CN106371448A - Motion optimization based self-instruction generating method for imaging satellite - Google Patents
Motion optimization based self-instruction generating method for imaging satellite Download PDFInfo
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Abstract
The invention discloses a motion optimization based self-instruction generating method for imaging satellite, a method of converting multiple meta-tasks into on-satellite manipulation-level instructions. According to the method, firstly, based on the motion information equipped to the meta-tasks and the timing sequence relationships among the meta-tasks and through the use of the greedy algorithm, the same type of motions of opening and closing the machine between two adjacent meta-tasks are maximized. Therefore, the execution complexity of software is reduced; the motion sequence of the satellites is effectively planned. And according to the motion sequence and the working state of the current satellite's equipment (for instance, sequestration uses backup to save, digital transmission servo uses the original, and etc.), the corresponding manipulation-level instructions are specified so as to effectively make the satellites more operational, achieve better efficiency and provide technical support to enable the single orbit of agile satellites to complete multiple tasks. In addition, according to the method, abstract definitions are made between the meta-tasks and their corresponding motion information as well as between the timing sequence relationships of the meta-tasks, which allows a user to define themselves. Therefore, the method is very flexible and universal and can be applied to various remote sensing satellites.
Description
Technical field
The invention belongs to remote sensing satellite autonomous operation technical field is and in particular to a kind of imaging satellite based on action optimization
From master instruction generation method.
Background technology
New agility remote sensing satellite attitude maneuver ability strengthens, and a rail imaging capability is compared traditional remote sensing satellite several times and strengthened
(as Fig. 1 institute), if still according to conventional satellite " ground completes Meta task and generates note satellite execution to instruction " mode to defending
If star is manipulated, ground handling operator is on the one hand needed to understand details of operation and the load using method of different satellites,
In actual application, it is also often desirable to, with satellite development side, instruction and parameter are carried out with check and correction confirmation, process is loaded down with trivial details.Meanwhile,
The complexity of manipulation constitutes a latent danger to the reliability of satellite and safety.With the increase of China's satellite in orbit quantity, this disadvantage
End is especially prominent.On the other hand, the amount instruction data that this instruction control model produces is larger, due to China's tracking and command network ability limit
System, most Satellite TT segmental arc resource-constraineds (10 minutes about), this pattern will be unable to meet the mission requirements of quick satellite.
Fig. 2 is the schematic diagram that Meta task is launched into instruction, and as can be seen from the figure instruction generating process is extremely complex,
It is related to multiple subsystems such as load, control, number biography, antenna, the command request of generation meets timing requirements, and in order to increase on star
Strong reliability, all there is intersection backup in a lot of equipment, need consideration equipment master backup service condition in instruction generating process.In addition
Under quick imaging pattern, in addition it is also necessary to consider that similar switching on and shutting down action optimizes consolidation problem when nearer between task and task, no
The time requirement of adjacent tasks carrying then cannot be met.
Content of the invention
In view of this, it is an object of the invention to provide a kind of imaging satellite based on action optimization is from master instruction generation side
Method, the instruction compaction of upper note satellite is Meta task level information by this method, the action message that star can be equipped with according to Meta task
And the sequential relationship between Meta task, optimize adjacent similar switching on and shutting down action, thus cooking up the satellite action sequence of the whole series, then
Produce the corresponding level that manipulates according to action sequence to instruct, thus the easily handling and upper note efficiency of larger lifting satellite.
A kind of imaging satellite based on action optimization is from master instruction generation method, comprising:
Step 1, the task definition according to imaging satellite, determine the Meta task that this imaging satellite enables, and Meta task
Involved everything, and execution defines list and the initial setting up of device status table, particularly as follows:
S11, initial setting up action definition table
For 4 parameters of description action, obtain the initial value of each parameter, three parameters therein: action numbering
Atid, type of action attype, initial address attcs of the corresponding job sequence of action is initial default value, another parameter
Action optimisation strategy atrmv obtains according to following optimisation strategy: when action is the non-other action started shooting or shut down, this action
Not optimised, atrmv=0；
When action is boot action or shutdown action, and this action is not belonging to be imaged the action of Meta task and playback Meta task
Intersection of sets collection, then this action belongs to the similar optimization between similar Meta task, atrmv=1；
When action is boot action or shutdown action, and this action belongs to the behavior aggregate of imaging Meta task and playback Meta task
The common factor closing, then this action belongs to the optimization completely between similar or inhomogeneity Meta task, atrmv=2；
S12, initialization directive sequence:
Find the corresponding job sequence of each action, and initial parameter configuration is carried out to the parameter of description instruction；
Corresponding command information under s13, the use state according to each equipment of present satellites and different conditions, to equipment shape
State table is initialized；Following field: device numbering is comprised in this table, equipment state, the instruction that this equipment can affect, and really
Surely it is affected instruction: order number, the code word original position of impact, the code word size of impact, the code word mask of impact, impact
Code value；
Step 2, the Meta task of satellite reception ground injection, and generate next circle initial from master instruction, particularly as follows:
S21, select all Meta task of next circle in Meta task memory block according to rail ring number, and formed and open according to task
The Meta task sequence of beginning time-sequencing；
S22, individual pen Meta task constraint checking, particularly as follows:
1. imaging Meta task is accumulated into and is less than, as duration, the threshold value setting；
2. playback Meta task is accumulated into and is less than, as duration, the threshold value setting；
3. for similar Meta task, the time of the end time of the initial time of next Meta task and current Meta task
Interval is more than given threshold；；
If the above three that current Meta task meets this step checks condition simultaneously, execute next step；If can not be same
When meet, then delete the minimum Meta task of a priority, proceed the judgements of above three inspection conditions, full until simultaneously
Foot, executes next step；
S23, traversal Meta task sequence, first carry out boot action optimization to the everything of each Meta task, then are closed
Motor-driven work optimizes, and after the completion of optimization, obtains final action sequence, particularly as follows:
For the boot action in current Meta task i, if meeting: 1. there is similar unit before current Meta task i and appoint
Business k, and, the initial time of current Meta task i is less than given threshold with the time interval of the end time of Meta task k, then and excellent
Change this boot action；If being unsatisfactory for condition 1., it is further continued for judging whether to meet condition: 2. existed not before current Meta task
Similar Meta task k, and, the initial time of current Meta task i is less than setting with the time interval of the end time of Meta task k
Threshold value, meanwhile, optimisation strategy atrmv of this boot action is shown as optimizing completely, then optimize this boot action；
For the shutdown action in current Meta task i, if meeting: 1. there is similar unit after current Meta task i and appoint
Business k, and, the initial time of current Meta task i is less than given threshold with the time interval of the end time of Meta task k, then and excellent
Change this shutdown action；If being unsatisfactory for condition 1., it is further continued for judging whether to meet condition: 2. exist after current Meta task i
Inhomogeneous Meta task k, and, the time interval of the initial time of current Meta task i and the end time of Meta task k is less than setting
Determine threshold value, meanwhile, optimisation strategy atrmv of this shutdown action is shown as optimizing completely, then optimize this shutdown action；
The action of each of s24, the final action sequence obtaining s23 expands into instruction, and method of deploying is as follows: obtains
The action taking current action is numbered, and is numbered according to action and obtains job sequence, travels through all command informations in this job sequence,
Obtain the order code of present instruction, instruction sends the time and instruction sends address, and the instruction of acquisition is inserted into pending
Instruction list in；
Wherein, the impact to this instruction according to device status table, obtains actual instruction code value, particularly as follows: obtaining impact
The equipment of present instruction, finds the corresponding device status table of this equipment, according to the code word original position of impact in device status table,
The code word size len of impact, the code word mask mask of impact obtain the concrete region of the presumptive instruction code of actual influence, then make
Replace the code value of presumptive instruction code respective regions with " code value tcval of impact ", thus obtaining the instruction code value of reality.
Further, if satellite receives the Meta task of ground injection in execution task process, according to Meta task
Affiliated rail ring number, executes different strategies, if Meta task needs executing of task after belonging to current orbit, according to unit
Meta task is stored corresponding memory block by task type；If Meta task belongs to current orbit task, return to step 2, hold
Row regenerates instruction process；If Meta task needs executing of task before belonging to current orbit, reject Meta task.
The invention has the following beneficial effects:
The technical problem to be solved in the present invention is that offer is a kind of appoints multiple units that ground is injected under spaceborne real time environment
The method that business is converted on star manipulation level instruction, between the action message that the method is equipped with according to Meta task first and Meta task when
Order relation, maximizes, using greedy algorithm, the similar switching on and shutting down action optimizing between adjacent Meta task, effectively reduces software execution multiple
Miscellaneous degree, effectively cooks up the action sequence of satellite, and (for example solid according to the working condition making sequence and each equipment of present satellites
Deposit and use backup storage, count biography servo using main part etc.) example dissolves corresponding manipulation level and instructs, thus effectively lifting satellite
Easily handling and upper note efficiency, completes multiple tasks for the single rail ring of quick satellite and provides technical guarantee.In addition the method
Sequential relationship between corresponding for Meta task action message and Meta task is carried out abstract definition, supports User Defined, tool
There are very strong versatility and motility, be suitable for all kinds of remote sensing satellites.
Brief description
Fig. 1 is the schematic diagram that in prior art, single track imaging task number increases；
Fig. 2 is that in prior art, instruction generates schematic diagram；
Fig. 3 is the implementing procedure figure instructing generation in the present invention；
Fig. 4 is Meta task structure of arrays schematic diagram in the present invention；
Fig. 5 is action definition flow chart in the present invention；
Fig. 6 is to instruct definitim flow figure in the present invention；
Fig. 7 is the flow chart receiving Meta task in the present invention；
Fig. 8 is to merge Meta task flow chart in the present invention；
Fig. 9 is the flow chart generating action sequence in the present invention；
Figure 10 is optimisation strategy flow chart of starting shooting in the present invention；
Figure 11 is the optimisation strategy flow chart that shuts down in the present invention；
Figure 12 is the flow chart generating instruction in the present invention；
Figure 13 is to instruct, in the present invention, the flow chart regenerating.
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
First, nominal definition:
Imaging Meta task: refer to satellite and once can push away sweep the ground target band completing, be the minimum that satellite can execute
Imaging task.
Playback Meta task: refer to the playback task of the once load data that can complete of satellite, be that satellite can execute
Little playback task.
Action: a complete operation process of each subsystem, such as camera boot action, camera imaging action, number passes
Power up action.Each action is completed by one or more instruction.Polaroid Meta task or playback Meta task are by multiple action group
Conjunction completes.
2nd, symbol definition:
P: represent that satellite encloses around the earth one, i.e. rail imaging Meta task sequence (successively sorting according to job start time)；
R: represent rail playback Meta task sequence (successively sorting according to job start time)；
A: represent a rail Meta task sequence (successively sorting according to job start time), a=p ∪ r；
P: represent single imaging Meta task, wherein p ∈ p；
R: represent single playback Meta task, wherein r ∈ r；
A: represent single Meta task, wherein a ∈ a；
ai: represent i-th Meta task in a；
Using hexa-atomic group, single Meta task is described: { amid, obid, pos, bt, et, type, asinf }, wherein
Amid represents that Meta task is numbered, and obid represents the rail ring number belonging to Meta task, and pos represents positional information, and bt represents Meta task
Time started, et represents the end time of Meta task.Type represents Meta task type, and 0 is expressed as picture, and 1 represents playback.
Asinf represents some auxiliary informations of Meta task.Such as Meta task priority, the imaging parameters setting of imaging Meta task, playback
The playback mode of Meta task is arranged.
Coid: represent current orbit circle number；
Pat: be expressed as the set of actions that pixel task comprises；
Rat: represent the set of actions that playback Meta task comprises；
At: be expressed as the everything set that pixel task and playback Meta task comprise, at=pat ∪ rat；
Pat: be expressed as the individual part of pixel task, wherein pat ∈ pat；
Rat: represent the individual part of playback Meta task, wherein rat ∈ rat；
At: represent the individual part of Meta task, wherein at ∈ at；
atj: represent j-th action of Meta task；
Using four-tuple, individual part at is described: { atid, attype, atrmv, attcs }, atid expression action
Numbering, attype represents type of action, atrmv expression action optimisation strategy, and wherein, action optimization refers to that whether deleting this moves
Make, in everything, only startup and shutdown action can optimize, and other standard operations can not be optimised；Attcs represents
The initial address of the corresponding job sequence of action.
Wherein, only similar optimization refers to the action optimization between similar Meta task；Complete
Fully optimized refers to the action optimization between similar or inhomogeneity Meta task.
Represent j-th action of i-th Meta task, whenRepresent and this action optimized,When, represent and this action is not optimized.
Instruction definition a: instruction definition includes order number tcid, time reference timebase, time migration
Timeofst, application process mark apid (being issued which corresponding equipment for indicator) of instruction, order code code, refer to
Make processing procedure process.Wherein, as time reference timebase=0, represent on the basis of the Meta task time started, when
During timebase=1, represent on the basis of the Meta task end time.
{tcid,timebase,timeofst,apid,code,process}
Command Example value: the command value being obtained according to instruction definition instantiation, including time for each instruction exetime,
Instruction execution code word execode, instruction execution address exeaddr.{exetime,execode,exeaddr}
Route (apid) represents that, according to apid lookup routing table, the address conversion that apid is represented becomes physical address, that is, refers to
Bag is made to be routed on corresponding equipment.
Devtb represents device status table, and the working condition of storage each equipment of present satellites (is for example admittedly deposited and deposited using backup
Storage, number pass servo and adopt main part etc.).Each list item in device status table is { tcid, stpos, len, mask, tcval }, bag
Tcid containing order number, code word original position stpos, length len, mask mask, value tcval.
Instruction processing procedure process (code, devtb), according to device status table and former instruction code word, draws actual holding
Row instruction code word.
3rd, implement step:
The present invention provides a kind of method that Meta task information independence according to ground injection generates imaging satellite manipulation instruction,
Flow process is as shown in Figure 3.
Step 1, the task definition according to imaging satellite, find the Meta task that this imaging satellite enables, and Meta task
Involved everything, and execution defines list, the initial setting up of device status table, particularly as follows:
11) initial setting up action definition table
For 4 parameters of description action, obtain the initial value of each parameter, three parameters therein: action numbering
Atid, type of action attype, initial address attcs of the corresponding job sequence of action is initial default value, and action optimizes plan
Slightly obtained according to following optimisation strategy: when action be non-start or shutdown other action when, this action not optimised it may be assumed that
When action is boot action or shutdown action, and this action is not belonging to be imaged the action of Meta task and playback Meta task
Intersection of sets collection, then this action belong to action optimization between similar Meta task it may be assumed that
When action is boot action or shutdown action, and this action belongs to the behavior aggregate of imaging Meta task and playback Meta task
The common factor closing, then this action belong to action optimization between inhomogeneity Meta task it may be assumed that
12) initialization directive sequence:
Find the corresponding job sequence of each action, and six parameters to description instruction: order number tcid, time base
Quasi- timebase, time migration timeofst, application process mark apid, the order code code of instruction, instruct processing procedure
Process carries out initial parameter configuration；
13) corresponding command information under the use state according to each equipment of present satellites and different conditions, to equipment shape
State table is initialized.
Mainly comprise following field: device numbering, equipment state, the instruction that this equipment can affect in this table, and determine
It is affected instruction: order number, the code word original position of impact, the code word size of impact, the code word mask of impact, impact
Code value.Such as present satellites are deposited using main part admittedly, then the equipment state deposited consolidating in device status table is set to 1, the finger of impact
Numbering is made to be tcs031, the code word original position of impact is 3, the code word size of impact is 1, the code word mask of impact is 0xff.
The code value of impact is 0xaa.
Step 2, the Meta task of satellite reception ground injection, and generate next circle initial from master instruction, particularly as follows:
S21, select all Meta task of next circle in Meta task memory block according to rail ring number, and adopt insertion sort
Form Meta task sequence a according to job start time sequence；
S22, individual pen Meta task constraint checking, particularly as follows:
1. judge imaging Meta task be accumulated into as duration be less than set threshold value ptl it may be assumed that
2. judge playback Meta task be accumulated into as duration be less than set threshold value rtl it may be assumed that
3. similar elementary time interval checks
For similar Meta task, between the time of exponent number time of the initial time of next Meta task and current Meta task
Every more than given threshold, that is,Or
If current Meta task meets three above condition simultaneously, execute next step；If can not meet simultaneously, delete
The minimum Meta task of one priority, proceeds the judgement of above three, until meeting three above condition, executes next
Step；
S23, searching loop Meta task sequence a, the everything execution to current Meta task first carries out start optimization, then holds
Row shutdown optimizes, and after the completion of optimization, obtains final action sequence, particularly as follows:
I) start optimization is as follows:
Using the maximized action sequence optimizing current Meta task of greedy algorithm, preferentially select in boot action optimization process
Execute optimization with formula (14), if meet formula (14, jump out the optimization process of current action, without find meet
Formula (14) optimal conditions, then execute optimization from formula (15).
That is: for the boot action in current Meta task i, if meeting: 1. there is similar unit before current Meta task i
Task k, and, the initial time of current Meta task i is less than given threshold with the time interval of the end time of Meta task k, then
Optimize this boot action；If being unsatisfactory for condition 1., it is further continued for judging whether to meet condition: 2. existed before current Meta task
Inhomogeneous Meta task k, and, the time interval of the initial time of current Meta task i and the end time of Meta task k is less than setting
Determine threshold value, meanwhile, optimisation strategy atrmv of this boot action is shown as optimizing completely, then optimize this boot action, so permissible
Effectively reduce the execution complexity of algorithm.
Ii) shutdown action optimization is as follows:
Similar with boot action, preferentially execute optimization from formula (19) in shutdown action optimization process, without send out
Now meet the optimal conditions of formula (19), then execute optimization from formula (20).
That is: for the shutdown action in current Meta task i, if meeting: 1. there is similar unit after current Meta task i
Task k, and, the initial time of current Meta task i is less than given threshold with the time interval of the end time of Meta task k, then
Optimize this shutdown action；If being unsatisfactory for condition 1., it is further continued for judging whether to meet condition: 2. deposit after current Meta task i
In inhomogeneous Meta task k, and, the initial time of current Meta task i is less than with the time interval of the end time of Meta task k
Given threshold, meanwhile, optimisation strategy atrmv of this shutdown action is shown as optimizing completely, then optimize this boot action；
The action of each of s24, the final action sequence obtaining s23 expands into instruction, and method of deploying is as follows: obtains
The action number of current action, searches corresponding action definition item according to action number in action definition list, fixed according to action
The job sequence address of the senses of a dictionary entry, obtains job sequence definition, travels through all instruction definition information in the definition of this job sequence, root
According to the time started of the affiliated Meta task of action, end time and present instruction definition information obtain present instruction command value,
Instruction sends the time and instruction sends address, formula such as (21), (22), shown in (23), and the instruction of acquisition is inserted into treats
In the instruction list of execution.
Exet=(1-timebase) * bt+timebase*et+timeofst (21)
Execode=process (code, devtb) (22)
Exeaddr=route (apid) (23)
Wherein, the command value of present instruction is not the command value of the final execution of equipment in addition it is also necessary to according to device status table
Impact to this instruction, obtains actual instruction code value, particularly as follows: the parameter according to instruction
Obtain present instruction corresponding order number search device status table, find corresponding list item in device status table, instructed
Code processing information, then according in device status table " code word original position stpos of impact, the code word size len of impact,
The code word mask mask of impact " obtains the concrete region of the presumptive instruction code of actual influence, then uses the " code value of impact
Tcval " replaces the code value of presumptive instruction code respective regions, thus obtaining the instruction code value of reality.
S25, return to step 2) receive new Meta task.
If it should be noted that satellite receives the Meta task of ground injection in execution task process, according to unit
The affiliated rail ring number of task, executes different strategies, if meeting formula (4), that is, Meta task needs after belonging to current orbit
The task of execution, then store corresponding memory block according to Meta task type by Meta task；If meeting formula (5), that is, unit appoints
Business belongs to current orbit task, then return to step 2, and execution regenerates instruction process；If meeting formula (6), i.e. Meta task
Need executing of task before belonging to current orbit, then reject Meta task.
Embodiment:
Meta task:
In order to improve injection efficiency and reduce ground management and control complexity, the imaging on the same day is disposably injected on ground or playback is appointed
Business instruction, is presented, the main information that single Meta task comprises has in the way of Meta task:
Meta task type indicates that this Meta task is imaging Meta task or playback Meta task.
Imaging Meta task memory block, this memory block is used for depositing the imaging Meta task packet of a day that ground is injected.
Playback Meta task memory block, this memory block is used for depositing the playback Meta task packet of a day that ground is injected.
When coil imaging Meta task list and playback Meta task list:
Injection circle starts first 1 minute, and the instruction starting next rail ring is autonomously generated process.Rail according to Meta task
Road circle number selects all Meta task of next circle from imaging Meta task memory block and playback Meta task memory block, and opens according to task
Beginning time-sequencing leaves in when in coil imaging Meta task list and playback Meta task list.
Overall Meta task array:
According to the Meta task time started, the imaging Meta task list of meet the constraint and playback list are merged into an overall situation
In Meta task array, as the input of subsequent instructions generation.In this array, each node includes Meta task information, start optimizes plan
Slightly, shutdown three attributes of optimisation strategy.Start optimisation strategy includes not optimizing, and similar start optimizes and foreign peoples's start optimizes, and closes
Machine optimisation strategy includes not optimizing, and similar shutdown optimizes and foreign peoples's shutdown optimizes.Overall Meta task structure of arrays is as shown in Figure 4:
Imaging Meta task action definition list with playback Meta task action definition list: according to Meta task type it is stipulated that
Two action definition lists, are imaging Meta task action definition list and playback Meta task action definition list respectively.Each moves
Comprise action numbering, type of action, action optimisation strategy, job sequence address 4 attribute as defined item.As shown in Figure 5.
Imaging action command defined nucleotide sequence and playback action command defined nucleotide sequence:
Each of action definition sequence action definition corresponds to one group of instruction definition, as shown in Figure 6.Each instruction definition
Comprise 6 attributes, refer respectively to order numbering, time reference, time migration, application process identifies apid, order code, and instruction is processed
Process.
The instruction list sending, for depositing when the pending instruction of circle, every instruction takies a node.
Step 1: the initial setting up of algorithm
This step mainly completes device status table, action definition list, the initial setting up of job sequence definition.
Wherein main contents include:
The initial setting up of action definition list:
According to Meta task type, this method provides two action definition lists, it is imaging Meta task action definition respectively
List dt1 and playback Meta task action definition list dt2.Comprise multiple action definitions in each action definition list, show this
The action sequence that class Meta task comprises.Each action definition item comprises action numbering, type of action, action optimisation strategy, instruction
4 attributes (as shown in Figure 5) of sequence address.Action number as action definition table major key, one action of unique mark, for example
The numbering of camera boot action is 1, and it is 2 that camera shutdown action is numbered.Type of action include boot action, shutdown action and other
Action three class.Action optimisation strategy shows that this action in what situations can be optimised, including not optimizing, only similar task optimization,
Optimize three classes completely.(the action optimisation strategy initial value of everything is all not optimize), job sequence address is used for representing this
The corresponding job sequence of action is defined on the storage location in internal memory.
The main execution of this step defines the calculating of the action optimisation strategy of everything definition in list, is step
4) in, execution optimization provides input.Specific as follows:
I) travel through dt1, if the type of action of current action defined item is boot action or shutdown action, current action
The action optimisation strategy of defined item is set to only similar task optimization.
Ii) travel through dt2, if the type of action of current action defined item is boot action or shutdown action, currently move
The action optimisation strategy making defined item is set to only similar task optimization.
Iii) find action numbering identical entry in dt1 and dt2, if the type of action of the action definition item obtaining is start
Action or shutdown action, then be set to optimize completely by this action optimisation strategy.
Initialization apparatus state table:
The use state project of each equipment of present satellites is left in structure, to each one-tenth therein during initialization
Member carries out assignment, as shown in the table:
3) initialization all job sequences definition
Each action corresponds to a job sequence definition, and the definition of each job sequence corresponds to one group of instruction definition, each
Instruction definition comprises 6 attributes (as shown in Figure 6), refer respectively to order numbering, time reference, time migration, instruction should be used
Journey identifies, order code, instructs processing procedure；
This step mainly completes the parameter configuration of all job sequence definition, indicates that the definition of certain job sequence comprises several
(if order number is 021, time reference is Meta task to the occurrence of 6 attributes that instruction definition and each instruction definition comprise
Time started, time offset is 3 seconds etc.).
Step 2: receive Meta task
Determine whether new Meta task injection, without then entering step 3, the unit otherwise receiving ground injection appoints
Business, according to the rail ring information in Meta task, judges to inject whether Meta task is when circle Meta task, if it is, enter referring to
Order regenerates process, and otherwise the task type according to Meta task (imaging or playback), stores area searching one in corresponding task
Individual use state is available node, the Meta task being received using the storage of this node, and the use state of this node is set to
With continuing to have monitored whether that Meta task injects.Receive Meta task flow chart as shown in Figure 7.
Step 3: execute next circle initial from master instruction generating process:
As shown in figure 8, after reaching next circle mission planning moment, emptying the Meta task information of Shang Yiquan planning and refer to
Make information, then execute the initial task of next circle to the generating process of instruction.Select and merge into the overall situation times when the Meta task of circle
Business array, carries out the constraint checking of individual pen Meta task sequence according to formula (7) to (10).
As Figure 9-Figure 11, optimize and generate action sequence:
In overall Meta task array, the start optimisation strategy of Meta task and shutdown optimisation strategy pass through attribute on_remove_
Type and off_remove_type is configured, for example: 0: do not optimize；1: similar optimization；2: foreign peoples optimizes；
If the type of action of current action is boot action and the start optimisation strategy of the affiliated Meta task of current action
Optimize for similar start, then optimize this action.If the type of action of current action is belonging to boot action and current action
The start optimisation strategy of Meta task optimizes for foreign peoples's start and the optimisation strategy of current action is to optimize completely, then optimize this and move
Make.
If the type of action of current action is shutdown action and the shutdown optimisation strategy of the affiliated Meta task of current action
Optimize for similar shutdown, then optimize this action.If the type of action of current action is belonging to shutdown action and current action
The shutdown optimisation strategy of Meta task optimizes for foreign peoples's shutdown and the optimisation strategy of current action is to optimize completely, then optimize this and move
Make.Remaining situation, does not all optimize this action.
Generation instruction list:
As shown in figure 12, the action in action sequence is expanded into instruction successively, need the corresponding sequence of instructions of acquisition action
Row define image_action_tcs or replay_action_tcs, and traversal job sequence obtains each instruction definition information and deposits
It is placed in ptr_tc_unit_item, according to time for each instruction according to type, time offset, send address, order code, refer to
Make time started, the end time instantiation present instruction of processing method and the affiliated Meta task of action.
Step 5: execution is when the process that regenerates of circle Meta task to instruction:
As shown in figure 13, if the Meta task of ground injection is when circle Meta task, entry instruction regenerates process, flow process
Figure is as follows:
In sum, these are only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.
All any modification, equivalent substitution and improvement within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (2)
1. a kind of imaging satellite based on action optimization is from master instruction generation method it is characterised in that including:
Step 1, the task definition according to imaging satellite, determine the Meta task that this imaging satellite enables, and involved by Meta task
And everything, and execution defines the initial setting up of list and device status table, particularly as follows:
S11, initial setting up action definition table
For 4 parameters of description action, obtain the initial value of each parameter, three parameters therein: action numbering atid, move
Make type attype, initial address attcs of the corresponding job sequence of action is initial default value, and another parameter actions optimizes
Tactful atrmv obtains according to following optimisation strategy: when action is the non-other action started shooting or shut down, this action is not excellent
Change, atrmv=0；
When action is boot action or shutdown action, and this action is not belonging to be imaged the set of actions of Meta task and playback Meta task
Common factor, then this action belongs to the similar optimization between similar Meta task, atrmv=1；
When action is boot action or shutdown action, and this action belongs to imaging Meta task and the set of actions of playback Meta task
Occur simultaneously, then this action belongs to the optimization completely between similar or inhomogeneity Meta task, atrmv=2；
S12, initialization directive sequence:
Find the corresponding job sequence of each action, and initial parameter configuration is carried out to the parameter of description instruction；
Corresponding command information under s13, the use state according to each equipment of present satellites and different conditions, to device status table
Initialized；Comprise following field: device numbering, equipment state, the instruction that this equipment can affect in this table, and determine quilt
Impact instruction: order number, the code word original position of impact, the code word size of impact, the code word mask of impact, the code of impact
Value；
Step 2, the Meta task of satellite reception ground injection, and generate next circle initial from master instruction, particularly as follows:
S21, select all Meta task of next circle in Meta task memory block according to rail ring number, and formed when starting according to task
Between sequence Meta task sequence；
S22, individual pen Meta task constraint checking, particularly as follows:
1. imaging Meta task is accumulated into and is less than, as duration, the threshold value setting；
2. playback Meta task is accumulated into and is less than, as duration, the threshold value setting；
3. for similar Meta task, the time interval of the end time of the initial time of next Meta task and current Meta task
More than given threshold；；
If the above three that current Meta task meets this step checks condition simultaneously, execute next step；If can not expire simultaneously
Foot, then delete the minimum Meta task of a priority, proceeds the judgement of above three inspection conditions, meets until simultaneously,
Execution next step；
S23, traversal Meta task sequence, first carry out boot action optimization to the everything of each Meta task, then carry out closing motor-driven
Work optimizes, and after the completion of optimization, obtains final action sequence, particularly as follows:
For the boot action in current Meta task i, if meeting: 1. before current Meta task i, there is similar Meta task k,
And, the initial time of current Meta task i is less than given threshold with the time interval of the end time of Meta task k, then optimizing should
Boot action；If being unsatisfactory for condition 1., it is further continued for judging whether to meet condition: 2. before current Meta task, there is inhomogeneity
Meta task k, and, the time interval of the initial time of current Meta task i and the end time of Meta task k is less than and sets threshold
Value, meanwhile, optimisation strategy atrmv of this boot action is shown as optimizing completely, then optimize this boot action；
For the shutdown action in current Meta task i, if meeting: 1. after current Meta task i, there is similar Meta task k,
And, the initial time of current Meta task i is less than given threshold with the time interval of the end time of Meta task k, then optimizing should
Shutdown action；If being unsatisfactory for condition 1., it is further continued for judging whether to meet condition: 2. exist different after current Meta task i
The Meta task k of class, and, the initial time of current Meta task i is less than setting threshold with the time interval of the end time of Meta task k
Value, meanwhile, optimisation strategy atrmv of this shutdown action is shown as optimizing completely, then optimize this shutdown action；
The action of each of s24, the final action sequence obtaining s23 expands into instruction, and method of deploying is as follows: obtains current
The action numbering of action, numbers according to action and obtains job sequence, travel through all command informations in this job sequence, obtain and work as
The order code of front instruction, instruction send the time and instruction sends address, and the instruction of acquisition is inserted into pending instruction
In list；
Wherein, the impact to this instruction according to device status table, obtains actual instruction code value, particularly as follows: it is current to obtain impact
The equipment of instruction, finds the corresponding device status table of this equipment, according to the code word original position of impact in device status table, impact
Code word size len, the code word mask mask of impact obtains the concrete region of the presumptive instruction code of actual influence, then uses
" code value tcval of impact " replaces the code value of presumptive instruction code respective regions, thus obtaining the instruction code value of reality.
2. as claimed in claim 1 a kind of imaging satellite based on action optimization from master instruction generation method it is characterised in that
If satellite receives the Meta task of ground injection in execution task process, according to the affiliated rail ring number of Meta task, execute
Different strategies, if Meta task needs executing of task after belonging to current orbit, according to Meta task type by Meta task
Store corresponding memory block；If Meta task belongs to current orbit task, return to step 2, execution regenerates and instructed
Journey；If Meta task needs executing of task before belonging to current orbit, reject Meta task.
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