CN114706672B - Satellite autonomous mission planning system and method based on event-driven dynamic assembly - Google Patents

Abstract

The invention provides a satellite autonomous mission planning system based on event-driven dynamic assembly, and relates to the technical field of satellite autonomous mission planning. The system comprises an information acquisition module, a plurality of sub-modules (a plurality of autonomous planning SCPUs) and a management scheduling Module (MCPU). The information acquisition module is used for receiving task information, processing the task information and obtaining normalized task input, wherein the task input forms a task reaching event; the management scheduling module is used for coordinating and organizing each sub-module through events and awakening the corresponding sub-module aiming at the events. The invention awakens the SCPU of each main plan by managing and scheduling the MCPUs to drive events aiming at different tasks, the SCPU which cannot be used in the processing flow is in a sleep state, and does not participate in the processing in the process, thereby improving the utilization rate of satellite resources and reducing the energy loss.

Description

Satellite autonomous mission planning system and method based on event-driven dynamic assembly

Technical Field

The invention relates to the technical field of satellite autonomous mission planning, in particular to a satellite autonomous mission planning system and method based on event-driven dynamic assembly.

Background

The satellite-ground integrated autonomous task planning and management utilizes modern information technologies such as artificial intelligence and the like to establish an intelligent agent cluster on the satellite-borne computing equipment, so that the satellite can perform self management and satellite-ground cooperation. In the traditional method, tasks are often directly processed, so that actual tasks with various sources and forms cannot be processed.

To solve the problems of the conventional approach, the existing approach proposes a modular system, where the main module needs to collect plans from multiple sub-modules, an agenda containing priorities and rules for resolving conflicts, check for global constraint violations, perform conflict resolution, and interface with the command execution engine. As shown in fig. 1, MAPA (Master autonomous planning agent, MAPA is equivalent to a Master control module) is a component for executing these functions for a satellite-borne automatic planning system architecture, and receives scheduling inputs from a plurality of autonomous planning SAPAs (Sub autonomous planning agents, SAPAs are equivalent to Sub-modules), generates an integrated schedule of activities, verifies and eliminates conflicts of scheduling for common resource constraints, and generates a final active schedule, which is implemented by sending commands to an onboard task execution engine.

However, in the conventional method, the SAPAs in the satellite-borne system are all in operation, and the energy loss is large.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an event-driven dynamically-assembled satellite autonomous mission planning system and method, which solve the technical problem of large energy loss of the conventional satellite-borne system.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme:

in a first aspect, the present invention provides an event-driven dynamically assemblable satellite-based autonomous mission planning system, the system comprising:

the information acquisition module is used for receiving the task information, processing the task information and obtaining normalized task input, wherein the task input forms a task reaching event;

the plurality of sub-modules are used for completing the autonomous planning of the satellite task;

and the management scheduling module is used for coordinating and organizing each sub-module through the event and awakening the corresponding sub-module aiming at the event.

Preferably, a plurality of the sub-modules are reconfigurable and have expandable functions, and the expanded sub-modules and the management scheduling module can be automatically configured.

Preferably, the plurality of sub-modules includes:

the message management submodule is used for managing the internal and external messages of the system and generating corresponding tasks or module activation requests according to the internal and external messages;

and the task management submodule is used for managing the satellite storage task information and converting complex tasks with complex requirements and non-standardization tasks into a task set with a standard form.

Preferably, the information acquisition module is further configured to manage communication interfaces with the inter-satellite devices, and extract inter-satellite cooperation information.

Preferably, the plurality of sub-modules further includes a cooperative management sub-module,

the cooperative management submodule is used for managing a cooperative process among the satellites and making a cooperative decision, and comprises the following steps: the method can be used for maintaining a collaborative satellite list, maintaining a collaborative communication list, synchronizing the collaborative satellite state, reasoning the collaborative satellite state and constructing a collaborative group.

Preferably, the plurality of sub-modules further includes a communication sub-module,

the communication sub-module is used for communication between the satellite autonomous mission planning systems on different satellites and communication between the satellite autonomous mission planning systems and the ground control system.

Preferably, the sub-module further comprises a performance evaluation sub-module,

and the effectiveness evaluation submodule is used for evaluating the generated mission planning scheme.

Preferably, the system further comprises: a resource module and a simulation module, wherein,

the resource module is used for storing various resources;

the simulation module is used for carrying out function simulation on the planning scheme.

Preferably, the managing the satellite stored task information includes:

and storing new task information, updating the task state in real time, and extracting task characteristics.

In a second aspect, the present invention provides a method for event-driven dynamically assemblable autonomous mission planning for a satellite, comprising:

acquiring task information through an information acquisition module, and processing the task information to obtain normalized task input;

and the task input forms a task reaching event, the management scheduling module is driven to work, and the corresponding sub-modules are awakened in an event mode through the management scheduling module to complete task planning.

(III) advantageous effects

The invention provides an event-driven dynamically-assembled satellite autonomous mission planning system and method. Compared with the prior art, the method has the following beneficial effects:

the invention provides a satellite autonomous mission planning system based on event-driven dynamic assembly, which comprises an information acquisition module, a plurality of sub-modules (a plurality of autonomous planning SCPUs) and a management scheduling Module (MCPUs). The information acquisition module is used for receiving task information, processing the task information and obtaining normalized task input, wherein the task input forms a task reaching event; the plurality of submodules are used for completing the autonomous planning of the satellite task; the management scheduling module is used for coordinating and organizing each sub-module through events and awakening the corresponding sub-module aiming at the events. And the MCPUs are managed and scheduled to awaken respective main planning SCPUs in an event-driven manner aiming at different tasks, the SCPUs which cannot be used in the processing flow are in a sleep state, and do not participate in the processing in the process, so that the utilization rate of satellite resources is improved, and the energy loss is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of MAPA-organized satellite autonomous mission planning in a prior art approach;

FIG. 2 is a schematic diagram of MCPU organization satellite autonomous mission planning according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a workflow of an information collection module according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a work flow of a message management SCPU according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a task management SCPU workflow according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the working flow of the cooperative management SCPU according to the embodiment of the present invention;

FIG. 7 is a basic process flow of autonomous mission planning for a satellite in accordance with an embodiment of the present invention;

fig. 8 is an overall block diagram of a satellite autonomous mission planning system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the application provides a satellite autonomous task planning system and a satellite autonomous task planning method based on event-driven dynamic assembly, solves the technical problem of high energy loss of the existing satellite-borne system, and realizes that each sub-module (autonomous planning SCPU) is awakened by a scheduling management Module (MCPU) in an event-driven manner aiming at different tasks, the autonomous planning SCPU which cannot be used in a processing flow is in a sleep state, so that the energy loss is reduced, and the utilization rate of satellite resources is improved.

It should be noted that, in the embodiment of the present invention, a plurality of Sub-modules, that is, a plurality of autonomous Planning SCPUs (Sub control function Planning units, which are equivalent to Sub-control Sub-modules), and a Master Controller Planning Unit (Master Controller Planning Unit, which is equivalent to a Master control module), are provided.

In order to solve the technical problems, the general idea of the embodiment of the application is as follows:

the embodiment of the invention provides a satellite autonomous task planning system which is based on event driving and can be dynamically assembled, and the system considers that satellite resources have multi-precision imaging capability, long-term observation capability and quasi-real-time communication capability, and aims at the real demand characteristics of multi-target types and multi-emergency events in reality and combines the service capability of an on-board computer for realizing self data processing. The system mainly establishes a customized on-board autonomous task processing overall flow according to different requirements, follows a satellite-borne task cooperative mechanism, takes acquired task information as event input, drives a management scheduling Module (MCPU) to work, and awakens a corresponding sub-module (SCPU) autonomous planning in an event mode through the MCPU. The system comprises a plurality of SCPUs which are responsible for special tasks, and each SCPU comprises an information acquisition module, an information management sub-module, an algorithm planning sub-module, an event filtering sub-module, a constraint checking sub-module and the like, and an MCPU which is responsible for organizing and coordinating each sub-module. Meanwhile, the submodule can be expanded according to actual needs.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

The embodiment of the invention provides a satellite autonomous task planning system based on event-driven dynamic assembly, which comprises a plurality of sub-modules (a plurality of autonomous planning SCPUs), a management scheduling Module (MCPUs) and an information acquisition module;

the information acquisition module is used for receiving task information, processing the task information and obtaining normalized task input, wherein the task input forms a task reaching event; the plurality of submodules are used for completing the autonomous planning of the satellite task; the management scheduling module is used for coordinating and organizing each sub-module through events and awakening the corresponding sub-module aiming at the events.

The embodiment of the invention awakens the SCPU of each main plan by managing and scheduling the MCPUs to event drive aiming at different tasks, the SCPU which cannot be used in the processing flow is in a sleep state, and does not participate in the processing in the process, thereby improving the utilization rate of satellite resources and reducing the energy loss.

The following describes the modules in the system in detail:

management scheduling Module (MCPU):

the management scheduling module organizes each sub-autonomous planning SCPU through event coordination, and a system architecture with system reconfiguration, function expansion and equipment plug and play is built. An MCPU organization satellite autonomous mission planning diagram is shown in fig. 2. As can be seen from the figure, the system also adds requirement analysis when performing mission planning. In the specific implementation process, the functions of target knowledge construction, constellation collaborative strategy knowledge map construction, demand mining, demand decomposition and the like can be used for assisting a user to accurately propose a target imaging task and preference, helping the user to analyze an imaging opportunity, dynamically adjusting demands according to conflict conditions, performing combination analysis with the existing task demands, and generating unified and normalized task input for autonomous task planning of the satellite.

And the information acquisition module is used for acquiring task information during single-star planning. The system comprises an information acquisition module, a task pool or a resource pool, a task planning module and a task planning module, wherein the information acquisition module is used for managing communication interfaces between the communication modules and equipment among satellites, extracting inter-satellite cooperation information and acquiring other auxiliary information (the auxiliary information is used in the task planning generally, such as information generated in the planning process, such as cooperation planning requests, task transfer requests, scheme receiving requests and the like, inter-satellite communication information, mainly including task uploading, data downloading and the like, and information interaction among the inter-satellite communication information and satellites. The specific process is shown in fig. 3 below.

Multiple sub-modules (multiple autonomous planning SCPU):

it should be noted that, in the embodiment of the present invention, a plurality of sub-modules are reconfigurable and have expandable functions, and the expanded sub-modules and the management scheduling module can be automatically configured.

The sub-modules mainly comprise: a message management SCPU (message management sub-module), a task management SCPU (task management sub-module), a cooperative management SCPU (cooperative management sub-module), an information sending SCPU, etc.

The message management SCPU is responsible for managing messages inside and outside the system, including messages of modules outside the system and messages generated by the operation inside the system, and generating corresponding tasks or module activation requests according to various messages. The specific process is shown in fig. 4.

As can be seen from fig. 4, the satellite autonomous mission planning system further includes a communication sub-module, which implements communication between the satellite autonomous mission planning systems on different satellites and communication between the satellite autonomous mission planning system and the ground management and control system. The sub-module also comprises a decision sub-module, the main content of which is to decide what type of mode the satellite uses: single-star planning or collaborative planning, which is classified into centralized planning, distributed planning and mixed planning, and is specifically shown in table 1.

Due to the design of the single-satellite working mode and the cooperative working mode, the efficiency of autonomous task planning of the satellite is improved, and the normalization of the cooperative mode is improved.

TABLE 1 satellite coordination mode Table

The task management SCPU is responsible for managing the stored task information of the satellite, including storing new task information, updating the task state in real time, and supporting processes such as decision making, planning and the like by extracting task features (task feature extraction). Meanwhile, the task management SCPU can convert complex, demanding and non-normalized tasks into a canonical task set in the task planning process, and the specific process is shown in fig. 5.

Meanwhile, the system also comprises an emergency planning SCPU which can automatically improve the priority of the tasks and process the emergency tasks in priority, the satellite-borne equipment on the satellite can properly change the existing command load on the satellite-borne equipment, and a task planning scheme in a short time is regenerated or maintained to respond to the emergency tasks in a near-real-time manner.

In the typical application process of the satellite autonomous mission planning system to land observation, ocean observation and the like, the requirements of users are different. Therefore, the method for describing the imaging task characteristics and the satellite multi-sensor resource capacity facing to the user requirements is initially established; the user requirement standardization description method facing the satellite resources is established by describing the dependency relationship among the imaging task characteristics and the requirement on the satellite sensor resource capacity. The task features include: task identification, task type, ground target position, imaging resolution, data transmission equipment, data transmission state, data transmission latest time, imaging load, task starting time, duration, priority and utility value.

Meanwhile, in consideration of the fact that the sources of tasks are complex in emergency, and task characteristic fields received by the satellite are not particularly prepared, aiming at the tasks, the invention can automatically fill the attributes of the tasks according to the hardware requirements of the satellite, thereby ensuring the lowest imaging task requirement.

The information sending SCPU is responsible for sending information, such as task cooperation information controlled by the MCPU.

The cooperative management SCPU is responsible for managing a cooperative process and making a cooperative decision, and comprises the following steps: the method can be used for maintaining a collaborative satellite list, maintaining a collaborative communication list, synchronizing the collaborative satellite state, reasoning the collaborative satellite state and constructing a collaborative group (selecting a satellite participating in collaboration according to task characteristics and establishing calculation and storage preparation for the task group). The specific process is shown in fig. 6.

It should be noted that, in the specific implementation process, the sub-modules further include a visibility calculation SCPU, a fine scheduling SCPU, an instruction compiling SCPU, and the like. In the task planning process, the MCPU participates in the processing of each specific process, and the SCPUs are effectively controlled in real time. The basic processing flow of the autonomous mission planning of the satellite according to the embodiment of the present invention is shown in fig. 7, and it can be seen from the figure that the MCPU full flow coordinates and schedules the respective main planning SCPU, and the SCPU that is not used in the processing flow is in a sleep state, and does not participate in the processing in the current process, so that the utilization rate of the satellite resources is improved, and the energy loss is reduced.

It should be noted that, in the specific implementation process, in addition to the above modules, the satellite mission planning system further includes a resource module, a simulation module, and a performance evaluation sub-module for evaluating a planning scheme produced by the system. A specific frame structure is shown in fig. 8.

An event-driven dynamically-assemblable satellite autonomous mission planning method, comprising:

acquiring task information, and processing the task information to obtain normalized task input;

and the task input forms a task reaching event, the management scheduling module is driven to work, and the corresponding sub-modules are awakened in an event mode through the management scheduling module to complete task planning.

It can be understood that the method for planning a satellite autonomous mission based on event-driven dynamic assembly according to the embodiment of the present invention corresponds to the above-mentioned system for planning a satellite autonomous mission based on event-driven dynamic assembly, and for explanation, examples, and beneficial effects of the relevant contents, reference may be made to the corresponding contents in the system for planning a satellite autonomous mission based on event-driven dynamic assembly, and details are not repeated here.

Embodiments of the present invention also provide a computer-readable storage medium storing a computer program for event-driven dynamically assemblable-based satellite autonomous mission planning, wherein the computer program causes a computer to execute the event-driven dynamically assemblable-based satellite autonomous mission planning method as described above.

An embodiment of the present invention further provides an electronic device, including:

one or more processors;

a memory; and

one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the event-driven dynamically assemblable satellite-based autonomous mission planning method as described above.

In summary, compared with the prior art, the method has the following beneficial effects:

1. the satellite autonomous task planning system provided by the embodiment of the invention can basically realize the plug-and-play function, and awakens respective main planning SCPUs by managing and scheduling the MCPUs to event drive aiming at different tasks, so that the SCPUs which cannot be used in the processing flow are in a sleep state and do not participate in the processing in the process, the utilization rate of satellite resources is improved, and the energy loss is reduced.

2. The embodiment of the invention adopts the MCPU full flow coordinated scheduling of the respective master planning SCPUs, weakens the customized requirement of a satellite intelligent task processing frame on satellite-borne embedded equipment, and adapts to a plurality of sets of satellite-borne embedded equipment with less change. After the satellite receives the information through the communication sub-module, all the subsequent operations need to awaken each SCPU through the MCPU in an event-driven mode, so that the resource loss of each SCPU in operation is reduced; meanwhile, the scheduling hardware operating system is also driven by an event through the MCPU, only one interface is reserved with the hardware operating system, when different satellite-borne embedded devices are replaced, the interface of the hardware operating system only needs to be modified into the interface corresponding to the MCPU, and secondary development content is less.

3. All processes of the embodiment of the invention need to be managed and scheduled by the MCPU, so that a ground management and control system in satellite-ground integrated management and control can conveniently know the satellite state, the working state, the resource use condition, the running condition and the like in real time. In the satellite-ground integrated control system, the most difficult is how to synchronize the satellite states, and the key is how to acquire the satellite states in real time by the ground control platform. In a general verification environment, a synchronous simulation platform is constructed on the ground to simulate an on-satellite running environment and simulate an on-satellite running state only by an upper injection task, the real state of a satellite cannot be obtained, the state of the satellite at the moment is usually estimated by maximum loss, but in an actual situation, resources are not needed to be consumed so much, so that the satellite which can do more tasks cannot be arranged, and the resources are wasted; by using the system of the invention, the satellite running state can be known in real time only by a small amount of communication resources between the satellite and the ground, so that the task can be efficiently and quickly arranged.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. A satellite autonomous mission planning system based on event-driven dynamic assembly is characterized in that the system establishes a customized on-board autonomous mission processing overall flow according to different requirements and follows a satellite-borne mission coordination mechanism, and the system comprises:

the information acquisition module is used for receiving the task information, processing the task information and obtaining normalized task input, wherein the task input forms a task reaching event;

the plurality of sub-modules are used for completing the autonomous planning of the satellite task;

the management scheduling module is used for coordinating and organizing each sub-module through an event and awakening the corresponding sub-module aiming at the event;

the management scheduling module is responsible for organizing and coordinating each submodule; in the task planning process, the management scheduling module coordinates and schedules each submodule in the whole process, and the submodules which cannot be used in the processing process are in a sleep state and do not participate in the processing in the process;

the plurality of sub-modules are reconfigurable and have expandable functions, and the expanded sub-modules and the management scheduling module are automatically configured;

aiming at different requirements, the system establishes a user requirement standardized description method facing satellite resources by describing the dependency relationship among imaging task characteristics and the requirement on the resource capacity of a satellite sensor; the task features include: task identification, task type, ground target position, imaging resolution, data transmission equipment, data transmission state, data transmission latest time, imaging load, task starting time, duration, priority and utility value; meanwhile, when the task characteristic fields received by the satellite are not complete, the attributes of the tasks are automatically filled according to the hardware requirements of the satellite aiming at the tasks, and the lowest imaging task requirement is guaranteed.

2. The event-driven dynamically assemblable satellite-based autonomous mission planning system of claim 1, wherein said plurality of sub-modules comprises:

the message management submodule is used for managing the internal and external messages of the system and generating corresponding tasks or module activation requests according to the internal and external messages;

and the task management submodule is used for managing the satellite storage task information and converting complex tasks with complex requirements and non-standardization tasks into a task set with a standard form.

3. The event-driven dynamically assemblable-based satellite autonomous mission planning system of claim 1, wherein said information collection module is further configured to manage communication interfaces with inter-satellite devices and extract inter-satellite coordination information.

4. The event-driven dynamically assemblable-based satellite autonomous mission planning system of any of claims 1-3, wherein said plurality of sub-modules further comprises a co-management sub-module,

the cooperative management submodule is used for managing a cooperative process among satellites and making a cooperative decision, and comprises: the method can be used for maintaining a collaborative satellite list, maintaining a collaborative communication list, synchronizing the collaborative satellite state, reasoning the collaborative satellite state and constructing a collaborative group.

5. The event-driven dynamically assemblable-based satellite autonomous mission planning system of claims 1-3, wherein said plurality of sub-modules further comprises a communication sub-module,

the communication sub-module is used for communication between the satellite autonomous mission planning systems on different satellites and communication between the satellite autonomous mission planning systems and the ground control system.

6. The event-driven dynamically assemblable-based satellite autonomous mission planning system of claims 1-3, wherein said sub-modules further comprise a performance evaluation sub-module,

and the effectiveness evaluation submodule is used for evaluating the generated mission planning scheme.

7. The event-driven dynamically assemblable-based satellite autonomous mission planning system of claims 1-3, further comprising: a resource module and a simulation module, wherein,

the resource module is used for storing various resources;

the simulation module is used for carrying out function simulation on the planning scheme.

8. The event-driven dynamically assemblable satellite-based autonomous mission planning system of claim 2, wherein said managing satellite stored mission information comprises:

and storing new task information, updating the task state in real time, and extracting task characteristics.

9. A satellite autonomous task planning method based on event-driven dynamic assembly is characterized in that the method establishes a customized on-satellite autonomous task processing overall flow aiming at different requirements, follows a satellite-borne task cooperation mechanism, and comprises the following steps:

acquiring task information through an information acquisition module, and processing the task information to obtain normalized task input;

the task input forms a task reaching event, the management scheduling module is driven to work, and the corresponding sub-modules are awakened in an event mode through the management scheduling module to complete task planning;

the management scheduling module is responsible for organizing and coordinating each submodule; in the task planning process, the management scheduling module coordinates and schedules each submodule in the whole process, and the submodules which cannot be used in the processing process are in a sleep state and do not participate in the processing in the process;

the plurality of sub-modules are reconfigurable and have expandable functions, and the expanded sub-modules and the management scheduling module can be automatically configured;

aiming at different requirements, the system establishes a user requirement standardized description method facing satellite resources by describing the dependency relationship among imaging task characteristics and the requirement on the resource capacity of a satellite sensor; the task features include: task identification, task type, ground target position, imaging resolution, data transmission equipment, data transmission state, data transmission latest time, imaging load, task starting time, duration, priority and utility value; meanwhile, when the task characteristic fields received by the satellite are not complete, the attributes of the tasks are automatically filled according to the hardware requirements of the satellite aiming at the tasks, and the lowest imaging task requirement is guaranteed.

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