A progressive local rolling optimization method for autonomous planning of intersatellite collaborative missions

Abstract

A progressive local rolling optimization autonomous planning method for intersatellite collaborative tasks comprises: defining a satellite constraint model according to satellite platform resource constraints and payload working capabilities; receiving an intersatellite collaborative task window indicated by a user, and planning and generating an intersatellite collaborative task; receiving a data transmission task window indicated by a user, and planning and generating a data transmission playback task; receiving a guidance task from an intersatellite link in real time during the intersatellite collaborative task window period, and defining the task as an intersatellite situation task; performing task preprocessing on the intersatellite situation task received within the intersatellite collaborative task; using a greedy algorithm to determine the position of inserting a task into an existing task execution sequence, and generating a new task sequence; performing data transmission task insertion; performing task constraint condition checking, and generating a final task to be executed; and after receiving the new task, performing rolling planning and real-time updating of the task sequence according to the rolling planning frequency.

Description

Technical Field

[0001] The present invention relates to a progressive local rolling optimization inter-satellite collaborative task autonomous planning method, belonging to the technical field of autonomous task planning on satellites. Background Art

[0002] Autonomous planning of intersatellite collaborative missions enables efficient coordination among multiple satellites within a constellation. A satellite can conduct autonomous mission planning in real time based on guidance information transmitted by other satellites, rapidly acquiring a sequence of missions it can execute, and achieving maximum on-orbit flight efficiency. With the rapid development of space constellation technology, the types and requirements of intersatellite collaborative missions are becoming increasingly diverse and sophisticated, posing certain challenges for autonomous mission planning. Once a satellite enters a pre-defined intersatellite collaborative mission area, it automatically enters intersatellite collaborative mission planning mode. The autonomous mission planning system receives intersatellite guidance information distributed in real time by member satellites via intersatellite links. This information is uncertain and diverse. The planning system categorizes and organizes this information into a corresponding situational mission information set. The autonomous mission planning system then integrates this information set with the existing planned mission set to ultimately generate an executable mission output sequence, enabling rapid response for intersatellite collaborative missions. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to overcome the shortcomings of the existing technology, propose a progressive local rolling optimization intersatellite collaborative mission autonomous planning method, use a progressive local rolling planning strategy to deal with the suddenness and uncertainty of situation tasks within the collaborative interval; and quickly obtain the local optimal solution through a greedy algorithm, shorten the task planning processing time, improve the task execution efficiency, and meet the collaborative detection task's demand for high timeliness.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A progressive local rolling optimization autonomous planning method for intersatellite collaborative missions, the steps are as follows:

[0006] 1) Based on the satellite platform resource constraints and payload working capabilities, define the satellite constraint model, specifically:

[0007] S={IMTask_t,Vad,SEA,Mvk,SWATH,SDC,FILE};

[0008] Among them, IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view angle, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera width, SDC represents the storage capacity, and FILE represents the record file number.

[0009] 2) Intersatellite collaborative task input: Receive the intersatellite collaborative task window registered by the user, denoted as CorpWin i According to the task period agreed in the window, plan and generate inter-satellite collaborative tasks, set up the inter-satellite link process for the inter-satellite link subsystem, and have the status of receiving inter-satellite guidance tasks in real time; receive the data transmission task window DtWin registered by the user i , according to the task period agreed in the window, plan and generate the digital transmission playback task DTTask, and perform digital transmission playback of the observation task record data to the ground;

[0010] Furthermore, the intersatellite collaborative task window and the data transmission task window in step 2) are specifically:

[0011] Interstellar collaborative task window CorpWin i ={Co_ts i ,Co_te i ,f};

[0012] Data transmission task window DtWin i ={Dt_ts i ,Dt_te i ,ST i};

[0013] Among them, Co_ts i Indicates the start time of the intersatellite collaborative mission, Co_te i represents the end time of the intersatellite collaborative mission, f represents the rolling planning frequency of the intersatellite collaborative mission; Dt_ts i Indicates the start time of the data transmission task, Dt_te i Indicates the end time of the data transmission task, ST i Indicates the code of the ground station for the ground data transmission mission;

[0014] Furthermore, the intersatellite collaborative task window in step 2) is characterized by:

[0015] In the global planning, a local space, namely the intersatellite collaborative task window, is obtained. It is agreed that the rolling planning process is only carried out within the local interval and does not affect tasks outside the collaborative interval. First, it is determined whether there are tasks that have been planned and are waiting to be executed in the collaborative interval. If so, the priority of such tasks is defined as the lowest, and such tasks are inserted into the sequence according to the planning strategy in the subsequent intersatellite situational task planning process.

[0016] 3) Intersatellite guidance task input: Entering the intersatellite collaborative task window period described in step 2), the guidance task from the intersatellite link is received in real time, which is defined as the intersatellite situation task;

[0017] Furthermore, the intersatellite situational task in step 3) has the characteristics of uncertainty, high dynamics, and high timeliness, specifically:

[0018] Intersatellite situational task definition, T={ID,δ,λ,h,t c ,v,PRI,CONF,Type};

[0019] Where, ID represents the mission number; (δ, λ, h) represents the geographical longitude, latitude, and altitude of the ground-fixed target point; t c represents the target observation transient time, PRI represents the target priority, and CONF represents the target confidence; v represents the target motion velocity vector, which describes the dynamic properties of the input task; Type is used as an index to match the target features in the situation task database and the user-defined detection target attributes, including the detection target type feature information.

[0020] 4) Task preprocessing:

[0021] 41) Perform visibility judgment on the inter-satellite situation tasks received in the inter-satellite collaborative task, and store the tasks that are visible and whose visible arcs are within the collaborative period into the valid task set, which is recorded as TaskVaild. Specifically:

[0022] TaskVaild={T1,T2,T3...T i}, where T1~T i Indicates that the intersatellite situation tasks that have passed the visibility judgment are stored in order according to the time of task reception.

[0023] 42) Pre-sorting the tasks in the valid task pool TaskVaild described in step 41) according to the hierarchical priority sorting strategy, and defining the sorting result as IMTask;

[0024] Furthermore, the hierarchical priority sorting strategy in step 42) is specifically as follows:

[0025] First, sort by target confidence CONF from high to low, then sort by priority of user-defined situation task type Type from high to low, and then sort by target priority PRI from high to low.

[0026] 5) Task insertion position determination: A greedy algorithm is used to determine the position of the task to be inserted into the existing task execution sequence IMTask, and a new detection task sequence IMTask_New is generated;

[0027] Furthermore, in step 5), the greedy algorithm defines a greedy strategy, specifically:

[0028] Prioritize tasks with a high CONF, followed by tasks with a high Type priority, and finally tasks with a high PRI.

[0029] 6) Task conflict resolution: First, determine whether the newly inserted task conflicts with the tasks in the original sequence. If there is a conflict, use the greedy strategy described in step 5) to resolve the conflicting task and update IMTask_New;

[0030] 7) Inserting data transmission task: According to the data transmission task window DtWin in step 2) i When the digital transmission task window period overlaps with the inter-satellite collaborative task window period, the playback task is defined as a real transmission task, and the digital transmission subsystem is set to perform a recording and playback working mode.

[0031] 8) Generation of tasks to be executed:

[0032] 81) performing constraint checks on IMTask_New and DTTask in combination with the constraint condition S in step 1), deleting tasks that fail the constraint check, and updating IMTask_New and DTTask;

[0033] 82) Combine IMTask_New, DTWin and the target task visibility determination method to calculate the target attitude maneuver time and generate the attitude maneuver task ATTTask;

[0034] 83) Task merging to produce tasks to be executed;

[0035] 9) Task rolling planning: Determine whether there is a new task entering the queue to be planned. If so, return to step 3), perform rolling planning on the tasks in the queue to be planned according to the rolling planning frequency f, and update IMTask_New in real time.

[0036] An electronic device, comprising:

[0037] processor; and

[0038] a memory for storing computer program instructions;

[0039] When the computer program instructions are loaded and executed by the processor, the processor executes the progressive local rolling optimization intersatellite collaborative mission autonomous planning method.

[0040] A computer program product stored on a non-transitory computer-readable medium includes program codes for implementing the method for autonomous planning of inter-satellite collaborative missions using incremental local rolling optimization.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] (1) The present invention adopts a local rolling planning strategy for inter-satellite situation tasks, which effectively copes with the suddenness and uncertainty of inter-satellite situation tasks within the inter-satellite coordination period.

[0043] (2) The present invention uses a greedy algorithm to quickly obtain the local optimal solution, shortens the task planning processing time, improves the task execution efficiency, and meets the collaborative detection task's demand for high timeliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a flow chart of rolling planning of intersatellite situational tasks according to the present invention;

[0045] Figure 2 This is a schematic diagram of the greedy strategy task sorting of the present invention;

[0046] Figure 3 Insert a conflict resolution process diagram for the task of the present invention. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0048] A progressive local rolling optimization method for autonomous planning of intersatellite collaborative missions, such as Figure 1 As shown, the specific steps are:

[0049] 1) Based on the satellite platform resource constraints and payload working capabilities, define the satellite constraint model, specifically:

[0050] S={IMTask_t,Vad,SEA,Mvk,SWATH,SDC,FILE};

[0051] Among them, IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view angle, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera width, SDC represents the storage capacity, and FILE represents the record file number.

[0052] 2) Intersatellite collaborative task input: Receive the intersatellite collaborative task window registered by the user, denoted as CorpWin i According to the task period agreed in the window, plan and generate inter-satellite collaborative tasks, set up the inter-satellite link process for the inter-satellite link subsystem, and have the status of receiving inter-satellite guidance tasks in real time; receive the data transmission task window DtWin registered by the user i , according to the task period agreed in the window, plan and generate the digital transmission playback task DTTask, and perform digital transmission playback of the observation task record data to the ground;

[0053] Furthermore, the intersatellite collaborative task window and the data transmission task window in step 2) are specifically:

[0054] Interstellar collaborative task window CorpWin i ={Co_ts i ,Co_te i ,f};

[0055] Data transmission task window DtWin i ={Dt_ts i ,Dt_te i ,ST i};

[0056] Among them, Co_ts i Indicates the start time of the intersatellite collaborative mission, Co_te i represents the end time of the intersatellite collaborative mission, f represents the rolling planning frequency of the intersatellite collaborative mission; Dt_ts i Indicates the start time of the data transmission task, Dt_te i Indicates the end time of the data transmission task, ST i Indicates the code of the ground station for the ground data transmission mission;

[0057] Furthermore, the intersatellite collaborative task window in step 2) is characterized by:

[0058] In the global planning, a local space, namely the intersatellite collaborative task window, is obtained. It is agreed that the rolling planning process is only carried out within the local interval and does not affect tasks outside the collaborative interval. First, it is determined whether there are tasks that have been planned and are waiting to be executed in the collaborative interval. If so, the priority of such tasks is defined as the lowest, and such tasks are inserted into the sequence according to the planning strategy in the subsequent intersatellite situational task planning process.

[0059] 3) Intersatellite guidance task input: Entering the intersatellite collaborative task window period described in step 2), the guidance task from the intersatellite link is received in real time, which is defined as the intersatellite situation task;

[0060] Furthermore, the intersatellite situational task in step 3) has the characteristics of uncertainty, high dynamics, and high timeliness, specifically:

[0061] Intersatellite situational task definition, T={ID,δ,λ,h,t c ,v,PRI,CONF,Type};

[0062] Where, ID represents the mission number; (δ, λ, h) represents the geographical longitude, latitude, and altitude of the ground-fixed target point; t crepresents the target observation transient time, PRI represents the target priority, and CONF represents the target confidence; v represents the target motion velocity vector, which describes the dynamic properties of the input task; Type is used as an index to match the target features in the situation task database and the user-defined detection target attributes, including the detection target type feature information.

[0063] 4) Task preprocessing:

[0064] 41) Perform visibility judgment on the inter-satellite situation tasks received in the inter-satellite collaborative task, and store the tasks that are visible and whose visible arcs are within the collaborative period into the valid task set, which is recorded as TaskVaild. Specifically:

[0065] TaskVaild={T1,T2,T3...T i}, where T1~T i Indicates that the intersatellite situation tasks that have passed the visibility judgment are stored in order according to the time of task reception.

[0066] 42) The tasks in the effective task pool TaskVaild in step 41) are pre-sorted according to the hierarchical priority sorting strategy, and the sorting result is defined as IMTask. The task sorting diagram is shown in FIG. Figure 2 As shown;

[0067] Furthermore, the hierarchical priority sorting strategy in step 42) is specifically as follows:

[0068] First, sort by target confidence CONF from high to low, then sort by priority of user-defined situation task type Type from high to low, and then sort by target priority PRI from high to low.

[0069] 5) Task insertion position determination: A greedy algorithm is used to determine the position of the task to be inserted into the existing task execution sequence IMTask, and a new detection task sequence IMTask_New is generated. The task insertion process diagram is shown in the following figure. Figure 3 As shown;

[0070] Furthermore, in step 5), the greedy algorithm defines a greedy strategy, specifically:

[0071] Prioritize tasks with a high CONF, followed by tasks with a high Type priority, and finally tasks with a high PRI.

[0072] 6) Task conflict resolution: First, determine whether the newly inserted task conflicts with the tasks in the original sequence. If there is a conflict, use the greedy strategy described in step 5) to resolve the conflicting task and update IMTask_New;

[0073] 7) Inserting data transmission task: According to the data transmission task window DtWin in step 2) i When the digital transmission task window period overlaps with the inter-satellite collaborative task window period, the playback task is defined as a real transmission task, and the digital transmission subsystem is set to perform a recording and playback working mode.

[0074] 8) Generation of tasks to be executed:

[0075] 81) performing constraint checks on IMTask_New and DTTask in combination with the constraint condition S in step 1), deleting tasks that fail the constraint check, and updating IMTask_New and DTTask;

[0076] 82) Combine IMTask_New, DTWin and the target task visibility determination method to calculate the target attitude maneuver time and generate the attitude maneuver task ATTTask;

[0077] 83) Task merging to produce tasks to be executed;

[0078] 9) Task rolling planning: Determine whether there is a new task entering the queue to be planned. If so, return to step 3), perform rolling planning on the tasks in the queue to be planned according to the rolling planning frequency f, and update IMTask_New in real time.

[0079] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

[0080] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A progressive local rolling optimization intersatellite collaborative mission autonomous planning method, characterized by: include: 1) Based on the satellite platform resource constraints and payload working capabilities, define the satellite constraint model, denoted as S; 2) Intersatellite collaborative task input: Receive the intersatellite collaborative task window registered by the user, denoted as CorpWin i According to the task period agreed in the window, plan and generate inter-satellite collaborative tasks, set up the inter-satellite link process for the inter-satellite link subsystem, and have the status of receiving inter-satellite guidance tasks in real time; receive the data transmission task window DtWin registered by the user i , according to the task period agreed in the window, plan and generate the digital transmission playback task DTTask, and perform digital transmission playback of the observation task record data to the ground; 3) Intersatellite guidance task input: Entering the intersatellite collaborative task window period described in step 2), the guidance task from the intersatellite link is received in real time, which is defined as the intersatellite situation task; 4) Task preprocessing: 41) Perform visibility judgment on the inter-satellite situation tasks received in the inter-satellite collaborative task, and store the tasks that are visible and whose visible arc segments are within the collaborative period into the valid task set, which is recorded as TaskVaild; 42) Pre-sorting the tasks in the valid task pool TaskVaild described in step 41) according to the hierarchical priority sorting strategy, and defining the sorting result as IMTask; 5) Task insertion position determination: A greedy algorithm is used to determine the position of the task to be inserted into the existing task execution sequence IMTask, and a new detection task sequence IMTask_New is generated; 6) Task conflict resolution: First, determine whether the newly inserted task conflicts with the tasks in the original sequence. If there is a conflict, use the greedy strategy described in step 5) to resolve the conflicting task and update IMTask_New; 7) Inserting data transmission task: According to the data transmission task window DtWin in step 2) i , when it is determined that the digital transmission task window period overlaps with the inter-satellite collaborative task window period, the playback task is defined as a real transmission task, and the digital transmission subsystem is set to a recording and playback working mode; 8) Generation of tasks to be executed: 81) performing constraint checks on IMTask_New and DTTask in combination with the constraint condition S in step 1), deleting tasks that fail the constraint check, and updating IMTask_New and DTTask; 82) Combine IMTask_New, DTWin and the target task visibility determination method to calculate the target attitude maneuver time and generate the attitude maneuver task ATTTask; 83) Task merging to produce tasks to be executed; 9) Task rolling planning: Determine whether there is a new task entering the queue to be planned. If so, return to step 3), perform rolling planning on the tasks in the queue to be planned according to the rolling planning frequency f, and update IMTask_New in real time.

2. The method for autonomous planning of intersatellite collaborative missions with progressive local rolling optimization according to claim 1, characterized in that: Step 1) The satellite constraint model is specifically: S={IMTask_t,Vad,SEA,Mvk,SWATH,SDC,FILE}; Among them, IMTask_t represents the imaging duration of the detection mission, Vad represents the payload field of view angle, SEA represents the solar altitude angle, Mvk represents the attitude maneuverability, SWATH represents the payload camera width, SDC represents the storage capacity, and FILE represents the record file number.

3. The method for autonomous planning of intersatellite collaborative missions with progressive local rolling optimization according to claim 1, characterized in that: Step 2) The intersatellite collaborative task window and the data transmission task window are specifically: Interstellar collaborative task window CorpWin i ={Co_ts i ,Co_te i ,f}; Data transmission task window DtWin i ={Dt_ts i ,Dt_te i ,ST i }; Among them, Co_ts i Indicates the start time of the intersatellite collaborative mission, Co_te i represents the end time of the intersatellite collaborative mission, f represents the rolling planning frequency of the intersatellite collaborative mission; Dt_ts i Indicates the start time of the data transmission task, Dt_te i Indicates the end time of the data transmission task, ST i Indicates the code of the ground station for the ground data transmission mission.

4. The method for autonomous planning of intersatellite collaborative missions with progressive local rolling optimization according to claim 1, characterized in that: Step 2) the intersatellite collaborative task window, Its specific characteristics are: In the global planning, a local space, namely the intersatellite collaborative task window, is obtained. It is agreed that the rolling planning process is only carried out within the local interval and does not affect tasks outside the collaborative interval. First, it is determined whether there are tasks that have been planned and are waiting to be executed in the collaborative interval. If so, the priority of such tasks is defined as the lowest, and such tasks are inserted into the sequence according to the planning strategy in the subsequent intersatellite situational task planning process.

5. The method for autonomous planning of intersatellite collaborative missions with progressive local rolling optimization according to claim 1, characterized in that: The intersatellite situational task in step 3) is characterized by uncertainty, high dynamics, and high timeliness, and is specifically: Intersatellite situational task definition, T={ID,δ,λ,h,t c ,v,PRI,CONF,Type}; Where, ID represents the mission number; (δ, λ, h) represents the geographical longitude, latitude, and altitude of the ground-fixed target point; t c represents the target observation transient time, PRI represents the target priority, and CONF represents the target confidence; v represents the target motion velocity vector, which describes the dynamic properties of the input task; Type is used as an index to match the target features in the situation task database, the user-defined detection target attributes, including the detection target type feature information.

6. The method for autonomous planning of intersatellite collaborative missions with progressive local rolling optimization according to claim 1, characterized in that: Step 41) The valid task set is defined as: TaskVaild={T1,T2,T3...T i }, where T1~T i Indicates that the intersatellite situation tasks that have passed the visibility judgment are stored in order according to the time of task reception.

7. The method for autonomous planning of intersatellite collaborative missions with progressive local rolling optimization according to claim 1, characterized in that: Step 42) The hierarchical priority sorting strategy is specifically: First, sort by target confidence CONF from high to low, then sort by priority of user-defined situation task type Type from high to low, and then sort by target priority PRI from high to low.

8. The method for autonomous planning of intersatellite collaborative missions with progressive local rolling optimization according to claim 1, characterized in that: Step 5) The greedy algorithm defines a greedy strategy, specifically: Prioritize tasks with a high CONF, followed by tasks with a high Type priority, and finally tasks with a high PRI.

9. A processing device, characterized in that: include: memory for storing computer programs; A processor, configured to call and run the computer program from the memory to perform the method according to any one of claims 1 to 8.

10. A computer program product, characterized in that The computer program product comprises instructions, which, when the computer program product is run on a computer, cause the computer to perform the method according to any one of claims 1 to 8.

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