CN105068549A - Method for autonomously and continuously planning satellite tasks - Google Patents
Method for autonomously and continuously planning satellite tasks Download PDFInfo
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Abstract
The invention discloses a method for autonomously and continuously planning satellite tasks. The method comprises the steps: enabling a satellite to calculate executable tasks entering into a set G at a certain moment according to a satellite track and a target control region set G; enabling the tasks to be divided into a long-term task, a medium-term task and a short-term task through a hierarchical planning method; and judging whether the tasks can be set into a new task set P' or not according to a current state set S of the satellite. If there is resource conflict in the execution of a plurality of tasks, the conflict removal is carried to according to a preset rule. A current task set P is updated and remains consistent with the new task set P', and the short-term tasks, which arrive at the starting time, in the current task set P are extracted and sent to a real-time system for execution. Finally, a set G and a set S are updated. The method achieves that the satellite accurately senses the state and an external environment and is controlled to autonomously complete various types of task without depending on external control and information injection, improves the autonomous working capability of the satellite, and reduces the risk that a critical fault happens to the satellite.
Description
Technical field
The present invention proposes the autonomous planing method continuously of a kind of satellite task, put in particular to a kind of whole championship utilizing satellite Autonomous to obtain, the information such as track, the satellite discharging degree of depth, illumination conditions, resource status, whole star safe condition, carry out load Task Autonomous on star to plan continuously, reduce ground intervening surface, control, strengthen satellite reliability.
Background technology
The task management in-orbit of current satellite, major part work still needs ground to control, and this control also exists many factors affecting satellite security in orbit, reliability, is in particular in following several aspect:
1, earth observation satellite multiselect sun synchronous orbit, be characterized in controlled segmental arc short (each tens minutes), effectively time in control interval long (twice transit time about 10 hours), like this after satellite breaks down overseas, treat ground-level finding and make respective handling, usual needs more than 10 hour, the safety in-orbit of satellite is difficult to be guaranteed;
2, satellite needs the data volume of upper note large, passes by very short time at every turn, the program control command that on needs, note is a large amount of and other control informations.Satellite key equipment is once break down, and for ensureing safety satellite, the satellite task full scale clearance on the star of all memory blocks, cannot independently recover, and needs to send a large amount of instructions by ground and resets task, is difficult to ensure satellite continuous and steady operation in-orbit;
3, along with the development of Chinese Space cause, space device gets more and more, and the task of monitoring in-orbit is more and more heavier, by artificial Real-Time Monitoring, processes the needs that can not meet under the new situation far away.
Therefore, strengthen and improve satellite task autonomous, continuous planning function in-orbit, being improve satellite transit reliability, realizing one of guarantee of satellite great-leap-forward development.
Summary of the invention
Technology of the present invention is dealt with problems: overcome based on manual intervention, and by the difficult problem that the conventional satellite mode of operation of ground observing and controlling resources supplIes constraint is brought, there is provided a kind of satellite task autonomous planing method continuously, adopt and put according to whole championship, track, the satellite discharging degree of depth, illumination conditions, resource status, the information such as whole star safe condition, carry out the autonomous planning continuously of load task on star, execute the task when satellitosis is safe, cancel time dangerous or time delay execution satellite task, solve satellite and do not rely on extraneous control and information injection, accurate perception oneself state and external environment condition, independently control the problem that satellite completes various task, improve satellite Task Autonomous planning ability in-orbit, reduce the risk that critical failure appears in satellite.
Technical solution of the present invention: the autonomous planing method continuously of a kind of satellite task, step is as follows:
(1) satellite runs along own orbit; obtain sub-satellite track by upper note orbital tracking and (sub-satellite track is plotted as sub-satellite track figure; following sub-satellite track is sub-satellite track figure; spacecraft flight simulation softward STK can be utilized to obtain sub-satellite track), at a time t
0, satellite on track from t
0start, to t
1the point in moment carries out uniform sampling, obtains multiple sub-satellite track sampled point, according to the sampled point target approach control area G of setting
ijudgment criterion, judge these sampled points whether target approach control area G
iif, the target control area G of satellite
ifor the sub-satellite track of satellite (is plotted as sub-satellite track figure by the polygonal region of Track of Sub-Satellite Point place plane; this polygonal region is the setting polygonal region on sub-satellite track figure); i=1 ... n; n is positive integer, and the target control area collection G of satellite comprises multiple target control area G of satellite
iif, the sampled point target approach control area G on satellite trajectory
i, and sampled point is from target approach control area G
ito leaving target control area G
itime span be more than or equal to 10 minutes and be less than or equal to 30 minutes, then judge this target control area G
icorresponding satellite load task meets the time span requirement of tasks carrying, judges the task of this task as target approach control area collection G; If the sampled point on satellite trajectory does not have target approach control area G
ior sampled point is from target approach control area G
ito leaving target control area G
itime span be less than 10 minutes or be greater than 30 minutes, then judge this target control area G
icorresponding satellite load task does not meet the time span requirement of tasks carrying, not using the task of this task as target approach control area collection G; Sampled point target approach control area G
imoment be the Startup time of the task of this target approach control area collection G, sampled point leaves target control area G
imoment be finish time of the task of this target approach control area collection G, the task of target approach control area collection G by Startup time be divided into long-range mission, mid-term task and short time duty;
(2) t of satellite is obtained
0the state set S in moment, comprises mutex amount state, the illumination conditions of public resource on the whole star safe condition of satellite Autonomous judgement, the satellite discharging degree of depth, star; When to define whole star safe condition be safe, satellite power supply is working properly, appearance control subsystem is working properly, bus communication normal, Star Service central computer is working properly; On star, the mutex amount state of public resource includes mutual exclusion and without mutual exclusion two states; Illumination conditions includes illumination and unglazed photograph;
(3) if the task of step (1) target approach control area collection G is long-range mission, then be directly brought into this task new set of tasks P ', when satellite orbits, move closer to target control area, the Startup time of task changes, gradually become task in mid-term, then become short time duty from task in mid-term;
(4) if the task of step (1) target approach control area collection G is task in mid-term, then carry out the task attribute of mission planning, need the parameter judged when namely will perform this task in mid-term, comprise whole star safe condition, required by task depth of discharge;
If the current state S set Satellite depth of discharge of step (2) satellite is greater than required by task depth of discharge in mid-term, and whole star safe condition is safety, then include task in this in new set of tasks P ' in mid-term;
If the current state S set Satellite depth of discharge of step (2) satellite is less than or equal to required by task depth of discharge, or whole star safe condition is dangerous, then this, task did not include new set of tasks P ' in mid-term;
This, task gradually became short time duty with the shortening of Startup time in mid-term;
(5) if the task that step (1) enters current task object set G is short time duty, carry out the task attribute of mission planning, need the parameter judged when namely will perform this short time duty, comprise whole star safe condition, required by task depth of discharge, mutex amount, illumination conditions;
If the current state S set Satellite depth of discharge of step (2) satellite is greater than required by task depth of discharge, and the state of mutex amount relevant to this short time duty in the current state S set of step (2) satellite for be safety without mutual exclusion, whole star safe condition, illumination conditions for there being illumination, then this short time duty is included in new set of tasks P ';
If the current state S set Satellite depth of discharge of step (2) satellite is greater than required by task depth of discharge, whole star safe condition is that safety, illumination conditions are for there being illumination, but the state of mutex amount relevant to this short time duty in the current state S set of step (2) satellite is for there being mutual exclusion, carry out conflict resolution, if conflict can be cleared up, then include this short time duty in new set of tasks P ', if conflict cannot be cleared up, then this short time duty does not include new set of tasks P ' in;
If the current state S set Satellite depth of discharge of step (2) satellite is less than or equal to required by task depth of discharge, or whole star safe condition is dangerous, or illumination conditions is unglazed photograph, then this short time duty does not include new set of tasks P ' in;
(6) if inconsistent with current task set P by the new set of tasks P ' of step (3), (4), (5) gained, then upgrade current task set P, make current task set P and be consistent by the new set of tasks P ' of step (3), (4), (5) gained;
(7) arrive the short time duty of Startup time in the set of tasks P after extraction step (6) renewal, the performance element delivering to satellite performs;
(8) as satellite control area G
iin task be all finished, by this satellite control area G
idelete from target control area collection G; Mutex amount state in step of updating (2) current state S set, the depth of discharge of satellite;
(9) return step (1), until the target control area collection G of satellite is empty, complete planning.
T in described step (1)
1-t
0, namely the sampling time is 100 minutes, uniform sampling be spaced apart 10 seconds.
Target control area G in described step (1)
ithe i.e. overlay area of load operation, enter and leave by sampled point the execution controlling load task corresponding to this region that satellite loaded, this region adopts Convex Polygon Domain to represent, preset the zone boundary of this convex polygon, and the border of overlay area can be revised in-orbit by remote control injecting data, the vector setting each summit, region of known convex polygon is P1, P2, P3, P4 and P5, P is the vector of Track of Sub-Satellite Point up-sampling point, then this sampled point enters the judgment criterion of polygonal area and is:
(P2-P1)×(P-P1)>0；(1)
(P3-P2)×(P-P2)>0；(2)
(P4-P3)×(P-P3)>0；(3)
(P5-P4)×(P-P4)>0；(4)
(P1-P5)×(P-P5)>0；(5)
Above 5 formula are all satisfied, then judge that satellite enters control area G
i; As long as there is a formula not meet, then judge that satellite leaves control area, the vector multiplication (×) of two vectors equals absolute value and is multiplied and is multiplied by the sine value of angle theta between vector again, 0 °≤θ≤180 °, and after vector multiplication, the direction of gained vector meets the right-hand rule.
The attribute of task in described step (3), also comprises task id, task priority, Startup time, corresponding target control area; Startup time is calculated by satellite Autonomous, and the moment that sampled point enters target control area corresponding to task is the Startup time of task; Same target control area G
iwhen the Startup time of corresponding multiple tasks arrives, the task that priority is high first performs.
The Startup time of step (1) described long-range mission is greater than 60min, and mid-term, the Startup time of task was 21min ~ 60min, and the Startup time of short time duty is 0 ~ 20min.
Described step (5) Satellite performs the public resource that multiple task needs to use simultaneously, and comprise data transmission equipment, admittedly storage, data transmission equipment, the situation of inadequate resource occurs sometimes, needs to carry out conflict resolution, the method for carrying out conflict resolution is:
If multiple task is to the operational order conflict of same data transmission equipment or load, namely a generation data transmission equipment or load are opened by a task, open rear data transmission equipment or load operation when not completing, again by situation that another task is closed, then adjust the operational order to same data transmission equipment or load, namely according to the execution time of instruction, OPEN and out code are sorted, only perform first OPEN and last out code, this data transmission equipment or load are normally worked, if cannot adjust, then cancel low priority task and perform;
If multiple task was conflicted to the service time of same storage admittedly, that task that priority is low shortens the execution time or cancels.
The present invention's advantage is compared with prior art:
(1) inject program control command and other control informations in advance with existing ground, arrive when the time performing instruction, the design that Star Service main frame can send a series of instruction to execute the task is compared, and the present invention has the autonomous arbitration functions of tasks carrying on star.Satellite is dynamically about to performing of task according to target area adjustment, when satellite judges that being about to task is activated, first the information such as the satellite discharging degree of depth, illumination conditions, resource status, whole star safe condition of satellite is analyzed before being initiated, judge whether the state of present satellites meets task start condition, if satellite is in unsafe condition or public resource use has conflict, then the execution of cancellation in time or adjustment task, greatly reduces the risk of whole star.
(2) existing satellite needs upper note big data quantity program control command and other control informations, the key equipment of satellite is once break down, satellite task full scale clearance on the star of all memory blocks, cannot independently recover, and needs to send a large amount of instructions by ground and carries out task recovery.Compared with this pattern, target control area collection, Strategy of Conflict Resolution, task start condition etc. can be stored on star by the satellite task that the present invention uses autonomous planing method continuously in advance.Even if key equipment breaks down, still can reload after restarting, and in real time according to new the executing the task of the autonomous dynamic programming of satellitosis.The planning of these tasks considers the real-time safe condition of satellite, can not cause health effect to satellite, ensure that the continuous execution of satellite task simultaneously.
(3) the autonomous planing method continuously of a kind of satellite task of the present invention, to raising satellite operation efficiency, contexture by self task ability, strengthen the reliability of satellite, saving valuable ground observing and controlling resource has great meaning.
Accompanying drawing explanation
Fig. 1 is continuous duty planning flow chart of the present invention
Fig. 2 is that satellite orbit of the present invention calculates schematic diagram;
Fig. 3 is the hierarchical mission planning schematic diagram of the present invention;
Fig. 4 is resource contention schematic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing and instantiation, the present invention is described in further detail:
The autonomous planning system continuously of satellite task is provided with " the target control area collection ", " current state collection " and " current task collection " of satellite." current task collection " is actually a kind of prediction, shows if satellite is according to wanting in advance to run, a series of tasks of our desired execution.Satellite should have the ability of serial update plan.This system rudimentary algorithm is as follows:
P is " current task collection ", and initialization P is empty;
G is " target control area collection ", and initialization G is empty;
S is " current state collection ", and initialization S is empty.
(S is independently obtained by whole star, and G is by G to suppose to give P and G
1, G
2g
nindividual target control area composition, manually goes up note and carries out region setting when passing by):
A, calculating G, S and the C that conflicts (P, G, S) between former set of tasks P;
B, employing Strategy of Conflict Resolution upgrade P (in resource limited field);
The short-term active task that c extracts in " current task collection " performs to real-time system;
D upgrades G, deletes the target no longer needed;
E upgrades S, obtains current state;
F returns a.
Specific implementation flow process as shown in Figure 1.Suppose that satellite at a time carries out mission planning.First calculate the task of target approach control area collection G, if long-range mission, be then directly brought into new set of tasks P '; If mid-term task, according to whole star safe condition, satellite discharging depth profile in state set S, judgement task cancel still include new set of tasks P ' in; If short time duty, according to the mutex amount state status of the whole star safe condition in state set S, the satellite discharging degree of depth, illumination conditions, public resource, judge that this task new set of tasks P ' that is directly brought into still carries out conflict resolution.If need to carry out conflict resolution, and conflict can be cleared up by task adjustment, then include the task after adjustment in new set of tasks P ', if cannot clear up, this subtask cancelled.If P ' and current task set P are inconsistent, then upgrade P and new set of tasks P ' and be consistent.
For the short time duty in set P, when there being task to arrive start-up time, then the real-time system of this task being given satellite performs.Upgrade " target control area collection " G of satellite and " current state collection " S, when upper once mission planning, need to plan " current task collection " P according to new G and S.
As shown in Figure 1, concrete steps of the present invention are as follows:
(1) as shown in Figure 1, suppose that satellite at a time carries out mission planning, first calculate the task of target approach control area collection G.The task of current satellite mainly with interested region for target drives the execution of task, therefore region control method can be adopted to control the work of satellite, for different target areas, make corresponding load task and be loaded on star, entering different target areas by satellite and start different load tasks.The passing of satelline is noted orbital tracking and can obtain sub-satellite track, software has the automatic discrimination function to satellite current place substar longitude and latitude data, and by the comparison of the load operation region longitude and latitude upper-lower door limit value of up for remote control injecting data and the latitude and longitude value of current substar, if current substar longitude and latitude is within threshold value, show that track enters the overlay area of load operation.
Calculate certain target control area G in the collection G of target approach control area
imethod: as shown in Figure 2, the overlay area of load operation adopts Convex Polygon Domain to represent, can border, appointed area in advance, and can be revised the border of overlay area in-orbit by remote control injecting data.
Whether enter control area by orbit computation satellite: with the example of polygon behavior shown in Fig. 2, suppose that the vector on known each summit is P1, P2, P3, P4 and P5, P is the vector of certain point on satellite motion track, then this point enters the judgment criterion of polygonal area and is:
(P2-P1)×(P-P1)>0；(1)
(P3-P2)×(P-P2)>0；(2)
(P4-P3)×(P-P3)>0；(3)
(P5-P4)×(P-P4)>0；(4)
(P1-P5)×(P-P5)>0；(5)
Above 5 formula are all satisfied, then judge that satellite enters control area G
i; As long as there is a formula not meet, then judge that satellite leaves control area, the vector multiplication (×) of two vectors equals absolute value and is multiplied and is multiplied by the sine value of angle theta between vector again, 0 °≤θ≤180 °, and after vector multiplication, the direction of gained vector meets the right-hand rule.
In order to realize the continuous planning of task, satellite (such as every 1 minute) can carry out a mission planning continuously, and calculate each point coordinate figure in 100 minutes on its track, sampled point interval can get 10 seconds.If the point on satellite transit track enters certain control area G
itime span meet the demands (be greater than 10 minutes, be less than 30 minutes), then think that the time span of this subtask is suitable, this task is the task of target approach control area collection G.
Embodiment 1: shown in Fig. 2, satellite carries out mission planning in the t0 moment, to find after 15 minutes that satellite will enter specific region and carries out work, this is a short time duty, now analyze resource, state on star and whether meet task start condition, if met, then can include new set of tasks P ' in.This subtask needs to open in advance number and passes preheating, and therefore tasks carrying is opened several biography in first 10 minutes and carried out preheating, and the moment of satellite target approach control area is t1, is the Startup time of task, and loading device starts start and takes a picture.The moment that satellite leaves target control area is t2, and now close loading device, load task terminates.By satellite, whether target approach control area drives in the work of whole load task, the time span of t1 to t2 is 20 minutes, meet requirement (loading device the working time oversize or too short normal work being all unfavorable for equipment of loading device operating time, normal operating time is set to be greater than 10 minutes, is less than 30 minutes).
As mentioned above, adopt the method initiating task of Region control, the contexture by self of task on star can be realized, for the multiple exercise of same task on same target control area, task stores once, and performed every subtask in the past and all need note, greatly reduce task storage space in contrast; Task recovery after breaking down for satellite, also can be performed by satellite Autonomous, decrease human intervention.
(2) task of the target approach control area collection G obtained according to step (1), adopts hierarchical planing method.As shown in Figure 3, continuous print mission planning takes grade formula to divide, and can be divided into long-range mission planning, mission planning in mid-term and short time duty planning.Suppose that satellite has planned the task activity in following 100 minutes, short time duty can be thought in the task of 0 ~ 20min for Startup time, can think task in mid-term for Startup time in the task of 21 ~ 60min, the task of Startup time being greater than to 60min can think long-range mission.
Enterprising professional etiquette can draw at more abstract level long-range mission, such as can think within this period of time to be thermal equilibrium, do not consider the energy that heating circuit consumes, do not consider other resource situation yet, as long as satellite target approach control area just brings planning into this subtask.
If mid-term task, obtain whole star safe condition, the satellite discharging degree of depth of satellite according to state set S, if the satellite discharging degree of depth is greater than required by task depth of discharge, and whole star safe condition is safety, then include task in this in new set of tasks P ' in mid-term; If the satellite discharging degree of depth is less than or equal to required by task depth of discharge, or whole star safe condition is dangerous, then this, task did not include new set of tasks P ' in mid-term;
Planning for short time duty then needs more to consider satellitosis to details, the mutex amount state, illumination conditions etc. of the whole star safe condition of satellite, the satellite discharging degree of depth, public resource is obtained, to guarantee that satisfying condition of task can bring planning into according to state set S.If the satellite discharging degree of depth is greater than required by task depth of discharge, the state of the mutex amount relevant to this short time duty for be safety without mutual exclusion, whole star safe condition, illumination conditions for there being illumination, then this short time duty is included in new set of tasks P '; If the satellite discharging degree of depth is greater than required by task depth of discharge, whole star safe condition is that safety, illumination conditions are for there being illumination, but the state of the mutex amount relevant to this short time duty is for there being mutual exclusion, the rule according to working out in advance is needed to carry out conflict resolution, if conflict can be cleared up, then include this short time duty in new set of tasks P ', if conflict cannot be cleared up, then this short time duty does not include new set of tasks P ' in; If the satellite discharging degree of depth is less than or equal to required by task depth of discharge, or whole star safe condition is dangerous, or illumination conditions is unglazed photograph, then this short time duty does not include new set of tasks P ' in.
As time goes on, combine more and more detailed parameter when long-range mission becomes mid-term, short time duty to carry out planning and can obtain more accurate result.
Embodiment 2: as shown in Figure 3, satellite at a time t0 carries out mission planning, plans the load task in 100 minutes.Suppose a load task, ID is ZaiHeTask, target approach control area collection G, and Startup time is 99 minutes, is now long-range mission, and be directly brought into new set of tasks P '.When satellite carries out mission planning between t0 and t1 at every turn, this load task is all long-range mission, and be directly brought into new set of tasks P ', until arrive the t1 moment.Now during mission planning, the Startup time of task becomes 60 minutes, this task becomes task in mid-term, now need the whole star safe condition in bonding state S set, the satellite discharging degree of depth to carry out mission planning, if whole star safe condition is safety, and the satellite discharging degree of depth is greater than task depth of discharge, then includes task in new set of tasks P ', otherwise do not include in.When satellite carries out mission planning between t1 and t2 at every turn, this load task is all task in mid-term, all needs the whole star safe condition in bonding state S set, the satellite discharging degree of depth to carry out mission planning at every turn, until arrive the t2 moment.Now during mission planning, the Startup time of task becomes 20 minutes, and this task becomes short time duty, and now need whole star safe condition, the satellite discharging degree of depth in bonding state S set, mutex amount state, illumination conditions carries out mission planning.If whole star safe condition is safety, and the satellite discharging degree of depth is greater than task depth of discharge, there is illumination, when mutex amount state is without mutual exclusion, then include task in new set of tasks P ', otherwise carry out the conflict resolution of task, if conflict can be cleared up, then include the task after adjustment in new set of tasks P ', otherwise do not include in; If whole star safe condition is dangerous, or the satellite discharging degree of depth is not more than task depth of discharge, or unglazed photograph, task does not include new set of tasks P ' in.As time goes on, become 0 when the task start moment, represent satellite target approach control area, load task starts to perform.
As mentioned above, this hierarchical mission planning mode effectively can save computer resource, improves satellite operation efficiency.(3) carry out in hierarchical mission planning process in step (2), for the mission planning of short time duty, conflict if task start condition has with whole star status information, then carry out conflict resolution according to the rule of working out in advance.If conflict can be cleared up by task adjustment, then include the task after adjustment in new set of tasks P ', if cannot clear up, this subtask is cancelled.
As shown in Figure 4, for Strategy of Conflict Resolution, because satellite likely performs multiple task at synchronization, probably can there is the situation of inadequate resource or resource contention, therefore during satellite task planning, the factor of resource should be taken into full account, take Strategy of Conflict Resolution to plan new task in real time, dynamically.If two tasks are to the operational order conflict of same public resource, there is an equipment and opened by a task, again by the situation that another task is closed, then adjust two tasks to the operational order of same public resource, equipment is normally worked.If cannot adjust, then cancel low priority task and perform.
Embodiment 3: for " number passes " this public resource, as shown in Figure 4, task 1 is opened number in the T0 moment and is passed, and closes number pass in the T2 moment; Task 2 is opened number in the T1 moment and is passed, and closes number pass in the T3 moment.The implementation of two tasks has intersection, and all employ " number passes " this resource, there is the situation of resource contention.If do not consider this resource contention during mission planning, two tasks perform respectively, and concerning task 2, be opened in the T1 moment although number passes, turned off by the instruction of task 1 again in the T2 moment, therefore task 2 cannot normally perform.If take Strategy of Conflict Resolution, can adjust during mission planning to the instruction of task, do not execute the task " opening number to pass " instruction of 2 and " closing number to pass " instruction of task 1, just can ensure the normal execution of two tasks.
If two tasks were conflicted to the service time of same public resource, that task that priority is low shortens the execution time or cancels.
Embodiment 4: suppose according to G and S, satellite has planned that the P in following a hour has three task M1, M2 and M3, these three tasks all use same core buffer.After performing first task, partial memory buffer zone of having used up, the S of satellite there occurs change.According to the S after renewal, satellite finds that remaining core buffer can not meet M2 and M3 and use simultaneously, there occurs conflict, therefore re-start mission planning, implements Strategy of Conflict Resolution.Suppose that M3 priority is higher than M2 priority, can shorten the M2 working time and reduce consumption to buffer zone, or cancel M2, ensure the execution of M3.
As mentioned above, adopt Strategy of Conflict Resolution during task conflict, can optimally use public resource on star, and improve the reliability of satellite, prevent resource from excessively using and cause satellite dangerous.
(4), after step (3) carries out conflict resolution, new set of tasks P ' is obtained.If P ' and current task set P are inconsistent, then upgrade P and new set of tasks P ' and be consistent.
(5) for the short time duty in the current task set P obtained in step (4), when there being task to arrive start-up time, then the real-time system of this task being given satellite performs.Because task contexture by self on star is cycle iterations with per minute, dynamic implementation is planned, short time duty before Startup time, all through the real-time comparison of satellite current state collection S and task start condition, to ensure to meet executive condition.
Task start condition design: in the present invention, need satellite to judge whether task includes new set of tasks P ' according to information independence such as the satellite discharging degree of depth, illumination conditions, mutex amount state, whole star safe conditions, or whether the short time duty arriving Startup time can perform.Table 1 lists several load task plan attribute, in order to carry out condition judgment.
Table 1 is task start condition table
Embodiment 5: for load task 1, task 1 is when becoming short time duty and planning, whole star safe condition, the satellite discharging degree of depth, mutex amount state, illumination conditions in reading state S set, compare with task 1 entry condition set in table 1, judgment criterion is as follows:
" whole star safe condition "=0x66;
" the satellite discharging degree of depth " >C1;
" mutex amount "=0x66; (mutex amount is the mutex amount of task 1 public resource used)
" illumination "=0x66;
If above condition is all satisfied, then can include task 1 in new set of tasks P ', or initiating task 1 is executed the task.Do not meet if had ready conditions, task 1 cannot be included new set of tasks P ' in or start.
Satellite state information acquisition methods is as follows:
Whole star safe condition: current whole star safe condition can be obtained by the mode of whole star remote measurement; When whole star safe condition is safe, satellite power supply is working properly, appearance control subsystem is working properly, bus communication normal, Star Service central computer is working properly.Above by each subsystem independent judgment, if having one abnormal, whole star safe condition just thinks dangerous.
The satellite discharging degree of depth: the power consumption performing event in the work period of useful load is predicted, and set up the incidence relation predicted the outcome and between depth of discharge (Qd), then can predict the depth of discharge required for current task execution; When satellite executes a task, according to execute the task consume electricity, the depth of discharge that satellite has been used up can be calculated, and after tasks carrying satellite can depth of discharge.After executing the task satellite can depth of discharge reduce; When satellite enters illumination period, the satellite discharging degree of depth increases.
Mutex amount: 1 task can only be had to perform the while of supposing " task 1 ", " task 2 " and " task 3 ", then it can be avoided to perform by arranging mutex amount simultaneously.When wherein any one task start, then " mutex amount " this variable is set to 0x99, after this tasks carrying is complete, then this variable is set to 0x66, other tasks obtain right of execution; Judge before two tasks carryings in addition whether " mutex amount " this variate-value is 0x66, if " mutex amount " this variate-value is not 0x66, but 0x99 does not then start, i.e. the state of mutex amount is for there being mutual exclusion; Just allow to start if " mutex amount " this variate-value is 0x66, i.e. the state of mutex amount is without mutual exclusion.
Illumination: satellite can be gone out by orbit prediction technique computes and enter ground shadow, go out the time of ground shadow.
As mentioned above, because satellite Autonomous has judged whole star safe condition, the satellite discharging degree of depth, the mutual exclusion state of satellite public resource, illumination conditions, the security of satellite, reliability has been substantially increased.
(6) according to the implementation status of step (5), target control area collection G and state set S is upgraded.When upper once mission planning, need to plan " current task plan collection " P according to new G and S.Mission planning, until target control area collection G is for terminating time empty, by ground staff's target control area collection that upper note is new again when satellite passes by, starts new mission planning.
Satellite, in real-time working process, due to various change, can cause the state of satellite reality and expection not to be inconsistent.Real-time software is needed to carry out the iteration of above-mentioned job step, according to actual start and end time Renewal model of the state of reality, actual resource, task.The autonomous planning system continuously of satellite task needs the renewal of the activity and state receiving satellite in the scope of 1 ~ 10 second to lay equal stress on new planning one subtask, and likely can not conform to the actual conditions because of the state of former required by task and resource and produce conflict in this more new capital at every turn.As long as there is conflict to occur, satellite just can planning tasks again, to adapt to the planning of new state and following a series of task.
The content that the present invention does not describe in detail belongs to technology as well known to those skilled in the art.
Claims (6)
1. the autonomous planing method continuously of satellite task, is characterized in that step is as follows:
(1) satellite runs along own orbit, obtains sub-satellite track, at a time t by upper note orbital tracking
0, satellite on track from t
0start, to t
1the point in moment carries out uniform sampling, obtains multiple sub-satellite track sampled point, according to the sampled point target approach control area G of setting
ijudgment criterion, judge these sampled points whether target approach control area G
iif, the target control area G of satellite
ifor the polygonal region of Track of Sub-Satellite Point place plane, i=1 ... n, n are positive integer, and the target control area collection G of satellite comprises multiple target control area G of satellite
iif, the sampled point target approach control area G on satellite trajectory
i, and sampled point is from target approach control area G
ito leaving target control area G
itime span be more than or equal to 10 minutes and be less than or equal to 30 minutes, then judge this target control area G
icorresponding satellite load task meets the time span requirement of tasks carrying, judges the task of this task as target approach control area collection G; If the sampled point on satellite trajectory does not have target approach control area G
ior sampled point is from target approach control area G
ito leaving target control area G
itime span be less than 10 minutes or be greater than 30 minutes, then judge this target control area G
icorresponding satellite load task does not meet the time span requirement of tasks carrying, not using the task of this task as target approach control area collection G; Sampled point target approach control area G
imoment be the Startup time of the task of this target approach control area collection G, sampled point leaves target control area G
imoment be finish time of the task of this target approach control area collection G, the task of target approach control area collection G by Startup time be divided into long-range mission, mid-term task and short time duty;
(2) t of satellite is obtained
0the state set S in moment, comprises mutex amount state, the illumination conditions of public resource on the whole star safe condition of satellite Autonomous judgement, the satellite discharging degree of depth, star; When to define whole star safe condition be safe, satellite power supply is working properly, appearance control subsystem is working properly, bus communication normal, Star Service central computer is working properly; On star, the mutex amount state of public resource includes mutual exclusion and without mutual exclusion two states; Illumination conditions includes illumination and unglazed photograph;
(3) if the task of step (1) target approach control area collection G is long-range mission, then be directly brought into this task new set of tasks P ', when satellite orbits, move closer to target control area, the Startup time of task changes, gradually become task in mid-term, then become short time duty from task in mid-term;
(4) if the task of step (1) target approach control area collection G is task in mid-term, then carry out the task attribute of mission planning, need the parameter judged when namely will perform this task in mid-term, comprise whole star safe condition, required by task depth of discharge;
If the current state S set Satellite depth of discharge of step (2) satellite is greater than required by task depth of discharge in mid-term, and whole star safe condition is safety, then include task in this in new set of tasks P ' in mid-term;
If the current state S set Satellite depth of discharge of step (2) satellite is less than or equal to required by task depth of discharge, or whole star safe condition is dangerous, then this, task did not include new set of tasks P ' in mid-term;
This, task gradually became short time duty with the shortening of Startup time in mid-term;
(5) if the task that step (1) enters current task object set G is short time duty, carry out the task attribute of mission planning, need the parameter judged when namely will perform this short time duty, comprise whole star safe condition, required by task depth of discharge, mutex amount, illumination conditions;
If the current state S set Satellite depth of discharge of step (2) satellite is greater than required by task depth of discharge, and the state of mutex amount relevant to this short time duty in the current state S set of step (2) satellite for be safety without mutual exclusion, whole star safe condition, illumination conditions for there being illumination, then this short time duty is included in new set of tasks P ';
If the current state S set Satellite depth of discharge of step (2) satellite is greater than required by task depth of discharge, whole star safe condition is that safety, illumination conditions are for there being illumination, but the state of mutex amount relevant to this short time duty in the current state S set of step (2) satellite is for there being mutual exclusion, carry out conflict resolution, if conflict can be cleared up, then include this short time duty in new set of tasks P ', if conflict cannot be cleared up, then this short time duty does not include new set of tasks P ' in;
If the current state S set Satellite depth of discharge of step (2) satellite is less than or equal to required by task depth of discharge, or whole star safe condition is dangerous, or illumination conditions is unglazed photograph, then this short time duty does not include new set of tasks P ' in;
(6) if inconsistent with current task set P by the new set of tasks P ' of step (3), (4), (5) gained, then upgrade current task set P, make current task set P and be consistent by the new set of tasks P ' of step (3), (4), (5) gained;
(7) arrive the short time duty of Startup time in the set of tasks P after extraction step (6) renewal, the performance element delivering to satellite performs;
(8) as satellite control area G
iin task be all finished, by this satellite control area G
idelete from target control area collection G; Mutex amount state in step of updating (2) current state S set, the depth of discharge of satellite;
(9) return step (1), until the target control area collection G of satellite is empty, complete planning.
2. the autonomous planing method continuously of a kind of satellite task according to claim 1, is characterized in that, t in described step (1)
1-t
0, namely the sampling time is 100 minutes, uniform sampling be spaced apart 10 seconds.
3. the autonomous planing method continuously of a kind of satellite task according to claim 1, is characterized in that, target control area G in described step (1)
ithe i.e. overlay area of load operation, enter and leave by sampled point the execution controlling load task corresponding to this region that satellite loaded, this region adopts Convex Polygon Domain to represent, preset the zone boundary of this convex polygon, and the border of overlay area can be revised in-orbit by remote control injecting data, the vector setting each summit, region of known convex polygon is P1, P2, P3, P4 and P5, P is the vector of Track of Sub-Satellite Point up-sampling point, then this sampled point enters the judgment criterion of polygonal area and is:
(P2-P1)×(P-P1)>0；(1)
(P3-P2)×(P-P2)>0；(2)
(P4-P3)×(P-P3)>0；(3)
(P5-P4)×(P-P4)>0；(4)
(P1-P5)×(P-P5)>0；(5)
Above 5 formula are all satisfied, then judge that satellite enters control area G
i; As long as there is a formula not meet, then judge that satellite leaves control area, the vector multiplication (×) of two vectors equals absolute value and is multiplied and is multiplied by the sine value of angle theta between vector again, 0 °≤θ≤180 °, and after vector multiplication, the direction of gained vector meets the right-hand rule.
4. the autonomous planing method continuously of a kind of satellite task according to claim 1, is characterized in that: the attribute of task in described step (3), also comprises task id, task priority, Startup time, corresponding target control area; Startup time is calculated by satellite Autonomous, and the moment that sampled point enters target control area corresponding to task is the Startup time of task; Same target control area G
iwhen the Startup time of corresponding multiple tasks arrives, the task that priority is high first performs.
5. the autonomous planing method continuously of a kind of satellite task according to claim 1, it is characterized in that: the Startup time of step (1) described long-range mission is greater than 60min, mid-term, the Startup time of task was 21min ~ 60min, and the Startup time of short time duty is 0 ~ 20min.
6. the autonomous planing method continuously of a kind of satellite task according to claim 4, it is characterized in that: described step (5) Satellite performs the public resource that multiple task needs use simultaneously, comprise data transmission equipment, admittedly storage, data transmission equipment, there is the situation of inadequate resource, need to carry out conflict resolution, the method for carrying out conflict resolution is:
If multiple task is to the operational order conflict of same data transmission equipment or load, namely a generation data transmission equipment or load are opened by a task, open rear data transmission equipment or load operation when not completing, again by situation that another task is closed, then adjust the operational order to same data transmission equipment or load, namely according to the execution time of instruction, OPEN and out code are sorted, only perform first OPEN and last out code, this data transmission equipment or load are normally worked, if cannot adjust, then cancel low priority task and perform;
If multiple task was conflicted to the service time of same storage admittedly, that task that priority is low shortens the execution time or cancels.
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