A density-priority measurement and control task scheduling method based on limited ground resources

Abstract

The present invention provides a density-prioritized measurement and control task scheduling method based on limited ground resources, comprising: step S1, obtaining forecast data from multiple satellites, task requirements, and constraint information corresponding to each task requirement, and obtaining the number of antenna devices and prohibited time periods; step S2, filtering out matching forecast data based on the constraint information of the task requirements and generating potential executable time periods; step S3, filtering out potential optional task time periods based on the prohibited time periods of each antenna device; step S4, constructing a scheduling plan matrix based on the potential optional task time periods and the density-prioritized principle; and step S5, controlling each antenna device to execute measurement and control tasks and / or data transmission tasks for each satellite based on the scheduling plan matrix, and analyzing the measurement and control task satisfaction and data transmission task satisfaction to evaluate the scheduling plan matrix. The present invention has the beneficial effect of efficiently scheduling multiple tasks, reducing computational complexity, and maximizing device resource utilization.

Description

Technical Field

[0001] The present invention relates to the technical field of task scheduling, and in particular to a density-priority measurement and control task scheduling method based on limited ground resources. Background Art

[0002] With the rapid increase in the number of satellites and spacecraft, ground measurement and control resources are facing unprecedented challenges. Ground measurement and control stations, as key facilities for commanding, monitoring and transmitting data for satellites and spacecraft, have extremely limited available resources (including antenna equipment, time windows, etc.). The measurement and control tasks of spacecraft often have complex time and space constraints and priorities, resulting in increasingly fierce competition for the same resources among multiple tasks in the same time period.

[0003] Existing measurement and control task scheduling methods typically rely on determining device occupancy conflicts and coordinating tasks through complex conflict detection algorithms when dealing with such resource conflicts. However, as the scale and complexity of tasks increase, frequent conflict determination during the scheduling process significantly increases the computational complexity of the system. This is especially true in scenarios involving concurrent multi-task scheduling. Traditional methods often require repeated evaluation of device time occupancy conflicts within each scheduling cycle, further slowing down the scheduling process.

[0004] On the other hand, the execution requirements of different satellite missions have strict time window constraints, and the distribution of these time windows is highly discontinuous in time and space. Existing scheduling algorithms cannot efficiently handle this discontinuity, resulting in the inability to fully utilize equipment resources. This discontinuous scheduling plan not only reduces the utilization rate of equipment, but may also cause some important tasks to be unable to be completed on time. In addition, traditional scheduling algorithms usually only focus on the time window or priority of the task, and do not fully consider the optimization of task density, resulting in a low density of equipment execution tasks and low overall task completion efficiency.

[0005] As measurement and control tasks become increasingly complex, not only measurement and control of a single satellite is required, but also the collaborative operation of multiple satellites, cluster management, and coordination of cross-satellite tasks. Therefore, the scheduling method must effectively allocate resources while ensuring the completion of the task and reduce the computational burden in the scheduling process. This puts forward new requirements for the scheduling method, requiring it to simplify the scheduling calculation process in complex, multi-task scenarios, while improving resource utilization efficiency to cope with the continued growth and complexity of satellite measurement and control tasks. Summary of the Invention

[0006] The technical problem to be solved by the present invention is how to efficiently schedule multiple tasks, reduce computational complexity and maximize equipment resource utilization. In order to overcome the defects of the above-mentioned existing technologies (or related technologies), the present invention provides a density-priority measurement and control task scheduling method based on limited ground resources.

[0007] The present invention provides a density-priority measurement and control task scheduling method based on limited ground resources, comprising:

[0008] Step S1: obtaining forecast data from multiple satellites, mission requirements, and constraint information corresponding to each mission requirement through a ground tracking and control station, wherein the mission requirements include tracking and control tasks and data transmission tasks, and obtaining the number of antenna devices and prohibited time periods;

[0009] Step S2: for each task requirement, screening the corresponding forecast data according to the constraint information of the task requirement and generating a potential executable time period corresponding to the task requirement;

[0010] Step S3, screening each of the potential executable time periods according to the prohibited time period corresponding to each of the antenna devices to obtain a potential optional task time period;

[0011] Step S4, constructing a scheduling plan matrix for each of the antenna devices and each of the task requirements according to the potential optional task time period and density priority principle;

[0012] Step S5: Control each antenna device to perform the measurement and control task and / or the data transmission task for each satellite according to the scheduling plan matrix, and analyze the measurement and control task satisfaction and the data transmission task satisfaction to evaluate the scheduling plan matrix.

[0013] Compared with the prior art, the density-priority measurement and control task scheduling method based on limited ground resources of the present invention has the following advantages:

[0014] In the present invention, information data of each satellite and antenna equipment is acquired through step S1, potential executable time periods are screened and generated through step S2, potential optional task time periods are further screened and generated through step S3, a scheduling plan matrix is constructed through step S4, and antenna equipment is scheduled and the scheduling plan matrix is evaluated through step S5. Through precise time window control and equipment utilization optimization, it is achieved that task scheduling and resource management can be effectively performed under complex constraints while reducing ground resource waste. In addition, the scheduling plan is gradually advanced backward in chronological order, thereby cleverly avoiding the equipment time occupancy conflict constraint judgment. The potential optional task time period selected each time is the earliest potential optional task time period in which the tracking of the current antenna equipment meets the conditions, which can maximize the equipment task execution density, improve the task completion rate, and provide strong support for the scheduling of large-scale satellite tasks.

[0015] In a possible implementation, in step S1, the forecast data, the task requirements, the constraint information, the quantity and the prohibited time period are imported into a database in XML format for storage and retrieval.

[0016] In a possible implementation, the constraint information includes a day number, a satellite number, a time window constraint, an elevation angle constraint, and device attributes. In step S2, based on the day number and the satellite number corresponding to the mission requirement, the forecast data is searched one by one to obtain a matching visible forecast for the day, and each visible forecast for the day is further screened based on the time window constraint and the elevation angle constraint to obtain a matching visible forecast, and each matching visible forecast that meets the device type requirement of the satellite is screened based on the device attributes to generate the potential executable time period.

[0017] In one possible implementation, the constraint information includes task time, link establishment time, and link removal time. In step S3, based on the disabled time period corresponding to each antenna device, the potentially executable time period that conflicts with the link establishment time that extends before the task time or the link removal time that extends after the task time is deleted, and the remaining potentially executable time periods are used as the potentially optional task time periods.

[0018] In a possible implementation, in step S3, the screened potential optional task time periods are matched with the antenna devices that support the task requirements, and all the potential optional task time periods supported by the current antenna devices are screened.

[0019] In a possible implementation, the constraint information includes satellite circle number constraints, demand execution constraints, and device attributes, and step S4 includes:

[0020] Step S41: grouping the antenna devices according to the device attributes, setting priorities, and planning the antenna devices based on the priority order to obtain a device set, and setting the system time and initializing the tracking end time of each antenna device to be the earliest start time of the measurement and control task;

[0021] Step S42: searching the device set for the device number corresponding to the antenna device with the earliest tracking end time, changing the system time to the earliest tracking end time, and filtering out all potential optional task time periods whose tracking start time is greater than the system time based on the device number, and arranging them in ascending order of tracking end time;

[0022] Step S43: for each of the potential optional task time periods, determine whether the potential optional task time period meets the satellite circle number constraint and the required execution constraint:

[0023] If yes, then execute the potential optional task time period on the antenna device corresponding to the device number, and record the execution result in the scheduling plan matrix, and then go to step S44;

[0024] If not, return to step S42;

[0025] Step S44: Determine whether all the antenna devices in the device set have no potential optional task time period that meets the satellite circle number constraint and the required execution constraint:

[0026] If yes, go to step S5;

[0027] If not, return to step S42.

[0028] In a possible implementation, in step S41, a system state matrix and environmental variables are constructed and added to the scheduling plan matrix. The system state matrix includes a satellite circle state matrix, a completion status matrix corresponding to each task requirement, and a tracking end time moment of each antenna device. The environmental variables include the earliest start time and the latest end time of the measurement and control task.

[0029] In a possible implementation, each of the antenna devices includes a single digital transmission mode device, a measurement and control digital transmission dual-mode device, and a single measurement and control mode device. Then, in step S41, the priority set for each of the antenna devices is to first arrange the single digital transmission mode device to execute, then arrange the measurement and control digital transmission dual-mode device to execute, and finally arrange the single measurement and control mode device to execute.

[0030] In a possible implementation, in step S5, the measurement and control task satisfaction is obtained by the following calculation formula:

[0031] ;

[0032] in,

[0033] Indicates the satisfaction of the measurement and control task;

[0034] Indicates the number of measurement and control tasks that have been scheduled and completed;

[0035] Indicates the total amount of the measurement and control tasks.

[0036] In a possible implementation, in step S5, the data transmission task satisfaction is obtained by the following calculation formula:

[0037] ;

[0038] in,

[0039] Indicates the degree of satisfaction of the data transmission task;

[0040] Indicates the number of data transmission tasks that have been scheduled and completed;

[0041] Indicates the total amount of the data transmission task. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a flow chart of the steps of the present invention. DETAILED DESCRIPTION

[0043] First, those skilled in the art should understand that these embodiments are merely for explaining the technical principles of the embodiments of the present invention and are not intended to limit the scope of protection of the embodiments of the present invention. Those skilled in the art may adjust them as needed to suit specific applications.

[0044] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] See also Figure 1 The embodiment of the present invention discloses a density-priority measurement and control task scheduling method based on limited ground resources, comprising:

[0046] Step S1: Obtain forecast data from multiple satellites, mission requirements, and constraint information corresponding to each mission requirement through a ground tracking and control station. The mission requirements include tracking and control tasks and data transmission tasks, and obtain the number of antenna devices and the disabled time period.

[0047] Step S2: for each task requirement, screen the corresponding forecast data according to the constraint information of the task requirement and generate the potential executable time period corresponding to the task requirement;

[0048] Step S3, screening each potential executable time period according to the prohibited time period corresponding to each antenna device to obtain a potential optional task time period;

[0049] Step S4, constructing a scheduling plan matrix for each antenna device and each task requirement based on the potential optional task time period and density priority principle;

[0050] Step S5: Control each antenna device to perform measurement and control tasks and / or data transmission tasks for each satellite according to the scheduling plan matrix, and analyze the measurement and control task satisfaction and the data transmission task satisfaction to evaluate the scheduling plan matrix.

[0051] In step S1, the number of mission requirements and the constraint information of each mission requirement (day number, subtask number, satellite number, link establishment time, link removal time, mission type, elevation angle constraint, and device attributes) are read through the ground tracking and control station. The device attributes include available devices and device preferences. Then, the number of satellites and the forecast data of each satellite (day number, device number, total circle number, relative circle number, start and end time of each forecast, maximum elevation angle, and ascending and descending orbit type) are read. Finally, the number of antenna devices and the disabled time period of each antenna device are read.

[0052] In step S1, forecast data, task requirements, constraint information, quantity and prohibited time period are imported into the database in XML format for storage and subsequent retrieval.

[0053] In step S2, the data collected in step S1 is preprocessed to generate a corresponding potential executable time period for each antenna device. Specifically, according to the time window constraints, elevation angle constraints and device attributes of the task requirements, the forecast data that meets the conditions is screened out to generate the potential executable time period of the task requirements. First, legal visible forecasts are searched for each task requirement, and the visible forecasts of the corresponding satellites on the day are extracted according to the satellite number and day number corresponding to the task requirements; from the visible forecasts of the day, a forecast set that meets the elevation angle constraints and time window constraints is screened out; from the forecast set, a visible forecast that matches the device type (such as TTC, DDT) that meets the device attributes corresponding to the task requirements is screened out to generate a preliminary potential executable time period of the task requirements.

[0054] In step S3, the antenna device disabled time is checked to ensure that the potential executable time period of the task does not overlap with the disabled time period of the antenna device. Specifically, the disabled time window of each antenna device is checked, and the potential executable time periods that conflict with the link establishment time before the task time and the link removal time after the task time are excluded. Those that meet the conditions are recorded to generate new potential optional task time periods.

[0055] In step S3, it also includes: establishing a dictionary of potential optional task time periods for antenna equipment, recording the task time periods that can be executed by the antenna equipment within a specific time, specifically: matching the screened potential optional task time periods with the antenna equipment that supports the task requirements, finding all matching visible forecasts supported by the current antenna equipment, generating potential optional task time periods for each antenna equipment, that is, all task requirements that can be supported by the antenna equipment within a specific time window, ensuring that it does not conflict with other task requirements and meets the time constraints of the task requirements, and recording them in the dictionary of potential optional task time periods for the antenna equipment.

[0056] Step S4 is further described, including:

[0057] Step S41: Grouping antenna devices according to device attributes, setting priorities, and planning antenna devices based on the priority order to obtain a device set, and setting the system time and initializing the tracking end time of each antenna device to be the earliest start time of the measurement and control task;

[0058] Step S42: Search the device set for the device number corresponding to the antenna device with the earliest tracking end time, change the system time to the earliest tracking end time, and filter out all potential optional task time periods whose tracking start time is greater than the system time based on the device number, and arrange them in ascending order of tracking end time.

[0059] Step S43: For each potential optional task time period, determine whether the potential optional task time period meets the satellite circle number constraint and the required execution constraint:

[0060] If yes, then execute the potential optional task time period on the antenna device corresponding to the device number, and record the execution result in the scheduling plan matrix, and then go to step S44;

[0061] If not, return to step S42;

[0062] Step S44: Determine whether all antenna devices in the device set have no potential optional task time periods that meet the satellite circle number constraint and the required execution constraint:

[0063] If yes, go to step S5;

[0064] If not, return to step S42.

[0065] In step S41, the system state and various environmental variables are constructed, the antenna devices are grouped and prioritized according to the device attributes, and the antenna devices are planned in order of their priority. First, the single data transmission mode devices are arranged, followed by the measurement and control digital transmission dual-mode devices, and finally the single measurement and control mode devices are planned. Specifically, the system state and various environmental variables are constructed, including the satellite circle state matrix Sat_state, the completion status matrix of each task requirement Request_state, the tracking end time matrix Device_end of the antenna device, the earliest start time of the measurement and control task, the latest end time of the measurement and control task, etc. Single-mode devices that only support data transmission or measurement and control and dual-mode devices that can simultaneously complete data transmission and measurement and control tasks are grouped according to priority. Because it is assumed in this embodiment that the data transmission task has the highest benefit, the single data transmission mode devices are arranged first, followed by the measurement and control digital transmission dual-mode devices, and finally the single measurement and control mode devices are planned. Finally, the system time T is set and the tracking end time of each antenna device is initialized to the earliest start time of the measurement and control task.

[0066] In steps S42 and S43, the device number d of the antenna device with the earliest tracking end time is searched in the device set, the system time T of the antenna device is changed to the tracking end time, and the potential optional task time periods of all device number d whose tracking start time is greater than the system time T are searched, and arranged in ascending order according to the tracking end time. Each potential optional task time period is checked in turn to see whether it meets the satellite circle number constraint and the demand execution constraint. If the time period meets the satellite circle number constraint and the demand execution constraint, the potential optional task time period is executed on the device number d, and the tracking end time and system variables of the antenna device are updated, and the execution results are recorded in the scheduling plan matrix.

[0067] Since the data transmission task has a higher completion benefit, the data transmission task is set to be completed first in this embodiment. The device number d with the earliest tracking end time is found in the single data transmission mode device set, and the system time T is changed to the tracking end time. If there are antenna devices with the same tracking end time, the antenna device with a smaller device number is selected. The data transmission or measurement and control time periods of all antenna devices with a tracking start time greater than the system time T are found, and they are arranged from small to large according to the tracking end time. Each time period is checked in turn to see if it meets the satellite circle number constraint and the demand execution constraint. It is checked whether the satellite corresponding to the potential optional task time period has been executed in other time periods in this circle, and whether the potential optional task time period Whether the corresponding demand has been completed through other time periods. If the potential optional task time period meets the satellite circle number constraint and the demand execution constraint, the potential optional task time period is executed on the antenna device corresponding to the device number d, and the execution result is recorded in the scheduling plan matrix, including the satellite number, device number, satellite circle number, preparation start time, tracking start time, tracking end time, earliest end time, and demand number corresponding to the potential optional task time period, and the satellite circle state matrix Sat_state, completion status matrix Request_state, tracking end time matrix Device_end and the earliest end time information of the antenna device are updated.

[0068] In step S44, steps S42 and S43 are continuously repeated until all antenna devices in the device set have no potential optional task time periods that meet the constraints. Steps S42 and S43 are continued to be repeated in the measurement, control and data transmission dual-mode device set until all antenna devices have no potential optional task time periods that meet the constraints. Steps S42 and S43 are continued to be repeated in the single measurement and control mode device set until all antenna devices have no potential optional task time periods that meet the constraints. In this process, according to the density priority principle and the device priority order, the antenna device with the earliest end time in the device set is continuously searched to ensure that the task scheduling time of each antenna device is compact and the tasks of each antenna device are evenly distributed.

[0069] In step S5, the scheduling plan matrix of the ground resources is formatted and output in the form of an XML file, and the scheduling plan matrix is evaluated. Specifically, the scheduling plan matrix is written into an XML file and formatted and outputted through the xml.etree.ElementTree library function and the xml.dom.minidom library function, and the scheduling plan matrix is output using the python library function. The output object is an XML file. Each plan in the XML file contains satellite number, equipment number, satellite circle number, preparation start time, tracking start time, tracking end time, unlink end time, and demand index number information.

[0070] In step S5, the measurement and control task satisfaction and the data transmission task satisfaction of the scheduling plan matrix are analyzed, and the effect of the scheduling plan matrix is evaluated. S is used to represent the measurement and control task satisfaction, and D is used to represent the data transmission task satisfaction. The evaluation index form of the measurement and control task satisfaction is:

[0071] ;

[0072] in,

[0073] Indicates the degree of satisfaction of measurement and control tasks;

[0074] Indicates the number of measurement and control tasks that have been scheduled and completed;

[0075] Indicates the total amount of measurement and control tasks;

[0076] The evaluation index of data transmission task satisfaction is as follows:

[0077] ;

[0078] in,

[0079] Indicates the degree of satisfaction of data transmission task;

[0080] Indicates the number of data transmission tasks that have been scheduled and completed;

[0081] Indicates the total amount of data transmission tasks.

[0082] In subsequent implementations, the present invention may further provide a density-priority measurement and control task scheduling system based on limited ground resources based on the density-priority measurement and control task scheduling method, including:

[0083] The XML file reading and writing module is used to read the structured constraint information, equipment quantity and forecast data in XML format and output the planning result file in XML format;

[0084] The data preprocessing module is connected to the XML file reading and writing module to perform data preprocessing. It combines the satellite's visibility forecast, constraint information, equipment disabled time period and other information to generate the corresponding potential optional task time period for each antenna device.

[0085] The task planning module is connected to the data preprocessing module and is used to schedule tasks based on the density priority principle and related constraints;

[0086] The planning effect analysis module is connected to the task planning module and is used to analyze the satisfaction of the measurement and control tasks and the data transmission tasks of the scheduling plan matrix;

[0087] The dynamic library interface module is connected to the planning result analysis module and is used for interface communication based on Java and C++. It encapsulates the density-priority measurement and control task scheduling system based on the heuristic model into a dynamic library for users to call.

[0088] In the density-priority measurement and control task scheduling system, these modules are uniformly encapsulated through the PyInstaller library. All input information is provided by files placed in a pre-defined directory. The directory of the input file can also be customized by the user by selectively changing the input parameters.

[0089] In the description of the present invention, the reference terms "one embodiment", "some embodiments", "in the present embodiment", "specific examples", or "some examples" mean that the specific features, mechanisms, 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0090] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A density-priority measurement and control task scheduling method based on limited ground resources, characterized in that: The following steps are involved: Step S1: obtaining forecast data from multiple satellites, mission requirements, and constraint information corresponding to each mission requirement through a ground tracking and control station, wherein the mission requirements include tracking and control tasks and data transmission tasks, and obtaining the number of antenna devices and prohibited time periods; Step S2: for each task requirement, screening the corresponding forecast data according to the constraint information of the task requirement and generating a potential executable time period corresponding to the task requirement; Step S3, screening each of the potential executable time periods according to the prohibited time period corresponding to each of the antenna devices to obtain a potential optional task time period; Step S4, constructing a scheduling plan matrix for each of the antenna devices and each of the task requirements according to the potential optional task time period and density priority principle; Step S5, controlling each of the antenna devices to perform the measurement and control mission and / or the data transmission mission for each of the satellites according to the scheduling plan matrix, and analyzing the measurement and control mission satisfaction and the data transmission mission satisfaction to evaluate the scheduling plan matrix; The constraint information includes satellite circle number constraints, demand execution constraints, and device attributes, and step S4 includes: Step S41: Grouping the antenna devices according to the device attributes and setting priorities, then planning the antenna devices based on the priority order to obtain a device set, and setting the system time and initializing the tracking end time of each antenna device to the earliest start time of the measurement and control task; Step S42: searching the device set for the device number corresponding to the antenna device with the earliest tracking end time, changing the system time to the earliest tracking end time, filtering out all potential optional task time periods whose tracking start time is greater than the system time based on the device number, and arranging the potential optional task time periods in ascending order of tracking end time; Step S43: for each of the potential optional task time periods, determine whether the potential optional task time period meets the satellite circle number constraint and the required execution constraint: If yes, then execute the potential optional task time period on the antenna device corresponding to the device number, and record the execution result in the scheduling plan matrix, and then go to step S44; If not, return to step S42; Step S44: Determine whether all the antenna devices in the device set have no potential optional task time period that meets the satellite circle number constraint and the required execution constraint: If yes, go to step S5; If not, return to step S42.

2. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: In the step S1, the forecast data, the task requirements, the constraint information, the quantity and the prohibited time period are imported into a database in XML format for storage and subsequent use.

3. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: The constraint information includes the day number, satellite number, time window constraint, elevation angle constraint and device attributes. In step S2, based on the day number and satellite number corresponding to the task requirements, the forecast data is searched one by one to obtain a matching visible forecast for the day, and each visible forecast for the day is further screened based on the time window constraint and the elevation angle constraint to obtain a matching visible forecast. Based on the device attributes, each matching visible forecast that meets the device type requirements of the satellite is screened to generate the potential executable time period.

4. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: The constraint information includes task time, link establishment time and link removal time. In step S3, based on the disabled time period corresponding to each antenna device, the potentially executable time period that conflicts with the link establishment time that extends before the task time or the link removal time that extends after the task time is deleted, and the remaining potentially executable time periods are used as the potentially optional task time periods.

5. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: In step S3, the screened potential optional task time periods are matched with the antenna devices that support the task requirements, and all the potential optional task time periods supported by the current antenna devices are screened.

6. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: In step S41, a system state matrix and environmental variables are constructed and added to the scheduling plan matrix. The system state matrix includes a satellite circle state matrix, a completion status matrix corresponding to each task requirement, and a tracking end time moment of each antenna device. The environmental variables include the earliest start time and the latest end time of the measurement and control task.

7. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: Each of the antenna devices includes a single digital transmission mode device, a measurement and control digital transmission dual mode device, and a single measurement and control mode device. In step S41, the priority set for each of the antenna devices is: first arrange the single digital transmission mode device to execute, then arrange the measurement and control digital transmission dual mode device to execute, and finally arrange the single measurement and control mode device to execute.

8. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: In step S5, the degree of satisfaction of the measurement and control task is obtained by the following calculation formula: ； in, Indicates the degree of satisfaction of the measurement and control task; Indicates the number of measurement and control tasks that have been scheduled and completed; Indicates the total amount of the measurement and control tasks.

9. The density-priority measurement and control task scheduling method based on limited ground resources according to claim 1 is characterized in that: In step S5, the data transmission task satisfaction is obtained by the following calculation formula: ； in, Indicates the degree of satisfaction of the data transmission task; Indicates the number of data transmission tasks that have been scheduled and completed; Indicates the total amount of the data transmission task.

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