Rescheduling method and system for relay satellite emergency task, and computer equipment

Abstract

The invention relates to the technical field of satellite task scheduling, and particularly discloses a rescheduling method and system for a relay satellite emergency task, and computer equipment, and the rescheduling method comprises the following steps: constructing an emergency rescheduling mathematical model by taking high scheduling task priority and small initial scheduling scheme change as targets and taking resource and task requirements as constraints; acquiring input information of the emergency rescheduling mathematical model; the input information comprises an initial scheduling scheme set, an emergency task set and an unexecuted task set; and solving an optimal solution of the emergency rescheduling mathematical model based on a multi-target rescheduling optimization algorithm fused with the adaptive neighborhood structure, and taking the optimal solution as an emergency rescheduling scheme. According to the method, the emergency rescheduling mathematical model is established with high scheduling task priority and small initial scheduling scheme change as targets, a multi-target optimized emergency rescheduling algorithm is designed, resource reallocation and plan adjustment can be rapidly achieved, and the efficiency of a relay satellite system for processing emergency tasks is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite mission scheduling, and in particular to a method, system and computer equipment for rescheduling emergency missions of relay satellites. Background Art

[0002] The relay satellite system can provide multiple laser or microwave links for multiple user spacecraft at the same time. Its resource scheduling problem needs to consider the impact of the intersatellite transmission rate and switching time corresponding to different antenna resources / laser terminals on the scheduling plan, as well as constraints such as visible time windows, task priorities, and terminal power consumption. In this complex combinatorial optimization scheme, how to reasonably allocate relay satellite resources to meet user needs has become the key to improving the utilization efficiency of the entire system. In the face of dynamic disturbances such as temporary relay usage needs or resource failures, how to quickly reallocate resources and adjust plans has become the top priority for exerting and maintaining the effectiveness of the entire relay satellite system. Summary of the invention

[0003] Based on this, it is necessary to provide a method, system, and computer equipment for rescheduling relay satellite emergency tasks in order to quickly reallocate resources and adjust plans when faced with dynamic disturbances such as temporary relay usage needs or resource failures.

[0004] A method for rescheduling a relay satellite emergency mission, comprising: With the goal of high scheduling task priority and small changes in the initial scheduling plan, and with resource and task requirements as constraints, a mathematical model for emergency rescheduling is constructed; Obtaining input information of the emergency rescheduling mathematical model; the input information includes an initial scheduling scheme set, an emergency task set, and an unexecuted task set; The optimal solution of the emergency rescheduling mathematical model is obtained based on a multi-objective rescheduling optimization algorithm that integrates an adaptive neighborhood structure, and the optimal solution is used as the emergency rescheduling plan.

[0005] In one embodiment, the construction of the emergency rescheduling mathematical model with the goal of high scheduling task priority and small changes in the initial scheduling plan and with resource and task requirements as constraints includes: in, represents the objective function of maximizing the sum of the priorities of the scheduled tasks; represents the objective function of minimizing the change of the initial scheduling scheme; Represents the set of tasks requested by the user. ; Represents a collection of resources. ; represents the jth start time of task t on resource r; represents the priority of task t; Represents a task scheduling identifier; , represents the weight of the change; Represents a collection of deleted tasks. ; Indicates the total amount of tasks being moved; The constraints of the emergency rescheduling mathematical model are: in, represents the period of time that task t is actually executed on resource r, represents the actual execution start time of task t on resource r, Indicates the actual execution end time of task t on resource r; represents the jth visible time window of task t and resource r, represents the start time of the jth visible time window between task t and resource r, represents the end time of the jth visible time window between task t and resource r; Represents the set of visible time windows corresponding to resource r of task t; It indicates the alignment time of resources before task execution; Indicates the reset time of resources after task execution; represents the actual execution time of task t on resource r; represents the required service time of task t; represents the service time window of task t submitted by the user, represents the earliest starting time of task t, Indicates the latest end time of task t; represents the jth available time window of task t in resource r, represents the starting time of task t in the jth available time window of resource r, It represents the end time of task t in the jth available time window of resource r.

[0006] In one embodiment, the multi-objective rescheduling optimization algorithm based on the fusion adaptive neighborhood structure obtains the optimal solution of the emergency rescheduling mathematical model, and the optimal solution is used as the emergency rescheduling solution, which includes: Setting model parameters of the emergency rescheduling mathematical model; the model parameters include the population size I and the number of cycles N; Setting different driving modes for different input information; Dividing the input information into rolling windows based on the driving mode; the rolling windows include a waiting window, a scheduling window and a scheduling completion window; Use the dynamic insertion method to insert all emergency tasks in the current scroll window Insert the initial scheduling solution set All schedules in , update the scheduling plan Generate an initial solution; Repeat the optimization iteration step for the initial solution until the number of iterations n of the optimization iteration step is equal to the number of loops N, and output the window optimization solution for the current rolling window And record the number of successful perturbations of each individual neighborhood in the Pareto frontier; Update the probability of the neighborhood structure being selected; The window optimization scheme for the current rolling window The window optimization schemes are inherited to the next rolling window until all the rolling windows are obtained, and the window optimization schemes of all the rolling windows are output as the emergency rescheduling scheme.

[0007] In one embodiment, the optimization iteration step includes: For each individual in the initial solution Perform fitness calculation and non-dominated sorting; Selecting individuals using tournament selection Execute task t; Using roulette wheel mechanism to select neighborhood structure for individuals in parent population Perform disturbance to generate new individuals in the offspring population ; Merge the parent and child populations and generate the next generation parent population through fast non-dominated sorting and crowding calculation ; Update the probability of the neighborhood structure being selected.

[0008] In one embodiment, the method of using dynamic insertion to insert all emergency tasks in the current scroll window Insert the initial scheduling solution set All schedules in , update the scheduling plan Generating an initial solution includes: When there is no conflict between the execution time gap of the initial task and the scheduling time of the emergency task, all the emergency tasks in the current rolling window are inserted into the initial scheduling plan by using a direct insertion method; When the scheduling time of the initial task conflicts with the scheduling time of the emergency task, and the emergency task scheduling is satisfied by time adjustment, all the emergency tasks in the current rolling window are inserted into the initial scheduling plan by an indirect insertion method; When the execution time of the scheduled task conflicts with the emergency task scheduling time, and the emergency task scheduling cannot be satisfied by time adjustment, a replacement task method is used to insert all emergency tasks in the current rolling window into the initial scheduling scheme.

[0009] In one embodiment, the neighborhood structure includes a neighborhood structure constructed based on an insertion operator, and the individuals of the parent population are Perform disturbance to generate new individuals in the offspring population include: From the unexecuted task set Select the task to be inserted according to the priority ; Calculate the task to be inserted Available time window and scheduling scheme The task execution interval in ; According to the available time window and task execution interval Determine the task to be inserted Whether the insertion condition is met; the insertion condition is the available time window of the task to be inserted and scheduling scheme The task execution interval in The first intersection is not empty, and the first intersection Greater than the task to be inserted Required service time ; When the task to be inserted When the insertion condition is met, the task to be inserted Insert into schedule middle; When the task to be inserted If the insertion conditions are not met, the neighborhood perturbation fails and the individuals in the parent population are Copied to the offspring population.

[0010] In one embodiment, the neighborhood structure includes a neighborhood structure constructed based on a replacement operator, and the individuals of the parent population are replaced by the neighborhood structure constructed based on the replacement operator. Perform disturbance to generate new individuals in the offspring population include: From the unexecuted task set Select the task to be inserted according to the priority ; Calculate the task to be inserted Available time window and scheduling scheme The execution start time of task t The execution start time of task t+1 The time window between ; According to the available time window and scheduling scheme The execution start time of task t The execution start time of task t+1 The time window between Whether the replacement condition is met; the replacement condition is the task to be inserted Available time window and scheduling scheme The execution start time of task t The execution start time of task t+1 The time window between The second intersection Not empty, the second intersection Greater than the task to be inserted Required service time , and the task to be inserted The priority is greater than the scheduling scheme The priority of task t in When the task to be inserted When the replacement condition is met, the task t in the task execution sequence is replaced by the task to be inserted ; When the task to be inserted When the replacement condition is not met, the neighborhood perturbation fails and the individuals in the parent population are replaced. Copied to the offspring population.

[0011] In one embodiment, the neighborhood structure includes a neighborhood structure constructed based on a redistribution operator, and the individuals of the parent population are distributed using the neighborhood structure constructed based on the redistribution operator. Perform disturbance to generate new individuals in the offspring population include: From the unexecuted task set Select the task to be inserted according to the priority ; Calculate the task to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between ; According to the available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between Determine the task to be inserted Whether the reallocation condition is met; the reallocation condition is the task to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between The third intersection of is not empty, the third intersection Greater than the task to be inserted Required service time , task t has another available time window and another available time window The window length is greater than the required service time of task t; When the task to be inserted When the reallocation condition is met, replace task t in the task execution sequence with the task to be inserted , schedule task t to execute in another available time window; When the task to be inserted When the redistribution conditions are not met, the neighborhood perturbation fails and the individuals in the parent population are Copied to the offspring population.

[0012] In one embodiment, the method for calculating the probability of the neighborhood structure being selected includes: in, Represents the probability of the neighborhood structure being selected; It represents the probability of successful disturbance of each neighborhood in the Pareto frontier of the population in the previous stage; It represents the probability of the neighborhood being selected during the population evolution process in the previous stage.

[0013] A relay satellite emergency task rescheduling system, comprising: The model building module is used to build an emergency rescheduling mathematical model with high scheduling task priority and small changes in the initial scheduling plan as the goal, and with resource and task requirements as constraints; An information input module, used to obtain input information of the emergency rescheduling mathematical model; the input information includes an initial scheduling scheme set, an emergency task set and an unexecuted task set; The data processing module is connected to the model building module and the information input module respectively, and is used to obtain the optimal solution of the emergency rescheduling mathematical model based on a multi-objective rescheduling optimization algorithm integrating an adaptive neighborhood structure, and use the optimal solution as the emergency rescheduling plan.

[0014] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method for rescheduling a relay satellite emergency mission described in any one of the above embodiments are implemented.

[0015] A computer program product includes a computer program, wherein when the computer program is executed by a processor, the computer program implements the steps of the method for rescheduling a relay satellite emergency mission described in any one of the above embodiments.

[0016] The above-mentioned method for rescheduling emergency tasks of relay satellites is aimed at emergency task scenarios such as the relay satellite system receiving sudden new relay applications or relay resource failures. Based on the initial scheduling plan, the rescheduling resources, tasks and constraint optimization sets are constructed. Using the emergency rescheduling mathematical model established with the goals of high scheduling task priority and small changes in the initial scheduling plan, a multi-objective optimization emergency rescheduling algorithm is designed, which can quickly realize resource reallocation and plan adjustment, and improve the efficiency of the relay satellite system in handling emergency tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of this specification or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A schematic flow chart of a method for rescheduling a relay satellite emergency mission according to one embodiment of the present application; Figure 2 A schematic diagram of a method flow of a dynamic insertion method according to one embodiment of the present application; Figure 3 This is a schematic diagram of the structure of a system for rescheduling emergency missions of a relay satellite in one embodiment of the present application; Figure 4 A schematic diagram of the system structure of a method for rescheduling a relay satellite emergency mission according to one embodiment of the present application; Figure 5 This is a diagram of the internal structure of a computer device according to one of the embodiments of the present application. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to understand the disclosure of the present invention more thoroughly and comprehensively.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0021] Most of the current cases focus on the routine task scheduling of relay satellite systems under specific ideal conditions. Routine task scheduling is that the satellite control system formulates daily and weekly task scheduling plans based on the daily and weekly routine task scheduling needs. Once the scheduled scheduling begins, the tasks and resources involved in the scheduling will no longer change, and the satellite will work strictly according to the scheduling plan within a scheduling period. However, due to the relay satellite platform itself, changes in the external space environment lead to changes in the state of on-board resources, or changes in user spacecraft requirements lead to changes in the scheduling task queue. Especially in relay satellite systems with laser links, link instability or even link interruption caused by disturbance factors will have a certain impact on the initial scheduling plan, requiring emergency adjustments to the initial plan. Due to the lack of timeliness of the conventional task scheduling algorithm, the efficiency of rolling insertion and rapid rescheduling calculations for relay emergency tasks is not high, and the conventional task scheduling algorithm is difficult to meet the rapid response requirements in emergency task scheduling scenarios.

[0022] The present application provides a method for rescheduling emergency tasks of relay satellites. Aiming at the actual needs of the emergency rescheduling problem of relay satellite systems, an emergency rescheduling algorithm based on an adaptive neighborhood structure and an inheritance mechanism between rolling windows is proposed to achieve resource reallocation.

[0023] In some embodiments, the rescheduling method of the relay satellite emergency task can be executed by the rescheduling system of the relay satellite emergency task. For example, the rescheduling method of the relay satellite emergency task can be stored in the rescheduling system of the relay satellite emergency task in the form of a program or instruction, and the program or instruction can implement the rescheduling method of the relay satellite emergency task when it is executed. The device for implementing the rescheduling method of the relay satellite emergency task disclosed in the present application can be a device with a large amount of computing resources (for example, a computer, a server, cloud computing, etc.), or a device with limited computing resources (for example, hardware circuits such as FPGA chip boards and ASIC chip boards).

[0024] Figure 1 This is a flow chart of a method for rescheduling a relay satellite emergency mission according to one embodiment of the present application. In one embodiment, the method for rescheduling a relay satellite emergency mission may include the following steps S100 to S300.

[0025] Step S100: With the goal of high scheduling task priority and small changes in the initial scheduling plan, and with resource and task requirements as constraints, an emergency rescheduling mathematical model is constructed.

[0026] The situations in which emergency adjustments to the initial scheduling plan are required during the operation of the relay satellite system usually include the following situations. 1. New user needs. In the process of the relay satellite system executing tasks according to the initial scheduling plan, based on the actual relay needs, the user spacecraft may have new tasks to execute. Sometimes these are sudden tasks with high priority. The initial scheduling plan needs to be modified in time to meet the sudden important task needs. 2. Antenna resource failure. The failure of the on-board antenna resource causes the resource to fail for a certain period of time. That is, the tasks scheduled on the antenna resource during this period cannot be executed according to the initial scheduling plan. For this kind of disturbance, these tasks can be reinserted into the rescheduling plan to ensure the scheduling efficiency of the tasks. 3. Link establishment error. Since the divergence angle of the laser beam is 3 to 5 orders of magnitude smaller than the divergence angle of the microwave beam, it is difficult to align the space laser beam, and the link establishment time usually reaches 10 to 10 2Order of magnitude. When formulating the initial scheduling plan, the link establishment and switching time of the laser link become necessary considerations. The average link establishment time is usually selected for scheduling time calculation; in actual applications, the link establishment time will be delayed due to the influence of the space environment, resulting in a large error between the actual scheduling execution time and the planned scheduling execution time, thereby affecting the execution of subsequent tasks. For this disturbance factor, it is necessary to reschedule the subsequent tasks that will be affected as new tasks in the rescheduling plan when adjusting the rescheduling plan. 4. Satellite platform vibration. The vibration of the satellite platform due to various reasons will have a great impact on the satellite laser communication system, which will not only increase the difficulty of the detection and capture process, causing link establishment errors, but also increase the bit error rate of the communication link, and even cause communication interruption in severe cases. The change in satellite attitude caused by satellite vibration will increase the mis-aiming angle of the transmitted beam, thereby affecting the bit error rate of the communication link. In order to ensure that the bit error rate of the intersatellite link remains unchanged when the receiving power decreases, the adaptive bandwidth method is usually adopted. That is, when the vibration disturbance occurs, the information bandwidth is reduced to meet the requirement of constant bit error rate. The reduction in bandwidth causes a delay in task transmission, resulting in a certain delay between the actual execution time of the task and the plan, which affects the execution of subsequent tasks. The affected tasks are usually reinserted into the scheduling plan. Link interruption caused by satellite platform vibration will cause the laser link to be unable to connect for a period of time. The tasks scheduled during this period in the initial plan will not be executed. Reinserting these tasks into the rescheduling plan is the main strategy for dealing with sudden disturbances to meet scheduling goals.

[0027] According to the above modeling analysis, the emergency rescheduling problem of relay satellite missions contains complex constraints, uncertainties, and priority relationships. In this application, by constructing a rescheduling resource, task, and constraint optimization set, with high scheduling task priority and small changes in the initial scheduling plan as the goal, and with resource and task requirements as constraints, a mathematical model for analyzing the emergency rescheduling problem is established. Two optimization goals are designed based on task priority and scheduling plan adjustment range, taking into account the constraints of resources and task requirements such as visible time window, antenna / laser beam resources and mission service time, mission time window, and mission execution, thereby improving the ability of the relay satellite system to cope with dynamic disturbances.

[0028] Step S200: Obtain input information of the emergency rescheduling mathematical model; the input information includes an initial scheduling solution set, an emergency task set, and an unexecuted task set.

[0029] After the emergency rescheduling mathematical model is constructed, when the relay satellite system needs to reschedule the initial scheduling plan according to the emergency task during the execution of the initial scheduling plan, the emergency rescheduling mathematical model can be used to realize the rescheduling of the emergency task of the relay satellite. , Emergency Task Collection and the set of unexecuted tasks The information is used as the input information of the emergency redispatch mathematical model. The user can submit the above input information to the emergency redispatch mathematical model.

[0030] Step S300: Obtain the optimal solution of the emergency rescheduling mathematical model based on a multi-objective rescheduling optimization algorithm integrating an adaptive neighborhood structure, and use the optimal solution as the emergency rescheduling plan.

[0031] By designing a fusion adaptive neighborhood structure, the local search capability is improved. The optimization result inheritance mechanism is used during the solution to accelerate the convergence of the algorithm, ensuring that the output emergency rescheduling plan has better diversity and stability, thereby improving the service capability of the relay satellite system.

[0032] In the embodiments of the present application, various dynamic disturbance problems that occur in the relay satellite system during the execution of the initial scheduling plan can be attributed to a type of emergency task insertion problem under complex constraints. Taking into account the characteristics of microwave / laser hybrid links in relay satellite systems and multi-objective optimization, especially the impact of space environment and satellite platform changes on laser links, a constraint satisfaction model for rescheduling is established. The model is solved using a rescheduling algorithm based on an adaptive neighborhood structure and an inheritance mechanism between rolling windows, which significantly reduces the complexity of rescheduling and improves the timeliness of rescheduling.

[0033] In one embodiment, the relay satellite system scheduling involves multiple relay satellites, multiple types of user spacecraft and multiple data transmission / telemetry / observation tasks, which is an optimization problem with multiple constraints. In the relay satellite emergency mission scenario, the mission information can be represented by a seven-tuple: in, is the priority of task t, is the task type of task t, is the earliest starting time of task t submitted by the user, is the latest end time of task t submitted by the user, The service time for task t, is the set of available resources for task t; is the user spacecraft to which mission t belongs. is a set of task types, ,Task types can include but are not limited to measurement and control, data transmission, ,observation, etc.; For user spacecraft collection, .

[0034] The problem of rescheduling the emergency mission of the relay satellite is actually to reschedule the information of the above seven elements submitted by the user. Therefore, the decision variables of the model can be defined as: , , .in, is the task scheduling identifier. When task t is successfully executed in the available time window j of resource r, ,otherwise ; is the actual execution start time of task t on resource r, is the actual execution end time of task t on resource r.

[0035] In the emergency rescheduling mathematical model constructed in this application, maximizing the scheduling task priority and minimizing the change of the initial scheduling plan are taken as the optimization objectives of the model. Among them, the change of the initial scheduling plan refers to the difference between the emergency scheduling plan generated after the emergency task occurs and the original regular task scheduling plan, which can be expressed as: in, It is the disturbance change between the two schemes. The change may include the sum of the priorities of the deleted tasks and the amount of moved and adjusted tasks. , They are the sum of the priorities of the deleted tasks and the weights of the changes in the amount of moved and adjusted tasks.

[0036] The objective function can be constructed based on the two optimization goals of scheduling task priority and initial scheduling scheme change. And the objective function Objective function is to maximize the sum of the priorities of the scheduled tasks; the objective function The goal is to minimize the change of the initial scheduling plan. That is, based on the above two objective functions, the change of the initial scheduling plan can be minimized while maximizing the sum of the priorities of the scheduled tasks.

[0037] In the embodiment of the present application, the constraints for the emergency rescheduling mathematical model are established based on the resource and task requirements, wherein the resource constraints may include visible time window constraints and resource exclusivity constraints.

[0038] The time period during which the relay satellite and the user spacecraft are physically visible is called the visible time window. The mission execution time must match the visible time window between the user spacecraft and the relay satellite to which it belongs, and the mission must be executed within the visible time window. This leads to the following two constraints: Constraint 1: The start time of the mission cannot be less than the start time of the corresponding user spacecraft visible time window.

[0039] Constraint 2: The end time of the mission cannot be greater than the end time of the corresponding user spacecraft visible time window.

[0040] In the emergency rescheduling problem, a beam, a link, and a channel can only be used by one task at a time, resulting in a resource exclusivity constraint, namely constraint three: Task demand constraints can include task service duration constraints, task time window constraints, and task execution constraints. In the emergency rescheduling problem, when a task is scheduled, the assigned task duration must be equal to the task demand service duration, and constraint four is obtained: Each task has a window in which it can be executed, called the service time window. The execution time of the task should be within the task service time window, which gives the following two constraints.

[0041] Constraint 5: The execution time of a task should be later than the start time of its corresponding service time window.

[0042] Constraint 6: The execution end time of a task should be earlier than the end time of its corresponding service time window.

[0043] In the emergency rescheduling problem, the task performed by the relay satellite can only be selected by one beam and can only be executed in one visible time window, so constraint seven can be obtained: In summary, with the goal of high scheduling task priority and small changes in the initial scheduling plan, and with resource and task requirements as constraints, the emergency rescheduling mathematical model is constructed as follows: in, represents the objective function of maximizing the sum of the priorities of the scheduled tasks; represents the objective function of minimizing the change of the initial scheduling scheme; Represents the set of tasks requested by the user. ; Represents a collection of resources. ,The resources may include multiple intersatellite microwave beams, intersatellite laser beams, satellite-to-ground microwave beams, space cameras, etc.; represents the jth start time of task t on resource r; represents the priority of task t; Represents a task scheduling identifier; , represents the weight of the change; Represents a collection of deleted tasks. ; Indicates the total number of tasks moved.

[0044] represents the period of time that task t is actually executed on resource r, represents the actual execution start time of task t on resource r, Indicates the actual execution end time of task t on resource r; represents the jth visible time window of task t and resource r, represents the start time of the jth visible time window between task t and resource r, represents the end time of the jth visible time window between task t and resource r; Represents the set of visible time windows corresponding to resource r of task t; It indicates the alignment time of resources before task execution; Indicates the reset time of resources after task execution; represents the actual execution time of task t on resource r; represents the required service time of task t; represents the service time window of task t submitted by the user, represents the earliest starting time of task t submitted by the user, Indicates the latest end time of task t submitted by the user; represents the j-th available time window of task t (the intersection of the visible time window and the service time window), represents the start time of the jth available time window of task t, represents the end time of the j-th available time window of task t.

[0045] In one embodiment, obtaining the optimal solution of the emergency rescheduling mathematical model based on a multi-objective rescheduling optimization algorithm integrating an adaptive neighborhood structure, and using the optimal solution as an emergency rescheduling scheme may include the following steps S310 to S370. The model is solved by designing an emergency rescheduling algorithm, that is, approaching the optimal solution of the two optimization objectives while satisfying the constraints.

[0046] Step S310: setting model parameters of the emergency rescheduling mathematical model; the model parameters include the population size I and the number of cycles N.

[0047] Step S320: setting different driving modes for different input information.

[0048] In a specific implementation, a periodic scheduling model may be used for the initial scheduling scheme, and an event-driven model may be used for the emergency task.

[0049] Step S330: Divide the input information into rolling windows based on the driving mode; the rolling windows include a waiting window, a scheduling window and a scheduling completion window.

[0050] In view of the relay satellite scheduling scenario where emergency tasks are constantly generated, this application designs an emergency rescheduling mode for the relay satellite system based on a rolling time domain strategy. Since dynamic disturbance factors are unpredictable, optimization needs to be carried out continuously. The rolling scheduling window is divided by a rolling time domain strategy to simplify the complex emergency rescheduling optimization problem. Each optimization is only for the tasks and scheduling plans within the current scheduling window. As the scheduling time moves forward, emergency tasks are continuously added, the rolling window is continuously updated, and the scheduling plan is continuously optimized, thereby adapting to changes in the state of the relay satellite system and meeting emergency rescheduling needs.

[0051] The rolling window is the core idea of ​​the rolling time domain strategy. In order to realize emergency rescheduling based on the rolling time domain strategy, it is necessary to define the waiting window, scheduling window and scheduling completion window. The waiting window is used to store tasks to be executed, the scheduling window is used to store tasks that are being optimized, and the scheduling completion window is used to store tasks that have completed scheduling. At the beginning of each rolling scheduling optimization, all emergency tasks in the current scheduling window are saved in the waiting window, and then the resources are matched for the arriving tasks according to the order in which the tasks arrive. If the resources can meet the task requirements, the task is transferred to the scheduling window. After the task scheduling is completed, it is transferred to the scheduling completion window until all emergency tasks are processed, and finally the scheduling scheme is optimized.

[0052] As more tasks fall into the rolling window, the time complexity of the algorithm will increase accordingly. Therefore, it is necessary to select a driving mode for the rolling window. When the triggering conditions are met, the optimal scheduling of emergency tasks within this rolling window will begin.

[0053] The window driving mode of the rolling time domain strategy can be divided into periodic, event-based and hybrid types. The choice of driving mode depends on many factors, which directly affect the division of the rolling window and the optimization effect of the algorithm within the window. In the event-driven mode, when sudden factors occur in the relay satellite system, resulting in the generation of emergency tasks, the generated emergency tasks are immediately scheduled to help the relay effectively respond to various sudden disturbances; in the periodic scheduling model, it is necessary to divide the scheduling cycle according to the business process, timeliness requirements or the number of arriving tasks, control the scheduling frequency, and thus reduce computing consumption.

[0054] The method for rescheduling emergency tasks of relay satellites provided in this application adopts a hybrid driving mode, which adopts a periodic scheduling model for ordinary initial scheduling tasks and an event-driven mode for emergency sudden tasks. The hybrid driving mode combines the advantages of the periodic and event-driven modes, which can not only improve the stability of the emergency rescheduling mode, but also improve the system's ability to cope with sudden disturbances. The emergency rescheduling application mode of the relay satellite system based on the rolling time domain strategy can convert complex emergency rescheduling problems into multiple sub-problems, and execute emergency tasks step by step according to the order of arrival, thereby improving the ability of the relay satellite system to cope with dynamic disturbances.

[0055] Step S340: Use the dynamic insertion method to insert all emergency tasks in the current scroll window Insert the initial schedule set All schedules in , update the scheduling plan Generate an initial solution.

[0056] Generate an initial scheduling plan (the initial scheduling plan for the first rolling window) according to the population size I set in step S310. Input the initial scheduling plan set for the current window (I is the population size, n is the number of iterations, and the initial scheduling plan is ), for each scheduling scheme ( ) All tasks in the current scroll window ( ) Use dynamic insertion method to insert, generate the initial solution of multi-objective optimization, and update the scheduling plan .

[0057] Step S350: Repeat the optimization iteration step for the initial solution until the number of iterations n of the optimization iteration step is equal to the number of loops N, and output the window optimization solution for the current rolling window. And record the number of successful perturbations of each individual neighborhood in the Pareto front.

[0058] Repeat the optimization iteration steps for scheduling the initial solution with high priority and small changes in the initial scheduling plan until the number of iterations n is equal to the number of loops N, and output the window optimization plan for the current rolling window And record the number of successful perturbations of each individual neighborhood in the Pareto front.

[0059] Step S360: Update the probability of the neighborhood structure being selected.

[0060] Different neighborhood structures have different optimization capabilities at different optimization stages. This application adopts an adaptive neighborhood structure selection mechanism. During the iteration process, the probability of different neighborhood structures being selected will change according to the development of the population, thereby improving the algorithm optimization performance. It indicates the probability of different neighborhood structures being selected during population evolution. The probability is equal in the initial stage. After one iteration of optimization, the probability is updated according to the calculation method of the probability of the neighborhood structure being selected. After different neighborhood structures are counted and normalized separately, the probability of neighborhood selection in the next stage can be obtained.

[0061] In one embodiment, the method for calculating the probability of a neighborhood structure being selected may include: in, Represents the probability of the neighborhood structure being selected; It represents the probability of successful disturbance of each neighborhood in the Pareto frontier of the population in the previous stage; It represents the probability of the neighborhood being selected in the population evolution process in the previous stage. Among them, k can be a variable related to the number of neighborhood structures. For example, when three different neighborhood structures are used to perturb the population respectively, the value of k can be 1, 2, and 3. They can respectively represent the probability of the three neighborhood structures being selected during the population evolution process.

[0062] Step S370: Optimize the window of the current rolling window The optimization scheme is inherited to the next rolling window until the window optimization schemes of all rolling windows are obtained, and the window optimization schemes of all rolling windows are output as emergency rescheduling schemes.

[0063] The emergency rescheduling process of the relay satellite system based on the rolling time domain strategy can be: after the user inputs the initial scheduling plan set and the emergency task set of the current relay satellite system, a periodic scheduling model is set for the initial scheduling plan set and an event-type driving mode is set for the emergency task set. The input information is divided into a waiting window, a scheduling window and a scheduling completion window based on the driving mode. All emergency tasks in the current rolling window are inserted into all scheduling plans in the initial scheduling plan set using a dynamic insertion method to generate an initial solution for multi-objective optimization, and the initial solution of the current rolling window is optimized iteratively with high scheduling task priority and small changes in the initial scheduling plan. After completing N optimization iterations on the initial solution of the current rolling window, the window optimization plan for the current rolling window is output. (Pareto solution). The Pareto solution obtained by optimizing the current rolling window is used as part of the initial solution of the next rolling window scheduling problem, and all emergency tasks of the next rolling window are inserted into all scheduling schemes in the initial scheduling scheme set using the dynamic insertion method to generate the initial solution of the next rolling window. The initial solution of the next rolling window is optimized iteratively with high scheduling task priority and small changes in the initial scheduling scheme. After completing N optimization iterations of the initial solution of the next rolling window, the window optimization scheme of the next rolling window is output. (Pareto solution). Repeat steps S340 to S370 until the initial solution generation for all windows and the iterative optimization of the initial solution are completed, and the window optimization solutions for all windows are obtained. Integrate into an emergency re-dispatch plan and output it.

[0064] In the process of solving the emergency rescheduling problem of the relay satellite system by using the rolling time domain strategy, the above-mentioned rescheduling method fully considers the characteristics of the emergency rescheduling problem of the relay satellite, divides the rolling window, performs emergency task insertion and emergency rescheduling scheme optimization in each rolling window, and improves the algorithm performance by using the inheritance mechanism between rolling windows. Taking into account the continuous relationship between rolling windows in the entire emergency rescheduling process, a knowledge inheritance mechanism between windows is designed in the embodiment of the present application, and the Pareto solution optimized in the previous scheduling window is used as part of the initial solution of the scheduling problem of the next scheduling window. Since this partial solution inherits the excellent performance of the final solution of the previous scheduling window, as the algorithm iterates, it has a higher probability of producing better offspring, so the obtained Pareto frontier will have better diversity and stability, which can effectively improve the quality of the initial scheduling scheme of the next scheduling window and enhance the algorithm optimization effect.

[0065] In one embodiment, the optimization iteration step may include the following steps S410 to S450.

[0066] Step S410: For each individual in the initial solution Perform fitness calculation and non-dominated sorting.

[0067] Fitness calculation refers to evaluating the performance of each individual based on the objective function value. Non-dominated sorting is used to stratify individuals in the population according to their superiority and inferiority relationships, thereby determining the non-dominated level of each individual. Based on the results of non-dominated sorting, a fitness value is assigned to each individual. Generally, the lower the non-dominated level (i.e., the closer to the first layer), the higher the fitness.

[0068] Step S420: Select individuals using the tournament selection method Execute task t.

[0069] The core idea of ​​the tournament selection method is to randomly select a group of individuals to "compete" and then select the best performing individual as the winner. This process can be repeated multiple times to select multiple individuals. Perform different tasks t. By simulating the competition mechanism, it is possible to select individuals with excellent performance while maintaining the diversity of the population.

[0070] Step S430: Use the roulette mechanism to select the neighborhood structure for the individuals of the parent population Perform disturbance to generate new individuals in the offspring population .

[0071] Roulette Wheel Selection is a selection method based on fitness ratio. The core idea is to select each individual The fitness value of an individual determines its probability of being selected. The higher the fitness of an individual, the greater the probability of being selected; vice versa. The neighborhood structure defines how to locally perturb or mutate an individual. In this application, by designing different neighborhood structures, different types of perturbation effects can be generated based on different neighborhood structures. Using the roulette wheel selection mechanism to select individuals from the parent population , according to the pre-defined neighborhood structure and its weight, a roulette wheel selection mechanism is used to select a neighborhood structure for individual Perform disturbance to generate new individuals in the offspring population .

[0072] Step S440: Merge the parent and child populations, and generate the next generation parent population through fast non-dominated sorting and crowding calculation .

[0073] The current parent population and the newly generated child population are merged into a temporary population. The merged population is stratified using fast non-dominated sorting. Each layer contains a set of non-dominated solutions (i.e., Pareto frontier). The crowding distance of each individual is calculated to ensure that the diversity of the population is maintained within the same non-dominated layer. The larger the crowding distance of each individual, the larger the space around the individual, which helps to maintain the uniformity of the population distribution. The next generation parent population is selected from the temporary population based on the non-dominated hierarchy and crowding distance calculation results. By merging the parent and child populations, fast non-dominated sorting, and crowding calculation to generate a new generation of parent populations, it can be ensured that the algorithm can quickly converge to the Pareto optimal frontier while maintaining the diversity of the population.

[0074] Step S450: Update the probability of the neighborhood structure being selected.

[0075] After the initial solution is generated, the fitness and non-dominated sorting are performed on each individual, and then the individual is selected to perform the task. The roulette mechanism is used to select the neighborhood structure to perturb the individual to generate the next generation. Finally, the parent and child populations are merged, and the next generation parent population is generated through fast non-dominated sorting and crowding calculation, and the neighborhood structure selection probability is updated. After the number of iterations is met, the optimization solution of the current rolling window is output, and the optimization result of the current window is inherited to the next rolling window.

[0076] In view of the above-mentioned emergency rescheduling mode of the relay satellite system with the rolling time domain strategy, this application designs a multi-objective rescheduling optimization algorithm that integrates the adaptive neighborhood structure. The algorithm designs a variety of neighborhood search strategies to perturb individuals to generate new individuals. After the parent and child generations are merged, the individuals are selected using non-dominated sorting and congestion calculation. Through continuous iterative optimization, the scheduling scheme can be adjusted in a timely manner to adapt to the dynamic changes of the relay satellite system.

[0077] In view of the scheduling characteristics and optimization objectives of the relay satellite system, the rescheduling method of the relay satellite emergency task provided by this application also designs three different emergency task dynamic insertion methods to generate the initial solution in the multi-objective optimization process to ensure timely response to dynamic disturbances. In the process of generating the initial solution, the following dynamic insertion method can be called to insert the emergency task into the scheduling plan.

[0078] Figure 2 This is a flow chart of a dynamic insertion method in one embodiment of the present application. In one embodiment, the dynamic insertion method is used to insert all emergency tasks in the current scroll window. Insert the initial schedule set All schedules in , update the scheduling plan Generating an initial solution may include the following steps S341 to S345.

[0079] Step S341: When there is no conflict between the execution time gap of the initial task and the scheduling time of the emergency task, all the emergency tasks in the current rolling window are inserted into the initial scheduling plan using a direct insertion method.

[0080] Before inserting the emergency task scheduling, it is possible to determine whether the initial task execution time gap conflicts with the emergency task scheduling time. If not, the emergency task is scheduled to be executed during the resource idle time. When inserting, a tight-before strategy is adopted, and the emergency task is scheduled to be executed immediately after the previous task is completed and the beam resources are reset and aligned. If there are multiple resource idle times for the emergency task to be inserted in the scheduling sequence, the gap with shorter idle time is selected to insert the emergency task.

[0081] Step S343: When there is a conflict between the scheduling time of the initial task and the scheduling time of the emergency task, and the emergency task scheduling is satisfied through time adjustment, all emergency tasks in the current rolling window are inserted into the initial scheduling plan using an indirect insertion method.

[0082] When it is determined that there is a certain conflict between the scheduling time of the initial task and the schedulable time of the emergency task, but the emergency task scheduling can be met through time adjustment, in order to insert the emergency task into the task execution sequence, it is necessary to adjust the execution time of the initial task while meeting the task execution time constraint and not affecting the execution of the next task. The time adjustment range needs to meet the emergency task execution time requirements and the beam resource alignment and reset time requirements. After the adjustment, if there is no conflict between the emergency task execution time and the initial task execution time, the task insertion is successful. If there are multiple positions in the scheduling sequence, it is determined that the operating conditions of the indirect insertion method are met, and the position with a shorter initial task adjustment time is selected to insert the emergency task.

[0083] Step S345: When the execution time of the scheduled task conflicts with the emergency task scheduling time, and the emergency task scheduling cannot be satisfied by time adjustment, all emergency tasks in the current rolling window are inserted into the initial scheduling plan by using the task replacement method.

[0084] When the execution time of the scheduled task conflicts with the schedulable time of the emergency task, and the emergency task scheduling may not be satisfied by time adjustment. In this case, the task in the scheduled sequence is deleted and the emergency task is inserted into the scheduling sequence. If there are multiple optional replacement tasks within the schedulable time of the emergency task, the scheduled task with the longest execution time is selected for deletion, and the emergency task is inserted using the preceding strategy. The task replacement method only affects the execution of a single task in the task scheduling sequence, and the initial scheduling plan is slightly changed.

[0085] This application proposes a relay satellite emergency rescheduling mode based on a rolling time domain, and proposes a hybrid event-driven rolling time domain strategy based on the characteristics of emergency tasks. By dividing the rolling time window, the complex relay satellite emergency rescheduling problem is decomposed into multiple scheduling sub-problems, and a multi-objective optimization algorithm is embedded in each window, so that each initial scheduling sub-plan meets the multi-objective requirements. At the same time, based on the characteristics of emergency tasks, three scheduling strategies are designed for fast processing and saving computing resources on the premise of meeting the scheduling constraints. The emergency tasks that fall into the rolling window are inserted into the scheduling plan to meet the rapid response requirements of emergency tasks and improve the efficiency of the system in handling emergency tasks.

[0086] Taking into account that population diversity will affect the optimization performance of the multi-objective optimization algorithm, the rescheduling method for the relay satellite emergency task provided in the present application also designs three different neighborhood structures based on the problem feature knowledge. In step S430, the roulette mechanism can be used to select one of the three different neighborhood structures to disturb the population to enrich the diversity of the population.

[0087] In one embodiment, the neighborhood structure may include a neighborhood structure constructed based on an insertion operator, and the individuals of the parent population are Perform disturbance to generate new individuals in the offspring population The following steps S510 to S550 may be included.

[0088] Step S510: Task set never executed Select the task to be inserted according to the priority .

[0089] The goal of the insertion operator is to add tasks that are not in the emergency rescheduling plan to the scheduling plan, thereby maximizing the priority of the scheduled tasks. Select the task to be inserted according to the priority of the task .

[0090] Step S520: Calculate tasks to be inserted Available time window and scheduling scheme The task execution interval in .

[0091] Calculate the tasks to be inserted Available time window and scheduling scheme The task execution time interval of task t ,in, . is the resource r for the task to be inserted Available start time, is the resource r for the task to be inserted The available end time. is the end time of task t executing on resource r, is the start time of task t+1 executing on resource r.

[0092] Step S530: According to the available time window and task execution interval Determine the tasks to be inserted Whether the insertion condition is met; the insertion condition is the available time window of the task to be inserted and scheduling scheme The task execution interval in The first intersection between Not empty, and the first intersection Greater than the task to be inserted Required service time .

[0093] Determine the tasks to be inserted Whether the insertion condition is met. Specifically, the insertion condition can be the available time window of the task to be inserted. and scheduling scheme The task execution interval in The first intersection between Not empty, and the first intersection Greater than the task to be inserted Required service time That is, judge Is it true?

[0094] Step S540: When the task to be inserted When the insertion conditions are met, the task to be inserted Insert into schedule middle.

[0095] when When the task to be inserted is determined If the insertion conditions are met, the task to be inserted can be Insert into schedule middle.

[0096] Step S550: When the task to be inserted When the insertion condition is not met, the neighborhood perturbation fails and the individuals in the parent population are Copied to the offspring population.

[0097] when When the task to be inserted is determined If the insertion condition is not met, the neighborhood perturbation fails and the individuals in the parent population are not populated. Make adjustments and directly add individuals in the parent population Copied to the offspring population.

[0098] In one embodiment, the neighborhood structure may also include a neighborhood structure constructed based on a replacement operator, and the individuals of the parent population are replaced by the neighborhood structure constructed based on the replacement operator. Perform disturbance to generate new individuals in the offspring population The following steps S610 to S650 may be included.

[0099] Step S610: Task set never executed Select the task to be inserted according to the priority .

[0100] Based on the objective function of multi-objective optimization, considering the task priority and task adjustment degree, setting the replacement operator can achieve reasonable allocation of resources and improve the fitness of individuals. Select the task to be inserted according to the priority .

[0101] Step S620: Calculate tasks to be inserted Available time window and scheduling scheme The execution start time of task t The time window between the execution start time of task t+1 .

[0102] Calculate the tasks to be inserted Available time window and scheduling scheme The execution start time of task t on resource r The time window between the execution start time of task t+1 on resource r ,in, .

[0103] Step S630: According to the available time window and scheduling scheme The execution start time of task t The time window between the execution start time of task t+1 Determine the tasks to be inserted Whether the replacement condition is met; the replacement condition is the task to be inserted Available time window and scheduling scheme The execution start time of task t The time window between the execution start time of task t+1 The second intersection between Not empty, second intersection Greater than the task to be inserted Required service time , and wait for the task to be inserted The priority is greater than the scheduling scheme Medium Task priority.

[0104] Determine the tasks to be inserted Whether the replacement condition is met. Specifically, the replacement condition can be the task to be inserted Available time window and scheduling scheme The execution start time of task t The time window between the execution start time of task t+1 The second intersection between Not empty, second intersection Greater than the task to be inserted Required service time , and wait for the task to be inserted The priority is greater than the scheduling scheme The priority of task t in . That is, judge and Is it true?

[0105] Step S640: When the task to be inserted When the replacement condition is met, replace task t in the task execution sequence with the task to be inserted .

[0106] when and When the task to be inserted is determined If the replacement conditions are met, task t in the task execution sequence can be replaced by the task to be inserted .

[0107] Step S650: When the task to be inserted When the replacement condition is not met, the neighborhood perturbation fails and the individuals in the parent population are Copied to the offspring population.

[0108] when or When the task to be inserted is determined If the replacement condition is not met, the neighborhood perturbation fails and the individuals in the parent population are not replaced. Make adjustments and directly add individuals in the parent population Copied to the offspring population.

[0109] In one embodiment, the neighborhood structure may also include a neighborhood structure constructed based on a redistribution operator, and the individuals of the parent population are distributed using the neighborhood structure constructed based on the redistribution operator. Perform disturbance to generate new individuals in the offspring population The following steps S710 to S750 may be included.

[0110] Step S710: Task set never executed Select the task to be inserted according to the priority .

[0111] In order to increase the diversity of the population, individual resources are rearranged. Considering that there may be multiple available time windows for tasks and resources, a reallocation operator can be set. The order of task execution is adjusted, and unscheduled tasks are arranged in their original positions.

[0112] Step S720: Calculate tasks to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between .

[0113] Calculate the tasks to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between .in, .

[0114] Step S730: According to the available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between Determine the tasks to be inserted Whether the reallocation conditions are met; the reallocation conditions are the tasks to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between The third intersection between Not empty, third intersection Greater than the task to be inserted Required service time , task t has another available time window and another available time window The window length is greater than the required service time of task t.

[0115] Determine the tasks to be inserted Whether the reallocation conditions are met. Specifically, the reallocation conditions can be the task to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between The third intersection between Not empty, third intersection Greater than the task to be inserted Required service time , task t has another available time window and another available time window The window length is greater than the required service time of task t.

[0116] That is, first determine Is it established? At the same time, when When task t and resource r are available, check the available time window to determine whether there is another available time window for task t. , if there is another available time window for task t , then determine another available time window for task t Is the window length greater than .

[0117] Step S740: When the task to be inserted When the redistribution conditions are met, the tasks in the task execution sequence are Replace with the task to be inserted , schedule task t to execute in another available time window.

[0118] when , Task t has another available time window And another available time window for task t Window length> When the task to be inserted is determined If the redistribution conditions are met, t in the task execution sequence can be replaced by , task t can be adjusted to another available time window for execution.

[0119] Step S750: When the task to be inserted When the redistribution condition is not met, the neighborhood perturbation fails and the individuals in the parent population are Copied to the offspring population.

[0120] when Or there is no other available time window for task t , or another available time window for task t The window length When the task to be inserted is determined If the redistribution condition is not met, the neighborhood perturbation fails and no individuals in the parent population are affected. Make adjustments and directly add individuals in the parent population Copied to the offspring population.

[0121] This application designs a fast rescheduling algorithm for emergency tasks of relay satellites, and improves the local search capability by integrating adaptive neighborhood structure. At the same time, a balance between local search and global search is achieved by designing three different neighborhood structures: insertion operator, replacement operator and resource reallocation operator. In addition, by utilizing the optimization result inheritance mechanism, the Pareto frontier of the previous window is inherited as the initial solution to the next window, which accelerates the convergence speed of the algorithm. The Pareto frontier obtained by the inheritance mechanism between rolling windows has better diversity and stability, which improves the service capability of the relay satellite system.

[0122] It should be understood that, although the steps in the flowcharts of the accompanying drawings of the specification are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts of the accompanying drawings of the specification may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0123] Based on the description of the above-mentioned relay satellite emergency task rescheduling method embodiment, the present disclosure also provides a relay satellite emergency task rescheduling system. The system may include a system (including a distributed system), software (application), module, component, server, client, etc. that uses the method described in the embodiment of this specification and is combined with a device for implementing necessary hardware. Based on the same innovative concept, the system in one or more embodiments provided by the embodiment of the present disclosure is as described in the following embodiments. Since the implementation scheme and method for solving the problem of the system are similar, the implementation of the specific system of the embodiment of this specification can refer to the implementation of the aforementioned method, and the repetitions will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements predetermined functions. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0124] The present application also provides a system for rescheduling emergency missions of relay satellites. Figure 3 This is a structural diagram of a relay satellite emergency mission rescheduling system according to one of the embodiments of the present application. In one of the embodiments, the relay satellite emergency mission rescheduling system may include a model building module 100, an information input module 200 and a data processing module 300.

[0125] The model building module 100 can be used to build an emergency rescheduling mathematical model with high scheduling task priority and small changes in the initial scheduling plan as the goals, and with resources and task requirements as constraints.

[0126] The information input module 200 can be used to obtain input information of the emergency rescheduling mathematical model; the input information includes an initial scheduling solution set, an emergency task set and an unexecuted task set.

[0127] The data processing module 300 can be connected to the model building module and the information input module respectively. The data processing module 300 can be used to obtain the optimal solution of the emergency rescheduling mathematical model based on a multi-objective rescheduling optimization algorithm that integrates an adaptive neighborhood structure, and use the optimal solution as an emergency rescheduling plan.

[0128] After the information input module 200 obtains the initial scheduling scheme set and the emergency task set of the current relay satellite system, the data processing module 300 can also set different driving modes for different input information. Specifically, a periodic scheduling model is adopted for the initial scheduling scheme, and an event-type driving mode is adopted for the emergency task. The data processing module 300 can divide the rolling window into a waiting window, a scheduling window and a scheduling completion window based on the driving mode, insert the emergency task in each window to generate the initial solution of multi-objective optimization, and optimize the scheduling scheme with high scheduling task priority and small changes in the initial scheduling scheme. At the same time, the Pareto solution obtained by optimizing the current window is used as part of the initial solution of the scheduling problem of the next scheduling window, and finally the data processing module 300 can output the emergency rescheduling plan.

[0129] The above-mentioned relay satellite emergency task rescheduling system can construct a rescheduling resource, task and constraint optimization set based on the initial scheduling plan for emergency task scenarios such as the relay satellite system receiving sudden new relay applications or relay resource failure. By using the emergency rescheduling mathematical model established with the goal of high scheduling task priority and small changes in the initial scheduling plan, integrating the adaptive neighborhood structure and the inheritance mechanism between rolling windows, a multi-objective optimization emergency rescheduling algorithm is designed, which can quickly realize resource reallocation and plan adjustment, and improve the efficiency of the relay satellite system in handling emergency tasks.

[0130] It is understandable that the various embodiments of the above methods, systems, etc. in this specification are described in a progressive manner, and the same / similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For related parts, refer to the description of other method embodiments.

[0131] Figure 4 This is a schematic diagram of the system structure of a method for rescheduling a relay satellite emergency mission according to one embodiment of the present application. Figure 4 The relay satellite emergency task rescheduling system S00 may include a processing component S20, which further includes one or more processors, and a memory resource represented by a memory S22, for storing instructions executable by the processing component S20, such as an application. The application stored in the memory S22 may include one or more instructions, and each module corresponds to a set of instructions. In addition, the processing component S20 is configured to execute instructions to perform the above-mentioned relay satellite emergency task rescheduling method.

[0132] The relay satellite emergency mission rescheduling system S00 may further include: a power supply component S24 configured to perform power management of the relay satellite emergency mission rescheduling system S00, a wired or wireless network interface S26 configured to connect the relay satellite emergency mission rescheduling system S00 to a network, and an input / output (I / O) interface S28. The relay satellite emergency mission rescheduling system S00 may operate based on an operating system stored in the memory S22, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD or the like.

[0133] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory S22 including instructions, and the above instructions can be executed by a processor of the relay satellite emergency task rescheduling system S00 to complete the above method. The storage medium can be a computer-readable storage medium, for example, the computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0134] In an exemplary embodiment, a computer program product is further provided. The computer program product includes instructions. The instructions can be executed by a processor of the relay satellite emergency mission rescheduling system S00 to complete the above method.

[0135] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, Figure 5 This is an internal structural diagram of a computer device of one embodiment of the present application. The computer device includes a processor, a memory and a network interface connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data related to users and tasks used in the above-mentioned method for rescheduling the emergency mission of the relay satellite. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for rescheduling the emergency mission of the relay satellite is implemented.

[0136] Those skilled in the art will understand that Figure 5The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0137] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0138] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the hardware + program embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0139] It should be noted that the above-mentioned devices, electronic devices, servers, etc. may also include other implementation methods according to the description of the method embodiments, and the specific implementation methods may refer to the description of the relevant method embodiments. At the same time, the new embodiments composed of the mutual combination of the features between the various methods and device, equipment, and server embodiments still fall within the scope of implementation covered by the present disclosure, and will not be described one by one here.

[0140] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0141] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for rescheduling a relay satellite emergency mission, characterized in that: include: With the goal of high scheduling task priority and small changes in the initial scheduling plan, and with resource and task requirements as constraints, a mathematical model for emergency rescheduling is constructed; Obtaining input information of the emergency rescheduling mathematical model; the input information includes an initial scheduling scheme set, an emergency task set, and an unexecuted task set; The optimal solution of the emergency rescheduling mathematical model is obtained based on a multi-objective rescheduling optimization algorithm that integrates an adaptive neighborhood structure, and the optimal solution is used as the emergency rescheduling plan.

2. The method for rescheduling a relay satellite emergency mission according to claim 1, characterized in that: The emergency rescheduling mathematical model is constructed with the goal of high scheduling task priority and small changes in the initial scheduling plan, and with resources and task requirements as constraints, including: in, represents the objective function of maximizing the sum of the priorities of the scheduled tasks; represents the objective function of minimizing the change of the initial scheduling scheme; Represents the set of tasks requested by the user. ; Represents a collection of resources. ; represents the jth start time of task t on resource r; represents the priority of task t; Represents a task scheduling identifier; , represents the weight of the change; Represents a collection of deleted tasks. ; Indicates the total amount of tasks moved; The constraints of the emergency rescheduling mathematical model are: in, represents the period of time that task t is actually executed on resource r, represents the actual execution start time of task t on resource r, Indicates the actual execution end time of task t on resource r; represents the jth visible time window of task t and resource r, represents the start time of the jth visible time window between task t and resource r, represents the end time of the jth visible time window between task t and resource r; Represents the set of visible time windows corresponding to resource r of task t; It indicates the alignment time of resources before task execution; Indicates the reset time of resources after task execution; represents the actual execution time of task t on resource r; represents the required service time of task t; represents the service time window of task t submitted by the user, represents the earliest starting time of task t, Indicates the latest end time of task t; represents the jth available time window of task t in resource r, represents the starting time of task t in the jth available time window of resource r, It represents the end time of task t in the jth available time window of resource r.

3. The method for rescheduling a relay satellite emergency mission according to claim 1 or 2, characterized in that: The multi-objective rescheduling optimization algorithm based on the fusion adaptive neighborhood structure obtains the optimal solution of the emergency rescheduling mathematical model, and uses the optimal solution as the emergency rescheduling solution, including: Setting model parameters of the emergency rescheduling mathematical model; the model parameters include the population size I and the number of cycles N; Setting different driving modes for different input information; Dividing the input information into rolling windows based on the driving mode; the rolling windows include a waiting window, a scheduling window and a scheduling completion window; Use the dynamic insertion method to insert all emergency tasks in the current scroll window Insert the initial scheduling solution set All schedules in , update the scheduling plan Generate an initial solution; Repeat the optimization iteration step for the initial solution until the number of iterations n of the optimization iteration step is equal to the number of loops N, and output the window optimization solution for the current rolling window And record the number of successful perturbations of each individual neighborhood in the Pareto frontier; Update the probability of the neighborhood structure being selected; The window optimization scheme for the current scroll window The window optimization schemes are inherited to the next rolling window until the window optimization schemes of all rolling windows are obtained, and the window optimization schemes of all rolling windows are output as the emergency rescheduling scheme.

4. The method for rescheduling a relay satellite emergency mission according to claim 3, characterized in that: The optimization iteration step comprises: For each individual in the initial solution Perform fitness calculation and non-dominated sorting; Selecting individuals using tournament selection Execute task t; Using roulette wheel mechanism to select neighborhood structure for individuals in parent population Perform disturbance to generate new individuals in the offspring population ; Merge the parent and child populations and generate the next generation parent population through fast non-dominated sorting and crowding calculation ; Update the probability of the neighborhood structure being selected.

5. The method for rescheduling a relay satellite emergency mission according to claim 3, characterized in that: The dynamic insertion method is used to insert all emergency tasks in the current scroll window Insert the initial scheduling solution set All schedules in , update the scheduling plan Generating an initial solution includes: When there is no conflict between the execution time gap of the initial task and the scheduling time of the emergency task, all the emergency tasks in the current rolling window are inserted into the initial scheduling plan by using a direct insertion method; When the scheduling time of the initial task conflicts with the scheduling time of the emergency task, and the emergency task scheduling is satisfied by time adjustment, all the emergency tasks in the current rolling window are inserted into the initial scheduling plan by an indirect insertion method; When the execution time of the scheduled task conflicts with the emergency task scheduling time, and the emergency task scheduling cannot be satisfied by time adjustment, a replacement task method is used to insert all emergency tasks in the current rolling window into the initial scheduling scheme.

6. The method for rescheduling a relay satellite emergency mission according to claim 4, characterized in that: The neighborhood structure includes a neighborhood structure constructed based on an insertion operator, and the individuals of the parent population are Perform disturbance to generate new individuals in the offspring population include: From the unexecuted task set Select the task to be inserted according to the priority ; Calculate the task to be inserted Available time window and scheduling scheme The task execution interval in ; According to the available time window and task execution interval Determine the task to be inserted Whether the insertion condition is met; the insertion condition is the available time window of the task to be inserted and scheduling scheme The task execution interval in The first intersection is not empty, and the first intersection Greater than the task to be inserted Required service time ; When the task to be inserted When the insertion condition is met, the task to be inserted Insert into schedule middle; When the task to be inserted If the insertion conditions are not met, the neighborhood perturbation fails and the individuals in the parent population are Copied to the offspring population.

7. The method for rescheduling a relay satellite emergency mission according to claim 4, characterized in that: The neighborhood structure includes a neighborhood structure constructed based on a replacement operator, and the individuals of the parent population are replaced by the neighborhood structure constructed based on the replacement operator. Perform disturbance to generate new individuals in the offspring population include: From the unexecuted task set Select the task to be inserted according to the priority ; Calculate the task to be inserted Available time window and scheduling scheme The execution start time of task t The execution start time of task t+1 The time window between ; According to the available time window and scheduling scheme The execution start time of task t The execution start time of task t+1 The time window between Whether the replacement condition is met; the replacement condition is the task to be inserted Available time window and scheduling scheme The execution start time of task t The execution start time of task t+1 The time window between The second intersection Not empty, the second intersection Greater than the task to be inserted Required service time , and the task to be inserted The priority is greater than the scheduling scheme The priority of task t in; When the task to be inserted When the replacement condition is met, the task t in the task execution sequence is replaced by the task to be inserted ; When the task to be inserted When the replacement condition is not met, the neighborhood perturbation fails and the individuals in the parent population are replaced. Copied to the offspring population.

8. The method for rescheduling a relay satellite emergency mission according to claim 4, characterized in that: The neighborhood structure includes a neighborhood structure constructed based on a redistribution operator, and the individuals of the parent population are distributed using the neighborhood structure constructed based on the redistribution operator. Perform disturbance to generate new individuals in the offspring population include: From the unexecuted task set Select the task to be inserted according to the priority ; Calculate the task to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between ; According to the available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between Determine the task to be inserted Whether the reallocation condition is met; the reallocation condition is the task to be inserted Available time window and scheduling scheme The execution end time of task t-1 in The execution start time of task t+1 The time window between The third intersection of is not empty, the third intersection Greater than the task to be inserted Required service time , task t has another available time window and another available time window The window length is greater than the required service time of task t; When the task to be inserted When the reallocation condition is met, replace task t in the task execution sequence with the task to be inserted , schedule task t to execute in another available time window; When the task to be inserted When the redistribution conditions are not met, the neighborhood perturbation fails and the individuals in the parent population are Copied to the offspring population.

9. The method for rescheduling a relay satellite emergency mission according to claim 4, characterized in that: The method for calculating the probability of the neighborhood structure being selected includes: in, Represents the probability of the neighborhood structure being selected; It represents the probability of successful disturbance of each neighborhood in the Pareto frontier of the population in the previous stage; It represents the probability of the neighborhood being selected during the population evolution process in the previous stage.

10. A relay satellite emergency task rescheduling system, characterized in that: include: The model building module is used to build an emergency rescheduling mathematical model with high scheduling task priority and small changes in the initial scheduling plan as the goal, and with resource and task requirements as constraints; An information input module, used to obtain input information of the emergency rescheduling mathematical model; the input information includes an initial scheduling scheme set, an emergency task set and an unexecuted task set; The data processing module is connected to the model building module and the information input module respectively, and is used to obtain the optimal solution of the emergency rescheduling mathematical model based on a multi-objective rescheduling optimization algorithm integrating an adaptive neighborhood structure, and use the optimal solution as the emergency rescheduling plan.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for rescheduling the relay satellite emergency mission described in any one of claims 1 to 9 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for rescheduling the relay satellite emergency mission described in any one of claims 1 to 9 are implemented.

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