft.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the space-based measurement and control resource scheduling method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor so that the computer-readable storage medium implements the space-based measurement and control resource scheduling method as described in any one of claims 1 to 6.

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